version: 66.06
glider: 523
mission: 4
dive: 25
start: 4 27 113 18 38 10
data:
$ID,523
$MISSION,4
$DIVE,25
$D_SURF,3
$D_FLARE,3
$D_TGT,450
$D_ABORT,520
$D_NO_BLEED,200
$D_BOOST,0
$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,166
$T_MISSION,180
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51859
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2118.95
$TGT_DEFAULT_LON,-15758
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-36401.34
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,70
$PITCH_MAX,3840
$C_PITCH,2650
$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,217
$ROLL_MAX,3847
$ROLL_DEG,40
$C_ROLL_DIVE,1968
$C_ROLL_CLIMB,1975
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$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
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-44.423622
$PRESSURE_SLOPE,0.00011597706
$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,3
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.30000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.0042940481
$SEABIRD_T_H,0.00062789384
$SEABIRD_T_I,2.2877364e-05
$SEABIRD_T_J,2.3382993e-06
$SEABIRD_C_G,-10.032345
$SEABIRD_C_H,1.1112347
$SEABIRD_C_I,0.0036120038
$SEABIRD_C_J,-0.00017978948
$GPS1,183234,2107.431,-15754.146,25,0.8,25,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-72.9
$GPS2,183753,2107.466,-15754.170,15,0.9,15,9.8
$SPEED_LIMITS,0.157,0.252
$TGT_NAME,D_EAST
$TGT_LATLONG,2105.814,-15742.918
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,89.1,19681,-16.7,-9.036
$D_GRID,450
$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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.74,-146.0,0.0,0.0,0,94,0.00,0.00,-76.12,0.000,2,0.000,0.000,24,1975,3371,0,0,0,0,0,0
$GC,97,-0.74,-146.0,3.2,-5.6,12,113,9.55,2.20,-0.57,0.000,4,0.235,0.058,2393,3380,3397,0,0,0,0,0,0
$GC,142,-0.74,-146.0,16.3,-25.4,19,150,0.00,2.25,0.00,0.000,6,0.000,0.041,2393,1974,3399,0,0,0,0,0,0
$GC,312,-0.74,-146.0,45.6,-17.5,50,320,0.00,2.28,0.00,0.000,4,0.000,0.058,2393,566,3399,0,0,0,0,0,0
$GC,366,-0.74,-146.0,56.3,-20.2,59,372,0.00,2.17,0.00,0.000,6,0.000,0.039,2383,1977,3399,0,0,0,0,0,0
$GC,696,-0.74,-146.0,103.7,-13.4,103,700,0.00,2.20,0.00,0.000,4,0.000,0.056,2373,3371,3400,0,0,0,0,0,0
$GC,749,-0.74,-146.0,111.9,-13.7,107,756,0.10,2.22,0.00,0.000,6,0.135,0.041,2405,1951,3401,0,0,0,0,0,0
$GC,1076,-0.74,-146.0,147.4,-11.5,138,1080,0.00,2.17,0.00,0.000,4,0.000,0.056,2405,567,3402,0,0,0,0,0,0
$GC,1149,-0.74,-146.0,156.1,-11.2,144,1153,0.00,2.12,0.00,0.000,6,0.000,0.038,2397,1972,3402,0,0,0,0,0,0
$GC,1476,-0.74,-146.0,193.0,-11.3,174,1480,0.00,2.22,0.00,0.000,4,0.000,0.055,2397,561,3402,0,0,0,0,0,0
$GC,1562,-0.74,-146.0,202.8,-9.8,181,1566,0.00,2.15,0.00,0.000,6,0.000,0.038,2387,1973,3402,0,0,0,0,0,0
$GC,1884,-0.74,-146.0,231.7,-7.3,197,1885,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,1974,3403,0,0,0,0,0,0
$GC,2193,-0.74,-146.0,254.6,-7.2,212,2198,0.00,2.22,0.00,0.000,4,0.000,0.057,2387,566,3403,0,0,0,0,0,0
$GC,2433,-0.74,-146.0,275.7,-8.5,222,2440,0.12,2.15,0.00,0.000,6,0.166,0.041,2411,1970,3403,0,0,0,0,0,0
$GC,2750,-0.74,-146.0,304.4,-10.2,237,2755,0.00,2.22,0.00,0.000,4,0.000,0.059,2411,567,3403,0,0,0,0,0,0
$GC,2840,-0.74,-146.0,314.0,-9.7,239,2844,0.00,2.15,0.00,0.000,6,0.000,0.044,2404,1973,3402,0,0,0,0,0,0
$GC,3172,-0.74,-146.0,338.0,-6.9,247,3176,0.00,2.20,0.00,0.000,4,0.000,0.059,2394,3376,3402,0,0,0,0,0,0
$GC,3256,-0.74,-146.0,344.9,-7.4,248,3265,0.00,2.17,0.00,0.000,6,0.000,0.041,2394,1965,3402,0,0,0,0,0,0
$GC,3589,-0.74,-146.0,371.7,-8.1,257,3593,0.00,2.22,0.00,0.000,4,0.000,0.064,2394,565,3400,0,0,0,0,0,0
$GC,3757,-0.74,-146.0,386.8,-8.9,260,3762,0.00,2.17,0.00,0.000,6,0.000,0.046,2384,1966,3400,0,0,0,0,0,0
$GC,4088,-0.74,-146.0,414.0,-8.7,269,4092,0.00,2.22,0.00,0.000,4,0.000,0.064,2384,566,3397,0,0,0,0,0,0
$GC,4155,-0.74,-146.0,420.6,-8.8,270,4160,0.12,2.20,0.00,0.000,6,0.166,0.048,2409,1979,3397,0,0,0,0,0,0
$GC,4493,-0.74,-146.0,441.1,-5.4,279,4497,0.00,2.25,0.00,0.000,4,0.000,0.060,2409,561,3395,0,0,0,0,0,0
$GC,4599,-0.74,-146.0,447.7,-6.1,281,4603,0.00,2.15,0.00,0.000,6,0.000,0.041,2401,1976,3395,0,0,0,0,0,0
$STATE,4654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4654,begin apogee
$GC,4661,-0.17,0.0,451.0,5.7,283,4782,0.57,0.00,118.50,0.788,6,0.119,0.000,2590,1977,2799,0,0,0,0,0,0
$STATE,4783,end apogee,CONTROL_FINISHED_OK
$STATE,4783,begin climb
$GC,4786,0.74,146.0,451.0,0.0,286,4915,0.88,0.00,125.95,0.757,6,0.094,0.000,2888,1977,2204,0,0,0,0,0,0
$GC,5221,0.74,146.0,398.7,12.0,297,5225,0.00,2.33,0.00,0.000,4,0.000,0.066,2898,564,2195,0,0,0,0,0,0
$GC,5283,0.74,146.0,391.5,12.8,298,5287,0.00,2.22,0.00,0.000,6,0.000,0.044,2898,1981,2194,0,0,0,0,0,0
$GC,5625,0.74,146.0,339.9,14.6,307,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1982,2192,0,0,0,0,0,0
$GC,5950,0.74,146.0,294.7,14.8,315,5954,0.00,2.20,0.00,0.000,4,0.000,0.054,2898,3387,2190,0,0,0,0,0,0
$GC,5994,0.74,146.0,288.4,14.6,317,5998,0.00,2.20,0.00,0.000,6,0.000,0.044,2907,1978,2190,0,0,0,0,0,0
$GC,6314,0.74,146.0,242.0,15.4,333,6318,0.00,2.22,0.00,0.000,4,0.000,0.060,2916,568,2189,0,0,0,0,0,0
$GC,6404,0.74,146.0,228.5,14.9,337,6408,0.00,2.17,0.00,0.000,6,0.000,0.041,2916,1986,2188,0,0,0,0,0,0
$GC,6730,0.74,146.0,183.0,13.7,358,6734,0.00,2.28,0.00,0.000,4,0.000,0.064,2926,564,2188,0,0,0,0,0,0
$GC,6815,0.74,146.0,171.0,13.4,365,6823,0.10,2.20,0.00,0.000,6,0.131,0.042,2892,1974,2188,0,0,0,0,0,0
$GC,7143,0.74,146.0,138.0,10.9,396,7147,0.00,2.20,0.00,0.000,4,0.000,0.055,2892,3390,2187,0,0,0,0,0,0
$GC,7259,0.74,146.0,123.3,11.9,406,7263,0.00,2.20,0.00,0.000,6,0.000,0.041,2900,1973,2187,0,0,0,0,0,0
$GC,7586,0.74,146.0,88.0,10.5,436,7590,0.00,2.22,0.00,0.000,4,0.000,0.058,2910,557,2186,0,0,0,0,0,0
$GC,7638,0.74,146.0,82.2,11.7,440,7642,0.00,2.17,0.00,0.000,6,0.000,0.044,2910,1976,2186,0,0,0,0,0,0
$GC,7966,0.74,146.0,49.4,9.3,498,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,1978,2187,0,0,0,0,0,0
$GC,8296,0.76,166.5,19.8,8.2,559,8316,0.00,2.28,15.73,0.469,4,0.000,0.058,2920,561,2120,0,0,0,0,0,0
$GC,8341,0.76,166.5,15.7,9.1,566,8349,0.00,2.22,0.00,0.000,6,0.000,0.042,2920,1981,2119,0,0,0,0,0,0
$STATE,8463,end climb,SURFACE_DEPTH_REACHED
$STATE,8463,begin surface coast
$FINISH,0.3,1.010575
$STATE,8492,end surface coast,CONTROL_FINISHED_OK
$STATE,8492,begin surface
$SM_CCo,8510,59.10,0.460,0,0,1576,300.24
$SM_GC,1.32,0.00,0.00,59.10,0.000,0.000,0.460,28,1987,1576,-8.20,0.54,300.24
$IRIDIUM_FIX,2106.38,-15805.48,220702,161623
$TT8_MAMPS,0.027612
$HUMID,61.22
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,23.50
$XPDR_PINGS,1
$24V_AH,24.6,2.572
$10V_AH,10.6,2.762
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$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,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.825,79.475,260.175,59.100,0.000,30.261,34.176,135.524,19.000,0.000,15.604,1097.059,5026.062,414.045,1942.231,409.679,0.000,1076.159,0.000,1896.021,0.000,119.192,0.000
$DEVICE_MAMPS,234.702,65.962,788.476,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,404.836,335.551,1165.090,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,31826,594
$CAP_FILE_SIZE,93102,0
$CFSIZE,260165632,253915136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270413,210154,2107.427,-15752.498,16,1.2,16,9.8