version: 66.04
glider: 518
mission: 4
dive: 29
start: 3 25 110 19 47 40
data:
$ID,518
$MISSION,4
$DIVE,29
$D_SURF,3
$D_FLARE,3
$D_TGT,45
$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,15
$T_MISSION,25
$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,325
$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,-2271.8235
$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,47
$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,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
$GPS1,193924,4808.100,-12223.319,17,1.5,17,18.3
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-70.0
$GPS2,194701,4808.243,-12223.396,14,1.4,14,18.3
$SPEED_LIMITS,0.173,0.216
$TGT_NAME,KAYAKPT
$TGT_LATLONG,4808.000,-12223.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.140,-0.164
$KALMAN_X,-1062.1,110.1,-193.5,635.7,-33.0
$KALMAN_Y,-687.6,-224.6,370.8,2281.9,62.6
$MHEAD_RNG_PITCHd_Wd,121.1,665,-21.7,-10.000
$D_GRID,101
$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,9,begin dive
$GC,11,-0.84,-97.8,0.0,0.0,0,78,0.00,0.00,-64.93,0.000,2,0.000,0.000,148,2562,3367
$GC,79,-0.84,-97.8,3.3,-5.8,10,105,9.65,2.12,-8.32,0.000,4,0.252,0.084,2427,3829,3664
$GC,168,-0.84,-97.8,15.6,-15.3,26,176,0.00,2.00,0.00,0.000,6,0.000,0.044,2428,2568,3665
$GC,239,-0.84,-97.8,25.2,-13.3,39,240,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2567,3665
$GC,367,-0.84,-97.8,42.3,-14.0,63,368,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2567,3665
$STATE,387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,387,begin apogee
$GC,389,-0.23,0.0,45.1,13.7,67,471,0.70,0.00,75.85,0.735,6,0.173,0.000,2627,2566,3265
$STATE,471,end apogee,CONTROL_FINISHED_OK
$STATE,471,begin climb
$GC,472,0.84,97.8,49.2,0.0,81,555,1.10,0.00,77.57,0.714,6,0.110,0.000,2977,2566,2864
$GC,682,0.84,97.8,26.5,13.8,119,687,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2566,2862
$GC,814,0.84,97.8,9.6,11.9,144,821,0.00,2.25,0.00,0.000,4,0.000,0.050,2987,1173,2861
$GC,842,0.84,97.8,6.5,11.3,149,849,0.00,2.30,0.00,0.000,6,0.000,0.058,2988,2571,2861
$GC,912,1.01,229.9,3.6,0.9,162,947,0.15,0.00,33.35,0.687,2,0.069,0.000,3051,2572,2692
$STATE,947,end climb,SURFACE_DEPTH_REACHED
$STATE,947,begin surface coast
$FINISH,0.3,1.010134
$STATE,1127,end surface coast,CONTROL_FINISHED_OK
$STATE,1127,begin surface
$SM_CCo,1139,141.77,0.693,0,0,1938,325.02
$SM_GC,0.98,0.00,0.00,141.77,0.000,0.000,0.693,144,2571,1938,-8.03,0.03,325.02
$IRIDIUM_FIX,4748.51,-12221.84,190699,191911
$TT8_MAMPS,0.052923
$HUMID,1109
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,15.00
$XPDR_PINGS,4
$24V_AH,24.3,7.070
$10V_AH,10.5,2.839
$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,19.725,8.675,186.775,141.775,0.000,62.212,147.081,132.618,1.000,0.000,0.000,15.776,0.000,463.575,350.335,548.705,379.825,33.330,580.184,0.000,461.365,0.000,0.993,0.000
$DEVICE_MAMPS,252.343,83.603,734.786,693.368,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,WL_BBFL2VMT,AA4330,nil,nil,nil,nil,nil
$SENSOR_SECS,133.743,343.712,356.917,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,12886,201
$CAP_FILE_SIZE,27115,0
$CFSIZE,260165632,258412544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,1
$GPS,250310,200936,4808.331,-12223.400,18,1.3,18,18.3