version: 66.04
glider: 518
mission: 4
dive: 21
start: 3 25 110 14 6 12
data:
$ID,518
$MISSION,4
$DIVE,21
$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,500
$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,-2120.2791
$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,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,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
$GPS1,140027,4806.422,-12222.272,44,3.5,63,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-64.6
$GPS2,140533,4806.468,-12222.284,21,1.1,21,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.097,0.154
$KALMAN_X,-744.6,-336.5,114.4,1824.4,-5.4
$KALMAN_Y,-1425.0,427.6,-194.5,-346.5,-80.1
$MHEAD_RNG_PITCHd_Wd,309.5,3543,-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,-97.8,0.0,0.0,0,128,0.00,0.00,-109.85,0.000,6,0.000,0.000,150,2567,3663
$GC,129,-0.56,-97.8,3.5,-2.9,18,143,10.00,2.25,0.00,0.000,4,0.252,0.048,2528,1163,3665
$GC,382,-0.56,-97.8,27.5,-8.0,65,389,0.00,2.30,0.00,0.000,6,0.000,0.065,2518,2557,3666
$GC,515,-0.56,-97.8,39.1,-9.0,90,523,0.00,2.22,0.00,0.000,4,0.000,0.051,2518,1167,3667
$GC,682,-0.56,-97.8,54.5,-9.1,121,688,0.00,2.30,0.00,0.000,6,0.000,0.064,2508,2570,3666
$GC,814,-0.56,-97.8,66.7,-9.1,146,821,0.00,2.10,0.00,0.000,4,0.000,0.074,2500,3832,3666
$GC,899,-0.56,-97.8,75.4,-10.0,162,908,0.12,2.00,0.00,0.000,6,0.156,0.044,2532,2558,3666
$GC,1036,-0.56,-97.8,85.9,-7.4,187,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2532,2557,3666
$GC,1166,-0.56,-97.8,95.7,-7.4,212,1173,0.00,2.17,0.00,0.000,4,0.000,0.048,2532,1175,3666
$GC,1198,-0.56,-97.8,98.0,-7.4,218,1205,0.00,2.25,0.00,0.000,6,0.000,0.058,2523,2574,3666
$STATE,1330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1330,begin apogee
$GC,1333,-0.23,0.0,108.2,7.3,243,1414,0.38,0.00,76.40,0.788,6,0.136,0.000,2637,2574,3263
$STATE,1414,end apogee,CONTROL_FINISHED_OK
$STATE,1414,begin climb
$GC,1415,0.56,97.8,110.3,0.0,257,1496,0.75,0.00,77.60,0.758,6,0.098,0.000,2887,2574,2865
$GC,1623,0.56,97.8,93.9,9.7,295,1629,0.00,2.28,0.00,0.000,4,0.000,0.051,2887,1179,2860
$GC,1648,0.56,97.8,91.5,9.3,300,1657,0.00,2.28,0.00,0.000,6,0.000,0.054,2887,2564,2860
$GC,1785,0.56,97.8,79.1,9.2,325,1789,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2564,2860
$GC,1916,0.56,97.8,67.0,8.9,350,1923,0.00,2.10,0.00,0.000,4,0.000,0.066,2887,3831,2860
$GC,1947,0.56,97.8,63.7,10.2,356,1954,0.00,2.00,0.00,0.000,6,0.000,0.040,2895,2560,2860
$GC,2080,0.56,97.8,51.1,9.1,381,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2559,2860
$GC,2210,0.56,97.8,39.6,8.7,405,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2559,2860
$GC,2338,0.56,97.8,28.5,8.6,429,2343,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2559,2859
$GC,2470,0.56,97.8,17.3,8.1,454,2476,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2559,2860
$GC,2539,0.56,97.8,12.2,7.1,467,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2559,2859
$GC,2603,0.56,97.8,7.8,6.7,479,2609,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,2559,2859
$GC,2672,0.56,102.3,3.3,5.8,492,2680,0.00,0.00,4.30,0.519,6,0.000,0.000,2895,2559,2846
$STATE,2683,end climb,SURFACE_DEPTH_REACHED
$STATE,2683,begin surface coast
$FINISH,1.8,1.020461
$STATE,2742,end surface coast,CONTROL_FINISHED_OK
$STATE,2742,begin surface
$SM_CCo,2753,307.88,0.698,0,0,1224,500.16
$SM_GC,1.02,0.00,0.00,307.88,0.000,0.000,0.698,154,2557,1224,-8.00,-0.37,500.16
$IRIDIUM_FIX,4748.51,-12219.12,190699,131327
$TT8_MAMPS,0.051389
$HUMID,1131
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,15.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,90.2,35.0
$24V_AH,24.3,6.329
$10V_AH,10.6,2.531
$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,18.850,26.250,158.300,307.875,0.000,31.463,27.053,178.592,1.500,0.000,0.000,22.040,0.000,1306.469,579.601,1186.044,294.611,33.301,1015.292,0.000,1008.564,0.000,11.440,0.000
$DEVICE_MAMPS,252.343,74.399,788.476,697.970,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,342.330,583.211,603.529,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31820,505
$CAP_FILE_SIZE,51453,0
$CFSIZE,260165632,258617344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,0,1
$GPS,250310,145805,4806.689,-12222.517,34,1.0,34,18.3