version: 66.04
glider: 154
mission: 4
dive: 6
start: 9 3 109 0 9 43
data:
$ID,154
$MISSION,4
$DIVE,6
$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,0
$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,-15549.866
$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,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,10
$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
$GPS1,000201,4806.441,-12222.324,30,1.6,30,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-68.8
$GPS2,000844,4806.466,-12222.320,14,1.2,14,18.3
$SPEED_LIMITS,0.122,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.087,-0.212
$KALMAN_X,-99.9,10.2,8.8,250.0,-53.0
$KALMAN_Y,567.0,202.2,16.7,-1767.9,208.4
$MHEAD_RNG_PITCHd_Wd,148.7,949,-12.2,-7.042
$D_GRID,150
$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,-1.05,-146.0,0.0,0.0,0,118,0.00,0.00,-100.12,0.000,2,0.000,0.000,441,2186,3676
$GC,122,-1.05,-146.0,5.0,-3.5,14,146,12.95,2.62,-4.28,0.000,4,0.186,0.084,2708,3597,3894
$GC,215,-1.05,-146.0,18.7,-8.7,32,223,0.00,2.38,0.00,0.000,6,0.000,0.038,2708,2192,3894
$GC,291,-1.05,-146.0,24.9,-8.4,48,298,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2192,3894
$GC,366,-1.05,-146.0,31.4,-8.6,64,373,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2192,3895
$GC,441,-1.05,-146.0,37.6,-8.2,80,449,0.00,2.58,0.00,0.000,4,0.000,0.076,2708,3595,3895
$GC,488,-1.05,-146.0,41.7,-9.1,89,494,0.00,2.33,0.00,0.000,6,0.000,0.038,2708,2202,3895
$GC,631,-1.05,-146.0,54.5,-8.8,120,639,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2202,3895
$GC,779,-1.05,-146.0,67.3,-8.7,151,785,0.00,2.53,0.00,0.000,4,0.000,0.079,2708,3597,3896
$GC,814,-1.05,-146.0,70.6,-8.9,158,822,0.00,2.38,0.00,0.000,6,0.000,0.041,2708,2199,3896
$GC,966,-1.05,-146.0,83.5,-8.4,189,971,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2198,3896
$GC,1110,-1.05,-146.0,96.1,-8.5,220,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2197,3895
$GC,1259,-1.05,-146.0,108.6,-8.1,251,1265,0.00,2.58,0.00,0.000,4,0.000,0.084,2708,3601,3895
$GC,1291,-1.05,-146.0,111.3,-8.5,257,1297,0.00,2.38,0.00,0.000,6,0.000,0.043,2708,2191,3895
$STATE,1351,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1351,begin apogee
$GC,1358,-0.36,0.0,116.8,8.3,270,1482,0.68,0.00,116.65,0.732,6,0.083,0.000,2858,2263,3296
$STATE,1483,end apogee,CONTROL_FINISHED_OK
$STATE,1483,begin climb
$GC,1486,1.05,146.0,121.2,0.0,289,1610,1.35,0.00,117.03,0.707,6,0.064,0.000,3166,2262,2699
$GC,1750,1.06,155.1,107.5,6.7,338,1764,0.00,2.67,8.50,0.617,4,0.000,0.089,3166,3652,2663
$GC,1809,1.06,155.1,103.4,7.5,349,1815,0.00,2.42,0.00,0.000,6,0.000,0.051,3166,2256,2661
$GC,1954,1.07,161.0,93.4,6.9,380,1963,0.00,0.00,6.30,0.584,6,0.000,0.000,3166,2256,2638
$GC,2104,1.08,167.7,83.2,6.8,411,2119,0.00,2.53,7.35,0.612,4,0.000,0.061,3166,832,2610
$GC,2142,1.08,167.7,80.5,7.1,417,2148,0.00,2.42,0.00,0.000,6,0.000,0.045,3166,2243,2610
$GC,2287,1.08,167.7,70.4,7.1,448,2295,0.00,2.65,0.00,0.000,4,0.000,0.088,3166,3656,2610
$GC,2318,1.08,167.7,68.2,7.3,453,2324,0.00,2.42,0.00,0.000,6,0.000,0.050,3166,2248,2610
$GC,2463,1.08,167.7,57.6,7.0,484,2470,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2248,2609
$GC,2609,1.09,177.1,47.5,6.7,515,2623,0.00,0.00,9.12,0.647,6,0.000,0.000,3166,2248,2573
$GC,2763,1.10,187.1,37.1,6.7,547,2779,0.00,2.70,9.77,0.647,4,0.000,0.085,3166,3657,2533
$GC,2804,1.10,187.1,33.8,7.1,554,2812,0.00,2.45,0.00,0.000,6,0.000,0.048,3166,2251,2532
$GC,2881,1.12,201.4,28.8,6.6,570,2902,0.00,2.50,13.38,0.663,4,0.000,0.058,3166,838,2474
$GC,2915,1.12,205.0,26.4,6.9,575,2930,0.00,2.45,4.40,0.494,6,0.000,0.044,3166,2249,2461
$GC,2998,1.13,210.3,20.7,6.9,592,3014,0.10,2.62,6.45,0.584,4,0.068,0.085,3196,3642,2437
$GC,3039,1.13,210.3,17.4,7.9,599,3046,0.00,2.42,0.00,0.000,6,0.000,0.048,3196,2248,2437
$GC,3115,1.13,210.3,11.1,8.2,615,3122,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2248,2436
$GC,3191,1.19,256.2,6.4,5.5,631,3235,0.00,2.55,38.50,0.672,4,0.000,0.058,3196,842,2250
$STATE,3254,end climb,SURFACE_DEPTH_REACHED
$STATE,3254,begin surface coast
$FINISH,1.2,1.018759
$STATE,3318,end surface coast,CONTROL_FINISHED_OK
$STATE,3318,begin surface
$SM_CCo,3343,197.62,0.650,0,0,1256,500.17
$SM_GC,1.94,0.00,0.00,197.62,0.000,0.000,0.650,440,2205,1256,-11.51,0.11,500.17
$IRIDIUM_FIX,4748.51,-12221.84,271198,232334
$TT8_MAMPS,0.027612
$HUMID,2038
$INTERNAL_PRESSURE,8.90456
$TCM_TEMP,15.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,85.1,41.4
$24V_AH,23.6,0.902
$10V_AH,10.7,0.900
$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,26.875,55.050,337.450,197.625,0.000,28.023,26.411,212.250,0.750,0.000,0.000,14.431,1063.643,323.984,617.617,1465.930,488.043,33.306,1251.890,0.000,1473.325,0.000,7.374,0.000
$DEVICE_MAMPS,185.614,88.972,732.485,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,444.873,292.734,1046.980,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34773,655
$CAP_FILE_SIZE,66433,0
$CFSIZE,260165632,257343488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042, 76.8,1
$GPS,030909,010955,4806.105,-12222.100,31,1.8,32,18.3