version: 66.04
glider: 518
mission: 4
dive: 2
start: 3 24 110 19 54 54
data:
$ID,518
$MISSION,4
$DIVE,2
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$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,50
$T_MISSION,75
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-4
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0223
$MASS,51484
$NAV_MODE,1
$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,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$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,-1609.5806
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,156
$PITCH_MAX,3930
$C_PITCH,2713
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,191
$ROLL_MAX,3829
$ROLL_DEG,40
$C_ROLL_DIVE,2570
$C_ROLL_CLIMB,2570
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,41
$R_STBD_OVSHOOT,21
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,490
$VBD_MAX,3961
$C_VBD,3264
$VBD_DBAND,2
$VBD_CNV,-0.245296
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$PHONE_SUPPLY,2
$PRESSURE_YINT,-78.120049
$PRESSURE_SLOPE,0.00011608547
$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,80
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,83
$DEVICE3,101
$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,0.0043315957
$SEABIRD_T_H,0.00062693458
$SEABIRD_T_I,2.3960321e-05
$SEABIRD_T_J,2.6058406e-06
$SEABIRD_C_G,-10.015712
$SEABIRD_C_H,1.1551708
$SEABIRD_C_I,-0.0019853432
$SEABIRD_C_J,0.00024211408
$GPS1,195100,4806.965,-12222.811,20,1.3,20,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-68.0
$GPS2,195418,4806.947,-12222.805,20,1.9,20,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SEVEN
$TGT_LATLONG,4807.000,-12223.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.158,0.147
$KALMAN_X,55.0,55.0,55.0,46.7,113.6
$KALMAN_Y,-111.3,-111.3,-111.3,-305.2,-229.7
$MHEAD_RNG_PITCHd_Wd,294.8,260,-21.7,-10.000
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,9,begin dive
$GC,11,-0.84,-97.8,0.0,0.0,0,159,0.00,0.00,-144.38,0.000,6,0.000,0.000,154,2558,3663
$GC,160,-0.84,-97.8,3.3,-4.4,23,174,9.25,2.10,0.00,0.000,4,0.246,0.064,2428,3839,3665
$GC,334,-0.84,-97.8,28.8,-13.1,55,339,0.00,2.00,0.00,0.000,6,0.000,0.048,2427,2570,3666
$GC,465,-0.84,-97.8,45.4,-12.1,80,474,0.00,2.08,0.00,0.000,4,0.000,0.067,2418,3830,3666
$GC,526,-0.84,-97.8,54.0,-15.1,91,532,0.00,1.98,0.00,0.000,6,0.000,0.046,2418,2567,3666
$GC,658,-0.84,-97.8,72.1,-13.3,116,665,0.00,2.08,0.00,0.000,4,0.000,0.067,2409,3829,3666
$GC,690,-0.84,-97.8,76.6,-14.9,122,697,0.12,2.00,0.00,0.000,6,0.186,0.045,2438,2556,3666
$GC,824,-0.84,-97.8,94.2,-12.8,147,824,0.00,0.00,0.00,0.000,6,0.000,0.000,2438,2555,3666
$STATE,913,end dive,TARGET_DEPTH_EXCEEDED
$STATE,913,begin apogee
$GC,916,-0.17,0.0,105.2,11.0,164,996,0.70,0.00,76.35,0.779,6,0.160,0.000,2650,2555,3264
$STATE,997,end apogee,CONTROL_FINISHED_OK
$STATE,997,begin climb
$GC,998,0.84,97.8,107.5,0.0,178,1083,0.98,0.00,77.97,0.773,6,0.097,0.000,2977,2556,2865
$GC,1210,0.84,97.8,82.1,14.5,217,1216,0.00,2.15,0.00,0.000,4,0.000,0.066,2977,3831,2861
$GC,1230,0.84,97.8,78.9,15.6,221,1237,0.00,2.05,0.00,0.000,6,0.000,0.043,2986,2564,2861
$GC,1363,0.84,97.8,58.9,15.3,246,1371,0.00,2.12,0.00,0.000,4,0.000,0.065,2986,3829,2860
$GC,1396,0.84,97.8,53.3,17.4,252,1404,0.00,2.03,0.00,0.000,6,0.000,0.044,2996,2566,2860
$GC,1531,0.84,97.8,33.0,15.0,277,1537,0.00,2.10,0.00,0.000,4,0.000,0.065,2996,3833,2860
$GC,1563,0.84,97.8,27.9,16.3,283,1569,0.00,2.00,0.00,0.000,6,0.000,0.044,3005,2570,2859
$GC,1696,0.84,97.8,8.7,12.9,308,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2567,2859
$STATE,1743,end climb,SURFACE_DEPTH_REACHED
$STATE,1743,begin surface coast
$FINISH,1.1,1.020292
$STATE,1770,end surface coast,CONTROL_FINISHED_OK
$STATE,1770,begin surface
$SM_CCo,1782,235.07,0.711,1,0,1633,400.08
$SM_GC,1.16,0.00,0.00,235.07,0.000,0.000,0.711,147,2565,1633,-8.02,-0.14,400.08
$IRIDIUM_FIX,4748.51,-12221.84,180699,191926
$TT8_MAMPS,0.051389
$HUMID,1113
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,15.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.5,41.4
$24V_AH,24.4,4.164
$10V_AH,10.6,1.524
$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,19.275,24.675,154.325,235.075,0.000,0.000,0.000,0.000,0.750,0.000,0.000,21.234,0.000,759.999,509.789,777.419,24.648,30.169,830.998,0.000,647.724,0.000,5.515,0.000
$DEVICE_MAMPS,246.207,67.496,778.505,711.009,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,215.690,380.574,390.717,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19249,322
$CAP_FILE_SIZE,56563,0
$CFSIZE,260165632,259280896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$GPS,240310,202919,4806.999,-12222.994,26,0.9,26,18.3