version: 66.02
glider: 104
mission: 4
dive: 30
start: 2 19 108 17 9 55
data:
$ID,104
$MISSION,4
$DIVE,30
$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,-35628.395
$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,28
$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
$GPS1,170237,6135.925,-311.247,26,1.6,26,-6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-65.2
$GPS2,170903,6136.007,-311.164,9,2.0,9,-6.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.263,-0.019
$KALMAN_X,102001.8,-136.1,-1503.4,-102020.3,5660.5
$KALMAN_Y,-23154.0,362.9,-261.2,26774.4,615.0
$MHEAD_RNG_PITCHd_Wd,272.2,31049,-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,-146.6,0.0,0.0,0,112,0.00,0.00,-86.78,0.000,6,0.000,0.000,43,2060,3514
$GC,115,-1.39,-146.6,4.6,-4.0,5,137,11.85,2.60,0.00,0.000,4,0.157,0.054,2144,643,3515
$GC,153,-1.39,-146.6,18.1,-24.0,6,160,0.00,2.42,0.00,0.000,6,0.000,0.036,2144,2050,3516
$GC,469,-1.39,-146.6,53.8,-10.9,22,473,0.00,2.55,0.00,0.000,4,0.000,0.058,2144,640,3516
$GC,564,-1.39,-146.6,64.2,-11.1,26,568,0.00,2.42,0.00,0.000,6,0.000,0.035,2144,2055,3516
$GC,880,-1.39,-146.6,98.5,-11.1,41,885,0.00,2.55,0.00,0.000,4,0.000,0.058,2144,643,3517
$GC,981,-1.39,-146.6,110.3,-11.9,45,987,0.00,2.42,0.00,0.000,6,0.000,0.036,2144,2060,3516
$GC,1297,-1.39,-146.6,145.3,-10.9,61,1301,0.00,2.55,0.00,0.000,4,0.000,0.058,2144,642,3517
$GC,1391,-1.39,-146.6,156.3,-11.5,65,1395,0.00,2.42,0.00,0.000,6,0.000,0.036,2144,2058,3516
$GC,1707,-1.39,-146.6,191.2,-11.0,80,1711,0.00,2.55,0.00,0.000,4,0.000,0.059,2144,646,3517
$GC,1795,-1.39,-146.6,201.3,-11.2,84,1799,0.00,2.40,0.00,0.000,6,0.000,0.036,2144,2054,3517
$GC,2116,-1.39,-146.6,236.0,-10.6,100,2120,0.00,2.53,0.00,0.000,4,0.000,0.059,2144,647,3517
$GC,2193,-1.39,-146.6,244.4,-10.6,103,2199,0.00,2.40,0.00,0.000,6,0.000,0.037,2144,2054,3518
$GC,2510,-1.39,-146.6,275.7,-9.5,119,2514,0.00,2.55,0.00,0.000,4,0.000,0.061,2144,643,3517
$GC,2605,-1.39,-146.6,285.2,-9.5,123,2609,0.00,2.42,0.00,0.000,6,0.000,0.037,2144,2053,3518
$GC,2920,-1.39,-146.6,313.3,-8.9,138,2925,0.00,2.53,0.00,0.000,4,0.000,0.059,2144,646,3518
$GC,3066,-1.39,-146.6,327.6,-10.2,144,3072,0.00,2.42,0.00,0.000,6,0.000,0.037,2144,2057,3518
$GC,3381,-1.39,-146.6,359.7,-10.2,160,3385,0.00,2.55,0.00,0.000,4,0.000,0.061,2144,643,3518
$GC,3504,-1.39,-146.6,372.3,-9.5,165,3510,0.00,2.42,0.00,0.000,6,0.000,0.038,2144,2053,3518
$GC,3820,-1.39,-146.6,402.7,-10.0,181,3821,0.00,0.00,0.00,0.000,6,0.000,0.000,2144,2053,3517
$GC,4129,-1.39,-146.6,433.3,-9.9,196,4134,0.00,2.55,0.00,0.000,4,0.000,0.061,2144,643,3517
$GC,4192,-1.39,-146.6,439.8,-10.7,199,4196,0.00,2.42,0.00,0.000,6,0.000,0.039,2144,2058,3517
$GC,4524,-1.39,-146.6,473.1,-9.9,215,4528,0.00,2.58,0.00,0.000,4,0.000,0.063,2144,639,3517
$GC,4596,-1.39,-146.6,480.6,-10.4,218,4600,0.00,2.45,0.00,0.000,6,0.000,0.040,2144,2062,3517
$GC,4911,-1.39,-146.6,512.9,-10.8,233,4915,0.00,2.58,0.00,0.000,4,0.000,0.064,2144,647,3516
$GC,5000,-1.39,-146.6,523.1,-11.3,237,5004,0.00,2.42,0.00,0.000,6,0.000,0.041,2144,2053,3516
$GC,5320,-1.39,-146.6,556.1,-10.1,253,5324,0.00,2.58,0.00,0.000,4,0.000,0.065,2144,645,3515
$GC,5399,-1.39,-146.6,564.3,-10.4,256,5405,0.00,2.45,0.00,0.000,6,0.000,0.043,2144,2052,3514
$GC,5714,-1.39,-146.6,596.1,-10.1,272,5719,0.00,2.58,0.00,0.000,4,0.000,0.066,2144,647,3513
$GC,5816,-1.39,-146.6,607.0,-11.4,276,5822,0.00,2.45,0.00,0.000,6,0.000,0.044,2144,2051,3513
$GC,6131,-1.39,-146.6,639.7,-10.2,292,6136,0.00,2.58,0.00,0.000,4,0.000,0.066,2143,648,3512
$GC,6217,-1.39,-146.6,648.8,-11.4,296,6221,0.00,2.45,0.00,0.000,6,0.000,0.044,2144,2051,3511
$GC,6543,-1.39,-146.6,681.2,-9.7,312,6547,0.00,2.58,0.00,0.000,4,0.000,0.066,2144,646,3510
$GC,6620,-1.39,-146.6,689.4,-10.6,315,6627,0.00,2.45,0.00,0.000,6,0.000,0.044,2144,2051,3510
$GC,6937,-1.39,-146.6,719.5,-9.5,331,6941,0.00,2.58,0.00,0.000,4,0.000,0.066,2143,646,3509
$GC,7021,-1.39,-146.6,727.9,-9.7,335,7026,0.00,2.47,0.00,0.000,6,0.000,0.045,2144,2059,3509
$GC,7349,-1.39,-146.6,756.3,-8.4,351,7354,0.00,2.60,0.00,0.000,4,0.000,0.066,2143,640,3508
$GC,7416,-1.39,-146.6,762.6,-9.1,354,7421,0.00,2.47,0.00,0.000,6,0.000,0.044,2144,2050,3507
$GC,7738,-1.39,-146.6,789.4,-8.1,370,7742,0.00,2.58,0.00,0.000,4,0.000,0.067,2144,647,3506
$GC,7815,-1.39,-146.6,796.4,-9.2,373,7821,0.00,2.47,0.00,0.000,6,0.000,0.045,2144,2056,3507
$GC,8131,-1.39,-146.6,823.4,-8.7,389,8135,0.00,2.58,0.00,0.000,4,0.000,0.066,2144,647,3506
$GC,8203,-1.39,-146.6,830.3,-9.7,392,8207,0.00,2.47,0.00,0.000,6,0.000,0.045,2144,2056,3506
$GC,8519,-1.39,-146.6,858.3,-8.8,407,8523,0.00,2.58,0.00,0.000,4,0.000,0.066,2144,648,3505
$GC,8596,-1.39,-146.6,865.8,-9.2,410,8603,0.00,2.47,0.00,0.000,6,0.000,0.046,2143,2056,3505
$GC,8913,-1.39,-146.6,894.6,-9.2,426,8917,0.00,2.58,0.00,0.000,4,0.000,0.067,2143,648,3504
$GC,8985,-1.39,-146.6,901.7,-9.8,429,8989,0.00,2.47,0.00,0.000,6,0.000,0.045,2144,2056,3504
$GC,9302,-1.39,-146.6,930.8,-9.2,444,9306,0.00,2.60,0.00,0.000,4,0.000,0.067,2144,639,3503
$GC,9368,-1.39,-146.6,937.4,-10.0,447,9372,0.00,2.47,0.00,0.000,6,0.000,0.045,2144,2053,3503
$GC,9689,-1.39,-146.6,965.9,-8.7,463,9693,0.00,2.58,0.00,0.000,4,0.000,0.067,2144,648,3502
$GC,9773,-1.39,-146.6,973.6,-9.2,467,9778,0.00,2.47,0.00,0.000,6,0.000,0.046,2143,2058,3502
$STATE,9973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9974,begin apogee
$GC,9980,-0.33,0.0,991.8,9.0,477,10116,1.15,0.00,128.02,1.494,6,0.097,0.000,2374,1935,2915
$STATE,10117,end apogee,CONTROL_FINISHED_OK
$STATE,10117,begin climb
$GC,10119,1.39,146.6,996.2,0.0,484,10257,1.75,2.67,129.27,1.434,4,0.062,0.062,2747,3352,2317
$GC,10427,1.39,146.6,970.4,12.0,497,10432,0.00,2.50,0.00,0.000,6,0.000,0.048,2747,1958,2316
$GC,10743,1.39,146.6,935.1,11.1,512,10747,0.00,2.55,0.00,0.000,4,0.000,0.060,2747,3353,2316
$GC,10804,1.39,146.6,927.9,11.4,515,10809,0.00,2.50,0.00,0.000,6,0.000,0.048,2747,1950,2316
$GC,11132,1.39,146.6,891.5,11.3,531,11136,0.00,2.58,0.00,0.000,4,0.000,0.060,2747,3353,2315
$GC,11198,1.39,146.6,883.7,12.0,534,11202,0.00,2.53,0.00,0.000,6,0.000,0.048,2747,1942,2315
$GC,11518,1.39,146.6,848.4,10.9,550,11522,0.00,2.58,0.00,0.000,4,0.000,0.059,2747,3352,2315
$GC,11558,1.39,146.6,843.7,11.6,552,11562,0.00,2.53,0.00,0.000,6,0.000,0.048,2747,1941,2315
$GC,11884,1.39,146.6,807.7,10.8,568,11888,0.00,2.58,0.00,0.000,4,0.000,0.059,2747,3352,2315
$GC,11956,1.39,146.6,799.6,11.8,571,11960,0.00,2.50,0.00,0.000,6,0.000,0.048,2747,1949,2315
$GC,12272,1.39,146.6,765.0,11.2,586,12276,0.00,2.58,0.00,0.000,4,0.000,0.060,2747,3361,2314
$GC,12315,1.39,146.6,759.9,11.2,588,12320,0.00,2.50,0.00,0.000,6,0.000,0.048,2747,1949,2314
$GC,12636,1.39,146.6,724.9,11.1,604,12641,0.00,2.55,0.00,0.000,4,0.000,0.059,2747,3353,2314
$GC,12709,1.39,146.6,716.3,11.3,607,12713,0.00,2.50,0.00,0.000,6,0.000,0.048,2747,1946,2314
$GC,13030,1.39,146.6,680.1,11.3,623,13031,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1946,2314
$GC,13339,1.39,146.6,645.0,11.4,638,13343,0.00,2.58,0.00,0.000,4,0.000,0.059,2747,3360,2314
$GC,13416,1.39,146.6,635.7,11.8,641,13423,0.00,2.50,0.00,0.000,6,0.000,0.048,2747,1944,2314
$GC,13732,1.39,146.6,601.1,11.0,657,13733,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1944,2314
$GC,14041,1.39,146.6,569.2,10.0,672,14046,0.00,2.55,0.00,0.000,4,0.000,0.059,2747,3353,2314
$GC,14097,1.39,146.6,563.4,10.1,674,14103,0.00,2.50,0.00,0.000,6,0.000,0.047,2747,1946,2314
$GC,14412,1.41,161.8,533.2,9.3,690,14432,0.00,0.00,13.90,1.169,6,0.000,0.000,2747,1945,2254
$GC,14744,1.41,161.8,498.2,11.1,706,14745,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1945,2254
$GC,15052,1.41,161.8,464.2,10.5,721,15056,0.00,2.58,0.00,0.000,4,0.000,0.058,2747,3361,2254
$GC,15113,1.41,168.8,457.5,9.7,724,15128,0.00,2.50,7.95,1.048,6,0.000,0.046,2747,1946,2226
$GC,15444,1.41,168.8,418.5,11.8,740,15449,0.00,2.60,0.00,0.000,4,0.000,0.074,2747,547,2226
$GC,15555,1.41,168.8,404.3,12.9,745,15560,0.00,2.45,0.00,0.000,6,0.000,0.041,2747,1953,2226
$GC,15877,1.41,168.8,368.5,10.8,761,15882,0.00,2.60,0.00,0.000,4,0.000,0.069,2747,547,2226
$GC,15910,1.41,168.8,364.6,11.2,762,15916,0.00,2.45,0.00,0.000,6,0.000,0.041,2747,1947,2226
$GC,16226,1.41,168.8,329.9,11.2,778,16227,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1948,2226
$GC,16535,1.41,168.8,295.8,11.1,793,16536,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1949,2226
$GC,16844,1.41,168.8,263.0,10.3,808,16845,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1949,2226
$GC,17153,1.41,168.8,231.3,10.3,823,17154,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1949,2227
$GC,17464,1.41,168.8,199.3,10.8,838,17465,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1948,2227
$GC,17772,1.41,168.8,166.8,10.3,853,17773,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1949,2228
$GC,18082,1.41,168.8,135.4,10.2,868,18083,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1949,2229
$GC,18391,1.41,168.8,103.2,10.5,883,18392,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1949,2230
$GC,18701,1.41,168.8,70.3,10.8,898,18705,0.00,2.55,0.00,0.000,4,0.000,0.062,2747,545,2231
$GC,18741,1.41,168.8,65.8,11.9,900,18745,0.00,2.42,0.00,0.000,6,0.000,0.036,2748,1951,2231
$GC,19068,1.41,168.8,29.9,11.1,916,19069,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1951,2232
$STATE,19333,end climb,SURFACE_DEPTH_REACHED
$STATE,19334,begin surface coast
$FINISH,0.3,1.027491
$STATE,19355,end surface coast,CONTROL_FINISHED_OK
$STATE,19355,begin surface
$SM_CCo,19378,53.62,0.701,3,0,1894,250.21
$SM_GC,0.93,0.00,0.00,53.62,0.000,0.000,0.701,41,2067,1894,-11.08,0.42,250.21
$IRIDIUM_FIX,6108.28,-305.03,150597,111126
$TT8_MAMPS,0.026845
$HUMID,1702
$INTERNAL_PRESSURE,8.35213
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,23.0,7.116
$10V_AH,10.1,3.972
$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,27.000,186.550,279.150,53.625,0.000,32.775,50.661,187.521,8.500,0.000,0.000,10.731,1765.748,14702.718,542.822,2254.944,563.920,33.356,1644.209,0.000,2220.227,0.000,55.895
$DEVICE_MAMPS,157.235,73.632,1494.116,701.038,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,700.476,628.247,566.241,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47455,930
$CFSIZE,260165632,255344640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,19,3,0
$GPS,190208,223507,6136.436,-313.769,27,1.4,27,-6.2