version: 66.04
glider: 518
mission: 4
dive: 16
start: 3 25 110 9 5 15
data:
$ID,518
$MISSION,4
$DIVE,16
$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,-2024.9457
$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,49
$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
$GPS1,085935,4805.363,-12221.318,36,1.0,36,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-75.3
$GPS2,090436,4805.357,-12221.326,18,1.2,18,18.3
$SPEED_LIMITS,0.104,0.182
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.083,0.163
$KALMAN_X,-472.7,-329.5,-105.6,2950.4,48.2
$KALMAN_Y,-773.7,585.3,19.9,-3423.8,-218.0
$MHEAD_RNG_PITCHd_Wd,314.7,5906,-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,11,-0.56,-97.8,0.0,0.0,0,117,0.00,0.00,-103.93,0.000,2,0.000,0.000,153,2574,3594
$GC,119,-0.56,-97.8,3.4,-2.9,16,139,9.93,2.08,-1.95,0.000,4,0.250,0.081,2516,3820,3663
$GC,282,-0.56,-97.8,19.6,-8.9,46,289,0.00,1.98,0.00,0.000,6,0.000,0.048,2516,2573,3665
$GC,352,-0.56,-97.8,26.2,-9.3,59,353,0.00,0.00,0.00,0.000,6,0.000,0.000,2516,2573,3665
$GC,480,-0.56,-97.8,38.1,-9.3,83,486,0.00,2.22,0.00,0.000,4,0.000,0.051,2516,1170,3665
$GC,533,-0.56,-97.8,43.0,-9.4,93,539,0.00,2.28,0.00,0.000,6,0.000,0.061,2508,2566,3665
$GC,666,-0.56,-97.8,55.4,-9.1,118,673,0.00,2.08,0.00,0.000,4,0.000,0.071,2498,3825,3665
$GC,730,-0.56,-97.8,61.5,-9.8,130,737,0.00,1.98,0.00,0.000,6,0.000,0.047,2498,2564,3665
$GC,863,-0.56,-97.8,74.2,-9.5,155,864,0.12,0.00,0.00,0.000,6,0.157,0.000,2531,2563,3665
$GC,991,-0.56,-97.8,84.7,-7.9,179,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2564,3665
$GC,1119,-0.56,-97.8,94.9,-8.0,203,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2563,3665
$GC,1248,-0.56,-97.8,104.8,-7.5,227,1255,0.00,2.17,0.00,0.000,4,0.000,0.048,2531,1173,3665
$GC,1291,-0.56,-97.8,107.9,-7.6,235,1297,0.00,2.25,0.00,0.000,6,0.000,0.061,2522,2570,3665
$STATE,1322,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1322,begin apogee
$GC,1325,-0.23,0.0,110.4,7.5,241,1405,0.35,0.00,76.28,0.795,6,0.137,0.000,2633,2570,3263
$STATE,1405,end apogee,CONTROL_FINISHED_OK
$STATE,1405,begin climb
$GC,1406,0.56,97.8,112.8,0.0,255,1492,0.77,2.35,77.65,0.764,4,0.102,0.050,2891,1176,2864
$GC,1500,0.56,97.8,106.9,7.9,272,1508,0.00,2.35,0.00,0.000,6,0.000,0.051,2891,2574,2863
$GC,1634,0.56,97.8,93.9,9.6,297,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2574,2861
$GC,1762,0.56,97.8,82.0,9.4,321,1763,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2574,2860
$GC,1891,0.56,97.8,70.0,9.1,345,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2573,2860
$GC,2019,0.56,97.8,58.2,9.0,369,2020,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2574,2860
$GC,2148,0.56,97.8,46.5,8.8,393,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2573,2860
$GC,2279,0.56,97.8,35.2,8.4,418,2288,0.00,2.08,0.00,0.000,4,0.000,0.067,2891,3835,2859
$GC,2312,0.56,97.8,32.1,9.3,424,2320,0.00,2.00,0.00,0.000,6,0.000,0.044,2897,2566,2859
$GC,2447,0.56,97.8,20.9,8.0,449,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2566,2859
$GC,2575,0.56,97.8,11.2,7.8,473,2583,0.00,2.20,0.00,0.000,4,0.000,0.050,2900,1168,2858
$GC,2592,0.56,97.8,9.9,7.6,476,2600,0.00,2.22,0.00,0.000,6,0.000,0.054,2900,2564,2859
$GC,2662,0.56,97.8,5.1,6.7,489,2669,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2564,2859
$STATE,2709,end climb,SURFACE_DEPTH_REACHED
$STATE,2709,begin surface coast
$FINISH,2.9,1.020857
$STATE,2790,end surface coast,CONTROL_FINISHED_OK
$STATE,2790,begin surface
$SM_CCo,2791,458.67,0.693,1,0,489,680.45
$SM_GC,0.98,7.72,0.00,0.00,0.044,0.000,0.000,146,2564,485,-7.97,-0.17,681.68
$IRIDIUM_FIX,4745.30,-12224.57,190699,080804
$TT8_MAMPS,0.052923
$HUMID,1129
$INTERNAL_PRESSURE,8.96519
$TCM_TEMP,15.00
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,85.5,48.5
$24V_AH,24.4,5.761
$10V_AH,10.6,2.262
$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,18.900,30.225,153.925,458.675,0.000,28.297,31.821,175.236,1.000,0.000,0.000,18.732,0.000,1432.421,726.538,1208.286,289.250,33.313,1166.246,0.000,1026.596,0.000,7.069,0.000
$DEVICE_MAMPS,250.042,81.302,794.612,692.601,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,348.240,596.747,618.519,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,31855,513
$CAP_FILE_SIZE,54828,0
$CFSIZE,260165632,258797568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,5,1,1
$GPS,250310,100205,4805.596,-12221.608,35,1.0,35,18.3