version: 66.04
glider: 154
mission: 4
dive: 14
start: 9 3 109 8 41 55
data:
$ID,154
$MISSION,4
$DIVE,14
$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,-15769.378
$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,23
$R_STBD_OVSHOOT,22
$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,3
$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
$GPS1,083355,4807.542,-12223.554,12,1.5,13,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-69.9
$GPS2,084056,4807.541,-12223.549,17,1.7,17,18.3
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.112,0.184
$KALMAN_X,-113.7,-12.9,27.7,-1251.1,-14.9
$KALMAN_Y,373.8,-36.6,-90.7,763.1,-24.2
$MHEAD_RNG_PITCHd_Wd,300.3,1017,-9.9,-6.024
$D_GRID,105
$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,-82.88,0.000,2,0.000,0.000,445,2362,3584
$GC,104,-0.94,-146.0,4.6,-3.3,12,129,13.20,2.62,-6.15,0.000,4,0.188,0.091,2737,3761,3894
$GC,381,-0.94,-146.0,32.9,-8.1,72,390,0.00,2.40,0.00,0.000,6,0.000,0.038,2737,2343,3895
$GC,458,-0.94,-146.0,38.9,-8.0,88,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2343,3895
$GC,534,-0.94,-146.0,44.8,-7.7,104,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2343,3895
$GC,681,-0.94,-146.0,56.0,-7.7,135,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2343,3895
$GC,823,-0.94,-146.0,67.1,-7.7,166,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2343,3895
$GC,972,-0.94,-146.0,78.0,-7.6,197,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2343,3894
$GC,1114,-0.94,-146.0,88.6,-7.6,228,1122,0.00,2.42,0.00,0.000,4,0.000,0.049,2737,942,3895
$GC,1152,-0.94,-146.0,91.7,-7.7,235,1158,0.00,2.40,0.00,0.000,6,0.000,0.043,2736,2351,3895
$GC,1298,-0.94,-146.0,102.2,-7.1,266,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2351,3894
$STATE,1336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1336,begin apogee
$GC,1343,-0.38,0.0,105.2,7.0,274,1468,0.55,0.00,116.50,0.721,6,0.081,0.000,2859,2235,3295
$STATE,1469,end apogee,CONTROL_FINISHED_OK
$STATE,1469,begin climb
$GC,1472,0.94,146.0,109.4,0.0,293,1597,1.27,2.67,116.57,0.696,4,0.063,0.083,3149,3657,2699
$GC,1617,0.97,169.1,104.3,5.4,315,1644,0.00,2.42,20.05,0.660,6,0.000,0.048,3149,2258,2606
$GC,1784,0.97,169.1,93.3,6.6,349,1791,0.00,2.50,0.00,0.000,4,0.000,0.061,3149,842,2602
$GC,1816,0.97,169.1,91.0,6.8,355,1822,0.00,2.42,0.00,0.000,6,0.000,0.044,3149,2253,2601
$GC,1962,0.97,169.1,81.5,6.4,386,1969,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2253,2601
$GC,2110,0.97,169.1,72.1,6.4,417,2115,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2253,2601
$GC,2251,0.97,169.1,62.9,6.5,448,2260,0.00,2.60,0.00,0.000,4,0.000,0.086,3149,3646,2600
$GC,2291,0.97,169.1,60.3,6.6,455,2297,0.00,2.40,0.00,0.000,6,0.000,0.048,3149,2249,2601
$GC,2437,0.97,169.1,51.0,6.3,486,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2248,2600
$GC,2583,0.97,169.1,41.7,6.2,517,2588,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2249,2600
$GC,2722,0.97,169.1,33.2,6.2,548,2731,0.00,2.62,0.00,0.000,4,0.000,0.085,3149,3650,2600
$GC,2773,0.97,169.1,29.8,6.7,558,2780,0.00,2.42,0.00,0.000,6,0.000,0.048,3149,2250,2600
$GC,2849,0.99,180.0,25.5,5.7,574,2863,0.00,0.00,9.45,0.640,6,0.000,0.000,3149,2250,2562
$GC,2931,0.99,183.3,20.7,5.9,591,2939,0.00,0.00,4.45,0.509,6,0.000,0.000,3149,2250,2548
$GC,3007,0.99,183.3,16.2,6.1,607,3014,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2250,2547
$GC,3083,1.01,200.1,11.9,5.6,623,3105,0.00,2.50,15.57,0.663,4,0.000,0.058,3149,838,2478
$GC,3123,1.01,201.6,9.5,6.0,629,3130,0.00,2.45,0.00,0.000,6,0.000,0.043,3149,2250,2478
$GC,3199,1.06,239.6,5.3,5.0,645,3242,0.12,2.55,33.00,0.664,4,0.059,0.054,3187,841,2318
$STATE,3256,end climb,SURFACE_DEPTH_REACHED
$STATE,3256,begin surface coast
$FINISH,1.0,1.004249
$STATE,3338,end surface coast,CONTROL_FINISHED_OK
$STATE,3338,begin surface
$SM_CCo,3363,138.45,0.650,0,0,1624,410.14
$SM_GC,1.95,0.00,0.00,138.45,0.000,0.000,0.650,442,2359,1624,-11.52,0.25,410.14
$IRIDIUM_FIX,4751.72,-12226.29,281198,070743
$TT8_MAMPS,0.027612
$HUMID,2012
$INTERNAL_PRESSURE,8.92409
$TCM_TEMP,15.20
$XPDR_PINGS,0
$24V_AH,23.6,1.717
$10V_AH,10.6,1.499
$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,26.875,40.225,315.600,138.450,0.000,29.295,24.778,226.410,0.000,0.000,0.000,17.145,1096.210,306.869,520.052,1524.725,489.383,33.339,1146.805,0.000,1533.440,0.000,0.834,0.000
$DEVICE_MAMPS,187.915,90.506,720.980,650.416,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,454.931,313.627,1112.704,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34923,672
$CAP_FILE_SIZE,62474,0
$CFSIZE,260165632,257048576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027, 47.3,1
$GPS,030909,094125,4807.847,-12223.830,12,1.7,29,18.3