version: 66.02
glider: 104
mission: 4
dive: 25
start: 2 18 108 13 53 49
data:
$ID,104
$MISSION,4
$DIVE,25
$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,-35517.703
$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,33
$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
$GPS1,134607,6131.679,-258.761,36,1.7,41,-6.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-62.2
$GPS2,135257,6131.645,-258.571,14,1.0,14,-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,-0.012
$KALMAN_X,89648.1,133.2,-1954.1,-78400.7,11066.6
$KALMAN_Y,-25287.0,389.9,365.8,20175.9,-4395.2
$MHEAD_RNG_PITCHd_Wd,273.3,39008,-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,19,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,-80.97,0.000,2,0.000,0.000,44,2062,3399
$GC,109,-1.39,-146.6,3.7,-4.0,4,131,11.82,2.53,-2.53,0.000,4,0.156,0.063,2139,3450,3516
$GC,193,-1.39,-146.6,19.9,-11.5,7,199,0.00,2.45,0.00,0.000,6,0.000,0.037,2140,2047,3517
$GC,509,-1.39,-146.6,56.3,-11.4,23,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2047,3517
$GC,818,-1.39,-146.6,92.3,-12.7,38,819,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2047,3517
$GC,1127,-1.39,-146.6,125.8,-10.7,53,1132,0.00,2.55,0.00,0.000,4,0.000,0.062,2140,642,3517
$GC,1171,-1.39,-146.6,131.1,-11.2,55,1176,0.00,2.40,0.00,0.000,6,0.000,0.035,2139,2048,3517
$GC,1493,-1.39,-146.6,168.0,-11.4,71,1497,0.00,2.55,0.00,0.000,4,0.000,0.059,2139,643,3518
$GC,1565,-1.39,-146.6,176.6,-11.2,74,1569,0.00,2.42,0.00,0.000,6,0.000,0.036,2139,2057,3518
$GC,1881,-1.39,-146.6,211.7,-10.9,89,1885,0.00,2.55,0.00,0.000,4,0.000,0.058,2139,646,3518
$GC,1953,-1.39,-146.6,219.9,-10.7,92,1957,0.00,2.40,0.00,0.000,6,0.000,0.036,2139,2050,3518
$GC,2270,-1.39,-146.6,253.3,-10.6,107,2274,0.00,2.55,0.00,0.000,4,0.000,0.059,2139,642,3518
$GC,2341,-1.39,-146.6,261.4,-10.8,110,2345,0.00,2.42,0.00,0.000,6,0.000,0.037,2139,2059,3519
$GC,2657,-1.39,-146.6,295.2,-10.9,125,2661,0.00,2.55,0.00,0.000,4,0.000,0.059,2139,648,3519
$GC,2768,-1.39,-146.6,308.0,-11.5,130,2772,0.00,2.40,0.00,0.000,6,0.000,0.037,2139,2053,3519
$GC,3089,-1.39,-146.6,343.8,-11.4,146,3093,0.00,2.55,0.00,0.000,4,0.000,0.060,2139,645,3519
$GC,3173,-1.39,-146.6,353.8,-12.0,150,3177,0.00,2.42,0.00,0.000,6,0.000,0.037,2139,2058,3519
$GC,3500,-1.39,-146.6,388.2,-10.0,166,3504,0.00,2.55,0.00,0.000,4,0.000,0.060,2139,648,3519
$GC,3539,-1.39,-146.6,392.4,-10.9,168,3543,0.00,2.40,0.00,0.000,6,0.000,0.037,2140,2051,3519
$GC,3865,-1.39,-146.6,421.9,-9.0,184,3870,0.00,2.55,0.00,0.000,4,0.000,0.061,2139,646,3520
$GC,3960,-1.39,-146.6,431.4,-10.0,188,3964,0.00,2.42,0.00,0.000,6,0.000,0.038,2139,2060,3519
$GC,4276,-1.39,-146.6,461.3,-10.0,203,4280,0.00,2.55,0.00,0.000,4,0.000,0.061,2139,648,3519
$GC,4319,-1.39,-146.6,466.1,-10.6,205,4324,0.00,2.42,0.00,0.000,6,0.000,0.038,2139,2059,3519
$GC,4642,-1.39,-146.6,499.6,-10.6,221,4646,0.00,2.55,0.00,0.000,4,0.000,0.061,2139,648,3519
$GC,4792,-1.39,-146.6,516.5,-11.1,227,4798,0.00,2.42,0.00,0.000,6,0.000,0.040,2139,2058,3519
$GC,5109,-1.39,-146.6,549.7,-10.2,243,5114,0.00,2.58,0.00,0.000,4,0.000,0.064,2139,646,3519
$GC,5231,-1.39,-146.6,563.0,-10.2,248,5235,0.00,2.42,0.00,0.000,6,0.000,0.042,2139,2051,3518
$GC,5553,-1.39,-146.6,594.0,-9.5,264,5554,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2051,3517
$GC,5862,-1.39,-146.6,624.1,-9.5,279,5866,0.00,2.58,0.00,0.000,4,0.000,0.066,2139,649,3515
$GC,5917,-1.39,-146.6,629.8,-10.1,281,5923,0.00,2.45,0.00,0.000,6,0.000,0.044,2139,2057,3515
$GC,6232,-1.39,-146.6,661.6,-10.3,297,6237,0.00,2.58,0.00,0.000,4,0.000,0.066,2139,648,3513
$GC,6340,-1.39,-146.6,673.6,-11.4,302,6344,0.00,2.45,0.00,0.000,6,0.000,0.044,2139,2054,3513
$GC,6665,-1.39,-146.6,707.1,-10.0,318,6670,0.00,2.58,0.00,0.000,4,0.000,0.066,2138,648,3511
$GC,6755,-1.39,-146.6,716.8,-11.3,322,6759,0.00,2.45,0.00,0.000,6,0.000,0.044,2139,2058,3511
$GC,7076,-1.39,-146.6,748.9,-9.9,338,7080,0.00,2.58,0.00,0.000,4,0.000,0.065,2139,648,3510
$GC,7169,-1.39,-146.6,758.5,-10.4,342,7174,0.00,2.45,0.00,0.000,6,0.000,0.045,2139,2053,3509
$GC,7485,-1.39,-146.6,788.4,-9.6,357,7490,0.00,2.58,0.00,0.000,4,0.000,0.066,2139,647,3509
$GC,7563,-1.39,-146.6,796.6,-10.2,360,7570,0.00,2.47,0.00,0.000,6,0.000,0.045,2139,2066,3509
$GC,7882,-1.39,-146.6,825.0,-8.9,376,7887,0.00,2.60,0.00,0.000,4,0.000,0.065,2139,645,3508
$GC,7973,-1.39,-146.6,834.1,-9.7,380,7977,0.00,2.47,0.00,0.000,6,0.000,0.044,2139,2057,3507
$GC,8296,-1.39,-146.6,864.1,-9.3,396,8300,0.00,2.58,0.00,0.000,4,0.000,0.066,2139,648,3506
$GC,8380,-1.39,-146.6,872.8,-10.5,400,8384,0.00,2.45,0.00,0.000,6,0.000,0.046,2139,2051,3506
$GC,8708,-1.39,-146.6,903.1,-9.0,416,8713,0.00,2.58,0.00,0.000,4,0.000,0.066,2139,646,3504
$GC,8781,-1.39,-146.6,910.3,-9.9,419,8785,0.00,2.47,0.00,0.000,6,0.000,0.046,2139,2055,3504
$GC,9097,-1.39,-146.6,938.6,-8.9,434,9101,0.00,2.58,0.00,0.000,4,0.000,0.067,2139,649,3504
$GC,9163,-1.39,-146.6,945.0,-9.5,437,9167,0.00,2.45,0.00,0.000,6,0.000,0.045,2139,2051,3504
$GC,9489,-1.39,-146.6,973.9,-8.8,453,9494,0.00,2.58,0.00,0.000,4,0.000,0.067,2139,650,3503
$GC,9556,-1.39,-146.6,980.4,-9.6,456,9561,0.00,2.47,0.00,0.000,6,0.000,0.045,2139,2058,3503
$STATE,9668,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9669,begin apogee
$GC,9675,-0.33,0.0,990.4,8.8,462,9811,1.17,0.00,127.97,1.481,6,0.102,0.000,2372,1943,2915
$STATE,9812,end apogee,CONTROL_FINISHED_OK
$STATE,9812,begin climb
$GC,9814,1.39,146.6,994.8,0.0,469,9952,1.75,2.65,129.32,1.427,4,0.061,0.061,2747,3350,2316
$GC,10067,1.39,146.6,975.9,11.9,480,10071,0.00,2.53,0.00,0.000,6,0.000,0.049,2747,1955,2316
$GC,10395,1.39,146.6,939.2,11.1,496,10399,0.00,2.58,0.00,0.000,4,0.000,0.060,2747,3355,2316
$GC,10461,1.39,146.6,931.1,11.6,499,10465,0.00,2.53,0.00,0.000,6,0.000,0.048,2747,1943,2315
$GC,10782,1.39,146.6,895.8,10.8,515,10787,0.00,2.58,0.00,0.000,4,0.000,0.060,2747,3350,2315
$GC,10862,1.39,146.6,886.9,11.0,518,10868,0.00,2.53,0.00,0.000,6,0.000,0.048,2747,1943,2315
$GC,11177,1.39,146.6,853.0,10.6,534,11181,0.00,2.58,0.00,0.000,4,0.000,0.060,2747,3349,2315
$GC,11238,1.39,146.6,846.3,10.3,537,11243,0.00,2.50,0.00,0.000,6,0.000,0.048,2747,1949,2314
$GC,11565,1.39,146.6,812.0,10.3,553,11569,0.00,2.58,0.00,0.000,4,0.000,0.060,2747,3356,2314
$GC,11608,1.39,146.6,807.2,11.2,555,11613,0.00,2.53,0.00,0.000,6,0.000,0.048,2747,1947,2314
$GC,11930,1.39,146.6,774.3,10.1,571,11931,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1947,2314
$GC,12239,1.39,146.6,742.8,10.3,586,12244,0.00,2.58,0.00,0.000,4,0.000,0.060,2747,3357,2313
$GC,12328,1.39,146.6,733.0,11.0,590,12333,0.00,2.50,0.00,0.000,6,0.000,0.048,2746,1947,2313
$GC,12651,1.39,146.6,699.9,10.1,606,12652,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1947,2314
$GC,12960,1.39,148.8,668.5,9.9,621,12964,0.00,2.55,0.00,0.000,4,0.000,0.059,2747,3350,2313
$GC,13022,1.39,148.8,662.1,10.5,624,13026,0.00,2.50,0.00,0.000,6,0.000,0.048,2747,1940,2313
$GC,13348,1.39,148.8,629.2,10.2,640,13352,0.00,2.58,0.00,0.000,4,0.000,0.059,2747,3354,2313
$GC,13436,1.39,148.8,619.1,11.6,644,13440,0.00,2.50,0.00,0.000,6,0.000,0.048,2747,1951,2313
$GC,13757,1.39,148.8,584.0,10.8,660,13762,0.00,2.55,0.00,0.000,4,0.000,0.059,2747,3353,2313
$GC,13874,1.39,148.8,570.8,10.9,665,13879,0.00,2.47,0.00,0.000,6,0.000,0.048,2747,1948,2313
$GC,14190,1.39,148.8,538.5,10.0,680,14194,0.00,2.60,0.00,0.000,4,0.000,0.073,2747,547,2313
$GC,14274,1.39,148.8,529.4,11.7,684,14279,0.00,2.47,0.00,0.000,6,0.000,0.042,2747,1959,2313
$GC,14600,1.39,148.8,495.8,10.8,700,14601,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1959,2313
$GC,14909,1.39,148.8,464.2,10.1,715,14911,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1960,2313
$GC,15219,1.42,169.9,435.3,9.0,730,15244,0.00,2.58,20.27,1.115,4,0.000,0.059,2747,3348,2222
$GC,15417,1.42,169.9,414.3,10.9,739,15422,0.00,2.45,0.00,0.000,6,0.000,0.044,2747,1952,2222
$GC,15738,1.42,169.9,378.6,11.3,755,15743,0.00,2.53,0.00,0.000,4,0.000,0.054,2747,3356,2222
$GC,15850,1.42,169.9,364.7,12.4,760,15855,0.00,2.47,0.00,0.000,6,0.000,0.041,2747,1949,2222
$GC,16172,1.42,169.9,327.1,11.6,776,16176,0.00,2.50,0.00,0.000,4,0.000,0.052,2747,3350,2223
$GC,16228,1.42,169.9,320.3,11.8,778,16232,0.00,2.45,0.00,0.000,6,0.000,0.041,2747,1951,2223
$GC,16543,1.42,169.9,283.3,11.8,793,16544,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1951,2224
$GC,16852,1.42,169.9,246.3,12.2,808,16856,0.00,2.50,0.00,0.000,4,0.000,0.051,2747,3352,2224
$GC,16896,1.42,169.9,240.7,11.5,810,16901,0.00,2.42,0.00,0.000,6,0.000,0.039,2747,1951,2224
$GC,17218,1.42,169.9,202.8,11.6,826,17223,0.00,2.50,0.00,0.000,4,0.000,0.050,2747,3357,2226
$GC,17258,1.42,169.9,197.8,11.0,828,17262,0.00,2.42,0.00,0.000,6,0.000,0.038,2747,1949,2226
$GC,17584,1.42,169.9,161.4,11.8,844,17585,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1949,2227
$GC,17894,1.42,169.9,127.3,10.6,859,17898,0.00,2.47,0.00,0.000,4,0.000,0.048,2747,3351,2229
$GC,17967,1.48,219.5,120.4,7.7,862,18014,0.10,2.42,40.97,0.815,6,0.069,0.038,2772,1949,2020
$GC,18326,1.48,219.5,78.7,13.8,879,18327,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1949,2020
$GC,18634,1.48,219.5,34.3,14.0,894,18638,0.00,2.50,0.00,0.000,4,0.000,0.048,2772,3354,2021
$GC,18673,1.48,219.5,28.6,13.8,896,18677,0.00,2.45,0.00,0.000,6,0.000,0.040,2772,1942,2021
$STATE,18859,end climb,SURFACE_DEPTH_REACHED
$STATE,18859,begin surface coast
$FINISH,0.4,1.027399
$STATE,18881,end surface coast,CONTROL_FINISHED_OK
$STATE,18881,begin surface
$SM_CCo,18904,25.00,0.599,3,0,1894,250.21
$SM_GC,1.16,0.00,0.00,25.00,0.000,0.000,0.599,43,2069,1894,-11.07,0.48,250.21
$IRIDIUM_FIX,6108.28,-256.02,140597,080834
$TT8_MAMPS,0.026845
$HUMID,1701
$INTERNAL_PRESSURE,8.40096
$TCM_TEMP,17.20
$XPDR_PINGS,1
$24V_AH,23.0,6.393
$10V_AH,10.1,3.510
$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,27.100,195.875,318.550,25.000,0.000,39.748,33.539,215.653,8.750,0.000,0.000,16.203,1755.350,14200.262,518.645,2293.234,583.612,33.351,1644.557,0.000,2247.865,0.000,55.928
$DEVICE_MAMPS,156.468,72.865,1481.077,599.027,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,675.090,612.623,539.110,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47398,906
$CFSIZE,260165632,255688704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,28,3,0
$GPS,180208,191057,6130.537,-300.053,26,2.5,45,-6.0