version: 66.12
glider: 528
mission: 2
dive: 6
start: 1 5 116 20 58 58
data:
$ID,528
$MISSION,2
$DIVE,6
$N_DIVES,6
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,170
$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,52155
$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,691.79187
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,3970
$C_PITCH,3320
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,120
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,300
$ROLL_MAX,3830
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,15
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3959
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$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,350
$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,-57.168339
$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,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.85000002
$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,0.0043548695
$SEABIRD_T_H,0.0006268858
$SEABIRD_T_I,2.3578436e-05
$SEABIRD_T_J,2.4722265e-06
$SEABIRD_C_G,-10.467909
$SEABIRD_C_H,1.2025218
$SEABIRD_C_I,-0.00091677177
$SEABIRD_C_J,0.00016246161
$GPS1,050116,205540,4743.1299,-12224.1572,35,1.3,71,16.3,0.2,299.0,6,9.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.83
$_SM_ANGLEo,-71.6
$GPS2,050116,205832,4743.1133,-12224.1504,6,1.3,12,16.3,0.0,0.0,6,9.5
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,295.3,1278,-18.2,-10.000,-20.99,2236
$D_GRID,175
$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,-0.79,-146.6,187,2309,550,449,0.0,0.0,0,142,0.00,0.00,-123.90,0.000,16386,0.000,0.000,187,2310,3228,3060,3397,0,0,0,0,0,0,14.86,28.83,14.88
$GC,144,-0.79,-146.6,187,2310,3062,3397,3.3,-8.9,22,171,13.85,2.83,-3.38,0.000,18692,0.479,2.291,3057,3711,3400,3211,3590,2,0,0,0,0,0,14.42,13.79,14.68
$GC,253,-0.70,-146.6,3056,3711,3211,3593,28.9,-16.1,42,261,0.15,2.58,0.00,0.000,3078,0.304,0.145,3091,2311,3402,3212,3592,0,0,0,0,0,0,14.49,14.54,14.66
$GC,442,-0.70,-146.6,3090,2311,3211,3593,57.3,-14.3,74,443,0.00,0.00,0.00,0.000,6,0.000,0.000,3090,2311,3402,3211,3593,0,0,0,0,0,0,14.90,14.92,14.92
$GC,622,-0.70,-146.6,3090,2311,3211,3593,80.8,-13.1,92,627,0.00,2.62,0.00,0.000,260,0.000,0.166,3090,3710,3402,3211,3593,0,0,0,0,0,0,14.95,14.64,14.96
$GC,657,-0.74,-146.6,3090,3710,3211,3593,85.5,-12.4,99,664,0.00,2.58,0.00,0.000,1030,0.000,0.142,3092,2299,3402,3211,3593,0,0,0,0,0,0,14.78,14.66,14.80
$GC,843,-0.74,-146.6,3091,2299,3212,3593,109.5,-13.0,118,848,0.00,2.65,0.00,0.000,260,0.000,0.168,3091,3711,3402,3212,3593,0,0,0,0,0,0,14.98,14.66,15.00
$GC,862,-0.74,-146.6,3090,3711,3211,3593,112.3,-13.6,122,870,0.00,2.60,0.00,0.000,1030,0.000,0.137,3092,2301,3402,3212,3593,0,0,0,0,0,0,14.76,14.68,14.79
$GC,1050,-0.74,-146.6,3091,2301,3211,3593,135.5,-12.1,141,1059,0.00,2.65,0.00,0.000,260,0.000,0.168,3091,3713,3402,3211,3593,0,0,0,0,0,0,15.00,14.69,15.02
$GC,1104,-0.78,-146.6,3091,3713,3212,3593,142.7,-12.8,152,1112,0.00,2.55,0.00,0.000,1030,0.000,0.139,3091,2299,3402,3212,3593,0,0,0,0,0,0,14.83,14.70,14.85
$STATE,1169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1170,begin apogee
$GC,1174,-0.17,0.0,3092,2403,3212,3592,151.1,-13.0,159,1332,0.57,0.00,151.65,1.037,10246,0.246,0.000,3260,2403,2791,2676,2907,0,0,0,0,0,0,14.67,14.20,13.77
$STATE,1333,end apogee,CONTROL_FINISHED_OK
$STATE,1333,begin climb
$GC,1334,0.79,146.6,3260,2404,2673,2903,159.2,0.0,175,1504,1.00,2.92,154.75,0.988,10756,0.203,0.182,3565,991,2187,2092,2283,0,0,1,0,0,0,14.11,13.97,13.69
$GC,1529,0.99,222.1,3564,992,2087,2280,152.5,6.5,214,1616,0.22,2.70,75.85,0.967,11270,0.141,0.136,3640,2399,1880,1754,2007,0,0,0,0,0,0,14.18,14.15,13.72
$GC,1796,0.99,222.1,3640,2399,1734,1998,119.5,12.9,249,1805,0.00,2.67,0.00,0.000,260,0.000,0.168,3641,3815,1865,1733,1997,0,0,0,0,0,0,14.68,14.39,14.70
$GC,1900,0.91,222.1,3640,3815,1734,1995,103.6,16.0,270,1907,0.00,2.65,0.00,0.000,1030,0.000,0.148,3641,2398,1864,1734,1995,0,0,0,0,0,0,14.59,14.47,14.62
$GC,2087,0.91,222.1,3641,2397,1734,1995,78.3,13.0,289,2096,0.00,2.72,0.00,0.000,516,0.000,0.184,3641,985,1864,1734,1995,0,0,0,0,0,0,14.85,14.54,14.87
$GC,2118,0.91,222.1,3640,985,1734,1995,74.3,12.6,295,2122,0.00,2.62,0.00,0.000,1030,0.000,0.142,3641,2400,1864,1734,1995,0,0,0,0,0,0,14.69,14.57,14.71
$GC,2303,0.91,222.1,3641,2400,1734,1995,50.6,13.0,314,2307,0.00,2.60,0.00,0.000,260,0.000,0.164,3641,3812,1864,1734,1995,0,0,0,0,0,0,14.91,14.62,14.93
$GC,2349,0.86,222.1,3640,3812,1734,1993,44.3,13.4,323,2357,0.17,2.58,0.00,0.000,5126,0.267,0.139,3599,2397,1863,1734,1993,0,0,0,0,0,0,14.59,14.63,14.75
$GC,2539,0.99,249.2,3599,2397,1733,1993,26.0,8.8,360,2576,0.12,2.65,24.00,0.898,10756,0.169,0.164,3650,985,1766,1638,1895,0,0,0,0,1,0,14.68,14.54,14.24
$GC,2634,1.05,249.2,3650,985,1629,1892,15.6,10.1,377,2641,0.00,2.65,0.00,0.000,1030,0.000,0.142,3650,2405,1759,1628,1891,0,0,0,0,0,0,14.69,14.57,14.72
$STATE,2741,end climb,SURFACE_DEPTH_REACHED
$STATE,2741,begin surface coast
$FINISH,0.3,1.021645
$STATE,2763,end surface coast,CONTROL_FINISHED_OK
$STATE,2763,begin surface
$SM_CCo,2779,149.35,0.094,0,0,498,564.18
$SM_CCo,2932,-0.20,0.000,0,0,501,564.18
$SM_CCo,2934,0.15,0.156,0,0,500,564.18
$SM_GC,0.90,9.88,0.20,0.15,0.149,0.161,0.156,236,2298,500,-9.71,0.57,564.18,0,0,1,0,0,0,14.59,14.64,14.60
$IRIDIUM_FIX,4726.11,-12225.08,050116,200200
$TT8_MAMPS,0.025466,0.16478
$HUMID,46.57
$INTERNAL_PRESSURE,9.16087
$TCM_TEMP,19.50
$XPDR_PINGS,47
$24V_AH,13.69,1.472
$10V_AH,13.06,0.000
$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,25.975,48.925,406.250,149.500,0.000,0.000,0.000,116.800,11.750,0.000,13.896,787.098,941.299,657.368,714.582,29.143,0.000,1172.341,0.000,584.528,0.000,0.536,0.000
$DEVICE_MAMPS,478.890,2291.175,1036.575,156.060,0.000,0.000,0.000,150.705,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,228.841,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312760
$DATA_FILE_SIZE,16837,402
$CAP_FILE_SIZE,51561,0
$CFSIZE,2097872896,2094727168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,2,1,1,0
$CURRENT,0.058,107.40,1
$GPS,050116,214839,4743.387,-12224.441,4,1.1,12,16.3,0.0,0.0,5,9.1