version: 66.12
glider: 529
mission: 2
dive: 6
start: 1 5 116 20 50 18
data:
$ID,529
$MISSION,2
$DIVE,6
$N_DIVES,7
$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,3080
$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,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,39
$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,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,0.54000002
$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
$GPS1,050116,204717,4743.3545,-12224.2139,13,1.2,18,16.6,0.2,121.7,8,9.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-71.5
$GPS2,050116,204953,4743.3452,-12224.2012,19,1.2,24,16.6,0.0,0.0,8,9.3
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,275.2,1036,-18.2,-10.000,-20.99,2236
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.79,-146.6,92,2221,248,367,0.0,0.0,0,175,0.00,0.00,-157.60,0.000,16386,0.000,0.000,92,2222,3725,3799,3651,0,0,0,0,0,0,14.92,28.83,14.95
$GC,177,-0.79,-146.6,91,2222,3799,3651,3.1,-6.7,28,198,13.25,2.58,-0.55,0.000,18692,0.432,2.181,2808,3592,3752,3800,3705,0,0,0,0,0,0,14.50,13.85,14.74
$GC,250,-0.67,-146.6,2808,3593,3800,3705,23.4,-18.9,41,258,0.22,2.38,0.00,0.000,3078,0.249,0.060,2863,2186,3752,3800,3705,0,0,0,0,0,0,14.57,14.65,14.72
$GC,440,-0.64,-146.6,2863,2176,3800,3705,53.0,-15.3,76,441,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,2176,3752,3800,3705,0,0,0,0,0,0,14.96,14.98,14.97
$GC,619,-0.64,-146.6,2864,2175,3800,3705,79.1,-13.0,94,624,0.00,2.42,0.00,0.000,516,0.000,0.103,2863,790,3752,3800,3705,0,0,0,0,0,0,15.00,14.73,15.02
$GC,650,-0.64,-146.6,2863,789,3800,3705,83.3,-13.0,100,655,0.00,2.42,0.00,0.000,1030,0.000,0.091,2855,2184,3752,3800,3705,0,0,0,0,0,0,14.85,14.76,14.86
$GC,836,-0.64,-146.6,2855,2184,3799,3706,108.2,-13.6,119,845,0.00,2.45,0.00,0.000,260,0.000,0.096,2843,3615,3752,3800,3705,0,0,0,0,0,0,15.04,14.76,15.06
$GC,869,-0.64,-146.6,2844,3615,3800,3705,113.6,-15.2,126,878,0.00,2.38,0.00,0.000,1030,0.000,0.064,2844,2206,3752,3800,3705,0,0,0,0,0,0,14.87,14.78,14.90
$GC,1057,-0.61,-146.6,2843,2193,3799,3706,140.4,-13.0,145,1059,0.15,0.00,0.00,0.000,2054,0.258,0.000,2880,2190,3752,3799,3705,0,0,0,0,0,0,14.73,14.90,14.88
$STATE,1145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1145,begin apogee
$GC,1149,-0.17,0.0,2879,2069,3800,3705,150.6,-11.3,154,1311,0.50,0.00,158.02,0.981,10246,0.193,0.000,3026,2069,3150,3172,3128,0,0,0,0,0,0,14.76,14.28,13.85
$STATE,1312,end apogee,CONTROL_FINISHED_OK
$STATE,1312,begin climb
$GC,1313,0.79,146.6,3026,2068,3167,3123,159.2,0.0,170,1431,0.95,2.55,109.72,1.015,10756,0.135,0.112,3340,712,2543,2531,2556,0,0,0,0,0,0,14.21,14.07,13.74
$GC,1477,0.77,174.1,3340,712,2527,2548,153.2,8.7,204,1506,0.00,2.50,21.70,0.995,9222,0.000,0.088,3341,2114,2434,2427,2441,0,0,1,0,0,0,14.38,14.30,13.85
$GC,1684,0.72,174.1,3340,2114,2423,2425,130.6,11.6,227,1694,0.00,2.40,0.00,0.000,260,0.000,0.083,3341,3507,2424,2423,2425,0,0,0,0,0,0,14.76,14.52,14.78
$GC,1769,0.64,174.1,3340,3507,2423,2424,119.8,12.8,244,1777,0.25,2.40,0.00,0.000,5126,0.228,0.069,3286,2114,2423,2423,2424,0,0,0,0,0,0,14.52,14.57,14.66
$GC,1956,0.69,176.3,3285,2113,2423,2422,102.2,9.9,263,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,2113,2422,2423,2422,0,0,0,0,0,0,14.92,14.94,14.94
$GC,2137,0.76,195.1,3285,2112,2423,2422,84.9,9.1,281,2159,0.12,2.47,16.33,0.940,10500,0.140,0.090,3341,3503,2346,2342,2350,0,0,1,0,0,0,14.76,14.64,14.27
$GC,2182,0.70,195.1,3340,3503,2335,2344,79.6,13.3,289,2191,0.17,2.40,0.00,0.000,5126,0.237,0.070,3306,2100,2339,2336,2342,0,0,0,0,0,0,14.59,14.64,14.74
$GC,2372,0.78,227.9,3305,2099,2335,2339,60.9,8.5,309,2405,0.00,2.50,25.15,0.920,8452,0.000,0.095,3304,3498,2210,2195,2225,0,0,1,0,0,0,14.97,14.59,14.24
$GC,2425,0.81,232.3,3304,3498,2189,2222,55.7,9.8,320,2433,0.00,2.42,0.00,0.000,1030,0.000,0.076,3312,2100,2205,2189,2221,0,0,0,0,0,0,14.70,14.59,14.72
$GC,2612,0.89,253.7,3312,2096,2189,2218,38.4,9.0,351,2638,0.12,2.62,20.10,0.895,10756,0.134,0.128,3384,692,2106,2082,2130,0,0,0,0,0,0,14.71,14.56,14.25
$GC,2705,0.89,253.7,3383,692,2074,2120,26.5,13.8,368,2713,0.00,2.47,0.00,0.000,1030,0.000,0.096,3383,2097,2097,2074,2120,0,0,0,0,0,0,14.72,14.64,14.75
$STATE,2877,end climb,SURFACE_DEPTH_REACHED
$STATE,2877,begin surface coast
$FINISH,0.6,1.021189
$STATE,2899,end surface coast,CONTROL_FINISHED_OK
$STATE,2899,begin surface
$SM_CCo,2915,208.98,0.096,0,0,299,699.09
$SM_CCo,3126,0.00,0.000,0,0,300,699.09
$SM_CCo,3128,0.00,0.000,0,0,300,699.09
$SM_GC,1.02,9.27,0.17,0.00,0.054,0.119,0.000,93,2226,300,-9.28,-0.74,699.09,0,0,0,0,0,0,14.72,14.73,14.86
$IRIDIUM_FIX,4729.30,-12116.51,050116,204353
$TT8_MAMPS,0.025466,0.208222
$HUMID,41.33
$INTERNAL_PRESSURE,9.13408
$TCM_TEMP,19.50
$XPDR_PINGS,0
$24V_AH,13.74,1.937
$10V_AH,13.09,0.000
$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,25.025,39.750,351.025,208.975,0.000,0.000,0.000,0.000,0.000,0.000,25.465,824.698,1067.072,680.914,612.285,25.224,0.000,1067.849,0.000,588.518,0.000,0.538,0.000
$DEVICE_MAMPS,432.225,2181.015,1015.155,95.625,0.000,0.000,0.000,0.000,420.000,0.000,20.970,16.760,2.190,16.760,36.990,42.980,0.000,10.200,0.000,16.480,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,237.772,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312744
$DATA_FILE_SIZE,16842,406
$CAP_FILE_SIZE,66832,0
$CFSIZE,2097872896,2094366720
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,3,0,1,0
$INTR,0,1406.45,0x2344d2,1,24
$CURRENT,0.052,105.72,1
$GPS,050116,214323,4743.473,-12224.659,14,1.1,24,16.6,0.3,160.9,8,9.6