version: 66.04
glider: 154
mission: 4
dive: 16
start: 9 3 109 10 58 38
data:
$ID,154
$MISSION,4
$DIVE,16
$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,-15817.352
$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,29
$R_STBD_OVSHOOT,25
$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
$GPS1,104737,4807.959,-12223.927,33,1.6,34,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-59.5
$GPS2,105740,4808.013,-12223.978,12,2.9,31,18.3
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.109,-0.186
$KALMAN_X,-23.8,-1.8,17.2,-1871.1,44.5
$KALMAN_Y,330.3,-184.5,6.5,1731.0,-10.9
$MHEAD_RNG_PITCHd_Wd,129.1,2232,-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,-146.0,0.0,0.0,0,131,0.00,0.00,-112.47,0.000,2,0.000,0.000,442,2341,3300
$GC,134,-0.94,-146.0,4.6,-3.2,16,173,13.12,2.42,-14.50,0.000,4,0.186,0.055,2735,941,3893
$GC,203,-0.94,-146.0,10.5,-7.6,27,210,0.00,2.40,0.00,0.000,6,0.000,0.036,2735,2352,3893
$GC,279,-0.94,-146.0,15.5,-6.8,43,286,0.00,2.55,0.00,0.000,4,0.000,0.074,2735,3749,3893
$GC,311,-0.94,-146.0,17.8,-7.0,49,319,0.00,2.38,0.00,0.000,6,0.000,0.036,2735,2338,3893
$GC,387,-0.94,-146.0,23.4,-7.0,65,394,0.00,2.38,0.00,0.000,4,0.000,0.044,2735,948,3894
$GC,419,-0.94,-146.0,25.7,-7.2,71,426,0.00,2.40,0.00,0.000,6,0.000,0.038,2735,2354,3894
$GC,495,-0.94,-146.0,31.0,-6.8,87,501,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2353,3894
$GC,570,-0.94,-146.0,36.3,-7.2,103,576,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2354,3894
$GC,646,-0.94,-146.0,41.8,-7.5,119,652,0.00,2.40,0.00,0.000,4,0.000,0.044,2735,943,3894
$GC,679,-0.94,-146.0,44.2,-7.5,125,686,0.00,2.40,0.00,0.000,6,0.000,0.040,2735,2360,3894
$GC,822,-0.94,-146.0,55.5,-7.6,156,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2361,3894
$GC,970,-0.94,-146.0,66.4,-7.5,187,976,0.00,2.42,0.00,0.000,4,0.000,0.046,2735,942,3894
$GC,1003,-0.94,-146.0,68.9,-7.7,193,1010,0.00,2.40,0.00,0.000,6,0.000,0.042,2735,2353,3894
$GC,1148,-0.94,-146.0,79.9,-7.6,224,1157,0.00,2.60,0.00,0.000,4,0.000,0.087,2735,3750,3894
$GC,1169,-0.94,-146.0,81.7,-7.8,227,1175,0.00,2.35,0.00,0.000,6,0.000,0.038,2735,2341,3894
$GC,1315,-0.94,-146.0,92.5,-7.4,258,1323,0.00,2.40,0.00,0.000,4,0.000,0.048,2735,949,3893
$GC,1365,-0.94,-146.0,96.5,-7.9,268,1374,0.00,2.42,0.00,0.000,6,0.000,0.044,2735,2351,3893
$STATE,1482,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1482,begin apogee
$GC,1489,-0.38,0.0,105.3,7.4,293,1612,0.55,0.00,116.15,0.711,6,0.081,0.000,2858,2236,3295
$STATE,1613,end apogee,CONTROL_FINISHED_OK
$STATE,1613,begin climb
$GC,1616,0.94,146.0,109.7,0.0,312,1742,1.27,2.47,116.20,0.686,4,0.064,0.054,3148,862,2700
$GC,1758,0.98,177.2,104.8,5.1,333,1791,0.00,2.40,26.77,0.660,6,0.000,0.042,3148,2253,2572
$GC,1929,0.98,177.2,93.2,6.8,368,1937,0.00,2.62,0.00,0.000,4,0.000,0.089,3148,3644,2569
$GC,1987,0.98,177.2,89.1,7.2,379,1993,0.00,2.38,0.00,0.000,6,0.000,0.048,3148,2264,2569
$GC,2133,0.98,177.2,79.3,6.6,410,2140,0.00,2.53,0.00,0.000,4,0.000,0.059,3149,843,2567
$GC,2163,0.98,177.2,77.2,6.9,415,2169,0.00,2.42,0.00,0.000,6,0.000,0.044,3148,2256,2567
$GC,2308,0.98,177.2,67.4,6.6,446,2315,0.00,2.60,0.00,0.000,4,0.000,0.088,3148,3644,2567
$GC,2349,0.98,177.2,64.4,7.0,454,2357,0.00,2.42,0.00,0.000,6,0.000,0.048,3148,2249,2567
$GC,2499,0.98,177.2,54.7,6.7,485,2505,0.00,2.47,0.00,0.000,4,0.000,0.058,3148,832,2566
$GC,2522,0.98,177.2,52.8,6.8,489,2529,0.00,2.45,0.00,0.000,6,0.000,0.044,3148,2262,2565
$GC,2667,0.98,177.2,43.2,6.4,520,2676,0.00,2.60,0.00,0.000,4,0.000,0.087,3149,3650,2565
$GC,2697,0.98,177.2,41.1,6.6,525,2703,0.00,2.40,0.00,0.000,6,0.000,0.048,3148,2247,2565
$GC,2838,0.99,185.5,32.8,5.8,556,2854,0.00,2.50,7.28,0.604,4,0.000,0.058,3148,845,2538
$GC,2875,0.99,185.5,30.2,6.2,562,2882,0.00,2.45,0.00,0.000,6,0.000,0.044,3148,2256,2538
$GC,2951,0.99,185.5,25.4,6.6,578,2958,0.00,2.60,0.00,0.000,4,0.000,0.087,3148,3650,2537
$GC,2992,0.99,185.5,22.5,6.7,586,2999,0.00,2.42,0.00,0.000,6,0.000,0.047,3148,2246,2538
$GC,3068,0.99,185.5,17.8,6.1,602,3075,0.00,2.47,0.00,0.000,4,0.000,0.057,3148,839,2537
$GC,3096,1.00,188.2,16.2,5.9,607,3105,0.00,2.45,3.62,0.446,6,0.000,0.043,3148,2256,2528
$GC,3174,1.01,201.3,11.5,5.7,623,3196,0.00,2.62,12.85,0.649,4,0.000,0.084,3148,3648,2475
$GC,3226,1.02,205.0,8.4,5.9,632,3236,0.00,2.42,4.68,0.507,6,0.000,0.045,3148,2246,2460
$GC,3304,1.10,270.4,4.5,4.2,648,3350,0.17,0.00,42.65,0.662,2,0.053,0.000,3201,2246,2250
$STATE,3351,end climb,SURFACE_DEPTH_REACHED
$STATE,3351,begin surface coast
$FINISH,1.0,1.010237
$STATE,3432,end surface coast,CONTROL_FINISHED_OK
$STATE,3432,begin surface
$SM_CCo,3455,123.53,0.644,0,0,1624,410.14
$SM_GC,1.98,0.00,0.00,123.53,0.000,0.000,0.644,443,2360,1624,-11.52,0.28,410.14
$IRIDIUM_FIX,4748.51,-12226.29,281198,090933
$TT8_MAMPS,0.027612
$HUMID,2003
$INTERNAL_PRESSURE,8.93386
$TCM_TEMP,14.40
$XPDR_PINGS,0
$24V_AH,23.6,1.948
$10V_AH,10.7,1.655
$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,26.875,84.000,330.200,123.525,0.000,56.310,112.751,218.348,0.000,0.000,0.000,32.530,1105.072,342.697,572.654,1548.554,628.216,33.342,1246.064,0.000,1540.316,0.000,0.834,0.000
$DEVICE_MAMPS,185.614,88.972,711.009,644.280,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,454.795,317.968,1134.528,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34883,672
$CAP_FILE_SIZE,72009,0
$CFSIZE,260165632,256962560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.041, 43.5,1
$GPS,030909,115925,4807.774,-12223.616,11,1.7,29,18.3