version: 66.02
glider: 104
mission: 4
dive: 20
start: 2 17 108 14 55 42
data:
$ID,104
$MISSION,4
$DIVE,20
$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,-35403.32
$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,20
$R_STBD_OVSHOOT,37
$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,0
$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,4
$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
$GPS1,144807,6133.539,-254.607,41,1.2,46,-6.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-58.2
$GPS2,145450,6133.516,-254.440,9,1.6,9,-6.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.251,0.080
$KALMAN_X,70842.3,599.5,-2129.0,-56203.8,10052.9
$KALMAN_Y,-13920.6,-269.7,-519.3,13850.9,-348.2
$MHEAD_RNG_PITCHd_Wd,293.7,43296,-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,-146.6,0.0,0.0,0,106,0.00,0.00,-80.82,0.000,2,0.000,0.000,44,2067,3431
$GC,109,-1.39,-146.6,4.5,-5.2,4,131,11.90,2.65,-1.73,0.000,4,0.159,0.073,2141,646,3516
$GC,181,-1.39,-146.6,23.4,-15.3,7,186,0.00,2.42,0.00,0.000,6,0.000,0.038,2141,2046,3517
$GC,503,-1.39,-146.6,58.1,-12.0,23,507,0.00,2.55,0.00,0.000,4,0.000,0.061,2141,645,3517
$GC,543,-1.39,-146.6,62.9,-11.6,25,548,0.00,2.45,0.00,0.000,6,0.000,0.037,2141,2056,3517
$GC,871,-1.39,-146.6,99.6,-11.0,41,875,0.00,2.58,0.00,0.000,4,0.000,0.061,2141,645,3517
$GC,948,-1.39,-146.6,108.7,-11.0,44,955,0.00,2.45,0.00,0.000,6,0.000,0.038,2141,2063,3518
$GC,1265,-1.39,-146.6,139.8,-9.5,60,1269,0.00,2.60,0.00,0.000,4,0.000,0.061,2141,639,3518
$GC,1353,-1.39,-146.6,149.2,-10.9,64,1358,0.00,2.42,0.00,0.000,6,0.000,0.037,2141,2052,3518
$STATE,1446,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1446,begin apogee
$GC,1452,-0.33,0.0,158.5,9.9,69,1574,1.15,0.00,118.50,0.812,6,0.084,0.000,2375,1942,2915
$STATE,1575,end apogee,CONTROL_FINISHED_OK
$STATE,1575,begin climb
$GC,1578,1.39,146.6,161.6,0.0,75,1705,1.73,2.65,116.97,0.782,4,0.054,0.054,2750,3358,2317
$GC,1745,1.39,146.6,152.1,10.7,83,1749,0.00,2.47,0.00,0.000,6,0.000,0.040,2750,1954,2317
$GC,2072,1.39,146.6,115.6,11.0,99,2073,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1954,2316
$GC,2381,1.41,168.9,84.5,9.0,114,2406,0.00,2.58,19.20,0.729,4,0.000,0.051,2750,3353,2225
$GC,2496,1.41,168.9,73.0,10.8,119,2500,0.00,2.45,0.00,0.000,6,0.000,0.040,2750,1950,2225
$GC,2818,1.41,168.9,38.7,11.4,135,2822,0.00,2.53,0.00,0.000,4,0.000,0.051,2750,3356,2225
$GC,2903,1.41,168.9,28.5,12.7,139,2907,0.00,2.47,0.00,0.000,6,0.000,0.040,2750,1949,2226
$STATE,3145,end climb,SURFACE_DEPTH_REACHED
$STATE,3145,begin surface coast
$FINISH,0.4,1.027437
$STATE,3167,end surface coast,CONTROL_FINISHED_OK
$STATE,3167,begin surface
$SM_CCo,3189,49.47,0.663,2,0,1895,250.21
$SM_GC,0.98,0.00,0.00,49.47,0.000,0.000,0.663,41,2072,1895,-11.08,0.57,250.21
$IRIDIUM_FIX,6108.28,-251.52,130597,090954
$TT8_MAMPS,0.026845
$HUMID,1643
$INTERNAL_PRESSURE,8.38143
$TCM_TEMP,16.70
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,150.3,18.0
$24V_AH,23.3,5.666
$10V_AH,10.1,3.052
$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,26.975,35.625,254.675,49.475,0.000,38.328,38.312,210.133,0.500,0.000,0.000,11.034,336.462,2052.232,386.983,480.767,394.742,33.345,643.827,0.000,480.441,0.000,5.402
$DEVICE_MAMPS,158.769,72.865,812.253,663.455,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,107.137,100.711,263.731,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,6508,152
$CFSIZE,260165632,256151552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,9,2,0
$GPS,170208,155059,6133.479,-254.574,11,2.2,30,-6.0