version: 66.02
glider: 104
mission: 4
dive: 24
start: 2 18 108 8 28 37
data:
$ID,104
$MISSION,4
$DIVE,24
$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,-35500.871
$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,31
$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
$GPS1,082046,6132.925,-257.502,36,2.4,55,-6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-63.5
$GPS2,082747,6132.963,-257.202,11,2.5,30,-6.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.263,-0.013
$KALMAN_X,86176.4,-2879.3,669.9,-73318.0,7129.5
$KALMAN_Y,-24699.0,1286.7,877.7,20633.6,-6792.1
$MHEAD_RNG_PITCHd_Wd,273.1,40682,-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,25,-1.39,-146.6,0.0,0.0,0,107,0.00,0.00,-79.50,0.000,2,0.000,0.000,40,2067,3417
$GC,110,-1.39,-146.6,4.3,-4.6,4,132,11.85,2.62,-2.00,0.000,4,0.157,0.069,2142,646,3516
$GC,188,-1.39,-146.6,23.0,-15.6,7,192,0.00,2.42,0.00,0.000,6,0.000,0.035,2142,2058,3516
$GC,505,-1.39,-146.6,54.7,-9.9,22,509,0.00,2.55,0.00,0.000,4,0.000,0.058,2142,646,3517
$GC,548,-1.39,-146.6,59.7,-10.3,24,552,0.00,2.40,0.00,0.000,6,0.000,0.035,2142,2049,3517
$GC,871,-1.39,-146.6,91.8,-9.9,40,875,0.00,2.55,0.00,0.000,4,0.000,0.058,2142,643,3518
$GC,978,-1.39,-146.6,103.5,-10.9,45,982,0.00,2.42,0.00,0.000,6,0.000,0.036,2142,2054,3517
$GC,1305,-1.39,-146.6,138.1,-11.1,61,1309,0.00,2.55,0.00,0.000,4,0.000,0.059,2142,646,3518
$GC,1416,-1.39,-146.6,151.1,-11.7,66,1420,0.00,2.42,0.00,0.000,6,0.000,0.037,2142,2058,3518
$GC,1737,-1.39,-146.6,184.3,-10.6,82,1741,0.00,2.55,0.00,0.000,4,0.000,0.059,2142,646,3518
$GC,1803,-1.39,-146.6,191.7,-11.0,85,1807,0.00,2.42,0.00,0.000,6,0.000,0.037,2142,2058,3517
$GC,2125,-1.39,-146.6,224.7,-10.2,101,2130,0.00,2.55,0.00,0.000,4,0.000,0.059,2142,646,3519
$GC,2185,-1.39,-146.6,231.7,-10.9,103,2191,0.00,2.40,0.00,0.000,6,0.000,0.037,2142,2051,3518
$GC,2501,-1.39,-146.6,263.3,-9.7,119,2505,0.00,2.55,0.00,0.000,4,0.000,0.060,2142,646,3519
$GC,2586,-1.39,-146.6,272.1,-10.5,123,2590,0.00,2.42,0.00,0.000,6,0.000,0.037,2142,2057,3519
$GC,2912,-1.39,-146.6,307.9,-11.0,139,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2057,3519
$GC,3221,-1.39,-146.6,337.1,-9.1,154,3225,0.00,2.58,0.00,0.000,4,0.000,0.061,2141,640,3519
$GC,3366,-1.39,-146.6,351.0,-10.1,160,3373,0.00,2.45,0.00,0.000,6,0.000,0.038,2142,2051,3519
$GC,3682,-1.39,-146.6,379.3,-8.9,176,3687,0.00,2.55,0.00,0.000,4,0.000,0.061,2142,644,3518
$GC,3755,-1.39,-146.6,386.3,-10.2,179,3759,0.00,2.42,0.00,0.000,6,0.000,0.038,2142,2058,3519
$GC,4070,-1.39,-146.6,418.9,-10.7,194,4074,0.00,2.58,0.00,0.000,4,0.000,0.061,2142,641,3519
$GC,4137,-1.39,-146.6,426.0,-10.3,197,4141,0.00,2.42,0.00,0.000,6,0.000,0.039,2142,2051,3519
$GC,4457,-1.39,-146.6,459.5,-10.7,213,4462,0.00,2.55,0.00,0.000,4,0.000,0.061,2142,647,3519
$GC,4569,-1.39,-146.6,471.7,-9.9,218,4574,0.00,2.42,0.00,0.000,6,0.000,0.040,2142,2051,3519
$GC,4891,-1.39,-146.6,502.4,-9.7,234,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2142,2051,3518
$GC,5200,-1.39,-146.6,531.8,-9.5,249,5204,0.00,2.58,0.00,0.000,4,0.000,0.064,2142,641,3517
$GC,5339,-1.39,-146.6,546.0,-10.0,255,5344,0.00,2.45,0.00,0.000,6,0.000,0.042,2142,2050,3517
$GC,5655,-1.39,-146.6,579.1,-11.1,270,5659,0.00,2.58,0.00,0.000,4,0.000,0.065,2141,645,3516
$GC,5766,-1.39,-146.6,592.2,-11.7,275,5770,0.00,2.45,0.00,0.000,6,0.000,0.044,2141,2053,3515
$GC,6088,-1.39,-146.6,625.6,-10.5,291,6092,0.00,2.58,0.00,0.000,4,0.000,0.066,2142,647,3513
$GC,6172,-1.39,-146.6,635.6,-12.1,295,6176,0.00,2.45,0.00,0.000,6,0.000,0.044,2141,2052,3513
$GC,6498,-1.39,-146.6,671.0,-10.8,311,6503,0.00,2.58,0.00,0.000,4,0.000,0.067,2142,647,3511
$GC,6543,-1.39,-146.6,676.1,-11.1,313,6547,0.00,2.45,0.00,0.000,6,0.000,0.044,2141,2053,3511
$GC,6864,-1.39,-146.6,709.1,-10.4,329,6868,0.00,2.60,0.00,0.000,4,0.000,0.067,2142,638,3510
$GC,6930,-1.39,-146.6,716.3,-11.2,332,6934,0.00,2.47,0.00,0.000,6,0.000,0.045,2141,2051,3510
$GC,7252,-1.39,-146.6,748.0,-9.9,348,7256,0.00,2.60,0.00,0.000,4,0.000,0.067,2142,638,3510
$GC,7346,-1.39,-146.6,758.3,-11.1,352,7350,0.00,2.45,0.00,0.000,6,0.000,0.045,2142,2051,3509
$GC,7667,-1.39,-146.6,789.7,-9.8,368,7671,0.00,2.60,0.00,0.000,4,0.000,0.068,2142,638,3508
$GC,7762,-1.39,-146.6,799.4,-10.0,372,7766,0.00,2.47,0.00,0.000,6,0.000,0.045,2142,2051,3508
$GC,8077,-1.39,-146.6,829.4,-9.5,387,8082,0.00,2.58,0.00,0.000,4,0.000,0.067,2142,646,3507
$GC,8172,-1.39,-146.6,839.4,-10.4,391,8177,0.00,2.45,0.00,0.000,6,0.000,0.046,2142,2049,3506
$GC,8490,-1.39,-146.6,869.3,-9.2,406,8494,0.00,2.55,0.00,0.000,4,0.000,0.067,2142,646,3505
$GC,8562,-1.39,-146.6,876.8,-10.4,409,8566,0.00,2.45,0.00,0.000,6,0.000,0.045,2142,2055,3505
$GC,8883,-1.39,-146.6,906.3,-9.0,425,8887,0.00,2.60,0.00,0.000,4,0.000,0.067,2142,642,3504
$GC,8983,-1.39,-146.6,916.1,-9.6,429,8989,0.00,2.47,0.00,0.000,6,0.000,0.046,2141,2051,3504
$GC,9298,-1.39,-146.6,945.2,-9.5,445,9303,0.00,2.60,0.00,0.000,4,0.000,0.067,2142,639,3503
$GC,9377,-1.39,-146.6,953.0,-10.0,448,9383,0.00,2.47,0.00,0.000,6,0.000,0.046,2142,2051,3503
$GC,9692,-1.39,-146.6,982.3,-9.2,464,9696,0.00,2.58,0.00,0.000,4,0.000,0.067,2142,646,3502
$STATE,9768,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9768,begin apogee
$GC,9776,-0.33,0.0,990.4,10.4,467,9908,1.12,0.00,128.05,1.485,6,0.099,0.000,2369,1952,2916
$STATE,9909,end apogee,CONTROL_FINISHED_OK
$STATE,9909,begin climb
$GC,9911,1.39,146.6,995.6,0.0,474,10049,1.80,2.65,129.15,1.428,4,0.065,0.064,2749,3355,2316
$GC,10141,1.39,146.6,981.2,11.4,484,10146,0.00,2.53,0.00,0.000,6,0.000,0.049,2749,1950,2316
$GC,10467,1.39,146.6,945.6,10.7,500,10472,0.00,2.58,0.00,0.000,4,0.000,0.060,2749,3349,2316
$GC,10512,1.39,146.6,940.6,11.4,502,10516,0.00,2.53,0.00,0.000,6,0.000,0.048,2749,1947,2315
$GC,10832,1.39,146.6,906.0,10.8,518,10836,0.00,2.58,0.00,0.000,4,0.000,0.060,2749,3350,2315
$GC,10876,1.39,146.6,901.0,12.3,520,10880,0.00,2.53,0.00,0.000,6,0.000,0.048,2749,1946,2315
$GC,11198,1.39,146.6,867.9,10.1,536,11203,0.00,2.58,0.00,0.000,4,0.000,0.060,2749,3350,2315
$GC,11254,1.39,146.6,861.6,11.2,538,11260,0.00,2.53,0.00,0.000,6,0.000,0.048,2749,1943,2315
$GC,11569,1.39,146.6,829.4,10.2,554,11574,0.00,2.58,0.00,0.000,4,0.000,0.061,2749,3350,2314
$GC,11619,1.39,146.6,823.9,10.4,556,11623,0.00,2.50,0.00,0.000,6,0.000,0.048,2749,1950,2314
$GC,11940,1.39,146.6,790.2,10.4,572,11941,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1950,2314
$GC,12250,1.39,146.6,758.1,10.3,587,12254,0.00,2.58,0.00,0.000,4,0.000,0.060,2749,3356,2314
$GC,12335,1.39,146.6,748.9,10.7,591,12340,0.00,2.53,0.00,0.000,6,0.000,0.048,2749,1947,2313
$GC,12662,1.39,146.6,714.6,10.3,607,12666,0.00,2.58,0.00,0.000,4,0.000,0.061,2749,3354,2313
$GC,12705,1.39,146.6,709.8,10.5,609,12710,0.00,2.50,0.00,0.000,6,0.000,0.048,2749,1946,2313
$GC,13027,1.42,172.4,680.3,8.8,625,13052,0.00,0.00,23.12,1.284,6,0.000,0.000,2749,1946,2212
$GC,13358,1.43,179.9,648.9,9.7,641,13372,0.00,2.62,8.15,1.140,4,0.000,0.060,2749,3348,2181
$GC,13440,1.43,179.9,639.9,10.2,644,13446,0.00,2.50,0.00,0.000,6,0.000,0.048,2749,1946,2181
$GC,13756,1.44,190.0,609.1,9.5,660,13771,0.00,2.62,10.35,1.161,4,0.000,0.060,2749,3353,2139
$GC,13844,1.44,190.0,600.1,11.0,663,13848,0.00,2.50,0.00,0.000,6,0.000,0.048,2749,1949,2139
$GC,14165,1.45,199.4,570.0,9.6,679,14176,0.00,0.00,9.60,1.127,6,0.000,0.000,2749,1949,2102
$GC,14474,1.47,211.0,539.9,9.5,694,14495,0.00,2.62,11.35,1.134,4,0.000,0.059,2749,3357,2054
$GC,14567,1.47,211.0,530.4,10.4,698,14572,0.00,2.53,0.00,0.000,6,0.000,0.047,2749,1951,2054
$GC,14888,1.47,211.0,496.4,11.2,714,14892,0.00,2.55,0.00,0.000,4,0.000,0.060,2749,3350,2054
$GC,14994,1.47,211.0,483.6,12.2,718,15000,0.00,2.47,0.00,0.000,6,0.000,0.048,2749,1951,2054
$GC,15310,1.47,211.0,447.2,12.0,734,15311,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1951,2054
$GC,15619,1.47,211.0,407.8,12.7,749,15623,0.00,2.62,0.00,0.000,4,0.000,0.074,2749,542,2054
$GC,15651,1.47,211.0,403.5,13.2,750,15658,0.00,2.47,0.00,0.000,6,0.000,0.041,2749,1951,2053
$GC,15968,1.47,211.0,362.9,13.1,766,15972,0.00,2.60,0.00,0.000,4,0.000,0.068,2749,541,2054
$GC,16013,1.47,211.0,357.0,12.6,768,16017,0.00,2.47,0.00,0.000,6,0.000,0.041,2749,1953,2054
$GC,16333,1.47,211.0,318.3,13.2,784,16337,0.00,2.53,0.00,0.000,4,0.000,0.058,2749,3356,2054
$GC,16399,1.47,211.0,309.1,14.2,787,16403,0.00,2.45,0.00,0.000,6,0.000,0.041,2749,1950,2055
$GC,16720,1.47,211.0,265.5,13.5,803,16721,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1951,2055
$GC,17029,1.47,211.0,227.4,12.1,818,17033,0.00,2.50,0.00,0.000,4,0.000,0.051,2749,3353,2056
$GC,17068,1.47,211.0,222.7,12.2,819,17074,0.00,2.45,0.00,0.000,6,0.000,0.040,2749,1944,2056
$GC,17385,1.47,211.0,185.5,11.7,835,17386,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1943,2058
$GC,17693,1.47,211.0,149.0,11.5,850,17697,0.00,2.50,0.00,0.000,4,0.000,0.048,2749,3352,2059
$GC,17755,1.47,211.0,141.4,11.6,853,17760,0.00,2.45,0.00,0.000,6,0.000,0.038,2749,1944,2059
$GC,18083,1.47,211.0,101.7,12.3,869,18087,0.00,2.55,0.00,0.000,4,0.000,0.064,2749,541,2060
$GC,18115,1.47,211.0,97.1,13.2,870,18122,0.00,2.45,0.00,0.000,6,0.000,0.035,2749,1949,2060
$GC,18432,1.47,211.0,60.0,12.0,886,18433,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1949,2061
$GC,18741,1.47,211.0,20.9,13.7,901,18745,0.00,2.58,0.00,0.000,4,0.000,0.062,2749,538,2063
$GC,18773,1.47,211.0,16.6,11.4,902,18780,0.00,2.45,0.00,0.000,6,0.000,0.035,2749,1960,2063
$STATE,18881,end climb,SURFACE_DEPTH_REACHED
$STATE,18881,begin surface coast
$FINISH,0.1,1.012754
$STATE,18903,end surface coast,CONTROL_FINISHED_OK
$STATE,18903,begin surface
$SM_CCo,18925,29.58,0.634,3,0,1895,250.21
$SM_GC,0.98,0.00,0.00,29.58,0.000,0.000,0.634,44,2061,1895,-11.07,0.23,250.21
$IRIDIUM_FIX,6108.28,-255.79,140597,030357
$TT8_MAMPS,0.028379
$HUMID,1710
$INTERNAL_PRESSURE,8.40096
$TCM_TEMP,17.30
$XPDR_PINGS,0
$24V_AH,23.0,6.249
$10V_AH,10.1,3.419
$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,26.825,206.575,319.775,29.575,0.000,39.535,40.628,201.908,8.500,0.000,0.000,33.232,1753.695,14211.738,548.650,2286.457,587.521,33.336,1665.379,0.000,2228.390,0.000,55.912
$DEVICE_MAMPS,157.235,73.632,1484.912,634.309,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,679.314,614.125,544.917,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47466,909
$CFSIZE,260165632,255758336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,25,3,0
$GPS,180208,134607,6131.679,-258.761,36,1.7,41,-6.0