version: 66.06
glider: 523
mission: 4
dive: 27
start: 4 27 113 23 37 28
data:
$ID,523
$MISSION,4
$DIVE,27
$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,-36435.973
$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,25
$R_STBD_OVSHOOT,27
$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
$GPS1,233152,2107.348,-15750.792,38,0.8,38,9.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-75.8
$GPS2,233711,2107.349,-15750.784,14,1.3,14,9.8
$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,92.0,13886,-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,-77.45,0.000,6,0.000,0.000,30,1977,3395,0,0,0,0,0,0
$GC,103,-0.74,-146.0,4.0,-7.2,13,118,9.45,2.17,0.00,0.000,4,0.231,0.045,2398,3379,3395,0,0,0,0,0,0
$GC,227,-0.74,-146.0,30.5,-12.7,36,235,0.00,2.25,0.00,0.000,6,0.000,0.042,2398,1963,3397,0,0,0,0,0,0
$GC,563,-0.74,-146.0,74.9,-13.2,97,568,0.00,2.22,0.00,0.000,4,0.000,0.056,2398,550,3399,0,0,0,0,0,0
$GC,632,-0.74,-146.0,84.9,-13.6,107,643,0.00,2.20,0.00,0.000,6,0.000,0.037,2389,1977,3399,0,0,0,0,0,0
$GC,959,-0.74,-146.0,128.6,-12.4,138,963,0.00,2.22,0.00,0.000,4,0.000,0.053,2389,553,3400,0,0,0,0,0,0
$GC,990,-0.74,-146.0,132.8,-13.8,140,994,0.12,2.15,0.00,0.000,6,0.173,0.036,2412,1973,3400,0,0,0,0,0,0
$GC,1317,-0.74,-146.0,170.0,-10.5,170,1321,0.00,2.25,0.00,0.000,4,0.000,0.054,2412,554,3401,0,0,0,0,0,0
$GC,1424,-0.74,-146.0,183.0,-12.1,179,1428,0.00,2.15,0.00,0.000,6,0.000,0.036,2404,1974,3401,0,0,0,0,0,0
$GC,1744,-0.74,-146.0,216.1,-9.8,201,1748,0.00,2.22,0.00,0.000,4,0.000,0.053,2404,550,3401,0,0,0,0,0,0
$GC,1845,-0.74,-146.0,226.9,-11.1,205,1851,0.00,2.15,0.00,0.000,6,0.000,0.036,2395,1968,3401,0,0,0,0,0,0
$GC,2163,-0.74,-146.0,252.7,-7.2,221,2167,0.00,2.20,0.00,0.000,4,0.000,0.057,2384,3371,3401,0,0,0,0,0,0
$GC,2191,-0.74,-146.0,254.9,-7.4,222,2195,0.00,2.15,0.00,0.000,6,0.000,0.041,2384,1963,3401,0,0,0,0,0,0
$GC,2513,-0.74,-146.0,277.4,-7.3,238,2517,0.00,2.17,0.00,0.000,4,0.000,0.058,2384,564,3402,0,0,0,0,0,0
$GC,2593,-0.74,-146.0,284.6,-9.3,241,2600,0.12,2.15,0.00,0.000,6,0.164,0.041,2408,1971,3401,0,0,0,0,0,0
$GC,2930,-0.74,-146.0,310.6,-7.8,255,2934,0.00,2.20,0.00,0.000,4,0.000,0.058,2400,3373,3401,0,0,0,0,0,0
$GC,2969,-0.74,-146.0,313.9,-7.7,256,2973,0.00,2.17,0.00,0.000,6,0.000,0.040,2400,1961,3402,0,0,0,0,0,0
$GC,3296,-0.74,-146.0,338.4,-7.5,264,3300,0.00,2.20,0.00,0.000,4,0.000,0.063,2400,558,3399,0,0,0,0,0,0
$GC,3391,-0.74,-146.0,346.8,-8.6,266,3395,0.00,2.17,0.00,0.000,6,0.000,0.045,2390,1963,3398,0,0,0,0,0,0
$GC,3707,-0.74,-146.0,370.5,-7.4,274,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,1964,3397,0,0,0,0,0,0
$GC,4031,-0.74,-146.0,397.4,-8.8,282,4035,0.00,2.20,0.00,0.000,4,0.000,0.058,2380,3380,3394,0,0,0,0,0,0
$GC,4121,-0.74,-146.0,405.5,-8.7,284,4126,0.12,2.17,0.00,0.000,6,0.147,0.045,2414,1970,3394,0,0,0,0,0,0
$GC,4443,-0.74,-146.0,424.9,-5.9,292,4448,0.00,2.20,0.00,0.000,4,0.000,0.058,2415,549,3393,0,0,0,0,0,0
$GC,4646,-0.74,-146.0,440.3,-8.7,296,4650,0.00,2.20,0.00,0.000,6,0.000,0.047,2408,1970,3391,0,0,0,0,0,0
$STATE,4783,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4783,begin apogee
$GC,4789,-0.17,0.0,450.6,7.5,300,4910,0.57,0.00,117.97,0.802,6,0.119,0.000,2597,1971,2800,0,0,0,0,0,0
$STATE,4911,end apogee,CONTROL_FINISHED_OK
$STATE,4911,begin climb
$GC,4913,0.74,146.0,452.4,0.0,303,5048,0.82,2.35,125.05,0.769,4,0.074,0.054,2884,3387,2202,0,0,0,0,0,0
$GC,5059,0.74,146.0,438.0,13.1,306,5063,0.00,2.33,0.00,0.000,6,0.000,0.050,2893,1983,2200,0,0,0,0,0,0
$GC,5396,0.74,146.0,391.4,13.4,315,5400,0.00,2.28,0.00,0.000,4,0.000,0.062,2904,558,2194,0,0,0,0,0,0
$GC,5485,0.74,146.0,378.4,14.8,317,5489,0.00,2.25,0.00,0.000,6,0.000,0.048,2903,1978,2194,0,0,0,0,0,0
$GC,5809,0.74,146.0,329.1,15.5,325,5810,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1978,2192,0,0,0,0,0,0
$GC,6114,0.74,146.0,288.1,12.8,334,6118,0.00,2.20,0.00,0.000,4,0.000,0.058,2904,3383,2191,0,0,0,0,0,0
$GC,6142,0.74,146.0,284.4,13.2,335,6146,0.00,2.22,0.00,0.000,6,0.000,0.048,2914,1956,2190,0,0,0,0,0,0
$GC,6457,0.74,146.0,238.5,15.6,350,6461,0.00,2.20,0.00,0.000,4,0.000,0.062,2924,562,2189,0,0,0,0,0,0
$GC,6520,0.74,146.0,228.3,16.4,353,6525,0.12,2.20,0.00,0.000,6,0.154,0.042,2891,1984,2189,0,0,0,0,0,0
$GC,6843,0.74,146.0,184.3,12.0,374,6847,0.00,2.22,0.00,0.000,4,0.000,0.058,2899,565,2188,0,0,0,0,0,0
$GC,6885,0.74,146.0,179.4,11.2,377,6889,0.00,2.17,0.00,0.000,6,0.000,0.041,2899,1977,2188,0,0,0,0,0,0
$GC,7211,0.74,146.0,144.3,12.7,407,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1977,2187,0,0,0,0,0,0
$GC,7532,0.74,146.0,109.3,10.6,437,7536,0.00,2.15,0.00,0.000,4,0.000,0.055,2899,3381,2188,0,0,0,0,0,0
$GC,7572,0.74,146.0,105.4,9.4,440,7576,0.00,2.17,0.00,0.000,6,0.000,0.043,2908,1972,2187,0,0,0,0,0,0
$GC,7899,0.74,146.0,69.9,12.6,477,7905,0.00,2.20,0.00,0.000,4,0.000,0.058,2918,560,2187,0,0,0,0,0,0
$GC,7956,0.74,146.0,62.6,13.4,487,7962,0.12,2.17,0.00,0.000,6,0.151,0.039,2883,1984,2187,0,0,0,0,0,0
$GC,8286,0.76,164.6,31.7,8.3,548,8305,0.00,0.00,14.20,0.482,6,0.000,0.000,2883,1985,2128,0,0,0,0,0,0
$GC,8618,0.80,198.6,4.8,7.6,611,8646,0.00,0.20,24.98,0.469,3,0.000,0.070,2883,2140,1989,0,0,0,0,0,0
$STATE,8647,end climb,SURFACE_DEPTH_REACHED
$STATE,8647,begin surface coast
$FINISH,0.3,1.023409
$STATE,8684,end surface coast,CONTROL_FINISHED_OK
$STATE,8684,begin surface
$SM_CCo,8702,45.00,0.459,0,0,1575,300.24
$SM_GC,1.16,0.00,0.00,45.00,0.000,0.000,0.459,26,1934,1575,-8.20,-0.96,300.24
$IRIDIUM_FIX,2057.14,-15801.19,220702,212130
$TT8_MAMPS,0.027612
$HUMID,62.12
$INTERNAL_PRESSURE,9.35308
$TCM_TEMP,23.40
$XPDR_PINGS,1
$24V_AH,24.6,2.728
$10V_AH,10.5,2.937
$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,18.775,79.800,282.200,45.000,0.000,27.089,37.224,136.351,19.000,0.000,15.169,1129.947,5123.389,377.003,2014.102,424.544,0.000,1083.907,0.000,1972.488,0.000,123.056,0.000
$DEVICE_MAMPS,230.867,69.797,801.515,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,423.886,353.668,1229.308,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,35069,622
$CAP_FILE_SIZE,96381,0
$CFSIZE,260165632,253816832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$GPS,280413,020417,2106.898,-15749.650,23,0.8,23,9.8