version: 66.02
glider: 104
mission: 4
dive: 4
start: 2 15 108 1 31 30
data:
$ID,104
$MISSION,4
$DIVE,4
$D_SURF,2
$D_FLARE,3
$D_TGT,300
$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,100
$T_MISSION,120
$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,-35056.086
$T_RSLEEP,2
$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,27
$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
$GPS1,012605,6133.631,-307.752,8,4.6,28,-6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-61.3
$GPS2,013039,6133.677,-307.537,14,1.5,14,-6.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.255,0.066
$KALMAN_X,248.8,1695.4,1211.5,-1661.5,1119.2
$KALMAN_Y,-130.5,-532.8,-406.6,501.2,-369.5
$MHEAD_RNG_PITCHd_Wd,290.6,322795,-18.1,-10.000
$D_GRID,300
$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,-146.6,0.0,0.0,0,119,0.00,0.00,-93.82,0.000,6,0.000,0.000,41,2058,3514
$GC,122,-1.39,-146.6,3.0,-3.2,4,144,11.88,2.62,0.00,0.000,4,0.157,0.060,2144,645,3516
$GC,325,-1.39,-146.6,36.9,-5.8,13,329,0.00,2.42,0.00,0.000,6,0.000,0.037,2144,2050,3516
$GC,651,-1.39,-146.6,62.3,-12.0,29,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2051,3516
$GC,961,-1.39,-146.6,97.8,-10.1,44,965,0.00,2.55,0.00,0.000,4,0.000,0.064,2144,648,3517
$GC,1078,-1.39,-146.6,108.4,-5.4,49,1082,0.00,2.45,0.00,0.000,6,0.000,0.038,2144,2061,3516
$GC,1394,-1.39,-146.6,140.0,-12.1,64,1398,0.00,2.58,0.00,0.000,4,0.000,0.062,2144,644,3516
$GC,1488,-1.39,-146.6,153.0,-12.5,68,1492,0.00,2.42,0.00,0.000,6,0.000,0.038,2144,2051,3517
$GC,1809,-1.39,-146.6,187.4,-10.3,84,1814,0.00,2.55,0.00,0.000,4,0.000,0.063,2144,650,3516
$GC,1898,-1.39,-146.6,197.8,-11.9,88,1903,0.00,2.40,0.00,0.000,6,0.000,0.038,2144,2051,3516
$GC,2220,-1.39,-146.6,235.0,-11.5,104,2224,0.00,2.55,0.00,0.000,4,0.000,0.063,2144,650,3516
$GC,2286,-1.39,-146.6,242.6,-11.3,107,2290,0.00,2.42,0.00,0.000,6,0.000,0.039,2144,2060,3516
$GC,2607,-1.39,-146.6,274.6,-10.3,123,2614,0.00,2.58,0.00,0.000,4,0.000,0.063,2144,645,3516
$GC,2709,-1.39,-146.6,286.9,-12.3,127,2714,0.00,2.42,0.00,0.000,6,0.000,0.039,2144,2054,3516
$STATE,2817,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2817,begin apogee
$GC,2823,-0.33,0.0,300.0,12.2,132,2946,1.12,0.00,119.80,0.888,6,0.087,0.000,2372,2054,2915
$STATE,2947,end apogee,CONTROL_FINISHED_OK
$STATE,2947,begin climb
$GC,2950,1.39,146.6,305.5,0.0,138,3076,1.73,2.60,118.15,0.858,4,0.057,0.059,2747,3462,2317
$GC,3139,1.39,146.6,296.8,10.2,147,3143,0.00,2.50,0.00,0.000,6,0.000,0.041,2747,2046,2317
$GC,3465,1.39,148.1,265.4,9.9,163,3469,0.00,2.55,0.00,0.000,4,0.000,0.067,2747,648,2317
$GC,3565,1.39,148.1,254.8,10.8,167,3571,0.00,2.45,0.00,0.000,6,0.000,0.038,2747,2062,2316
$GC,3880,1.42,173.0,225.0,8.9,183,3905,0.00,0.00,22.85,0.815,6,0.000,0.000,2747,2062,2209
$GC,4209,1.42,173.0,192.6,10.1,199,4214,0.00,2.60,0.00,0.000,4,0.000,0.063,2747,648,2209
$GC,4276,1.42,173.0,185.2,10.8,202,4280,0.00,2.42,0.00,0.000,6,0.000,0.038,2747,2056,2209
$GC,4597,1.42,173.0,151.0,10.8,218,4601,0.00,2.58,0.00,0.000,4,0.000,0.063,2747,649,2208
$GC,4646,1.42,173.0,145.8,10.5,220,4650,0.00,2.42,0.00,0.000,6,0.000,0.038,2746,2057,2208
$GC,4962,1.42,173.0,113.0,10.5,235,4967,0.00,2.58,0.00,0.000,4,0.000,0.062,2747,646,2208
$GC,5035,1.42,173.0,105.1,10.9,238,5039,0.00,2.42,0.00,0.000,6,0.000,0.038,2747,2058,2208
$GC,5351,1.42,173.0,71.8,10.6,253,5355,0.00,2.58,0.00,0.000,4,0.000,0.062,2747,649,2208
$GC,5422,1.42,173.0,63.5,11.5,256,5427,0.00,2.42,0.00,0.000,6,0.000,0.038,2747,2057,2208
$GC,5739,1.42,173.0,26.5,12.9,271,5743,0.00,2.58,0.00,0.000,4,0.000,0.062,2747,645,2208
$GC,5825,1.42,173.0,16.4,11.2,275,5829,0.00,2.42,0.00,0.000,6,0.000,0.037,2747,2055,2208
$STATE,5964,end climb,SURFACE_DEPTH_REACHED
$STATE,5964,begin surface coast
$FINISH,0.4,1.027439
$STATE,5986,end surface coast,CONTROL_FINISHED_OK
$STATE,5986,begin surface
$SM_CCo,6008,63.47,0.688,0,0,1692,300.00
$SM_GC,1.24,0.00,0.00,63.47,0.000,0.000,0.688,40,2056,1692,-11.09,0.11,300.00
$IRIDIUM_FIX,6108.28,-305.28,100597,232331
$TT8_MAMPS,0.026845
$HUMID,1693
$INTERNAL_PRESSURE,8.40096
$TCM_TEMP,15.50
$XPDR_PINGS,0
$ALTIM_TOP_PING,19.6,18.3
$24V_AH,23.3,3.713
$10V_AH,10.1,1.953
$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,26.650,65.100,260.800,63.475,0.000,41.227,37.414,105.575,2.000,0.000,0.000,15.621,588.842,4191.311,432.019,833.478,315.361,31.417,850.205,0.000,821.833,0.000,13.889
$DEVICE_MAMPS,157.235,66.729,888.186,687.999,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,209.078,189.241,314.185,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12802,283
$CFSIZE,260165632,256937984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,11,0,0
$GPS,150208,031347,6133.910,-305.996,8,3.3,28,-6.1