version: 66.02
glider: 104
mission: 4
dive: 28
start: 2 19 108 6 14 37
data:
$ID,104
$MISSION,4
$DIVE,28
$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,-35602.461
$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,22
$R_STBD_OVSHOOT,32
$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
$GPS1,060726,6131.813,-304.892,41,1.2,41,-6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-65.9
$GPS2,061345,6131.882,-304.759,13,1.0,13,-6.1
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.259,0.047
$KALMAN_X,98529.8,-1055.9,-338.7,-93183.1,5584.0
$KALMAN_Y,-26878.5,768.3,-162.8,22368.7,-836.9
$MHEAD_RNG_PITCHd_Wd,286.4,33720,-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,-146.6,0.0,0.0,0,107,0.00,0.00,-81.80,0.000,2,0.000,0.000,42,2062,3471
$GC,110,-1.39,-146.6,4.6,-5.5,4,127,11.93,0.00,-0.85,0.000,6,0.156,0.000,2138,2063,3516
$GC,436,-1.39,-146.6,50.5,-11.4,20,440,0.00,2.58,0.00,0.000,4,0.000,0.058,2138,641,3517
$GC,530,-1.39,-146.6,62.3,-12.2,24,534,0.00,2.42,0.00,0.000,6,0.000,0.036,2138,2053,3517
$GC,851,-1.39,-146.6,98.9,-11.2,40,855,0.00,2.55,0.00,0.000,4,0.000,0.058,2139,640,3517
$GC,939,-1.39,-146.6,109.5,-12.6,44,944,0.00,2.42,0.00,0.000,6,0.000,0.037,2138,2058,3517
$GC,1261,-1.39,-146.6,147.4,-11.9,60,1266,0.00,2.55,0.00,0.000,4,0.000,0.059,2138,647,3518
$GC,1406,-1.39,-146.6,165.6,-12.1,66,1412,0.00,2.40,0.00,0.000,6,0.000,0.038,2138,2051,3518
$GC,1723,-1.39,-146.6,205.0,-12.5,82,1727,0.00,2.55,0.00,0.000,4,0.000,0.060,2138,645,3518
$GC,1817,-1.39,-146.6,217.7,-13.3,86,1821,0.00,2.42,0.00,0.000,6,0.000,0.037,2138,2059,3518
$GC,2135,-1.39,-146.6,253.9,-10.9,101,2139,0.00,2.55,0.00,0.000,4,0.000,0.059,2138,646,3518
$GC,2207,-1.39,-146.6,262.6,-11.8,104,2211,0.00,2.40,0.00,0.000,6,0.000,0.037,2138,2053,3518
$GC,2523,-1.39,-146.6,295.7,-10.0,119,2527,0.00,2.55,0.00,0.000,4,0.000,0.060,2138,645,3518
$GC,2611,-1.39,-146.6,305.0,-10.7,123,2615,0.00,2.42,0.00,0.000,6,0.000,0.038,2138,2057,3518
$GC,2932,-1.39,-146.6,338.6,-10.6,139,2937,0.00,2.55,0.00,0.000,4,0.000,0.060,2138,645,3518
$GC,3028,-1.39,-146.6,349.2,-11.5,143,3033,0.00,2.42,0.00,0.000,6,0.000,0.038,2138,2053,3518
$GC,3344,-1.39,-146.6,381.7,-10.1,158,3348,0.00,2.55,0.00,0.000,4,0.000,0.061,2138,645,3518
$GC,3421,-1.39,-146.6,390.2,-11.3,161,3427,0.00,2.42,0.00,0.000,6,0.000,0.038,2138,2060,3518
$GC,3736,-1.39,-146.6,424.0,-10.1,177,3741,0.00,2.55,0.00,0.000,4,0.000,0.060,2138,647,3519
$GC,3831,-1.39,-146.6,434.6,-11.0,181,3835,0.00,2.40,0.00,0.000,6,0.000,0.038,2138,2055,3519
$GC,4147,-1.39,-146.6,468.5,-10.6,196,4152,0.00,2.55,0.00,0.000,4,0.000,0.060,2138,644,3519
$GC,4255,-1.39,-146.6,479.8,-10.1,201,4259,0.00,2.42,0.00,0.000,6,0.000,0.038,2138,2059,3518
$GC,4581,-1.39,-146.6,512.5,-10.9,217,4582,0.00,0.00,0.00,0.000,6,0.000,0.000,2138,2060,3518
$GC,4890,-1.39,-146.6,546.2,-10.8,232,4894,0.00,2.58,0.00,0.000,4,0.000,0.061,2138,639,3518
$GC,5041,-1.39,-146.6,562.7,-10.6,239,5046,0.00,2.45,0.00,0.000,6,0.000,0.041,2138,2057,3518
$GC,5368,-1.39,-146.6,595.2,-10.1,255,5372,0.00,2.58,0.00,0.000,4,0.000,0.064,2138,644,3517
$GC,5564,-1.39,-146.6,616.1,-10.6,264,5568,0.00,2.45,0.00,0.000,6,0.000,0.043,2138,2053,3516
$GC,5890,-1.39,-146.6,648.3,-9.9,280,5894,0.00,2.58,0.00,0.000,4,0.000,0.064,2138,644,3515
$GC,5967,-1.39,-146.6,656.7,-10.4,283,5973,0.00,2.45,0.00,0.000,6,0.000,0.044,2138,2056,3515
$GC,6283,-1.39,-146.6,688.1,-9.8,299,6288,0.00,2.58,0.00,0.000,4,0.000,0.065,2138,646,3513
$GC,6350,-1.39,-146.6,695.2,-10.8,302,6354,0.00,2.45,0.00,0.000,6,0.000,0.044,2139,2051,3513
$GC,6673,-1.39,-146.6,725.3,-9.4,318,6677,0.00,2.58,0.00,0.000,4,0.000,0.066,2138,645,3511
$GC,6757,-1.39,-146.6,734.1,-10.4,322,6762,0.00,2.45,0.00,0.000,6,0.000,0.044,2138,2050,3511
$GC,7083,-1.39,-146.6,765.4,-9.6,338,7088,0.00,2.58,0.00,0.000,4,0.000,0.066,2138,644,3510
$GC,7168,-1.39,-146.6,773.8,-10.2,342,7172,0.00,2.47,0.00,0.000,6,0.000,0.045,2138,2058,3509
$GC,7494,-1.39,-146.6,803.3,-8.8,358,7499,0.00,2.60,0.00,0.000,4,0.000,0.067,2138,640,3509
$GC,7573,-1.39,-146.6,810.7,-9.4,361,7578,0.00,2.47,0.00,0.000,6,0.000,0.046,2138,2052,3509
$GC,7888,-1.39,-146.6,839.4,-9.2,377,7892,0.00,2.58,0.00,0.000,4,0.000,0.067,2139,647,3508
$GC,7974,-1.39,-146.6,847.5,-9.6,381,7978,0.00,2.45,0.00,0.000,6,0.000,0.046,2138,2052,3508
$GC,8306,-1.39,-146.6,877.8,-9.0,397,8311,0.00,2.58,0.00,0.000,4,0.000,0.067,2138,646,3506
$GC,8402,-1.39,-146.6,887.0,-9.1,401,8406,0.00,2.47,0.00,0.000,6,0.000,0.046,2138,2055,3506
$GC,8718,-1.39,-146.6,915.3,-8.9,416,8722,0.00,2.58,0.00,0.000,4,0.000,0.067,2138,647,3505
$GC,8807,-1.39,-146.6,923.6,-8.6,420,8811,0.00,2.47,0.00,0.000,6,0.000,0.046,2138,2056,3504
$GC,9129,-1.39,-146.6,951.6,-8.7,436,9133,0.00,2.60,0.00,0.000,4,0.000,0.067,2138,640,3504
$GC,9213,-1.39,-146.6,959.4,-9.6,440,9218,0.00,2.47,0.00,0.000,6,0.000,0.046,2138,2053,3504
$GC,9541,-1.39,-146.6,986.7,-8.3,456,9545,0.00,2.58,0.00,0.000,4,0.000,0.067,2138,647,3503
$STATE,9577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9578,begin apogee
$GC,9585,-0.33,0.0,990.2,9.1,458,9720,1.17,0.00,128.20,1.482,6,0.100,0.000,2372,1957,2915
$STATE,9721,end apogee,CONTROL_FINISHED_OK
$STATE,9721,begin climb
$GC,9724,1.39,146.6,994.0,0.0,465,9861,1.77,2.60,129.00,1.429,4,0.061,0.064,2751,3349,2317
$GC,10009,1.39,146.6,970.2,11.7,478,10013,0.00,2.50,0.00,0.000,6,0.000,0.048,2750,1951,2316
$GC,10330,1.39,146.6,933.0,11.5,494,10334,0.00,2.58,0.00,0.000,4,0.000,0.061,2750,3350,2316
$GC,10379,1.39,146.6,927.3,11.5,496,10383,0.00,2.53,0.00,0.000,6,0.000,0.048,2750,1943,2316
$GC,10697,1.39,146.6,893.2,10.5,511,10698,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1943,2315
$GC,11004,1.39,146.6,861.5,10.3,526,11009,0.00,2.58,0.00,0.000,4,0.000,0.060,2751,3350,2315
$GC,11099,1.39,146.6,851.3,10.9,530,11104,0.00,2.50,0.00,0.000,6,0.000,0.048,2751,1951,2315
$GC,11415,1.39,147.1,819.8,10.0,545,11419,0.00,2.58,0.00,0.000,4,0.000,0.061,2751,3357,2315
$GC,11464,1.39,147.1,814.5,10.3,547,11468,0.00,2.53,0.00,0.000,6,0.000,0.048,2750,1951,2314
$GC,11786,1.39,149.7,782.2,9.9,563,11795,0.00,2.58,4.12,0.940,4,0.000,0.060,2751,3353,2304
$GC,11846,1.39,149.7,775.9,10.3,565,11853,0.00,2.53,0.00,0.000,6,0.000,0.048,2751,1945,2304
$GC,12162,1.39,149.7,743.9,10.2,581,12163,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1946,2304
$GC,12471,1.39,149.7,712.6,10.3,596,12476,0.00,2.58,0.00,0.000,4,0.000,0.060,2750,3357,2303
$GC,12572,1.39,149.7,701.9,11.2,600,12578,0.00,2.50,0.00,0.000,6,0.000,0.048,2750,1951,2303
$GC,12888,1.40,155.8,670.8,9.7,616,12897,0.00,0.00,6.85,1.128,6,0.000,0.000,2750,1951,2279
$GC,13197,1.40,155.8,639.3,10.4,631,13201,0.00,2.55,0.00,0.000,4,0.000,0.060,2751,3355,2279
$GC,13353,1.40,155.8,621.6,11.1,638,13357,0.00,2.50,0.00,0.000,6,0.000,0.048,2751,1946,2279
$GC,13680,1.40,155.8,586.5,10.7,654,13684,0.00,2.60,0.00,0.000,4,0.000,0.074,2750,548,2279
$GC,13723,1.40,155.8,581.5,11.7,656,13728,0.00,2.47,0.00,0.000,6,0.000,0.044,2751,1959,2279
$GC,14044,1.40,155.8,544.9,11.6,672,14049,0.00,2.53,0.00,0.000,4,0.000,0.062,2751,3354,2279
$GC,14088,1.40,155.8,539.7,11.7,674,14093,0.00,2.50,0.00,0.000,6,0.000,0.047,2750,1946,2279
$GC,14410,1.40,155.8,502.6,11.5,690,14414,0.00,2.55,0.00,0.000,4,0.000,0.059,2751,3352,2279
$GC,14465,1.40,155.8,495.8,12.4,692,14471,0.00,2.47,0.00,0.000,6,0.000,0.046,2750,1950,2279
$GC,14780,1.40,155.8,462.3,10.6,708,14784,0.00,2.60,0.00,0.000,4,0.000,0.072,2751,543,2279
$GC,14874,1.40,155.8,451.9,11.4,712,14879,0.00,2.47,0.00,0.000,6,0.000,0.041,2751,1959,2278
$GC,15189,1.40,155.8,417.9,10.3,727,15193,0.00,2.47,0.00,0.000,4,0.000,0.058,2751,3349,2279
$GC,15357,1.40,155.8,399.9,10.8,734,15362,0.00,2.45,0.00,0.000,6,0.000,0.043,2750,1944,2279
$GC,15673,1.40,155.8,367.2,10.4,749,15677,0.00,2.55,0.00,0.000,4,0.000,0.068,2751,547,2280
$GC,15734,1.40,155.8,360.5,11.1,752,15738,0.00,2.42,0.00,0.000,6,0.000,0.038,2750,1948,2280
$GC,16060,1.40,155.8,325.0,11.2,768,16064,0.00,2.50,0.00,0.000,4,0.000,0.056,2751,3352,2280
$GC,16155,1.40,155.8,313.6,12.8,772,16159,0.00,2.42,0.00,0.000,6,0.000,0.040,2751,1952,2281
$GC,16470,1.40,155.8,278.2,10.9,787,16472,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1951,2281
$GC,16780,1.40,155.8,244.4,11.4,802,16783,0.00,2.50,0.00,0.000,4,0.000,0.051,2751,3356,2283
$GC,16831,1.40,155.8,238.4,11.9,804,16835,0.00,2.45,0.00,0.000,6,0.000,0.038,2751,1947,2283
$GC,17151,1.40,155.8,201.9,11.4,820,17152,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1947,2283
$GC,17460,1.40,155.8,165.5,11.7,835,17464,0.00,2.50,0.00,0.000,4,0.000,0.050,2750,3356,2284
$GC,17567,1.40,155.8,153.2,11.6,840,17571,0.00,2.45,0.00,0.000,6,0.000,0.039,2751,1949,2284
$GC,17900,1.40,156.5,119.7,10.0,856,17909,0.00,2.60,3.78,0.584,4,0.000,0.064,2751,547,2276
$GC,17960,1.40,156.5,113.2,10.8,858,17967,0.00,2.45,0.00,0.000,6,0.000,0.035,2751,1952,2276
$GC,18276,1.40,157.0,81.8,10.0,874,18280,0.00,2.47,0.00,0.000,4,0.000,0.052,2751,3352,2277
$GC,18332,1.40,157.0,75.5,10.8,876,18336,0.00,2.40,0.00,0.000,6,0.000,0.038,2750,1949,2277
$GC,18648,1.40,157.0,42.7,10.3,891,18652,0.00,2.47,0.00,0.000,4,0.000,0.050,2751,3352,2278
$GC,18703,1.40,157.0,36.3,11.0,893,18707,0.00,2.42,0.00,0.000,6,0.000,0.038,2750,1942,2278
$GC,19020,1.40,157.0,2.1,10.9,908,19021,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1942,2279
$STATE,19037,end climb,SURFACE_DEPTH_REACHED
$STATE,19038,begin surface coast
$FINISH,0.4,1.027403
$STATE,19059,end surface coast,CONTROL_FINISHED_OK
$STATE,19060,begin surface
$SM_CCo,19082,58.15,0.684,3,0,1894,250.21
$SM_GC,1.30,0.00,0.00,58.15,0.000,0.000,0.684,40,2067,1894,-11.09,0.42,250.21
$IRIDIUM_FIX,6108.28,-305.03,150597,000027
$TT8_MAMPS,0.026845
$HUMID,1679
$INTERNAL_PRESSURE,8.39119
$TCM_TEMP,17.10
$XPDR_PINGS,2
$24V_AH,23.0,6.822
$10V_AH,10.1,3.787
$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,26.925,205.575,271.950,58.150,0.000,38.547,35.790,186.837,9.000,0.000,0.000,15.227,1783.072,14282.025,529.911,2387.798,550.328,33.358,1685.439,0.000,2339.008,0.000,55.903
$DEVICE_MAMPS,155.701,74.399,1481.844,684.164,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,679.894,615.241,554.614,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47430,910
$CFSIZE,260165632,255479808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,26,3,0
$GPS,190208,113508,6133.823,-306.008,37,0.9,37,-6.1