version: 66.12
glider: 529
mission: 2
dive: 5
start: 1 5 116 19 50 29
data:
$ID,529
$MISSION,2
$DIVE,5
$N_DIVES,5
$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,51988
$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,738.64337
$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,100
$PITCH_MAX,3700
$C_PITCH,3050
$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,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,250
$ROLL_MAX,3900
$ROLL_DEG,40
$C_ROLL_DIVE,2072
$C_ROLL_CLIMB,2072
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,300
$VBD_MAX,3950
$C_VBD,3150
$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,-49.937038
$PRESSURE_SLOPE,0.0001161621
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,20
$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,0.54000002
$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,0.0044106464
$SEABIRD_T_H,0.00065167982
$SEABIRD_T_I,2.6852194e-05
$SEABIRD_T_J,2.8952031e-06
$SEABIRD_C_G,-9.9772444
$SEABIRD_C_H,1.1347277
$SEABIRD_C_I,-0.0020886871
$SEABIRD_C_J,0.00022308028
$GPS1,050116,194706,4743.2026,-12224.0430,17,1.0,23,16.6,0.3,184.6,9,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-71.9
$GPS2,050116,195004,4743.1772,-12224.0371,20,1.1,24,16.6,0.3,0.0,9,10.0
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,298.2,1340,-18.2,-10.000,-20.99,2236
$D_GRID,172
$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,-146.6,95,2056,250,363,0.0,0.0,0,176,0.00,0.00,-158.02,0.000,16390,0.000,0.000,95,2056,3748,3819,3677,0,0,0,0,0,0,14.90,13.85,14.90
$GC,178,-0.79,-146.6,95,2056,3820,3677,3.2,-7.9,28,198,13.18,2.53,0.00,0.000,2308,0.434,0.093,2782,3484,3752,3789,3716,0,0,0,0,0,0,14.49,14.64,14.71
$GC,230,-0.57,-146.6,2781,3484,3791,3716,21.0,-26.0,37,238,0.32,2.40,0.00,0.000,3078,0.252,0.067,2864,2069,3752,3790,3715,0,0,0,0,0,0,14.57,14.66,14.73
$GC,425,-0.54,-146.6,2863,2057,3790,3715,52.1,-14.5,74,429,0.00,2.47,0.00,0.000,260,0.000,0.102,2856,3472,3752,3790,3715,0,0,0,0,0,0,14.97,14.69,14.99
$GC,459,-0.54,-146.6,2855,3473,3790,3715,57.5,-14.0,81,466,0.00,2.38,0.00,0.000,1030,0.000,0.069,2855,2072,3752,3790,3715,0,0,0,0,0,0,14.81,14.71,14.83
$GC,646,-0.51,-146.6,2855,2062,3788,3715,84.4,-13.5,100,655,0.00,2.47,0.00,0.000,260,0.000,0.105,2844,3474,3753,3791,3715,0,0,0,0,0,0,15.02,14.74,15.04
$GC,701,-0.51,-146.6,2844,3474,3790,3715,92.5,-14.3,111,708,0.15,2.40,0.00,0.000,3078,0.237,0.073,2880,2066,3752,3790,3715,0,0,0,0,0,0,14.70,14.76,14.84
$GC,888,-0.54,-146.6,2880,2056,3790,3715,115.1,-11.5,130,893,0.00,2.50,0.00,0.000,260,0.000,0.107,2872,3480,3752,3790,3715,0,0,0,0,0,0,15.05,14.76,15.07
$GC,922,-0.57,-146.6,2872,3480,3790,3715,119.4,-11.4,137,929,0.00,2.40,0.00,0.000,1030,0.000,0.072,2872,2065,3752,3790,3715,0,0,0,0,0,0,14.89,14.78,14.90
$STATE,1019,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1020,begin apogee
$GC,1023,-0.17,0.0,2872,2057,3790,3715,131.1,-12.3,147,1184,0.40,0.00,157.40,0.968,10246,0.200,0.000,2989,2053,3149,3168,3131,0,0,0,0,0,0,14.72,14.28,13.87
$STATE,1185,end apogee,CONTROL_FINISHED_OK
$STATE,1185,begin climb
$GC,1186,0.79,146.6,2989,2053,3162,3126,139.4,0.0,163,1305,1.00,2.67,109.88,1.004,10756,0.155,0.123,3310,664,2542,2531,2553,0,0,0,0,0,0,14.21,14.11,13.76
$GC,1345,0.81,166.5,3309,664,2529,2547,131.2,9.1,196,1367,0.00,2.58,15.65,0.962,9222,0.000,0.093,3310,2067,2467,2459,2475,0,0,0,0,0,0,14.35,14.31,13.88
$GC,1555,0.84,186.2,3309,2067,2455,2458,112.3,9.1,219,1576,0.00,2.53,15.77,0.962,8452,0.000,0.086,3310,3482,2382,2376,2389,0,0,0,0,0,0,14.79,14.47,14.10
$GC,1640,0.84,186.2,3309,3482,2372,2383,103.2,10.8,236,1648,0.00,2.50,0.00,0.000,1030,0.000,0.073,3321,2069,2377,2372,2382,0,0,0,0,0,0,14.58,14.52,14.62
$GC,1829,0.84,190.2,3320,2065,2372,2379,84.6,9.8,255,1830,0.00,0.00,0.00,0.000,6,0.000,0.000,3321,2065,2375,2372,2379,0,0,0,0,0,0,14.90,14.93,14.92
$GC,2008,0.86,208.2,3320,2065,2372,2379,67.2,9.2,273,2032,0.00,2.50,17.33,0.928,8452,0.000,0.093,3320,3475,2292,2284,2300,0,0,1,0,0,0,14.97,14.62,14.27
$GC,2071,0.86,208.2,3320,3475,2279,2295,60.1,12.2,286,2080,0.00,2.47,0.00,0.000,1030,0.000,0.078,3331,2072,2286,2279,2294,0,0,0,0,0,0,14.70,14.64,14.73
$GC,2259,0.89,208.2,3331,2067,2278,2291,39.8,10.7,314,2266,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,2067,2284,2278,2291,0,0,0,0,0,0,14.96,14.98,14.98
$GC,2447,0.92,208.2,3331,2066,2279,2291,20.4,10.5,351,2454,0.00,2.47,0.00,0.000,260,0.000,0.100,3331,3476,2284,2278,2291,0,0,0,0,0,0,15.00,14.73,15.02
$GC,2491,0.95,208.2,3331,3476,2278,2291,15.3,11.3,359,2498,0.00,2.42,0.00,0.000,1030,0.000,0.080,3342,2066,2284,2278,2291,0,0,0,0,0,0,14.84,14.73,14.87
$STATE,2608,end climb,SURFACE_DEPTH_REACHED
$STATE,2608,begin surface coast
$FINISH,0.2,1.010827
$STATE,2639,end surface coast,CONTROL_FINISHED_OK
$STATE,2639,begin surface
$SM_CCo,2654,229.38,0.093,0,0,299,699.09
$SM_CCo,2886,-0.03,0.000,0,0,300,699.09
$SM_CCo,2889,0.15,0.153,0,0,300,699.09
$SM_GC,1.00,9.12,0.00,0.15,0.054,0.000,0.153,75,2052,300,-9.20,-0.57,699.09,0,0,0,0,0,0,14.83,15.03,14.69
$IRIDIUM_FIX,4722.92,-12220.67,050116,190953
$TT8_MAMPS,0.025466,0.206724
$HUMID,42.16
$INTERNAL_PRESSURE,9.13408
$TCM_TEMP,19.60
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,131.1,8.0
$24V_AH,13.76,1.793
$10V_AH,13.07,0.000
$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,24.175,39.700,316.025,229.525,0.000,0.000,0.000,110.400,0.250,0.000,24.761,787.156,899.029,676.288,697.543,28.152,0.000,1159.489,0.000,564.904,0.000,2.540,0.000
$DEVICE_MAMPS,433.755,123.165,1003.680,153.000,0.000,0.000,0.000,142.290,420.000,0.000,20.970,16.760,2.190,16.760,36.990,42.980,0.000,10.200,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,225.205,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312772
$DATA_FILE_SIZE,16767,388
$CAP_FILE_SIZE,50465,0
$CFSIZE,2097872896,2094497792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,1,0
$CURRENT,0.080,124.92,1
$GPS,050116,203934,4743.377,-12224.255,14,0.9,23,16.6,0.0,0.0,9,9.7