version: 66.02
glider: 104
mission: 4
dive: 29
start: 2 19 108 11 46 18
data:
$ID,104
$MISSION,4
$DIVE,29
$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,-35617.035
$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,39
$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
$GPS1,113508,6133.823,-306.008,37,0.9,37,-6.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-64.8
$GPS2,114526,6133.945,-305.757,12,1.0,12,-6.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.192,0.181
$KALMAN_X,101680.2,-482.5,183.0,-98295.8,4443.6
$KALMAN_Y,-25443.3,936.8,1167.1,23240.9,-3359.3
$MHEAD_RNG_PITCHd_Wd,319.4,33900,-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,-80.75,0.000,2,0.000,0.000,39,2066,3459
$GC,109,-1.39,-146.6,4.7,-5.7,4,131,11.82,2.62,-1.15,0.000,4,0.156,0.071,2141,654,3517
$GC,269,-1.39,-146.6,30.8,-12.8,11,273,0.00,2.40,0.00,0.000,6,0.000,0.037,2141,2042,3517
$GC,596,-1.39,-146.6,67.9,-11.5,27,600,0.00,2.55,0.00,0.000,4,0.000,0.060,2141,642,3517
$GC,658,-1.39,-146.6,74.9,-12.0,30,662,0.00,2.42,0.00,0.000,6,0.000,0.036,2141,2052,3517
$GC,985,-1.39,-146.6,111.2,-11.3,46,990,0.00,2.55,0.00,0.000,4,0.000,0.060,2141,648,3518
$GC,1052,-1.39,-146.6,119.3,-12.0,49,1056,0.00,2.42,0.00,0.000,6,0.000,0.037,2141,2057,3518
$GC,1373,-1.39,-146.6,155.5,-11.3,65,1377,0.00,2.55,0.00,0.000,4,0.000,0.059,2141,647,3518
$GC,1507,-1.39,-146.6,171.4,-11.9,71,1511,0.00,2.42,0.00,0.000,6,0.000,0.037,2141,2060,3518
$GC,1829,-1.39,-146.6,207.9,-11.4,87,1833,0.00,2.58,0.00,0.000,4,0.000,0.061,2141,643,3518
$GC,1936,-1.39,-146.6,220.5,-11.5,92,1940,0.00,2.42,0.00,0.000,6,0.000,0.038,2141,2051,3518
$GC,2262,-1.39,-146.6,257.1,-11.2,108,2266,0.00,2.55,0.00,0.000,4,0.000,0.060,2141,644,3518
$GC,2379,-1.39,-146.6,271.2,-12.1,113,2383,0.00,2.40,0.00,0.000,6,0.000,0.038,2141,2053,3518
$GC,2700,-1.39,-146.6,306.1,-10.6,129,2704,0.00,2.55,0.00,0.000,4,0.000,0.060,2141,647,3519
$GC,2777,-1.39,-146.6,314.8,-10.2,132,2783,0.00,2.42,0.00,0.000,6,0.000,0.038,2141,2058,3518
$GC,3093,-1.39,-146.6,346.8,-10.1,148,3097,0.00,2.58,0.00,0.000,4,0.000,0.061,2141,641,3518
$GC,3155,-1.39,-146.6,353.5,-11.1,151,3159,0.00,2.42,0.00,0.000,6,0.000,0.038,2141,2054,3518
$GC,3481,-1.39,-146.6,388.8,-10.9,167,3485,0.00,2.55,0.00,0.000,4,0.000,0.061,2141,648,3518
$GC,3603,-1.39,-146.6,403.1,-11.1,172,3609,0.00,2.40,0.00,0.000,6,0.000,0.038,2141,2052,3519
$GC,3919,-1.39,-146.6,433.3,-8.7,188,3923,0.00,2.53,0.00,0.000,4,0.000,0.061,2141,648,3518
$GC,4053,-1.39,-146.6,445.4,-8.3,194,4057,0.00,2.42,0.00,0.000,6,0.000,0.039,2141,2056,3518
$GC,4374,-1.39,-146.6,473.1,-9.5,210,4378,0.00,2.55,0.00,0.000,4,0.000,0.062,2141,645,3518
$GC,4527,-1.39,-146.6,488.0,-9.9,217,4532,0.00,2.42,0.00,0.000,6,0.000,0.041,2141,2051,3518
$GC,4854,-1.39,-146.6,519.5,-9.6,233,4859,0.00,2.58,0.00,0.000,4,0.000,0.064,2141,643,3517
$GC,4984,-1.39,-146.6,533.2,-10.9,239,4988,0.00,2.45,0.00,0.000,6,0.000,0.042,2141,2053,3517
$GC,5310,-1.39,-146.6,568.5,-10.8,255,5314,0.00,2.58,0.00,0.000,4,0.000,0.065,2141,641,3516
$GC,5426,-1.39,-146.6,582.2,-11.9,260,5431,0.00,2.45,0.00,0.000,6,0.000,0.043,2141,2051,3515
$GC,5742,-1.39,-146.6,617.2,-11.0,275,5746,0.00,2.58,0.00,0.000,4,0.000,0.066,2141,647,3514
$GC,5804,-1.39,-146.6,624.1,-10.7,278,5808,0.00,2.45,0.00,0.000,6,0.000,0.044,2141,2051,3514
$GC,6130,-1.39,-146.6,656.6,-9.6,294,6135,0.00,2.58,0.00,0.000,4,0.000,0.067,2141,648,3512
$GC,6220,-1.39,-146.6,665.9,-10.5,298,6224,0.00,2.45,0.00,0.000,6,0.000,0.044,2141,2053,3512
$GC,6540,-1.39,-146.6,698.5,-10.6,314,6544,0.00,2.58,0.00,0.000,4,0.000,0.067,2141,647,3510
$GC,6606,-1.39,-146.6,706.1,-11.1,317,6610,0.00,2.45,0.00,0.000,6,0.000,0.044,2141,2051,3510
$GC,6927,-1.39,-146.6,738.8,-10.0,333,6931,0.00,2.58,0.00,0.000,4,0.000,0.067,2141,647,3509
$GC,7004,-1.39,-146.6,747.2,-10.8,336,7010,0.00,2.42,0.00,0.000,6,0.000,0.045,2141,2051,3509
$GC,7320,-1.39,-146.6,777.4,-9.2,352,7324,0.00,2.58,0.00,0.000,4,0.000,0.066,2141,644,3508
$GC,7409,-1.39,-146.6,786.3,-10.0,356,7413,0.00,2.47,0.00,0.000,6,0.000,0.045,2141,2057,3508
$GC,7730,-1.39,-146.6,814.6,-8.4,372,7734,0.00,2.58,0.00,0.000,4,0.000,0.066,2141,647,3507
$GC,7796,-1.39,-146.6,820.7,-9.0,375,7801,0.00,2.47,0.00,0.000,6,0.000,0.045,2140,2058,3507
$GC,8120,-1.39,-146.6,847.5,-8.2,391,8124,0.00,2.60,0.00,0.000,4,0.000,0.067,2141,640,3506
$GC,8192,-1.39,-146.6,854.2,-9.1,394,8196,0.00,2.47,0.00,0.000,6,0.000,0.045,2141,2056,3506
$GC,8513,-1.39,-146.6,880.5,-8.1,410,8517,0.00,2.58,0.00,0.000,4,0.000,0.067,2141,648,3504
$GC,8590,-1.39,-146.6,887.5,-8.9,413,8596,0.00,2.47,0.00,0.000,6,0.000,0.045,2141,2058,3504
$GC,8906,-1.39,-146.6,913.7,-8.2,429,8910,0.00,2.60,0.00,0.000,4,0.000,0.067,2141,641,3504
$GC,8990,-1.39,-146.6,921.3,-9.4,433,8995,0.00,2.47,0.00,0.000,6,0.000,0.045,2141,2055,3504
$GC,9317,-1.39,-146.6,948.9,-8.3,449,9322,0.00,2.58,0.00,0.000,4,0.000,0.067,2141,646,3503
$GC,9407,-1.39,-146.6,957.1,-9.0,453,9411,0.00,2.45,0.00,0.000,6,0.000,0.046,2141,2051,3503
$GC,9734,-1.39,-146.6,983.3,-7.5,469,9738,0.00,2.58,0.00,0.000,4,0.000,0.067,2141,648,3502
$STATE,9815,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9815,begin apogee
$GC,9823,-0.33,0.0,990.5,8.1,473,9958,1.15,0.00,128.43,1.489,6,0.095,0.000,2372,1954,2914
$STATE,9959,end apogee,CONTROL_FINISHED_OK
$STATE,9959,begin climb
$GC,9961,1.39,146.6,993.4,0.0,480,10099,1.75,2.65,128.95,1.429,4,0.061,0.063,2747,3357,2317
$GC,10174,1.39,146.6,976.7,13.4,490,10179,0.00,2.53,0.00,0.000,6,0.000,0.048,2748,1949,2317
$GC,10502,1.39,146.6,935.0,12.8,506,10506,0.00,2.58,0.00,0.000,4,0.000,0.059,2748,3353,2316
$GC,10564,1.39,146.6,926.7,13.0,509,10568,0.00,2.53,0.00,0.000,6,0.000,0.048,2747,1948,2316
$GC,10890,1.39,146.6,885.0,12.8,525,10894,0.00,2.58,0.00,0.000,4,0.000,0.059,2748,3354,2315
$GC,10939,1.39,146.6,878.5,13.1,527,10943,0.00,2.50,0.00,0.000,6,0.000,0.048,2748,1950,2315
$GC,11255,1.39,146.6,839.1,12.5,542,11259,0.00,2.55,0.00,0.000,4,0.000,0.060,2748,3350,2315
$GC,11316,1.39,146.6,831.3,12.8,545,11320,0.00,2.50,0.00,0.000,6,0.000,0.048,2748,1950,2315
$GC,11644,1.39,146.6,791.4,12.1,561,11645,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1949,2315
$GC,11953,1.39,146.6,754.9,11.9,576,11957,0.00,2.55,0.00,0.000,4,0.000,0.059,2748,3350,2315
$GC,12025,1.39,146.6,746.1,12.1,579,12029,0.00,2.50,0.00,0.000,6,0.000,0.048,2748,1950,2314
$GC,12340,1.39,146.6,711.2,10.7,594,12341,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1951,2315
$GC,12651,1.39,146.6,677.0,10.9,609,12655,0.00,2.55,0.00,0.000,4,0.000,0.059,2748,3350,2315
$GC,12713,1.39,146.6,669.8,11.6,612,12717,0.00,2.50,0.00,0.000,6,0.000,0.049,2747,1944,2314
$GC,13039,1.39,146.6,634.6,10.8,628,13040,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1944,2314
$GC,13348,1.39,146.6,602.0,10.5,643,13352,0.00,2.55,0.00,0.000,4,0.000,0.058,2748,3351,2314
$GC,13414,1.39,146.6,594.4,11.3,646,13418,0.00,2.47,0.00,0.000,6,0.000,0.047,2748,1949,2314
$GC,13735,1.39,146.6,559.4,10.4,662,13740,0.00,2.55,0.00,0.000,4,0.000,0.058,2748,3354,2314
$GC,13830,1.39,146.6,549.2,10.3,666,13834,0.00,2.47,0.00,0.000,6,0.000,0.048,2748,1948,2314
$GC,14146,1.41,168.9,519.2,9.0,681,14173,0.00,2.65,19.92,1.188,4,0.000,0.058,2748,3352,2226
$GC,14209,1.42,174.2,513.0,9.8,684,14223,0.00,2.50,6.28,0.996,6,0.000,0.047,2748,1951,2204
$GC,14539,1.42,174.2,479.5,10.5,700,14543,0.00,2.55,0.00,0.000,4,0.000,0.057,2748,3354,2204
$GC,14583,1.42,174.2,474.5,11.2,702,14587,0.00,2.50,0.00,0.000,6,0.000,0.047,2747,1944,2204
$GC,14903,1.42,174.2,437.7,11.5,718,14904,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1944,2204
$GC,15213,1.44,187.3,405.4,9.4,733,15234,0.00,2.67,12.62,1.075,4,0.000,0.072,2748,555,2151
$GC,15295,1.44,187.3,396.3,10.1,736,15302,0.00,2.45,0.00,0.000,6,0.000,0.040,2748,1952,2151
$GC,15611,1.44,187.3,363.0,10.1,752,15615,0.00,2.60,0.00,0.000,4,0.000,0.069,2748,548,2151
$GC,15672,1.44,187.3,356.5,10.3,755,15677,0.00,2.42,0.00,0.000,6,0.000,0.039,2748,1947,2151
$GC,16006,1.44,191.9,323.4,9.8,771,16013,0.00,0.00,5.78,0.867,6,0.000,0.000,2748,1947,2132
$GC,16314,1.44,191.9,291.8,10.8,786,16316,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1948,2132
$GC,16624,1.44,191.9,258.3,10.9,801,16625,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1948,2133
$GC,16933,1.44,191.9,223.4,11.2,816,16937,0.00,2.55,0.00,0.000,4,0.000,0.063,2748,547,2134
$GC,16988,1.44,191.9,216.5,11.8,818,16994,0.00,2.42,0.00,0.000,6,0.000,0.036,2748,1950,2134
$GC,17303,1.44,191.9,179.4,11.7,834,17308,0.00,2.58,0.00,0.000,4,0.000,0.062,2748,540,2135
$GC,17366,1.44,191.9,171.7,11.7,837,17370,0.00,2.45,0.00,0.000,6,0.000,0.036,2748,1956,2135
$GC,17693,1.44,191.9,133.6,12.0,853,17694,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1956,2136
$GC,18002,1.44,191.9,97.7,11.2,868,18007,0.00,2.58,0.00,0.000,4,0.000,0.061,2748,541,2137
$GC,18075,1.44,191.9,89.0,11.8,871,18079,0.00,2.42,0.00,0.000,6,0.000,0.035,2748,1951,2137
$GC,18391,1.44,191.9,53.7,11.4,886,18395,0.00,2.55,0.00,0.000,4,0.000,0.061,2748,540,2138
$GC,18475,1.44,191.9,43.5,12.9,890,18479,0.00,2.42,0.00,0.000,6,0.000,0.035,2748,1951,2138
$GC,18803,1.44,191.9,5.1,12.4,906,18807,0.00,2.55,0.00,0.000,4,0.000,0.061,2748,546,2139
$STATE,18827,end climb,SURFACE_DEPTH_REACHED
$STATE,18827,begin surface coast
$FINISH,1.0,1.027407
$STATE,18834,end surface coast,CONTROL_FINISHED_OK
$STATE,18834,begin surface
$SM_CCo,18858,40.90,0.675,3,0,1895,250.21
$SM_GC,0.68,0.00,0.00,40.90,0.000,0.000,0.675,42,2060,1895,-11.08,0.23,250.21
$IRIDIUM_FIX,6108.28,-305.28,150597,111155
$TT8_MAMPS,0.026845
$HUMID,1697
$INTERNAL_PRESSURE,8.38143
$TCM_TEMP,19.90
$XPDR_PINGS,0
$24V_AH,23.0,6.975
$10V_AH,10.1,3.881
$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,26.750,206.150,301.975,40.900,0.000,79.785,77.204,271.263,8.500,0.000,0.000,13.944,1768.720,14148.621,540.938,2333.083,739.950,33.363,1675.753,0.000,2285.345,0.000,55.907
$DEVICE_MAMPS,156.468,72.098,1488.747,674.960,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,675.834,613.290,542.984,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47463,907
$CFSIZE,260165632,255406080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,27,3,0
$GPS,190208,170237,6135.925,-311.247,26,1.6,26,-6.2