version: 66.02
glider: 104
mission: 4
dive: 10
start: 2 15 108 16 10 8
data:
$ID,104
$MISSION,4
$DIVE,10
$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,-35210.438
$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
$GPS1,160428,6132.532,-252.041,25,4.2,44,-6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-61.5
$GPS2,160915,6132.588,-251.769,10,1.9,10,-6.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.258,-0.056
$KALMAN_X,32057.1,-1768.6,-309.5,-14568.3,10405.6
$KALMAN_Y,-2225.0,-180.2,222.2,-410.6,170.6
$MHEAD_RNG_PITCHd_Wd,263.8,336721,-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,-146.6,0.0,0.0,0,120,0.00,0.00,-94.60,0.000,6,0.000,0.000,45,2058,3514
$GC,123,-1.39,-146.6,2.5,-2.3,4,137,11.90,0.00,0.00,0.000,6,0.159,0.000,2142,2056,3516
$GC,454,-1.39,-146.6,47.4,-10.5,20,459,0.00,2.58,0.00,0.000,4,0.000,0.059,2142,644,3517
$GC,549,-1.39,-146.6,58.4,-11.3,24,553,0.00,2.42,0.00,0.000,6,0.000,0.037,2142,2052,3517
$GC,865,-1.39,-146.6,94.1,-11.0,39,869,0.00,2.58,0.00,0.000,4,0.000,0.061,2142,643,3517
$GC,973,-1.39,-146.6,106.6,-11.1,44,977,0.00,2.42,0.00,0.000,6,0.000,0.036,2142,2052,3517
$GC,1300,-1.39,-146.6,143.0,-11.4,60,1304,0.00,2.55,0.00,0.000,4,0.000,0.060,2142,648,3518
$GC,1388,-1.39,-146.6,154.0,-12.2,64,1393,0.00,2.42,0.00,0.000,6,0.000,0.037,2142,2059,3517
$GC,1710,-1.39,-146.6,190.0,-11.4,80,1714,0.00,2.58,0.00,0.000,4,0.000,0.061,2142,644,3518
$GC,1799,-1.39,-146.6,200.8,-12.2,84,1803,0.00,2.42,0.00,0.000,6,0.000,0.037,2142,2053,3518
$GC,2120,-1.39,-146.6,235.4,-10.8,100,2124,0.00,2.55,0.00,0.000,4,0.000,0.061,2142,648,3518
$GC,2191,-1.39,-146.6,243.2,-10.6,103,2195,0.00,2.42,0.00,0.000,6,0.000,0.038,2142,2061,3518
$GC,2513,-1.39,-146.6,274.7,-9.9,119,2518,0.00,2.58,0.00,0.000,4,0.000,0.061,2142,645,3518
$GC,2596,-1.39,-146.6,283.8,-10.9,122,2602,0.00,2.42,0.00,0.000,6,0.000,0.038,2142,2056,3518
$GC,2911,-1.39,-146.6,317.5,-10.8,138,2915,0.00,2.55,0.00,0.000,4,0.000,0.061,2142,648,3518
$GC,2980,-1.39,-146.6,325.3,-11.6,141,2984,0.00,2.42,0.00,0.000,6,0.000,0.038,2142,2053,3518
$GC,3301,-1.39,-146.6,358.7,-9.9,157,3305,0.00,2.55,0.00,0.000,4,0.000,0.061,2142,649,3517
$GC,3367,-1.39,-146.6,365.4,-9.6,160,3372,0.00,2.42,0.00,0.000,6,0.000,0.038,2142,2053,3517
$GC,3690,-1.39,-146.6,395.7,-9.2,176,3694,0.00,2.55,0.00,0.000,4,0.000,0.061,2142,650,3517
$GC,3745,-1.39,-146.6,401.2,-9.6,178,3751,0.00,2.42,0.00,0.000,6,0.000,0.038,2142,2054,3517
$GC,4060,-1.39,-146.6,433.1,-11.2,194,4064,0.00,2.55,0.00,0.000,4,0.000,0.062,2142,649,3517
$GC,4126,-1.39,-146.6,440.5,-10.4,197,4130,0.00,2.42,0.00,0.000,6,0.000,0.039,2142,2058,3517
$GC,4448,-1.39,-146.6,470.9,-9.8,213,4449,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2058,3517
$GC,4756,-1.39,-146.6,502.8,-10.6,228,4761,0.00,2.58,0.00,0.000,4,0.000,0.064,2142,649,3516
$GC,4851,-1.39,-146.6,513.1,-10.7,232,4855,0.00,2.42,0.00,0.000,6,0.000,0.041,2142,2051,3515
$GC,5167,-1.39,-146.6,544.5,-9.7,247,5171,0.00,2.58,0.00,0.000,4,0.000,0.065,2142,646,3514
$GC,5246,-1.39,-146.6,552.5,-10.1,250,5252,0.00,2.45,0.00,0.000,6,0.000,0.043,2142,2051,3514
$GC,5562,-1.39,-146.6,583.2,-9.6,266,5563,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2051,3513
$STATE,5745,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5745,begin apogee
$GC,5751,-0.33,0.0,600.2,9.1,275,5877,1.15,0.00,123.28,1.150,6,0.094,0.000,2373,2052,2915
$STATE,5878,end apogee,CONTROL_FINISHED_OK
$STATE,5878,begin climb
$GC,5881,1.39,146.6,604.3,0.0,281,6012,1.75,2.62,122.93,1.107,4,0.060,0.062,2750,3455,2316
$GC,6183,1.39,146.6,582.6,10.4,295,6187,0.00,2.50,0.00,0.000,6,0.000,0.047,2749,2052,2316
$GC,6510,1.39,146.6,548.2,10.7,311,6515,0.00,2.58,0.00,0.000,4,0.000,0.061,2749,3459,2314
$GC,6605,1.39,146.6,537.4,11.2,315,6609,0.00,2.53,0.00,0.000,6,0.000,0.047,2750,2046,2314
$GC,6921,1.39,146.6,505.2,10.2,330,6925,0.00,2.60,0.00,0.000,4,0.000,0.071,2750,649,2314
$GC,6947,1.39,146.6,502.2,10.9,331,6951,0.00,2.45,0.00,0.000,6,0.000,0.043,2750,2054,2313
$GC,7268,1.39,146.6,468.1,10.5,347,7269,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2055,2312
$GC,7578,1.40,160.6,438.0,9.4,362,7599,0.00,2.65,12.05,1.022,4,0.000,0.062,2750,3454,2260
$GC,7622,1.40,160.6,433.5,10.3,364,7626,0.00,2.50,0.00,0.000,6,0.000,0.045,2750,2051,2260
$GC,7948,1.40,160.6,396.6,12.3,380,7952,0.00,2.55,0.00,0.000,4,0.000,0.059,2750,3455,2260
$GC,8032,1.40,160.6,386.0,12.5,384,8036,0.00,2.47,0.00,0.000,6,0.000,0.044,2750,2051,2260
$GC,8364,1.40,160.6,349.2,11.0,400,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2051,2260
$GC,8673,1.40,160.6,315.2,11.1,415,8674,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2051,2260
$GC,8983,1.40,160.6,282.2,10.2,430,8987,0.00,2.53,0.00,0.000,4,0.000,0.054,2750,3455,2260
$GC,9027,1.40,160.6,277.4,11.1,432,9031,0.00,2.45,0.00,0.000,6,0.000,0.040,2750,2047,2260
$GC,9353,1.40,160.6,244.4,10.1,448,9354,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2047,2261
$GC,9663,1.40,160.6,212.8,10.2,463,9667,0.00,2.53,0.00,0.000,4,0.000,0.054,2750,3457,2261
$GC,9712,1.40,160.6,207.5,10.6,465,9716,0.00,2.45,0.00,0.000,6,0.000,0.038,2749,2047,2262
$GC,10028,1.42,170.7,176.7,9.5,480,10042,0.00,2.55,10.00,0.797,4,0.000,0.052,2750,3455,2219
$GC,10160,1.42,170.7,162.5,10.9,485,10164,0.00,2.45,0.00,0.000,6,0.000,0.038,2750,2050,2219
$GC,10482,1.42,170.7,127.2,11.1,501,10483,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2050,2220
$GC,10791,1.42,176.0,95.1,9.8,516,10800,0.00,0.00,6.53,0.678,6,0.000,0.000,2749,2050,2197
$GC,11101,1.42,176.0,61.0,11.6,531,11102,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,2050,2197
$GC,11410,1.42,176.0,24.8,11.4,546,11414,0.00,2.50,0.00,0.000,4,0.000,0.051,2750,3455,2198
$GC,11482,1.42,176.0,16.0,12.2,549,11486,0.00,2.45,0.00,0.000,6,0.000,0.039,2750,2050,2198
$STATE,11615,end climb,SURFACE_DEPTH_REACHED
$STATE,11616,begin surface coast
$FINISH,0.4,1.003720
$STATE,11638,end surface coast,CONTROL_FINISHED_OK
$STATE,11638,begin surface
$SM_CCo,11660,67.78,0.670,2,0,1691,300.00
$SM_GC,0.90,0.00,0.00,67.78,0.000,0.000,0.670,43,2048,1691,-11.07,-0.11,300.00
$IRIDIUM_FIX,6108.28,-256.02,110597,131305
$TT8_MAMPS,0.026845
$HUMID,1718
$INTERNAL_PRESSURE,8.39119
$TCM_TEMP,15.90
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.5,18.8
$24V_AH,23.1,4.327
$10V_AH,10.1,2.267
$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,26.975,105.225,274.775,67.775,0.000,37.716,37.414,121.532,5.250,0.000,0.000,12.434,1076.158,8700.676,479.144,1399.091,383.255,33.371,1165.316,0.000,1376.902,0.000,33.297
$DEVICE_MAMPS,158.769,70.564,1149.733,669.591,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,409.889,375.173,415.019,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,28570,557
$CFSIZE,260165632,256675840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,2,0
$GPS,150208,192702,6131.853,-247.876,38,1.5,38,-5.9