version: 66.12
glider: 526
mission: 2
dive: 4
start: 2 24 116 19 20 59
data:
$ID,526
$MISSION,2
$DIVE,4
$N_DIVES,6
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,180
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$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,720
$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
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52070
$MASS_COMP,0
$NAV_MODE,2
$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,4212
$TGT_DEFAULT_LON,-7043
$TGT_AUTO_DEFAULT,0
$SM_CC,690.56537
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3750
$C_PITCH,3120
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,210
$ROLL_MAX,3904
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,11
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$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,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,0
$MINV_24V,11
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-57.25708
$PRESSURE_SLOPE,0.00011645618
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,130
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.68000001
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043210285
$SEABIRD_T_H,0.0006243544
$SEABIRD_T_I,2.3515197e-05
$SEABIRD_T_J,2.5115917e-06
$SEABIRD_C_G,-10.183885
$SEABIRD_C_H,1.154102
$SEABIRD_C_I,-0.0015414675
$SEABIRD_C_J,0.00020539343
$GPS1,240216,191747,4743.7803,-12224.3447,5,0.8,16,16.3,0.0,142.9,10,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.79
$_SM_ANGLEo,-74.8
$GPS2,240216,192034,4743.7676,-12224.3408,9,0.8,18,16.3,0.0,181.5,10,9.9
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,201.9,959,-18.2,-10.000,-20.99,2236
$D_GRID,173
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.79,-146.6,201,2300,381,423,0.0,0.0,0,122,0.00,0.00,-105.00,0.000,16386,0.000,0.000,201,2300,2839,2790,2888,0,0,0,0,0,0,14.84,28.83,14.89
$GC,125,-0.79,-146.6,201,2300,2790,2890,3.6,-9.7,19,157,13.73,2.92,-11.45,0.000,18948,0.462,2.242,2860,894,3399,3333,3466,0,0,0,0,0,0,14.42,13.72,14.69
$GC,384,-0.66,-146.6,2860,894,3333,3473,53.8,-18.5,69,390,0.22,2.65,0.00,0.000,3078,0.275,0.160,2906,2305,3402,3333,3472,0,0,0,0,0,0,14.57,14.61,14.74
$GC,576,-0.66,-146.6,2905,2304,3332,3472,80.1,-13.4,89,577,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,2305,3402,3332,3472,0,0,0,0,0,0,14.92,14.98,14.97
$GC,756,-0.66,-146.6,2905,2304,3332,3472,105.0,-13.4,107,761,0.00,2.70,0.00,0.000,260,0.000,0.185,2897,3712,3401,3330,3473,0,0,0,0,0,0,14.96,14.69,15.01
$GC,813,-0.66,-146.6,2897,3712,3328,3472,112.0,-12.0,118,822,0.00,2.50,0.00,0.000,1030,0.000,0.116,2897,2304,3400,3328,3472,0,0,0,0,0,0,14.85,14.73,14.87
$GC,1003,-0.66,-146.6,2897,2304,3328,3472,136.1,-13.4,138,1012,0.00,2.55,0.00,0.000,516,0.000,0.138,2897,882,3401,3329,3473,0,0,0,0,0,0,15.00,14.73,15.04
$GC,1065,-0.74,-146.6,2897,882,3329,3473,144.5,-12.9,150,1074,0.00,2.65,0.00,0.000,1030,0.000,0.159,2888,2306,3400,3329,3472,0,0,0,0,0,0,14.86,14.72,14.88
$STATE,1112,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1113,begin apogee
$GC,1116,-0.17,0.0,2887,2402,3329,3472,151.1,-13.4,156,1257,0.65,0.00,133.23,1.119,10246,0.245,0.000,3064,2400,2789,2669,2909,0,0,0,0,0,0,14.69,14.16,13.68
$STATE,1258,end apogee,CONTROL_FINISHED_OK
$STATE,1258,begin climb
$GC,1259,0.79,146.6,3064,2401,2659,2909,156.6,0.0,170,1398,1.00,2.67,129.60,1.062,10756,0.164,0.097,3377,974,2189,2058,2320,0,0,0,0,0,0,14.11,14.04,13.61
$GC,1421,0.78,179.0,3377,974,2048,2306,149.2,8.5,202,1454,0.00,2.62,27.12,1.036,9222,0.000,0.105,3378,2413,2069,1935,2203,0,0,0,0,0,0,14.26,14.16,13.69
$GC,1635,0.78,179.0,3377,2412,1907,2171,127.8,10.3,227,1636,0.00,0.00,0.00,0.000,6,0.000,0.000,3377,2413,2039,1908,2171,0,0,0,0,0,0,14.69,14.75,14.74
$GC,1815,0.78,179.0,3377,2412,1907,2170,109.4,10.2,245,1816,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2413,2038,1907,2169,0,0,0,0,0,0,14.82,14.88,14.87
$GC,1995,0.80,201.0,3377,2413,1907,2169,92.4,9.0,263,2018,0.00,2.62,16.33,1.028,8452,0.000,0.138,3377,3810,1967,1835,2100,0,0,0,0,0,0,14.90,14.53,14.16
$GC,2089,0.73,201.0,3377,3810,1826,2094,81.5,12.3,282,2096,0.15,2.45,0.00,0.000,5126,0.270,0.083,3354,2385,1959,1825,2094,0,0,0,0,0,0,14.54,14.62,14.70
$GC,2276,0.84,211.9,3355,2385,1822,2093,62.8,9.5,301,2287,0.12,0.00,2.72,0.518,10246,0.142,0.000,3399,2384,1934,1798,2071,0,0,0,0,0,0,14.73,14.67,14.12
$GC,2465,0.81,229.5,3398,2384,1810,2072,42.6,9.2,327,2495,0.00,2.42,16.70,0.953,8708,0.000,0.097,3409,984,1863,1725,2002,0,0,0,0,1,0,14.94,14.61,14.07
$GC,2531,0.81,229.5,3409,984,1728,2002,35.1,11.9,339,2538,0.00,2.50,0.00,0.000,1030,0.000,0.110,3409,2397,1865,1728,2002,0,0,0,0,0,0,14.72,14.62,14.74
$GC,2720,0.85,264.0,3408,2397,1736,2002,13.8,8.4,376,2745,0.00,2.67,19.35,0.191,8452,0.000,0.143,3409,3820,1722,1578,1867,0,0,0,0,0,0,14.90,14.62,14.61
$STATE,2831,end climb,SURFACE_DEPTH_REACHED
$STATE,2831,begin surface coast
$FINISH,0.9,1.020256
$STATE,2857,end surface coast,CONTROL_FINISHED_OK
$STATE,2857,begin surface
$SM_CCo,2876,155.73,0.135,0,0,399,588.71
$SM_CCo,3034,-0.15,0.000,0,0,401,588.71
$SM_CCo,3037,0.20,0.177,0,0,399,588.71
$SM_GC,0.78,9.77,2.65,0.20,0.122,0.079,0.177,195,2293,399,-9.10,0.59,588.71,0,0,0,0,0,0,14.68,14.71,14.56
$IRIDIUM_FIX,4726.11,-12226.80,240216,191407
$TT8_MAMPS,0.024717,0.156541
$HUMID,45.15
$INTERNAL_PRESSURE,9.09829
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.8,55.4
$24V_AH,13.61,1.418
$10V_AH,12.82,0.000
$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,25.650,36.800,345.050,155.925,0.000,0.000,0.000,0.000,0.500,0.000,19.639,825.946,1068.711,589.715,604.056,25.754,0.000,964.631,0.000,582.848,0.000,5.577,0.000
$DEVICE_MAMPS,462.060,2242.215,1119.195,176.715,0.000,0.000,0.000,0.000,420.000,0.000,50.000,17.560,2.190,17.560,37.030,47.520,0.000,13.900,0.000,17.230,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,238.244,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312740
$DATA_FILE_SIZE,16835,402
$CAP_FILE_SIZE,61369,0
$CFSIZE,2097872896,2095284224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,2,0
$CURRENT,0.059,6.40,1
$GPS,240216,201235,4743.553,-12224.531,8,1.0,24,16.3,0.0,0.0,7,9.1