version: 66.02
glider: 104
mission: 4
dive: 27
start: 2 19 108 0 48 19
data:
$ID,104
$MISSION,4
$DIVE,27
$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,-35586.605
$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,29
$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
$GPS1,004038,6131.349,-301.696,30,1.3,30,-6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-62.9
$GPS2,004729,6131.373,-301.563,12,2.1,31,-6.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.258,0.055
$KALMAN_X,94418.8,253.8,176.8,-88087.9,1682.9
$KALMAN_Y,-26545.8,-54.3,493.1,21257.1,-1685.8
$MHEAD_RNG_PITCHd_Wd,288.1,36314,-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,21,begin dive
$GC,25,-1.39,-146.6,0.0,0.0,0,107,0.00,0.00,-79.40,0.000,2,0.000,0.000,39,2065,3395
$GC,110,-1.39,-146.6,3.9,-4.2,4,130,11.95,2.53,-2.47,0.000,4,0.155,0.064,2140,3445,3515
$GC,158,-1.39,-146.6,17.5,-17.0,6,162,0.00,2.45,0.00,0.000,6,0.000,0.038,2140,2046,3516
$GC,474,-1.39,-146.6,56.3,-12.7,21,478,0.00,2.55,0.00,0.000,4,0.000,0.062,2140,641,3517
$GC,507,-1.39,-146.6,60.3,-11.7,22,514,0.00,2.45,0.00,0.000,6,0.000,0.036,2140,2052,3517
$GC,823,-1.39,-146.6,93.5,-10.5,38,828,0.00,2.55,0.00,0.000,4,0.000,0.059,2140,643,3517
$GC,908,-1.39,-146.6,102.8,-10.9,42,913,0.00,2.45,0.00,0.000,6,0.000,0.038,2140,2056,3517
$GC,1236,-1.39,-146.6,136.8,-10.1,58,1240,0.00,2.55,0.00,0.000,4,0.000,0.059,2140,647,3518
$GC,1307,-1.39,-146.6,144.4,-10.3,61,1311,0.00,2.42,0.00,0.000,6,0.000,0.037,2140,2058,3518
$GC,1626,-1.39,-146.6,175.7,-9.8,76,1630,0.00,2.55,0.00,0.000,4,0.000,0.059,2140,648,3518
$GC,1737,-1.39,-146.6,187.1,-9.6,81,1742,0.00,2.42,0.00,0.000,6,0.000,0.038,2140,2051,3518
$GC,2058,-1.39,-146.6,219.3,-10.6,97,2062,0.00,2.55,0.00,0.000,4,0.000,0.059,2140,645,3518
$GC,2147,-1.39,-146.6,229.5,-11.5,101,2151,0.00,2.42,0.00,0.000,6,0.000,0.038,2140,2055,3518
$GC,2468,-1.39,-146.6,264.1,-10.9,117,2473,0.00,2.55,0.00,0.000,4,0.000,0.060,2140,646,3518
$GC,2569,-1.39,-146.6,275.9,-11.6,121,2575,0.00,2.42,0.00,0.000,6,0.000,0.038,2140,2062,3518
$GC,2884,-1.39,-146.6,309.7,-10.3,137,2889,0.00,2.55,0.00,0.000,4,0.000,0.060,2140,647,3518
$GC,2985,-1.39,-146.6,320.7,-11.0,141,2991,0.00,2.40,0.00,0.000,6,0.000,0.038,2140,2054,3518
$GC,3300,-1.39,-146.6,355.2,-11.2,157,3304,0.00,2.55,0.00,0.000,4,0.000,0.060,2140,643,3518
$GC,3378,-1.39,-146.6,364.3,-11.7,160,3384,0.00,2.42,0.00,0.000,6,0.000,0.038,2140,2047,3518
$GC,3694,-1.39,-146.6,398.6,-10.9,176,3698,0.00,2.53,0.00,0.000,4,0.000,0.059,2140,648,3518
$GC,3749,-1.39,-146.6,405.1,-11.8,178,3755,0.00,2.40,0.00,0.000,6,0.000,0.038,2140,2058,3518
$GC,4065,-1.39,-146.6,436.9,-9.3,194,4069,0.00,2.55,0.00,0.000,4,0.000,0.059,2140,644,3518
$GC,4165,-1.39,-146.6,447.0,-11.1,198,4171,0.00,2.40,0.00,0.000,6,0.000,0.038,2140,2051,3518
$GC,4481,-1.39,-146.6,477.4,-9.3,214,4485,0.00,2.53,0.00,0.000,4,0.000,0.060,2140,648,3518
$GC,4565,-1.39,-146.6,486.0,-9.8,218,4570,0.00,2.40,0.00,0.000,6,0.000,0.039,2140,2052,3518
$GC,4892,-1.39,-146.6,517.0,-9.1,234,4897,0.00,2.55,0.00,0.000,4,0.000,0.062,2140,646,3518
$GC,4933,-1.39,-146.6,520.7,-9.9,236,4938,0.00,2.42,0.00,0.000,6,0.000,0.040,2140,2053,3518
$GC,5262,-1.39,-146.6,552.2,-9.8,252,5266,0.00,2.55,0.00,0.000,4,0.000,0.064,2141,648,3517
$GC,5288,-1.39,-146.6,555.2,-10.7,253,5293,0.00,2.40,0.00,0.000,6,0.000,0.041,2140,2050,3517
$GC,5610,-1.39,-146.6,587.9,-10.3,269,5614,0.00,2.55,0.00,0.000,4,0.000,0.064,2140,649,3515
$GC,5694,-1.39,-146.6,597.1,-11.3,273,5698,0.00,2.42,0.00,0.000,6,0.000,0.043,2140,2052,3515
$GC,6020,-1.39,-146.6,634.9,-12.3,289,6024,0.00,2.55,0.00,0.000,4,0.000,0.064,2140,645,3514
$GC,6109,-1.39,-146.6,645.9,-12.1,293,6113,0.00,2.45,0.00,0.000,6,0.000,0.042,2140,2060,3514
$GC,6430,-1.39,-146.6,682.5,-10.9,309,6434,0.00,2.58,0.00,0.000,4,0.000,0.064,2140,647,3512
$GC,6536,-1.39,-146.6,694.5,-11.1,314,6540,0.00,2.42,0.00,0.000,6,0.000,0.044,2140,2051,3512
$GC,6868,-1.39,-146.6,729.8,-10.5,330,6873,0.00,2.58,0.00,0.000,4,0.000,0.066,2140,645,3510
$GC,6963,-1.39,-146.6,740.0,-10.5,334,6968,0.00,2.45,0.00,0.000,6,0.000,0.044,2140,2051,3509
$GC,7279,-1.39,-146.6,771.3,-9.7,349,7283,0.00,2.58,0.00,0.000,4,0.000,0.066,2140,646,3509
$GC,7356,-1.39,-146.6,779.2,-10.3,352,7362,0.00,2.45,0.00,0.000,6,0.000,0.044,2140,2058,3509
$GC,7672,-1.39,-146.6,807.9,-9.0,368,7676,0.00,2.58,0.00,0.000,4,0.000,0.066,2140,649,3508
$GC,7744,-1.39,-146.6,814.9,-9.3,371,7748,0.00,2.45,0.00,0.000,6,0.000,0.044,2140,2051,3508
$GC,8065,-1.39,-146.6,842.9,-8.9,387,8069,0.00,2.58,0.00,0.000,4,0.000,0.066,2140,648,3507
$GC,8143,-1.39,-146.6,850.5,-10.2,390,8150,0.00,2.45,0.00,0.000,6,0.000,0.044,2140,2053,3507
$GC,8460,-1.39,-146.6,879.0,-9.1,406,8464,0.00,2.55,0.00,0.000,4,0.000,0.066,2140,649,3505
$GC,8544,-1.39,-146.6,887.1,-9.8,410,8548,0.00,2.45,0.00,0.000,6,0.000,0.045,2140,2058,3505
$GC,8871,-1.39,-146.6,916.3,-9.0,426,8875,0.00,2.58,0.00,0.000,4,0.000,0.066,2140,644,3504
$GC,8933,-1.39,-146.6,922.3,-9.5,429,8937,0.00,2.45,0.00,0.000,6,0.000,0.045,2140,2053,3504
$GC,9259,-1.39,-146.6,952.4,-9.1,445,9264,0.00,2.58,0.00,0.000,4,0.000,0.066,2140,646,3503
$GC,9349,-1.39,-146.6,961.2,-9.7,449,9353,0.00,2.47,0.00,0.000,6,0.000,0.045,2140,2060,3503
$GC,9669,-1.39,-146.6,989.1,-8.4,465,9674,0.00,2.58,0.00,0.000,4,0.000,0.066,2140,643,3503
$STATE,9677,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9678,begin apogee
$GC,9685,-0.33,0.0,990.0,8.3,465,9817,1.15,0.00,127.53,1.487,6,0.102,0.000,2371,1956,2915
$STATE,9818,end apogee,CONTROL_FINISHED_OK
$STATE,9818,begin climb
$GC,9820,1.39,146.6,993.7,0.0,472,9958,1.77,2.62,129.10,1.427,4,0.061,0.063,2751,3354,2316
$GC,10141,1.39,146.6,966.9,11.6,486,10146,0.00,2.53,0.00,0.000,6,0.000,0.048,2750,1952,2316
$GC,10468,1.39,146.6,929.0,11.8,502,10472,0.00,2.58,0.00,0.000,4,0.000,0.060,2751,3354,2315
$GC,10534,1.39,146.6,920.8,12.7,505,10538,0.00,2.53,0.00,0.000,6,0.000,0.048,2751,1949,2315
$GC,10856,1.39,146.6,882.6,12.0,521,10857,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1949,2315
$GC,11165,1.39,146.6,845.9,11.8,536,11169,0.00,2.58,0.00,0.000,4,0.000,0.060,2751,3357,2316
$GC,11272,1.39,146.6,832.9,12.5,541,11276,0.00,2.53,0.00,0.000,6,0.000,0.048,2751,1941,2315
$GC,11599,1.39,146.6,796.4,11.1,557,11600,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1941,2315
$GC,11908,1.39,146.6,763.3,10.4,572,11912,0.00,2.58,0.00,0.000,4,0.000,0.060,2751,3350,2314
$GC,11993,1.39,146.6,754.0,10.8,576,11997,0.00,2.50,0.00,0.000,6,0.000,0.048,2751,1943,2314
$GC,12319,1.39,147.5,721.2,10.0,592,12324,0.00,2.58,0.00,0.000,4,0.000,0.060,2751,3354,2314
$GC,12381,1.39,147.5,714.6,10.7,595,12386,0.00,2.50,0.00,0.000,6,0.000,0.048,2751,1947,2314
$GC,12709,1.39,147.5,681.9,10.2,611,12710,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1947,2314
$GC,13018,1.39,147.5,651.2,10.1,626,13019,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1948,2314
$GC,13327,1.40,156.8,620.9,9.6,641,13339,0.00,0.00,9.75,1.170,6,0.000,0.000,2751,1947,2275
$GC,13638,1.41,162.0,590.6,9.8,656,13652,0.00,2.62,6.47,1.059,4,0.000,0.058,2751,3351,2253
$GC,13743,1.42,170.6,579.8,9.6,660,13757,0.00,2.50,9.18,1.124,6,0.000,0.047,2751,1947,2218
$GC,14080,1.42,170.6,545.1,10.6,677,14084,0.00,2.55,0.00,0.000,4,0.000,0.058,2750,3352,2218
$GC,14146,1.42,170.6,537.1,12.4,680,14150,0.00,2.47,0.00,0.000,6,0.000,0.046,2751,1949,2218
$GC,14468,1.42,170.6,498.8,12.1,696,14472,0.00,2.55,0.00,0.000,4,0.000,0.058,2751,3354,2218
$GC,14562,1.42,170.6,487.3,11.8,700,14566,0.00,2.47,0.00,0.000,6,0.000,0.044,2751,1946,2218
$GC,14877,1.42,170.6,451.5,11.3,715,14882,0.00,2.60,0.00,0.000,4,0.000,0.071,2751,541,2218
$GC,14922,1.42,170.6,445.9,12.5,717,14926,0.00,2.45,0.00,0.000,6,0.000,0.041,2751,1954,2218
$GC,15248,1.42,170.6,406.2,11.9,733,15249,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1956,2218
$GC,15558,1.42,170.6,369.9,11.0,748,15559,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1956,2219
$GC,15867,1.42,170.6,338.1,10.2,763,15868,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1956,2220
$GC,16176,1.42,170.6,304.6,11.5,778,16177,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1956,2221
$GC,16486,1.42,170.6,268.5,11.7,793,16487,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1956,2222
$GC,16795,1.42,170.6,234.5,10.5,808,16799,0.00,2.58,0.00,0.000,4,0.000,0.063,2751,543,2222
$GC,16844,1.42,170.6,229.4,10.9,810,16848,0.00,2.42,0.00,0.000,6,0.000,0.037,2751,1946,2222
$GC,17159,1.42,170.6,195.9,10.7,825,17161,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1946,2223
$GC,17470,1.42,170.6,161.8,11.2,840,17471,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1947,2224
$GC,17778,1.42,170.6,129.9,10.3,855,17782,0.00,2.55,0.00,0.000,4,0.000,0.061,2750,540,2224
$GC,17834,1.42,170.6,123.4,10.9,857,17838,0.00,2.42,0.00,0.000,6,0.000,0.036,2751,1951,2225
$GC,18150,1.42,170.6,88.4,10.9,872,18154,0.00,2.55,0.00,0.000,4,0.000,0.061,2751,545,2225
$GC,18194,1.42,170.6,83.3,11.2,874,18199,0.00,2.42,0.00,0.000,6,0.000,0.036,2751,1951,2225
$GC,18516,1.42,170.6,49.0,10.6,890,18521,0.00,2.55,0.00,0.000,4,0.000,0.061,2750,546,2226
$GC,18561,1.42,170.6,43.4,11.0,892,18565,0.00,2.40,0.00,0.000,6,0.000,0.035,2750,1951,2226
$GC,18882,1.42,176.8,10.4,9.7,908,18892,0.00,0.00,8.23,0.680,6,0.000,0.000,2751,1951,2194
$STATE,18962,end climb,SURFACE_DEPTH_REACHED
$STATE,18962,begin surface coast
$FINISH,0.2,1.015656
$STATE,18984,end surface coast,CONTROL_FINISHED_OK
$STATE,18984,begin surface
$SM_CCo,19007,46.35,0.665,3,0,1895,250.21
$SM_GC,1.00,0.00,0.00,46.35,0.000,0.000,0.665,42,2062,1895,-11.08,0.28,250.21
$IRIDIUM_FIX,6108.28,-300.53,140597,191902
$TT8_MAMPS,0.026845
$HUMID,1702
$INTERNAL_PRESSURE,8.39119
$TCM_TEMP,17.10
$XPDR_PINGS,0
$24V_AH,23.0,6.685
$10V_AH,10.1,3.694
$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,26.875,190.375,290.250,46.350,0.000,39.172,36.393,194.845,8.500,0.000,0.000,34.148,1744.829,14386.048,525.221,2254.375,563.905,33.352,1613.919,0.000,2194.260,0.000,55.904
$DEVICE_MAMPS,154.934,71.331,1487.213,664.989,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,684.177,617.055,558.499,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47402,913
$CFSIZE,260165632,255553536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,23,3,0
$GPS,190208,060726,6131.813,-304.892,41,1.2,41,-6.1