version: 66.04
glider: 154
mission: 4
dive: 17
start: 9 3 109 12 10 40
data:
$ID,154
$MISSION,4
$DIVE,17
$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,83
$T_MISSION,90
$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,-15831.023
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,444
$PITCH_MAX,3700
$C_PITCH,2948
$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,3
$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
$GPS1,115925,4807.774,-12223.616,11,1.7,29,18.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.78
$_SM_ANGLEo,-66.3
$GPS2,120944,4807.849,-12223.628,13,1.7,13,18.3
$SPEED_LIMITS,0.104,0.215
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.080,-0.200
$KALMAN_X,-0.7,20.0,24.2,-1490.3,18.3
$KALMAN_Y,658.5,-231.5,36.6,1110.6,100.8
$MHEAD_RNG_PITCHd_Wd,145.6,1753,-9.9,-6.024
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.94,-146.0,0.0,0.0,0,88,0.00,0.00,-69.38,0.000,2,0.000,0.000,443,2360,3237
$GC,91,-0.94,-146.0,4.0,-3.5,10,129,13.20,2.55,-17.40,0.000,4,0.188,0.087,2734,3752,3892
$GC,146,-0.94,-146.0,8.5,-7.3,18,153,0.00,2.38,0.00,0.000,6,0.000,0.035,2734,2346,3893
$GC,222,-0.94,-146.0,13.8,-7.3,34,229,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2346,3893
$GC,297,-0.94,-146.0,19.5,-7.6,50,304,0.00,2.40,0.00,0.000,4,0.000,0.045,2734,950,3893
$GC,334,-0.94,-146.0,22.3,-7.6,57,341,0.00,2.40,0.00,0.000,6,0.000,0.039,2734,2351,3893
$GC,410,-0.94,-146.0,28.0,-7.4,73,417,0.00,2.58,0.00,0.000,4,0.000,0.079,2734,3749,3893
$GC,429,-0.94,-146.0,29.6,-7.5,76,437,0.00,2.35,0.00,0.000,6,0.000,0.037,2734,2356,3893
$GC,505,-0.94,-146.0,34.8,-6.7,92,513,0.00,2.58,0.00,0.000,4,0.000,0.078,2734,3748,3894
$GC,530,-0.94,-146.0,36.7,-6.6,96,538,0.00,2.38,0.00,0.000,6,0.000,0.038,2734,2342,3894
$GC,606,-0.94,-146.0,42.4,-7.2,112,614,0.00,2.40,0.00,0.000,4,0.000,0.047,2734,946,3893
$GC,639,-0.94,-146.0,45.0,-7.8,118,646,0.00,2.40,0.00,0.000,6,0.000,0.041,2734,2348,3893
$GC,785,-0.94,-146.0,56.0,-7.5,149,790,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2348,3893
$GC,929,-0.94,-146.0,67.0,-7.8,180,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2348,3893
$GC,1075,-0.94,-146.0,77.6,-7.1,211,1080,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2348,3893
$GC,1220,-0.94,-146.0,88.3,-7.5,242,1227,0.00,2.42,0.00,0.000,4,0.000,0.048,2734,952,3892
$GC,1250,-0.94,-146.0,90.6,-7.6,247,1256,0.00,2.40,0.00,0.000,6,0.000,0.044,2735,2357,3892
$GC,1395,-0.94,-146.0,101.3,-7.2,278,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2357,3892
$STATE,1442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1442,begin apogee
$GC,1449,-0.38,0.0,105.1,7.4,288,1573,0.55,0.00,116.05,0.717,6,0.081,0.000,2858,2243,3295
$STATE,1573,end apogee,CONTROL_FINISHED_OK
$STATE,1574,begin climb
$GC,1577,0.94,146.0,109.4,0.0,307,1701,1.30,0.00,116.85,0.691,6,0.064,0.000,3151,2243,2700
$GC,1842,0.94,146.0,96.0,6.4,356,1850,0.00,2.65,0.00,0.000,4,0.000,0.085,3151,3653,2697
$GC,1890,0.94,146.0,92.9,6.7,365,1897,0.00,2.40,0.00,0.000,6,0.000,0.050,3151,2264,2696
$GC,2036,0.94,146.0,83.7,6.5,396,2045,0.00,2.53,0.00,0.000,4,0.000,0.060,3151,841,2695
$GC,2057,0.94,146.0,82.3,6.5,399,2063,0.00,2.42,0.00,0.000,6,0.000,0.048,3151,2258,2695
$GC,2205,0.94,146.0,73.0,6.1,430,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2258,2695
$GC,2352,0.95,149.4,64.4,5.9,461,2358,0.00,2.58,0.00,0.000,4,0.000,0.085,3152,3657,2694
$GC,2405,0.95,149.4,60.7,6.7,472,2413,0.00,2.45,0.00,0.000,6,0.000,0.048,3151,2246,2695
$GC,2554,0.95,150.8,51.8,6.0,503,2569,0.00,2.50,4.53,0.521,4,0.000,0.058,3151,844,2681
$GC,2593,0.95,150.8,49.0,6.1,510,2600,0.00,2.42,0.00,0.000,6,0.000,0.042,3151,2248,2680
$GC,2742,0.96,154.9,40.7,5.9,541,2755,0.00,2.62,5.28,0.555,4,0.000,0.085,3151,3648,2664
$GC,2802,0.96,154.9,36.7,6.6,553,2809,0.00,2.42,0.00,0.000,6,0.000,0.048,3151,2249,2664
$GC,2878,0.97,167.1,32.2,5.7,569,2892,0.00,0.00,11.75,0.654,6,0.000,0.000,3151,2249,2614
$GC,2961,0.97,167.1,27.2,6.1,586,2968,0.00,2.47,0.00,0.000,4,0.000,0.058,3152,849,2613
$GC,2985,0.98,172.0,25.7,5.9,590,2999,0.00,2.42,5.88,0.571,6,0.000,0.042,3152,2251,2593
$GC,3068,0.99,181.6,21.0,5.8,607,3084,0.00,2.67,9.40,0.631,4,0.000,0.084,3152,3663,2555
$GC,3118,0.99,181.6,17.8,6.5,616,3126,0.00,2.45,0.00,0.000,6,0.000,0.046,3151,2251,2554
$GC,3195,1.01,198.7,13.1,5.5,632,3217,0.00,2.50,15.73,0.657,4,0.000,0.056,3151,836,2486
$GC,3243,1.01,198.7,10.0,6.4,640,3251,0.00,2.45,0.00,0.000,6,0.000,0.041,3151,2250,2484
$GC,3319,1.01,202.7,5.4,5.9,656,3328,0.00,0.00,4.10,0.477,6,0.000,0.000,3151,2250,2469
$STATE,3381,end climb,SURFACE_DEPTH_REACHED
$STATE,3381,begin surface coast
$FINISH,1.1,1.020280
$STATE,3488,end surface coast,CONTROL_FINISHED_OK
$STATE,3488,begin surface
$SM_CCo,3511,167.82,0.649,0,0,1624,410.14
$SM_GC,1.91,0.00,0.00,167.82,0.000,0.000,0.649,440,2360,1624,-11.53,0.28,410.14
$IRIDIUM_FIX,4748.51,-12226.29,281198,111129
$TT8_MAMPS,0.027612
$HUMID,2019
$INTERNAL_PRESSURE,8.92409
$TCM_TEMP,14.30
$XPDR_PINGS,1
$24V_AH,23.6,2.057
$10V_AH,10.7,1.738
$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,26.450,69.525,289.550,167.825,0.000,61.071,112.730,240.870,0.250,0.000,0.000,13.044,1148.925,370.688,563.779,1567.384,658.014,33.331,1228.220,0.000,1584.534,0.000,0.833,0.000
$DEVICE_MAMPS,187.915,87.438,717.145,648.882,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,471.266,326.147,1156.471,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,38022,693
$CAP_FILE_SIZE,72466,0
$CFSIZE,260165632,256917504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049, 55.0,1
$GPS,030909,131306,4807.553,-12223.312,27,2.0,28,18.3