version: 66.12
glider: 528
mission: 2
dive: 7
start: 1 5 116 21 52 4
data:
$ID,528
$MISSION,2
$DIVE,7
$N_DIVES,7
$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,14
$R_STBD_OVSHOOT,11
$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
$GPS1,050116,214839,4743.3872,-12224.4414,4,1.1,12,16.3,0.0,0.0,5,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-71.7
$GPS2,050116,215138,4743.3638,-12224.4238,6,0.9,11,16.3,0.0,0.0,6,8.5
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,272.6,760,-18.2,-10.000,-20.99,2236
$D_GRID,176
$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,14,-0.79,-146.6,233,2296,557,459,0.0,0.0,0,138,0.00,0.00,-121.10,0.000,16386,0.000,0.000,234,2297,3202,3037,3368,0,0,0,0,0,0,14.82,28.83,14.84
$GC,141,-0.79,-146.6,234,2297,3037,3368,3.5,-9.4,21,167,14.12,2.88,-3.83,0.000,18692,0.487,2.284,3057,3713,3399,3211,3588,4,0,0,0,0,0,14.37,13.75,14.64
$GC,308,-0.69,-146.6,3055,3713,3211,3590,39.0,-16.3,53,316,0.15,2.60,0.00,0.000,3078,0.301,0.142,3091,2300,3400,3211,3590,0,0,0,0,0,0,14.49,14.54,14.66
$GC,503,-0.69,-146.6,3091,2299,3211,3590,67.2,-13.7,79,504,0.00,0.00,0.00,0.000,6,0.000,0.000,3091,2299,3400,3211,3590,0,0,0,0,0,0,14.90,14.92,14.92
$GC,682,-0.69,-146.6,3090,2299,3211,3590,91.1,-13.3,97,687,0.00,2.67,0.00,0.000,260,0.000,0.168,3091,3718,3400,3211,3590,0,0,0,0,0,0,14.94,14.63,14.96
$GC,701,-0.69,-146.6,3091,3718,3211,3590,93.9,-14.0,101,709,0.00,2.65,0.00,0.000,1030,0.000,0.142,3090,2295,3401,3212,3590,0,0,0,0,0,0,14.72,14.66,14.75
$GC,889,-0.69,-146.6,3090,2295,3211,3590,117.5,-12.6,120,898,0.00,2.67,0.00,0.000,260,0.000,0.168,3090,3714,3400,3211,3590,0,0,0,0,0,0,14.97,14.66,14.99
$GC,923,-0.73,-146.6,3089,3714,3211,3590,122.3,-12.8,127,931,0.00,2.58,0.00,0.000,1030,0.000,0.139,3090,2299,3400,3211,3590,0,0,0,0,0,0,14.80,14.67,14.82
$GC,1110,-0.73,-146.6,3090,2299,3211,3590,146.1,-12.4,146,1114,0.00,2.65,0.00,0.000,260,0.000,0.167,3090,3715,3401,3212,3590,0,0,0,0,0,0,14.97,14.68,15.00
$STATE,1138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1138,begin apogee
$GC,1144,-0.17,0.0,3090,2392,3211,3590,150.3,-13.6,152,1274,0.57,0.00,121.62,1.268,10246,0.246,0.000,3259,2384,2798,2685,2912,0,0,0,0,1,0,14.66,14.16,13.64
$STATE,1275,end apogee,CONTROL_FINISHED_OK
$STATE,1275,begin climb
$GC,1277,0.79,146.6,3259,2384,2685,2912,156.7,0.0,165,1414,1.00,2.85,120.53,1.277,11012,0.207,0.165,3563,3816,2200,2115,2285,0,0,0,0,1,0,14.07,13.94,13.51
$GC,1429,0.93,221.4,3563,3816,2114,2284,152.1,6.6,187,1518,0.17,2.70,71.22,1.018,11270,0.149,0.132,3621,2392,1895,1776,2015,0,0,0,0,1,0,14.10,14.07,13.58
$GC,1695,0.93,221.4,3620,2392,1775,2014,124.4,11.6,222,1700,0.00,2.72,0.00,0.000,260,0.000,0.164,3621,3812,1895,1775,2015,0,0,0,0,0,0,14.66,14.38,14.68
$GC,1731,0.93,221.4,3620,3812,1775,2015,120.0,12.7,229,1736,0.00,2.60,0.00,0.000,1030,0.000,0.135,3622,2399,1894,1775,2014,0,0,0,0,0,0,14.53,14.42,14.55
$GC,1917,0.93,221.4,3621,2399,1775,2015,99.5,10.9,248,1926,0.00,2.67,0.00,0.000,516,0.000,0.167,3621,979,1895,1775,2015,0,0,0,0,0,0,14.80,14.52,14.82
$GC,1951,0.97,221.4,3621,979,1775,2015,95.6,10.5,255,1959,0.00,2.62,0.00,0.000,1030,0.000,0.135,3621,2400,1894,1774,2015,0,0,0,0,0,0,14.65,14.54,14.67
$GC,2138,0.97,221.4,3620,2400,1774,2015,76.4,10.3,274,2142,0.00,2.62,0.00,0.000,260,0.000,0.167,3621,3813,1894,1774,2015,0,0,0,0,0,0,14.88,14.59,14.90
$GC,2197,0.97,221.4,3621,3813,1773,2014,69.0,12.2,286,2204,0.00,2.58,0.00,0.000,1030,0.000,0.134,3621,2393,1894,1773,2015,0,0,0,0,0,0,14.73,14.62,14.76
$GC,2384,0.97,221.4,3621,2393,1773,2014,48.9,11.2,305,2390,0.00,2.62,0.00,0.000,516,0.000,0.164,3621,981,1893,1773,2014,0,0,0,0,0,0,14.94,14.64,14.96
$GC,2452,1.05,221.4,3621,981,1773,2014,41.9,10.1,318,2460,0.12,2.60,0.00,0.000,3078,0.174,0.135,3672,2401,1894,1774,2015,0,0,0,0,0,0,14.70,14.66,14.78
$GC,2642,0.99,221.4,3671,2401,1773,2015,17.7,13.2,355,2650,0.12,2.60,0.00,0.000,4356,0.280,0.159,3639,3822,1894,1773,2015,0,0,0,0,0,0,14.62,14.66,14.72
$GC,2692,0.99,221.4,3638,3822,1773,2014,10.9,13.2,364,2699,0.00,2.55,0.00,0.000,1030,0.000,0.129,3639,2394,1893,1773,2014,0,0,0,0,0,0,14.80,14.69,14.82
$STATE,2770,end climb,SURFACE_DEPTH_REACHED
$STATE,2770,begin surface coast
$FINISH,0.5,1.021363
$STATE,2801,end surface coast,CONTROL_FINISHED_OK
$STATE,2801,begin surface
$SM_CCo,2817,162.55,0.094,0,0,498,564.18
$SM_CCo,2982,-0.20,0.000,0,0,501,564.18
$SM_CCo,2985,0.22,0.135,0,0,500,564.18
$SM_GC,0.91,9.73,0.20,0.22,0.145,0.175,0.135,233,2282,500,-9.72,0.31,564.18,0,0,0,0,0,0,14.67,14.72,14.64
$IRIDIUM_FIX,4726.11,-12217.96,050116,205633
$TT8_MAMPS,0.025466,0.158039
$HUMID,46.57
$INTERNAL_PRESSURE,9.1511
$TCM_TEMP,19.40
$XPDR_PINGS,53
$24V_AH,13.51,1.616
$10V_AH,12.98,0.000
$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,26.000,53.100,313.375,162.775,0.000,0.000,0.000,124.025,13.250,0.000,13.035,808.723,1034.035,620.062,694.649,28.735,0.000,1111.657,0.000,560.566,0.000,0.536,0.000
$DEVICE_MAMPS,487.305,2283.525,1276.785,135.405,0.000,0.000,0.000,146.880,420.000,0.000,44.190,11.460,2.190,11.460,31.690,37.680,0.000,15.500,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,228.728,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312728
$DATA_FILE_SIZE,16781,385
$CAP_FILE_SIZE,51191,0
$CFSIZE,2097872896,2094628864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,0,3,1,0
$CURRENT,0.071,42.39,1
$GPS,050116,224303,4743.607,-12224.879,40,0.7,40,16.3,0.0,0.0,9,8.6