version: 66.04
glider: 154
mission: 4
dive: 20
start: 9 3 109 15 38 11
data:
$ID,154
$MISSION,4
$DIVE,20
$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,-15899.864
$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,27
$R_STBD_OVSHOOT,28
$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
$GPS1,152616,4808.121,-12223.001,11,4.8,30,18.3
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-61.8
$GPS2,153706,4808.258,-12223.086,34,1.1,39,18.3
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.063,-0.206
$KALMAN_X,-264.5,68.1,4.8,-581.6,-108.3
$KALMAN_Y,1552.1,-173.3,176.0,775.0,234.9
$MHEAD_RNG_PITCHd_Wd,144.2,490,-10.6,-6.024
$D_GRID,99
$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,-0.98,-134.8,0.0,0.0,0,134,0.00,0.00,-115.43,0.000,2,0.000,0.000,441,2365,3343
$GC,137,-0.99,-146.0,4.2,-2.9,16,167,12.98,0.00,-12.55,0.000,6,0.183,0.000,2725,2365,3893
$GC,236,-0.99,-146.0,13.9,-7.2,35,244,0.00,2.45,0.00,0.000,4,0.000,0.044,2725,942,3894
$GC,308,-0.99,-146.0,19.4,-7.7,50,315,0.00,2.40,0.00,0.000,6,0.000,0.038,2725,2347,3894
$GC,384,-0.99,-146.0,25.2,-7.8,66,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2347,3894
$GC,458,-0.99,-146.0,31.1,-7.8,82,465,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2346,3894
$GC,533,-0.99,-146.0,37.0,-8.1,98,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2347,3894
$GC,607,-0.99,-146.0,43.0,-8.0,114,614,0.00,2.42,0.00,0.000,4,0.000,0.044,2725,942,3894
$GC,635,-0.99,-146.0,45.3,-8.3,119,642,0.00,2.40,0.00,0.000,6,0.000,0.040,2725,2358,3894
$GC,776,-0.99,-146.0,56.2,-7.6,150,782,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2358,3894
$GC,918,-0.99,-146.0,66.9,-7.5,181,923,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2358,3894
$GC,1055,-0.99,-146.0,77.1,-7.3,212,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2358,3893
$GC,1198,-0.99,-146.0,87.9,-7.7,243,1205,0.00,2.42,0.00,0.000,4,0.000,0.046,2725,939,3893
$GC,1257,-0.99,-146.0,92.8,-8.3,255,1264,0.00,2.40,0.00,0.000,6,0.000,0.042,2725,2351,3893
$STATE,1338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1338,begin apogee
$GC,1345,-0.38,0.0,99.3,7.9,273,1468,0.60,0.00,115.75,0.706,6,0.080,0.000,2859,2230,3298
$STATE,1469,end apogee,CONTROL_FINISHED_OK
$STATE,1469,begin climb
$GC,1472,0.99,146.0,103.9,0.0,292,1597,1.33,0.00,117.05,0.681,6,0.061,0.000,3161,2229,2699
$GC,1732,0.99,146.0,91.2,6.8,341,1738,0.00,2.40,0.00,0.000,4,0.000,0.054,3161,855,2695
$GC,1757,0.99,146.0,89.5,6.6,346,1764,0.00,2.42,0.00,0.000,6,0.000,0.042,3161,2254,2695
$GC,1899,0.99,146.0,80.3,6.6,377,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2254,2695
$GC,2036,0.99,146.0,71.1,6.2,408,2044,0.00,2.60,0.00,0.000,4,0.000,0.084,3161,3653,2694
$GC,2074,0.99,146.0,68.7,6.4,415,2082,0.00,2.38,0.00,0.000,6,0.000,0.045,3161,2256,2694
$GC,2214,0.99,146.0,59.8,6.3,446,2220,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2257,2693
$GC,2353,0.99,146.0,51.1,6.2,477,2358,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2257,2693
$GC,2492,0.99,146.0,42.1,6.3,508,2499,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2257,2693
$GC,2632,0.99,146.0,33.5,6.2,539,2640,0.00,2.60,0.00,0.000,4,0.000,0.083,3161,3656,2693
$GC,2683,0.99,146.0,30.1,6.5,549,2690,0.00,2.42,0.00,0.000,6,0.000,0.047,3161,2249,2692
$GC,2759,0.99,146.7,25.5,6.0,565,2766,0.00,2.47,0.00,0.000,4,0.000,0.057,3161,840,2692
$GC,2783,0.99,146.7,23.9,6.1,569,2790,0.00,2.42,0.00,0.000,6,0.000,0.042,3161,2251,2692
$GC,2859,1.00,153.8,19.6,5.8,585,2873,0.00,0.00,6.65,0.588,6,0.000,0.000,3161,2251,2668
$GC,2942,1.00,154.3,14.8,6.0,602,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2252,2667
$GC,3017,1.00,155.4,10.4,6.0,618,3024,0.00,0.00,0.00,0.000,6,0.000,0.000,3161,2252,2667
$GC,3093,1.07,211.6,6.5,4.3,634,3147,0.00,2.55,48.20,0.663,4,0.000,0.052,3161,839,2432
$STATE,3196,end climb,SURFACE_DEPTH_REACHED
$STATE,3196,begin surface coast
$FINISH,1.1,1.019993
$STATE,3336,end surface coast,CONTROL_FINISHED_OK
$STATE,3337,begin surface
$SM_CCo,3362,159.70,0.640,0,0,1624,410.14
$SM_GC,1.94,0.00,0.00,159.70,0.000,0.000,0.640,441,2356,1624,-11.53,0.17,410.14
$IRIDIUM_FIX,4748.51,-12221.84,281198,151507
$TT8_MAMPS,0.027612
$HUMID,1986
$INTERNAL_PRESSURE,8.94363
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,23.6,2.396
$10V_AH,10.7,1.975
$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,26.450,39.575,287.650,159.700,0.000,48.359,54.781,322.491,0.000,0.000,0.000,39.553,1124.332,281.793,556.428,1593.071,638.652,33.350,1200.414,0.000,1579.615,0.000,1.134,0.000
$DEVICE_MAMPS,182.546,84.370,706.407,640.445,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,465.044,330.152,1169.007,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38008,683
$CAP_FILE_SIZE,65493,0
$CFSIZE,260165632,256815104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.072, 22.1,1
$GPS,030909,163744,4808.081,-12222.871,11,1.9,12,18.3