version: 66.04
glider: 154
mission: 4
dive: 4
start: 9 2 109 22 2 2
data:
$ID,154
$MISSION,4
$DIVE,4
$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,-15520.552
$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,33
$R_STBD_OVSHOOT,23
$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,2
$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
$GPS1,215401,4806.842,-12222.793,9,1.5,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-68.6
$GPS2,220104,4806.845,-12222.807,16,4.8,35,18.3
$SPEED_LIMITS,0.122,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.116,-0.198
$KALMAN_X,-34.9,8.4,23.6,-426.0,-17.3
$KALMAN_Y,172.9,99.1,50.5,-607.1,75.2
$MHEAD_RNG_PITCHd_Wd,134.6,1856,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.05,-146.0,0.0,0.0,0,122,0.00,0.00,-103.70,0.000,2,0.000,0.000,444,2191,3769
$GC,125,-1.05,-146.0,5.1,-3.9,14,149,12.80,2.58,-2.38,0.000,4,0.182,0.084,2708,3604,3894
$GC,231,-1.05,-146.0,21.3,-8.6,35,238,0.00,2.38,0.00,0.000,6,0.000,0.039,2708,2200,3895
$GC,307,-1.05,-146.0,27.5,-8.4,51,313,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2200,3895
$GC,381,-1.05,-146.0,33.7,-8.5,67,388,0.00,2.55,0.00,0.000,4,0.000,0.075,2708,3599,3895
$GC,417,-1.05,-146.0,37.1,-9.0,74,426,0.00,2.35,0.00,0.000,6,0.000,0.039,2708,2208,3895
$GC,495,-1.05,-146.0,43.9,-8.4,90,502,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2208,3894
$GC,643,-1.05,-146.0,56.3,-8.3,121,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2208,3895
$GC,785,-1.05,-146.0,68.9,-8.8,152,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2207,3895
$GC,937,-1.05,-146.0,81.9,-8.5,183,943,0.00,2.53,0.00,0.000,4,0.000,0.081,2708,3602,3895
$GC,978,-1.05,-146.0,85.8,-9.1,191,984,0.00,2.35,0.00,0.000,6,0.000,0.043,2708,2201,3894
$GC,1124,-1.05,-146.0,98.2,-8.3,222,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2201,3894
$STATE,1205,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1206,begin apogee
$GC,1213,-0.36,0.0,105.5,8.3,239,1333,0.68,0.00,116.32,0.720,6,0.082,0.000,2858,2257,3295
$STATE,1334,end apogee,CONTROL_FINISHED_OK
$STATE,1334,begin climb
$GC,1337,1.05,146.0,109.9,0.0,258,1462,1.35,2.50,116.68,0.696,4,0.064,0.058,3167,849,2699
$GC,1488,1.09,177.4,104.5,6.0,281,1521,0.00,2.40,26.92,0.673,6,0.000,0.045,3167,2249,2572
$GC,1659,1.09,177.4,91.4,7.6,316,1666,0.00,2.65,0.00,0.000,4,0.000,0.091,3167,3653,2568
$GC,1700,1.09,177.4,88.1,7.8,324,1707,0.00,2.45,0.00,0.000,6,0.000,0.051,3167,2253,2567
$GC,1849,1.10,183.4,77.9,6.8,355,1861,0.00,0.00,5.82,0.564,6,0.000,0.000,3167,2254,2548
$GC,2002,1.10,183.4,66.8,7.4,387,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,3167,2254,2547
$GC,2145,1.10,186.5,56.7,6.9,418,2155,0.00,2.65,4.22,0.496,4,0.000,0.087,3167,3653,2534
$GC,2188,1.10,186.5,53.3,7.8,426,2197,0.00,2.45,0.00,0.000,6,0.000,0.049,3166,2245,2534
$GC,2338,1.11,193.5,43.1,6.8,457,2352,0.00,2.45,7.12,0.608,4,0.000,0.058,3167,839,2508
$GC,2377,1.11,193.5,39.9,7.2,464,2384,0.00,2.42,0.00,0.000,6,0.000,0.044,3167,2251,2507
$GC,2453,1.11,193.5,34.3,7.5,480,2460,0.00,2.60,0.00,0.000,4,0.000,0.086,3167,3649,2508
$GC,2485,1.11,193.5,31.9,7.5,486,2493,0.00,2.42,0.00,0.000,6,0.000,0.048,3167,2249,2507
$GC,2562,1.12,204.8,26.4,6.7,502,2577,0.00,0.00,11.12,0.650,6,0.000,0.000,3167,2249,2461
$GC,2646,1.15,223.9,21.0,6.4,519,2667,0.12,0.00,17.10,0.664,6,0.061,0.000,3203,2249,2383
$GC,2736,1.15,223.9,13.3,9.1,537,2743,0.00,2.47,0.00,0.000,4,0.000,0.058,3203,850,2381
$GC,2755,1.15,223.9,11.5,9.2,540,2762,0.00,2.40,0.00,0.000,6,0.000,0.044,3203,2246,2380
$GC,2831,1.15,223.9,5.6,7.2,556,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2246,2380
$STATE,2883,end climb,SURFACE_DEPTH_REACHED
$STATE,2883,begin surface coast
$FINISH,2.2,1.019284
$STATE,2959,end surface coast,CONTROL_FINISHED_OK
$STATE,2959,begin surface
$SM_CCo,2983,224.23,0.652,0,0,1257,500.17
$SM_GC,1.87,0.00,0.00,224.23,0.000,0.000,0.652,443,2181,1257,-11.50,-0.51,500.17
$IRIDIUM_FIX,4751.72,-12223.57,271198,212102
$TT8_MAMPS,0.027612
$HUMID,2068
$INTERNAL_PRESSURE,8.92409
$TCM_TEMP,15.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.1,50.3
$24V_AH,23.7,0.668
$10V_AH,10.7,0.747
$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,26.825,44.750,305.325,224.225,0.000,24.503,25.329,213.503,0.750,0.000,0.000,36.248,956.375,269.790,608.365,1346.661,463.957,32.325,1182.057,0.000,1330.314,0.000,5.851,0.000
$DEVICE_MAMPS,181.779,90.506,720.213,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,399.368,277.793,955.068,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31719,584
$CAP_FILE_SIZE,60211,0
$CFSIZE,260165632,257429504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,0
$CURRENT,0.065,  2.3,1
$GPS,020909,225636,4806.656,-12222.570,12,1.6,28,18.3