version: 66.02
glider: 104
mission: 4
dive: 16
start: 2 16 108 16 43 19
data:
$ID,104
$MISSION,4
$DIVE,16
$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,-35341.867
$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,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
$GPS1,163722,6131.611,-247.786,28,1.5,42,-5.9
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-46.5
$GPS2,164227,6131.633,-247.544,14,1.2,14,-5.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.263,0.023
$KALMAN_X,58656.3,616.4,-210.3,-39895.6,18598.5
$KALMAN_Y,-12039.4,1015.2,406.6,6252.1,-6960.2
$MHEAD_RNG_PITCHd_Wd,280.9,340540,-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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.39,-146.6,0.0,0.0,0,157,0.00,0.00,-131.25,0.000,2,0.000,0.000,41,2052,3306
$GC,160,-1.39,-146.6,4.6,-3.8,7,183,11.90,2.58,-4.15,0.000,4,0.158,0.071,2141,645,3512
$GC,325,-1.39,-146.6,31.4,-12.4,14,329,0.00,2.42,0.00,0.000,6,0.000,0.035,2141,2050,3512
$GC,646,-1.39,-146.6,71.9,-10.7,30,650,0.00,2.55,0.00,0.000,4,0.000,0.059,2141,644,3513
$GC,686,-1.39,-146.6,76.5,-11.5,32,690,0.00,2.42,0.00,0.000,6,0.000,0.035,2141,2055,3513
$GC,1013,-1.39,-146.6,111.6,-11.3,48,1017,0.00,2.55,0.00,0.000,4,0.000,0.058,2141,639,3514
$GC,1075,-1.39,-146.6,118.1,-10.4,51,1079,0.00,2.42,0.00,0.000,6,0.000,0.035,2141,2054,3514
$GC,1408,-1.39,-146.6,149.6,-9.5,67,1413,0.00,2.55,0.00,0.000,4,0.000,0.059,2141,640,3513
$GC,1502,-1.39,-146.6,159.9,-10.7,71,1507,0.00,2.42,0.00,0.000,6,0.000,0.035,2142,2060,3514
$GC,1823,-1.39,-146.6,196.2,-11.1,87,1828,0.00,2.55,0.00,0.000,4,0.000,0.061,2141,647,3513
$GC,1901,-1.39,-146.6,205.7,-11.6,90,1908,0.00,2.42,0.00,0.000,6,0.000,0.036,2141,2053,3513
$GC,2218,-1.39,-146.6,240.7,-11.0,106,2222,0.00,2.55,0.00,0.000,4,0.000,0.060,2141,639,3513
$GC,2289,-1.39,-146.6,249.4,-11.7,109,2293,0.00,2.42,0.00,0.000,6,0.000,0.036,2141,2062,3514
$GC,2605,-1.39,-146.6,282.2,-10.0,124,2609,0.00,2.55,0.00,0.000,4,0.000,0.060,2141,646,3514
$GC,2671,-1.39,-146.6,289.1,-10.1,127,2675,0.00,2.40,0.00,0.000,6,0.000,0.036,2141,2055,3514
$GC,2992,-1.39,-146.6,322.0,-10.8,143,2997,0.00,2.55,0.00,0.000,4,0.000,0.060,2141,641,3513
$GC,3070,-1.39,-146.6,331.1,-11.3,146,3076,0.00,2.40,0.00,0.000,6,0.000,0.036,2141,2050,3514
$GC,3386,-1.39,-146.6,364.9,-10.4,162,3390,0.00,2.55,0.00,0.000,4,0.000,0.060,2141,639,3514
$GC,3448,-1.39,-146.6,371.4,-10.4,165,3452,0.00,2.42,0.00,0.000,6,0.000,0.036,2141,2058,3513
$GC,3783,-1.39,-146.6,401.3,-8.7,181,3788,0.00,2.55,0.00,0.000,4,0.000,0.060,2141,643,3513
$GC,3856,-1.39,-146.6,408.4,-9.2,184,3860,0.00,2.42,0.00,0.000,6,0.000,0.037,2141,2057,3513
$GC,4172,-1.39,-146.6,437.4,-9.7,199,4176,0.00,2.55,0.00,0.000,4,0.000,0.060,2141,639,3513
$GC,4283,-1.39,-146.6,449.1,-10.1,204,4287,0.00,2.40,0.00,0.000,6,0.000,0.036,2141,2051,3513
$GC,4604,-1.39,-146.6,479.4,-8.6,220,4608,0.00,2.53,0.00,0.000,4,0.000,0.059,2141,647,3513
$GC,4653,-1.39,-146.6,484.0,-9.1,222,4657,0.00,2.42,0.00,0.000,6,0.000,0.037,2141,2061,3512
$GC,4969,-1.39,-146.6,511.8,-9.3,237,4973,0.00,2.55,0.00,0.000,4,0.000,0.061,2141,646,3513
$GC,5035,-1.39,-146.6,518.5,-10.0,240,5040,0.00,2.42,0.00,0.000,6,0.000,0.038,2141,2057,3513
$GC,5356,-1.39,-146.6,549.7,-9.4,256,5364,0.00,2.55,0.00,0.000,4,0.000,0.064,2141,647,3512
$GC,5472,-1.39,-146.6,561.4,-9.9,261,5477,0.00,2.42,0.00,0.000,6,0.000,0.040,2141,2057,3512
$GC,5799,-1.39,-146.6,590.5,-8.9,277,5804,0.00,2.58,0.00,0.000,4,0.000,0.065,2141,646,3510
$GC,5839,-1.39,-146.6,594.2,-10.1,279,5843,0.00,2.42,0.00,0.000,6,0.000,0.041,2141,2050,3510
$GC,6165,-1.39,-146.6,624.0,-8.8,295,6170,0.00,2.55,0.00,0.000,4,0.000,0.066,2141,647,3508
$GC,6260,-1.39,-146.6,633.0,-9.6,299,6265,0.00,2.45,0.00,0.000,6,0.000,0.043,2141,2057,3508
$GC,6576,-1.39,-146.6,660.3,-8.6,314,6580,0.00,2.58,0.00,0.000,4,0.000,0.067,2141,647,3507
$GC,6654,-1.39,-146.6,667.5,-9.4,317,6660,0.00,2.45,0.00,0.000,6,0.000,0.044,2140,2056,3506
$GC,6969,-1.39,-146.6,695.9,-9.0,333,6974,0.00,2.58,0.00,0.000,4,0.000,0.068,2141,648,3505
$GC,7037,-1.39,-146.6,702.3,-9.5,336,7041,0.00,2.45,0.00,0.000,6,0.000,0.044,2141,2050,3505
$GC,7357,-1.39,-146.6,731.4,-9.0,352,7361,0.00,2.58,0.00,0.000,4,0.000,0.068,2142,646,3503
$GC,7452,-1.39,-146.6,740.5,-10.0,356,7456,0.00,2.45,0.00,0.000,6,0.000,0.045,2141,2051,3503
$GC,7769,-1.39,-146.6,768.1,-8.8,371,7773,0.00,2.58,0.00,0.000,4,0.000,0.069,2141,647,3502
$GC,7857,-1.39,-146.6,776.6,-10.1,375,7862,0.00,2.45,0.00,0.000,6,0.000,0.046,2142,2060,3502
$GC,8180,-1.39,-146.6,804.4,-8.5,391,8184,0.00,2.60,0.00,0.000,4,0.000,0.070,2140,642,3501
$GC,8287,-1.39,-146.6,814.5,-9.1,396,8292,0.00,2.47,0.00,0.000,6,0.000,0.047,2141,2060,3500
$GC,8614,-1.39,-146.6,842.7,-8.5,412,8619,0.00,2.60,0.00,0.000,4,0.000,0.070,2141,640,3499
$GC,8687,-1.39,-146.6,849.3,-9.6,415,8691,0.00,2.47,0.00,0.000,6,0.000,0.047,2141,2053,3499
$GC,9003,-1.39,-146.6,875.7,-8.2,430,9008,0.00,2.58,0.00,0.000,4,0.000,0.069,2141,647,3497
$GC,9093,-1.39,-146.6,883.9,-9.0,434,9097,0.00,2.47,0.00,0.000,6,0.000,0.047,2141,2061,3497
$GC,9414,-1.39,-146.6,910.1,-7.9,450,9418,0.00,2.58,0.00,0.000,4,0.000,0.070,2140,648,3496
$GC,9504,-1.39,-146.6,917.8,-8.1,454,9508,0.00,2.47,0.00,0.000,6,0.000,0.048,2141,2061,3496
$GC,9825,-1.39,-146.6,944.2,-8.0,470,9829,0.00,2.60,0.00,0.000,4,0.000,0.071,2141,645,3495
$GC,9909,-1.39,-146.6,951.6,-9.3,474,9913,0.00,2.47,0.00,0.000,6,0.000,0.048,2141,2060,3495
$GC,10235,-1.39,-146.6,978.9,-8.3,490,10240,0.00,2.60,0.00,0.000,4,0.000,0.071,2141,646,3494
$GC,10320,-1.39,-146.6,986.4,-9.4,494,10325,0.00,2.47,0.00,0.000,6,0.000,0.048,2141,2061,3494
$STATE,10376,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10376,begin apogee
$GC,10383,-0.33,0.0,991.3,8.4,497,10512,1.17,0.00,125.57,1.480,6,0.099,0.000,2376,1938,2915
$STATE,10513,end apogee,CONTROL_FINISHED_OK
$STATE,10513,begin climb
$GC,10516,1.39,146.6,994.3,0.0,503,10655,1.75,2.65,128.88,1.424,4,0.063,0.065,2748,3350,2317
$GC,10756,1.39,146.6,976.2,12.3,513,10760,0.00,2.50,0.00,0.000,6,0.000,0.051,2748,1959,2317
$GC,11076,1.39,146.6,937.8,12.1,529,11081,0.00,2.58,0.00,0.000,4,0.000,0.061,2748,3357,2316
$GC,11126,1.39,146.6,931.6,11.8,531,11130,0.00,2.53,0.00,0.000,6,0.000,0.051,2748,1949,2316
$GC,11447,1.39,146.6,892.7,12.2,547,11452,0.00,2.58,0.00,0.000,4,0.000,0.061,2748,3351,2315
$GC,11491,1.39,146.6,887.3,12.5,549,11496,0.00,2.53,0.00,0.000,6,0.000,0.051,2748,1949,2315
$GC,11813,1.39,146.6,849.2,11.9,565,11817,0.00,2.58,0.00,0.000,4,0.000,0.062,2748,3352,2314
$GC,11856,1.39,146.6,843.8,11.5,567,11861,0.00,2.50,0.00,0.000,6,0.000,0.051,2748,1944,2314
$GC,12183,1.39,146.6,806.6,11.0,583,12184,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1945,2314
$GC,12492,1.39,146.6,772.8,10.6,598,12497,0.00,2.58,0.00,0.000,4,0.000,0.061,2748,3351,2314
$GC,12577,1.39,146.6,763.5,10.8,602,12581,0.00,2.50,0.00,0.000,6,0.000,0.051,2748,1949,2314
$GC,12903,1.39,146.6,729.0,10.6,618,12904,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1949,2314
$GC,13212,1.39,146.6,695.7,11.1,633,13213,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1949,2314
$GC,13521,1.39,146.6,661.8,10.8,648,13526,0.00,2.55,0.00,0.000,4,0.000,0.061,2748,3350,2313
$GC,13584,1.39,146.6,654.8,11.7,651,13589,0.00,2.50,0.00,0.000,6,0.000,0.050,2748,1942,2313
$GC,13911,1.39,146.6,619.4,11.0,667,13915,0.00,2.58,0.00,0.000,4,0.000,0.061,2748,3355,2313
$GC,13972,1.39,146.6,612.3,12.0,670,13977,0.00,2.50,0.00,0.000,6,0.000,0.050,2748,1949,2313
$GC,14300,1.39,146.6,576.8,10.8,686,14304,0.00,2.55,0.00,0.000,4,0.000,0.061,2748,3351,2312
$GC,14332,1.39,146.6,572.8,10.5,687,14339,0.00,2.50,0.00,0.000,6,0.000,0.049,2748,1945,2313
$GC,14648,1.39,146.6,540.2,10.1,703,14652,0.00,2.55,0.00,0.000,4,0.000,0.061,2748,3353,2312
$GC,14765,1.39,146.6,528.1,10.1,708,14769,0.00,2.50,0.00,0.000,6,0.000,0.049,2748,1947,2312
$GC,15080,1.39,146.6,496.6,10.4,723,15084,0.00,2.58,0.00,0.000,4,0.000,0.074,2748,546,2312
$GC,15169,1.39,146.6,486.8,10.8,727,15173,0.00,2.45,0.00,0.000,6,0.000,0.043,2748,1954,2312
$GC,15495,1.39,146.6,453.7,10.2,743,15499,0.00,2.53,0.00,0.000,4,0.000,0.061,2748,3353,2312
$GC,15646,1.39,146.6,435.8,11.5,750,15651,0.00,2.47,0.00,0.000,6,0.000,0.047,2748,1944,2312
$GC,15974,1.39,149.7,400.8,9.9,766,15978,0.00,2.58,0.00,0.000,4,0.000,0.070,2748,540,2313
$GC,16103,1.39,149.7,387.4,10.4,772,16107,0.00,2.45,0.00,0.000,6,0.000,0.040,2749,1951,2313
$GC,16429,1.39,149.7,355.0,10.4,788,16435,0.00,0.00,3.95,0.729,6,0.000,0.000,2748,1952,2304
$GC,16738,1.39,149.7,319.6,11.7,803,16740,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1952,2304
$GC,17048,1.39,149.7,285.8,10.7,818,17049,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1953,2305
$GC,17357,1.40,159.2,255.7,9.6,833,17372,0.00,2.60,9.80,0.864,4,0.000,0.064,2748,539,2266
$GC,17435,1.40,159.2,247.5,11.2,835,17442,0.00,2.42,0.00,0.000,6,0.000,0.036,2748,1948,2266
$GC,17751,1.40,159.2,215.7,10.4,851,17752,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1949,2267
$GC,18060,1.40,159.2,182.7,10.4,866,18064,0.00,2.50,0.00,0.000,4,0.000,0.054,2748,3361,2268
$GC,18115,1.40,159.2,176.7,11.4,868,18121,0.00,2.42,0.00,0.000,6,0.000,0.039,2748,1948,2268
$GC,18431,1.40,159.2,142.7,10.8,884,18435,0.00,2.53,0.00,0.000,4,0.000,0.064,2748,546,2269
$GC,18463,1.40,159.2,138.7,11.4,885,18470,0.00,2.42,0.00,0.000,6,0.000,0.034,2748,1947,2269
$GC,18779,1.40,159.2,102.8,13.1,901,18781,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1947,2270
$GC,19089,1.40,159.2,65.2,12.2,916,19093,0.00,2.47,0.00,0.000,4,0.000,0.052,2748,3353,2271
$GC,19161,1.40,159.2,55.4,10.9,919,19166,0.00,2.42,0.00,0.000,6,0.000,0.038,2748,1949,2271
$GC,19478,1.40,159.2,22.2,10.5,934,19482,0.00,2.55,0.00,0.000,4,0.000,0.064,2748,540,2272
$GC,19500,1.40,159.2,20.0,10.0,935,19503,0.00,2.40,0.00,0.000,6,0.000,0.034,2748,1952,2272
$STATE,19660,end climb,SURFACE_DEPTH_REACHED
$STATE,19660,begin surface coast
$FINISH,0.3,1.014177
$STATE,19681,end surface coast,CONTROL_FINISHED_OK
$STATE,19681,begin surface
$SM_CCo,19704,54.55,0.671,2,0,1894,250.21
$SM_GC,1.25,0.00,0.00,54.55,0.000,0.000,0.671,41,2066,1894,-11.08,0.40,250.21
$IRIDIUM_FIX,6108.28,-247.01,120597,141418
$TT8_MAMPS,0.026845
$HUMID,1710
$INTERNAL_PRESSURE,8.42049
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,20.0,19.1
$24V_AH,23.0,5.127
$10V_AH,10.1,2.737
$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,26.725,215.975,268.200,54.550,0.000,39.241,38.134,134.504,8.750,0.000,0.000,17.602,1835.069,14777.954,562.454,2406.122,504.450,33.348,1741.740,0.000,2351.463,0.000,57.560
$DEVICE_MAMPS,158.002,73.632,1480.310,671.125,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,698.077,638.194,570.155,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47417,944
$CFSIZE,260165632,256258048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,2,0
$GPS,160208,221432,6131.455,-249.712,66,1.1,66,-6.0