version: 66.04
glider: 154
mission: 4
dive: 2
start: 9 2 109 20 6 34
data:
$ID,154
$MISSION,4
$DIVE,2
$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,50
$T_MISSION,70
$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,400
$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,-15448.088
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,444
$PITCH_MAX,3700
$C_PITCH,2943
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,14
$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,2200
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,20
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,400
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,4
$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
$GPS1,200136,4807.019,-12222.556,30,1.5,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.0
$GPS2,200544,4807.018,-12222.556,34,1.3,34,18.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.259,-0.024
$KALMAN_X,27.4,27.4,27.4,-206.2,66.4
$KALMAN_Y,9.2,9.2,9.2,12.0,22.4
$MHEAD_RNG_PITCHd_Wd,248.3,550,-17.9,-10.000
$D_GRID,108
$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,16,-1.45,-139.8,0.0,0.0,0,130,0.00,0.00,-111.90,0.000,2,0.000,0.000,443,2193,3604
$GC,134,-1.46,-146.0,4.1,-5.6,16,159,12.10,2.40,-5.70,0.000,4,0.177,0.053,2619,795,3894
$GC,335,-1.46,-146.0,32.3,-12.4,57,341,0.00,2.35,0.00,0.000,6,0.000,0.035,2619,2198,3895
$GC,410,-1.46,-146.0,41.5,-11.9,73,415,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2198,3895
$GC,552,-1.46,-146.0,59.4,-12.5,104,559,0.00,2.53,0.00,0.000,4,0.000,0.074,2619,3598,3895
$GC,584,-1.46,-146.0,63.7,-13.6,110,592,0.00,2.35,0.00,0.000,6,0.000,0.038,2619,2193,3895
$GC,734,-1.46,-146.0,81.7,-12.1,141,740,0.00,2.53,0.00,0.000,4,0.000,0.076,2619,3602,3894
$GC,766,-1.46,-146.0,86.0,-13.1,147,772,0.00,2.33,0.00,0.000,6,0.000,0.040,2619,2198,3894
$GC,913,-1.46,-146.0,104.6,-12.7,178,924,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,2196,3894
$STATE,944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,944,begin apogee
$GC,951,-0.36,0.0,108.3,12.1,183,1077,1.10,0.00,115.20,0.708,6,0.090,0.000,2859,2258,3295
$STATE,1077,end apogee,CONTROL_FINISHED_OK
$STATE,1077,begin climb
$GC,1080,1.46,146.0,113.6,0.0,203,1211,1.73,2.62,115.97,0.686,4,0.060,0.089,3265,3636,2699
$GC,1236,1.46,146.0,105.0,10.5,227,1242,0.00,2.40,0.00,0.000,6,0.000,0.052,3265,2253,2697
$GC,1388,1.46,146.0,88.1,10.5,258,1396,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2253,2696
$GC,1535,1.46,146.0,72.5,10.4,289,1541,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2253,2695
$GC,1677,1.46,146.0,57.6,10.2,320,1684,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2253,2694
$GC,1825,1.47,150.4,43.3,9.8,351,1838,0.00,2.58,4.00,0.470,4,0.000,0.084,3265,3640,2682
$GC,1872,1.47,150.4,38.1,11.0,360,1879,0.00,2.42,0.00,0.000,6,0.000,0.051,3265,2245,2682
$GC,1948,1.47,150.4,30.8,10.0,376,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2244,2682
$GC,2022,1.48,158.0,23.5,9.6,392,2036,0.00,0.00,8.00,0.608,6,0.000,0.000,3265,2244,2651
$GC,2104,1.48,159.3,15.6,9.9,409,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2244,2650
$GC,2179,1.49,173.6,8.4,9.3,425,2201,0.00,2.60,14.23,0.647,4,0.000,0.081,3265,3642,2588
$GC,2287,1.67,316.2,3.4,3.1,447,2304,0.15,2.40,10.30,0.622,2,0.061,0.046,3308,2243,2538
$STATE,2304,end climb,SURFACE_DEPTH_REACHED
$STATE,2304,begin surface coast
$FINISH,2.8,1.020211
$STATE,2408,end surface coast,CONTROL_FINISHED_OK
$STATE,2409,begin surface
$SM_CCo,2432,170.68,0.645,0,0,1665,400.08
$SM_GC,1.56,0.00,0.00,170.68,0.000,0.000,0.645,442,2188,1665,-11.50,-0.34,400.08
$IRIDIUM_FIX,4748.51,-12221.84,271198,202026
$TT8_MAMPS,0.027612
$HUMID,2076
$INTERNAL_PRESSURE,9.02175
$TCM_TEMP,15.60
$XPDR_PINGS,2
$24V_AH,23.7,0.437
$10V_AH,10.7,0.604
$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,27.575,29.625,267.700,170.675,0.000,0.000,0.000,0.000,2.250,0.000,0.000,34.552,755.927,194.867,515.922,1126.373,103.977,30.176,998.574,0.000,1095.174,0.000,13.142,0.000
$DEVICE_MAMPS,177.177,121.186,707.941,645.047,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,321.523,306.087,803.008,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,25428,472
$CAP_FILE_SIZE,56279,0
$CFSIZE,260165632,257511424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.026,257.5,1
$GPS,020909,205107,4806.981,-12223.026,31,1.7,31,18.3