version: 66.04
glider: 518
mission: 4
dive: 10
start: 3 25 110 2 57 56
data:
$ID,518
$MISSION,4
$DIVE,10
$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,-1904.8357
$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,50
$R_STBD_OVSHOOT,24
$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
$GPS1,025123,4805.505,-12221.562,35,1.1,35,18.3
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.71
$_SM_ANGLEo,-56.2
$GPS2,025718,4805.468,-12221.528,14,1.7,14,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.113,-0.144
$KALMAN_X,249.8,133.4,-92.7,1504.5,-40.0
$KALMAN_Y,-810.9,-310.9,236.5,-2502.5,31.1
$MHEAD_RNG_PITCHd_Wd,123.6,1086,-13.2,-6.024
$D_GRID,110
$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,12,-0.56,-97.8,0.0,0.0,0,161,0.00,0.00,-141.85,0.000,6,0.000,0.000,144,2570,3663
$GC,162,-0.56,-97.8,3.4,-3.1,23,176,9.85,2.28,0.00,0.000,4,0.248,0.051,2524,1166,3664
$GC,414,-0.56,-97.8,26.9,-7.9,70,423,0.00,2.33,0.00,0.000,6,0.000,0.063,2514,2585,3666
$GC,550,-0.56,-97.8,38.2,-8.5,95,556,0.00,2.25,0.00,0.000,4,0.000,0.053,2514,1177,3666
$GC,705,-0.56,-97.8,52.4,-8.7,124,711,0.00,2.25,0.00,0.000,6,0.000,0.061,2511,2564,3666
$GC,837,-0.56,-97.8,64.4,-9.1,149,844,0.00,2.10,0.00,0.000,4,0.000,0.070,2501,3839,3666
$GC,858,-0.56,-97.8,66.4,-9.2,153,866,0.12,2.00,0.00,0.000,6,0.160,0.044,2533,2559,3666
$GC,993,-0.56,-97.8,77.2,-7.7,178,1000,0.00,2.08,0.00,0.000,4,0.000,0.067,2525,3825,3666
$GC,1013,-0.56,-97.8,78.9,-7.5,182,1021,0.00,1.98,0.00,0.000,6,0.000,0.044,2525,2559,3666
$GC,1147,-0.56,-97.8,89.2,-7.6,207,1155,0.00,2.08,0.00,0.000,4,0.000,0.067,2524,3828,3666
$GC,1160,-0.56,-97.8,90.1,-7.7,209,1166,0.00,1.92,0.00,0.000,6,0.000,0.044,2524,2558,3666
$GC,1292,-0.56,-97.8,100.6,-7.7,234,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2523,2558,3666
$GC,1420,-0.56,-97.8,109.8,-6.6,258,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2524,2558,3665
$STATE,1425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1425,begin apogee
$GC,1428,-0.23,0.0,110.2,6.7,259,1508,0.32,0.00,76.05,0.800,6,0.134,0.000,2627,2557,3264
$STATE,1508,end apogee,CONTROL_FINISHED_OK
$STATE,1508,begin climb
$GC,1509,0.56,97.8,112.1,0.0,273,1590,0.77,0.00,77.75,0.769,6,0.102,0.000,2885,2557,2865
$GC,1716,0.56,97.8,94.9,8.9,311,1717,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2557,2861
$GC,1844,0.56,97.8,83.2,9.0,335,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2557,2860
$GC,1973,0.56,97.8,71.8,8.6,359,1973,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2557,2860
$GC,2101,0.56,97.8,60.5,8.6,383,2102,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2557,2860
$GC,2229,0.56,97.8,49.6,8.6,407,2237,0.00,2.10,0.00,0.000,4,0.000,0.066,2885,3837,2860
$GC,2266,0.56,97.8,46.1,9.5,414,2275,0.00,2.00,0.00,0.000,6,0.000,0.043,2890,2564,2860
$GC,2402,0.56,97.8,34.5,8.7,439,2403,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2564,2860
$GC,2530,0.56,97.8,24.0,8.4,463,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2564,2860
$GC,2662,0.56,97.8,13.5,7.5,488,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2564,2860
$GC,2732,0.57,103.9,9.5,5.8,501,2746,0.00,2.20,5.40,0.578,4,0.000,0.051,2892,1176,2840
$GC,2771,0.57,108.6,7.2,5.8,508,2785,0.00,2.25,5.45,0.583,6,0.000,0.058,2891,2575,2820
$GC,2848,0.66,176.7,4.3,3.2,522,2904,0.00,0.17,53.03,0.740,3,0.000,0.070,2891,2447,2543
$STATE,2904,end climb,SURFACE_DEPTH_REACHED
$STATE,2904,begin surface coast
$FINISH,2.1,1.019184
$STATE,3019,end surface coast,CONTROL_FINISHED_OK
$STATE,3019,begin surface
$SM_CCo,3031,171.82,0.707,0,0,1633,400.08
$SM_GC,1.46,0.00,0.00,171.82,0.000,0.000,0.707,155,2571,1633,-8.00,0.03,400.08
$IRIDIUM_FIX,4748.51,-12221.84,190699,010126
$TT8_MAMPS,0.052156
$HUMID,1121
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,90.1,34.9
$24V_AH,24.4,5.015
$10V_AH,10.6,1.926
$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,18.725,30.175,217.675,171.825,0.000,25.621,31.372,234.276,1.500,0.000,0.000,16.212,0.000,1407.305,498.017,1299.701,350.008,33.315,994.813,0.000,1113.639,0.000,14.284,0.000
$DEVICE_MAMPS,247.741,79.001,799.981,707.174,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,373.188,664.388,687.256,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,34994,552
$CAP_FILE_SIZE,56997,0
$CFSIZE,260165632,259014656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,1
$GPS,250310,035205,4805.319,-12221.385,28,0.9,28,18.3