version: 66.02
glider: 104
mission: 4
dive: 13
start: 2 16 108 6 40 43
data:
$ID,104
$MISSION,4
$DIVE,13
$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,-35251.504
$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,23
$R_STBD_OVSHOOT,36
$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
$GPS1,063332,6130.075,-247.933,51,1.0,51,-5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-59.1
$GPS2,063951,6130.104,-247.629,11,1.6,11,-5.9
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,BE
$TGT_LATLONG,6145.000,-915.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.229,0.130
$KALMAN_X,47544.0,-2298.6,250.5,-26409.8,9052.6
$KALMAN_Y,-8195.9,-506.3,589.4,930.3,-2943.4
$MHEAD_RNG_PITCHd_Wd,305.5,340683,-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,-146.6,0.0,0.0,0,108,0.00,0.00,-81.32,0.000,2,0.000,0.000,43,2073,3491
$GC,111,-1.39,-146.6,4.4,-4.9,4,133,11.93,2.62,-0.50,0.000,4,0.159,0.071,2141,653,3516
$GC,259,-1.39,-146.6,29.1,-9.8,10,263,0.00,2.42,0.00,0.000,6,0.000,0.036,2141,2051,3517
$GC,574,-1.39,-146.6,64.3,-12.6,25,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2052,3518
$GC,884,-1.39,-146.6,97.8,-10.4,40,888,0.00,2.58,0.00,0.000,4,0.000,0.061,2141,643,3519
$GC,933,-1.39,-146.6,104.0,-13.6,42,937,0.00,2.42,0.00,0.000,6,0.000,0.036,2141,2053,3519
$GC,1249,-1.39,-146.6,140.4,-10.1,57,1254,0.00,2.55,0.00,0.000,4,0.000,0.059,2141,647,3519
$GC,1313,-1.39,-146.6,146.5,-10.0,60,1317,0.00,2.42,0.00,0.000,6,0.000,0.036,2141,2052,3519
$GC,1640,-1.39,-146.6,178.4,-9.9,76,1644,0.00,2.55,0.00,0.000,4,0.000,0.060,2141,648,3519
$GC,1724,-1.39,-146.6,187.0,-10.1,80,1728,0.00,2.42,0.00,0.000,6,0.000,0.036,2141,2057,3519
$GC,2051,-1.39,-146.6,218.2,-10.1,96,2055,0.00,2.58,0.00,0.000,4,0.000,0.061,2141,643,3520
$GC,2123,-1.39,-146.6,226.1,-10.8,99,2127,0.00,2.42,0.00,0.000,6,0.000,0.036,2141,2052,3520
$GC,2444,-1.39,-146.6,259.4,-10.5,115,2448,0.00,2.55,0.00,0.000,4,0.000,0.060,2141,648,3519
$GC,2493,-1.39,-146.6,265.1,-11.4,117,2497,0.00,2.42,0.00,0.000,6,0.000,0.037,2141,2060,3519
$GC,2815,-1.39,-146.6,301.3,-11.8,133,2819,0.00,2.58,0.00,0.000,4,0.000,0.061,2141,644,3520
$GC,2932,-1.39,-146.6,316.1,-12.2,138,2936,0.00,2.42,0.00,0.000,6,0.000,0.036,2141,2053,3520
$GC,3248,-1.39,-146.6,352.1,-11.1,153,3252,0.00,2.55,0.00,0.000,4,0.000,0.061,2141,648,3520
$GC,3303,-1.39,-146.6,358.4,-11.1,155,3309,0.00,2.42,0.00,0.000,6,0.000,0.037,2141,2051,3520
$GC,3619,-1.39,-146.6,390.2,-9.8,171,3624,0.00,2.55,0.00,0.000,4,0.000,0.061,2141,646,3520
$GC,3686,-1.39,-146.6,397.5,-10.9,174,3690,0.00,2.42,0.00,0.000,6,0.000,0.036,2141,2058,3520
$GC,4006,-1.39,-146.6,431.2,-10.9,190,4011,0.00,2.55,0.00,0.000,4,0.000,0.061,2141,648,3520
$GC,4084,-1.39,-146.6,439.8,-10.6,193,4090,0.00,2.40,0.00,0.000,6,0.000,0.037,2141,2058,3520
$GC,4400,-1.39,-146.6,471.4,-9.7,209,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,2141,2058,3520
$GC,4710,-1.39,-146.6,500.9,-9.7,224,4714,0.00,2.55,0.00,0.000,4,0.000,0.060,2141,647,3519
$GC,4755,-1.39,-146.6,505.5,-10.0,226,4759,0.00,2.40,0.00,0.000,6,0.000,0.037,2141,2054,3519
$GC,5075,-1.39,-146.6,535.6,-9.2,242,5080,0.00,2.55,0.00,0.000,4,0.000,0.061,2141,647,3519
$GC,5161,-1.39,-146.6,543.8,-9.7,246,5165,0.00,2.42,0.00,0.000,6,0.000,0.039,2141,2056,3519
$GC,5487,-1.39,-146.6,574.9,-9.8,262,5492,0.00,2.58,0.00,0.000,4,0.000,0.064,2141,643,3518
$GC,5587,-1.39,-146.6,585.4,-10.3,266,5591,0.00,2.42,0.00,0.000,6,0.000,0.041,2141,2050,3517
$GC,5904,-1.39,-146.6,615.1,-9.4,281,5908,0.00,2.58,0.00,0.000,4,0.000,0.064,2141,642,3516
$GC,5959,-1.39,-146.6,620.9,-10.5,283,5965,0.00,2.45,0.00,0.000,6,0.000,0.042,2141,2057,3516
$GC,6277,-1.39,-146.6,650.3,-9.1,299,6281,0.00,2.58,0.00,0.000,4,0.000,0.065,2141,648,3515
$GC,6362,-1.39,-146.6,658.8,-9.9,303,6366,0.00,2.45,0.00,0.000,6,0.000,0.044,2141,2053,3514
$GC,6688,-1.39,-146.6,689.3,-9.2,319,6692,0.00,2.58,0.00,0.000,4,0.000,0.067,2141,648,3513
$GC,6810,-1.39,-146.6,701.5,-10.1,324,6816,0.00,2.45,0.00,0.000,6,0.000,0.045,2141,2053,3512
$GC,7126,-1.39,-146.6,731.0,-9.3,340,7130,0.00,2.58,0.00,0.000,4,0.000,0.067,2141,648,3511
$GC,7216,-1.39,-146.6,739.8,-9.9,344,7221,0.00,2.47,0.00,0.000,6,0.000,0.045,2141,2059,3511
$GC,7537,-1.39,-146.6,769.7,-9.2,360,7542,0.00,2.60,0.00,0.000,4,0.000,0.067,2141,645,3510
$GC,7616,-1.39,-146.6,777.6,-10.0,363,7622,0.00,2.47,0.00,0.000,6,0.000,0.046,2141,2055,3509
$GC,7931,-1.39,-146.6,807.2,-9.6,379,7936,0.00,2.58,0.00,0.000,4,0.000,0.067,2141,649,3508
$GC,8010,-1.39,-146.6,815.2,-9.6,382,8016,0.00,2.47,0.00,0.000,6,0.000,0.047,2141,2056,3508
$GC,8326,-1.39,-146.6,844.7,-9.3,398,8330,0.00,2.60,0.00,0.000,4,0.000,0.068,2141,642,3506
$GC,8383,-1.39,-146.6,850.1,-9.4,400,8390,0.00,2.47,0.00,0.000,6,0.000,0.046,2141,2051,3506
$GC,8701,-1.39,-146.6,878.9,-8.9,416,8705,0.00,2.58,0.00,0.000,4,0.000,0.068,2141,649,3505
$GC,8767,-1.39,-146.6,885.5,-9.9,419,8772,0.00,2.47,0.00,0.000,6,0.000,0.046,2140,2059,3505
$GC,9089,-1.39,-146.6,915.3,-9.3,435,9093,0.00,2.60,0.00,0.000,4,0.000,0.069,2141,646,3505
$GC,9167,-1.39,-146.6,923.0,-9.5,438,9173,0.00,2.47,0.00,0.000,6,0.000,0.048,2141,2053,3504
$GC,9482,-1.39,-146.6,952.5,-9.3,454,9487,0.00,2.58,0.00,0.000,4,0.000,0.068,2141,650,3504
$GC,9555,-1.39,-146.6,959.8,-10.6,457,9559,0.00,2.47,0.00,0.000,6,0.000,0.047,2141,2056,3503
$GC,9871,-1.39,-146.6,988.5,-9.0,472,9875,0.00,2.60,0.00,0.000,4,0.000,0.069,2141,646,3503
$STATE,9885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9885,begin apogee
$GC,9893,-0.33,0.0,990.1,8.8,473,10028,1.17,0.00,127.90,1.468,6,0.101,0.000,2374,1951,2915
$STATE,10028,end apogee,CONTROL_FINISHED_OK
$STATE,10029,begin climb
$GC,10031,1.39,146.6,994.8,0.0,480,10168,1.77,2.67,128.62,1.414,4,0.062,0.065,2751,3357,2317
$GC,10344,1.39,146.6,969.4,11.0,494,10349,0.00,2.53,0.00,0.000,6,0.000,0.051,2751,1952,2317
$GC,10660,1.39,146.6,934.4,11.1,509,10664,0.00,2.60,0.00,0.000,4,0.000,0.061,2751,3361,2316
$GC,10721,1.39,146.6,927.2,12.0,512,10726,0.00,2.55,0.00,0.000,6,0.000,0.049,2751,1949,2316
$GC,11048,1.39,146.6,890.8,11.3,528,11052,0.00,2.58,0.00,0.000,4,0.000,0.060,2751,3354,2315
$GC,11103,1.39,146.6,884.4,12.0,530,11109,0.00,2.50,0.00,0.000,6,0.000,0.048,2751,1949,2315
$GC,11419,1.39,146.6,849.0,11.2,546,11423,0.00,2.58,0.00,0.000,4,0.000,0.061,2751,3355,2315
$GC,11473,1.39,146.6,842.2,12.0,548,11479,0.00,2.53,0.00,0.000,6,0.000,0.049,2751,1949,2315
$GC,11789,1.39,146.6,806.2,11.8,564,11793,0.00,2.58,0.00,0.000,4,0.000,0.061,2751,3358,2315
$GC,11877,1.39,146.6,795.3,12.4,568,11882,0.00,2.53,0.00,0.000,6,0.000,0.049,2751,1946,2314
$GC,12204,1.39,146.6,757.9,11.1,584,12205,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1946,2314
$GC,12514,1.39,146.6,724.5,10.6,599,12518,0.00,2.58,0.00,0.000,4,0.000,0.061,2751,3353,2314
$GC,12602,1.39,146.6,714.3,11.0,603,12606,0.00,2.50,0.00,0.000,6,0.000,0.048,2751,1950,2314
$GC,12923,1.39,146.6,680.2,10.5,619,12924,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1950,2314
$GC,13233,1.39,146.6,648.7,10.1,634,13234,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1950,2314
$GC,13542,1.39,146.6,616.1,10.5,649,13546,0.00,2.58,0.00,0.000,4,0.000,0.060,2751,3362,2313
$GC,13717,1.39,146.6,597.2,10.2,657,13722,0.00,2.50,0.00,0.000,6,0.000,0.048,2751,1950,2313
$GC,14044,1.39,150.6,565.1,9.8,673,14054,0.00,2.55,4.43,0.900,4,0.000,0.058,2751,3354,2301
$GC,14098,1.39,150.6,559.5,10.1,675,14105,0.00,2.55,0.00,0.000,6,0.000,0.048,2751,1948,2301
$GC,14415,1.39,150.8,528.5,10.0,691,14416,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1948,2301
$GC,14724,1.41,163.2,499.0,9.4,706,14745,0.00,2.70,12.43,1.118,4,0.000,0.073,2751,549,2249
$GC,14829,1.41,163.2,487.8,10.0,710,14836,0.00,2.47,0.00,0.000,6,0.000,0.041,2751,1957,2249
$GC,15146,1.42,170.1,457.7,9.7,726,15160,0.00,2.58,7.68,1.008,4,0.000,0.058,2751,3342,2221
$GC,15235,1.42,170.1,448.3,11.4,730,15239,0.00,2.47,0.00,0.000,6,0.000,0.045,2751,1946,2221
$GC,15562,1.42,170.1,413.6,10.8,746,15566,0.00,2.60,0.00,0.000,4,0.000,0.070,2751,540,2221
$GC,15774,1.42,170.1,389.4,11.4,755,15781,0.00,2.47,0.00,0.000,6,0.000,0.039,2751,1947,2222
$GC,16090,1.42,170.1,355.7,10.6,771,16095,0.00,2.50,0.00,0.000,4,0.000,0.055,2751,3350,2222
$GC,16152,1.42,170.1,348.8,11.0,774,16157,0.00,2.45,0.00,0.000,6,0.000,0.042,2751,1948,2222
$GC,16479,1.43,184.5,316.0,9.3,790,16499,0.00,0.00,14.02,0.945,6,0.000,0.000,2751,1948,2162
$GC,16809,1.43,184.5,282.6,10.8,806,16813,0.00,2.50,0.00,0.000,4,0.000,0.051,2751,3352,2162
$GC,16886,1.43,184.5,273.1,10.7,809,16890,0.00,2.45,0.00,0.000,6,0.000,0.041,2751,1946,2162
$GC,17202,1.43,184.5,235.5,11.9,824,17203,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1946,2163
$GC,17511,1.43,184.5,198.6,11.2,839,17515,0.00,2.47,0.00,0.000,4,0.000,0.048,2751,3352,2164
$GC,17561,1.43,184.5,192.9,11.0,841,17565,0.00,2.42,0.00,0.000,6,0.000,0.039,2751,1950,2164
$GC,17882,1.43,184.5,155.6,11.3,857,17883,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1949,2166
$GC,18192,1.43,184.5,119.7,11.7,872,18196,0.00,2.50,0.00,0.000,4,0.000,0.049,2751,3358,2167
$GC,18263,1.43,184.5,110.7,12.5,875,18268,0.00,2.45,0.00,0.000,6,0.000,0.038,2751,1949,2167
$GC,18580,1.43,184.5,70.8,13.5,890,18581,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1948,2167
$GC,18889,1.43,184.5,29.9,12.5,905,18890,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1949,2169
$STATE,19092,end climb,SURFACE_DEPTH_REACHED
$STATE,19093,begin surface coast
$FINISH,0.2,1.027357
$STATE,19114,end surface coast,CONTROL_FINISHED_OK
$STATE,19115,begin surface
$SM_CCo,19137,40.42,0.660,2,0,1894,250.21
$SM_GC,1.20,0.00,0.00,40.42,0.000,0.000,0.660,43,2062,1894,-11.07,0.28,250.21
$IRIDIUM_FIX,6108.28,-251.29,120597,010147
$TT8_MAMPS,0.026845
$HUMID,1713
$INTERNAL_PRESSURE,8.40096
$TCM_TEMP,17.30
$XPDR_PINGS,0
$ALTIM_TOP_PING,18.3,18.1
$24V_AH,23.0,4.751
$10V_AH,10.1,2.542
$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,26.775,196.300,295.075,40.425,0.000,41.039,39.277,179.679,8.750,0.000,0.000,13.335,1759.992,14415.797,537.026,2297.094,554.454,33.348,1662.495,0.000,2253.126,0.000,57.551
$DEVICE_MAMPS,158.769,72.865,1468.038,660.387,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,681.686,618.502,537.179,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47434,916
$CFSIZE,260165632,256401408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,2,0
$GPS,160208,120138,6130.704,-250.926,29,1.3,29,-6.0