version: 66.04
glider: 518
mission: 4
dive: 13
start: 3 25 110 6 7 51
data:
$ID,518
$MISSION,4
$DIVE,13
$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,-1963.7976
$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,44
$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,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
$GPS1,055852,4805.093,-12221.068,33,1.5,50,18.3
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-72.9
$GPS2,060713,4805.101,-12221.070,17,1.8,17,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,FIVE
$TGT_LATLONG,4805.000,-12221.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.109,-0.113
$KALMAN_X,-715.4,85.0,-49.9,3042.8,-458.8
$KALMAN_Y,22.9,-119.4,63.6,-4038.4,377.6
$MHEAD_RNG_PITCHd_Wd,117.6,207,-16.3,-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,-0.63,-69.9,0.0,0.0,0,148,0.00,0.00,-131.80,0.000,6,0.000,0.000,150,2570,3551
$GC,149,-0.66,-97.8,3.2,-2.5,21,169,9.65,2.25,-3.45,0.000,4,0.247,0.064,2494,1165,3665
$GC,409,-0.66,-97.8,27.8,-9.2,69,415,0.00,2.28,0.00,0.000,6,0.000,0.059,2485,2566,3666
$GC,541,-0.66,-97.8,40.6,-9.9,94,541,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2566,3666
$GC,670,-0.66,-97.8,54.1,-10.5,118,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2485,2566,3666
$GC,798,-0.66,-97.8,67.9,-10.5,142,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2566,3667
$GC,926,-0.66,-97.8,81.3,-10.2,166,931,0.00,0.00,0.00,0.000,6,0.000,0.000,2484,2566,3666
$GC,1057,-0.66,-97.8,94.7,-10.0,191,1064,0.00,2.08,0.00,0.000,4,0.000,0.068,2475,3832,3666
$GC,1072,-0.66,-97.8,96.4,-10.2,194,1080,0.00,2.00,0.00,0.000,6,0.000,0.045,2475,2560,3666
$GC,1206,-0.66,-97.8,109.9,-9.5,219,1214,0.00,2.10,0.00,0.000,4,0.000,0.070,2471,3829,3666
$GC,1271,-0.66,-97.8,116.3,-10.2,231,1279,0.00,1.98,0.00,0.000,6,0.000,0.046,2471,2568,3666
$STATE,1329,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1329,begin apogee
$GC,1332,-0.23,0.0,121.7,8.8,242,1413,0.52,0.00,76.32,0.805,6,0.149,0.000,2632,2567,3264
$STATE,1413,end apogee,CONTROL_FINISHED_OK
$STATE,1413,begin climb
$GC,1414,0.66,97.8,123.6,0.0,256,1500,0.88,0.00,77.72,0.771,6,0.098,0.000,2921,2567,2864
$GC,1627,0.66,97.8,101.6,11.6,295,1633,0.00,2.12,0.00,0.000,4,0.000,0.067,2922,3825,2861
$GC,1679,0.66,97.8,94.3,14.3,305,1686,0.00,2.03,0.00,0.000,6,0.000,0.045,2931,2572,2861
$GC,1812,0.66,97.8,77.9,11.9,330,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2572,2860
$GC,1940,0.66,97.8,63.5,11.1,354,1941,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2571,2860
$GC,2068,0.66,97.8,49.6,10.7,378,2069,0.00,0.00,0.00,0.000,6,0.000,0.000,2931,2572,2860
$GC,2196,0.66,97.8,35.7,10.9,402,2204,0.00,2.22,0.00,0.000,4,0.000,0.052,2940,1170,2859
$GC,2225,0.66,97.8,32.8,10.7,407,2231,0.00,2.25,0.00,0.000,6,0.000,0.058,2940,2564,2859
$GC,2358,0.66,97.8,18.4,10.6,432,2365,0.00,2.05,0.00,0.000,4,0.000,0.068,2940,3819,2859
$GC,2433,0.66,97.8,10.2,10.8,446,2441,0.00,1.92,0.00,0.000,6,0.000,0.044,2946,2571,2859
$GC,2503,0.66,97.8,4.8,7.4,459,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2571,2859
$STATE,2540,end climb,SURFACE_DEPTH_REACHED
$STATE,2540,begin surface coast
$FINISH,2.9,1.020315
$STATE,2604,end surface coast,CONTROL_FINISHED_OK
$STATE,2604,begin surface
$SM_CCo,2605,458.48,0.691,1,0,490,680.45
$SM_GC,1.00,7.85,0.00,0.00,0.046,0.000,0.000,151,2569,486,-7.94,-0.03,681.43
$IRIDIUM_FIX,4748.51,-12224.57,190699,060648
$TT8_MAMPS,0.051389
$HUMID,1121
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,15.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,80.2,51.3
$24V_AH,24.4,5.400
$10V_AH,10.6,2.097
$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,18.900,25.275,154.050,458.475,0.000,57.092,106.118,210.181,0.500,0.000,0.000,19.244,0.000,1380.860,739.729,1123.003,424.431,33.302,1163.724,0.000,952.937,0.000,5.540,0.000
$DEVICE_MAMPS,246.974,69.797,804.583,691.067,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,323.260,554.140,570.596,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31839,478
$CAP_FILE_SIZE,51336,0
$CFSIZE,260165632,258912256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,1,1
$GPS,250310,070135,4804.989,-12220.854,35,1.1,35,18.3