version: 66.04
glider: 154
mission: 4
dive: 8
start: 9 3 109 2 20 35
data:
$ID,154
$MISSION,4
$DIVE,8
$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,410
$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,-15601.568
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,444
$PITCH_MAX,3700
$C_PITCH,2952
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,13
$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,2350
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,20
$R_PORT_OVSHOOT,26
$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,85
$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
$GPS1,021254,4805.927,-12221.986,21,1.5,38,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-68.3
$GPS2,021938,4805.942,-12221.995,16,1.5,16,18.3
$SPEED_LIMITS,0.122,0.229
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.129,0.189
$KALMAN_X,-246.3,-5.4,-29.4,853.5,-81.2
$KALMAN_Y,887.6,244.1,47.9,-3129.9,164.5
$MHEAD_RNG_PITCHd_Wd,302.9,4546,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.12,-146.0,0.0,0.0,0,119,0.00,0.00,-98.82,0.000,2,0.000,0.000,443,2212,3660
$GC,123,-1.12,-146.0,4.6,-3.6,14,147,12.93,2.25,-4.57,0.000,4,0.186,0.057,2704,933,3893
$GC,399,-1.12,-146.0,34.1,-8.8,74,406,0.00,2.42,0.00,0.000,6,0.000,0.040,2704,2343,3894
$GC,474,-1.12,-146.0,40.8,-8.9,90,481,0.00,2.42,0.00,0.000,4,0.000,0.044,2703,939,3894
$GC,529,-1.12,-146.0,46.0,-9.5,101,536,0.00,2.40,0.00,0.000,6,0.000,0.041,2703,2351,3895
$GC,673,-1.12,-146.0,58.8,-8.7,132,681,0.00,2.45,0.00,0.000,4,0.000,0.045,2703,935,3895
$GC,706,-1.12,-146.0,61.9,-9.2,138,713,0.00,2.45,0.00,0.000,6,0.000,0.043,2703,2352,3895
$GC,852,-1.12,-146.0,75.2,-9.2,169,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2352,3895
$GC,997,-1.12,-146.0,88.2,-8.7,200,1005,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2353,3894
$GC,1147,-1.12,-146.0,101.3,-8.6,231,1152,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2353,3894
$GC,1289,-1.12,-146.0,113.4,-8.4,262,1296,0.00,2.45,0.00,0.000,4,0.000,0.047,2703,940,3894
$STATE,1337,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1337,begin apogee
$GC,1346,-0.38,0.0,117.7,8.7,272,1469,0.73,0.00,116.40,0.721,6,0.083,0.000,2863,2256,3297
$STATE,1470,end apogee,CONTROL_FINISHED_OK
$STATE,1470,begin climb
$GC,1473,1.12,146.0,122.2,0.0,291,1598,1.45,2.70,117.05,0.700,4,0.063,0.086,3193,3657,2699
$GC,1626,1.12,148.9,115.5,6.9,315,1632,0.00,2.45,0.00,0.000,6,0.000,0.049,3193,2244,2697
$GC,1773,1.12,148.9,103.8,7.6,346,1780,0.00,2.50,0.00,0.000,4,0.000,0.061,3193,844,2694
$GC,1805,1.12,148.9,101.1,7.9,352,1813,0.00,2.45,0.00,0.000,6,0.000,0.044,3193,2250,2694
$GC,1953,1.12,148.9,89.8,7.7,383,1959,0.00,2.60,0.00,0.000,4,0.000,0.089,3193,3650,2693
$GC,1985,1.12,148.9,87.0,8.0,389,1992,0.00,2.42,0.00,0.000,6,0.000,0.050,3193,2243,2693
$GC,2131,1.12,148.9,76.0,7.4,420,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2244,2693
$GC,2279,1.12,148.9,64.9,7.2,451,2284,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2244,2692
$GC,2421,1.12,148.9,54.2,7.5,482,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2243,2692
$GC,2568,1.12,148.9,43.5,7.4,513,2574,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2244,2692
$GC,2707,1.12,148.9,33.4,7.1,544,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2244,2691
$GC,2782,1.12,148.9,27.9,7.1,560,2790,0.00,2.62,0.00,0.000,4,0.000,0.084,3193,3646,2691
$GC,2816,1.12,148.9,25.5,7.3,566,2823,0.00,2.42,0.00,0.000,6,0.000,0.049,3193,2248,2691
$GC,2892,1.12,148.9,20.1,7.1,582,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2248,2691
$GC,2966,1.12,149.4,14.9,7.0,598,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,2248,2691
$GC,3042,1.14,168.3,9.9,6.4,614,3065,0.00,2.70,18.38,0.670,4,0.000,0.084,3193,3660,2608
$GC,3086,1.18,199.6,7.3,6.0,621,3122,0.00,2.45,26.92,0.663,6,0.000,0.048,3193,2250,2480
$STATE,3179,end climb,SURFACE_DEPTH_REACHED
$STATE,3180,begin surface coast
$FINISH,2.4,1.019573
$STATE,3287,end surface coast,CONTROL_FINISHED_OK
$STATE,3287,begin surface
$SM_CCo,3311,168.98,0.652,0,0,1624,410.14
$SM_GC,1.97,0.00,0.00,168.98,0.000,0.000,0.652,442,2363,1624,-11.55,0.37,410.14
$IRIDIUM_FIX,4748.51,-12220.12,281198,010153
$TT8_MAMPS,0.027612
$HUMID,2048
$INTERNAL_PRESSURE,8.93386
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.3,32.4
$24V_AH,23.6,1.107
$10V_AH,10.7,1.053
$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,27.000,44.650,278.750,168.975,0.000,23.770,26.852,215.874,1.500,0.000,0.000,16.029,1077.595,306.912,533.874,1507.627,471.025,33.343,1147.124,0.000,1506.952,0.000,14.331,0.000
$DEVICE_MAMPS,185.614,88.972,720.980,651.950,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,450.968,303.020,1088.452,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34903,663
$CAP_FILE_SIZE,62197,0
$CFSIZE,260165632,257269760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029,116.8,1
$GPS,030909,031946,4806.158,-12222.304,12,2.4,31,18.3