version: 66.02
glider: 104
mission: 4
dive: 23
start: 2 18 108 2 58 49
data:
$ID,104
$MISSION,4
$DIVE,23
$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,-35467.016
$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,26
$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
$GPS1,025107,6131.182,-257.936,33,1.0,33,-6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-59.5
$GPS2,025757,6131.153,-257.722,11,1.0,11,-6.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.159,0.210
$KALMAN_X,83691.8,-1385.0,-1559.8,-70595.5,11668.7
$KALMAN_Y,-22120.3,590.7,-297.1,16584.3,-2885.4
$MHEAD_RNG_PITCHd_Wd,328.8,39603,-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,-146.6,0.0,0.0,0,86,0.00,0.00,-61.28,0.000,2,0.000,0.000,42,2044,3050
$GC,90,-1.39,-146.6,3.0,-4.6,3,121,11.77,2.58,-13.43,0.000,4,0.153,0.071,2145,643,3513
$GC,204,-1.39,-146.6,16.3,-11.3,8,209,0.00,2.42,0.00,0.000,6,0.000,0.035,2145,2057,3515
$GC,521,-1.39,-146.6,53.6,-11.3,23,525,0.00,2.58,0.00,0.000,4,0.000,0.059,2144,639,3515
$GC,629,-1.39,-146.6,65.5,-11.4,28,633,0.00,2.42,0.00,0.000,6,0.000,0.036,2144,2048,3515
$GC,955,-1.39,-146.6,98.5,-9.6,44,960,0.00,2.55,0.00,0.000,4,0.000,0.058,2144,644,3516
$GC,1056,-1.39,-146.6,110.1,-12.7,48,1062,0.00,2.42,0.00,0.000,6,0.000,0.036,2144,2058,3516
$GC,1372,-1.39,-146.6,149.1,-12.5,64,1377,0.00,2.58,0.00,0.000,4,0.000,0.059,2144,641,3516
$GC,1466,-1.39,-146.6,163.6,-15.5,68,1470,0.00,2.42,0.00,0.000,6,0.000,0.037,2144,2051,3516
$GC,1793,-1.39,-146.6,202.3,-11.3,84,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2051,3517
$GC,2102,-1.39,-146.6,232.3,-10.1,99,2106,0.00,2.55,0.00,0.000,4,0.000,0.059,2144,645,3517
$GC,2181,-1.39,-146.6,240.6,-10.6,102,2187,0.00,2.42,0.00,0.000,6,0.000,0.037,2144,2053,3517
$GC,2496,-1.39,-146.6,272.3,-10.4,118,2500,0.00,2.55,0.00,0.000,4,0.000,0.059,2144,645,3517
$GC,2580,-1.39,-146.6,281.5,-11.0,122,2584,0.00,2.42,0.00,0.000,6,0.000,0.036,2144,2058,3517
$GC,2906,-1.39,-146.6,316.3,-10.3,138,2910,0.00,2.55,0.00,0.000,4,0.000,0.059,2145,646,3517
$GC,3035,-1.39,-146.6,330.1,-10.4,144,3039,0.00,2.42,0.00,0.000,6,0.000,0.038,2144,2057,3517
$GC,3361,-1.39,-146.6,364.5,-11.4,160,3365,0.00,2.55,0.00,0.000,4,0.000,0.060,2144,644,3517
$GC,3461,-1.39,-146.6,376.4,-12.2,164,3467,0.00,2.42,0.00,0.000,6,0.000,0.038,2144,2059,3517
$GC,3776,-1.39,-146.6,406.5,-8.6,180,3781,0.00,2.55,0.00,0.000,4,0.000,0.059,2144,646,3517
$GC,3894,-1.39,-146.6,417.3,-9.4,185,3898,0.00,2.42,0.00,0.000,6,0.000,0.038,2144,2051,3517
$GC,4209,-1.39,-146.6,449.9,-11.1,200,4217,0.00,2.55,0.00,0.000,4,0.000,0.060,2144,644,3517
$GC,4289,-1.39,-146.6,458.8,-10.7,203,4294,0.00,2.42,0.00,0.000,6,0.000,0.038,2144,2058,3517
$GC,4605,-1.39,-146.6,487.7,-9.7,218,4610,0.00,2.58,0.00,0.000,4,0.000,0.061,2144,642,3516
$GC,4835,-1.39,-146.6,513.3,-11.0,228,4839,0.00,2.42,0.00,0.000,6,0.000,0.040,2144,2051,3516
$GC,5151,-1.39,-146.6,545.4,-9.4,243,5155,0.00,2.55,0.00,0.000,4,0.000,0.064,2144,646,3515
$GC,5206,-1.39,-146.6,550.7,-9.1,245,5212,0.00,2.45,0.00,0.000,6,0.000,0.041,2144,2055,3515
$GC,5522,-1.39,-146.6,578.5,-9.0,261,5527,0.00,2.58,0.00,0.000,4,0.000,0.064,2144,646,3514
$GC,5572,-1.39,-146.6,583.5,-9.6,263,5577,0.00,2.45,0.00,0.000,6,0.000,0.043,2144,2052,3514
$GC,5888,-1.39,-146.6,611.1,-8.8,278,5892,0.00,2.58,0.00,0.000,4,0.000,0.066,2144,646,3512
$GC,5951,-1.39,-146.6,616.7,-9.6,281,5955,0.00,2.45,0.00,0.000,6,0.000,0.044,2144,2050,3512
$GC,6277,-1.39,-146.6,645.6,-9.0,297,6282,0.00,2.58,0.00,0.000,4,0.000,0.066,2144,646,3511
$GC,6327,-1.39,-146.6,650.8,-10.0,299,6331,0.00,2.45,0.00,0.000,6,0.000,0.044,2144,2053,3510
$GC,6649,-1.39,-146.6,681.1,-9.6,315,6653,0.00,2.58,0.00,0.000,4,0.000,0.067,2144,644,3510
$GC,6749,-1.39,-146.6,691.2,-9.8,319,6755,0.00,2.47,0.00,0.000,6,0.000,0.045,2144,2053,3509
$GC,7064,-1.39,-146.6,721.1,-9.7,335,7069,0.00,2.60,0.00,0.000,4,0.000,0.067,2144,640,3509
$GC,7142,-1.39,-146.6,729.3,-10.1,338,7148,0.00,2.47,0.00,0.000,6,0.000,0.045,2144,2058,3509
$GC,7458,-1.39,-146.6,759.9,-9.4,354,7462,0.00,2.60,0.00,0.000,4,0.000,0.067,2144,645,3507
$GC,7542,-1.39,-146.6,768.4,-9.9,358,7547,0.00,2.47,0.00,0.000,6,0.000,0.046,2144,2056,3506
$GC,7869,-1.39,-146.6,798.5,-8.8,374,7874,0.00,2.58,0.00,0.000,4,0.000,0.067,2144,646,3505
$GC,7947,-1.39,-146.6,805.9,-9.3,377,7953,0.00,2.47,0.00,0.000,6,0.000,0.046,2144,2054,3505
$GC,8263,-1.39,-146.6,832.1,-8.3,393,8267,0.00,2.60,0.00,0.000,4,0.000,0.067,2144,638,3503
$GC,8353,-1.39,-146.6,840.2,-9.0,397,8357,0.00,2.50,0.00,0.000,6,0.000,0.046,2144,2060,3503
$GC,8674,-1.39,-146.6,866.1,-7.9,413,8678,0.00,2.58,0.00,0.000,4,0.000,0.066,2144,646,3503
$GC,8769,-1.39,-146.6,874.1,-8.5,417,8773,0.00,2.47,0.00,0.000,6,0.000,0.045,2144,2055,3502
$GC,9084,-1.39,-146.6,899.1,-8.0,432,9089,0.00,2.60,0.00,0.000,4,0.000,0.067,2144,638,3502
$GC,9151,-1.39,-146.6,904.9,-9.1,435,9156,0.00,2.50,0.00,0.000,6,0.000,0.045,2144,2060,3501
$GC,9473,-1.39,-146.6,931.5,-8.2,451,9478,0.00,2.60,0.00,0.000,4,0.000,0.066,2144,645,3501
$GC,9552,-1.39,-146.6,938.7,-9.1,454,9558,0.00,2.47,0.00,0.000,6,0.000,0.046,2144,2051,3501
$GC,9867,-1.39,-146.6,965.1,-8.3,470,9872,0.00,2.60,0.00,0.000,4,0.000,0.068,2144,639,3500
$GC,9930,-1.39,-146.6,970.8,-9.4,473,9934,0.00,2.47,0.00,0.000,6,0.000,0.045,2144,2051,3500
$STATE,10171,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10171,begin apogee
$GC,10177,-0.33,0.0,991.1,8.2,485,10309,1.15,0.00,127.40,1.486,6,0.100,0.000,2373,1939,2915
$STATE,10309,end apogee,CONTROL_FINISHED_OK
$STATE,10309,begin climb
$GC,10312,1.39,146.6,994.3,0.0,491,10450,1.77,2.67,129.80,1.429,4,0.064,0.061,2748,3356,2316
$GC,10610,1.39,146.6,969.4,12.5,504,10615,0.00,2.53,0.00,0.000,6,0.000,0.048,2748,1958,2316
$GC,10937,1.39,146.6,931.1,11.7,520,10941,0.00,2.55,0.00,0.000,4,0.000,0.059,2748,3349,2315
$GC,11003,1.39,146.6,923.0,12.1,523,11007,0.00,2.50,0.00,0.000,6,0.000,0.048,2748,1950,2315
$GC,11323,1.39,146.6,885.7,11.5,539,11327,0.00,2.58,0.00,0.000,4,0.000,0.060,2748,3351,2315
$GC,11390,1.39,146.6,877.4,12.5,542,11394,0.00,2.53,0.00,0.000,6,0.000,0.048,2748,1947,2314
$GC,11710,1.39,146.6,840.4,11.5,558,11711,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1946,2314
$GC,12020,1.39,146.6,805.1,11.4,573,12024,0.00,2.58,0.00,0.000,4,0.000,0.060,2748,3352,2314
$GC,12131,1.39,146.6,791.9,11.8,578,12135,0.00,2.50,0.00,0.000,6,0.000,0.048,2748,1946,2314
$GC,12451,1.39,146.6,756.7,10.9,594,12455,0.00,2.58,0.00,0.000,4,0.000,0.060,2748,3353,2313
$GC,12512,1.39,146.6,749.7,10.7,597,12517,0.00,2.53,0.00,0.000,6,0.000,0.048,2748,1946,2313
$GC,12839,1.39,146.6,714.7,10.6,613,12840,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1946,2313
$GC,13148,1.39,146.6,683.0,10.1,628,13152,0.00,2.55,0.00,0.000,4,0.000,0.059,2748,3350,2313
$GC,13265,1.39,146.6,670.8,10.6,633,13270,0.00,2.47,0.00,0.000,6,0.000,0.048,2748,1950,2313
$GC,13581,1.40,158.5,640.9,9.5,648,13597,0.00,2.67,11.00,1.207,4,0.000,0.074,2748,547,2268
$GC,13653,1.42,171.8,633.8,9.4,650,13673,0.00,2.47,13.35,1.210,6,0.000,0.042,2749,1956,2213
$GC,13995,1.42,171.8,598.3,10.5,667,13996,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1957,2213
$GC,14304,1.42,176.2,566.6,9.8,682,14315,0.00,2.55,5.70,1.012,4,0.000,0.060,2749,3347,2195
$GC,14366,1.42,176.2,560.1,10.1,685,14371,0.00,2.47,0.00,0.000,6,0.000,0.048,2748,1949,2195
$GC,14693,1.42,176.2,524.3,11.4,701,14695,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1949,2195
$GC,15003,1.42,176.2,487.6,12.3,716,15007,0.00,2.62,0.00,0.000,4,0.000,0.074,2748,541,2195
$GC,15132,1.42,176.2,469.9,13.0,722,15136,0.00,2.47,0.00,0.000,6,0.000,0.042,2748,1949,2195
$GC,15458,1.42,176.2,429.7,11.3,738,15462,0.00,2.53,0.00,0.000,4,0.000,0.060,2748,3349,2195
$GC,15670,1.42,176.2,403.2,12.6,747,15676,0.00,2.45,0.00,0.000,6,0.000,0.045,2748,1952,2195
$GC,15986,1.44,190.3,370.6,9.4,763,16007,0.00,2.60,12.85,1.044,4,0.000,0.055,2748,3350,2139
$GC,16091,1.44,190.3,359.6,10.3,767,16097,0.00,2.47,0.00,0.000,6,0.000,0.043,2748,1946,2139
$GC,16406,1.44,190.3,325.3,10.8,783,16410,0.00,2.53,0.00,0.000,4,0.000,0.053,2749,3350,2139
$GC,16457,1.44,190.3,319.9,10.9,785,16462,0.00,2.47,0.00,0.000,6,0.000,0.041,2748,1944,2139
$GC,16779,1.44,190.3,283.9,11.6,801,16783,0.00,2.58,0.00,0.000,4,0.000,0.067,2748,539,2140
$GC,16863,1.44,190.3,273.8,11.2,805,16867,0.00,2.45,0.00,0.000,6,0.000,0.037,2748,1953,2140
$GC,17190,1.44,190.3,236.2,12.0,821,17191,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1953,2141
$GC,17499,1.44,190.3,197.4,13.2,836,17504,0.00,2.58,0.00,0.000,4,0.000,0.063,2748,542,2143
$GC,17577,1.44,190.3,186.4,12.1,839,17583,0.00,2.42,0.00,0.000,6,0.000,0.035,2749,1949,2143
$GC,17892,1.44,190.3,148.3,11.4,855,17894,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1949,2144
$GC,18203,1.44,190.3,112.1,12.1,870,18207,0.00,2.55,0.00,0.000,4,0.000,0.061,2749,546,2145
$GC,18287,1.44,190.3,101.3,12.2,874,18292,0.00,2.42,0.00,0.000,6,0.000,0.035,2748,1955,2146
$GC,18615,1.44,190.3,61.4,11.9,890,18616,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1955,2147
$GC,18924,1.44,190.3,25.6,11.6,905,18925,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1955,2147
$STATE,19127,end climb,SURFACE_DEPTH_REACHED
$STATE,19127,begin surface coast
$FINISH,0.2,1.017022
$STATE,19149,end surface coast,CONTROL_FINISHED_OK
$STATE,19149,begin surface
$SM_CCo,19172,40.47,0.680,2,0,1893,250.21
$SM_GC,1.05,0.00,0.00,40.47,0.000,0.000,0.680,40,2067,1893,-11.09,0.42,250.21
$IRIDIUM_FIX,6108.28,-300.53,130597,212153
$TT8_MAMPS,0.026845
$HUMID,1697
$INTERNAL_PRESSURE,8.39119
$TCM_TEMP,17.10
$XPDR_PINGS,0
$24V_AH,23.0,6.099
$10V_AH,10.1,3.327
$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,26.825,196.775,300.100,40.475,0.000,37.593,44.432,211.670,8.500,0.000,0.000,13.176,1780.362,14355.605,516.805,2397.892,581.376,33.363,1681.951,0.000,2345.021,0.000,55.921
$DEVICE_MAMPS,153.400,73.632,1486.446,680.329,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,680.458,619.118,550.744,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47348,916
$CFSIZE,260165632,255827968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,2,0
$GPS,180208,082046,6132.925,-257.502,36,2.4,55,-6.0