version: 66.04
glider: 154
mission: 4
dive: 5
start: 9 2 109 23 4 24
data:
$ID,154
$MISSION,4
$DIVE,5
$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,-15534.807
$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,37
$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
$GPS1,225636,4806.656,-12222.570,12,1.6,28,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-68.6
$GPS2,230326,4806.685,-12222.594,13,1.5,13,18.3
$SPEED_LIMITS,0.122,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.110,-0.201
$KALMAN_X,-109.5,-2.2,31.7,-86.8,-61.8
$KALMAN_Y,404.9,168.1,23.8,-1176.2,137.9
$MHEAD_RNG_PITCHd_Wd,140.3,1466,-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,-146.0,0.0,0.0,0,110,0.00,0.00,-90.07,0.000,2,0.000,0.000,444,2182,3457
$GC,114,-1.05,-146.0,5.0,-3.8,11,145,12.95,2.60,-9.32,0.000,4,0.186,0.084,2709,3602,3894
$GC,183,-1.05,-146.0,14.3,-9.1,23,190,0.00,2.35,0.00,0.000,6,0.000,0.037,2709,2208,3895
$GC,259,-1.05,-146.0,20.9,-8.3,39,266,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2208,3895
$GC,334,-1.05,-146.0,27.1,-8.1,55,340,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2208,3895
$GC,409,-1.05,-146.0,33.6,-8.8,71,415,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2208,3895
$GC,484,-1.05,-146.0,40.2,-9.0,87,490,0.00,2.53,0.00,0.000,4,0.000,0.076,2709,3603,3896
$GC,514,-1.05,-146.0,43.1,-9.0,93,522,0.00,2.35,0.00,0.000,6,0.000,0.039,2709,2197,3896
$GC,653,-1.05,-146.0,55.3,-8.8,124,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2197,3895
$GC,796,-1.05,-146.0,67.5,-8.7,155,801,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2197,3896
$GC,930,-1.05,-146.0,78.7,-8.3,186,938,0.00,2.60,0.00,0.000,4,0.000,0.081,2709,3603,3895
$GC,980,-1.05,-146.0,83.1,-9.1,195,986,0.00,2.35,0.00,0.000,6,0.000,0.042,2709,2202,3895
$GC,1118,-1.05,-146.0,94.7,-8.3,226,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2202,3895
$STATE,1246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1246,begin apogee
$GC,1254,-0.36,0.0,105.2,8.3,255,1376,0.68,0.00,116.85,0.719,6,0.081,0.000,2859,2258,3296
$STATE,1377,end apogee,CONTROL_FINISHED_OK
$STATE,1377,begin climb
$GC,1380,1.05,146.0,109.9,0.0,274,1505,1.35,0.00,116.85,0.696,6,0.064,0.000,3166,2258,2699
$GC,1639,1.06,155.4,97.3,6.7,323,1651,0.00,0.00,8.62,0.617,6,0.000,0.000,3166,2258,2662
$GC,1786,1.06,155.4,87.2,7.2,355,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2258,2661
$GC,1922,1.08,168.8,77.4,6.6,386,1941,0.00,0.00,12.48,0.657,6,0.000,0.000,3166,2258,2607
$GC,2076,1.08,174.3,66.8,6.9,419,2088,0.00,0.00,6.15,0.578,6,0.000,0.000,3166,2258,2585
$GC,2222,1.09,175.6,56.7,7.0,451,2227,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2258,2584
$GC,2358,1.10,189.9,47.3,6.6,482,2377,0.00,0.00,14.45,0.667,6,0.000,0.000,3166,2258,2521
$GC,2515,1.11,196.8,37.0,6.8,515,2529,0.00,0.00,7.12,0.602,6,0.000,0.000,3166,2258,2493
$GC,2597,1.11,198.9,30.9,7.0,532,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2258,2492
$GC,2672,1.12,203.0,25.7,6.9,548,2687,0.00,0.00,6.68,0.591,6,0.000,0.000,3166,2258,2468
$GC,2755,1.12,203.0,19.8,7.0,565,2763,0.00,2.58,0.00,0.000,4,0.000,0.084,3166,3640,2467
$GC,2784,1.12,203.0,17.7,7.4,570,2791,0.00,2.40,0.00,0.000,6,0.000,0.048,3166,2256,2467
$GC,2860,1.12,203.0,12.2,7.2,586,2866,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2256,2466
$GC,2935,1.12,206.2,7.1,6.9,602,2942,0.00,0.00,4.05,0.484,6,0.000,0.000,3166,2256,2455
$GC,3011,1.23,289.0,3.3,4.3,618,3034,0.17,0.00,19.62,0.666,2,0.053,0.000,3219,2256,2360
$STATE,3034,end climb,SURFACE_DEPTH_REACHED
$STATE,3035,begin surface coast
$FINISH,1.4,1.018957
$STATE,3144,end surface coast,CONTROL_FINISHED_OK
$STATE,3144,begin surface
$SM_CCo,3168,219.70,0.649,0,0,1256,500.17
$SM_GC,1.90,0.00,0.00,219.70,0.000,0.000,0.649,441,2186,1256,-11.51,-0.40,500.17
$IRIDIUM_FIX,4748.51,-12221.84,271198,222253
$TT8_MAMPS,0.027612
$HUMID,2050
$INTERNAL_PRESSURE,8.92409
$TCM_TEMP,15.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.2,42.2
$24V_AH,23.6,0.784
$10V_AH,10.7,0.823
$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,27.125,19.925,312.875,219.700,0.000,30.750,24.966,218.640,1.000,0.000,0.000,13.623,1055.177,218.316,596.571,1464.885,477.537,33.304,1201.842,0.000,1468.012,0.000,10.242,0.000
$DEVICE_MAMPS,185.614,84.370,719.446,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,437.497,295.513,1063.873,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34899,645
$CAP_FILE_SIZE,61005,0
$CFSIZE,260165632,257388544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.055, 32.3,1
$GPS,030909,000201,4806.441,-12222.324,30,1.6,30,18.3