version: 66.02
glider: 102
mission: 4
dive: 350
start: 1 26 108 12 32 55
data:
$ID,102
$MISSION,4
$DIVE,350
$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,-84106.188
$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,41
$R_STBD_OVSHOOT,33
$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
$GPS1,122507,6239.624,-1200.108,26,1.2,26,-11.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-54.0
$GPS2,123109,6239.654,-1159.892,13,1.8,13,-11.3
$SPEED_LIMITS,0.139,0.238
$TGT_NAME,FE
$TGT_LATLONG,6230.000,-1140.000
$TGT_RADIUS,5000.000
$KALMAN_CONTROL,0.127,-0.201
$KALMAN_X,498085.0,425.2,422.3,-684047.9,2900.8
$KALMAN_Y,58768.8,335.1,1726.9,62317.1,-1601.6
$MHEAD_RNG_PITCHd_Wd,159.1,24679,-14.7,-8.000
$D_GRID,745
$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,-81.15,0.000,2,0.000,0.000,36,1872,2655
$GC,110,-1.23,-146.6,3.0,-2.0,4,160,11.52,2.60,-30.20,0.000,4,0.138,0.062,2223,3295,3476
$GC,412,-1.23,-146.6,40.7,-10.1,17,419,0.00,2.47,0.00,0.000,6,0.000,0.042,2223,1916,3476
$GC,730,-1.23,-146.6,73.8,-10.9,33,734,0.00,2.50,0.00,0.000,4,0.000,0.046,2223,3303,3476
$GC,869,-1.23,-146.6,91.7,-14.4,39,873,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1901,3476
$GC,1186,-1.23,-146.6,130.1,-11.0,54,1191,0.00,2.53,0.00,0.000,4,0.000,0.046,2223,3304,3476
$GC,1227,-1.23,-146.6,134.5,-11.0,56,1231,0.00,2.53,0.00,0.000,6,0.000,0.043,2223,1897,3476
$GC,1553,-1.23,-146.6,171.9,-10.9,72,1557,0.00,2.53,0.00,0.000,4,0.000,0.047,2223,3300,3476
$GC,1592,-1.23,-146.6,176.1,-10.6,74,1596,0.00,2.50,0.00,0.000,6,0.000,0.043,2223,1900,3476
$GC,1918,-1.23,-146.6,209.5,-9.9,90,1922,0.00,2.50,0.00,0.000,4,0.000,0.047,2223,3298,3476
$GC,1950,-1.23,-146.6,212.9,-9.9,91,1956,0.00,2.50,0.00,0.000,6,0.000,0.043,2223,1900,3476
$GC,2266,-1.23,-146.6,244.5,-10.8,107,2270,0.00,2.53,0.00,0.000,4,0.000,0.047,2223,3301,3476
$GC,2298,-1.23,-146.6,248.3,-10.7,108,2304,0.00,2.50,0.00,0.000,6,0.000,0.044,2223,1900,3476
$GC,2614,-1.23,-146.6,281.0,-10.4,124,2618,0.00,2.53,0.00,0.000,4,0.000,0.048,2223,3301,3476
$GC,2654,-1.23,-146.6,285.1,-10.3,126,2658,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1895,3476
$GC,2980,-1.23,-146.6,318.7,-10.5,142,2984,0.00,2.55,0.00,0.000,4,0.000,0.048,2223,3305,3476
$GC,3014,-1.23,-146.6,322.1,-10.3,143,3020,0.00,2.53,0.00,0.000,6,0.000,0.044,2223,1900,3476
$GC,3330,-1.23,-146.6,350.6,-8.8,159,3334,0.00,2.62,0.00,0.000,4,0.000,0.071,2223,489,3476
$GC,3357,-1.23,-146.6,353.2,-9.3,160,3361,0.00,2.47,0.00,0.000,6,0.000,0.040,2223,1905,3476
$GC,3672,-1.23,-146.6,381.8,-9.4,175,3676,0.00,2.50,0.00,0.000,4,0.000,0.050,2223,3301,3476
$GC,3712,-1.23,-146.6,385.7,-9.7,177,3717,0.00,2.53,0.00,0.000,6,0.000,0.046,2223,1900,3476
$GC,4039,-1.23,-146.6,418.1,-9.6,193,4043,0.00,2.53,0.00,0.000,4,0.000,0.049,2223,3299,3476
$GC,4066,-1.23,-146.6,420.9,-10.0,194,4071,0.00,2.53,0.00,0.000,6,0.000,0.045,2223,1896,3476
$GC,4383,-1.23,-146.6,451.5,-10.4,209,4387,0.00,2.53,0.00,0.000,4,0.000,0.050,2223,3301,3476
$GC,4427,-1.23,-146.6,456.3,-10.2,211,4431,0.00,2.53,0.00,0.000,6,0.000,0.045,2223,1896,3476
$GC,4747,-1.23,-146.6,488.9,-10.3,227,4752,0.00,2.55,0.00,0.000,4,0.000,0.050,2223,3303,3476
$GC,4791,-1.23,-146.6,493.5,-10.0,229,4796,0.00,2.53,0.00,0.000,6,0.000,0.046,2223,1899,3476
$GC,5114,-1.23,-146.6,525.2,-9.6,245,5118,0.00,2.53,0.00,0.000,4,0.000,0.050,2223,3298,3475
$GC,5163,-1.23,-146.6,529.9,-9.4,247,5167,0.00,2.50,0.00,0.000,6,0.000,0.045,2223,1896,3475
$GC,5483,-1.23,-146.6,558.4,-9.1,263,5488,0.00,2.55,0.00,0.000,4,0.000,0.052,2223,3301,3475
$GC,5506,-1.23,-146.6,560.4,-8.8,264,5510,0.00,2.53,0.00,0.000,6,0.000,0.046,2223,1896,3475
$GC,5826,-1.23,-146.6,590.2,-9.4,280,5830,0.00,2.55,0.00,0.000,4,0.000,0.052,2223,3301,3475
$GC,5882,-1.23,-146.6,595.5,-9.8,282,5888,0.00,2.53,0.00,0.000,6,0.000,0.048,2223,1899,3475
$GC,6199,-1.23,-146.6,625.6,-9.6,298,6203,0.00,2.65,0.00,0.000,4,0.000,0.075,2223,490,3475
$GC,6253,-1.23,-146.6,631.3,-10.6,300,6260,0.00,2.47,0.00,0.000,6,0.000,0.044,2223,1902,3475
$GC,6569,-1.23,-146.6,658.6,-8.5,316,6574,0.00,2.55,0.00,0.000,4,0.000,0.058,2223,3299,3475
$GC,6659,-1.23,-146.6,666.4,-8.0,320,6664,0.00,2.55,0.00,0.000,6,0.000,0.051,2223,1895,3475
$GC,6980,-1.23,-146.6,694.0,-8.1,336,6985,0.00,2.60,0.00,0.000,4,0.000,0.058,2223,3304,3475
$GC,7076,-1.23,-146.6,701.2,-7.2,340,7080,0.00,2.58,0.00,0.000,6,0.000,0.054,2223,1896,3475
$GC,7391,-1.23,-146.6,726.9,-8.3,355,7395,0.00,2.58,0.00,0.000,4,0.000,0.060,2223,3305,3475
$GC,7408,-1.23,-146.6,728.2,-7.7,356,7413,0.00,2.58,0.00,0.000,6,0.000,0.055,2223,1901,3475
$GC,7736,-1.23,-146.6,739.8,0.0,372,7737,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,1901,3474
$STATE,7939,end dive,NO_VERTICAL_VELOCITY
$STATE,7939,begin apogee
$GC,7945,-0.36,0.0,739.7,0.0,382,8074,0.88,0.00,125.88,1.299,6,0.061,0.000,2421,2106,2878
$STATE,8075,end apogee,CONTROL_FINISHED_OK
$STATE,8075,begin climb
$GC,8078,1.23,146.6,739.4,0.0,388,8210,1.52,2.80,124.25,1.260,4,0.049,0.077,2763,694,2280
$GC,8470,1.25,159.9,723.9,7.5,406,8491,0.00,2.55,12.10,1.262,6,0.000,0.051,2763,2099,2226
$GC,8801,1.26,168.8,697.7,7.7,422,8815,0.00,2.75,8.68,1.262,4,0.000,0.078,2763,694,2189
$GC,8917,1.27,181.8,688.3,7.5,427,8933,0.00,2.53,12.02,1.274,6,0.000,0.051,2763,2098,2136
$GC,9242,1.33,225.2,667.1,6.3,443,9287,0.00,2.72,37.08,1.274,4,0.000,0.064,2763,3504,1960
$GC,9373,1.33,225.2,656.7,8.9,449,9377,0.00,2.60,0.00,0.000,6,0.000,0.054,2763,2100,1959
$GC,9699,1.33,225.2,628.9,9.0,465,9703,0.00,2.62,0.00,0.000,4,0.000,0.059,2764,3508,1958
$GC,9738,1.33,225.2,625.0,9.8,467,9742,0.00,2.58,0.00,0.000,6,0.000,0.052,2763,2100,1959
$GC,10064,1.33,225.2,596.3,8.6,483,10065,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2100,1957
$GC,10374,1.33,225.2,567.8,9.7,498,10378,0.00,2.65,0.00,0.000,4,0.000,0.076,2763,693,1958
$GC,10395,1.33,225.2,565.5,10.1,499,10399,0.00,2.50,0.00,0.000,6,0.000,0.044,2764,2105,1957
$GC,10715,1.33,225.2,535.5,9.4,515,10719,0.00,2.55,0.00,0.000,4,0.000,0.056,2763,3501,1957
$GC,10754,1.33,225.2,531.7,9.8,517,10759,0.00,2.53,0.00,0.000,6,0.000,0.047,2763,2098,1958
$GC,11080,1.33,225.2,503.3,8.5,533,11085,0.00,2.58,0.00,0.000,4,0.000,0.054,2763,3501,1957
$GC,11120,1.33,225.2,499.7,9.2,535,11124,0.00,2.55,0.00,0.000,6,0.000,0.045,2763,2094,1958
$GC,11447,1.33,225.2,472.2,8.3,551,11448,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2095,1958
$GC,11755,1.33,225.2,446.7,8.3,566,11760,0.00,2.58,0.00,0.000,4,0.000,0.053,2763,3501,1958
$GC,11805,1.33,225.2,442.4,8.3,568,11809,0.00,2.50,0.00,0.000,6,0.000,0.043,2763,2100,1958
$GC,12121,1.33,225.2,416.7,8.2,583,12122,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2101,1959
$GC,12430,1.33,225.2,391.7,8.1,598,12434,0.00,2.55,0.00,0.000,4,0.000,0.051,2763,3505,1959
$GC,12462,1.33,225.2,388.8,8.4,599,12468,0.00,2.53,0.00,0.000,6,0.000,0.042,2763,2098,1959
$GC,12778,1.33,225.2,363.1,8.0,615,12782,0.00,2.58,0.00,0.000,4,0.000,0.051,2763,3507,1960
$GC,12850,1.33,225.2,356.8,8.5,618,12854,0.00,2.53,0.00,0.000,6,0.000,0.043,2763,2098,1960
$GC,13165,1.33,225.2,329.6,9.0,633,13166,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2098,1960
$GC,13474,1.33,225.2,300.2,9.7,648,13478,0.00,2.55,0.00,0.000,4,0.000,0.052,2763,3505,1961
$GC,13501,1.33,225.2,297.4,9.2,649,13505,0.00,2.53,0.00,0.000,6,0.000,0.041,2762,2089,1960
$GC,13816,1.33,225.2,269.0,8.7,664,13817,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2091,1961
$GC,14125,1.33,225.2,241.3,8.9,679,14127,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2091,1961
$GC,14435,1.33,225.2,214.2,8.7,694,14439,0.00,2.58,0.00,0.000,4,0.000,0.051,2763,3509,1962
$GC,14462,1.33,225.2,211.7,9.0,695,14466,0.00,2.50,0.00,0.000,6,0.000,0.040,2763,2094,1962
$GC,14777,1.33,225.2,183.7,9.2,710,14778,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,2094,1962
$GC,15087,1.33,225.2,155.2,9.1,725,15091,0.00,2.55,0.00,0.000,4,0.000,0.051,2763,3502,1961
$GC,15114,1.33,225.2,152.8,8.6,726,15118,0.00,2.50,0.00,0.000,6,0.000,0.041,2763,2096,1962
$GC,15429,1.33,225.2,125.0,9.4,741,15431,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,2096,1962
$GC,15739,1.33,226.4,98.2,8.0,756,15744,0.00,2.55,0.00,0.000,4,0.000,0.051,2763,3502,1962
$GC,15773,1.36,252.2,95.6,7.0,757,15801,0.12,2.47,22.77,0.894,6,0.054,0.040,2802,2097,1849
$GC,16110,1.36,252.2,66.1,10.2,774,16115,0.00,2.55,0.00,0.000,4,0.000,0.049,2802,3502,1849
$GC,16140,1.36,252.2,62.8,10.9,775,16144,0.00,2.50,0.00,0.000,6,0.000,0.040,2802,2102,1849
$GC,16455,1.36,252.2,27.2,12.2,790,16459,0.00,2.55,0.00,0.000,4,0.000,0.049,2802,3504,1849
$GC,16517,1.36,252.2,20.8,10.0,793,16522,0.00,2.53,0.00,0.000,6,0.000,0.041,2802,2092,1849
$STATE,16720,end climb,SURFACE_DEPTH_REACHED
$STATE,16720,begin surface coast
$FINISH,1.0,1.023984
$STATE,16740,end surface coast,CONTROL_FINISHED_OK
$STATE,16740,begin surface
$SM_CCo,16763,43.78,0.809,5,0,1654,300.00
$SM_GC,1.79,0.00,0.00,43.78,0.000,0.000,0.809,30,1881,1654,-11.34,-0.54,300.00
$IRIDIUM_FIX,6211.90,-1205.36,210497,070745
$TT8_MAMPS,0.026845
$HUMID,2067
$INTERNAL_PRESSURE,9.2191
$TCM_TEMP,16.40
$XPDR_PINGS,1
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,23.1,70.386
$10V_AH,10.1,34.012
$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,26.100,184.175,342.775,43.775,0.000,37.429,38.669,164.074,6.500,0.000,0.000,14.671,1537.545,12693.230,583.705,1874.541,560.054,33.377,1560.290,0.000,1833.768,0.000,41.388
$DEVICE_MAMPS,138.060,78.234,1298.531,809.185,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,SBE_O2,WL_BB2F,nil,nil,nil,nil,nil
$SENSOR_SECS,594.497,542.874,466.321,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,41032,804
$CFSIZE,260165632,237387776
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