version: 66.04
glider: 154
mission: 4
dive: 3
start: 9 2 109 20 58 44
data:
$ID,154
$MISSION,4
$DIVE,3
$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,71
$T_MISSION,78
$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,500
$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,-15483.678
$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,35
$R_STBD_OVSHOOT,32
$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
$GPS1,205107,4806.981,-12223.026,31,1.7,31,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-70.5
$GPS2,205749,4807.005,-12223.021,34,1.4,34,18.3
$SPEED_LIMITS,0.122,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.118,-0.196
$KALMAN_X,24.1,26.2,26.5,-771.9,27.8
$KALMAN_Y,20.8,17.8,17.0,-38.3,22.8
$MHEAD_RNG_PITCHd_Wd,121.6,2249,-12.2,-7.042
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.05,-146.0,0.0,0.0,0,104,0.00,0.00,-83.93,0.000,2,0.000,0.000,442,2188,3725
$GC,108,-1.05,-146.0,4.8,-4.0,12,134,12.82,2.58,-3.03,0.000,4,0.183,0.083,2710,3592,3891
$GC,223,-1.05,-146.0,23.8,-9.3,34,231,0.00,2.35,0.00,0.000,6,0.000,0.039,2710,2201,3892
$GC,301,-1.05,-146.0,30.1,-8.2,50,309,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2201,3892
$GC,377,-1.05,-146.0,36.3,-8.3,66,385,0.00,2.53,0.00,0.000,4,0.000,0.074,2711,3589,3892
$GC,410,-1.05,-146.0,39.2,-8.2,72,417,0.00,2.35,0.00,0.000,6,0.000,0.040,2710,2200,3893
$GC,486,-1.05,-146.0,45.5,-8.2,88,494,0.00,2.42,0.00,0.000,4,0.000,0.049,2710,793,3893
$GC,510,-1.05,-146.0,47.5,-8.3,92,517,0.00,2.38,0.00,0.000,6,0.000,0.038,2710,2194,3893
$GC,658,-1.05,-146.0,59.8,-8.4,123,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2193,3893
$GC,800,-1.05,-146.0,71.9,-8.4,154,808,0.00,2.55,0.00,0.000,4,0.000,0.080,2710,3595,3893
$GC,831,-1.05,-146.0,74.0,-8.3,159,837,0.00,2.33,0.00,0.000,6,0.000,0.040,2710,2193,3893
$GC,979,-1.05,-146.0,85.4,-7.7,190,987,0.00,2.58,0.00,0.000,4,0.000,0.080,2710,3597,3893
$GC,1124,-1.05,-146.0,97.9,-8.5,219,1131,0.00,2.33,0.00,0.000,6,0.000,0.043,2710,2205,3892
$STATE,1207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1207,begin apogee
$GC,1214,-0.36,0.0,105.1,8.3,237,1336,0.68,0.00,115.78,0.720,6,0.081,0.000,2860,2263,3295
$STATE,1337,end apogee,CONTROL_FINISHED_OK
$STATE,1337,begin climb
$GC,1340,1.05,146.0,109.2,0.0,256,1466,1.35,2.50,116.45,0.697,4,0.064,0.058,3169,848,2698
$GC,1498,1.06,154.9,102.7,6.7,281,1513,0.00,2.38,8.50,0.603,6,0.000,0.045,3169,2243,2663
$GC,1652,1.06,154.9,91.7,7.3,313,1658,0.00,2.62,0.00,0.000,4,0.000,0.089,3169,3655,2662
$GC,1713,1.06,154.9,87.1,8.2,325,1719,0.00,2.42,0.00,0.000,6,0.000,0.051,3169,2251,2662
$GC,1859,1.07,159.2,76.8,6.9,356,1872,0.00,2.53,4.60,0.515,4,0.000,0.061,3169,839,2647
$GC,1889,1.09,176.7,74.9,6.5,361,1910,0.00,2.40,16.45,0.670,6,0.000,0.044,3169,2254,2575
$GC,2048,1.09,176.7,63.5,7.4,394,2056,0.00,2.60,0.00,0.000,4,0.000,0.087,3169,3645,2572
$GC,2088,1.09,176.7,60.5,7.9,401,2094,0.00,2.40,0.00,0.000,6,0.000,0.049,3169,2245,2572
$GC,2233,1.09,176.7,49.7,7.2,432,2240,0.00,2.47,0.00,0.000,4,0.000,0.059,3169,842,2571
$GC,2271,1.09,176.7,46.8,7.9,439,2277,0.00,2.40,0.00,0.000,6,0.000,0.045,3169,2260,2571
$GC,2415,1.09,176.7,36.3,7.3,470,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2260,2571
$GC,2490,1.09,181.6,30.8,6.9,486,2499,0.00,0.00,5.00,0.544,6,0.000,0.000,3169,2260,2555
$GC,2567,1.11,196.7,25.7,6.5,502,2589,0.00,2.62,14.38,0.664,4,0.000,0.087,3169,3653,2493
$GC,2606,1.11,196.7,22.8,7.1,508,2613,0.00,2.42,0.00,0.000,6,0.000,0.047,3169,2250,2492
$GC,2682,1.11,196.7,17.2,7.3,524,2689,0.00,2.45,0.00,0.000,4,0.000,0.057,3169,852,2491
$GC,2706,1.11,196.7,15.4,7.2,528,2713,0.00,2.40,0.00,0.000,6,0.000,0.044,3169,2253,2490
$GC,2782,1.12,200.4,10.0,6.9,544,2796,0.00,2.60,4.25,0.495,4,0.000,0.083,3169,3650,2479
$GC,2808,1.12,200.4,8.0,7.1,548,2815,0.00,2.40,0.00,0.000,6,0.000,0.045,3169,2253,2479
$GC,2884,1.22,282.2,3.9,4.4,564,2921,0.17,0.00,34.47,0.673,2,0.053,0.000,3223,2253,2309
$STATE,2922,end climb,SURFACE_DEPTH_REACHED
$STATE,2922,begin surface coast
$FINISH,1.2,1.018804
$STATE,3032,end surface coast,CONTROL_FINISHED_OK
$STATE,3032,begin surface
$SM_CCo,3056,208.35,0.649,0,0,1257,500.17
$SM_GC,1.72,0.00,0.00,208.35,0.000,0.000,0.649,444,2191,1257,-11.50,-0.25,500.17
$IRIDIUM_FIX,4751.72,-12219.12,271198,202000
$TT8_MAMPS,0.026845
$HUMID,2074
$INTERNAL_PRESSURE,8.94363
$TCM_TEMP,15.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.2,27.0
$24V_AH,23.7,0.552
$10V_AH,10.7,0.676
$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,26.975,64.150,319.875,208.350,0.000,29.425,23.243,194.918,1.500,0.000,0.000,34.961,978.293,262.381,603.438,1377.637,459.877,31.406,1191.939,0.000,1347.867,0.000,13.302,0.000
$DEVICE_MAMPS,182.546,88.972,720.213,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,405.852,347.982,977.454,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31695,593
$CAP_FILE_SIZE,63892,0
$CFSIZE,260165632,257462272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0
$CURRENT,0.060,348.5,1
$GPS,020909,215401,4806.842,-12222.793,9,1.5,14,18.3