version: 66.04
glider: 518
mission: 4
dive: 12
start: 3 25 110 5 0 16
data:
$ID,518
$MISSION,4
$DIVE,12
$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,0
$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,-1943.9269
$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,43
$R_STBD_OVSHOOT,25
$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,10
$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
$GPS1,045035,4805.201,-12221.229,36,0.9,36,18.3
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-78.2
$GPS2,045937,4805.198,-12221.269,16,1.9,16,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.128,-0.110
$KALMAN_X,-382.3,163.8,-62.0,2399.8,-308.9
$KALMAN_Y,-347.9,-248.7,185.7,-3481.6,182.8
$MHEAD_RNG_PITCHd_Wd,112.3,495,-14.8,-6.024
$D_GRID,150
$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,-0.59,-82.0,0.0,0.0,0,92,0.00,0.00,-78.55,0.000,2,0.000,0.000,149,2579,3493
$GC,93,-0.61,-97.8,3.2,-2.3,12,113,9.57,2.25,-5.10,0.000,4,0.241,0.064,2506,1163,3664
$GC,224,-0.61,-97.8,17.1,-10.0,36,231,0.00,2.30,0.00,0.000,6,0.000,0.061,2498,2564,3665
$GC,294,-0.61,-97.8,23.5,-8.8,49,299,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2564,3665
$GC,425,-0.61,-97.8,35.6,-9.4,74,433,0.00,2.10,0.00,0.000,4,0.000,0.069,2488,3835,3665
$GC,454,-0.61,-97.8,38.3,-10.1,79,460,0.00,2.00,0.00,0.000,6,0.000,0.049,2488,2571,3665
$GC,586,-0.61,-97.8,52.5,-10.3,104,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2488,2571,3665
$GC,714,-0.61,-97.8,66.0,-10.6,128,721,0.00,2.10,0.00,0.000,4,0.000,0.070,2484,3834,3665
$GC,746,-0.61,-97.8,69.4,-10.7,134,753,0.10,2.00,0.00,0.000,6,0.164,0.046,2508,2566,3665
$GC,879,-0.61,-97.8,81.6,-9.1,159,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2508,2566,3665
$GC,1007,-0.61,-97.8,92.8,-8.8,183,1016,0.00,2.20,0.00,0.000,4,0.000,0.050,2509,1163,3665
$GC,1019,-0.61,-97.8,93.8,-8.6,185,1026,0.00,2.28,0.00,0.000,6,0.000,0.060,2505,2575,3665
$GC,1152,-0.61,-97.8,105.4,-8.4,210,1160,0.00,2.20,0.00,0.000,4,0.000,0.048,2504,1178,3665
$GC,1163,-0.61,-97.8,106.2,-7.9,212,1171,0.00,2.28,0.00,0.000,6,0.000,0.060,2504,2579,3665
$GC,1297,-0.61,-97.8,116.2,-7.3,237,1305,0.00,2.05,0.00,0.000,4,0.000,0.069,2496,3828,3665
$GC,1314,-0.61,-97.8,117.5,-7.4,240,1322,0.00,1.98,0.00,0.000,6,0.000,0.046,2497,2566,3665
$STATE,1346,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1346,begin apogee
$GC,1349,-0.23,0.0,120.2,8.1,246,1429,0.45,0.00,76.32,0.808,6,0.140,0.000,2632,2565,3263
$STATE,1430,end apogee,CONTROL_FINISHED_OK
$STATE,1430,begin climb
$GC,1431,0.61,97.8,121.8,0.0,260,1512,0.80,0.00,77.82,0.774,6,0.097,0.000,2901,2565,2865
$GC,1639,0.61,97.8,102.4,11.1,298,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2565,2861
$GC,1767,0.61,97.8,88.9,10.2,322,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2565,2860
$GC,1895,0.61,97.8,76.0,10.1,346,1901,0.00,2.22,0.00,0.000,4,0.000,0.051,2902,1176,2859
$GC,1931,0.61,97.8,72.5,9.5,353,1938,0.00,2.25,0.00,0.000,6,0.000,0.052,2902,2572,2859
$GC,2064,0.61,97.8,59.9,9.5,378,2072,0.00,2.08,0.00,0.000,4,0.000,0.065,2902,3831,2859
$GC,2097,0.61,97.8,56.3,10.6,384,2105,0.00,2.00,0.00,0.000,6,0.000,0.044,2903,2568,2859
$GC,2232,0.61,97.8,43.9,9.1,409,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2568,2859
$GC,2364,0.61,97.8,32.1,8.9,434,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2568,2859
$GC,2492,0.61,97.8,21.0,8.5,458,2500,0.00,2.10,0.00,0.000,4,0.000,0.067,2902,3837,2859
$GC,2558,0.61,97.8,14.8,10.0,470,2565,0.00,1.98,0.00,0.000,6,0.000,0.042,2902,2565,2859
$GC,2628,0.61,97.8,9.8,6.7,483,2634,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,2565,2859
$GC,2697,0.63,113.0,5.8,5.3,496,2718,0.00,2.22,12.55,0.682,4,0.000,0.051,2903,1168,2802
$STATE,2774,end climb,SURFACE_DEPTH_REACHED
$STATE,2774,begin surface coast
$FINISH,3.1,1.019963
$STATE,2897,end surface coast,CONTROL_FINISHED_OK
$STATE,2897,begin surface
$SM_CCo,2899,445.48,0.698,0,0,490,680.45
$SM_GC,1.12,7.72,0.00,0.00,0.044,0.000,0.000,149,2569,485,-7.96,-0.03,681.43
$IRIDIUM_FIX,4748.51,-12217.40,190699,050538
$TT8_MAMPS,0.052156
$HUMID,1124
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,15.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,95.2,34.9
$24V_AH,24.4,5.257
$10V_AH,10.6,2.042
$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,18.650,42.950,166.700,445.475,0.000,55.559,76.615,279.777,2.000,0.000,0.000,18.119,0.000,1518.151,733.853,1260.691,475.165,33.299,1196.834,0.000,1064.303,0.000,18.643,0.000
$DEVICE_MAMPS,240.838,69.797,807.651,697.970,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,361.239,616.480,638.756,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,35000,533
$CAP_FILE_SIZE,63099,0
$CFSIZE,260165632,258932736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,1
$GPS,250310,055852,4805.093,-12221.068,33,1.5,50,18.3