version: 66.02
glider: 104
mission: 4
dive: 19
start: 2 17 108 9 35 49
data:
$ID,104
$MISSION,4
$DIVE,19
$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,-35391.656
$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,21
$R_STBD_OVSHOOT,35
$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
$GPS1,092808,6133.484,-252.618,38,1.3,38,-6.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-60.3
$GPS2,093457,6133.621,-252.215,15,1.6,15,-6.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.222,0.141
$KALMAN_X,71655.8,-3443.3,-618.9,-52563.8,12516.8
$KALMAN_Y,-11844.9,210.7,60.2,10890.0,-879.8
$MHEAD_RNG_PITCHd_Wd,308.5,45255,-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,-80.88,0.000,2,0.000,0.000,40,2069,3411
$GC,109,-1.39,-146.6,3.9,-4.2,4,129,12.02,2.50,-2.10,0.000,4,0.158,0.064,2137,3438,3516
$GC,185,-1.39,-146.6,20.8,-13.6,7,192,0.00,2.42,0.00,0.000,6,0.000,0.037,2138,2041,3516
$GC,501,-1.39,-146.6,62.3,-13.4,23,506,0.00,2.55,0.00,0.000,4,0.000,0.063,2138,642,3517
$GC,590,-1.39,-146.6,73.9,-13.2,27,595,0.00,2.40,0.00,0.000,6,0.000,0.036,2138,2046,3517
$GC,912,-1.39,-146.6,111.4,-11.2,43,916,0.00,2.55,0.00,0.000,4,0.000,0.061,2138,647,3518
$GC,1119,-1.39,-146.6,135.5,-13.0,52,1123,0.00,2.42,0.00,0.000,6,0.000,0.037,2138,2057,3518
$GC,1434,-1.39,-146.6,171.2,-11.1,67,1439,0.00,2.55,0.00,0.000,4,0.000,0.061,2138,648,3518
$GC,1551,-1.39,-146.6,185.5,-12.4,72,1556,0.00,2.42,0.00,0.000,6,0.000,0.037,2138,2056,3518
$GC,1867,-1.39,-146.6,222.4,-11.8,87,1871,0.00,2.55,0.00,0.000,4,0.000,0.061,2138,646,3518
$GC,1978,-1.39,-146.6,235.8,-11.2,92,1982,0.00,2.42,0.00,0.000,6,0.000,0.037,2137,2058,3519
$GC,2299,-1.39,-146.6,272.3,-11.5,108,2303,0.00,2.55,0.00,0.000,4,0.000,0.060,2138,648,3519
$GC,2416,-1.39,-146.6,285.5,-10.5,113,2421,0.00,2.42,0.00,0.000,6,0.000,0.038,2138,2059,3519
$GC,2732,-1.39,-146.6,318.9,-10.4,128,2736,0.00,2.55,0.00,0.000,4,0.000,0.061,2138,648,3519
$GC,2883,-1.39,-146.6,335.7,-11.0,135,2888,0.00,2.42,0.00,0.000,6,0.000,0.038,2138,2056,3519
$GC,3211,-1.39,-146.6,368.1,-10.3,151,3215,0.00,2.55,0.00,0.000,4,0.000,0.061,2138,649,3519
$GC,3318,-1.39,-146.6,379.8,-11.2,156,3322,0.00,2.40,0.00,0.000,6,0.000,0.038,2138,2051,3519
$GC,3651,-1.39,-146.6,414.9,-9.7,172,3655,0.00,2.55,0.00,0.000,4,0.000,0.061,2137,646,3519
$GC,3810,-1.39,-146.6,431.9,-11.2,179,3814,0.00,2.42,0.00,0.000,6,0.000,0.039,2138,2051,3519
$GC,4130,-1.39,-146.6,468.9,-11.5,195,4135,0.00,2.55,0.00,0.000,4,0.000,0.062,2138,648,3519
$GC,4208,-1.39,-146.6,478.1,-12.1,198,4214,0.00,2.42,0.00,0.000,6,0.000,0.040,2138,2061,3518
$GC,4524,-1.39,-146.6,510.9,-9.8,214,4528,0.00,2.58,0.00,0.000,4,0.000,0.063,2138,647,3518
$GC,4630,-1.39,-146.6,522.3,-11.2,219,4635,0.00,2.45,0.00,0.000,6,0.000,0.042,2138,2061,3518
$GC,4957,-1.39,-146.6,557.6,-11.1,235,4961,0.00,2.58,0.00,0.000,4,0.000,0.064,2138,649,3517
$GC,4984,-1.39,-146.6,560.9,-11.8,236,4988,0.00,2.42,0.00,0.000,6,0.000,0.042,2138,2051,3516
$GC,5300,-1.39,-146.6,596.4,-11.0,251,5305,0.00,2.58,0.00,0.000,4,0.000,0.065,2137,647,3515
$GC,5373,-1.39,-146.6,604.9,-11.4,254,5377,0.00,2.45,0.00,0.000,6,0.000,0.044,2137,2058,3515
$GC,5688,-1.39,-146.6,637.0,-9.9,269,5693,0.00,2.60,0.00,0.000,4,0.000,0.067,2137,642,3513
$GC,5760,-1.39,-146.6,644.6,-10.6,272,5765,0.00,2.45,0.00,0.000,6,0.000,0.044,2137,2050,3513
$GC,6083,-1.39,-146.6,675.4,-9.4,288,6087,0.00,2.58,0.00,0.000,4,0.000,0.067,2138,649,3512
$GC,6160,-1.39,-146.6,683.4,-10.1,291,6166,0.00,2.45,0.00,0.000,6,0.000,0.045,2137,2054,3511
$GC,6476,-1.39,-146.6,712.7,-9.3,307,6480,0.00,2.58,0.00,0.000,4,0.000,0.067,2137,647,3511
$GC,6561,-1.39,-146.6,721.2,-9.7,311,6565,0.00,2.45,0.00,0.000,6,0.000,0.046,2138,2053,3510
$GC,6893,-1.39,-146.6,752.0,-9.1,327,6897,0.00,2.58,0.00,0.000,4,0.000,0.067,2137,648,3510
$GC,6978,-1.39,-146.6,760.1,-9.8,331,6982,0.00,2.47,0.00,0.000,6,0.000,0.045,2137,2061,3509
$GC,7304,-1.39,-146.6,788.7,-8.7,347,7309,0.00,2.60,0.00,0.000,4,0.000,0.067,2137,646,3508
$GC,7390,-1.39,-146.6,796.3,-9.3,351,7395,0.00,2.47,0.00,0.000,6,0.000,0.045,2137,2058,3508
$GC,7720,-1.39,-146.6,825.6,-9.2,367,7724,0.00,2.60,0.00,0.000,4,0.000,0.067,2137,643,3507
$GC,7797,-1.39,-146.6,833.5,-9.9,370,7804,0.00,2.50,0.00,0.000,6,0.000,0.046,2137,2049,3507
$GC,8114,-1.39,-146.6,863.8,-9.7,386,8118,0.00,2.58,0.00,0.000,4,0.000,0.067,2138,647,3505
$GC,8208,-1.39,-146.6,873.9,-10.9,390,8212,0.00,2.45,0.00,0.000,6,0.000,0.044,2137,2053,3506
$GC,8524,-1.39,-146.6,904.7,-9.6,405,8528,0.00,2.58,0.00,0.000,4,0.000,0.067,2137,649,3505
$GC,8612,-1.39,-146.6,913.9,-10.0,409,8617,0.00,2.45,0.00,0.000,6,0.000,0.046,2137,2054,3504
$GC,8934,-1.39,-146.6,944.8,-9.5,425,8938,0.00,2.58,0.00,0.000,4,0.000,0.067,2137,649,3503
$GC,9023,-1.39,-146.6,953.8,-9.6,429,9027,0.00,2.47,0.00,0.000,6,0.000,0.045,2137,2059,3503
$GC,9344,-1.39,-146.6,983.4,-9.1,445,9348,0.00,2.60,0.00,0.000,4,0.000,0.067,2137,646,3503
$STATE,9413,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9413,begin apogee
$GC,9421,-0.33,0.0,990.5,9.8,448,9553,1.17,0.00,127.97,1.481,6,0.105,0.000,2371,1952,2915
$STATE,9554,end apogee,CONTROL_FINISHED_OK
$STATE,9554,begin climb
$GC,9557,1.39,146.6,995.1,0.0,455,9694,1.80,2.62,129.50,1.423,4,0.065,0.063,2750,3356,2317
$GC,9797,1.39,146.6,978.3,11.2,465,9802,0.00,2.55,0.00,0.000,6,0.000,0.048,2751,1947,2316
$GC,10113,1.39,146.6,943.7,11.0,480,10114,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1947,2316
$GC,10422,1.39,146.6,910.3,11.0,495,10426,0.00,2.58,0.00,0.000,4,0.000,0.059,2751,3355,2316
$GC,10494,1.39,146.6,901.8,11.6,498,10498,0.00,2.50,0.00,0.000,6,0.000,0.048,2751,1950,2315
$GC,10809,1.39,146.6,867.3,11.1,513,10813,0.00,2.58,0.00,0.000,4,0.000,0.059,2751,3355,2315
$GC,10859,1.39,146.6,861.6,12.0,515,10863,0.00,2.53,0.00,0.000,6,0.000,0.049,2750,1948,2315
$GC,11174,1.39,146.6,825.7,11.6,530,11175,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1948,2314
$GC,11483,1.39,146.6,790.2,11.4,545,11488,0.00,2.58,0.00,0.000,4,0.000,0.059,2750,3357,2314
$GC,11561,1.39,146.6,780.7,11.6,548,11567,0.00,2.53,0.00,0.000,6,0.000,0.048,2751,1949,2314
$GC,11876,1.39,146.6,744.8,11.7,564,11881,0.00,2.58,0.00,0.000,4,0.000,0.058,2751,3360,2314
$GC,11942,1.39,146.6,736.7,12.7,567,11947,0.00,2.50,0.00,0.000,6,0.000,0.048,2751,1950,2313
$GC,12264,1.39,146.6,699.6,11.6,583,12265,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1951,2313
$GC,12573,1.39,146.6,665.0,10.9,598,12574,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1951,2313
$GC,12882,1.39,146.6,632.0,10.5,613,12886,0.00,2.55,0.00,0.000,4,0.000,0.059,2750,3352,2313
$GC,12976,1.39,146.6,621.7,10.4,617,12981,0.00,2.50,0.00,0.000,6,0.000,0.048,2751,1950,2313
$GC,13292,1.39,146.6,589.6,10.5,632,13296,0.00,2.55,0.00,0.000,4,0.000,0.058,2751,3360,2313
$GC,13386,1.39,146.6,579.2,10.4,636,13390,0.00,2.50,0.00,0.000,6,0.000,0.048,2751,1950,2313
$GC,13702,1.39,146.6,547.1,10.1,651,13706,0.00,2.55,0.00,0.000,4,0.000,0.058,2750,3353,2313
$GC,13786,1.39,146.6,538.1,10.8,655,13790,0.00,2.50,0.00,0.000,6,0.000,0.048,2751,1945,2313
$GC,14113,1.39,146.6,506.1,10.3,671,14114,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1945,2313
$GC,14422,1.39,146.6,470.0,12.0,686,14426,0.00,2.55,0.00,0.000,4,0.000,0.057,2750,3353,2313
$GC,14591,1.42,170.4,451.6,8.9,693,14618,0.00,2.47,20.58,1.134,6,0.000,0.046,2751,1951,2220
$GC,14927,1.42,170.4,420.2,11.2,710,14931,0.00,2.62,0.00,0.000,4,0.000,0.074,2751,540,2219
$GC,15066,1.42,170.4,402.8,11.5,716,15071,0.00,2.47,0.00,0.000,6,0.000,0.041,2751,1957,2220
$GC,15382,1.42,170.4,369.4,10.3,731,15387,0.00,2.62,0.00,0.000,4,0.000,0.067,2750,542,2220
$GC,15553,1.42,170.4,349.9,11.7,738,15559,0.00,2.45,0.00,0.000,6,0.000,0.039,2750,1951,2220
$GC,15868,1.42,170.4,315.7,10.7,754,15873,0.00,2.50,0.00,0.000,4,0.000,0.056,2751,3350,2221
$GC,15975,1.42,170.4,303.4,10.8,759,15979,0.00,2.45,0.00,0.000,6,0.000,0.042,2751,1950,2222
$GC,16307,1.42,170.4,267.1,11.1,775,16309,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1949,2222
$GC,16617,1.42,170.4,233.6,11.1,790,16621,0.00,2.50,0.00,0.000,4,0.000,0.051,2751,3350,2223
$GC,16683,1.42,170.4,225.7,12.5,793,16687,0.00,2.42,0.00,0.000,6,0.000,0.041,2751,1952,2224
$GC,17003,1.42,170.4,188.4,12.0,809,17008,0.00,2.50,0.00,0.000,4,0.000,0.050,2750,3356,2225
$GC,17053,1.42,170.4,181.9,12.7,811,17057,0.00,2.45,0.00,0.000,6,0.000,0.040,2751,1949,2225
$GC,17375,1.42,170.4,141.3,12.6,827,17376,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1949,2226
$GC,17684,1.42,170.4,102.0,12.5,842,17685,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1949,2226
$GC,17994,1.42,170.4,63.9,11.7,857,17998,0.00,2.50,0.00,0.000,4,0.000,0.050,2750,3355,2228
$GC,18071,1.42,170.4,55.1,11.9,860,18078,0.00,2.45,0.00,0.000,6,0.000,0.040,2751,1949,2228
$GC,18388,1.44,190.8,19.9,9.1,876,18413,0.00,2.58,18.80,0.746,4,0.000,0.050,2751,3353,2136
$GC,18456,1.44,190.8,12.3,12.6,879,18460,0.00,2.47,0.00,0.000,6,0.000,0.041,2750,1946,2136
$STATE,18553,end climb,SURFACE_DEPTH_REACHED
$STATE,18553,begin surface coast
$FINISH,0.2,1.027046
$STATE,18575,end surface coast,CONTROL_FINISHED_OK
$STATE,18575,begin surface
$SM_CCo,18597,40.88,0.666,3,0,1895,250.21
$SM_GC,0.81,0.00,0.00,40.88,0.000,0.000,0.666,44,2067,1895,-11.07,0.42,250.21
$IRIDIUM_FIX,6108.28,-251.52,130597,030341
$TT8_MAMPS,0.026845
$HUMID,1697
$INTERNAL_PRESSURE,8.36189
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,22.9,5.584
$10V_AH,10.1,3.021
$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,27.275,195.925,296.850,40.875,0.000,38.600,34.870,213.036,8.500,0.000,0.000,16.924,1740.701,13855.229,518.684,2364.033,581.622,33.350,1665.324,0.000,2312.172,0.000,55.898
$DEVICE_MAMPS,158.002,73.632,1481.077,665.756,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,657.218,598.213,527.454,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,44270,885
$CFSIZE,260165632,256061440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,3,0
$GPS,170208,144807,6133.539,-254.607,41,1.2,46,-6.0