version: 66.04
glider: 518
mission: 4
dive: 8
start: 3 25 110 0 53 46
data:
$ID,518
$MISSION,4
$DIVE,8
$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,-1871.8353
$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
$GPS1,004805,4806.028,-12222.026,24,1.1,24,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-73.0
$GPS2,005307,4806.009,-12222.019,18,1.8,18,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.096,-0.155
$KALMAN_X,245.6,160.9,0.9,781.9,-26.4
$KALMAN_Y,-590.2,-400.9,0.2,-1395.8,81.7
$MHEAD_RNG_PITCHd_Wd,129.8,2254,-13.2,-6.024
$D_GRID,108
$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,-0.56,-97.8,0.0,0.0,0,104,0.00,0.00,-91.10,0.000,2,0.000,0.000,148,2570,3659
$GC,106,-0.56,-97.8,3.6,-3.2,14,120,10.10,2.28,0.00,0.000,4,0.255,0.051,2524,1160,3661
$GC,359,-0.56,-97.8,31.3,-8.0,61,365,0.00,2.28,0.00,0.000,6,0.000,0.058,2515,2565,3662
$GC,491,-0.56,-97.8,43.4,-9.2,86,500,0.00,2.22,0.00,0.000,4,0.000,0.048,2515,1163,3663
$GC,503,-0.56,-97.8,44.5,-9.3,88,511,0.00,2.30,0.00,0.000,6,0.000,0.058,2510,2576,3662
$GC,637,-0.56,-97.8,57.1,-9.6,113,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2576,3662
$GC,765,-0.56,-97.8,68.7,-8.9,137,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2576,3663
$GC,894,-0.56,-97.8,80.0,-8.6,161,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2510,2575,3663
$GC,1022,-0.56,-97.8,91.1,-8.6,185,1029,0.00,2.05,0.00,0.000,4,0.000,0.068,2503,3827,3663
$GC,1043,-0.56,-97.8,93.2,-9.0,189,1052,0.10,1.98,0.00,0.000,6,0.163,0.045,2527,2562,3662
$GC,1179,-0.56,-97.8,103.0,-6.8,214,1185,0.00,2.08,0.00,0.000,4,0.000,0.067,2518,3829,3663
$GC,1226,-0.56,-97.8,106.4,-7.3,223,1233,0.00,1.95,0.00,0.000,6,0.000,0.044,2518,2575,3663
$STATE,1245,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1246,begin apogee
$GC,1248,-0.23,0.0,108.0,7.5,227,1329,0.38,0.00,75.60,0.804,6,0.139,0.000,2631,2575,3264
$STATE,1329,end apogee,CONTROL_FINISHED_OK
$STATE,1329,begin climb
$GC,1330,0.56,97.8,110.0,0.0,241,1416,0.77,2.33,77.82,0.772,4,0.102,0.051,2887,1170,2864
$GC,1440,0.56,97.8,102.4,8.6,261,1449,0.00,2.35,0.00,0.000,6,0.000,0.054,2887,2570,2863
$GC,1576,0.56,97.8,89.6,9.5,286,1582,0.00,2.10,0.00,0.000,4,0.000,0.066,2887,3829,2861
$GC,1640,0.56,97.8,82.8,10.9,298,1646,0.00,2.00,0.00,0.000,6,0.000,0.044,2893,2575,2861
$GC,1772,0.56,97.8,70.0,9.5,323,1779,0.00,2.25,0.00,0.000,4,0.000,0.051,2893,1171,2860
$GC,1816,0.56,97.8,66.3,8.9,331,1822,0.00,2.28,0.00,0.000,6,0.000,0.058,2893,2570,2860
$GC,1948,0.56,97.8,54.2,9.1,356,1955,0.00,2.10,0.00,0.000,4,0.000,0.069,2893,3836,2859
$GC,1985,0.56,97.8,50.4,10.3,363,1993,0.00,2.00,0.00,0.000,6,0.000,0.046,2894,2564,2860
$GC,2119,0.56,97.8,38.4,8.7,388,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2564,2859
$GC,2247,0.56,97.8,27.1,8.8,412,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2564,2859
$GC,2377,0.56,97.8,16.2,8.2,436,2383,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2564,2859
$GC,2446,0.56,97.8,11.1,7.1,449,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2564,2859
$GC,2510,0.56,99.7,7.3,5.9,461,2516,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,2564,2859
$GC,2579,0.63,156.7,4.2,3.6,474,2626,0.00,0.00,45.42,0.739,6,0.000,0.000,2893,2564,2625
$STATE,2629,end climb,SURFACE_DEPTH_REACHED
$STATE,2629,begin surface coast
$FINISH,1.7,1.019416
$STATE,2748,end surface coast,CONTROL_FINISHED_OK
$STATE,2748,begin surface
$SM_CCo,2759,187.62,0.713,0,0,1633,400.08
$SM_GC,1.04,0.00,0.00,187.62,0.000,0.000,0.713,150,2562,1633,-8.01,-0.23,400.08
$IRIDIUM_FIX,4748.51,-12221.84,190699,000030
$TT8_MAMPS,0.052923
$HUMID,1124
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,14.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.1,23.7
$24V_AH,24.4,4.773
$10V_AH,10.6,1.807
$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,19.050,34.525,198.850,187.625,0.000,24.778,29.652,181.461,2.250,0.000,0.000,18.957,0.000,1278.404,477.841,1202.104,289.130,33.356,923.540,0.000,1014.187,0.000,20.143,0.000
$DEVICE_MAMPS,255.411,69.030,803.816,713.310,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,341.132,596.388,617.776,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31807,504
$CAP_FILE_SIZE,53662,0
$CFSIZE,260165632,259092480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,1
$GPS,250310,014336,4805.794,-12221.809,25,0.9,25,18.3