version: 66.02
glider: 104
mission: 4
dive: 9
start: 2 15 108 13 49 7
data:
$ID,104
$MISSION,4
$DIVE,9
$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,-35197.379
$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,28
$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
$GPS1,134237,6132.270,-255.303,24,1.7,24,-6.0
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-56.9
$GPS2,134815,6132.329,-255.048,13,1.7,13,-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,-0.023
$KALMAN_X,25476.5,-789.9,-765.0,-11416.6,6022.0
$KALMAN_Y,-2205.3,-147.2,-604.0,-120.7,76.3
$MHEAD_RNG_PITCHd_Wd,271.0,333886,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.39,-146.6,0.0,0.0,0,119,0.00,0.00,-94.62,0.000,6,0.000,0.000,45,2054,3513
$GC,122,-1.39,-146.6,2.6,-2.5,4,144,11.93,2.60,0.00,0.000,4,0.160,0.058,2143,649,3515
$GC,239,-1.39,-146.6,27.7,-14.0,9,243,0.00,2.42,0.00,0.000,6,0.000,0.036,2143,2057,3515
$GC,560,-1.39,-146.6,63.9,-11.7,25,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2057,3516
$GC,869,-1.39,-146.6,96.7,-10.0,40,873,0.00,2.58,0.00,0.000,4,0.000,0.061,2143,646,3516
$GC,913,-1.39,-146.6,101.3,-10.7,42,917,0.00,2.42,0.00,0.000,6,0.000,0.037,2143,2053,3517
$GC,1234,-1.39,-146.6,134.8,-10.4,58,1238,0.00,2.58,0.00,0.000,4,0.000,0.061,2143,644,3517
$GC,1322,-1.39,-146.6,144.0,-10.3,62,1327,0.00,2.42,0.00,0.000,6,0.000,0.036,2143,2060,3518
$GC,1644,-1.39,-146.6,174.6,-9.5,78,1649,0.00,2.58,0.00,0.000,4,0.000,0.061,2143,641,3517
$GC,1734,-1.39,-146.6,183.5,-10.2,82,1738,0.00,2.42,0.00,0.000,6,0.000,0.038,2143,2053,3517
$GC,2060,-1.39,-146.6,214.4,-9.8,98,2064,0.00,2.58,0.00,0.000,4,0.000,0.062,2143,643,3518
$GC,2169,-1.39,-146.6,225.2,-10.4,103,2173,0.00,2.42,0.00,0.000,6,0.000,0.037,2143,2053,3518
$GC,2495,-1.39,-146.6,259.6,-10.8,119,2499,0.00,2.58,0.00,0.000,4,0.000,0.062,2143,641,3518
$GC,2566,-1.39,-146.6,267.6,-10.9,122,2571,0.00,2.42,0.00,0.000,6,0.000,0.038,2143,2052,3518
$GC,2882,-1.39,-146.6,299.9,-10.4,137,2889,0.00,2.58,0.00,0.000,4,0.000,0.061,2143,641,3518
$GC,2962,-1.39,-146.6,308.8,-11.1,140,2966,0.00,2.42,0.00,0.000,6,0.000,0.038,2143,2055,3518
$GC,3277,-1.39,-146.6,342.9,-11.4,155,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2055,3518
$GC,3587,-1.39,-146.6,373.5,-9.1,170,3591,0.00,2.58,0.00,0.000,4,0.000,0.063,2143,643,3517
$GC,3670,-1.39,-146.6,382.1,-10.6,174,3675,0.00,2.42,0.00,0.000,6,0.000,0.038,2143,2053,3518
$STATE,3854,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3854,begin apogee
$GC,3860,-0.33,0.0,401.2,10.8,183,3986,1.15,0.00,121.53,0.957,6,0.088,0.000,2376,2053,2915
$STATE,3986,end apogee,CONTROL_FINISHED_OK
$STATE,3986,begin climb
$GC,3989,1.39,146.6,405.9,0.0,189,4117,1.73,2.60,120.10,0.924,4,0.054,0.058,2752,3462,2316
$GC,4203,1.39,146.6,394.6,10.1,199,4207,0.00,2.50,0.00,0.000,6,0.000,0.040,2752,2048,2316
$GC,4524,1.39,146.6,361.3,11.0,215,4525,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2048,2315
$GC,4833,1.39,146.6,327.4,10.4,230,4838,0.00,2.55,0.00,0.000,4,0.000,0.055,2752,3455,2315
$GC,4911,1.39,146.6,318.5,11.3,233,4917,0.00,2.47,0.00,0.000,6,0.000,0.041,2752,2051,2315
$GC,5227,1.39,146.6,284.9,10.5,249,5228,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2051,2315
$GC,5536,1.39,146.6,252.7,10.2,264,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2051,2314
$GC,5845,1.39,146.6,220.4,10.6,279,5849,0.00,2.58,0.00,0.000,4,0.000,0.065,2752,643,2314
$GC,5912,1.39,146.6,212.8,11.6,282,5916,0.00,2.42,0.00,0.000,6,0.000,0.037,2752,2058,2314
$GC,6232,1.39,146.6,178.2,10.7,298,6234,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2059,2314
$GC,6542,1.39,146.6,145.2,10.5,313,6546,0.00,2.58,0.00,0.000,4,0.000,0.061,2752,644,2314
$GC,6597,1.39,146.6,139.1,11.1,315,6604,0.00,2.45,0.00,0.000,6,0.000,0.037,2752,2070,2314
$GC,6913,1.39,146.6,107.0,10.4,331,6917,0.00,2.58,0.00,0.000,4,0.000,0.061,2752,648,2314
$GC,6979,1.39,146.6,99.5,11.5,334,6984,0.00,2.42,0.00,0.000,6,0.000,0.036,2752,2055,2314
$GC,7301,1.39,146.6,65.7,10.4,350,7305,0.00,2.55,0.00,0.000,4,0.000,0.060,2752,643,2314
$GC,7344,1.39,146.6,61.0,10.6,352,7349,0.00,2.42,0.00,0.000,6,0.000,0.036,2752,2059,2314
$GC,7666,1.39,146.6,27.3,10.7,368,7671,0.00,2.55,0.00,0.000,4,0.000,0.060,2752,647,2314
$GC,7739,1.39,146.6,19.2,11.8,371,7743,0.00,2.40,0.00,0.000,6,0.000,0.035,2752,2055,2314
$STATE,7908,end climb,SURFACE_DEPTH_REACHED
$STATE,7908,begin surface coast
$FINISH,0.4,1.027410
$STATE,7930,end surface coast,CONTROL_FINISHED_OK
$STATE,7930,begin surface
$SM_CCo,7952,81.25,0.673,1,0,1692,300.00
$SM_GC,0.95,0.00,0.00,81.25,0.000,0.000,0.673,45,2056,1692,-11.06,0.14,300.00
$IRIDIUM_FIX,6108.28,-256.02,110597,101035
$TT8_MAMPS,0.026845
$HUMID,1690
$INTERNAL_PRESSURE,8.39119
$TCM_TEMP,17.00
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.9,19.2
$ALTIM_BOTTOM_PING,401.2,4.9
$24V_AH,23.2,4.217
$10V_AH,10.1,2.206
$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,26.800,75.100,241.625,81.250,0.000,40.026,37.773,157.779,3.500,0.000,0.000,14.561,748.512,5810.119,448.730,992.309,385.059,33.335,938.334,0.000,977.413,0.000,23.186
$DEVICE_MAMPS,159.536,65.195,957.216,673.426,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,276.528,254.815,356.859,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19034,380
$CFSIZE,260165632,256737280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,12,1,0
$GPS,150208,160428,6132.532,-252.041,25,4.2,44,-6.0