version: 66.04
glider: 154
mission: 4
dive: 10
start: 9 3 109 4 30 27
data:
$ID,154
$MISSION,4
$DIVE,10
$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,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,-15665.933
$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,25
$R_STBD_OVSHOOT,25
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$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
$GPS1,042244,4806.382,-12222.562,14,1.9,14,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.92
$_SM_ANGLEo,-70.1
$GPS2,042931,4806.391,-12222.562,16,1.8,33,18.3
$SPEED_LIMITS,0.122,0.229
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.103,0.204
$KALMAN_X,51.4,-78.2,-72.9,-30.4,86.6
$KALMAN_Y,191.7,355.0,71.2,-1735.8,-237.5
$MHEAD_RNG_PITCHd_Wd,306.9,3470,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.12,-146.0,0.0,0.0,0,105,0.00,0.00,-84.12,0.000,2,0.000,0.000,446,2370,3654
$GC,108,-1.12,-146.0,5.2,-3.8,12,133,12.95,2.53,-4.80,0.000,4,0.187,0.057,2703,935,3894
$GC,228,-1.12,-146.0,20.8,-8.8,36,235,0.00,2.42,0.00,0.000,6,0.000,0.039,2702,2348,3895
$GC,303,-1.12,-146.0,27.2,-8.2,52,310,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2348,3895
$GC,378,-1.12,-146.0,33.7,-8.8,68,384,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2348,3895
$GC,452,-1.12,-146.0,40.5,-9.3,84,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2348,3895
$GC,598,-1.12,-146.0,53.7,-9.1,115,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2348,3896
$GC,742,-1.12,-146.0,66.9,-9.1,146,750,0.00,2.45,0.00,0.000,4,0.000,0.046,2703,933,3896
$GC,791,-1.12,-146.0,71.1,-9.2,155,797,0.00,2.42,0.00,0.000,6,0.000,0.042,2703,2357,3895
$GC,934,-1.12,-146.0,84.0,-8.8,186,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2356,3895
$GC,1083,-1.12,-146.0,96.8,-8.8,217,1089,0.00,2.42,0.00,0.000,4,0.000,0.047,2702,939,3895
$GC,1109,-1.12,-146.0,99.4,-9.0,222,1117,0.00,2.45,0.00,0.000,6,0.000,0.045,2703,2351,3895
$STATE,1172,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1172,begin apogee
$GC,1180,-0.38,0.0,105.1,8.5,235,1300,0.73,0.00,116.88,0.716,6,0.084,0.000,2862,2220,3296
$STATE,1301,end apogee,CONTROL_FINISHED_OK
$STATE,1301,begin climb
$GC,1304,1.12,146.0,109.5,0.0,254,1428,1.45,0.00,116.65,0.693,6,0.064,0.000,3190,2220,2700
$GC,1572,1.12,146.0,95.0,7.4,303,1578,0.00,2.67,0.00,0.000,4,0.000,0.087,3190,3656,2696
$GC,1634,1.12,146.0,89.8,8.1,316,1641,0.00,2.42,0.00,0.000,6,0.000,0.051,3190,2271,2696
$GC,1782,1.12,146.0,78.9,7.4,347,1788,0.00,2.53,0.00,0.000,4,0.000,0.060,3190,834,2695
$GC,1825,1.12,146.0,75.4,8.2,355,1831,0.00,2.45,0.00,0.000,6,0.000,0.049,3190,2258,2695
$GC,1970,1.12,146.0,64.4,7.3,386,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2258,2695
$GC,2116,1.12,146.0,53.7,7.1,417,2122,0.00,2.58,0.00,0.000,4,0.000,0.087,3190,3653,2694
$GC,2139,1.12,146.0,51.9,7.4,421,2146,0.00,2.42,0.00,0.000,6,0.000,0.050,3190,2244,2694
$GC,2287,1.12,146.0,41.6,7.1,452,2293,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2244,2693
$GC,2427,1.12,146.0,32.0,7.1,483,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2244,2694
$GC,2502,1.12,146.0,26.9,7.1,499,2509,0.00,2.62,0.00,0.000,4,0.000,0.085,3190,3644,2694
$GC,2530,1.12,146.0,24.8,7.2,504,2537,0.00,2.42,0.00,0.000,6,0.000,0.048,3190,2249,2693
$GC,2606,1.12,149.5,19.5,6.9,520,2613,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2249,2693
$GC,2681,1.15,173.7,14.6,6.2,536,2710,0.00,2.65,23.20,0.675,4,0.000,0.084,3190,3659,2586
$GC,2736,1.16,179.5,10.9,6.9,545,2751,0.00,2.45,6.38,0.566,6,0.000,0.048,3190,2251,2563
$GC,2820,1.19,202.0,5.1,6.3,562,2849,0.00,2.55,19.10,0.655,4,0.000,0.057,3190,841,2471
$STATE,2868,end climb,SURFACE_DEPTH_REACHED
$STATE,2868,begin surface coast
$FINISH,2.0,1.019560
$STATE,2948,end surface coast,CONTROL_FINISHED_OK
$STATE,2948,begin surface
$SM_CCo,2974,168.10,0.650,0,0,1624,410.14
$SM_GC,1.90,0.00,0.00,168.10,0.000,0.000,0.650,445,2362,1624,-11.53,0.34,410.14
$IRIDIUM_FIX,4748.51,-12226.29,281198,030338
$TT8_MAMPS,0.027612
$HUMID,2014
$INTERNAL_PRESSURE,8.92409
$TCM_TEMP,14.40
$XPDR_PINGS,2
$24V_AH,23.6,1.309
$10V_AH,10.7,1.199
$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,26.975,45.300,282.200,168.100,0.000,25.302,25.410,201.995,0.500,0.000,0.000,33.498,962.530,265.752,527.010,1353.161,453.593,33.327,1089.345,0.000,1345.194,0.000,0.533,0.000
$DEVICE_MAMPS,187.148,86.671,715.611,649.649,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,399.418,271.915,977.358,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31738,587
$CAP_FILE_SIZE,58197,0
$CFSIZE,260165632,257204224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.026,102.1,1
$GPS,030909,052406,4806.639,-12222.801,38,1.3,38,18.3