version: 66.02
glider: 104
mission: 4
dive: 8
start: 2 15 108 10 33 52
data:
$ID,104
$MISSION,4
$DIVE,8
$D_SURF,2
$D_FLARE,3
$D_TGT,600
$D_ABORT,1090
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,200
$T_MISSION,240
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,1
$FERRY_MAX,12
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.5700001e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,61.599998
$TGT_DEFAULT_LON,-8.75
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-35182.188
$T_RSLEEP,12
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,45
$PITCH_MAX,3331
$C_PITCH,2450
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,176
$ROLL_MAX,3929
$C_ROLL_DIVE,2052
$C_ROLL_CLIMB,2052
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,25
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,12
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,607
$VBD_MAX,3934
$C_VBD,2915
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,2
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-16.564281
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,150
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1.784981
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043062796
$SEABIRD_T_H,0.0006289829
$SEABIRD_T_I,2.2033064e-05
$SEABIRD_T_J,2.057111e-06
$SEABIRD_C_G,-10.442612
$SEABIRD_C_H,1.1821688
$SEABIRD_C_I,-0.0015124022
$SEABIRD_C_J,0.00022414648
$GPS1,102708,6132.680,-256.280,40,1.6,40,-6.0
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-59.0
$GPS2,103302,6132.680,-255.969,35,1.6,36,-6.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.263,0.021
$KALMAN_X,17457.3,1073.7,1515.1,-8357.4,82.6
$KALMAN_Y,-2872.0,252.2,645.4,-435.8,-3627.2
$MHEAD_RNG_PITCHd_Wd,280.5,333036,-18.1,-10.000
$D_GRID,600
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.39,-146.6,0.0,0.0,0,118,0.00,0.00,-92.97,0.000,6,0.000,0.000,43,2047,3515
$GC,121,-1.39,-146.6,2.8,-3.1,4,143,11.88,2.60,0.00,0.000,4,0.158,0.060,2143,649,3516
$GC,257,-1.39,-146.6,27.8,-8.6,10,261,0.00,2.42,0.00,0.000,6,0.000,0.038,2142,2053,3516
$GC,583,-1.39,-146.6,64.1,-13.0,26,588,0.00,2.55,0.00,0.000,4,0.000,0.061,2143,649,3517
$GC,627,-1.39,-146.6,69.9,-12.6,28,631,0.00,2.42,0.00,0.000,6,0.000,0.037,2142,2053,3517
$GC,949,-1.39,-146.6,109.0,-11.8,44,954,0.00,2.58,0.00,0.000,4,0.000,0.061,2142,646,3517
$GC,1012,-1.39,-146.6,116.4,-11.0,47,1017,0.00,2.45,0.00,0.000,6,0.000,0.037,2143,2059,3518
$GC,1339,-1.39,-146.6,154.2,-12.2,63,1343,0.00,2.58,0.00,0.000,4,0.000,0.061,2143,647,3518
$GC,1416,-1.39,-146.6,164.0,-11.9,66,1422,0.00,2.42,0.00,0.000,6,0.000,0.037,2143,2055,3518
$GC,1732,-1.39,-146.6,200.8,-11.7,82,1737,0.00,2.58,0.00,0.000,4,0.000,0.061,2143,646,3518
$GC,1799,-1.39,-146.6,209.3,-12.9,85,1803,0.00,2.42,0.00,0.000,6,0.000,0.038,2142,2054,3518
$GC,2120,-1.39,-146.6,244.3,-10.3,101,2124,0.00,2.58,0.00,0.000,4,0.000,0.062,2142,643,3518
$GC,2204,-1.39,-146.6,253.4,-11.0,105,2208,0.00,2.42,0.00,0.000,6,0.000,0.038,2143,2053,3518
$GC,2531,-1.39,-146.6,288.0,-10.8,121,2535,0.00,2.55,0.00,0.000,4,0.000,0.062,2142,650,3518
$GC,2580,-1.39,-146.6,293.5,-10.5,123,2584,0.00,2.42,0.00,0.000,6,0.000,0.038,2142,2058,3518
$GC,2898,-1.39,-146.6,325.9,-10.2,138,2902,0.00,2.58,0.00,0.000,4,0.000,0.062,2142,646,3518
$GC,2997,-1.39,-146.6,337.5,-11.6,142,3004,0.00,2.42,0.00,0.000,6,0.000,0.039,2142,2055,3518
$GC,3313,-1.39,-146.6,370.0,-10.2,158,3314,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2056,3518
$GC,3622,-1.39,-146.6,402.5,-10.6,173,3626,0.00,2.58,0.00,0.000,4,0.000,0.064,2143,646,3518
$GC,3666,-1.39,-146.6,407.4,-10.9,175,3671,0.00,2.42,0.00,0.000,6,0.000,0.040,2142,2051,3518
$GC,3988,-1.39,-146.6,440.1,-10.2,191,3993,0.00,2.58,0.00,0.000,4,0.000,0.064,2142,644,3517
$GC,4119,-1.39,-146.6,454.2,-11.0,197,4123,0.00,2.45,0.00,0.000,6,0.000,0.041,2143,2059,3517
$GC,4446,-1.39,-146.6,488.8,-10.8,213,4450,0.00,2.58,0.00,0.000,4,0.000,0.066,2142,649,3516
$GC,4517,-1.39,-146.6,496.8,-10.9,216,4521,0.00,2.42,0.00,0.000,6,0.000,0.043,2142,2053,3516
$GC,4835,-1.39,-146.6,528.1,-9.7,231,4840,0.00,2.58,0.00,0.000,4,0.000,0.067,2142,649,3515
$GC,4902,-1.39,-146.6,535.3,-10.4,234,4906,0.00,2.45,0.00,0.000,6,0.000,0.044,2142,2060,3514
$GC,5223,-1.39,-146.6,566.8,-9.8,250,5227,0.00,2.60,0.00,0.000,4,0.000,0.067,2142,648,3514
$GC,5307,-1.39,-146.6,575.8,-10.8,254,5311,0.00,2.45,0.00,0.000,6,0.000,0.045,2142,2050,3514
$STATE,5549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5549,begin apogee
$GC,5555,-0.33,0.0,601.7,10.8,266,5682,1.15,0.00,123.75,1.162,6,0.094,0.000,2373,2051,2915
$STATE,5683,end apogee,CONTROL_FINISHED_OK
$STATE,5683,begin climb
$GC,5686,1.39,146.6,607.4,0.0,272,5817,1.75,2.65,122.72,1.118,4,0.060,0.064,2749,3460,2317
$GC,5921,1.39,147.5,596.5,10.0,283,5925,0.00,2.53,0.00,0.000,6,0.000,0.048,2749,2048,2316
$GC,6247,1.40,156.1,565.7,9.6,299,6261,0.00,2.65,9.38,0.986,4,0.000,0.071,2749,650,2278
$GC,6295,1.40,156.1,560.6,10.7,300,6299,0.00,2.47,0.00,0.000,6,0.000,0.044,2749,2054,2278
$GC,6610,1.40,156.1,528.7,10.3,315,6612,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2055,2277
$GC,6920,1.40,156.1,496.7,10.3,330,6924,0.00,2.60,0.00,0.000,4,0.000,0.068,2749,650,2276
$GC,6974,1.40,156.1,490.4,10.9,332,6981,0.00,2.47,0.00,0.000,6,0.000,0.045,2749,2056,2276
$GC,7290,1.42,174.8,460.4,9.1,348,7310,0.00,0.00,16.50,1.064,6,0.000,0.000,2749,2056,2202
$GC,7619,1.42,174.8,425.6,10.2,364,7624,0.00,2.60,0.00,0.000,4,0.000,0.068,2749,650,2201
$GC,7749,1.42,174.8,412.0,10.5,370,7753,0.00,2.47,0.00,0.000,6,0.000,0.045,2749,2051,2201
$GC,8076,1.45,200.7,381.2,8.8,386,8105,0.00,2.65,22.42,1.032,4,0.000,0.062,2749,3455,2096
$GC,8232,1.45,200.7,363.4,12.6,393,8236,0.00,2.50,0.00,0.000,6,0.000,0.046,2749,2053,2096
$GC,8558,1.45,200.7,321.0,13.3,409,8559,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2052,2096
$GC,8867,1.45,200.7,283.6,11.3,424,8871,0.00,2.53,0.00,0.000,4,0.000,0.056,2749,3455,2096
$GC,8916,1.45,200.7,277.8,11.3,426,8921,0.00,2.47,0.00,0.000,6,0.000,0.041,2749,2048,2096
$GC,9232,1.45,200.7,242.4,11.7,441,9237,0.00,2.58,0.00,0.000,4,0.000,0.067,2749,644,2096
$GC,9276,1.45,200.7,236.9,12.4,443,9281,0.00,2.42,0.00,0.000,6,0.000,0.038,2749,2055,2096
$GC,9598,1.45,200.7,199.1,12.0,459,9602,0.00,2.58,0.00,0.000,4,0.000,0.063,2749,649,2097
$GC,9704,1.45,200.7,185.5,13.5,464,9708,0.00,2.42,0.00,0.000,6,0.000,0.038,2749,2055,2097
$GC,10031,1.45,200.7,143.7,13.3,480,10035,0.00,2.58,0.00,0.000,4,0.000,0.062,2749,644,2098
$GC,10085,1.45,200.7,136.0,14.2,482,10092,0.00,2.42,0.00,0.000,6,0.000,0.038,2749,2059,2099
$GC,10402,1.45,200.7,95.8,12.9,498,10406,0.00,2.55,0.00,0.000,4,0.000,0.061,2749,647,2099
$GC,10490,1.45,200.7,84.0,12.2,502,10494,0.00,2.40,0.00,0.000,6,0.000,0.037,2749,2051,2099
$GC,10812,1.45,200.7,44.9,13.0,518,10816,0.00,2.55,0.00,0.000,4,0.000,0.061,2749,647,2100
$GC,10897,1.45,200.7,33.2,15.6,522,10901,0.00,2.40,0.00,0.000,6,0.000,0.037,2749,2051,2100
$STATE,11159,end climb,SURFACE_DEPTH_REACHED
$STATE,11159,begin surface coast
$FINISH,0.2,1.023776
$STATE,11181,end surface coast,CONTROL_FINISHED_OK
$STATE,11181,begin surface
$SM_CCo,11203,55.62,0.688,1,0,1691,300.00
$SM_GC,1.09,0.00,0.00,55.62,0.000,0.000,0.688,45,2053,1691,-11.06,0.03,300.00
$IRIDIUM_FIX,6108.28,-251.74,110597,070729
$TT8_MAMPS,0.026845
$HUMID,1741
$INTERNAL_PRESSURE,8.38143
$TCM_TEMP,17.10
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.3,18.3
$24V_AH,23.1,4.124
$10V_AH,10.1,2.159
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,26.825,120.600,294.775,55.625,0.000,38.249,38.219,153.962,5.250,0.000,0.000,37.988,1052.869,8231.837,490.156,1435.683,412.218,33.334,1191.880,0.000,1382.131,0.000,33.284
$DEVICE_MAMPS,158.002,70.564,1162.005,687.999,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,397.262,360.748,393.694,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28594,536
$CFSIZE,260165632,256749568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,1,0
$GPS,150208,134237,6132.270,-255.303,24,1.7,24,-6.0