version: 66.02
glider: 104
mission: 4
dive: 14
start: 2 16 108 12 9 17
data:
$ID,104
$MISSION,4
$DIVE,14
$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,-35286.25
$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,21
$R_STBD_OVSHOOT,36
$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
$GPS1,120138,6130.704,-250.926,29,1.3,29,-6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-57.7
$GPS2,120826,6130.725,-250.694,15,1.3,32,-6.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.263,0.013
$KALMAN_X,50142.1,-1655.7,-1297.4,-30792.3,9990.6
$KALMAN_Y,-9217.0,-41.6,-264.6,3476.8,-625.8
$MHEAD_RNG_PITCHd_Wd,278.8,337914,-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,-146.6,0.0,0.0,0,107,0.00,0.00,-78.57,0.000,6,0.000,0.000,43,2061,3515
$GC,110,-1.39,-146.6,5.9,-7.4,4,127,12.07,0.00,0.00,0.000,6,0.160,0.000,2136,2061,3516
$GC,436,-1.39,-146.6,53.8,-10.3,20,441,0.00,2.60,0.00,0.000,4,0.000,0.061,2137,639,3517
$GC,500,-1.39,-146.6,60.4,-8.3,23,504,0.00,2.45,0.00,0.000,6,0.000,0.036,2137,2053,3517
$GC,826,-1.39,-146.6,97.8,-13.0,39,831,0.00,2.55,0.00,0.000,4,0.000,0.059,2136,647,3517
$GC,882,-1.39,-146.6,104.9,-12.7,41,888,0.00,2.40,0.00,0.000,6,0.000,0.035,2137,2053,3517
$GC,1198,-1.39,-146.6,141.2,-11.6,57,1202,0.00,2.55,0.00,0.000,4,0.000,0.059,2137,646,3518
$GC,1283,-1.39,-146.6,151.9,-12.8,61,1287,0.00,2.42,0.00,0.000,6,0.000,0.035,2137,2058,3517
$GC,1615,-1.39,-146.6,192.3,-12.2,77,1619,0.00,2.58,0.00,0.000,4,0.000,0.060,2137,640,3518
$GC,1686,-1.39,-146.6,201.2,-11.5,80,1691,0.00,2.42,0.00,0.000,6,0.000,0.036,2136,2057,3518
$GC,2002,-1.39,-146.6,238.1,-11.3,95,2006,0.00,2.58,0.00,0.000,4,0.000,0.059,2137,639,3519
$GC,2074,-1.39,-146.6,246.2,-11.2,98,2078,0.00,2.42,0.00,0.000,6,0.000,0.036,2136,2053,3519
$GC,2390,-1.39,-146.6,279.4,-10.7,113,2395,0.00,2.55,0.00,0.000,4,0.000,0.059,2136,646,3519
$GC,2457,-1.39,-146.6,286.8,-10.8,116,2461,0.00,2.40,0.00,0.000,6,0.000,0.035,2136,2051,3519
$GC,2778,-1.39,-146.6,320.6,-10.8,132,2782,0.00,2.55,0.00,0.000,4,0.000,0.059,2136,644,3519
$GC,2867,-1.39,-146.6,330.5,-11.0,136,2871,0.00,2.42,0.00,0.000,6,0.000,0.037,2136,2059,3519
$GC,3188,-1.39,-146.6,363.9,-10.2,152,3192,0.00,2.58,0.00,0.000,4,0.000,0.061,2136,639,3519
$GC,3254,-1.39,-146.6,371.1,-11.0,155,3258,0.00,2.42,0.00,0.000,6,0.000,0.036,2136,2059,3519
$STATE,3308,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3308,begin apogee
$GC,3315,-0.33,0.0,376.4,10.5,158,3439,1.17,0.00,120.93,0.932,6,0.085,0.000,2376,1933,2915
$STATE,3440,end apogee,CONTROL_FINISHED_OK
$STATE,3440,begin climb
$GC,3443,1.39,146.6,380.4,0.0,164,3567,1.70,0.00,119.43,0.903,6,0.053,0.000,2748,1933,2317
$GC,3875,1.39,146.6,345.2,10.4,185,3879,0.00,2.55,0.00,0.000,4,0.000,0.052,2748,3350,2317
$GC,3929,1.39,146.6,339.0,10.7,187,3936,0.00,2.42,0.00,0.000,6,0.000,0.039,2748,1959,2317
$GC,4245,1.39,146.6,304.6,10.8,203,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1958,2317
$GC,4554,1.39,146.6,270.5,11.3,218,4558,0.00,2.50,0.00,0.000,4,0.000,0.050,2748,3355,2317
$GC,4592,1.39,146.6,266.2,10.8,219,4598,0.00,2.45,0.00,0.000,6,0.000,0.038,2748,1947,2316
$GC,4908,1.41,164.0,235.7,9.2,235,4930,0.00,2.55,15.62,0.807,4,0.000,0.049,2748,3352,2245
$GC,4969,1.41,164.0,229.5,10.5,237,4975,0.00,2.45,0.00,0.000,6,0.000,0.039,2748,1951,2244
$GC,5285,1.41,164.8,198.5,10.0,253,5286,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1951,2244
$GC,5594,1.41,164.8,167.1,10.4,268,5597,0.00,2.47,0.00,0.000,4,0.000,0.049,2748,3352,2244
$GC,5688,1.41,164.8,157.0,10.3,272,5692,0.00,2.42,0.00,0.000,6,0.000,0.039,2748,1951,2244
$GC,6016,1.41,164.8,121.9,11.5,288,6017,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1951,2244
$GC,6325,1.41,164.8,85.7,11.2,303,6329,0.00,2.50,0.00,0.000,4,0.000,0.048,2748,3359,2244
$GC,6454,1.41,164.8,71.5,12.8,309,6459,0.00,2.45,0.00,0.000,6,0.000,0.038,2748,1948,2245
$GC,6782,1.41,164.8,34.7,11.7,325,6786,0.00,2.50,0.00,0.000,4,0.000,0.048,2748,3356,2244
$GC,6859,1.41,164.8,26.2,11.7,328,6866,0.00,2.47,0.00,0.000,6,0.000,0.038,2748,1949,2245
$STATE,7070,end climb,SURFACE_DEPTH_REACHED
$STATE,7070,begin surface coast
$FINISH,0.5,1.027354
$STATE,7092,end surface coast,CONTROL_FINISHED_OK
$STATE,7092,begin surface
$SM_CCo,7115,48.08,0.662,1,0,1895,250.21
$SM_GC,1.24,0.00,0.00,48.08,0.000,0.000,0.662,42,2067,1895,-11.08,0.45,250.21
$IRIDIUM_FIX,6108.28,-251.29,120597,060620
$TT8_MAMPS,0.026845
$HUMID,1649
$INTERNAL_PRESSURE,8.44002
$TCM_TEMP,16.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.3,17.3
$ALTIM_BOTTOM_PING,376.4,5.0
$24V_AH,23.2,4.841
$10V_AH,10.1,2.587
$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,26.975,70.025,255.975,48.075,0.000,39.888,41.610,187.237,3.000,0.000,0.000,34.118,673.581,5153.131,411.423,913.837,421.914,33.349,860.756,0.000,879.711,0.000,21.541
$DEVICE_MAMPS,160.303,64.428,931.905,661.921,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,247.711,227.291,325.832,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15963,340
$CFSIZE,260165632,256462848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,13,1,0
$GPS,160208,141002,6130.758,-249.997,39,1.8,39,-6.0