version: 66.02
glider: 104
mission: 4
dive: 15
start: 2 16 108 14 33 16
data:
$ID,104
$MISSION,4
$DIVE,15
$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,566.1524
$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,-35323.641
$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,35
$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
$GPS1,141002,6130.758,-249.997,39,1.8,39,-6.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-55.1
$GPS2,143226,6130.860,-249.128,18,1.7,35,-5.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.226,0.136
$KALMAN_X,53516.3,48.4,86.2,-35892.8,12095.0
$KALMAN_Y,-10454.6,734.4,220.3,3709.0,-3281.2
$MHEAD_RNG_PITCHd_Wd,307.0,339262,-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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,25,-1.39,-146.6,0.0,0.0,0,108,0.00,0.00,-76.70,0.000,6,0.000,0.000,40,2068,3514
$GC,111,-1.39,-146.6,6.9,-8.4,4,132,11.93,2.65,0.00,0.000,4,0.160,0.061,2141,645,3513
$GC,269,-1.39,-146.6,38.1,-14.5,11,273,0.00,2.42,0.00,0.000,6,0.000,0.036,2141,2045,3515
$GC,595,-1.39,-146.6,76.7,-11.3,27,599,0.00,2.55,0.00,0.000,4,0.000,0.061,2141,646,3515
$GC,661,-1.39,-146.6,85.9,-13.7,30,665,0.00,2.42,0.00,0.000,6,0.000,0.036,2141,2053,3515
$GC,983,-1.39,-146.6,118.4,-9.3,46,988,0.00,2.55,0.00,0.000,4,0.000,0.060,2141,647,3515
$GC,1024,-1.39,-146.6,122.8,-11.2,48,1028,0.00,2.42,0.00,0.000,6,0.000,0.036,2141,2053,3515
$GC,1356,-1.39,-146.6,159.5,-10.5,64,1360,0.00,2.55,0.00,0.000,4,0.000,0.061,2141,647,3515
$GC,1463,-1.39,-146.6,170.1,-9.2,69,1467,0.00,2.42,0.00,0.000,6,0.000,0.036,2141,2058,3515
$GC,1796,-1.39,-146.6,201.6,-8.9,85,1800,0.00,2.58,0.00,0.000,4,0.000,0.060,2141,640,3515
$GC,1880,-1.39,-146.6,208.6,-8.3,89,1885,0.00,2.42,0.00,0.000,6,0.000,0.036,2141,2053,3515
$GC,2207,-1.39,-146.6,242.9,-11.2,105,2211,0.00,2.55,0.00,0.000,4,0.000,0.060,2141,646,3515
$GC,2295,-1.39,-146.6,253.8,-11.9,109,2300,0.00,2.42,0.00,0.000,6,0.000,0.036,2141,2061,3515
$GC,2617,-1.39,-146.6,286.5,-9.1,125,2621,0.00,2.58,0.00,0.000,4,0.000,0.061,2141,643,3515
$GC,2694,-1.39,-146.6,293.4,-8.4,128,2700,0.00,2.42,0.00,0.000,6,0.000,0.036,2141,2053,3515
$GC,3010,-1.39,-146.6,322.0,-9.5,144,3014,0.00,2.55,0.00,0.000,4,0.000,0.060,2141,647,3515
$GC,3112,-1.39,-146.6,331.6,-10.0,148,3118,0.00,2.42,0.00,0.000,6,0.000,0.037,2141,2058,3515
$GC,3427,-1.39,-146.6,363.4,-9.9,164,3432,0.00,2.55,0.00,0.000,4,0.000,0.061,2141,639,3514
$GC,3489,-1.39,-146.6,370.3,-10.6,167,3494,0.00,2.42,0.00,0.000,6,0.000,0.036,2141,2059,3514
$STATE,3548,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,3548,begin apogee
$GC,3555,-0.33,0.0,376.3,10.4,170,3679,1.12,0.00,120.18,0.927,6,0.084,0.000,2373,1943,2915
$STATE,3679,end apogee,CONTROL_FINISHED_OK
$STATE,3680,begin climb
$GC,3682,1.39,146.6,380.2,0.0,176,3810,1.73,0.00,119.55,0.898,6,0.053,0.000,2754,1942,2316
$GC,4119,1.39,146.6,342.2,11.2,198,4123,0.00,2.55,0.00,0.000,4,0.000,0.053,2754,3355,2316
$GC,4214,1.39,146.6,330.9,11.8,202,4218,0.00,2.45,0.00,0.000,6,0.000,0.039,2754,1953,2316
$GC,4529,1.39,146.6,296.5,11.0,217,4531,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,1954,2315
$GC,4839,1.40,156.8,265.6,9.5,232,4851,0.00,0.00,9.82,0.773,6,0.000,0.000,2755,1953,2275
$GC,5148,1.40,156.8,234.9,10.7,247,5152,0.00,2.50,0.00,0.000,4,0.000,0.050,2755,3358,2274
$GC,5231,1.40,156.8,225.4,11.0,250,5238,0.00,2.45,0.00,0.000,6,0.000,0.039,2754,1949,2274
$GC,5547,1.40,156.8,192.2,10.5,266,5551,0.00,2.50,0.00,0.000,4,0.000,0.049,2755,3352,2274
$GC,5603,1.40,156.8,186.0,11.1,268,5607,0.00,2.45,0.00,0.000,6,0.000,0.038,2755,1948,2274
$GC,5919,1.42,171.1,155.9,9.4,283,5937,0.00,0.00,12.75,0.751,6,0.000,0.000,2755,1948,2216
$GC,6248,1.42,171.1,118.1,11.8,299,6252,0.00,2.50,0.00,0.000,4,0.000,0.049,2754,3357,2217
$GC,6291,1.42,171.1,112.6,12.5,301,6296,0.00,2.42,0.00,0.000,6,0.000,0.038,2755,1950,2216
$GC,6613,1.42,171.1,73.5,12.0,317,6617,0.00,2.47,0.00,0.000,4,0.000,0.045,2755,3362,2216
$GC,6727,1.42,171.1,59.0,12.0,322,6731,0.00,2.45,0.00,0.000,6,0.000,0.038,2755,1949,2216
$GC,7055,1.42,171.1,11.9,14.2,338,7060,0.00,2.55,0.00,0.000,4,0.000,0.066,2755,547,2216
$STATE,7119,end climb,SURFACE_DEPTH_REACHED
$STATE,7120,begin surface coast
$FINISH,1.1,1.027353
$STATE,7126,end surface coast,CONTROL_FINISHED_OK
$STATE,7126,begin surface
$SM_CCo,7151,204.62,0.654,2,0,607,566.15
$SM_GC,0.97,0.00,0.00,204.62,0.000,0.000,0.654,41,2052,607,-11.08,0.00,566.15
$IRIDIUM_FIX,-6230.49,12751.67,120597,141434
$TT8_MAMPS,0.026078
$HUMID,1620
$INTERNAL_PRESSURE,8.32283
$TCM_TEMP,20.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,17.5,16.2
$ALTIM_BOTTOM_PING,376.3,5.2
$24V_AH,23.3,4.995
$10V_AH,10.1,2.643
$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,26.925,75.025,262.300,204.625,0.000,197.574,187.887,566.973,3.000,0.000,0.000,36.763,691.835,5351.676,588.260,955.582,1133.635,33.344,1055.066,0.000,919.027,0.000,21.546
$DEVICE_MAMPS,159.536,65.962,927.303,654.251,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,250.953,228.088,312.259,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,15996,341
$CFSIZE,260165632,256417792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,10,2,0
$GPS,160208,163722,6131.611,-247.786,28,1.5,42,-5.9