version: 66.02
glider: 104
mission: 4
dive: 21
start: 2 17 108 15 56 55
data:
$ID,104
$MISSION,4
$DIVE,21
$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,-35439.363
$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,21
$R_STBD_OVSHOOT,38
$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
$GPS1,155059,6133.479,-254.574,11,2.2,30,-6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-57.6
$GPS2,155605,6133.472,-254.458,14,2.5,33,-6.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.263,-0.010
$KALMAN_X,71499.9,1505.5,1044.4,-60982.0,12788.3
$KALMAN_Y,-15912.9,-669.6,152.8,15486.5,-8132.6
$MHEAD_RNG_PITCHd_Wd,273.9,43262,-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,-146.6,0.0,0.0,0,107,0.00,0.00,-81.50,0.000,2,0.000,0.000,41,2073,3502
$GC,110,-1.39,-146.6,4.8,-5.7,4,132,11.88,2.55,-0.25,0.000,4,0.158,0.065,2141,3451,3516
$GC,179,-1.39,-146.6,20.7,-12.4,7,183,0.00,2.45,0.00,0.000,6,0.000,0.038,2141,2049,3516
$GC,505,-1.39,-146.6,63.7,-12.5,23,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2049,3516
$GC,815,-1.39,-146.6,97.9,-11.2,38,816,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2049,3516
$GC,1124,-1.39,-146.6,133.7,-11.5,53,1128,0.00,2.55,0.00,0.000,4,0.000,0.064,2141,647,3516
$GC,1163,-1.39,-146.6,137.8,-10.5,55,1167,0.00,2.42,0.00,0.000,6,0.000,0.037,2141,2047,3516
$GC,1496,-1.39,-146.6,170.8,-10.5,71,1500,0.00,2.55,0.00,0.000,4,0.000,0.061,2141,646,3516
$GC,1618,-1.39,-146.6,184.2,-11.2,76,1624,0.00,2.42,0.00,0.000,6,0.000,0.038,2141,2054,3516
$GC,1934,-1.39,-146.6,219.9,-11.0,92,1938,0.00,2.55,0.00,0.000,4,0.000,0.061,2141,647,3516
$GC,2020,-1.39,-146.6,229.1,-11.1,96,2024,0.00,2.42,0.00,0.000,6,0.000,0.038,2141,2054,3516
$GC,2346,-1.39,-146.6,265.4,-11.4,112,2350,0.00,2.55,0.00,0.000,4,0.000,0.061,2141,648,3516
$GC,2431,-1.39,-146.6,275.3,-11.8,116,2436,0.00,2.42,0.00,0.000,6,0.000,0.038,2141,2056,3516
$GC,2758,-1.39,-146.6,311.7,-11.0,132,2762,0.00,2.55,0.00,0.000,4,0.000,0.061,2141,648,3516
$GC,2852,-1.39,-146.6,322.3,-11.4,136,2856,0.00,2.42,0.00,0.000,6,0.000,0.037,2141,2059,3516
$GC,3169,-1.39,-146.6,355.1,-10.1,151,3174,0.00,2.58,0.00,0.000,4,0.000,0.061,2141,642,3516
$GC,3260,-1.39,-146.6,365.4,-12.0,155,3264,0.00,2.45,0.00,0.000,6,0.000,0.037,2141,2060,3516
$GC,3581,-1.39,-146.6,399.5,-10.4,171,3586,0.00,2.55,0.00,0.000,4,0.000,0.060,2141,643,3516
$GC,3658,-1.39,-146.6,408.1,-10.5,174,3663,0.00,2.42,0.00,0.000,6,0.000,0.038,2141,2060,3516
$GC,3974,-1.39,-146.6,439.3,-10.2,189,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2060,3516
$GC,4284,-1.39,-146.6,469.5,-9.3,204,4288,0.00,2.58,0.00,0.000,4,0.000,0.061,2141,641,3516
$GC,4447,-1.39,-146.6,487.2,-11.5,211,4452,0.00,2.45,0.00,0.000,6,0.000,0.038,2141,2058,3516
$GC,4765,-1.39,-146.6,521.9,-10.7,226,4769,0.00,2.58,0.00,0.000,4,0.000,0.063,2141,646,3515
$GC,4831,-1.39,-146.6,529.3,-11.2,229,4835,0.00,2.42,0.00,0.000,6,0.000,0.041,2141,2050,3514
$GC,5152,-1.39,-146.6,559.3,-9.5,245,5156,0.00,2.58,0.00,0.000,4,0.000,0.064,2141,642,3514
$GC,5268,-1.39,-146.6,571.1,-10.5,250,5273,0.00,2.45,0.00,0.000,6,0.000,0.042,2141,2055,3514
$GC,5585,-1.39,-146.6,601.6,-9.3,265,5590,0.00,2.58,0.00,0.000,4,0.000,0.065,2141,649,3513
$GC,5641,-1.39,-146.6,607.2,-9.8,267,5647,0.00,2.45,0.00,0.000,6,0.000,0.044,2141,2051,3512
$GC,5957,-1.39,-146.6,634.6,-8.8,283,5961,0.00,2.58,0.00,0.000,4,0.000,0.067,2141,648,3511
$GC,6046,-1.39,-146.6,643.4,-9.6,287,6050,0.00,2.45,0.00,0.000,6,0.000,0.044,2141,2050,3510
$GC,6368,-1.39,-146.6,671.4,-8.4,303,6373,0.00,2.58,0.00,0.000,4,0.000,0.067,2141,648,3510
$GC,6432,-1.39,-146.6,677.0,-8.6,306,6435,0.00,2.45,0.00,0.000,6,0.000,0.045,2141,2052,3510
$GC,6764,-1.39,-146.6,705.3,-8.4,322,6768,0.00,2.58,0.00,0.000,4,0.000,0.067,2141,648,3508
$GC,6853,-1.39,-146.6,713.8,-9.7,326,6857,0.00,2.45,0.00,0.000,6,0.000,0.044,2141,2052,3508
$GC,7174,-1.39,-146.6,741.4,-8.8,342,7178,0.00,2.58,0.00,0.000,4,0.000,0.067,2141,647,3507
$GC,7246,-1.39,-146.6,748.0,-8.9,345,7250,0.00,2.47,0.00,0.000,6,0.000,0.045,2141,2060,3507
$GC,7561,-1.39,-146.6,773.7,-7.8,360,7565,0.00,2.60,0.00,0.000,4,0.000,0.066,2141,641,3505
$GC,7647,-1.39,-146.6,780.9,-8.5,364,7651,0.00,2.47,0.00,0.000,6,0.000,0.044,2141,2058,3505
$GC,7973,-1.39,-146.6,808.1,-8.5,380,7978,0.00,2.58,0.00,0.000,4,0.000,0.066,2141,645,3504
$GC,8074,-1.39,-146.6,817.6,-9.5,384,8080,0.00,2.47,0.00,0.000,6,0.000,0.045,2141,2058,3504
$GC,8390,-1.39,-146.6,845.5,-8.8,400,8394,0.00,2.58,0.00,0.000,4,0.000,0.066,2141,648,3503
$GC,8451,-1.39,-146.6,851.1,-9.3,403,8455,0.00,2.45,0.00,0.000,6,0.000,0.046,2141,2052,3503
$GC,8779,-1.39,-146.6,879.0,-8.5,419,8783,0.00,2.58,0.00,0.000,4,0.000,0.067,2141,648,3502
$GC,8841,-1.39,-146.6,884.7,-9.2,422,8845,0.00,2.45,0.00,0.000,6,0.000,0.045,2141,2053,3502
$GC,9167,-1.39,-146.6,912.2,-8.3,438,9171,0.00,2.58,0.00,0.000,4,0.000,0.067,2141,648,3502
$GC,9256,-1.39,-146.6,920.2,-9.0,442,9260,0.00,2.45,0.00,0.000,6,0.000,0.044,2141,2052,3501
$GC,9576,-1.39,-146.6,946.9,-8.3,458,9581,0.00,2.58,0.00,0.000,4,0.000,0.067,2141,647,3501
$GC,9643,-1.39,-146.6,952.7,-8.5,461,9648,0.00,2.47,0.00,0.000,6,0.000,0.045,2141,2061,3501
$GC,9965,-1.39,-146.6,979.7,-8.8,477,9969,0.00,2.58,0.00,0.000,4,0.000,0.067,2141,649,3500
$GC,10059,-1.39,-146.6,988.5,-9.2,481,10063,0.00,2.45,0.00,0.000,6,0.000,0.045,2141,2053,3500
$STATE,10083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10083,begin apogee
$GC,10090,-0.33,0.0,990.8,9.2,482,10221,1.17,0.00,127.47,1.486,6,0.103,0.000,2373,1939,2915
$STATE,10222,end apogee,CONTROL_FINISHED_OK
$STATE,10222,begin climb
$GC,10224,1.39,146.6,994.6,0.0,488,10364,1.77,2.65,128.98,1.430,4,0.062,0.063,2750,3350,2317
$GC,10448,1.39,146.6,980.0,11.5,497,10454,0.00,2.50,0.00,0.000,6,0.000,0.049,2750,1953,2317
$GC,10763,1.39,146.6,944.4,11.3,513,10768,0.00,2.58,0.00,0.000,4,0.000,0.061,2749,3351,2316
$GC,10826,1.39,146.6,937.2,12.1,516,10830,0.00,2.53,0.00,0.000,6,0.000,0.049,2750,1950,2316
$GC,11152,1.39,146.6,899.8,11.6,532,11156,0.00,2.58,0.00,0.000,4,0.000,0.061,2750,3350,2316
$GC,11201,1.39,146.6,893.8,11.5,534,11205,0.00,2.53,0.00,0.000,6,0.000,0.048,2750,1947,2316
$GC,11517,1.39,146.6,857.7,11.3,549,11521,0.00,2.58,0.00,0.000,4,0.000,0.061,2750,3350,2316
$GC,11572,1.39,146.6,851.1,12.2,551,11578,0.00,2.50,0.00,0.000,6,0.000,0.049,2750,1951,2315
$GC,11887,1.39,146.6,815.4,11.4,567,11891,0.00,2.58,0.00,0.000,4,0.000,0.060,2750,3357,2315
$GC,11959,1.39,146.6,807.0,10.9,570,11963,0.00,2.53,0.00,0.000,6,0.000,0.048,2750,1946,2315
$GC,12274,1.39,146.6,772.1,11.1,585,12275,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1946,2315
$GC,12584,1.39,146.6,738.1,10.7,600,12588,0.00,2.58,0.00,0.000,4,0.000,0.060,2750,3354,2315
$GC,12661,1.39,146.6,729.2,11.5,603,12667,0.00,2.50,0.00,0.000,6,0.000,0.048,2750,1951,2315
$GC,12976,1.39,146.6,695.8,10.3,619,12981,0.00,2.55,0.00,0.000,4,0.000,0.061,2750,3354,2315
$GC,13043,1.39,146.6,688.7,11.0,622,13047,0.00,2.53,0.00,0.000,6,0.000,0.049,2750,1944,2315
$GC,13364,1.39,151.2,656.3,9.8,638,13374,0.00,2.60,5.47,1.041,4,0.000,0.059,2750,3353,2297
$GC,13419,1.39,153.2,650.6,9.9,640,13426,0.00,2.55,0.00,0.000,6,0.000,0.048,2749,1947,2297
$GC,13735,1.39,153.2,619.2,10.1,656,13736,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1946,2297
$GC,14044,1.39,153.2,588.6,10.0,671,14045,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1946,2297
$GC,14354,1.42,170.9,559.0,9.2,686,14378,0.00,2.62,18.23,1.203,4,0.000,0.059,2750,3343,2218
$GC,14446,1.42,170.9,549.7,10.1,690,14450,0.00,2.47,0.00,0.000,6,0.000,0.048,2750,1948,2218
$GC,14767,1.42,170.9,514.7,11.5,706,14768,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1948,2218
$GC,15078,1.42,170.9,479.5,10.8,721,15082,0.00,2.55,0.00,0.000,4,0.000,0.058,2750,3350,2218
$GC,15133,1.42,170.9,473.3,10.8,723,15139,0.00,2.47,0.00,0.000,6,0.000,0.047,2750,1951,2218
$GC,15448,1.42,170.9,440.4,11.1,739,15449,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1950,2218
$GC,15757,1.42,170.9,404.6,11.6,754,15761,0.00,2.53,0.00,0.000,4,0.000,0.056,2750,3350,2218
$GC,15916,1.42,170.9,385.8,11.5,761,15920,0.00,2.47,0.00,0.000,6,0.000,0.044,2750,1945,2218
$GC,16242,1.42,170.9,349.5,10.8,777,16243,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1945,2218
$GC,16551,1.42,170.9,317.7,10.1,792,16552,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1945,2218
$GC,16861,1.42,178.0,288.0,9.7,807,16875,0.00,2.58,8.00,0.896,4,0.000,0.052,2750,3353,2189
$GC,16927,1.42,178.0,281.1,10.0,810,16931,0.00,2.45,0.00,0.000,6,0.000,0.041,2750,1949,2189
$GC,17260,1.42,178.0,246.0,10.9,826,17264,0.00,2.53,0.00,0.000,4,0.000,0.051,2750,3360,2189
$GC,17322,1.42,178.0,238.9,12.4,829,17326,0.00,2.45,0.00,0.000,6,0.000,0.041,2750,1947,2190
$GC,17654,1.42,178.0,201.7,10.8,845,17658,0.00,2.50,0.00,0.000,4,0.000,0.050,2750,3354,2191
$GC,17765,1.42,178.0,188.2,12.1,850,17769,0.00,2.45,0.00,0.000,6,0.000,0.040,2750,1952,2191
$GC,18086,1.42,178.0,149.1,11.9,866,18087,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1952,2192
$GC,18396,1.42,178.0,112.6,12.0,881,18397,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1952,2193
$GC,18704,1.42,178.0,76.2,11.6,896,18709,0.00,2.47,0.00,0.000,4,0.000,0.048,2750,3353,2194
$GC,18835,1.42,178.0,59.9,10.9,902,18839,0.00,2.45,0.00,0.000,6,0.000,0.041,2750,1943,2194
$GC,19162,1.45,195.6,26.6,9.2,918,19185,0.00,2.55,16.58,0.738,4,0.000,0.048,2750,3357,2116
$GC,19353,1.45,195.6,3.5,12.0,926,19357,0.00,2.45,0.00,0.000,6,0.000,0.040,2750,1947,2116
$STATE,19380,end climb,SURFACE_DEPTH_REACHED
$STATE,19380,begin surface coast
$FINISH,0.5,1.027389
$STATE,19400,end surface coast,CONTROL_FINISHED_OK
$STATE,19400,begin surface
$SM_CCo,19423,36.28,0.650,3,0,1894,250.21
$SM_GC,1.21,0.00,0.00,36.28,0.000,0.000,0.650,40,2070,1894,-11.08,0.51,250.21
$IRIDIUM_FIX,6108.28,-247.01,130597,141450
$TT8_MAMPS,0.026845
$HUMID,1710
$INTERNAL_PRESSURE,8.38143
$TCM_TEMP,17.00
$XPDR_PINGS,0
$24V_AH,22.9,5.805
$10V_AH,10.1,3.143
$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,26.850,196.525,304.725,36.275,0.000,39.690,36.668,126.158,8.500,0.000,0.000,35.418,1800.673,14614.779,525.604,2370.859,484.143,33.335,1674.756,0.000,2305.220,0.000,55.912
$DEVICE_MAMPS,158.002,67.496,1485.679,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,697.264,627.465,550.742,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47291,928
$CFSIZE,260165632,255967232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,24,3,0
$GPS,170208,212302,6131.988,-255.662,55,1.6,55,-6.0