version: 67.00
glider: 528
mission: 4
dive: 4
start: 4 5 123 19 1 57
data:
$ID,528
$MISSION,4
$DIVE,4
$N_DIVES,4
$STOP_T,0
$D_SURF,2
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,0
$T_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,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,56000
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,613.25
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,7
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,131
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$NETBOX,1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,0
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$RAFOS_MMODEM,0
$PITCH_MIN,200
$PITCH_MAX,3970
$C_PITCH,2150
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$PITCH_GAIN,45
$PITCH_TIMEOUT,20
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$C_PITCH_AUTO_DELTA,0
$C_PITCH_AUTO_MAX,0
$PITCH_GAIN_AUTO_DELTA,0
$PITCH_GAIN_AUTO_MAX,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$ROLL_MIN,225
$ROLL_MAX,3500
$ROLL_DEG,40
$C_ROLL_DIVE,1750
$C_ROLL_CLIMB,1700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,3200
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$C_VBD_AUTO_DELTA,0
$C_VBD_AUTO_MAX,0
$W_ADJ_DBAND,0
$DBDW,0
$LOITER_W_DBAND,0
$LOITER_DBDW,0
$LOITER_D_TOP,0
$LOITER_D_BOTTOM,0
$LOITER_N_DIVE,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,5
$MAXI_10V,1.5
$FG_AHR_10V,0.87156373
$FG_AHR_24V,4.372354
$PHONE_SUPPLY,2
$PRESSURE_YINT,-175.34706
$PRESSURE_SLOPE,0.00021603379
$COMPASS_USE,16388
$ALTIM_PING_FIT,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,4
$XPDR_INHIBIT,90
$XPDR_INT,0
$XPDR_REP,0
$INT_PRESSURE_SLOPE,1.9639999e-06
$INT_PRESSURE_YINT,3
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,6
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,7
$LOGGERDEVICE1,6
$LOGGERDEVICE2,19
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,34
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,33
$GPS_DEVICE,48
$RAFOS_DEVICE,-1
$NAV_DEVICE,-1
$NAV2_DEVICE,-1
$NETWORK_DEVICE,-1
$PRESSURE_DEVICE,41
$XPDR_DEVICE,21
$SIM_W,0
$SEABIRD_T_G,0.0044244844
$SEABIRD_T_H,0.00064698409
$SEABIRD_T_I,2.7614331e-05
$SEABIRD_T_J,3.4337004e-06
$SEABIRD_C_G,-9.9323845
$SEABIRD_C_H,1.1413088
$SEABIRD_C_I,-0.0018536064
$SEABIRD_C_J,0.00022970721
$OPTIONS,0
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$SC_NDIVE,1.0
$TM_RECORDABOVE,2000.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_NDIVE,1.0
$TM_XMITRAW,0.0
$TM_LOGSAMPLE,0.0
$GPS1,050423,185853,4744.933,-12223.582,1,1.2,3,15.3
$_CALLS,1
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-47.4
$GPS2,050423,190132,4744.945,-12223.569,8,0.9,21,15.3
$SPEED_LIMITS,0.173,0.258
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$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,198.7,3216,-17.6,-10.000,-21.21,2209,0.169
$D_GRID,132
$IRON,1.000000,0.000000,0.000000,0.000000,1.000000,0.000000,0.000000,0.000000,1.000000,78.000000,20.000000,8.000000
$OSC,8000348
$GCHEAD,st_secs,flags,vbd_ctl,pitch_ctl,roll_ctl,vbd_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,pitch_ad_start,roll_ad_start,depth,ob_vertv,data_pts,end_secs,vbd_secs,pitch_secs,roll_secs,vbd_i,pitch_i,roll_i,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_ad,roll_ad,vbd_errors,pitch_errors,roll_errors,vbd_volts,pitch_volts,roll_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15.15,16386,-146.63,-0.57,0.00,697.1,548.7,845.4,202.1,1762.4,0.00,0.00,0,181.72,116.84,0.00,0.05,0.005,0.000,0.341,3796.75,4053.25,3540.25,201.94,1731.06,0,0,0,15.53,30.00,15.81
$GC,182.24,2597,-146.63,-0.57,-40.00,3798.1,4055.8,3540.4,202.0,1730.9,2.49,-3.95,27,206.21,0.00,5.59,1.88,0.000,0.384,0.139,3799.50,4058.75,3540.25,1968.31,325.06,0,0,0,30.00,15.58,15.72
$GC,214.86,3205,-146.63,-0.01,0.00,3801.0,4062.1,3539.9,1967.8,318.8,12.71,-19.97,30,226.77,0.00,0.40,1.94,0.000,0.184,0.160,3801.75,4061.88,3541.62,2147.19,1755.75,0,0,0,30.00,15.69,15.69
$GC,414.75,4257,-146.63,-0.30,0.00,3801.2,4062.4,3540.1,2147.5,1755.7,25.70,-5.71,56,424.87,0.00,0.21,0.00,0.000,0.114,0.000,3802.56,4062.81,3542.31,2042.38,1755.31,0,0,0,30.00,15.77,30.00
$GC,605.96,4773,-146.63,-0.44,-40.00,3801.2,4062.4,3540.1,2043.1,1755.4,34.59,-3.80,81,617.85,0.00,0.09,1.90,0.000,0.104,0.166,3800.88,4062.69,3539.06,2000.00,325.31,0,0,0,30.00,15.77,15.58
$GC,709.40,1188,-146.63,-0.49,0.00,3801.6,4063.0,3540.1,1999.8,325.2,39.50,-5.01,94,720.94,0.00,0.00,1.88,0.000,0.000,0.155,3800.97,4062.62,3539.31,1999.94,1756.81,0,0,0,30.00,30.00,15.59
$GC,901.98,420,-146.63,-0.51,40.00,3801.6,4062.8,3540.4,1999.6,1757.1,53.52,-8.24,119,913.62,0.00,0.00,1.84,0.000,0.000,0.163,3803.31,4063.56,3543.06,1998.62,3170.56,0,0,0,30.00,30.00,15.43
$GC,967.32,1188,-146.63,-0.57,0.00,3801.6,4062.8,3540.4,1999.8,3170.8,58.90,-8.15,127,978.75,0.00,0.00,1.80,0.000,0.000,0.123,3801.59,4062.75,3540.44,1999.62,1733.44,0,0,0,30.00,30.00,15.58
$GC,1160.89,4773,-146.63,-0.59,-40.00,3801.6,4062.9,3540.4,1999.4,1730.0,74.13,-8.47,152,1172.79,0.00,0.10,1.82,0.000,0.104,0.149,3800.97,4062.44,3539.50,1948.94,326.81,0,0,0,30.00,15.76,15.59
$GC,1181.15,1060,-146.63,-0.59,0.00,3801.4,4062.8,3540.0,1949.4,326.8,75.84,-8.47,154,1192.80,0.00,0.00,1.89,0.000,0.000,0.145,3801.41,4062.81,3540.00,1949.19,1757.00,0,0,0,30.00,30.00,15.56
$GC,1374.67,420,-146.63,-0.54,40.00,3801.5,4062.7,3540.2,1949.1,1756.9,94.98,-9.71,179,1386.31,0.00,0.00,1.85,0.000,0.000,0.161,3801.12,4062.38,3539.88,1945.50,3172.31,0,0,0,30.00,30.00,15.54
$GC,1409.92,3237,-146.63,-0.49,0.00,3801.3,4062.6,3540.1,1945.1,3172.8,98.26,-9.36,183,1421.84,0.00,0.12,1.83,0.000,0.208,0.130,3801.25,4062.81,3539.69,1995.62,1739.75,0,0,0,30.00,15.64,15.54
$GC,1607.75,420,-146.63,-0.51,40.00,3801.2,4062.7,3539.7,1995.0,1732.9,111.99,-7.59,203,1615.27,0.00,0.00,1.89,0.000,0.000,0.162,3801.38,4062.44,3540.31,1988.81,3170.50,0,0,0,30.00,30.00,15.54
$GC,1655.96,1188,-146.63,-0.54,0.00,3801.6,4062.7,3540.5,1989.2,3171.1,115.14,-6.08,211,1668.36,0.00,0.00,1.80,0.000,0.000,0.120,3802.12,4062.69,3541.56,1989.00,1732.12,0,0,0,30.00,30.00,15.52
$STATE,1906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1906,begin apogee
$GC,1908.06,10243,0.00,-0.11,0.00,3801.4,4062.5,3540.4,1989.4,1678.2,132.16,-5.84,236,2035.87,82.14,0.29,0.05,1.056,0.186,0.252,3196.19,3265.75,3126.62,2118.06,1707.19,0,0,0,11.98,15.65,15.19
$WARN,HTMICL TMICL logging already stopped
$STATE,2044,end apogee,CONTROL_FINISHED_OK
$STATE,2044,begin climb
$GC,2044.17,10759,146.63,0.57,-40.00,3195.1,3263.6,3126.6,2117.6,1707.1,132.70,0.00,248,2173.05,80.91,0.47,1.99,1.033,0.130,0.172,2598.19,2588.81,2607.56,2344.38,278.44,0,0,0,12.01,15.35,15.00
$GC,2210.85,17414,146.63,0.57,0.00,2594.1,2580.9,2607.2,2344.0,278.1,114.52,13.00,278,2218.15,0.00,0.00,1.90,0.000,0.000,0.145,2592.06,2579.19,2604.94,2344.50,1707.81,0,0,0,30.00,30.00,15.24
$GC,2521.71,16774,146.63,0.53,40.00,2593.0,2579.2,2606.8,2344.8,1708.3,70.47,14.56,329,2528.12,0.00,0.00,1.83,0.000,0.000,0.151,2594.00,2579.31,2608.69,2345.38,3120.56,0,0,0,30.00,30.00,15.50
$GC,2546.09,21639,146.63,0.46,0.00,2591.2,2575.2,2607.1,2344.7,3120.6,66.71,15.03,334,2553.40,0.00,0.15,1.84,0.000,0.232,0.133,2590.62,2576.19,2605.06,2291.31,1690.25,0,0,0,30.00,15.62,15.51
$GC,2736.44,8870,173.62,0.53,-40.00,2591.2,2575.6,2606.8,2291.8,1682.4,48.27,8.75,372,2780.57,23.11,0.00,1.84,0.861,0.000,0.150,2488.78,2490.75,2486.81,2295.75,277.38,0,0,0,12.18,30.00,15.37
$GC,2803.62,11431,196.72,0.63,0.00,2487.1,2487.9,2486.2,2295.1,277.1,42.32,8.93,385,2842.84,21.12,0.12,1.87,0.844,0.089,0.140,2394.53,2397.06,2392.00,2357.38,1708.38,0,0,0,12.15,15.60,15.45
$GC,3025.81,388,196.72,0.61,40.00,2391.8,2392.4,2391.3,2356.8,1708.4,14.41,12.71,429,3032.97,0.00,0.00,1.84,0.000,0.000,0.153,2392.44,2391.56,2393.31,2356.38,3122.88,0,0,0,30.00,30.00,15.49
$GC,3070.79,1028,196.72,0.61,0.00,2390.0,2389.0,2390.9,2356.6,3122.8,8.29,13.20,438,3077.99,0.00,0.00,1.85,0.000,0.000,0.131,2390.88,2389.56,2392.19,2363.31,1686.50,0,0,0,30.00,30.00,15.51
$STATE,3121,end climb,SURFACE_DEPTH_REACHED
$STATE,3122,begin surface coast
$FINISH,0.4,1.022920
$STATE,3142,end surface coast,CONTROL_FINISHED_OK
$STATE,3142,begin surface
$WARN,HTMICL TMICL logging already stopped
$SURF,forcing
$SM_CCo,3564.18,288.28,0.882,0,699.9,557.6,842.2,613.27
$SM_GC,1.01,288.28,4.28,0.12,0.882,0.076,0.142,699.9,557.6,842.2,190.9,1758.4,0,0,0,12.10,15.71,15.71
$SUPER,19,71,254,1,0,0
$IRIDIUM_FIX,4745.33,-12219.67,050423,185620
$TCM_TEMP,12.30
$XPDR_PINGS,19,12.0,11.5
$SC_FREEKB,3873472
$TM_FREEKB,7631968
$HUMID,52.96
$TEMP,9.09
$INTERNAL_PRESSURE,8.21591
$24V_AH,14.65,3.031
$10V_AH,14.68,0.000
$FG_AHR_24Vo,4.569
$FG_AHR_10Vo,1.002
$DEVICES,VBD_pump,Pitch_motor,Roll_motor,Iridium,Transponder_ping,GPS,Core,Fast,Slow,LPSleep,Compass,RAFOS,Transponder,Compass2,network
$DEVICE_SECS,612.405,11.805,37.595,0.000,4.750,30.679,290.372,0.002,0.000,573.068,1860.681,0.000,0.000,0.000,0.000
$DEVICE_MAMPS,1055.584,384.168,341.200,0.000,420.000,15.000,6.800,0.000,0.000,2.000,5.000,0.000,0.000,0.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1103.000,3138.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,120.423,10.349,0.000,0.000
$MEM0,60116,1,0,0
$MEM1,65508,1,0,0
$MEM2,997416,25,49392,63
$DATA_FILE_SIZE,12912,452
$CAP_FILE_SIZE,197838,0
$SDSIZE,3887104,3873312
$SDFILEDIR,63,5
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105,169.7,1
$MAGCAL,1.000000,0.009483,-0.000054,-0.000357,1.034653,0.015111,0.012528,-0.004095,1.031669,77.6,10.6,-2.2,20,0.0091,0
$IMPLIED_C_PITCH,2118,28.83,118,0.0,0.00
$IMPLIED_C_VBD,3244,29.877743,118,0
$GPS,050423,200138,4744.679,-12223.766,1,1.2,3,15.3