version: 66.04
glider: 154
mission: 4
dive: 7
start: 9 3 109 1 18 23
data:
$ID,154
$MISSION,4
$DIVE,7
$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,-15584.911
$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,24
$R_STBD_OVSHOOT,26
$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
$GPS1,010955,4806.105,-12222.100,31,1.8,32,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-69.3
$GPS2,011725,4806.124,-12222.124,34,2.0,34,18.3
$SPEED_LIMITS,0.122,0.229
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.056,-0.108
$KALMAN_X,-183.6,-8.8,-10.3,616.4,-62.0
$KALMAN_Y,771.0,238.0,40.1,-2664.9,187.9
$MHEAD_RNG_PITCHd_Wd,146.9,276,-26.7,-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,15,-1.95,-37.3,0.0,0.0,0,111,0.00,0.00,-92.55,0.000,6,0.000,0.000,440,2205,3450
$GC,115,-1.99,-66.7,3.9,-3.3,13,132,11.82,0.00,-2.62,0.000,6,0.187,0.000,2503,2205,3569
$GC,201,-1.99,-66.7,17.3,-10.9,30,207,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2205,3569
$GC,275,-1.99,-66.7,25.7,-11.5,46,282,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2205,3570
$GC,350,-1.99,-66.7,35.0,-12.9,62,357,0.00,0.00,0.00,0.000,6,0.000,0.000,2503,2205,3570
$GC,423,-1.99,-66.7,44.6,-12.9,78,430,0.00,2.45,0.00,0.000,4,0.000,0.044,2503,790,3570
$GC,477,-1.99,-66.7,52.1,-14.3,89,484,0.00,2.38,0.00,0.000,6,0.000,0.037,2503,2201,3570
$GC,616,-1.99,-66.7,71.5,-14.0,120,623,0.00,2.55,0.00,0.000,4,0.000,0.077,2504,3598,3571
$GC,648,-1.99,-66.7,76.3,-15.1,126,655,0.00,2.38,0.00,0.000,6,0.000,0.040,2504,2196,3571
$GC,795,-1.99,-66.7,97.4,-14.3,157,802,0.00,2.40,0.00,0.000,4,0.000,0.047,2503,786,3571
$GC,836,-1.99,-66.7,103.5,-14.5,165,844,0.00,2.40,0.00,0.000,6,0.000,0.040,2504,2206,3571
$STATE,944,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,944,begin apogee
$GC,951,-0.36,0.0,118.3,13.4,189,1012,1.70,0.00,54.50,0.719,6,0.113,0.000,2860,2256,3296
$STATE,1013,end apogee,CONTROL_FINISHED_OK
$STATE,1013,begin climb
$GC,1016,1.99,66.7,121.8,0.0,198,1081,2.25,2.58,53.92,0.700,4,0.060,0.061,3373,849,3023
$GC,1100,2.00,74.6,117.8,6.0,212,1115,0.00,2.45,7.78,0.597,6,0.000,0.045,3374,2247,2992
$GC,1248,2.00,74.6,103.7,10.0,244,1256,0.00,2.65,0.00,0.000,4,0.000,0.091,3374,3650,2991
$GC,1304,2.00,74.6,97.8,10.8,256,1311,0.00,2.42,0.00,0.000,6,0.000,0.050,3374,2264,2991
$GC,1446,2.00,74.6,84.9,8.9,287,1451,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2264,2990
$GC,1582,2.00,74.6,72.6,8.6,318,1589,0.00,2.55,0.00,0.000,4,0.000,0.062,3374,836,2990
$GC,1630,2.00,74.6,68.0,9.2,328,1638,0.00,2.47,0.00,0.000,6,0.000,0.046,3373,2258,2990
$GC,1772,2.00,74.6,56.4,8.0,359,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2258,2990
$GC,1909,2.00,74.6,44.7,8.0,390,1916,0.00,2.60,0.00,0.000,4,0.000,0.086,3374,3654,2990
$GC,1950,2.00,74.6,41.4,8.2,398,1957,0.00,2.45,0.00,0.000,6,0.000,0.047,3374,2239,2989
$GC,2094,2.00,75.6,31.1,6.9,429,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2239,2989
$GC,2169,2.00,75.6,25.5,7.3,445,2177,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2239,2989
$GC,2245,2.01,81.8,20.6,6.3,461,2254,0.00,0.00,7.07,0.607,6,0.000,0.000,3374,2239,2962
$GC,2322,2.01,86.1,15.7,6.5,477,2331,0.00,0.00,5.20,0.546,6,0.000,0.000,3373,2239,2944
$GC,2399,2.02,92.4,10.9,6.2,493,2415,0.00,2.50,6.78,0.594,4,0.000,0.060,3374,846,2918
$GC,2671,2.10,154.5,6.7,-0.8,552,2730,0.08,2.42,50.72,0.676,6,0.057,0.044,3402,2254,2666
$GC,2803,2.15,193.4,4.0,2.1,575,2841,0.00,2.58,32.03,0.656,4,0.000,0.054,3402,837,2507
$STATE,2859,end climb,SURFACE_DEPTH_REACHED
$STATE,2859,begin surface coast
$FINISH,2.3,1.019532
$STATE,2920,end surface coast,CONTROL_FINISHED_OK
$STATE,2920,begin surface
$SM_CCo,2946,247.40,0.637,0,0,1257,500.17
$SM_GC,1.86,0.00,0.00,247.40,0.000,0.000,0.637,443,2211,1257,-11.50,0.31,500.17
$IRIDIUM_FIX,4748.51,-12220.12,281198,000057
$TT8_MAMPS,0.027612
$HUMID,2036
$INTERNAL_PRESSURE,8.94363
$TCM_TEMP,15.50
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,85.3,42.5
$24V_AH,23.6,1.005
$10V_AH,10.7,0.975
$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,28.925,44.675,218.000,247.400,0.000,25.172,25.497,235.760,1.250,0.000,0.000,34.415,1007.811,180.180,563.368,1408.881,497.123,33.322,1119.709,0.000,1391.780,0.000,10.255,0.000
$DEVICE_MAMPS,187.148,120.419,718.679,636.610,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,407.522,293.958,1054.146,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31744,597
$CAP_FILE_SIZE,61081,0
$CFSIZE,260165632,257314816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028, 92.9,1
$GPS,030909,021254,4805.927,-12221.986,21,1.5,38,18.3