version: 66.02
glider: 104
mission: 4
dive: 18
start: 2 17 108 3 55 22
data:
$ID,104
$MISSION,4
$DIVE,18
$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,-35374.105
$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,45
$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
$GPS1,034407,6132.725,-251.800,31,1.7,31,-6.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-54.9
$GPS2,035432,6132.820,-251.342,12,1.7,17,-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,66203.1,-3141.8,423.7,-47670.9,6023.0
$KALMAN_Y,-11666.4,35.6,97.9,9366.6,-1370.9
$MHEAD_RNG_PITCHd_Wd,293.6,45694,-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,-80.50,0.000,6,0.000,0.000,39,2073,3514
$GC,109,-1.39,-146.6,4.9,-5.2,4,131,11.93,2.50,0.00,0.000,4,0.158,0.052,2143,3445,3516
$GC,147,-1.39,-146.6,20.1,-28.8,5,154,0.00,2.45,0.00,0.000,6,0.000,0.036,2143,2056,3515
$GC,463,-1.39,-146.6,62.4,-14.0,21,464,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2056,3516
$GC,773,-1.39,-146.6,99.1,-10.8,36,774,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2056,3517
$GC,1082,-1.39,-146.6,127.3,-8.2,51,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2056,3516
$GC,1391,-1.39,-146.6,158.5,-10.9,66,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2143,2056,3517
$GC,1701,-1.39,-146.6,189.2,-10.3,81,1705,0.00,2.55,0.00,0.000,4,0.000,0.062,2143,647,3517
$GC,1755,-1.39,-146.6,195.5,-11.2,83,1762,0.00,2.38,0.00,0.000,6,0.000,0.035,2143,2036,3517
$GC,2071,-1.39,-146.6,229.2,-10.0,99,2075,0.00,2.53,0.00,0.000,4,0.000,0.059,2143,640,3517
$GC,2120,-1.39,-146.6,234.6,-10.3,101,2125,0.00,2.40,0.00,0.000,6,0.000,0.036,2143,2050,3517
$GC,2436,-1.39,-146.6,265.8,-10.5,116,2441,0.00,2.53,0.00,0.000,4,0.000,0.059,2143,647,3517
$GC,2554,-1.39,-146.6,279.6,-12.2,121,2558,0.00,2.40,0.00,0.000,6,0.000,0.036,2143,2052,3517
$GC,2870,-1.39,-146.6,312.7,-10.0,136,2875,0.00,2.55,0.00,0.000,4,0.000,0.059,2143,643,3517
$GC,2955,-1.39,-146.6,321.0,-9.7,140,2959,0.00,2.40,0.00,0.000,6,0.000,0.037,2143,2052,3517
$GC,3291,-1.39,-146.6,351.0,-8.6,156,3295,0.00,2.55,0.00,0.000,4,0.000,0.059,2143,641,3517
$GC,3381,-1.39,-146.6,359.8,-9.5,160,3386,0.00,2.42,0.00,0.000,6,0.000,0.036,2143,2054,3517
$GC,3703,-1.39,-146.6,391.3,-10.3,176,3707,0.00,2.55,0.00,0.000,4,0.000,0.059,2143,641,3518
$GC,3810,-1.39,-146.6,402.3,-10.0,181,3815,0.00,2.42,0.00,0.000,6,0.000,0.037,2143,2057,3517
$GC,4137,-1.39,-146.6,430.8,-8.4,197,4141,0.00,2.55,0.00,0.000,4,0.000,0.059,2143,644,3517
$GC,4177,-1.39,-146.6,434.3,-8.9,199,4181,0.00,2.42,0.00,0.000,6,0.000,0.037,2143,2059,3517
$GC,4503,-1.39,-146.6,466.4,-10.5,215,4508,0.00,2.55,0.00,0.000,4,0.000,0.060,2143,645,3517
$GC,4667,-1.39,-146.6,482.9,-9.2,222,4671,0.00,2.42,0.00,0.000,6,0.000,0.038,2143,2051,3517
$GC,4983,-1.39,-146.6,511.2,-8.7,237,4987,0.00,2.55,0.00,0.000,4,0.000,0.061,2143,646,3516
$GC,5105,-1.39,-146.6,523.1,-9.3,242,5111,0.00,2.42,0.00,0.000,6,0.000,0.041,2143,2051,3516
$GC,5420,-1.39,-146.6,554.6,-10.4,258,5424,0.00,2.55,0.00,0.000,4,0.000,0.064,2143,648,3515
$GC,5486,-1.39,-146.6,561.9,-11.2,261,5491,0.00,2.45,0.00,0.000,6,0.000,0.041,2143,2059,3515
$GC,5807,-1.39,-146.6,594.7,-10.0,277,5812,0.00,2.58,0.00,0.000,4,0.000,0.065,2143,648,3513
$GC,5947,-1.39,-146.6,609.3,-10.9,283,5951,0.00,2.42,0.00,0.000,6,0.000,0.042,2144,2050,3512
$GC,6263,-1.39,-146.6,638.7,-9.1,298,6267,0.00,2.58,0.00,0.000,4,0.000,0.066,2143,645,3511
$GC,6380,-1.39,-146.6,650.3,-10.0,303,6384,0.00,2.45,0.00,0.000,6,0.000,0.044,2143,2051,3511
$GC,6702,-1.39,-146.6,680.6,-9.6,319,6706,0.00,2.58,0.00,0.000,4,0.000,0.067,2143,648,3510
$GC,6757,-1.39,-146.6,686.2,-9.9,321,6763,0.00,2.45,0.00,0.000,6,0.000,0.045,2143,2051,3510
$GC,7073,-1.39,-146.6,715.5,-9.1,337,7077,0.00,2.58,0.00,0.000,4,0.000,0.067,2143,648,3508
$GC,7150,-1.39,-146.6,722.9,-9.4,340,7157,0.00,2.45,0.00,0.000,6,0.000,0.044,2143,2052,3508
$GC,7468,-1.39,-146.6,751.6,-9.1,356,7472,0.00,2.58,0.00,0.000,4,0.000,0.067,2143,648,3507
$GC,7552,-1.39,-146.6,759.9,-10.1,360,7556,0.00,2.47,0.00,0.000,6,0.000,0.046,2143,2059,3506
$GC,7879,-1.39,-146.6,788.6,-8.8,376,7884,0.00,2.60,0.00,0.000,4,0.000,0.067,2143,646,3505
$GC,7958,-1.39,-146.6,795.9,-9.0,379,7964,0.00,2.47,0.00,0.000,6,0.000,0.045,2143,2056,3505
$GC,8273,-1.39,-146.6,823.1,-8.6,395,8278,0.00,2.60,0.00,0.000,4,0.000,0.068,2143,642,3503
$GC,8342,-1.39,-146.6,829.3,-9.0,398,8346,0.00,2.47,0.00,0.000,6,0.000,0.045,2143,2050,3503
$GC,8662,-1.39,-146.6,855.8,-8.0,414,8667,0.00,2.58,0.00,0.000,4,0.000,0.068,2143,648,3502
$GC,8735,-1.39,-146.6,862.2,-9.3,417,8739,0.00,2.47,0.00,0.000,6,0.000,0.047,2143,2056,3502
$GC,9051,-1.39,-146.6,888.4,-8.4,432,9055,0.00,2.58,0.00,0.000,4,0.000,0.067,2143,648,3501
$GC,9136,-1.39,-146.6,895.9,-8.8,436,9140,0.00,2.45,0.00,0.000,6,0.000,0.047,2143,2052,3501
$GC,9462,-1.39,-146.6,924.1,-8.7,452,9466,0.00,2.58,0.00,0.000,4,0.000,0.068,2143,649,3500
$GC,9564,-1.39,-146.6,933.5,-9.5,456,9570,0.00,2.47,0.00,0.000,6,0.000,0.046,2143,2056,3500
$GC,9879,-1.39,-146.6,961.1,-8.6,472,9883,0.00,2.60,0.00,0.000,4,0.000,0.067,2143,643,3500
$GC,9965,-1.39,-146.6,968.8,-9.5,476,9969,0.00,2.47,0.00,0.000,6,0.000,0.047,2143,2051,3500
$STATE,10226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10226,begin apogee
$GC,10233,-0.33,0.0,991.0,8.2,489,10364,1.17,0.00,126.90,1.484,6,0.103,0.000,2375,1942,2915
$STATE,10364,end apogee,CONTROL_FINISHED_OK
$STATE,10364,begin climb
$GC,10367,1.39,146.6,994.3,0.0,495,10507,1.75,2.65,129.45,1.423,4,0.064,0.063,2747,3350,2317
$GC,10675,1.39,146.6,968.6,11.8,508,10680,0.00,2.50,0.00,0.000,6,0.000,0.048,2747,1959,2316
$GC,10991,1.39,146.6,932.7,11.2,523,10995,0.00,2.55,0.00,0.000,4,0.000,0.059,2747,3350,2316
$GC,11040,1.39,146.6,926.9,12.0,525,11044,0.00,2.53,0.00,0.000,6,0.000,0.048,2747,1950,2316
$GC,11355,1.39,146.6,891.5,11.3,540,11357,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1949,2316
$GC,11665,1.39,146.6,857.2,10.9,555,11669,0.00,2.58,0.00,0.000,4,0.000,0.061,2747,3356,2315
$GC,11755,1.39,146.6,846.9,11.6,559,11759,0.00,2.53,0.00,0.000,6,0.000,0.049,2747,1949,2315
$GC,12075,1.39,146.6,812.0,10.9,575,12076,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1949,2314
$GC,12384,1.39,146.6,777.9,11.1,590,12389,0.00,2.58,0.00,0.000,4,0.000,0.060,2747,3356,2314
$GC,12479,1.39,146.6,766.9,10.4,594,12483,0.00,2.53,0.00,0.000,6,0.000,0.049,2747,1949,2314
$GC,12796,1.39,146.6,732.3,10.7,609,12797,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1948,2314
$GC,13104,1.39,146.6,699.7,10.4,624,13108,0.00,2.55,0.00,0.000,4,0.000,0.060,2747,3350,2314
$GC,13176,1.39,152.0,691.9,9.8,627,13188,0.00,2.50,5.78,1.068,6,0.000,0.048,2747,1949,2295
$GC,13497,1.39,152.0,659.0,10.1,643,13501,0.00,2.55,0.00,0.000,4,0.000,0.060,2747,3350,2295
$GC,13575,1.39,152.0,650.8,10.9,646,13579,0.00,2.47,0.00,0.000,6,0.000,0.049,2747,1950,2295
$GC,13892,1.40,159.0,619.8,9.7,661,13902,0.00,0.00,7.72,1.123,6,0.000,0.000,2747,1950,2266
$GC,14202,1.40,159.0,587.9,10.2,676,14206,0.00,2.55,0.00,0.000,4,0.000,0.060,2747,3350,2266
$GC,14257,1.40,160.6,581.9,9.9,678,14263,0.00,2.50,0.00,0.000,6,0.000,0.048,2748,1949,2266
$GC,14572,1.40,160.6,550.8,10.1,694,14573,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1949,2266
$GC,14881,1.40,160.6,518.4,10.6,709,14882,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1949,2265
$GC,15192,1.40,160.6,484.5,10.5,724,15193,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1949,2265
$GC,15500,1.40,160.6,451.4,11.6,739,15504,0.00,2.62,0.00,0.000,4,0.000,0.074,2747,540,2266
$GC,15577,1.40,160.6,441.3,13.4,742,15583,0.00,2.47,0.00,0.000,6,0.000,0.042,2747,1952,2266
$GC,15892,1.40,160.6,407.0,10.2,758,15897,0.00,2.53,0.00,0.000,4,0.000,0.059,2747,3352,2266
$GC,16026,1.40,160.6,392.7,10.3,764,16031,0.00,2.47,0.00,0.000,6,0.000,0.045,2747,1945,2265
$GC,16347,1.40,160.6,360.0,10.0,780,16352,0.00,2.53,0.00,0.000,4,0.000,0.055,2747,3349,2266
$GC,16410,1.40,161.5,353.7,10.0,783,16419,0.00,2.45,3.95,0.744,6,0.000,0.044,2748,1951,2256
$GC,16741,1.40,161.5,320.0,10.3,799,16746,0.00,2.58,0.00,0.000,4,0.000,0.069,2747,546,2257
$GC,16785,1.40,161.5,315.2,10.1,801,16790,0.00,2.45,0.00,0.000,6,0.000,0.038,2747,1954,2256
$GC,17107,1.41,169.6,284.3,9.6,817,17118,0.00,0.00,8.95,0.906,6,0.000,0.000,2748,1954,2223
$GC,17416,1.41,169.6,253.2,10.0,832,17420,0.00,2.58,0.00,0.000,4,0.000,0.064,2747,546,2224
$GC,17482,1.41,169.6,246.1,11.0,835,17486,0.00,2.45,0.00,0.000,6,0.000,0.037,2747,1955,2224
$GC,17804,1.41,169.6,214.3,10.0,851,17805,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1955,2225
$GC,18113,1.41,169.6,182.6,10.5,866,18117,0.00,2.58,0.00,0.000,4,0.000,0.064,2747,547,2226
$GC,18190,1.41,169.6,173.8,10.2,869,18196,0.00,2.42,0.00,0.000,6,0.000,0.036,2748,1949,2227
$GC,18507,1.41,169.6,141.8,10.0,885,18511,0.00,2.58,0.00,0.000,4,0.000,0.062,2748,539,2227
$GC,18561,1.41,169.6,135.2,11.4,887,18568,0.00,2.45,0.00,0.000,6,0.000,0.036,2748,1957,2228
$GC,18877,1.41,169.6,100.8,11.0,903,18882,0.00,2.55,0.00,0.000,4,0.000,0.061,2748,546,2228
$GC,18921,1.41,169.6,95.9,10.5,905,18926,0.00,2.42,0.00,0.000,6,0.000,0.035,2748,1954,2229
$GC,19244,1.41,169.6,61.8,11.0,921,19248,0.00,2.58,0.00,0.000,4,0.000,0.062,2748,541,2229
$GC,19321,1.41,169.6,52.4,11.1,924,19328,0.00,2.45,0.00,0.000,6,0.000,0.035,2748,1949,2230
$GC,19637,1.41,169.6,18.1,11.1,940,19642,0.00,2.55,0.00,0.000,4,0.000,0.062,2748,546,2230
$GC,19749,1.41,169.6,4.5,12.1,945,19753,0.00,2.42,0.00,0.000,6,0.000,0.035,2747,1954,2231
$STATE,19780,end climb,SURFACE_DEPTH_REACHED
$STATE,19780,begin surface coast
$FINISH,0.2,1.013916
$STATE,19802,end surface coast,CONTROL_FINISHED_OK
$STATE,19802,begin surface
$SM_CCo,19824,50.92,0.670,3,0,1895,250.21
$SM_GC,0.77,0.00,0.00,50.92,0.000,0.000,0.670,40,2069,1895,-11.09,0.45,250.21
$IRIDIUM_FIX,6108.28,-251.52,130597,030353
$TT8_MAMPS,0.026845
$HUMID,1710
$INTERNAL_PRESSURE,8.39119
$TCM_TEMP,17.00
$XPDR_PINGS,1
$24V_AH,22.9,5.442
$10V_AH,10.1,2.930
$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,27.175,196.050,282.750,50.925,0.000,76.120,72.208,284.005,8.750,0.000,0.000,19.287,1824.846,15041.293,535.554,2365.542,743.400,33.350,1679.956,0.000,2315.843,0.000,55.903
$DEVICE_MAMPS,158.002,74.399,1484.145,670.358,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,708.073,640.595,568.200,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47403,948
$CFSIZE,260165632,256118784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,15,3,0
$GPS,170208,092808,6133.484,-252.618,38,1.3,38,-6.0