version: 66.12
glider: 526
mission: 2
dive: 6
start: 2 24 116 21 10 26
data:
$ID,526
$MISSION,2
$DIVE,6
$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,2200
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$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
$GPS1,240216,210632,4743.4307,-12224.8047,9,1.0,26,16.3,0.0,0.0,8,8.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.59
$_SM_ANGLEo,-73.5
$GPS2,240216,210959,4743.4072,-12224.7920,9,1.0,22,16.3,0.0,0.0,8,10.0
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,288.0,311,-27.8,-10.000,-30.00,966
$D_GRID,177
$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,16,-1.01,-63.1,197,2203,383,416,0.0,0.0,0,130,0.00,0.00,-111.68,0.000,16386,0.000,0.000,197,2203,2951,2905,2998,0,0,0,0,0,0,14.78,28.83,14.82
$GC,132,-1.03,-79.2,197,2203,2905,3001,3.1,-8.3,20,158,13.35,2.90,-3.45,0.000,18948,0.461,2.243,2784,785,3128,3068,3188,0,0,0,0,0,0,14.38,13.67,14.63
$GC,382,-1.03,-79.2,2783,785,3068,3194,61.7,-18.3,69,390,0.00,2.75,0.00,0.000,1030,0.000,0.174,2776,2189,3131,3068,3194,0,0,0,0,0,0,14.63,14.52,14.66
$GC,570,-0.96,-79.2,2775,2189,3068,3195,97.8,-19.0,88,580,0.12,2.83,0.00,0.000,2308,0.345,0.201,2794,3614,3130,3067,3194,0,0,0,0,0,0,14.54,14.57,14.67
$GC,615,-0.96,-79.2,2793,3614,3067,3194,107.3,-20.7,97,622,0.00,2.65,0.00,0.000,1030,0.000,0.142,2794,2208,3130,3067,3194,0,0,0,0,0,0,14.70,14.61,14.74
$GC,802,-0.96,-79.2,2794,2206,3066,3195,142.4,-18.8,116,811,0.00,2.80,0.00,0.000,260,0.000,0.203,2783,3614,3130,3066,3194,0,0,0,0,0,0,14.94,14.62,14.97
$STATE,842,end dive,TARGET_DEPTH_EXCEEDED
$STATE,842,begin apogee
$GC,848,-0.17,0.0,2783,2394,3065,3194,150.5,-20.2,124,927,1.05,0.00,75.20,1.146,10246,0.292,0.000,3055,2394,2799,2695,2903,0,0,0,0,0,0,14.58,14.28,13.78
$STATE,928,end apogee,CONTROL_FINISHED_OK
$STATE,928,begin climb
$GC,929,1.03,79.2,3055,2394,2685,2895,156.2,0.0,132,1008,1.27,2.58,70.95,1.102,10756,0.167,0.096,3451,976,2467,2351,2584,0,0,0,0,0,0,14.19,14.03,13.59
$GC,1063,1.06,103.5,3451,976,2344,2572,150.1,7.4,160,1091,0.00,2.62,20.45,1.088,9222,0.000,0.098,3452,2403,2369,2250,2489,0,0,0,0,0,0,14.35,14.23,13.72
$GC,1271,1.06,103.5,3451,2403,2248,2479,130.5,10.4,183,1280,0.00,2.60,0.00,0.000,260,0.000,0.134,3450,3813,2363,2248,2478,0,0,0,0,0,0,14.69,14.42,14.73
$GC,1425,0.92,103.5,3449,3813,2248,2478,111.2,11.6,214,1434,0.17,2.45,0.00,0.000,5126,0.315,0.081,3423,2384,2363,2248,2478,0,0,0,0,0,0,14.46,14.59,14.65
$GC,1613,1.05,103.7,3422,2385,2247,2477,92.5,10.0,233,1623,0.00,2.60,0.00,0.000,260,0.000,0.133,3413,3812,2362,2247,2477,0,0,0,0,0,0,14.87,14.62,14.90
$GC,1774,1.05,105.2,3413,3812,2247,2477,75.2,9.8,265,1780,0.12,2.38,0.00,0.000,3078,0.168,0.078,3466,2402,2362,2247,2477,0,0,0,0,0,0,14.69,14.69,14.78
$GC,1960,1.05,105.2,3465,2402,2247,2476,55.6,10.7,284,1969,0.00,2.58,0.00,0.000,260,0.000,0.138,3465,3813,2362,2248,2476,0,0,0,0,0,0,14.95,14.68,14.98
$GC,1981,0.95,105.2,3466,3813,2247,2475,53.3,11.0,288,1991,0.22,2.40,0.00,0.000,5126,0.317,0.081,3425,2388,2361,2247,2475,0,0,0,0,0,0,14.60,14.73,14.80
$GC,2171,1.11,137.3,3425,2389,2247,2475,38.5,6.6,323,2208,0.12,2.45,28.85,1.029,10756,0.148,0.097,3483,989,2233,2112,2355,0,0,0,0,0,0,14.73,14.49,14.12
$GC,2224,1.12,150.5,3483,988,2111,2351,34.3,8.6,332,2244,0.00,2.58,12.12,1.011,9222,0.000,0.124,3483,2403,2180,2055,2305,0,0,0,0,0,0,14.63,14.52,14.07
$GC,2426,1.12,150.5,3483,2403,2052,2297,8.9,12.8,371,2433,0.00,2.67,0.00,0.000,260,0.000,0.156,3483,3818,2174,2052,2297,0,0,0,0,0,0,14.81,14.54,14.85
$STATE,2478,end climb,SURFACE_DEPTH_REACHED
$STATE,2478,begin surface coast
$FINISH,0.1,1.020451
$STATE,2505,end surface coast,CONTROL_FINISHED_OK
$STATE,2505,begin surface
$SM_CCo,2524,206.10,0.133,0,0,399,588.71
$SM_CCo,2732,-0.12,0.000,0,0,401,588.71
$SM_CCo,2735,0.12,0.207,0,0,399,588.71
$SM_GC,0.75,10.05,2.85,0.12,0.122,0.090,0.207,198,2203,399,-9.09,0.90,588.71,0,0,0,0,0,0,14.62,14.64,14.49
$IRIDIUM_FIX,4726.11,-12219.67,240216,201339
$TT8_MAMPS,0.024717,0.204477
$HUMID,43.66
$INTERNAL_PRESSURE,9.09829
$TCM_TEMP,19.20
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,131.2,70.1
$24V_AH,13.59,1.644
$10V_AH,12.90,0.000
$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,26.500,47.200,207.575,206.225,0.000,0.000,0.000,141.250,0.500,0.000,23.493,783.745,879.204,547.472,726.268,29.462,0.000,1041.715,0.000,561.903,0.000,5.615,0.000
$DEVICE_MAMPS,460.530,2242.980,1145.970,206.550,0.000,0.000,0.000,144.585,420.000,0.000,50.000,17.560,2.190,17.560,37.030,47.520,0.000,13.900,0.000,17.230,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,213.750,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312692
$DATA_FILE_SIZE,16836,386
$CAP_FILE_SIZE,49544,0
$CFSIZE,2097872896,2095087616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.103,179.15,1
$GPS,240216,215657,4743.332,-12225.055,16,1.0,21,16.3,0.0,151.7,7,10.0