version: 66.02
glider: 104
mission: 4
dive: 31
start: 2 19 108 22 42 13
data:
$ID,104
$MISSION,4
$DIVE,31
$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,-35646.586
$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,37
$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
$GPS1,223507,6136.436,-313.769,27,1.4,27,-6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-60.0
$GPS2,224121,6136.518,-313.715,16,2.0,16,-6.2
$SPEED_LIMITS,0.173,0.264
$TGT_NAME,ESEC_SE
$TGT_LATLONG,6128.000,-342.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,-0.200,-0.171
$KALMAN_X,102680.8,-307.4,920.2,-107218.2,-220.0
$KALMAN_Y,-21694.3,-396.9,373.4,26404.1,742.6
$MHEAD_RNG_PITCHd_Wd,235.7,29580,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,24,-1.39,-146.6,0.0,0.0,0,108,0.00,0.00,-81.22,0.000,2,0.000,0.000,41,2067,3334
$GC,111,-1.39,-146.6,3.4,-3.6,4,132,11.93,2.50,-4.07,0.000,4,0.156,0.067,2137,3448,3513
$GC,177,-1.39,-146.6,17.0,-11.5,7,181,0.00,2.45,0.00,0.000,6,0.000,0.038,2137,2047,3514
$GC,493,-1.39,-146.6,52.7,-11.3,22,497,0.00,2.55,0.00,0.000,4,0.000,0.063,2137,645,3515
$GC,536,-1.39,-146.6,58.1,-11.5,24,541,0.00,2.40,0.00,0.000,6,0.000,0.037,2137,2042,3515
$GC,858,-1.39,-146.6,94.6,-11.2,40,862,0.00,2.53,0.00,0.000,4,0.000,0.060,2137,649,3516
$GC,921,-1.39,-146.6,101.8,-11.3,43,925,0.00,2.42,0.00,0.000,6,0.000,0.038,2137,2051,3516
$GC,1254,-1.39,-146.6,140.1,-11.0,59,1258,0.00,2.55,0.00,0.000,4,0.000,0.060,2137,645,3516
$GC,1355,-1.39,-146.6,151.3,-10.6,63,1362,0.00,2.45,0.00,0.000,6,0.000,0.038,2137,2058,3516
$GC,1671,-1.39,-146.6,184.2,-10.0,79,1675,0.00,2.55,0.00,0.000,4,0.000,0.060,2137,648,3516
$GC,1748,-1.39,-146.6,192.9,-10.9,82,1754,0.00,2.42,0.00,0.000,6,0.000,0.038,2137,2060,3516
$GC,2064,-1.39,-146.6,224.7,-10.0,98,2069,0.00,2.55,0.00,0.000,4,0.000,0.060,2137,648,3516
$GC,2142,-1.39,-146.6,232.8,-10.2,101,2146,0.00,2.42,0.00,0.000,6,0.000,0.038,2137,2061,3516
$GC,2463,-1.39,-146.6,263.4,-9.8,117,2467,0.00,2.55,0.00,0.000,4,0.000,0.060,2137,648,3516
$GC,2574,-1.39,-146.6,275.9,-11.6,122,2578,0.00,2.42,0.00,0.000,6,0.000,0.038,2137,2058,3517
$GC,2894,-1.39,-146.6,309.5,-10.3,138,2899,0.00,2.55,0.00,0.000,4,0.000,0.061,2137,649,3517
$GC,2934,-1.39,-146.6,313.8,-11.3,140,2938,0.00,2.40,0.00,0.000,6,0.000,0.038,2137,2051,3517
$GC,3266,-1.39,-146.6,349.5,-10.6,156,3274,0.00,2.55,0.00,0.000,4,0.000,0.061,2137,646,3517
$GC,3359,-1.39,-146.6,359.2,-10.1,160,3363,0.00,2.42,0.00,0.000,6,0.000,0.039,2137,2055,3517
$GC,3685,-1.39,-146.6,391.4,-10.0,176,3690,0.00,2.55,0.00,0.000,4,0.000,0.062,2137,650,3517
$GC,3794,-1.39,-146.6,402.6,-10.7,181,3798,0.00,2.42,0.00,0.000,6,0.000,0.039,2137,2056,3517
$GC,4120,-1.39,-146.6,436.0,-9.9,197,4124,0.00,2.55,0.00,0.000,4,0.000,0.064,2136,651,3517
$GC,4193,-1.39,-146.6,443.8,-10.9,200,4197,0.00,2.42,0.00,0.000,6,0.000,0.041,2137,2054,3517
$GC,4515,-1.39,-146.6,476.0,-10.3,216,4520,0.00,2.58,0.00,0.000,4,0.000,0.064,2137,646,3516
$GC,4600,-1.39,-146.6,485.1,-10.6,220,4604,0.00,2.42,0.00,0.000,6,0.000,0.041,2137,2050,3516
$GC,4927,-1.39,-146.6,518.5,-10.6,236,4931,0.00,2.58,0.00,0.000,4,0.000,0.065,2137,646,3515
$GC,4976,-1.39,-146.6,524.1,-11.8,238,4980,0.00,2.45,0.00,0.000,6,0.000,0.042,2137,2059,3514
$GC,5292,-1.39,-146.6,555.3,-9.5,253,5296,0.00,2.58,0.00,0.000,4,0.000,0.065,2137,650,3514
$GC,5376,-1.39,-146.6,563.7,-10.1,257,5380,0.00,2.45,0.00,0.000,6,0.000,0.043,2137,2060,3514
$GC,5704,-1.39,-146.6,592.9,-8.9,273,5708,0.00,2.58,0.00,0.000,4,0.000,0.066,2137,650,3512
$GC,5798,-1.39,-146.6,602.2,-10.1,277,5802,0.00,2.45,0.00,0.000,6,0.000,0.043,2137,2062,3512
$GC,6115,-1.39,-146.6,631.0,-9.2,292,6120,0.00,2.60,0.00,0.000,4,0.000,0.066,2137,646,3511
$GC,6201,-1.39,-146.6,639.6,-10.3,296,6205,0.00,2.45,0.00,0.000,6,0.000,0.044,2137,2052,3511
$GC,6527,-1.39,-146.6,670.1,-9.1,312,6532,0.00,2.58,0.00,0.000,4,0.000,0.067,2137,643,3509
$GC,6606,-1.39,-146.6,678.0,-9.7,315,6612,0.00,2.47,0.00,0.000,6,0.000,0.044,2137,2055,3509
$GC,6922,-1.39,-146.6,706.2,-8.9,331,6926,0.00,2.58,0.00,0.000,4,0.000,0.067,2137,649,3508
$GC,7013,-1.39,-146.6,715.1,-10.0,335,7017,0.00,2.45,0.00,0.000,6,0.000,0.044,2137,2051,3508
$GC,7335,-1.39,-146.6,745.1,-9.2,351,7340,0.00,2.58,0.00,0.000,4,0.000,0.067,2136,648,3508
$GC,7402,-1.39,-146.6,751.8,-9.8,354,7407,0.00,2.47,0.00,0.000,6,0.000,0.045,2137,2058,3507
$GC,7724,-1.39,-146.6,781.0,-9.1,370,7728,0.00,2.58,0.00,0.000,4,0.000,0.066,2137,650,3507
$GC,7786,-1.39,-146.6,787.1,-9.8,373,7790,0.00,2.45,0.00,0.000,6,0.000,0.045,2137,2050,3506
$GC,8118,-1.39,-146.6,818.0,-9.7,389,8122,0.00,2.58,0.00,0.000,4,0.000,0.066,2137,646,3506
$GC,8190,-1.39,-146.6,825.7,-10.1,392,8195,0.00,2.47,0.00,0.000,6,0.000,0.045,2137,2056,3506
$GC,8506,-1.39,-146.6,855.0,-8.9,407,8510,0.00,2.58,0.00,0.000,4,0.000,0.067,2137,643,3505
$GC,8583,-1.39,-146.6,862.7,-10.2,410,8590,0.00,2.47,0.00,0.000,6,0.000,0.045,2137,2059,3505
$GC,8900,-1.39,-146.6,891.1,-9.2,426,8904,0.00,2.58,0.00,0.000,4,0.000,0.066,2137,647,3504
$GC,8962,-1.39,-146.6,897.3,-9.2,429,8966,0.00,2.47,0.00,0.000,6,0.000,0.046,2137,2059,3504
$GC,9291,-1.39,-146.6,926.6,-9.0,445,9295,0.00,2.60,0.00,0.000,4,0.000,0.067,2136,643,3503
$GC,9375,-1.39,-146.6,934.7,-9.4,449,9379,0.00,2.47,0.00,0.000,6,0.000,0.046,2137,2054,3503
$GC,9701,-1.39,-146.6,962.6,-8.3,465,9706,0.00,2.58,0.00,0.000,4,0.000,0.066,2137,646,3503
$GC,9797,-1.39,-146.6,971.1,-9.2,469,9801,0.00,2.47,0.00,0.000,6,0.000,0.045,2137,2051,3503
$STATE,10027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10027,begin apogee
$GC,10034,-0.33,0.0,991.0,8.6,480,10170,1.17,0.00,128.93,1.493,6,0.097,0.000,2372,1941,2914
$STATE,10171,end apogee,CONTROL_FINISHED_OK
$STATE,10171,begin climb
$GC,10174,1.39,146.6,994.7,0.0,487,10311,1.77,2.67,129.45,1.433,4,0.062,0.063,2751,3352,2317
$GC,10437,1.39,146.6,973.4,12.8,498,10441,0.00,2.50,0.00,0.000,6,0.000,0.048,2751,1953,2316
$GC,10752,1.39,146.6,936.3,11.7,513,10756,0.00,2.58,0.00,0.000,4,0.000,0.059,2750,3357,2316
$GC,10784,1.39,146.6,932.5,11.9,514,10790,0.00,2.53,0.00,0.000,6,0.000,0.048,2751,1950,2316
$GC,11101,1.39,146.6,897.1,11.3,530,11106,0.00,2.58,0.00,0.000,4,0.000,0.060,2751,3354,2316
$GC,11146,1.39,146.6,891.8,11.3,532,11150,0.00,2.53,0.00,0.000,6,0.000,0.048,2751,1947,2316
$GC,11467,1.39,146.6,855.5,11.3,548,11471,0.00,2.58,0.00,0.000,4,0.000,0.061,2751,3353,2316
$GC,11533,1.39,146.6,847.6,11.6,551,11537,0.00,2.53,0.00,0.000,6,0.000,0.048,2751,1944,2316
$GC,11853,1.39,146.6,810.2,11.6,567,11858,0.00,2.58,0.00,0.000,4,0.000,0.059,2751,3354,2315
$GC,11897,1.39,146.6,805.2,11.2,569,11902,0.00,2.53,0.00,0.000,6,0.000,0.048,2751,1944,2315
$GC,12219,1.39,146.6,768.5,11.4,585,12223,0.00,2.58,0.00,0.000,4,0.000,0.059,2750,3354,2315
$GC,12258,1.39,146.6,763.9,11.4,587,12262,0.00,2.53,0.00,0.000,6,0.000,0.048,2751,1943,2315
$GC,12584,1.39,146.6,726.0,11.5,603,12588,0.00,2.58,0.00,0.000,4,0.000,0.059,2751,3354,2315
$GC,12638,1.39,146.6,719.5,11.0,605,12646,0.00,2.50,0.00,0.000,6,0.000,0.048,2751,1950,2315
$GC,12954,1.39,146.6,684.7,11.0,621,12959,0.00,2.58,0.00,0.000,4,0.000,0.060,2751,3358,2315
$GC,13027,1.39,146.6,676.2,11.7,624,13031,0.00,2.50,0.00,0.000,6,0.000,0.048,2751,1949,2314
$GC,13342,1.39,146.6,641.6,10.8,639,13347,0.00,2.58,0.00,0.000,4,0.000,0.060,2751,3361,2314
$GC,13386,1.39,146.6,636.5,11.1,641,13391,0.00,2.53,0.00,0.000,6,0.000,0.048,2751,1946,2314
$GC,13708,1.39,146.6,600.8,11.2,657,13709,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1946,2314
$GC,14017,1.39,146.6,567.3,10.5,672,14018,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1946,2314
$GC,14326,1.39,146.6,535.1,10.1,687,14330,0.00,2.58,0.00,0.000,4,0.000,0.059,2751,3359,2314
$GC,14403,1.39,146.6,526.7,10.4,690,14410,0.00,2.50,0.00,0.000,6,0.000,0.048,2751,1951,2314
$GC,14720,1.39,153.3,495.7,9.7,706,14734,0.00,2.62,6.82,1.046,4,0.000,0.059,2751,3357,2289
$GC,14802,1.39,153.3,487.3,10.1,709,14808,0.00,2.50,0.00,0.000,6,0.000,0.047,2751,1949,2289
$GC,15117,1.39,153.3,455.6,10.1,725,15122,0.00,2.58,0.00,0.000,4,0.000,0.058,2751,3363,2289
$GC,15195,1.39,153.3,447.0,10.7,728,15201,0.00,2.50,0.00,0.000,6,0.000,0.048,2751,1945,2289
$GC,15511,1.40,160.2,412.8,9.7,744,15525,0.00,2.62,7.68,1.024,4,0.000,0.058,2750,3355,2261
$GC,15555,1.40,160.2,408.4,10.2,746,15560,0.00,2.50,0.00,0.000,6,0.000,0.046,2751,1950,2261
$GC,15882,1.40,160.2,376.0,10.6,762,15886,0.00,2.55,0.00,0.000,4,0.000,0.059,2751,3355,2261
$GC,16139,1.40,160.2,346.1,10.5,773,16145,0.00,2.47,0.00,0.000,6,0.000,0.047,2751,1950,2261
$GC,16454,1.41,164.2,314.2,9.8,789,16465,0.00,2.62,5.43,0.877,4,0.000,0.074,2751,543,2244
$GC,16549,1.41,164.9,304.0,10.0,793,16553,0.00,2.47,0.00,0.000,6,0.000,0.040,2751,1957,2244
$GC,16865,1.43,182.0,274.8,9.2,808,16887,0.00,2.67,16.25,0.994,4,0.000,0.067,2751,543,2172
$GC,16959,1.44,193.0,265.3,9.5,812,16976,0.00,2.47,10.65,0.937,6,0.000,0.039,2751,1951,2128
$GC,17285,1.44,193.0,231.9,10.8,828,17289,0.00,2.53,0.00,0.000,4,0.000,0.057,2751,3357,2128
$GC,17324,1.44,193.0,227.6,11.3,830,17328,0.00,2.45,0.00,0.000,6,0.000,0.041,2751,1949,2128
$GC,17656,1.44,193.0,190.5,11.2,846,17660,0.00,2.53,0.00,0.000,4,0.000,0.052,2750,3357,2129
$GC,17696,1.44,193.0,185.8,11.6,848,17700,0.00,2.47,0.00,0.000,6,0.000,0.041,2751,1942,2129
$GC,18022,1.44,193.0,149.0,11.3,864,18023,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1942,2129
$GC,18332,1.44,193.0,115.2,11.1,879,18333,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1942,2130
$GC,18641,1.44,193.0,81.1,11.2,894,18645,0.00,2.50,0.00,0.000,4,0.000,0.051,2751,3356,2132
$GC,18684,1.44,193.0,75.4,12.2,896,18689,0.00,2.45,0.00,0.000,6,0.000,0.041,2751,1943,2132
$GC,19006,1.44,193.0,38.9,12.4,912,19007,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1942,2132
$STATE,19313,end climb,SURFACE_DEPTH_REACHED
$STATE,19314,begin surface coast
$FINISH,0.3,1.027493
$STATE,19335,end surface coast,CONTROL_FINISHED_OK
$STATE,19335,begin surface
$SM_CCo,19357,41.45,0.693,3,0,1895,250.21
$SM_GC,0.64,0.00,0.00,41.45,0.000,0.000,0.693,43,2069,1895,-11.07,0.48,250.21
$IRIDIUM_FIX,6112.75,-314.30,150597,171734
$TT8_MAMPS,0.026845
$HUMID,1714
$INTERNAL_PRESSURE,8.35213
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,23.0,7.261
$10V_AH,10.1,4.065
$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,27.000,222.075,305.200,41.450,0.000,40.463,34.777,176.156,8.500,0.000,0.000,17.562,1807.803,14503.096,553.108,2360.843,561.738,33.367,1721.528,0.000,2310.230,0.000,55.912
$DEVICE_MAMPS,156.468,73.632,1492.582,692.601,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,695.248,627.279,558.442,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,47386,928
$CFSIZE,260165632,255266816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,31,3,0
$GPS,200208,040721,6133.918,-317.277,36,2.5,55,-6.2