version: 66.04
glider: 154
mission: 4
dive: 13
start: 9 3 109 7 34 29
data:
$ID,154
$MISSION,4
$DIVE,13
$D_SURF,3
$D_FLARE,4
$D_TGT,150
$D_ABORT,1050
$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,83
$T_MISSION,90
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$USE_BATHY,-4
$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,1.0276
$MASS,52207
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4236
$TGT_DEFAULT_LON,14813
$TGT_AUTO_DEFAULT,0
$SM_CC,410
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-15751.606
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,444
$PITCH_MAX,3700
$C_PITCH,2948
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,199
$ROLL_MAX,3887
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,20
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,573
$VBD_MAX,3950
$C_VBD,3296
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-5.8980856
$PRESSURE_SLOPE,0.0001161789
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004404692
$SEABIRD_T_H,0.00064657821
$SEABIRD_T_I,2.9750832e-05
$SEABIRD_T_J,3.6663098e-06
$SEABIRD_C_G,-10.24531
$SEABIRD_C_H,1.1402024
$SEABIRD_C_I,-0.0014381
$SEABIRD_C_J,0.00020540581
$GPS1,072645,4807.199,-12223.330,42,2.8,61,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-70.7
$GPS2,073334,4807.199,-12223.356,13,2.1,32,18.3
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.088,0.196
$KALMAN_X,-161.1,-21.2,24.4,-951.8,-19.8
$KALMAN_Y,339.7,54.1,-106.3,90.0,-73.2
$MHEAD_RNG_PITCHd_Wd,309.3,1683,-9.9,-6.024
$D_GRID,103
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.94,-146.0,0.0,0.0,0,100,0.00,0.00,-82.53,0.000,2,0.000,0.000,441,2355,3542
$GC,104,-0.94,-146.0,4.2,-2.8,12,135,13.15,2.58,-7.70,0.000,4,0.186,0.089,2735,3743,3894
$GC,340,-0.94,-146.0,26.3,-7.6,62,347,0.00,2.38,0.00,0.000,6,0.000,0.038,2735,2339,3894
$GC,416,-0.94,-146.0,32.1,-7.7,78,422,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2339,3894
$GC,490,-0.94,-146.0,37.8,-7.7,94,498,0.00,2.40,0.00,0.000,4,0.000,0.047,2735,945,3895
$GC,527,-0.94,-146.0,40.8,-7.9,101,533,0.00,2.38,0.00,0.000,6,0.000,0.040,2735,2350,3895
$GC,671,-0.94,-146.0,51.9,-7.7,132,678,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2350,3894
$GC,819,-0.94,-146.0,63.0,-7.6,163,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2350,3895
$GC,961,-0.94,-146.0,74.0,-7.7,194,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2350,3894
$GC,1109,-0.94,-146.0,84.9,-7.4,225,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2350,3894
$GC,1252,-0.94,-146.0,95.8,-7.4,256,1260,0.00,2.45,0.00,0.000,4,0.000,0.048,2735,937,3894
$GC,1293,-0.94,-146.0,99.0,-7.8,264,1302,0.00,2.42,0.00,0.000,6,0.000,0.043,2735,2343,3894
$STATE,1347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1347,begin apogee
$GC,1354,-0.38,0.0,103.2,7.3,275,1477,0.55,0.00,116.57,0.715,6,0.079,0.000,2859,2240,3296
$STATE,1478,end apogee,CONTROL_FINISHED_OK
$STATE,1478,begin climb
$GC,1481,0.94,146.0,107.1,0.0,294,1608,1.27,2.65,116.72,0.691,4,0.063,0.084,3148,3657,2699
$GC,1634,0.96,158.7,101.5,5.7,317,1653,0.00,2.42,11.77,0.627,6,0.000,0.048,3148,2256,2647
$GC,1792,0.96,158.7,91.4,6.4,350,1800,0.00,2.53,0.00,0.000,4,0.000,0.061,3148,841,2644
$GC,1857,0.96,158.7,87.2,6.6,363,1864,0.00,2.42,0.00,0.000,6,0.000,0.044,3148,2253,2644
$GC,2003,0.96,158.7,78.4,6.3,394,2010,0.00,2.62,0.00,0.000,4,0.000,0.087,3148,3653,2644
$GC,2035,0.96,158.7,76.1,6.5,400,2043,0.00,2.45,0.00,0.000,6,0.000,0.049,3148,2248,2643
$GC,2185,0.96,158.7,67.0,6.2,431,2190,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2248,2643
$GC,2328,0.96,158.7,57.4,6.4,462,2335,0.00,2.65,0.00,0.000,4,0.000,0.086,3148,3650,2643
$GC,2358,0.96,158.7,55.6,6.5,467,2364,0.00,2.40,0.00,0.000,6,0.000,0.048,3148,2249,2643
$GC,2504,0.98,175.2,47.3,5.6,498,2524,0.00,0.00,14.40,0.668,6,0.000,0.000,3148,2248,2580
$GC,2663,0.98,175.2,37.5,6.5,531,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2248,2578
$GC,2738,0.98,175.2,32.5,6.6,547,2744,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2249,2578
$GC,2813,0.98,177.1,28.1,6.0,563,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2248,2578
$GC,2888,0.98,177.1,23.5,6.2,579,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2249,2578
$GC,2963,0.98,177.1,19.0,6.0,595,2969,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2248,2578
$GC,3038,0.98,177.4,14.5,6.0,611,3045,0.00,0.00,0.00,0.000,6,0.000,0.000,3148,2249,2578
$GC,3114,1.00,195.1,10.2,5.5,627,3136,0.00,0.00,17.55,0.667,6,0.000,0.000,3148,2249,2500
$GC,3205,1.05,229.5,5.4,5.1,645,3241,0.12,2.50,28.65,0.664,4,0.058,0.058,3185,841,2359
$STATE,3259,end climb,SURFACE_DEPTH_REACHED
$STATE,3259,begin surface coast
$FINISH,1.6,1.019660
$STATE,3342,end surface coast,CONTROL_FINISHED_OK
$STATE,3342,begin surface
$SM_CCo,3367,146.43,0.650,0,0,1623,410.14
$SM_GC,2.03,0.00,0.00,146.43,0.000,0.000,0.650,445,2361,1623,-11.51,0.31,410.14
$IRIDIUM_FIX,4748.51,-12221.84,281198,060650
$TT8_MAMPS,0.028379
$HUMID,2034
$INTERNAL_PRESSURE,8.91433
$TCM_TEMP,15.00
$XPDR_PINGS,0
$24V_AH,23.6,1.614
$10V_AH,10.6,1.421
$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,Compass2
$DEVICE_SECS,26.900,40.025,305.675,146.425,0.000,31.878,25.525,196.310,0.000,0.000,0.000,33.703,1098.527,300.647,526.751,1546.038,463.091,33.336,1158.617,0.000,1536.225,0.000,0.533,0.000
$DEVICE_MAMPS,186.381,88.972,714.844,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,456.821,312.396,1122.474,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34918,672
$CAP_FILE_SIZE,62344,0
$CFSIZE,260165632,257085440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031, 49.5,1
$GPS,030909,083355,4807.542,-12223.554,12,1.5,13,18.3