version: 66.04
glider: 518
mission: 4
dive: 6
start: 3 24 110 22 58 34
data:
$ID,518
$MISSION,4
$DIVE,6
$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,83
$T_MISSION,100
$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,-1831.8423
$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,42
$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
$GPS1,225336,4806.604,-12222.532,31,1.6,32,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-74.1
$GPS2,225755,4806.583,-12222.523,20,1.6,21,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.089,-0.159
$KALMAN_X,169.9,149.2,99.1,147.2,-23.6
$KALMAN_Y,-432.4,-372.0,-255.0,-266.3,78.6
$MHEAD_RNG_PITCHd_Wd,132.5,1260,-13.2,-6.024
$D_GRID,107
$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,10,begin dive
$GC,11,-0.56,-97.8,0.0,0.0,0,108,0.00,0.00,-93.20,0.000,6,0.000,0.000,153,2562,3664
$GC,110,-0.56,-97.8,3.8,-3.4,15,124,9.98,2.25,0.00,0.000,4,0.252,0.052,2525,1171,3666
$GC,362,-0.56,-97.8,31.7,-8.5,62,370,0.00,2.30,0.00,0.000,6,0.000,0.061,2515,2582,3667
$GC,498,-0.56,-97.8,43.6,-8.7,87,504,0.00,2.25,0.00,0.000,4,0.000,0.054,2516,1177,3667
$GC,533,-0.56,-97.8,46.9,-9.1,94,542,0.00,2.28,0.00,0.000,6,0.000,0.058,2510,2574,3667
$GC,668,-0.56,-97.8,58.9,-8.9,119,675,0.00,2.08,0.00,0.000,4,0.000,0.069,2511,3828,3667
$GC,689,-0.56,-97.8,60.9,-9.3,123,697,0.00,2.00,0.00,0.000,6,0.000,0.046,2510,2564,3666
$GC,824,-0.56,-97.8,72.8,-8.7,148,830,0.00,2.08,0.00,0.000,4,0.000,0.070,2510,3821,3666
$GC,860,-0.56,-97.8,76.5,-9.7,155,867,0.00,1.98,0.00,0.000,6,0.000,0.046,2510,2568,3666
$GC,994,-0.56,-97.8,88.5,-8.8,180,1002,0.00,2.08,0.00,0.000,4,0.000,0.069,2510,3831,3667
$GC,1010,-0.56,-97.8,90.0,-8.8,183,1019,0.00,2.00,0.00,0.000,6,0.000,0.046,2510,2558,3666
$GC,1146,-0.56,-97.8,101.9,-8.8,208,1152,0.00,2.17,0.00,0.000,4,0.000,0.050,2510,1166,3667
$GC,1155,-0.56,-97.8,102.6,-8.1,210,1164,0.00,2.25,0.00,0.000,6,0.000,0.058,2510,2572,3667
$STATE,1210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1210,begin apogee
$GC,1213,-0.23,0.0,107.1,8.2,220,1293,0.40,0.00,76.75,0.805,6,0.145,0.000,2634,2572,3263
$STATE,1294,end apogee,CONTROL_FINISHED_OK
$STATE,1294,begin climb
$GC,1295,0.56,97.8,109.3,0.0,234,1376,0.77,0.00,77.90,0.773,6,0.103,0.000,2888,2571,2865
$GC,1502,0.56,97.8,92.3,9.1,272,1509,0.00,2.28,0.00,0.000,4,0.000,0.052,2890,1174,2860
$GC,1546,0.56,97.8,88.7,8.8,280,1551,0.00,2.28,0.00,0.000,6,0.000,0.054,2891,2563,2860
$GC,1678,0.56,97.8,76.4,8.8,305,1685,0.00,2.10,0.00,0.000,4,0.000,0.066,2890,3826,2860
$GC,1715,0.56,97.8,72.6,10.3,312,1723,0.00,2.00,0.00,0.000,6,0.000,0.042,2891,2570,2860
$GC,1850,0.56,97.8,60.1,9.1,337,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2569,2859
$GC,1978,0.56,97.8,48.9,9.0,361,1983,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2569,2859
$GC,2109,0.56,97.8,37.7,8.3,386,2110,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2569,2859
$GC,2238,0.56,97.8,27.1,8.2,410,2238,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2569,2859
$GC,2367,0.56,97.8,16.2,8.4,434,2373,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2569,2859
$GC,2436,0.56,97.8,11.1,7.4,447,2437,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2570,2859
$GC,2500,0.57,104.7,7.1,5.7,459,2508,0.00,0.00,6.20,0.609,6,0.000,0.000,2890,2569,2837
$GC,2571,0.63,158.9,3.9,3.8,472,2612,0.00,0.00,39.95,0.743,2,0.000,0.000,2891,2569,2626
$STATE,2613,end climb,SURFACE_DEPTH_REACHED
$STATE,2613,begin surface coast
$FINISH,0.6,1.019714
$STATE,2734,end surface coast,CONTROL_FINISHED_OK
$STATE,2734,begin surface
$SM_CCo,2746,187.90,0.716,0,0,1632,400.08
$SM_GC,1.20,0.00,0.00,187.90,0.000,0.000,0.716,149,2567,1632,-8.01,-0.08,400.08
$IRIDIUM_FIX,4748.51,-12221.84,180699,222201
$TT8_MAMPS,0.051389
$HUMID,1137
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,14.40
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,80.4,43.2
$24V_AH,24.4,4.574
$10V_AH,10.6,1.698
$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,18.850,34.350,200.800,187.900,0.000,31.115,28.318,137.996,0.750,0.000,0.000,21.973,0.000,1273.536,483.149,1186.374,252.228,33.313,929.595,0.000,1007.196,0.000,5.519,0.000
$DEVICE_MAMPS,251.576,69.797,804.583,715.611,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,338.967,592.225,612.053,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31955,501
$CAP_FILE_SIZE,51129,0
$CFSIZE,260165632,259170304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,1
$GPS,240310,234823,4806.314,-12222.290,37,1.0,37,18.3