version: 66.02
glider: 104
mission: 4
dive: 26
start: 2 18 108 19 22 19
data:
$ID,104
$MISSION,4
$DIVE,26
$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,-35551.832
$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,20
$R_STBD_OVSHOOT,41
$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
$GPS1,191057,6130.537,-300.053,26,2.5,45,-6.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-64.6
$GPS2,192129,6130.564,-259.841,12,2.1,31,-6.0
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.253,0.073
$KALMAN_X,90035.2,1172.9,259.3,-83141.3,1305.3
$KALMAN_Y,-25953.3,-302.1,157.3,19749.3,-1916.8
$MHEAD_RNG_PITCHd_Wd,292.1,37597,-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,-79.40,0.000,2,0.000,0.000,43,2069,3431
$GC,110,-1.39,-146.6,4.4,-4.9,4,132,11.82,2.50,-1.75,0.000,4,0.156,0.063,2139,3440,3516
$GC,171,-1.39,-146.6,18.3,-11.1,6,178,0.00,2.45,0.00,0.000,6,0.000,0.038,2139,2048,3517
$GC,487,-1.39,-146.6,51.5,-10.1,22,488,0.00,0.00,0.00,0.000,6,0.000,0.000,2139,2047,3517
$GC,796,-1.39,-146.6,91.2,-12.5,37,801,0.00,2.55,0.00,0.000,4,0.000,0.063,2139,646,3517
$GC,840,-1.39,-146.6,96.7,-12.3,39,845,0.00,2.38,0.00,0.000,6,0.000,0.035,2139,2039,3517
$GC,1163,-1.39,-146.6,134.2,-11.8,55,1167,0.00,2.53,0.00,0.000,4,0.000,0.060,2139,647,3518
$GC,1257,-1.39,-146.6,145.7,-11.9,59,1261,0.00,2.42,0.00,0.000,6,0.000,0.036,2139,2056,3518
$GC,1578,-1.39,-146.6,182.4,-11.3,75,1583,0.00,2.55,0.00,0.000,4,0.000,0.059,2139,648,3518
$GC,1645,-1.39,-146.6,190.2,-11.7,78,1649,0.00,2.40,0.00,0.000,6,0.000,0.035,2139,2050,3518
$GC,1966,-1.39,-146.6,226.3,-11.5,94,1970,0.00,2.55,0.00,0.000,4,0.000,0.059,2139,643,3518
$GC,2079,-1.39,-146.6,239.5,-12.2,99,2084,0.00,2.42,0.00,0.000,6,0.000,0.036,2139,2055,3518
$GC,2401,-1.39,-146.6,275.6,-11.4,115,2405,0.00,2.53,0.00,0.000,4,0.000,0.059,2139,648,3518
$GC,2485,-1.39,-146.6,285.8,-11.9,119,2489,0.00,2.40,0.00,0.000,6,0.000,0.036,2139,2059,3518
$GC,2817,-1.39,-146.6,325.1,-11.7,135,2822,0.00,2.55,0.00,0.000,4,0.000,0.059,2139,648,3519
$GC,2940,-1.39,-146.6,339.6,-11.5,140,2947,0.00,2.42,0.00,0.000,6,0.000,0.036,2139,2049,3519
$GC,3257,-1.39,-146.6,373.0,-10.4,156,3261,0.00,2.53,0.00,0.000,4,0.000,0.059,2139,648,3518
$GC,3306,-1.39,-146.6,378.3,-10.6,158,3310,0.00,2.40,0.00,0.000,6,0.000,0.036,2139,2052,3519
$GC,3622,-1.39,-146.6,410.0,-9.6,173,3626,0.00,2.55,0.00,0.000,4,0.000,0.058,2139,642,3519
$GC,3661,-1.39,-146.6,414.0,-10.3,175,3665,0.00,2.42,0.00,0.000,6,0.000,0.036,2139,2059,3519
$GC,3988,-1.39,-146.6,447.6,-10.4,191,3992,0.00,2.55,0.00,0.000,4,0.000,0.059,2139,646,3519
$GC,4055,-1.39,-146.6,454.7,-10.3,194,4059,0.00,2.40,0.00,0.000,6,0.000,0.037,2139,2051,3519
$GC,4375,-1.39,-146.6,486.2,-10.0,210,4380,0.00,2.55,0.00,0.000,4,0.000,0.060,2139,643,3519
$GC,4448,-1.39,-146.6,493.9,-9.6,213,4453,0.00,2.42,0.00,0.000,6,0.000,0.038,2139,2050,3519
$GC,4764,-1.39,-146.6,522.3,-8.9,228,4768,0.00,2.55,0.00,0.000,4,0.000,0.061,2139,647,3519
$GC,4871,-1.39,-146.6,532.6,-9.5,233,4875,0.00,2.42,0.00,0.000,6,0.000,0.041,2139,2052,3518
$GC,5197,-1.39,-146.6,563.8,-9.6,249,5201,0.00,2.55,0.00,0.000,4,0.000,0.063,2139,649,3517
$GC,5264,-1.39,-146.6,570.6,-9.4,252,5268,0.00,2.45,0.00,0.000,6,0.000,0.041,2139,2057,3517
$GC,5585,-1.39,-146.6,602.3,-9.9,268,5589,0.00,2.58,0.00,0.000,4,0.000,0.064,2139,648,3515
$GC,5651,-1.39,-146.6,609.4,-11.2,271,5655,0.00,2.42,0.00,0.000,6,0.000,0.041,2139,2054,3515
$GC,5977,-1.39,-146.6,642.1,-10.2,287,5981,0.00,2.58,0.00,0.000,4,0.000,0.065,2139,646,3514
$GC,6099,-1.39,-146.6,655.3,-10.6,292,6105,0.00,2.45,0.00,0.000,6,0.000,0.043,2139,2058,3513
$GC,6415,-1.39,-146.6,685.1,-9.2,308,6420,0.00,2.58,0.00,0.000,4,0.000,0.066,2139,648,3511
$GC,6504,-1.39,-146.6,694.1,-10.2,312,6509,0.00,2.45,0.00,0.000,6,0.000,0.044,2139,2057,3511
$GC,6827,-1.39,-146.6,722.3,-8.7,328,6832,0.00,2.58,0.00,0.000,4,0.000,0.066,2140,648,3510
$GC,6906,-1.39,-146.6,729.8,-8.9,331,6912,0.00,2.45,0.00,0.000,6,0.000,0.044,2139,2049,3509
$GC,7222,-1.39,-146.6,757.7,-8.7,347,7226,0.00,2.58,0.00,0.000,4,0.000,0.066,2139,646,3509
$GC,7307,-1.39,-146.6,765.8,-9.9,351,7311,0.00,2.47,0.00,0.000,6,0.000,0.045,2139,2059,3509
$GC,7633,-1.39,-146.6,795.2,-9.3,367,7637,0.00,2.58,0.00,0.000,4,0.000,0.065,2139,648,3507
$GC,7718,-1.39,-146.6,803.6,-9.6,371,7722,0.00,2.45,0.00,0.000,6,0.000,0.044,2139,2053,3508
$GC,8045,-1.39,-146.6,834.7,-9.5,387,8049,0.00,2.58,0.00,0.000,4,0.000,0.066,2139,648,3506
$GC,8129,-1.39,-146.6,843.4,-10.7,391,8134,0.00,2.47,0.00,0.000,6,0.000,0.045,2139,2062,3505
$GC,8459,-1.39,-146.6,875.2,-9.8,407,8463,0.00,2.60,0.00,0.000,4,0.000,0.066,2139,643,3504
$GC,8544,-1.39,-146.6,884.4,-10.8,411,8548,0.00,2.47,0.00,0.000,6,0.000,0.045,2139,2056,3504
$GC,8870,-1.39,-146.6,917.6,-10.1,427,8874,0.00,2.58,0.00,0.000,4,0.000,0.067,2139,648,3503
$GC,8964,-1.39,-146.6,927.7,-10.3,431,8968,0.00,2.45,0.00,0.000,6,0.000,0.045,2139,2055,3503
$GC,9280,-1.39,-146.6,958.6,-9.6,446,9285,0.00,2.58,0.00,0.000,4,0.000,0.067,2139,649,3502
$GC,9365,-1.39,-146.6,967.3,-10.2,450,9369,0.00,2.45,0.00,0.000,6,0.000,0.045,2138,2052,3502
$STATE,9606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9606,begin apogee
$GC,9612,-0.33,0.0,990.2,9.0,462,9748,1.17,0.00,127.85,1.484,6,0.098,0.000,2374,1942,2915
$STATE,9749,end apogee,CONTROL_FINISHED_OK
$STATE,9749,begin climb
$GC,9751,1.39,146.6,994.9,0.0,469,9889,1.75,2.65,129.12,1.429,4,0.061,0.061,2749,3349,2316
$GC,10059,1.39,146.6,969.8,11.9,482,10063,0.00,2.50,0.00,0.000,6,0.000,0.048,2749,1949,2316
$GC,10375,1.39,146.6,933.7,11.4,497,10379,0.00,2.58,0.00,0.000,4,0.000,0.060,2749,3349,2316
$GC,10424,1.39,146.6,927.7,11.9,499,10428,0.00,2.50,0.00,0.000,6,0.000,0.048,2749,1948,2316
$GC,10739,1.39,146.6,891.2,11.6,514,10740,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1948,2316
$GC,11049,1.39,146.6,855.6,11.4,529,11053,0.00,2.55,0.00,0.000,4,0.000,0.059,2749,3350,2315
$GC,11120,1.39,146.6,847.0,11.9,532,11125,0.00,2.53,0.00,0.000,6,0.000,0.048,2749,1943,2315
$GC,11436,1.39,146.6,813.5,10.3,547,11437,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1943,2315
$GC,11745,1.39,146.6,781.5,10.6,562,11750,0.00,2.55,0.00,0.000,4,0.000,0.058,2749,3350,2314
$GC,11817,1.39,146.6,773.4,11.1,565,11822,0.00,2.50,0.00,0.000,6,0.000,0.048,2749,1948,2314
$GC,12133,1.39,146.6,740.7,10.3,580,12137,0.00,2.55,0.00,0.000,4,0.000,0.059,2749,3350,2314
$GC,12188,1.39,146.6,734.6,11.4,582,12194,0.00,2.50,0.00,0.000,6,0.000,0.048,2749,1947,2314
$GC,12503,1.39,146.6,700.5,10.9,598,12505,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1947,2314
$GC,12813,1.39,146.6,667.3,10.8,613,12817,0.00,2.55,0.00,0.000,4,0.000,0.059,2749,3350,2314
$GC,12897,1.39,146.6,657.8,11.1,617,12901,0.00,2.47,0.00,0.000,6,0.000,0.048,2749,1951,2313
$GC,13223,1.39,146.6,621.4,11.2,633,13224,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1951,2313
$GC,13532,1.39,146.6,589.8,10.0,648,13536,0.00,2.55,0.00,0.000,4,0.000,0.058,2749,3353,2313
$GC,13621,1.39,146.6,580.4,10.5,652,13625,0.00,2.47,0.00,0.000,6,0.000,0.047,2749,1949,2313
$GC,13942,1.39,148.1,548.6,9.9,668,13946,0.00,2.53,0.00,0.000,4,0.000,0.058,2749,3350,2313
$GC,14030,1.39,148.1,539.3,10.0,672,14034,0.00,2.45,0.00,0.000,6,0.000,0.047,2750,1951,2313
$GC,14357,1.40,160.4,508.1,9.4,688,14379,0.00,2.60,12.43,1.147,4,0.000,0.058,2749,3343,2260
$GC,14440,1.41,167.2,499.5,9.7,691,14455,0.00,2.47,7.65,1.043,6,0.000,0.046,2749,1952,2233
$GC,14777,1.42,173.8,465.8,9.7,708,14786,0.00,0.00,7.43,1.025,6,0.000,0.000,2749,1952,2206
$GC,15088,1.42,176.3,434.7,9.9,723,15094,0.00,0.00,4.10,0.808,6,0.000,0.000,2749,1952,2196
$GC,15395,1.42,176.3,402.7,10.4,738,15400,0.00,2.53,0.00,0.000,4,0.000,0.055,2749,3352,2196
$GC,15502,1.42,176.3,390.8,12.0,743,15507,0.00,2.47,0.00,0.000,6,0.000,0.043,2749,1944,2196
$GC,15829,1.42,176.3,354.6,11.4,759,15830,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1944,2196
$GC,16138,1.42,176.3,319.2,11.3,774,16143,0.00,2.53,0.00,0.000,4,0.000,0.052,2749,3357,2197
$GC,16194,1.42,176.3,312.5,11.7,776,16200,0.00,2.45,0.00,0.000,6,0.000,0.040,2749,1946,2197
$GC,16509,1.42,176.3,277.5,11.4,792,16510,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1947,2199
$GC,16819,1.42,176.3,240.3,11.9,807,16823,0.00,2.50,0.00,0.000,4,0.000,0.051,2749,3353,2199
$GC,16885,1.42,176.3,232.1,12.0,810,16889,0.00,2.45,0.00,0.000,6,0.000,0.040,2749,1951,2200
$GC,17206,1.42,176.3,193.8,11.5,826,17207,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1951,2201
$GC,17517,1.42,176.3,158.6,11.2,841,17518,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1951,2201
$GC,17824,1.42,176.3,124.0,11.0,856,17829,0.00,2.47,0.00,0.000,4,0.000,0.048,2749,3353,2202
$GC,17897,1.42,176.3,115.6,11.4,859,17901,0.00,2.42,0.00,0.000,6,0.000,0.038,2749,1949,2203
$GC,18213,1.42,176.3,79.8,11.3,874,18214,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1949,2204
$GC,18522,1.43,180.3,45.6,9.8,889,18536,0.00,2.53,6.75,0.675,4,0.000,0.050,2749,3354,2178
$GC,18576,1.44,193.7,40.3,9.4,891,18593,0.00,2.45,11.75,0.722,6,0.000,0.038,2749,1951,2125
$GC,18915,1.44,193.7,4.0,11.7,908,18916,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1951,2126
$STATE,18933,end climb,SURFACE_DEPTH_REACHED
$STATE,18933,begin surface coast
$FINISH,0.5,1.027392
$STATE,18955,end surface coast,CONTROL_FINISHED_OK
$STATE,18955,begin surface
$SM_CCo,18977,37.97,0.653,3,0,1894,250.21
$SM_GC,0.92,0.00,0.00,37.97,0.000,0.000,0.653,39,2063,1894,-11.09,0.31,250.21
$IRIDIUM_FIX,6108.28,-300.53,140597,191943
$TT8_MAMPS,0.026845
$HUMID,1685
$INTERNAL_PRESSURE,8.40096
$TCM_TEMP,17.20
$XPDR_PINGS,1
$24V_AH,23.0,6.543
$10V_AH,10.1,3.604
$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,26.875,185.425,307.075,37.975,0.000,78.146,77.862,267.443,8.750,0.000,0.000,33.505,1750.034,14377.709,528.615,2277.055,725.672,33.342,1630.898,0.000,2213.706,0.000,56.239
$DEVICE_MAMPS,155.701,70.564,1484.145,652.717,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,679.073,615.194,548.808,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47480,910
$CFSIZE,260165632,255619072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,3,0
$GPS,190208,004038,6131.349,-301.696,30,1.3,30,-6.1