version: 66.04
glider: 518
mission: 4
dive: 4
start: 3 24 110 21 41 32
data:
$ID,518
$MISSION,4
$DIVE,4
$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,50
$T_MISSION,75
$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,-5
$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,-1793.1177
$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,21
$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
$GPS1,213530,4806.940,-12223.024,17,1.4,17,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-74.9
$GPS2,214054,4806.916,-12223.013,16,1.8,16,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,SIX
$TGT_LATLONG,4806.000,-12222.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.147,-0.158
$KALMAN_X,167.8,120.3,105.2,-431.9,54.2
$KALMAN_Y,-490.2,-324.6,-269.5,378.0,-158.3
$MHEAD_RNG_PITCHd_Wd,118.8,2109,-21.7,-10.000
$D_GRID,103
$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,9,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.84,-97.8,0.0,0.0,0,103,0.00,0.00,-89.93,0.000,2,0.000,0.000,151,2571,3580
$GC,104,-0.84,-97.8,3.1,-4.0,14,124,9.50,2.28,-2.33,0.000,4,0.249,0.068,2434,1169,3665
$GC,362,-0.84,-97.8,38.0,-11.9,62,371,0.00,2.30,0.00,0.000,6,0.000,0.057,2424,2592,3665
$GC,497,-0.84,-97.8,55.9,-13.5,87,505,0.00,2.28,0.00,0.000,4,0.000,0.050,2424,1164,3665
$GC,520,-0.84,-97.8,58.9,-14.1,91,526,0.00,2.28,0.00,0.000,6,0.000,0.058,2414,2570,3665
$GC,652,-0.84,-97.8,77.7,-13.4,116,653,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2570,3665
$GC,781,-0.84,-97.8,94.9,-13.0,140,788,0.00,2.08,0.00,0.000,4,0.000,0.068,2404,3835,3665
$GC,801,-0.84,-97.8,97.9,-14.4,144,810,0.15,2.00,0.00,0.000,6,0.186,0.045,2441,2560,3665
$STATE,844,end dive,TARGET_DEPTH_EXCEEDED
$STATE,844,begin apogee
$GC,847,-0.17,0.0,103.5,12.4,152,927,0.73,0.00,76.70,0.795,6,0.163,0.000,2657,2560,3263
$STATE,928,end apogee,CONTROL_FINISHED_OK
$STATE,928,begin climb
$GC,929,0.84,97.8,105.9,0.0,166,1013,0.95,0.00,77.70,0.768,6,0.092,0.000,2976,2560,2866
$GC,1140,0.84,97.8,80.3,14.3,205,1141,0.00,0.00,0.00,0.000,6,0.000,0.000,2976,2560,2862
$GC,1269,0.84,97.8,61.9,14.1,229,1275,0.00,2.12,0.00,0.000,4,0.000,0.067,2976,3831,2862
$GC,1300,0.84,97.8,57.0,15.5,235,1307,0.00,2.00,0.00,0.000,6,0.000,0.045,2986,2574,2862
$GC,1432,0.84,97.8,38.0,13.9,260,1441,0.00,2.10,0.00,0.000,4,0.000,0.064,2986,3834,2861
$GC,1482,0.84,97.8,30.2,16.1,269,1489,0.00,2.00,0.00,0.000,6,0.000,0.045,2995,2571,2861
$GC,1616,0.84,97.8,11.2,13.1,294,1623,0.00,2.10,0.00,0.000,4,0.000,0.069,2995,3832,2861
$GC,1660,0.84,97.8,5.6,11.5,302,1667,0.00,2.00,0.00,0.000,6,0.000,0.046,3003,2564,2861
$STATE,1691,end climb,SURFACE_DEPTH_REACHED
$STATE,1691,begin surface coast
$FINISH,1.4,1.020647
$STATE,1734,end surface coast,CONTROL_FINISHED_OK
$STATE,1734,begin surface
$SM_CCo,1746,234.95,0.712,1,0,1633,400.08
$SM_GC,1.19,0.00,0.00,234.95,0.000,0.000,0.712,148,2562,1633,-8.02,-0.23,400.08
$IRIDIUM_FIX,4748.51,-12221.84,180699,212139
$TT8_MAMPS,0.052156
$HUMID,1117
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,15.10
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,85.7,35.6
$24V_AH,24.4,4.389
$10V_AH,10.6,1.610
$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,19.600,25.525,154.400,234.950,0.000,28.039,31.810,200.615,1.250,0.000,0.000,16.727,0.000,762.042,479.288,767.512,302.563,32.317,784.986,0.000,637.922,0.000,9.893,0.000
$DEVICE_MAMPS,248.508,69.030,794.612,711.776,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,212.417,369.293,382.905,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,19211,316
$CAP_FILE_SIZE,39301,0
$CFSIZE,260165632,259248128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,1
$GPS,240310,221513,4806.791,-12222.780,17,1.5,17,18.3