version: 66.04
glider: 518
mission: 4
dive: 5
start: 3 24 110 22 20 10
data:
$ID,518
$MISSION,4
$DIVE,5
$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,-7
$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,-1809.2395
$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,22
$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
$GPS1,221513,4806.791,-12222.780,17,1.5,17,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-74.4
$GPS2,221931,4806.768,-12222.764,15,1.5,15,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.135,-0.168
$KALMAN_X,162.6,134.7,107.6,-135.7,13.4
$KALMAN_Y,-472.4,-333.8,-258.3,77.6,-92.1
$MHEAD_RNG_PITCHd_Wd,123.0,1707,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.84,-97.8,0.0,0.0,0,108,0.00,0.00,-92.95,0.000,6,0.000,0.000,148,2562,3663
$GC,109,-0.84,-97.8,3.9,-7.1,15,123,9.55,2.28,0.00,0.000,4,0.249,0.053,2437,1160,3665
$GC,361,-0.84,-97.8,40.7,-12.3,62,370,0.00,2.33,0.00,0.000,6,0.000,0.060,2427,2578,3666
$GC,496,-0.84,-97.8,58.6,-13.9,87,497,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2578,3667
$GC,624,-0.84,-97.8,75.9,-13.8,111,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2578,3666
$GC,752,-0.84,-97.8,92.5,-12.9,135,753,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2578,3666
$STATE,854,end dive,TARGET_DEPTH_EXCEEDED
$STATE,854,begin apogee
$GC,856,-0.23,0.0,105.2,12.3,154,941,0.68,0.00,76.88,0.796,6,0.169,0.000,2626,2578,3264
$STATE,941,end apogee,CONTROL_FINISHED_OK
$STATE,941,begin climb
$GC,942,0.84,97.8,108.3,0.0,169,1027,1.08,2.38,77.82,0.770,4,0.104,0.054,2985,1166,2864
$GC,1042,0.84,97.8,98.7,13.7,187,1048,0.00,2.35,0.00,0.000,6,0.000,0.054,2986,2566,2864
$GC,1174,0.84,97.8,78.3,14.5,212,1175,0.00,0.00,0.00,0.000,6,0.000,0.000,2986,2566,2861
$GC,1303,0.84,97.8,59.3,14.6,236,1310,0.00,2.10,0.00,0.000,4,0.000,0.065,2986,3828,2860
$GC,1366,0.84,97.8,48.8,16.6,248,1375,0.00,2.03,0.00,0.000,6,0.000,0.043,2995,2559,2860
$GC,1502,0.84,97.8,28.9,14.6,273,1508,0.00,2.10,0.00,0.000,4,0.000,0.066,2995,3827,2860
$GC,1545,0.84,97.8,21.9,16.2,281,1550,0.00,1.98,0.00,0.000,6,0.000,0.046,3003,2580,2860
$GC,1678,0.86,107.6,4.3,9.3,306,1692,0.00,2.05,8.62,0.642,4,0.000,0.067,3003,3836,2825
$STATE,1695,end climb,SURFACE_DEPTH_REACHED
$STATE,1695,begin surface coast
$FINISH,1.9,1.020788
$STATE,1717,end surface coast,CONTROL_FINISHED_OK
$STATE,1717,begin surface
$SM_CCo,1731,225.90,0.714,0,0,1632,400.08
$SM_GC,1.04,0.00,0.00,225.90,0.000,0.000,0.714,152,2562,1632,-8.01,-0.23,400.08
$IRIDIUM_FIX,4751.72,-12219.12,180699,212121
$TT8_MAMPS,0.052156
$HUMID,1115
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,15.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.0,41.1
$24V_AH,24.4,4.481
$10V_AH,10.6,1.645
$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,19.675,21.575,163.325,225.900,0.000,30.598,28.400,142.417,0.750,0.000,0.000,15.494,0.000,778.128,455.624,745.679,237.886,33.310,753.285,0.000,623.402,0.000,5.512,0.000
$DEVICE_MAMPS,249.275,66.729,796.146,714.077,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,210.520,353.544,363.503,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19191,313
$CAP_FILE_SIZE,35665,0
$CFSIZE,260165632,259223552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,1
$GPS,240310,225336,4806.604,-12222.532,31,1.6,32,18.3