version: 66.02
glider: 104
mission: 4
dive: 12
start: 2 16 108 1 13 1
data:
$ID,104
$MISSION,4
$DIVE,12
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$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,330
$T_MISSION,360
$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,250
$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,-35237.543
$T_RSLEEP,57
$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,1950
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,38
$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
$GPS1,010502,6131.291,-248.460,38,1.2,38,-5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-62.9
$GPS2,011209,6131.268,-248.120,11,1.2,11,-5.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.263,-0.022
$KALMAN_X,42638.1,-935.9,-1520.8,-21533.6,11761.6
$KALMAN_Y,-5526.5,23.6,-813.1,1284.5,-46.8
$MHEAD_RNG_PITCHd_Wd,271.0,340086,-18.1,-10.000
$D_GRID,990
$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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.39,-146.6,0.0,0.0,0,108,0.00,0.00,-81.20,0.000,2,0.000,0.000,42,2067,3484
$GC,111,-1.39,-146.6,4.4,-4.9,4,133,11.93,2.65,-0.62,0.000,4,0.159,0.071,2142,646,3516
$GC,144,-1.39,-146.6,17.2,-31.1,5,149,0.00,2.42,0.00,0.000,6,0.000,0.038,2142,2039,3516
$GC,460,-1.39,-146.6,52.1,-11.0,20,465,0.00,2.55,0.00,0.000,4,0.000,0.060,2142,646,3517
$GC,538,-1.39,-146.6,61.3,-11.6,23,545,0.00,2.42,0.00,0.000,6,0.000,0.036,2142,2055,3517
$GC,854,-1.39,-146.6,97.6,-12.0,39,858,0.00,2.58,0.00,0.000,4,0.000,0.059,2142,643,3518
$GC,904,-1.39,-146.6,103.8,-12.2,41,908,0.00,2.42,0.00,0.000,6,0.000,0.036,2142,2051,3518
$GC,1220,-1.39,-146.6,137.9,-10.3,56,1224,0.00,2.55,0.00,0.000,4,0.000,0.060,2142,646,3518
$GC,1252,-1.39,-146.6,141.6,-11.0,57,1259,0.00,2.42,0.00,0.000,6,0.000,0.037,2142,2058,3518
$GC,1570,-1.39,-146.6,176.8,-11.1,73,1574,0.00,2.55,0.00,0.000,4,0.000,0.059,2142,647,3519
$GC,1655,-1.39,-146.6,186.5,-11.2,77,1659,0.00,2.42,0.00,0.000,6,0.000,0.036,2142,2060,3519
$GC,1981,-1.39,-146.6,223.1,-12.0,93,1985,0.00,2.55,0.00,0.000,4,0.000,0.061,2142,647,3519
$GC,2043,-1.39,-146.6,231.0,-12.6,96,2047,0.00,2.42,0.00,0.000,6,0.000,0.036,2142,2060,3519
$GC,2369,-1.39,-146.6,269.1,-10.7,112,2373,0.00,2.58,0.00,0.000,4,0.000,0.061,2141,641,3519
$GC,2463,-1.39,-146.6,279.5,-10.8,116,2467,0.00,2.42,0.00,0.000,6,0.000,0.036,2142,2058,3519
$GC,2779,-1.39,-146.6,310.9,-10.2,131,2784,0.00,2.55,0.00,0.000,4,0.000,0.061,2142,648,3519
$GC,2870,-1.39,-146.6,320.7,-10.7,135,2874,0.00,2.42,0.00,0.000,6,0.000,0.037,2141,2054,3519
$GC,3191,-1.39,-146.6,352.5,-10.2,151,3196,0.00,2.55,0.00,0.000,4,0.000,0.061,2141,648,3519
$GC,3299,-1.39,-146.6,364.0,-11.1,156,3303,0.00,2.40,0.00,0.000,6,0.000,0.037,2142,2050,3519
$GC,3625,-1.39,-146.6,399.4,-10.7,172,3630,0.00,2.55,0.00,0.000,4,0.000,0.061,2141,646,3519
$GC,3680,-1.39,-146.6,405.9,-11.9,174,3684,0.00,2.40,0.00,0.000,6,0.000,0.037,2142,2055,3519
$GC,3995,-1.39,-146.6,440.3,-10.6,189,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2055,3519
$GC,4305,-1.39,-146.6,470.2,-8.8,204,4309,0.00,2.55,0.00,0.000,4,0.000,0.061,2142,647,3519
$GC,4354,-1.39,-146.6,474.7,-8.9,206,4359,0.00,2.42,0.00,0.000,6,0.000,0.038,2142,2053,3519
$GC,4675,-1.39,-146.6,502.2,-9.4,222,4680,0.00,2.55,0.00,0.000,4,0.000,0.061,2141,647,3519
$GC,4720,-1.39,-146.6,506.8,-10.0,224,4724,0.00,2.42,0.00,0.000,6,0.000,0.038,2141,2057,3519
$GC,5041,-1.39,-146.6,537.7,-9.4,240,5045,0.00,2.58,0.00,0.000,4,0.000,0.063,2142,643,3518
$GC,5125,-1.39,-146.6,546.4,-10.3,244,5129,0.00,2.42,0.00,0.000,6,0.000,0.040,2141,2049,3518
$GC,5451,-1.39,-146.6,577.7,-9.2,260,5455,0.00,2.58,0.00,0.000,4,0.000,0.064,2141,642,3517
$GC,5483,-1.39,-146.6,581.1,-10.1,261,5489,0.00,2.42,0.00,0.000,6,0.000,0.041,2141,2052,3517
$GC,5799,-1.39,-146.6,611.7,-10.2,277,5803,0.00,2.58,0.00,0.000,4,0.000,0.066,2142,647,3516
$GC,5870,-1.39,-146.6,619.4,-10.6,280,5875,0.00,2.42,0.00,0.000,6,0.000,0.042,2141,2050,3516
$GC,6187,-1.39,-146.6,651.4,-10.0,295,6191,0.00,2.58,0.00,0.000,4,0.000,0.067,2141,647,3514
$GC,6271,-1.39,-146.6,660.1,-11.0,299,6275,0.00,2.45,0.00,0.000,6,0.000,0.044,2141,2053,3514
$GC,6597,-1.39,-146.6,691.7,-9.8,315,6601,0.00,2.58,0.00,0.000,4,0.000,0.068,2141,648,3513
$GC,6641,-1.39,-146.6,696.2,-10.5,317,6645,0.00,2.45,0.00,0.000,6,0.000,0.044,2141,2052,3513
$GC,6964,-1.39,-146.6,727.7,-9.9,333,6968,0.00,2.60,0.00,0.000,4,0.000,0.068,2142,643,3512
$GC,7063,-1.39,-146.6,738.3,-10.3,337,7069,0.00,2.47,0.00,0.000,6,0.000,0.046,2142,2057,3512
$GC,7380,-1.39,-146.6,770.1,-10.2,353,7385,0.00,2.60,0.00,0.000,4,0.000,0.069,2142,647,3509
$GC,7458,-1.39,-146.6,778.9,-10.6,356,7464,0.00,2.45,0.00,0.000,6,0.000,0.046,2141,2052,3509
$GC,7774,-1.39,-146.6,810.9,-10.1,372,7778,0.00,2.60,0.00,0.000,4,0.000,0.069,2142,644,3508
$GC,7858,-1.39,-146.6,819.7,-10.5,376,7863,0.00,2.47,0.00,0.000,6,0.000,0.047,2142,2051,3508
$GC,8185,-1.39,-146.6,852.2,-9.7,392,8190,0.00,2.60,0.00,0.000,4,0.000,0.070,2142,643,3506
$GC,8270,-1.39,-146.6,861.2,-11.0,396,8275,0.00,2.47,0.00,0.000,6,0.000,0.048,2141,2053,3506
$GC,8597,-1.39,-146.6,892.2,-9.3,412,8602,0.00,2.60,0.00,0.000,4,0.000,0.069,2141,645,3506
$GC,8686,-1.39,-146.6,901.0,-10.0,416,8690,0.00,2.47,0.00,0.000,6,0.000,0.047,2142,2061,3505
$GC,9008,-1.39,-146.6,930.2,-9.1,432,9012,0.00,2.60,0.00,0.000,4,0.000,0.070,2142,649,3504
$GC,9080,-1.39,-146.6,937.2,-9.3,435,9085,0.00,2.47,0.00,0.000,6,0.000,0.048,2141,2052,3505
$GC,9396,-1.39,-146.6,964.7,-8.5,450,9400,0.00,2.60,0.00,0.000,4,0.000,0.070,2142,646,3504
$GC,9475,-1.39,-146.6,971.9,-8.9,453,9481,0.00,2.47,0.00,0.000,6,0.000,0.048,2141,2051,3504
$STATE,9705,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9705,begin apogee
$GC,9712,-0.33,0.0,991.7,8.5,465,9848,1.17,0.00,127.97,1.470,6,0.099,0.000,2375,1942,2915
$STATE,9849,end apogee,CONTROL_FINISHED_OK
$STATE,9849,begin climb
$GC,9851,1.39,146.6,995.6,0.0,472,9988,1.75,2.67,128.70,1.411,4,0.064,0.065,2748,3357,2317
$GC,10154,1.39,146.6,970.5,11.6,485,10159,0.00,2.55,0.00,0.000,6,0.000,0.051,2748,1950,2317
$GC,10475,1.39,146.6,933.6,11.3,501,10477,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1951,2316
$GC,10786,1.39,146.6,898.8,11.2,516,10791,0.00,2.60,0.00,0.000,4,0.000,0.062,2748,3360,2316
$GC,10881,1.39,146.6,887.9,11.0,520,10886,0.00,2.55,0.00,0.000,6,0.000,0.050,2748,1944,2316
$GC,11197,1.39,146.6,854.2,10.6,535,11201,0.00,2.60,0.00,0.000,4,0.000,0.061,2748,3357,2315
$GC,11236,1.39,146.6,850.0,11.0,537,11240,0.00,2.55,0.00,0.000,6,0.000,0.050,2748,1942,2315
$GC,11562,1.39,146.9,816.9,10.0,553,11563,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1941,2315
$GC,11871,1.39,146.9,785.4,10.1,568,11875,0.00,2.60,0.00,0.000,4,0.000,0.061,2748,3360,2315
$GC,11920,1.39,146.9,779.9,10.0,570,11925,0.00,2.53,0.00,0.000,6,0.000,0.049,2748,1949,2315
$GC,12237,1.39,146.9,746.6,10.8,585,12242,0.00,2.58,0.00,0.000,4,0.000,0.062,2748,3353,2314
$GC,12287,1.39,146.9,740.9,10.6,587,12291,0.00,2.53,0.00,0.000,6,0.000,0.049,2748,1945,2314
$GC,12603,1.39,146.9,707.6,10.7,602,12604,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1944,2314
$GC,12913,1.39,146.9,674.2,10.8,617,12918,0.00,2.58,0.00,0.000,4,0.000,0.061,2748,3353,2314
$GC,12980,1.39,146.9,666.4,11.7,620,12984,0.00,2.53,0.00,0.000,6,0.000,0.050,2748,1943,2314
$GC,13301,1.39,146.9,631.5,10.9,636,13305,0.00,2.58,0.00,0.000,4,0.000,0.061,2748,3354,2314
$GC,13425,1.39,146.9,617.4,11.0,641,13431,0.00,2.50,0.00,0.000,6,0.000,0.050,2748,1949,2314
$GC,13740,1.39,146.9,583.9,10.4,657,13744,0.00,2.58,0.00,0.000,4,0.000,0.061,2748,3361,2314
$GC,13789,1.39,146.9,578.6,10.6,659,13794,0.00,2.53,0.00,0.000,6,0.000,0.049,2749,1949,2313
$GC,14105,1.40,157.4,547.9,9.5,674,14117,0.00,0.00,10.18,1.124,6,0.000,0.000,2748,1949,2273
$GC,14414,1.40,157.4,515.8,10.9,689,14418,0.00,2.55,0.00,0.000,4,0.000,0.059,2749,3360,2273
$GC,14503,1.40,157.4,505.9,11.0,693,14507,0.00,2.53,0.00,0.000,6,0.000,0.047,2748,1944,2273
$GC,14830,1.41,164.0,472.4,9.7,709,14844,0.00,2.62,7.22,1.001,4,0.000,0.057,2749,3354,2246
$GC,14956,1.41,164.0,459.0,10.8,714,14963,0.00,2.47,0.00,0.000,6,0.000,0.045,2748,1949,2246
$GC,15272,1.41,164.0,424.3,11.9,730,15273,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1949,2247
$GC,15581,1.41,164.0,390.7,10.8,745,15582,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1949,2247
$GC,15890,1.41,164.0,356.9,10.8,760,15895,0.00,2.53,0.00,0.000,4,0.000,0.052,2748,3360,2248
$GC,15968,1.41,164.0,348.2,10.9,763,15975,0.00,2.45,0.00,0.000,6,0.000,0.040,2749,1945,2249
$GC,16284,1.41,164.0,313.1,11.3,779,16288,0.00,2.53,0.00,0.000,4,0.000,0.051,2749,3363,2250
$GC,16367,1.41,164.0,303.0,12.1,782,16373,0.00,2.45,0.00,0.000,6,0.000,0.041,2749,1951,2250
$GC,16683,1.41,164.0,266.7,11.4,798,16687,0.00,2.58,0.00,0.000,4,0.000,0.067,2749,547,2251
$GC,16722,1.41,164.0,262.0,12.0,800,16726,0.00,2.42,0.00,0.000,6,0.000,0.035,2749,1953,2251
$GC,17054,1.41,164.0,224.4,11.2,816,17058,0.00,2.50,0.00,0.000,4,0.000,0.054,2749,3360,2252
$GC,17131,1.41,164.0,215.1,12.0,819,17137,0.00,2.45,0.00,0.000,6,0.000,0.040,2748,1941,2253
$GC,17447,1.41,164.0,180.4,10.6,835,17452,0.00,2.50,0.00,0.000,4,0.000,0.049,2749,3353,2253
$GC,17497,1.41,164.0,174.7,10.4,837,17501,0.00,2.42,0.00,0.000,6,0.000,0.039,2749,1949,2253
$GC,17819,1.41,164.0,140.3,10.9,853,17823,0.00,2.47,0.00,0.000,4,0.000,0.049,2749,3354,2254
$GC,17859,1.41,164.0,135.8,12.3,854,17865,0.00,2.45,0.00,0.000,6,0.000,0.039,2749,1943,2254
$GC,18175,1.41,164.0,101.1,10.4,870,18180,0.00,0.00,3.75,0.538,6,0.000,0.000,2749,1944,2246
$GC,18484,1.41,164.0,68.0,11.6,885,18489,0.00,2.50,0.00,0.000,4,0.000,0.049,2749,3353,2246
$GC,18548,1.41,164.0,60.2,12.9,888,18552,0.00,2.42,0.00,0.000,6,0.000,0.039,2748,1951,2246
$GC,18874,1.41,164.0,20.3,12.2,904,18875,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1951,2247
$STATE,19037,end climb,SURFACE_DEPTH_REACHED
$STATE,19037,begin surface coast
$FINISH,0.2,1.027368
$STATE,19059,end surface coast,CONTROL_FINISHED_OK
$STATE,19059,begin surface
$SM_CCo,19082,50.30,0.664,2,0,1895,250.21
$SM_GC,0.74,0.00,0.00,50.30,0.000,0.000,0.664,44,2072,1895,-11.07,0.57,250.21
$IRIDIUM_FIX,6108.28,-246.79,110597,191956
$TT8_MAMPS,0.026845
$HUMID,1706
$INTERNAL_PRESSURE,8.41072
$TCM_TEMP,16.10
$XPDR_PINGS,0
$ALTIM_TOP_PING,17.6,17.1
$24V_AH,23.0,4.612
$10V_AH,10.1,2.451
$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,27.000,206.575,277.825,50.300,0.000,40.538,33.095,237.772,8.750,0.000,0.000,12.651,1762.753,14406.709,534.971,2246.648,616.600,33.355,1642.774,0.000,2212.172,0.000,57.548
$DEVICE_MAMPS,158.769,72.865,1469.572,664.222,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,686.749,616.647,548.811,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47429,913
$CFSIZE,260165632,256471040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,29,2,0
$GPS,160208,063332,6130.075,-247.933,51,1.0,51,-5.9