version: 66.02
glider: 104
mission: 4
dive: 11
start: 2 15 108 19 37 14
data:
$ID,104
$MISSION,4
$DIVE,11
$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,-35224.266
$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,24
$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,20
$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,3
$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
$GPS1,192702,6131.853,-247.876,38,1.5,38,-5.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-58.7
$GPS2,193621,6131.797,-247.304,11,1.8,11,-5.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.238,0.114
$KALMAN_X,37776.8,-1465.1,436.1,-17377.7,12921.0
$KALMAN_Y,-3722.8,-5.2,680.7,-998.4,-2845.8
$MHEAD_RNG_PITCHd_Wd,301.5,340728,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.39,-146.6,0.0,0.0,0,119,0.00,0.00,-93.72,0.000,6,0.000,0.000,43,2046,3513
$GC,122,-1.39,-146.6,2.7,-2.5,4,136,11.93,0.00,0.00,0.000,6,0.159,0.000,2142,2046,3515
$GC,454,-1.39,-146.6,51.2,-11.2,20,455,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2046,3516
$GC,763,-1.39,-146.6,86.9,-11.8,35,764,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2046,3516
$GC,1073,-1.39,-146.6,123.2,-11.0,50,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2046,3516
$GC,1381,-1.39,-146.6,153.5,-9.8,65,1383,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2047,3517
$GC,1690,-1.39,-146.6,185.0,-10.3,80,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2047,3518
$GC,2000,-1.39,-146.6,218.4,-11.4,95,2001,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2046,3517
$GC,2309,-1.39,-146.6,254.0,-11.3,110,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2046,3518
$GC,2618,-1.39,-146.6,287.0,-10.7,125,2623,0.00,2.55,0.00,0.000,4,0.000,0.064,2141,645,3518
$GC,2645,-1.39,-146.6,290.2,-11.3,126,2650,0.00,2.40,0.00,0.000,6,0.000,0.037,2141,2051,3518
$GC,2962,-1.39,-146.6,324.5,-11.1,141,2967,0.00,2.55,0.00,0.000,4,0.000,0.061,2142,651,3517
$GC,3034,-1.39,-146.6,333.1,-11.7,144,3038,0.00,2.40,0.00,0.000,6,0.000,0.038,2141,2051,3517
$GC,3354,-1.39,-146.6,367.0,-11.4,160,3358,0.00,2.55,0.00,0.000,4,0.000,0.062,2141,650,3517
$GC,3432,-1.39,-146.6,375.6,-10.8,163,3438,0.00,2.42,0.00,0.000,6,0.000,0.038,2141,2053,3517
$GC,3748,-1.39,-146.6,405.4,-8.4,179,3752,0.00,2.55,0.00,0.000,4,0.000,0.062,2141,651,3517
$GC,3810,-1.39,-146.6,411.1,-9.5,182,3814,0.00,2.42,0.00,0.000,6,0.000,0.038,2141,2060,3517
$GC,4136,-1.39,-146.6,444.4,-10.7,198,4140,0.00,2.58,0.00,0.000,4,0.000,0.063,2141,646,3517
$GC,4175,-1.39,-146.6,448.8,-11.3,200,4179,0.00,2.42,0.00,0.000,6,0.000,0.040,2141,2054,3517
$GC,4502,-1.39,-146.6,482.5,-10.3,216,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2055,3516
$GC,4812,-1.39,-146.6,513.4,-9.9,231,4816,0.00,2.58,0.00,0.000,4,0.000,0.065,2141,648,3515
$GC,4896,-1.39,-146.6,522.2,-10.7,235,4900,0.00,2.42,0.00,0.000,6,0.000,0.042,2141,2058,3515
$GC,5224,-1.39,-146.6,554.8,-10.1,251,5228,0.00,2.58,0.00,0.000,4,0.000,0.067,2141,651,3514
$GC,5308,-1.39,-146.6,564.3,-11.0,255,5312,0.00,2.42,0.00,0.000,6,0.000,0.043,2141,2050,3513
$GC,5640,-1.39,-146.6,597.9,-10.0,271,5645,0.00,2.55,0.00,0.000,4,0.000,0.067,2141,651,3513
$GC,5680,-1.39,-146.6,601.9,-10.1,273,5684,0.00,2.45,0.00,0.000,6,0.000,0.044,2141,2057,3513
$GC,6006,-1.39,-146.6,633.4,-9.5,289,6011,0.00,2.60,0.00,0.000,4,0.000,0.068,2141,646,3512
$GC,6091,-1.39,-146.6,641.9,-10.5,293,6095,0.00,2.47,0.00,0.000,6,0.000,0.046,2141,2059,3511
$GC,6417,-1.39,-146.6,673.1,-9.8,309,6422,0.00,2.58,0.00,0.000,4,0.000,0.069,2141,651,3509
$GC,6525,-1.39,-146.6,684.1,-10.5,314,6529,0.00,2.45,0.00,0.000,6,0.000,0.046,2141,2050,3508
$GC,6851,-1.39,-146.6,714.2,-8.9,330,6855,0.00,2.58,0.00,0.000,4,0.000,0.068,2141,651,3507
$GC,6913,-1.39,-146.6,720.1,-9.5,333,6917,0.00,2.45,0.00,0.000,6,0.000,0.046,2141,2052,3507
$GC,7239,-1.39,-146.6,748.4,-8.6,349,7243,0.00,2.58,0.00,0.000,4,0.000,0.068,2141,648,3506
$GC,7317,-1.39,-146.6,755.5,-8.9,352,7323,0.00,2.47,0.00,0.000,6,0.000,0.047,2141,2055,3505
$GC,7632,-1.39,-146.6,781.8,-8.2,368,7637,0.00,2.60,0.00,0.000,4,0.000,0.069,2141,646,3505
$GC,7677,-1.39,-146.6,785.7,-8.4,370,7681,0.00,2.47,0.00,0.000,6,0.000,0.048,2141,2050,3505
$GC,7998,-1.39,-146.6,811.2,-8.0,386,8003,0.00,2.58,0.00,0.000,4,0.000,0.069,2141,651,3504
$GC,8061,-1.39,-146.6,816.8,-8.1,389,8065,0.00,2.47,0.00,0.000,6,0.000,0.047,2141,2062,3504
$GC,8387,-1.39,-146.6,843.3,-8.2,405,8391,0.00,2.60,0.00,0.000,4,0.000,0.069,2141,652,3503
$GC,8459,-1.39,-146.6,849.8,-8.7,408,8464,0.00,2.45,0.00,0.000,6,0.000,0.046,2141,2052,3503
$GC,8781,-1.39,-146.6,876.0,-8.3,424,8785,0.00,2.60,0.00,0.000,4,0.000,0.070,2142,645,3502
$GC,8831,-1.39,-146.6,880.5,-8.8,426,8835,0.00,2.47,0.00,0.000,6,0.000,0.048,2142,2060,3502
$GC,9147,-1.39,-146.6,907.5,-8.8,441,9151,0.00,2.60,0.00,0.000,4,0.000,0.071,2142,652,3501
$GC,9213,-1.39,-146.6,913.6,-9.0,444,9218,0.00,2.45,0.00,0.000,6,0.000,0.047,2141,2050,3501
$GC,9534,-1.39,-146.6,941.0,-8.6,460,9539,0.00,2.58,0.00,0.000,4,0.000,0.070,2141,652,3500
$GC,9601,-1.39,-146.6,947.3,-9.3,463,9606,0.00,2.45,0.00,0.000,6,0.000,0.047,2141,2054,3500
$GC,9929,-1.39,-146.6,975.9,-8.7,479,9933,0.00,2.60,0.00,0.000,4,0.000,0.069,2141,645,3500
$GC,10001,-1.39,-146.6,982.7,-8.9,482,10005,0.00,2.47,0.00,0.000,6,0.000,0.048,2141,2051,3500
$STATE,10088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10088,begin apogee
$GC,10094,-0.33,0.0,990.2,8.6,486,10224,1.15,0.00,126.45,1.479,6,0.097,0.000,2372,1942,2915
$STATE,10225,end apogee,CONTROL_FINISHED_OK
$STATE,10225,begin climb
$GC,10228,1.39,146.6,993.6,0.0,492,10367,1.75,2.65,128.43,1.419,4,0.058,0.065,2748,3351,2317
$GC,10475,1.39,146.6,975.0,12.5,502,10481,0.00,2.53,0.00,0.000,6,0.000,0.050,2748,1956,2316
$GC,10790,1.39,146.6,938.7,11.3,518,10794,0.00,2.58,0.00,0.000,4,0.000,0.062,2749,3350,2316
$GC,10852,1.39,146.6,931.6,12.0,521,10857,0.00,2.53,0.00,0.000,6,0.000,0.050,2748,1944,2316
$GC,11179,1.39,146.6,895.1,11.1,537,11183,0.00,2.60,0.00,0.000,4,0.000,0.061,2748,3354,2316
$GC,11264,1.39,146.6,885.3,12.2,541,11268,0.00,2.53,0.00,0.000,6,0.000,0.050,2749,1946,2316
$GC,11590,1.39,146.6,849.1,11.0,557,11594,0.00,2.60,0.00,0.000,4,0.000,0.061,2749,3357,2316
$GC,11639,1.39,146.6,843.6,11.0,559,11643,0.00,2.53,0.00,0.000,6,0.000,0.049,2748,1942,2316
$GC,11954,1.39,146.6,809.6,10.7,574,11959,0.00,2.60,0.00,0.000,4,0.000,0.061,2749,3357,2315
$GC,12026,1.39,146.6,801.3,11.0,577,12031,0.00,2.53,0.00,0.000,6,0.000,0.048,2748,1949,2315
$GC,12342,1.39,146.6,767.4,10.8,592,12346,0.00,2.58,0.00,0.000,4,0.000,0.062,2748,3352,2315
$GC,12397,1.39,146.6,761.2,11.6,594,12403,0.00,2.53,0.00,0.000,6,0.000,0.049,2749,1946,2315
$GC,12712,1.39,146.6,727.9,10.5,610,12713,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1946,2315
$GC,13022,1.39,146.6,695.4,10.4,625,13026,0.00,2.58,0.00,0.000,4,0.000,0.061,2748,3351,2315
$GC,13110,1.39,146.6,685.8,10.4,629,13114,0.00,2.47,0.00,0.000,6,0.000,0.049,2748,1950,2314
$GC,13432,1.39,147.1,653.3,10.0,645,13436,0.00,2.58,0.00,0.000,4,0.000,0.061,2748,3357,2314
$GC,13487,1.39,147.1,647.5,10.8,647,13493,0.00,2.50,0.00,0.000,6,0.000,0.049,2748,1949,2314
$GC,13802,1.39,147.1,615.2,10.3,663,13803,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1949,2314
$GC,14111,1.39,147.1,583.2,10.4,678,14116,0.00,2.55,0.00,0.000,4,0.000,0.060,2748,3356,2314
$GC,14196,1.39,147.1,574.0,10.4,682,14200,0.00,2.50,0.00,0.000,6,0.000,0.049,2749,1944,2314
$GC,14522,1.39,147.1,539.7,10.7,698,14523,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1944,2314
$GC,14831,1.39,149.4,507.9,9.9,713,14836,0.00,2.58,0.00,0.000,4,0.000,0.060,2748,3359,2314
$GC,14966,1.39,153.2,493.9,9.8,719,14981,0.00,2.50,6.68,1.016,6,0.000,0.048,2748,1949,2290
$GC,15291,1.40,158.6,461.2,9.8,735,15304,0.00,2.62,6.47,0.982,4,0.000,0.058,2748,3358,2268
$GC,15383,1.40,158.6,451.4,10.2,739,15387,0.00,2.50,0.00,0.000,6,0.000,0.046,2748,1944,2268
$GC,15703,1.40,158.6,420.5,10.1,755,15708,0.00,2.60,0.00,0.000,4,0.000,0.074,2749,548,2268
$GC,15798,1.40,158.6,410.5,10.9,759,15802,0.00,2.47,0.00,0.000,6,0.000,0.040,2749,1959,2268
$GC,16114,1.43,182.1,380.4,8.9,774,16142,0.00,2.58,21.23,1.056,4,0.000,0.057,2748,3356,2171
$GC,16397,1.43,182.1,348.7,11.3,786,16403,0.00,2.50,0.00,0.000,6,0.000,0.044,2749,1945,2171
$GC,16712,1.43,182.1,314.0,10.6,802,16716,0.00,2.53,0.00,0.000,4,0.000,0.053,2749,3352,2172
$GC,16767,1.43,182.1,308.1,10.6,804,16773,0.00,2.45,0.00,0.000,6,0.000,0.042,2748,1949,2172
$GC,17082,1.43,182.1,274.0,10.9,820,17086,0.00,2.50,0.00,0.000,4,0.000,0.052,2749,3354,2173
$GC,17138,1.43,182.1,267.6,12.2,822,17142,0.00,2.45,0.00,0.000,6,0.000,0.041,2749,1948,2173
$GC,17454,1.43,182.1,231.1,11.3,837,17455,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1948,2174
$GC,17762,1.43,182.1,197.7,10.0,852,17767,0.00,2.53,0.00,0.000,4,0.000,0.051,2749,3361,2175
$GC,17874,1.43,182.1,185.8,11.5,857,17878,0.00,2.47,0.00,0.000,6,0.000,0.040,2749,1944,2175
$GC,18195,1.43,182.1,152.1,10.5,873,18196,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1944,2177
$GC,18505,1.43,182.1,119.0,10.8,888,18509,0.00,2.50,0.00,0.000,4,0.000,0.049,2749,3354,2177
$GC,18634,1.43,182.1,104.1,10.6,894,18639,0.00,2.45,0.00,0.000,6,0.000,0.040,2749,1942,2177
$GC,18962,1.43,182.1,67.5,11.5,910,18963,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1942,2178
$GC,19271,1.43,182.1,29.2,13.0,925,19272,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1942,2180
$STATE,19495,end climb,SURFACE_DEPTH_REACHED
$STATE,19495,begin surface coast
$FINISH,0.2,1.027372
$STATE,19517,end surface coast,CONTROL_FINISHED_OK
$STATE,19518,begin surface
$SM_CCo,19540,41.30,0.660,2,0,1895,250.21
$SM_GC,1.22,0.00,0.00,41.30,0.000,0.000,0.660,42,2067,1895,-11.07,0.45,250.21
$IRIDIUM_FIX,6108.28,-247.01,110597,191931
$TT8_MAMPS,0.026845
$HUMID,1731
$INTERNAL_PRESSURE,8.40096
$TCM_TEMP,16.00
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.3,17.4
$24V_AH,23.0,4.472
$10V_AH,10.1,2.360
$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,26.700,181.925,289.250,41.300,0.000,80.805,72.912,241.760,8.750,0.000,0.000,13.204,1781.223,14898.809,518.250,2278.800,682.538,33.339,1622.758,0.000,2237.821,0.000,57.554
$DEVICE_MAMPS,158.769,73.632,1478.776,660.387,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,696.175,633.899,560.444,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47336,937
$CFSIZE,260165632,256544768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,26,2,0
$GPS,160208,010502,6131.291,-248.460,38,1.2,38,-5.9