version: 66.04
glider: 154
mission: 4
dive: 12
start: 9 3 109 6 33 10
data:
$ID,154
$MISSION,4
$DIVE,12
$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,-15717.273
$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,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,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
$GPS1,062458,4806.926,-12223.039,11,2.5,30,18.3
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-69.4
$GPS2,063213,4806.932,-12223.041,12,1.4,17,18.3
$SPEED_LIMITS,0.122,0.229
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.106,0.203
$KALMAN_X,-70.0,-23.5,11.4,-637.9,1.1
$KALMAN_Y,348.8,133.9,-100.4,-503.1,-79.4
$MHEAD_RNG_PITCHd_Wd,304.1,2307,-12.2,-7.042
$D_GRID,103
$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,-146.0,0.0,0.0,0,104,0.00,0.00,-83.75,0.000,2,0.000,0.000,442,2363,3591
$GC,108,-1.12,-146.0,4.5,-3.2,12,133,13.00,2.60,-6.55,0.000,4,0.188,0.089,2702,3753,3893
$GC,247,-1.12,-146.0,20.8,-9.3,40,254,0.00,2.38,0.00,0.000,6,0.000,0.037,2702,2349,3894
$GC,323,-1.12,-146.0,27.1,-7.8,56,330,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2349,3894
$GC,398,-1.12,-146.0,32.9,-8.1,72,405,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2349,3894
$GC,474,-1.12,-146.0,39.3,-9.1,88,481,0.00,2.42,0.00,0.000,4,0.000,0.048,2702,943,3894
$GC,520,-1.12,-146.0,43.5,-9.0,97,526,0.00,2.38,0.00,0.000,6,0.000,0.041,2702,2345,3894
$GC,664,-1.12,-146.0,56.1,-8.2,128,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2345,3894
$GC,811,-1.12,-146.0,68.8,-8.6,159,817,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2345,3894
$GC,953,-1.12,-146.0,81.7,-8.9,190,961,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2345,3894
$GC,1101,-1.12,-146.0,94.5,-8.7,221,1107,0.00,2.40,0.00,0.000,4,0.000,0.048,2702,945,3894
$GC,1162,-1.12,-146.0,99.8,-9.0,233,1168,0.00,2.40,0.00,0.000,6,0.000,0.044,2702,2349,3895
$STATE,1195,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1195,begin apogee
$GC,1202,-0.38,0.0,103.1,8.8,240,1326,0.73,0.00,116.90,0.709,6,0.083,0.000,2862,2232,3295
$STATE,1327,end apogee,CONTROL_FINISHED_OK
$STATE,1327,begin climb
$GC,1330,1.12,146.0,107.3,0.0,259,1453,1.45,0.00,116.80,0.689,6,0.062,0.000,3192,2232,2699
$GC,1593,1.12,146.0,92.1,7.7,308,1600,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2232,2696
$GC,1740,1.12,146.0,81.1,7.7,339,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2232,2695
$GC,1882,1.12,146.0,70.3,7.7,370,1890,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2232,2695
$GC,2030,1.12,146.0,59.3,7.5,401,2036,0.00,2.67,0.00,0.000,4,0.000,0.086,3192,3663,2694
$GC,2091,1.12,146.0,54.7,7.8,413,2097,0.00,2.40,0.00,0.000,6,0.000,0.048,3192,2266,2694
$GC,2236,1.12,146.0,43.6,7.2,444,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2266,2694
$GC,2378,1.12,149.6,33.3,6.9,475,2385,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2267,2693
$GC,2453,1.12,149.9,28.0,7.0,491,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2266,2693
$GC,2528,1.12,149.9,22.6,7.1,507,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2267,2693
$GC,2603,1.13,153.7,17.4,6.9,523,2617,0.00,2.53,6.68,0.590,4,0.000,0.059,3192,838,2668
$GC,2638,1.13,153.7,14.8,7.1,529,2645,0.00,2.45,0.00,0.000,6,0.000,0.044,3192,2251,2668
$GC,2714,1.15,171.9,9.8,6.4,545,2737,0.00,2.60,16.62,0.657,4,0.000,0.084,3192,3656,2594
$GC,2783,1.15,171.9,5.0,7.1,558,2792,0.00,2.45,0.00,0.000,6,0.000,0.052,3192,2241,2593
$STATE,2823,end climb,SURFACE_DEPTH_REACHED
$STATE,2823,begin surface coast
$FINISH,2.6,1.019874
$STATE,2897,end surface coast,CONTROL_FINISHED_OK
$STATE,2897,begin surface
$SM_CCo,2921,192.73,0.647,0,0,1624,410.14
$SM_GC,1.94,0.00,0.00,192.73,0.000,0.000,0.647,441,2355,1624,-11.55,0.14,410.14
$IRIDIUM_FIX,4751.72,-12223.57,281198,050502
$TT8_MAMPS,0.027612
$HUMID,2018
$INTERNAL_PRESSURE,8.92409
$TCM_TEMP,15.20
$XPDR_PINGS,2
$24V_AH,23.6,1.513
$10V_AH,10.7,1.341
$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,27.100,30.025,257.000,192.725,0.000,24.870,27.030,242.876,0.500,0.000,0.000,17.148,956.831,260.995,524.156,1332.011,488.654,33.318,1071.884,0.000,1340.107,0.000,0.533,0.000
$DEVICE_MAMPS,187.915,88.972,708.708,647.348,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,394.273,275.253,975.664,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31620,582
$CAP_FILE_SIZE,55922,0
$CFSIZE,260165632,257134592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.017, 38.6,1
$GPS,030909,072645,4807.199,-12223.330,42,2.8,61,18.3