version: 66.12
glider: 526
mission: 2
dive: 5
start: 2 24 116 20 16 32
data:
$ID,526
$MISSION,2
$DIVE,5
$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,25
$R_STBD_OVSHOOT,12
$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
$GPS1,240216,201235,4743.5527,-12224.5312,8,1.0,24,16.3,0.0,0.0,7,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-74.8
$GPS2,240216,201604,4743.5215,-12224.5283,10,1.0,24,16.3,0.0,184.5,7,9.5
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,234.2,589,-22.3,-10.000,-24.75,1509
$D_GRID,174
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,15,-0.86,-98.8,195,2291,386,419,0.0,0.0,0,127,0.00,0.00,-108.95,0.000,16386,0.000,0.000,195,2292,2953,2907,3000,0,0,0,0,0,0,14.78,28.83,14.83
$GC,129,-0.86,-98.8,195,2292,2907,3003,3.8,-10.4,20,155,13.55,3.08,-4.85,0.000,19204,0.458,2.281,2822,3708,3205,3148,3262,0,0,0,0,0,0,14.39,13.68,14.66
$GC,380,-0.66,-98.8,2821,3708,3148,3267,58.9,-20.1,69,388,0.32,2.55,0.00,0.000,3078,0.282,0.126,2901,2309,3207,3147,3268,0,0,0,0,0,0,14.53,14.60,14.71
$GC,568,-0.77,-98.8,2901,2308,3148,3269,82.7,-11.0,88,577,0.00,2.75,0.00,0.000,260,0.000,0.187,2893,3716,3208,3147,3269,0,0,0,0,0,0,14.89,14.62,14.93
$GC,629,-0.86,-98.8,2892,3716,3147,3269,90.1,-12.9,100,639,0.15,2.55,0.00,0.000,5126,0.142,0.122,2842,2293,3208,3147,3269,0,0,0,0,0,0,14.71,14.67,14.80
$GC,819,-0.78,-98.8,2841,2293,3147,3269,121.1,-17.4,120,829,0.00,2.78,0.00,0.000,260,0.000,0.190,2831,3713,3208,3147,3269,0,0,0,0,0,0,14.92,14.66,14.97
$GC,875,-0.64,-98.8,2830,3713,3147,3269,130.5,-18.0,130,880,0.32,2.55,0.00,0.000,3078,0.279,0.129,2910,2303,3208,3147,3269,0,0,0,0,0,0,14.62,14.71,14.81
$STATE,1025,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1026,begin apogee
$GC,1030,-0.17,0.0,2910,2405,3146,3271,151.1,-11.3,146,1128,0.55,0.00,92.75,1.128,10246,0.248,0.000,3058,2404,2792,2684,2901,0,0,0,0,0,0,14.66,14.25,13.76
$STATE,1129,end apogee,CONTROL_FINISHED_OK
$STATE,1129,begin climb
$GC,1130,0.86,98.8,3058,2404,2677,2896,155.4,0.0,156,1229,1.10,2.70,87.88,1.083,10500,0.174,0.131,3389,3822,2381,2262,2500,0,0,0,0,0,0,14.15,14.01,13.61
$GC,1245,0.76,136.6,3388,3821,2258,2497,151.3,7.4,174,1286,0.15,2.53,32.85,1.065,13318,0.304,0.075,3371,2382,2234,2105,2364,0,0,0,0,0,0,14.05,14.17,13.64
$GC,1473,0.87,152.8,3370,2383,2088,2339,132.3,8.9,201,1493,0.00,2.65,11.02,1.063,8452,0.000,0.137,3371,3807,2167,2040,2294,0,0,0,0,0,0,14.67,14.35,13.97
$GC,1547,0.87,152.8,3370,3807,2038,2289,124.5,10.2,216,1555,0.00,2.47,0.00,0.000,1030,0.000,0.081,3379,2399,2163,2037,2289,0,0,0,0,0,0,14.52,14.47,14.54
$GC,1736,0.96,152.8,3378,2399,2036,2288,105.3,10.6,235,1745,0.12,2.45,0.00,0.000,2564,0.151,0.093,3435,979,2161,2036,2287,0,0,0,0,0,0,14.61,14.59,14.65
$GC,1750,1.01,152.8,3435,979,2036,2286,103.4,11.7,238,1758,0.00,2.50,0.00,0.000,1030,0.000,0.099,3433,2400,2161,2036,2286,0,0,0,0,0,0,14.69,14.58,14.72
$GC,1937,0.93,152.8,3433,2401,2036,2286,78.8,12.0,257,1947,0.00,2.55,0.00,0.000,260,0.000,0.129,3430,3823,2161,2036,2286,0,0,0,0,0,0,14.87,14.64,14.92
$GC,2090,0.72,152.8,3429,3823,2036,2286,58.4,12.8,287,2100,0.35,2.40,0.00,0.000,5126,0.290,0.073,3355,2386,2161,2036,2286,0,0,0,0,0,0,14.59,14.72,14.78
$GC,2280,0.94,179.8,3354,2386,2035,2286,43.3,8.2,315,2311,0.17,0.00,23.05,1.030,10758,0.122,0.000,3418,2386,2059,1928,2190,0,0,0,0,0,0,14.73,14.51,14.14
$GC,2491,0.94,179.8,3417,2386,1927,2183,20.5,11.5,356,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,2386,2054,1926,2183,0,0,0,0,0,0,14.83,14.91,14.90
$GC,2679,1.13,250.4,3417,2386,1925,2183,4.0,5.2,393,2699,0.17,0.00,16.95,0.144,10498,0.139,0.000,3491,2385,1914,1780,2048,0,0,0,0,0,0,14.69,28.83,14.74
$STATE,2700,end climb,SURFACE_DEPTH_REACHED
$STATE,2700,begin surface coast
$FINISH,-0.1,0.999744
$STATE,2741,end surface coast,CONTROL_FINISHED_OK
$STATE,2741,begin surface
$SM_CCo,2757,176.25,0.134,0,0,399,588.71
$SM_CCo,2936,-0.12,0.000,0,0,401,588.71
$SM_CCo,2939,0.30,0.164,0,0,399,588.71
$SM_GC,0.69,9.75,0.15,0.30,0.100,0.148,0.164,197,2303,399,-9.09,0.79,588.71,0,0,0,0,0,0,14.68,14.70,14.54
$IRIDIUM_FIX,4726.11,-12222.38,240216,191830
$TT8_MAMPS,0.024717,0.205226
$HUMID,44.48
$INTERNAL_PRESSURE,9.09829
$TCM_TEMP,19.30
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,136.5,54.4
$24V_AH,13.61,1.537
$10V_AH,13.71,0.000
$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,26.725,36.875,264.500,176.550,0.000,0.000,0.000,140.700,1.000,0.000,25.676,843.601,976.886,566.035,755.762,30.366,0.000,1076.447,0.000,587.371,0.000,10.040,0.000
$DEVICE_MAMPS,458.235,2281.230,1128.375,164.475,0.000,0.000,0.000,146.880,420.000,0.000,50.000,17.560,2.190,17.560,37.030,47.520,0.000,13.900,0.000,17.230,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,235.231,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312748
$DATA_FILE_SIZE,16819,404
$CAP_FILE_SIZE,51476,0
$CFSIZE,2097872896,2095185920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.040,126.47,1
$GPS,240216,210632,4743.431,-12224.805,9,1.0,26,16.3,0.0,0.0,8,8.8