version: 66.06
glider: 523
mission: 4
dive: 26
start: 4 27 113 21 7 41
data:
$ID,523
$MISSION,4
$DIVE,26
$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,-36420.176
$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,27
$R_STBD_OVSHOOT,28
$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
$GPS1,210154,2107.427,-15752.498,16,1.2,16,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-74.9
$GPS2,210724,2107.420,-15752.489,17,1.3,17,9.8
$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,90.4,16803,-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,-146.0,0.0,0.0,0,100,0.00,0.00,-77.57,0.000,6,0.000,0.000,28,1987,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-7.3,13,118,9.48,2.17,0.00,0.000,4,0.232,0.048,2393,3377,3396,0,0,0,0,0,0
$GC,175,-0.74,-146.0,24.3,-19.3,25,182,0.00,2.25,0.00,0.000,6,0.000,0.041,2393,1962,3398,0,0,0,0,0,0
$GC,345,-0.74,-146.0,50.7,-11.8,56,352,0.00,2.25,0.00,0.000,4,0.000,0.057,2393,560,3398,0,0,0,0,0,0
$GC,485,-0.74,-146.0,69.9,-14.1,81,490,0.00,2.17,0.00,0.000,6,0.000,0.038,2383,1975,3398,0,0,0,0,0,0
$GC,813,-0.74,-146.0,114.8,-11.3,118,820,0.10,2.20,0.00,0.000,4,0.178,0.056,2399,3378,3399,0,0,0,0,0,0
$GC,850,-0.74,-146.0,119.0,-11.3,121,854,0.00,2.17,0.00,0.000,6,0.000,0.040,2399,1962,3400,0,0,0,0,0,0
$GC,1178,-0.74,-146.0,155.8,-10.1,151,1182,0.00,2.20,0.00,0.000,4,0.000,0.052,2390,3372,3401,0,0,0,0,0,0
$GC,1220,-0.74,-146.0,160.2,-10.4,154,1224,0.00,2.17,0.00,0.000,6,0.000,0.040,2390,1963,3401,0,0,0,0,0,0
$GC,1547,-0.74,-146.0,196.5,-8.2,184,1551,0.00,2.17,0.00,0.000,4,0.000,0.053,2390,560,3402,0,0,0,0,0,0
$GC,1804,-0.74,-146.0,219.7,-9.1,196,1811,0.12,2.12,0.00,0.000,6,0.168,0.039,2413,1972,3402,0,0,0,0,0,0
$GC,2119,-0.74,-146.0,244.7,-7.4,212,2124,0.00,2.22,0.00,0.000,4,0.000,0.057,2413,564,3402,0,0,0,0,0,0
$GC,2377,-0.74,-146.0,268.8,-9.9,223,2381,0.00,2.12,0.00,0.000,6,0.000,0.041,2405,1969,3402,0,0,0,0,0,0
$GC,2692,-0.74,-146.0,298.2,-9.2,238,2696,0.00,2.25,0.00,0.000,4,0.000,0.058,2406,560,3401,0,0,0,0,0,0
$GC,2950,-0.74,-146.0,325.2,-11.0,244,2956,0.00,2.17,0.00,0.000,6,0.000,0.043,2396,1972,3401,0,0,0,0,0,0
$GC,3282,-0.74,-146.0,355.0,-8.4,253,3286,0.00,2.25,0.00,0.000,4,0.000,0.061,2396,561,3399,0,0,0,0,0,0
$GC,3468,-0.74,-146.0,370.4,-8.2,257,3472,0.00,2.17,0.00,0.000,6,0.000,0.046,2386,1968,3398,0,0,0,0,0,0
$GC,3782,-0.74,-146.0,393.1,-6.8,265,3786,0.00,2.28,0.00,0.000,4,0.000,0.061,2386,565,3397,0,0,0,0,0,0
$GC,3837,-0.74,-146.0,397.2,-7.8,266,3842,0.12,2.17,0.00,0.000,6,0.164,0.047,2411,1968,3396,0,0,0,0,0,0
$GC,4187,-0.74,-146.0,418.5,-6.2,275,4188,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1968,3394,0,0,0,0,0,0
$GC,4511,-0.74,-146.0,440.3,-6.8,283,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,1969,3393,0,0,0,0,0,0
$STATE,4671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4672,begin apogee
$GC,4678,-0.17,0.0,451.4,6.8,287,4799,0.55,0.00,118.10,0.795,6,0.116,0.000,2595,1969,2799,0,0,0,0,0,0
$STATE,4800,end apogee,CONTROL_FINISHED_OK
$STATE,4800,begin climb
$GC,4803,0.74,146.0,453.6,0.0,290,4932,0.85,0.00,126.12,0.765,6,0.091,0.000,2886,1969,2204,0,0,0,0,0,0
$GC,5237,0.74,146.0,403.0,12.8,301,5241,0.00,2.30,0.00,0.000,4,0.000,0.067,2895,565,2194,0,0,0,0,0,0
$GC,5265,0.74,146.0,399.5,11.6,301,5269,0.00,2.25,0.00,0.000,6,0.000,0.047,2895,1978,2194,0,0,0,0,0,0
$GC,5596,0.74,146.0,359.8,11.7,309,5597,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1978,2192,0,0,0,0,0,0
$GC,5921,0.74,146.0,314.4,14.4,317,5925,0.00,2.28,0.00,0.000,4,0.000,0.061,2906,563,2190,0,0,0,0,0,0
$GC,5948,0.74,146.0,310.4,14.6,317,5952,0.00,2.20,0.00,0.000,6,0.000,0.041,2905,1986,2189,0,0,0,0,0,0
$GC,6262,0.74,146.0,265.0,14.4,330,6266,0.00,2.25,0.00,0.000,4,0.000,0.059,2915,564,2189,0,0,0,0,0,0
$GC,6294,0.74,146.0,259.6,17.0,331,6300,0.00,2.20,0.00,0.000,6,0.000,0.041,2915,1985,2189,0,0,0,0,0,0
$GC,6610,0.74,146.0,214.8,14.9,347,6611,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1986,2188,0,0,0,0,0,0
$GC,6927,0.74,146.0,174.2,12.4,371,6931,0.00,2.22,0.00,0.000,4,0.000,0.058,2924,566,2188,0,0,0,0,0,0
$GC,7021,0.74,146.0,162.4,13.3,379,7026,0.12,2.17,0.00,0.000,6,0.150,0.041,2890,1982,2186,0,0,0,0,0,0
$GC,7348,0.74,146.0,123.9,13.0,409,7352,0.00,2.17,0.00,0.000,4,0.000,0.057,2890,3385,2187,0,0,0,0,0,0
$GC,7423,0.74,146.0,113.4,12.7,415,7430,0.00,2.22,0.00,0.000,6,0.000,0.049,2896,1980,2186,0,0,0,0,0,0
$GC,7751,0.74,146.0,80.2,9.4,446,7755,0.00,2.20,0.00,0.000,4,0.000,0.060,2907,565,2186,0,0,0,0,0,0
$GC,7840,0.74,146.0,70.7,10.5,461,7845,0.00,2.17,0.00,0.000,6,0.000,0.044,2907,1972,2186,0,0,0,0,0,0
$GC,8173,0.74,146.0,31.5,11.2,522,8180,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,1974,2186,0,0,0,0,0,0
$STATE,8454,end climb,SURFACE_DEPTH_REACHED
$STATE,8454,begin surface coast
$FINISH,0.2,1.023413
$STATE,8487,end surface coast,CONTROL_FINISHED_OK
$STATE,8487,begin surface
$SM_CCo,8505,69.22,0.471,0,0,1575,300.24
$SM_GC,1.36,0.00,0.00,69.22,0.000,0.000,0.471,30,1976,1575,-8.19,0.25,300.24
$IRIDIUM_FIX,2054.83,-15749.62,220702,181815
$TT8_MAMPS,0.028379
$HUMID,62.75
$INTERNAL_PRESSURE,9.34332
$TCM_TEMP,23.00
$XPDR_PINGS,1
$24V_AH,24.6,2.649
$10V_AH,10.6,2.847
$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,18.575,66.200,244.225,69.225,0.000,24.598,34.145,146.110,19.000,0.000,18.207,1076.810,5109.294,412.226,1889.827,417.388,0.000,1042.674,0.000,1847.065,0.000,121.092,0.000
$DEVICE_MAMPS,232.401,66.729,794.612,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,395.962,329.835,1133.736,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,31841,581
$CAP_FILE_SIZE,87557,0
$CFSIZE,260165632,253874176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,270413,233152,2107.348,-15750.792,38,0.8,38,9.8