version: 66.04
glider: 154
mission: 4
dive: 18
start: 9 3 109 13 21 59
data:
$ID,154
$MISSION,4
$DIVE,18
$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,-15846.484
$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,25
$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,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
$GPS1,131306,4807.553,-12223.312,27,2.0,28,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-67.2
$GPS2,132056,4807.598,-12223.330,14,1.1,14,18.3
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.104,0.151
$KALMAN_X,81.2,34.5,11.2,-1206.3,40.8
$KALMAN_Y,871.4,-253.6,70.7,424.6,210.9
$MHEAD_RNG_PITCHd_Wd,4.1,850,-11.9,-6.024
$D_GRID,107
$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,-1.05,-114.3,0.0,0.0,0,94,0.00,0.00,-75.88,0.000,2,0.000,0.000,441,2360,3404
$GC,97,-1.09,-146.0,4.3,-3.6,11,129,12.95,2.58,-12.50,0.000,4,0.186,0.088,2703,3746,3893
$GC,365,-1.09,-146.0,29.5,-9.5,68,372,0.00,2.38,0.00,0.000,6,0.000,0.038,2703,2342,3894
$GC,440,-1.09,-146.0,36.5,-9.4,84,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2342,3894
$GC,514,-1.09,-146.0,43.8,-9.7,100,521,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2342,3894
$GC,657,-1.09,-146.0,57.1,-9.1,131,664,0.00,2.38,0.00,0.000,4,0.000,0.046,2703,944,3894
$GC,688,-1.09,-146.0,60.1,-9.2,137,695,0.00,2.38,0.00,0.000,6,0.000,0.041,2703,2344,3894
$GC,825,-1.09,-146.0,72.4,-9.1,168,832,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2344,3894
$GC,967,-1.09,-146.0,85.0,-8.7,199,974,0.00,2.40,0.00,0.000,4,0.000,0.047,2703,940,3894
$GC,1009,-1.09,-146.0,88.8,-9.2,207,1016,0.00,2.42,0.00,0.000,6,0.000,0.043,2703,2359,3894
$GC,1148,-1.09,-146.0,101.2,-8.8,238,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2359,3894
$STATE,1210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1210,begin apogee
$GC,1217,-0.38,0.0,107.0,8.6,252,1340,0.70,0.00,116.05,0.716,6,0.083,0.000,2857,2244,3297
$STATE,1340,end apogee,CONTROL_FINISHED_OK
$STATE,1340,begin climb
$GC,1344,1.09,146.0,111.6,0.0,271,1468,1.42,0.00,116.60,0.693,6,0.064,0.000,3180,2244,2699
$GC,1601,1.09,146.0,97.7,7.4,320,1608,0.00,2.65,0.00,0.000,4,0.000,0.085,3180,3654,2696
$GC,1629,1.09,146.0,95.5,7.7,325,1636,0.00,2.40,0.00,0.000,6,0.000,0.048,3180,2260,2696
$GC,1768,1.09,146.0,85.3,7.4,356,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2260,2695
$GC,1910,1.09,146.0,74.8,7.3,387,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2260,2695
$GC,2048,1.09,146.0,64.7,7.2,418,2055,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2260,2694
$GC,2190,1.09,146.0,54.6,7.2,449,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2260,2694
$GC,2326,1.09,146.0,45.0,7.0,480,2332,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2260,2694
$GC,2467,1.09,146.0,35.7,6.6,511,2475,0.00,2.62,0.00,0.000,4,0.000,0.084,3180,3658,2694
$GC,2514,1.09,146.0,32.3,7.3,520,2521,0.00,2.45,0.00,0.000,6,0.000,0.048,3180,2244,2694
$GC,2589,1.09,146.0,27.2,6.7,536,2595,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2244,2694
$GC,2664,1.09,146.0,22.3,6.3,552,2670,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2244,2694
$GC,2739,1.09,146.0,17.5,6.4,568,2746,0.00,2.62,0.00,0.000,4,0.000,0.084,3180,3654,2693
$GC,2758,1.09,146.0,16.3,6.3,571,2766,0.00,2.42,0.00,0.000,6,0.000,0.046,3180,2246,2693
$GC,2833,1.09,146.0,11.6,6.2,587,2842,0.00,2.47,0.00,0.000,4,0.000,0.057,3180,838,2692
$GC,2875,1.09,146.0,8.9,6.6,595,2883,0.00,2.42,0.00,0.000,6,0.000,0.042,3180,2253,2692
$GC,2951,1.17,208.8,5.7,3.8,611,3011,0.10,2.60,51.75,0.670,4,0.066,0.080,3211,3658,2443
$STATE,3103,end climb,SURFACE_DEPTH_REACHED
$STATE,3103,begin surface coast
$FINISH,1.1,1.012625
$STATE,3258,end surface coast,CONTROL_FINISHED_OK
$STATE,3259,begin surface
$SM_CCo,3283,162.23,0.650,0,0,1624,410.14
$SM_GC,1.91,0.00,0.00,162.23,0.000,0.000,0.650,443,2343,1624,-11.52,-0.20,410.14
$IRIDIUM_FIX,4751.72,-12214.67,281198,121232
$TT8_MAMPS,0.027612
$HUMID,2015
$INTERNAL_PRESSURE,8.95339
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,23.6,2.162
$10V_AH,10.6,1.819
$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,26.975,39.625,284.400,162.225,0.000,23.591,29.731,273.907,0.000,0.000,0.000,14.834,1103.803,223.838,524.342,1546.795,534.999,33.326,1144.087,0.000,1556.885,0.000,0.833,0.000
$DEVICE_MAMPS,185.614,88.205,715.611,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,455.438,324.821,1148.868,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,37955,674
$CAP_FILE_SIZE,61691,0
$CFSIZE,260165632,256888832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031, 93.0,1
$GPS,030909,142014,4807.894,-12223.066,10,1.9,10,18.3