version: 66.02
glider: 102
mission: 4
dive: 343
start: 1 25 108 1 33 12
data:
$ID,102
$MISSION,4
$DIVE,343
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$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,412.5
$T_MISSION,440
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$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,22
$KALMAN_USE,1
$HD_A,0.0034169999
$HD_B,0.0095870001
$HD_C,3.1312e-05
$HEADING,-1
$ESCAPE_HEADING,45
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,62
$TGT_DEFAULT_LON,-6.8000002
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-83959.164
$T_RSLEEP,57
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,38
$PITCH_MAX,3332
$C_PITCH,2495
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$PITCH_TIMEOUT,19
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,150
$ROLL_MAX,3761
$C_ROLL_DIVE,1900
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,17
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,603
$VBD_MAX,3897
$C_VBD,2878
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$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,-8.5065012
$PRESSURE_SLOPE,0.00011626
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$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,5
$ALTIM_SENSITIVITY,1
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,48
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043130573
$SEABIRD_T_H,0.00062837353
$SEABIRD_T_I,2.3180288e-05
$SEABIRD_T_J,2.4140363e-06
$SEABIRD_C_G,-10.364641
$SEABIRD_C_H,1.1788509
$SEABIRD_C_I,-0.0011747589
$SEABIRD_C_J,0.00021488362
$GPS1,012208,6245.269,-1232.157,34,1.0,34,-11.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-58.8
$GPS2,013127,6245.106,-1232.091,13,1.8,13,-11.6
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,GE
$TGT_LATLONG,6240.000,-1220.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.114,-0.208
$KALMAN_X,482062.4,-971.9,458.6,-695052.2,6484.3
$KALMAN_Y,62545.9,-479.5,390.2,70838.8,-3761.2
$MHEAD_RNG_PITCHd_Wd,162.9,13970,-14.7,-8.000
$D_GRID,753
$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,-1.23,-146.6,0.0,0.0,0,106,0.00,0.00,-81.25,0.000,2,0.000,0.000,33,1891,3280
$GC,110,-1.23,-146.6,5.2,-5.6,4,132,11.57,2.58,-4.30,0.000,4,0.140,0.058,2224,3308,3477
$GC,160,-1.23,-146.6,18.1,-13.2,6,164,0.00,2.55,0.00,0.000,6,0.000,0.044,2224,1896,3478
$GC,481,-1.23,-146.6,50.3,-12.1,22,485,0.00,2.55,0.00,0.000,4,0.000,0.046,2224,3308,3478
$GC,530,-1.23,-146.6,56.2,-10.3,24,535,0.00,2.53,0.00,0.000,6,0.000,0.042,2225,1896,3478
$GC,848,-1.23,-146.6,84.8,-8.4,39,852,0.00,2.62,0.00,0.000,4,0.000,0.071,2224,495,3478
$GC,880,-1.23,-146.6,87.6,-8.0,40,887,0.00,2.47,0.00,0.000,6,0.000,0.040,2224,1909,3478
$GC,1196,-1.23,-146.6,120.2,-12.8,56,1200,0.00,2.50,0.00,0.000,4,0.000,0.048,2224,3298,3478
$GC,1273,-1.23,-146.6,129.9,-13.9,59,1280,0.00,2.53,0.00,0.000,6,0.000,0.045,2224,1908,3478
$GC,1589,-1.23,-146.6,165.3,-11.4,75,1590,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1908,3478
$GC,1898,-1.23,-146.6,208.0,-13.4,90,1902,0.00,2.50,0.00,0.000,4,0.000,0.048,2224,3298,3478
$GC,1920,-1.23,-146.6,210.9,-13.3,91,1924,0.00,2.50,0.00,0.000,6,0.000,0.044,2224,1899,3478
$GC,2241,-1.23,-146.6,245.9,-11.2,107,2246,0.00,2.62,0.00,0.000,4,0.000,0.070,2224,489,3478
$GC,2269,-1.23,-146.6,249.2,-12.0,108,2273,0.00,2.45,0.00,0.000,6,0.000,0.040,2224,1901,3478
$GC,2584,-1.23,-146.6,282.6,-10.7,123,2588,0.00,2.50,0.00,0.000,4,0.000,0.049,2224,3293,3478
$GC,2634,-1.23,-146.6,288.0,-10.9,125,2638,0.00,2.50,0.00,0.000,6,0.000,0.044,2224,1899,3478
$GC,2949,-1.23,-146.6,320.6,-10.0,140,2953,0.00,2.62,0.00,0.000,4,0.000,0.071,2224,490,3478
$GC,3026,-1.23,-146.6,328.7,-10.1,143,3032,0.00,2.45,0.00,0.000,6,0.000,0.040,2224,1903,3478
$GC,3342,-1.23,-146.6,361.0,-10.5,159,3346,0.00,2.50,0.00,0.000,4,0.000,0.050,2224,3292,3478
$GC,3368,-1.23,-146.6,364.1,-11.0,160,3373,0.00,2.47,0.00,0.000,6,0.000,0.045,2224,1900,3478
$GC,3690,-1.23,-146.6,397.0,-10.0,176,3694,0.00,2.62,0.00,0.000,4,0.000,0.071,2224,494,3478
$GC,3718,-1.23,-146.6,400.0,-10.6,177,3722,0.00,2.45,0.00,0.000,6,0.000,0.041,2224,1896,3478
$GC,4033,-1.23,-146.6,431.1,-9.7,192,4037,0.00,2.53,0.00,0.000,4,0.000,0.051,2224,3295,3478
$GC,4094,-1.23,-146.6,437.0,-9.7,195,4099,0.00,2.53,0.00,0.000,6,0.000,0.047,2224,1896,3478
$GC,4422,-1.23,-146.6,468.6,-9.8,211,4426,0.00,2.55,0.00,0.000,4,0.000,0.050,2224,3303,3477
$GC,4448,-1.23,-146.6,471.4,-10.0,212,4452,0.00,2.53,0.00,0.000,6,0.000,0.047,2224,1899,3478
$GC,4764,-1.23,-146.6,502.7,-9.6,227,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1899,3478
$GC,5073,-1.23,-146.6,532.7,-9.6,242,5077,0.00,2.53,0.00,0.000,4,0.000,0.051,2224,3297,3477
$GC,5107,-1.23,-146.6,536.0,-9.7,243,5113,0.00,2.50,0.00,0.000,6,0.000,0.045,2224,1900,3477
$GC,5422,-1.23,-146.6,565.4,-9.6,259,5426,0.00,2.53,0.00,0.000,4,0.000,0.051,2224,3297,3478
$GC,5466,-1.23,-146.6,569.7,-9.8,261,5470,0.00,2.50,0.00,0.000,6,0.000,0.047,2224,1900,3477
$GC,5786,-1.23,-146.6,599.1,-9.1,277,5790,0.00,2.62,0.00,0.000,4,0.000,0.074,2225,497,3477
$GC,5829,-1.23,-146.6,603.1,-9.6,279,5834,0.00,2.45,0.00,0.000,6,0.000,0.044,2224,1897,3477
$GC,6151,-1.23,-146.6,632.7,-9.6,295,6155,0.00,2.58,0.00,0.000,4,0.000,0.058,2224,3304,3477
$GC,6284,-1.23,-146.6,645.5,-9.7,301,6289,0.00,2.53,0.00,0.000,6,0.000,0.051,2224,1902,3477
$GC,6607,-1.23,-146.6,675.4,-9.0,317,6611,0.00,2.55,0.00,0.000,4,0.000,0.056,2224,3299,3477
$GC,6673,-1.23,-146.6,681.5,-8.7,320,6677,0.00,2.55,0.00,0.000,6,0.000,0.051,2224,1896,3477
$GC,6994,-1.23,-146.6,708.9,-8.4,336,6998,0.00,2.58,0.00,0.000,4,0.000,0.058,2224,3298,3477
$GC,7021,-1.23,-146.6,711.2,-8.8,337,7025,0.00,2.55,0.00,0.000,6,0.000,0.053,2224,1898,3477
$GC,7336,-1.23,-146.6,737.2,-8.4,352,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,2224,1898,3477
$STATE,7520,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7520,begin apogee
$GC,7526,-0.36,0.0,753.7,9.3,361,7656,0.90,0.00,125.80,1.299,6,0.084,0.000,2414,2097,2878
$STATE,7656,end apogee,CONTROL_FINISHED_OK
$STATE,7656,begin climb
$GC,7659,1.23,146.6,758.1,0.0,367,7790,1.58,2.72,122.68,1.292,4,0.057,0.076,2762,693,2279
$GC,7814,1.31,211.6,754.1,5.5,374,7875,0.00,2.55,55.25,1.250,6,0.000,0.051,2762,2093,2015
$GC,8193,1.33,226.2,726.0,7.4,393,8215,0.10,2.72,13.38,1.253,4,0.059,0.065,2792,3506,1955
$GC,8287,1.33,226.2,717.0,9.3,397,8292,0.00,2.60,0.00,0.000,6,0.000,0.056,2792,2103,1955
$GC,8609,1.33,226.2,686.8,9.6,413,8613,0.00,2.62,0.00,0.000,4,0.000,0.061,2792,3508,1954
$GC,8692,1.33,226.2,678.5,9.9,417,8697,0.00,2.60,0.00,0.000,6,0.000,0.054,2792,2094,1953
$GC,9019,1.33,226.2,650.2,8.1,433,9023,0.00,2.62,0.00,0.000,4,0.000,0.059,2792,3507,1952
$GC,9068,1.33,226.2,645.7,8.5,435,9072,0.00,2.55,0.00,0.000,6,0.000,0.051,2792,2100,1952
$GC,9383,1.33,226.2,619.7,8.1,450,9387,0.00,2.60,0.00,0.000,4,0.000,0.057,2792,3506,1952
$GC,9528,1.33,226.2,606.6,9.6,456,9534,0.00,2.58,0.00,0.000,6,0.000,0.050,2793,2094,1952
$GC,9843,1.33,226.2,577.4,9.6,472,9848,0.00,2.60,0.00,0.000,4,0.000,0.055,2792,3508,1952
$GC,9955,1.33,226.2,566.3,10.1,477,9959,0.00,2.55,0.00,0.000,6,0.000,0.048,2792,2092,1952
$GC,10276,1.33,226.2,535.8,9.5,493,10280,0.00,2.60,0.00,0.000,4,0.000,0.054,2792,3506,1951
$GC,10364,1.33,226.2,526.9,9.6,497,10368,0.00,2.53,0.00,0.000,6,0.000,0.047,2793,2101,1952
$GC,10685,1.33,226.2,498.2,9.1,513,10690,0.00,2.58,0.00,0.000,4,0.000,0.053,2792,3507,1952
$GC,10797,1.33,226.2,487.4,9.5,518,10801,0.00,2.53,0.00,0.000,6,0.000,0.045,2792,2098,1952
$GC,11118,1.33,226.2,457.4,9.6,534,11122,0.00,2.58,0.00,0.000,4,0.000,0.052,2792,3507,1952
$GC,11190,1.33,226.2,450.0,9.9,537,11194,0.00,2.55,0.00,0.000,6,0.000,0.045,2792,2091,1952
$GC,11505,1.33,226.2,419.5,9.7,552,11509,0.00,2.58,0.00,0.000,4,0.000,0.052,2792,3508,1952
$GC,11566,1.33,226.2,413.3,9.8,555,11571,0.00,2.53,0.00,0.000,6,0.000,0.044,2792,2098,1952
$GC,11894,1.33,226.2,381.6,9.7,571,11898,0.00,2.58,0.00,0.000,4,0.000,0.051,2792,3509,1952
$GC,11943,1.33,226.2,376.3,10.3,573,11947,0.00,2.55,0.00,0.000,6,0.000,0.044,2792,2093,1952
$GC,12258,1.33,226.2,346.7,8.9,588,12263,0.00,2.58,0.00,0.000,4,0.000,0.053,2793,3508,1953
$GC,12321,1.33,226.2,340.9,10.0,591,12325,0.00,2.53,0.00,0.000,6,0.000,0.044,2792,2093,1953
$GC,12646,1.33,226.2,310.8,9.4,607,12651,0.00,2.58,0.00,0.000,4,0.000,0.052,2792,3509,1953
$GC,12696,1.33,226.2,305.6,10.1,609,12701,0.00,2.53,0.00,0.000,6,0.000,0.043,2793,2099,1953
$GC,13012,1.33,226.2,276.0,9.7,624,13016,0.00,2.58,0.00,0.000,4,0.000,0.051,2793,3513,1953
$GC,13033,1.33,226.2,273.7,10.5,625,13037,0.00,2.53,0.00,0.000,6,0.000,0.042,2792,2093,1953
$GC,13355,1.33,226.2,244.3,9.3,641,13359,0.00,2.58,0.00,0.000,4,0.000,0.051,2793,3507,1954
$GC,13426,1.33,226.2,237.2,9.6,644,13431,0.00,2.53,0.00,0.000,6,0.000,0.042,2792,2096,1954
$GC,13742,1.33,230.6,211.4,7.8,659,13752,0.00,2.58,4.65,0.978,4,0.000,0.051,2792,3506,1936
$GC,13797,1.33,230.6,206.9,8.2,661,13803,0.00,2.53,0.00,0.000,6,0.000,0.041,2792,2096,1936
$GC,14112,1.35,246.0,180.4,7.4,677,14134,0.00,2.62,12.95,0.964,4,0.000,0.050,2792,3502,1875
$GC,14179,1.35,246.0,174.7,9.1,680,14184,0.00,2.53,0.00,0.000,6,0.000,0.041,2793,2092,1874
$GC,14507,1.35,246.0,147.9,9.1,696,14511,0.00,2.60,0.00,0.000,4,0.000,0.051,2792,3514,1874
$GC,14578,1.35,246.0,142.0,8.4,699,14582,0.00,2.53,0.00,0.000,6,0.000,0.041,2792,2093,1875
$GC,14894,1.40,284.6,119.2,6.5,714,14931,0.00,2.62,31.48,0.890,4,0.000,0.049,2792,3511,1716
$GC,14993,1.40,284.6,110.3,10.0,717,14999,0.00,2.55,0.00,0.000,6,0.000,0.041,2792,2093,1716
$GC,15310,1.40,284.6,77.7,10.7,733,15314,0.00,2.58,0.00,0.000,4,0.000,0.050,2792,3507,1717
$GC,15327,1.40,284.6,75.4,11.1,734,15331,0.00,2.50,0.00,0.000,6,0.000,0.040,2792,2100,1716
$GC,15654,1.40,284.6,41.0,13.4,750,15658,0.00,2.58,0.00,0.000,4,0.000,0.051,2793,3510,1717
$GC,15697,1.40,284.6,35.3,12.6,752,15702,0.00,2.50,0.00,0.000,6,0.000,0.041,2793,2098,1717
$STATE,15996,end climb,SURFACE_DEPTH_REACHED
$STATE,15996,begin surface coast
$FINISH,1.0,1.022657
$STATE,16019,end surface coast,CONTROL_FINISHED_OK
$STATE,16019,begin surface
$SM_CCo,16042,13.88,0.852,1,0,1655,300.00
$SM_GC,1.42,0.00,0.00,13.88,0.000,0.000,0.852,30,1883,1655,-11.33,-0.48,300.00
$IRIDIUM_FIX,6221.17,-1228.67,200497,010152
$TT8_MAMPS,0.026845
$HUMID,2053
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.50
$XPDR_PINGS,2
$ALTIM_TOP_PING,17.5,999.0
$24V_AH,23.1,69.133
$10V_AH,10.1,33.407
$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,26.125,199.775,366.175,13.875,0.000,77.402,71.917,228.952,7.000,0.000,0.000,15.163,1490.742,12109.910,539.430,1847.646,687.753,33.367,1511.254,0.000,1803.114,0.000,43.008
$DEVICE_MAMPS,140.361,75.933,1299.298,852.137,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,571.325,518.125,457.692,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37953,768
$CFSIZE,260165632,237842432
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