version: 66.02
glider: 104
mission: 4
dive: 17
start: 2 16 108 22 32 43
data:
$ID,104
$MISSION,4
$DIVE,17
$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,-35354.191
$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,33
$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
$GPS1,221432,6131.455,-249.712,66,1.1,66,-6.0
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-55.5
$GPS2,223151,6131.526,-249.035,10,2.0,10,-5.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.206,0.165
$KALMAN_X,62325.6,1078.0,-1712.8,-43826.3,8258.6
$KALMAN_Y,-11432.4,430.2,262.7,6166.7,-2682.8
$MHEAD_RNG_PITCHd_Wd,314.6,47308,-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,-146.6,0.0,0.0,0,87,0.00,0.00,-61.65,0.000,2,0.000,0.000,40,2066,3050
$GC,90,-1.39,-146.6,3.1,-4.6,3,120,12.00,2.50,-12.48,0.000,4,0.160,0.064,2144,3451,3515
$GC,372,-1.39,-146.6,47.0,-18.8,15,379,0.00,2.47,0.00,0.000,6,0.000,0.039,2144,2051,3515
$GC,689,-1.39,-146.6,87.1,-9.0,31,694,0.00,2.50,0.00,0.000,4,0.000,0.051,2144,3451,3516
$GC,790,-1.39,-146.6,96.5,-9.3,35,797,0.00,2.42,0.00,0.000,6,0.000,0.038,2144,2051,3516
$GC,1106,-1.39,-146.6,131.1,-12.9,51,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2050,3516
$GC,1416,-1.39,-146.6,163.2,-10.0,66,1420,0.00,2.55,0.00,0.000,4,0.000,0.064,2144,646,3516
$GC,1487,-1.39,-146.6,171.4,-11.3,69,1492,0.00,2.40,0.00,0.000,6,0.000,0.035,2144,2049,3516
$GC,1803,-1.39,-146.6,207.4,-11.4,84,1807,0.00,2.55,0.00,0.000,4,0.000,0.061,2144,646,3516
$GC,1858,-1.39,-146.6,213.9,-11.6,86,1864,0.00,2.42,0.00,0.000,6,0.000,0.036,2144,2053,3516
$GC,2173,-1.39,-146.6,249.9,-11.3,102,2181,0.00,2.55,0.00,0.000,4,0.000,0.060,2144,646,3516
$GC,2253,-1.39,-146.6,259.0,-11.1,105,2258,0.00,2.42,0.00,0.000,6,0.000,0.035,2144,2061,3516
$GC,2569,-1.39,-146.6,292.4,-10.7,120,2573,0.00,2.58,0.00,0.000,4,0.000,0.059,2144,639,3516
$GC,2675,-1.39,-146.6,304.9,-11.6,125,2680,0.00,2.42,0.00,0.000,6,0.000,0.035,2144,2059,3516
$GC,3002,-1.39,-146.6,344.6,-12.9,141,3007,0.00,2.55,0.00,0.000,4,0.000,0.059,2144,646,3516
$GC,3065,-1.39,-146.6,352.7,-12.5,144,3069,0.00,2.40,0.00,0.000,6,0.000,0.036,2144,2054,3516
$GC,3391,-1.39,-146.6,388.2,-10.3,160,3395,0.00,2.55,0.00,0.000,4,0.000,0.059,2144,639,3516
$GC,3522,-1.39,-146.6,401.6,-10.3,166,3526,0.00,2.40,0.00,0.000,6,0.000,0.036,2144,2051,3516
$GC,3849,-1.39,-146.6,433.6,-9.6,182,3853,0.00,2.53,0.00,0.000,4,0.000,0.059,2144,644,3516
$GC,3994,-1.39,-146.6,448.6,-10.5,188,4000,0.00,2.40,0.00,0.000,6,0.000,0.035,2144,2057,3516
$GC,4309,-1.39,-146.6,480.3,-10.4,204,4314,0.00,2.55,0.00,0.000,4,0.000,0.059,2144,641,3516
$GC,4485,-1.39,-146.6,499.6,-10.7,212,4490,0.00,2.42,0.00,0.000,6,0.000,0.038,2144,2058,3516
$GC,4817,-1.39,-146.6,534.0,-9.7,228,4822,0.00,2.55,0.00,0.000,4,0.000,0.062,2144,647,3516
$GC,4873,-1.39,-146.6,539.8,-10.3,230,4880,0.00,2.42,0.00,0.000,6,0.000,0.039,2144,2045,3515
$GC,5189,-1.39,-146.6,571.1,-9.7,246,5194,0.00,2.55,0.00,0.000,4,0.000,0.064,2144,644,3514
$GC,5290,-1.39,-146.6,581.9,-10.6,250,5297,0.00,2.45,0.00,0.000,6,0.000,0.041,2145,2049,3513
$GC,5606,-1.39,-146.6,613.8,-10.2,266,5610,0.00,2.58,0.00,0.000,4,0.000,0.065,2144,639,3512
$GC,5667,-1.39,-146.6,620.4,-10.6,269,5672,0.00,2.45,0.00,0.000,6,0.000,0.042,2144,2058,3512
$GC,5994,-1.39,-146.6,653.6,-10.0,285,5998,0.00,2.58,0.00,0.000,4,0.000,0.066,2144,647,3512
$GC,6071,-1.39,-146.6,661.8,-10.3,288,6077,0.00,2.42,0.00,0.000,6,0.000,0.043,2144,2051,3511
$GC,6389,-1.39,-146.6,691.8,-9.3,304,6393,0.00,2.58,0.00,0.000,4,0.000,0.067,2144,647,3509
$GC,6468,-1.39,-146.6,699.6,-9.8,307,6475,0.00,2.45,0.00,0.000,6,0.000,0.044,2144,2050,3509
$GC,6783,-1.39,-146.6,729.7,-9.9,323,6788,0.00,2.58,0.00,0.000,4,0.000,0.067,2144,644,3507
$GC,6884,-1.39,-146.6,740.3,-10.3,327,6890,0.00,2.45,0.00,0.000,6,0.000,0.045,2144,2052,3507
$GC,7199,-1.39,-146.6,770.2,-9.4,343,7204,0.00,2.60,0.00,0.000,4,0.000,0.068,2144,639,3505
$GC,7272,-1.39,-146.6,777.5,-9.8,346,7276,0.00,2.47,0.00,0.000,6,0.000,0.045,2144,2053,3505
$GC,7588,-1.39,-146.6,807.7,-9.6,361,7593,0.00,2.60,0.00,0.000,4,0.000,0.069,2144,639,3505
$GC,7655,-1.39,-146.6,814.5,-10.0,364,7659,0.00,2.47,0.00,0.000,6,0.000,0.046,2144,2051,3504
$GC,7976,-1.39,-146.6,844.9,-9.4,380,7980,0.00,2.60,0.00,0.000,4,0.000,0.069,2144,639,3503
$GC,8039,-1.39,-146.6,851.2,-10.3,383,8043,0.00,2.47,0.00,0.000,6,0.000,0.046,2144,2053,3503
$GC,8365,-1.39,-146.6,882.1,-9.4,399,8370,0.00,2.58,0.00,0.000,4,0.000,0.069,2144,647,3502
$GC,8450,-1.39,-146.6,890.6,-10.0,403,8454,0.00,2.47,0.00,0.000,6,0.000,0.047,2144,2061,3501
$GC,8776,-1.39,-146.6,922.0,-9.7,419,8780,0.00,2.60,0.00,0.000,4,0.000,0.069,2143,645,3500
$GC,8865,-1.39,-146.6,931.1,-10.4,423,8869,0.00,2.45,0.00,0.000,6,0.000,0.047,2144,2051,3500
$GC,9186,-1.39,-146.6,962.7,-10.0,439,9190,0.00,2.60,0.00,0.000,4,0.000,0.070,2143,640,3500
$GC,9258,-1.39,-146.6,970.2,-10.6,442,9262,0.00,2.47,0.00,0.000,6,0.000,0.047,2144,2051,3500
$STATE,9467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9467,begin apogee
$GC,9474,-0.33,0.0,991.1,9.7,452,9604,1.15,0.00,126.55,1.480,6,0.099,0.000,2373,1942,2915
$STATE,9605,end apogee,CONTROL_FINISHED_OK
$STATE,9605,begin climb
$GC,9607,1.39,146.6,996.4,0.0,458,9745,1.77,2.65,128.90,1.422,4,0.063,0.064,2749,3352,2317
$GC,9882,1.39,146.6,978.7,10.7,470,9887,0.00,2.53,0.00,0.000,6,0.000,0.051,2750,1953,2317
$GC,10209,1.39,146.6,943.7,10.9,486,10214,0.00,2.58,0.00,0.000,4,0.000,0.061,2749,3352,2316
$GC,10271,1.39,146.6,936.4,11.2,489,10276,0.00,2.53,0.00,0.000,6,0.000,0.051,2749,1950,2316
$GC,10598,1.39,146.6,899.5,11.7,505,10602,0.00,2.58,0.00,0.000,4,0.000,0.061,2749,3350,2315
$GC,10653,1.39,146.6,892.9,11.7,507,10659,0.00,2.50,0.00,0.000,6,0.000,0.050,2749,1949,2316
$GC,10968,1.39,146.6,856.3,11.8,523,10972,0.00,2.58,0.00,0.000,4,0.000,0.061,2749,3356,2315
$GC,11030,1.39,146.6,848.9,12.1,526,11034,0.00,2.53,0.00,0.000,6,0.000,0.050,2749,1949,2315
$GC,11356,1.39,146.6,810.9,11.3,542,11360,0.00,2.58,0.00,0.000,4,0.000,0.061,2749,3353,2315
$GC,11441,1.39,146.6,801.2,12.5,546,11445,0.00,2.53,0.00,0.000,6,0.000,0.050,2749,1948,2314
$GC,11767,1.39,146.6,766.2,10.6,562,11771,0.00,2.58,0.00,0.000,4,0.000,0.061,2749,3354,2314
$GC,11833,1.39,146.6,758.5,11.8,565,11838,0.00,2.53,0.00,0.000,6,0.000,0.050,2749,1943,2314
$GC,12155,1.39,146.6,723.8,10.7,581,12156,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1943,2314
$GC,12466,1.39,146.6,690.2,10.9,596,12470,0.00,2.58,0.00,0.000,4,0.000,0.061,2749,3353,2313
$GC,12515,1.39,146.6,684.3,11.7,598,12519,0.00,2.50,0.00,0.000,6,0.000,0.049,2749,1948,2313
$GC,12830,1.39,146.6,650.8,10.6,613,12831,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1949,2313
$GC,13140,1.39,146.6,617.8,10.8,628,13144,0.00,2.55,0.00,0.000,4,0.000,0.061,2749,3350,2313
$GC,13246,1.39,146.6,605.9,10.8,633,13251,0.00,2.50,0.00,0.000,6,0.000,0.050,2749,1947,2313
$GC,13572,1.39,146.6,572.1,10.2,649,13573,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1947,2313
$GC,13882,1.44,189.0,544.4,8.1,664,13925,0.00,2.62,36.25,1.210,4,0.000,0.059,2749,3350,2143
$GC,14027,1.44,189.0,530.1,10.8,670,14031,0.00,2.53,0.00,0.000,6,0.000,0.048,2749,1945,2143
$GC,14342,1.44,189.0,493.9,11.6,685,14343,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1945,2143
$GC,14652,1.45,199.7,461.6,9.5,700,14668,0.00,2.65,10.68,1.065,4,0.000,0.073,2750,545,2099
$GC,14893,1.45,199.7,430.0,14.3,710,14897,0.00,2.47,0.00,0.000,6,0.000,0.040,2749,1953,2099
$GC,15220,1.45,199.7,389.9,11.9,726,15224,0.00,2.60,0.00,0.000,4,0.000,0.065,2749,545,2099
$GC,15286,1.45,199.7,381.6,12.7,729,15290,0.00,2.45,0.00,0.000,6,0.000,0.038,2750,1948,2099
$GC,15607,1.45,199.7,346.0,11.0,745,15608,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1949,2100
$GC,15916,1.45,199.7,308.6,12.9,760,15921,0.00,2.58,0.00,0.000,4,0.000,0.064,2749,546,2102
$GC,15989,1.45,199.7,298.4,13.9,763,15993,0.00,2.42,0.00,0.000,6,0.000,0.036,2749,1953,2102
$GC,16304,1.45,199.7,260.0,12.0,778,16308,0.00,2.58,0.00,0.000,4,0.000,0.062,2749,541,2103
$GC,16353,1.45,199.7,253.5,12.8,780,16358,0.00,2.42,0.00,0.000,6,0.000,0.035,2750,1948,2103
$GC,16669,1.45,199.7,215.8,11.5,795,16673,0.00,2.58,0.00,0.000,4,0.000,0.062,2750,539,2104
$GC,16724,1.45,199.7,208.8,11.1,797,16730,0.00,2.45,0.00,0.000,6,0.000,0.035,2750,1958,2104
$GC,17039,1.45,199.7,168.8,12.7,813,17040,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1958,2105
$GC,17350,1.46,203.1,135.2,9.8,828,17360,0.00,2.60,5.88,0.688,4,0.000,0.061,2749,541,2085
$GC,17428,1.46,203.1,124.9,13.5,831,17434,0.00,2.42,0.00,0.000,6,0.000,0.034,2749,1950,2085
$GC,17744,1.46,203.1,87.9,12.4,847,17748,0.00,2.55,0.00,0.000,4,0.000,0.061,2749,540,2086
$GC,17794,1.47,214.7,82.0,9.5,849,17809,0.00,2.42,10.55,0.731,6,0.000,0.035,2749,1953,2039
$GC,18131,1.47,214.7,43.3,10.2,866,18132,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1953,2039
$GC,18440,1.47,214.7,13.6,13.0,881,18444,0.00,2.58,0.00,0.000,4,0.000,0.064,2749,539,2041
$GC,18483,1.47,214.7,6.5,16.3,883,18488,0.00,2.42,0.00,0.000,6,0.000,0.034,2749,1949,2041
$STATE,18535,end climb,SURFACE_DEPTH_REACHED
$STATE,18535,begin surface coast
$FINISH,0.3,1.027350
$STATE,18557,end surface coast,CONTROL_FINISHED_OK
$STATE,18557,begin surface
$SM_CCo,18580,24.75,0.628,2,0,1894,250.21
$SM_GC,1.07,0.00,0.00,24.75,0.000,0.000,0.628,40,2074,1894,-11.09,0.62,250.21
$IRIDIUM_FIX,6108.28,-242.29,120597,222228
$TT8_MAMPS,0.026845
$HUMID,1720
$INTERNAL_PRESSURE,8.43026
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,23.0,5.294
$10V_AH,10.1,2.834
$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,27.025,196.525,318.800,24.750,0.000,155.197,185.114,384.956,8.500,0.000,0.000,11.694,1728.043,14043.902,514.762,2326.873,1037.612,33.361,1659.048,0.000,2284.982,0.000,55.936
$DEVICE_MAMPS,160.303,72.865,1480.310,628.173,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,662.542,598.934,541.061,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44272,887
$CFSIZE,260165632,256196608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,2,0
$GPS,170208,034407,6132.725,-251.800,31,1.7,31,-6.0