version: 66.13
glider: 530
mission: 4
dive: 2
start: 9 21 116 17 26 6
data:
$ID,530
$MISSION,4
$DIVE,2
$N_DIVES,2
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,160
$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,40
$T_MISSION,35
$T_ABORT,1440
$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,51615
$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,529.65118
$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
$RAFOS_MMODEM,0
$PITCH_MIN,100
$PITCH_MAX,3750
$C_PITCH,3180
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,380
$ROLL_MAX,3970
$ROLL_DEG,40
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2280
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2810
$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,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,-53.367016
$PRESSURE_SLOPE,0.0001160319
$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,140
$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,0.88
$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,0.0043265261
$SEABIRD_T_H,0.0006407859
$SEABIRD_T_I,2.3703267e-05
$SEABIRD_T_J,2.3260518e-06
$SEABIRD_C_G,-10.22833
$SEABIRD_C_H,1.1785016
$SEABIRD_C_I,-0.0037705977
$SEABIRD_C_J,0.00031084497
$GPS1,210916,172246,4743.4370,-12224.8271,13,0.9,16,16.6,0.0,0.0,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.82
$_SM_ANGLEo,-73.1
$GPS2,210916,172523,4743.4390,-12224.8271,19,0.9,23,16.6,0.0,0.0,8,8.9
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,300.3,243,-26.3,-10.000,-28.51,1086
$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,4,end surface,CONTROL_FINISHED_OK
$STATE,4,begin dive
$GC,6,-0.96,-71.0,105,2284,710,590,0.0,0.0,0,108,0.00,0.00,-97.10,0.000,16390,0.000,0.000,105,2285,3100,3273,2928,0,0,0,0,0,0,14.94,13.70,14.92
$GC,110,-1.01,-105.7,105,2285,3273,2929,3.0,-6.7,18,137,17.38,2.70,-2.33,0.000,18724,0.540,2.209,2837,3712,3240,3436,3045,2,0,0,0,0,0,14.40,13.78,14.69
$GC,209,-1.01,-105.7,2836,3712,3439,3045,32.3,-20.4,36,216,0.00,2.33,0.00,0.000,1030,0.000,0.073,2837,2291,3242,3439,3045,0,0,0,0,0,0,14.73,14.66,14.75
$GC,398,-1.01,-105.7,2836,2285,3439,3045,71.8,-21.2,73,405,0.00,2.30,0.00,0.000,516,0.000,0.084,2837,882,3242,3439,3045,0,0,0,0,0,0,14.95,14.70,14.97
$GC,567,-1.08,-105.7,2836,882,3439,3045,104.8,-18.4,106,573,0.00,2.40,0.00,0.000,1158,0.000,0.098,2836,2301,3242,3439,3045,0,0,0,0,0,0,14.82,14.71,14.84
$STATE,648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,648,begin apogee
$GC,652,-0.17,0.0,2837,2301,3439,3045,120.2,-18.6,122,761,1.15,0.00,103.93,0.995,10246,0.337,0.000,3114,2301,2806,2987,2625,0,0,0,0,0,0,14.57,14.38,13.93
$STATE,762,end apogee,CONTROL_FINISHED_OK
$STATE,762,begin climb
$GC,763,1.01,105.7,3114,2301,2981,2619,125.6,0.0,141,871,1.27,2.50,97.40,0.972,10756,0.192,0.093,3491,868,2365,2509,2221,0,0,0,0,0,0,14.26,14.14,13.80
$GC,897,0.96,143.8,3491,868,2501,2217,123.0,6.4,164,939,0.00,2.42,32.72,0.964,9382,0.000,0.084,3491,2286,2214,2362,2067,0,0,0,0,0,0,14.42,14.33,13.88
$GC,1122,0.90,143.8,3491,2286,2360,2055,101.6,10.0,207,1128,0.00,2.42,0.00,0.000,420,0.000,0.113,3491,3691,2207,2360,2055,0,0,0,0,0,0,14.80,14.53,14.82
$GC,1271,0.73,143.8,3490,3691,2359,2055,83.4,13.1,236,1279,0.32,2.30,0.00,0.000,5254,0.348,0.072,3421,2280,2206,2359,2054,0,0,0,0,0,0,14.49,14.66,14.71
$GC,1462,0.93,153.4,3421,2277,2359,2052,65.4,9.1,273,1475,0.17,2.35,4.97,0.870,10916,0.151,0.093,3482,870,2184,2338,2030,0,0,0,0,0,0,14.67,14.67,14.14
$GC,1491,0.93,153.4,3482,869,2339,2031,62.3,10.6,278,1498,0.00,2.35,0.00,0.000,1030,0.000,0.085,3483,2283,2185,2339,2031,0,0,0,0,0,0,14.77,14.69,14.79
$GC,1680,0.95,163.7,3482,2283,2339,2031,44.6,9.0,315,1700,0.00,2.35,12.55,0.931,8740,0.000,0.086,3491,873,2136,2292,1981,0,0,0,0,0,0,14.98,14.61,14.27
$GC,1911,0.95,163.7,3490,872,2289,1978,18.8,11.0,360,1919,0.00,2.33,0.00,0.000,1030,0.000,0.084,3491,2278,2133,2289,1978,0,0,0,0,0,0,14.82,14.72,14.84
$STATE,2064,end climb,SURFACE_DEPTH_REACHED
$STATE,2064,begin surface coast
$FINISH,0.2,1.022655
$STATE,2091,end surface coast,CONTROL_FINISHED_OK
$STATE,2091,begin surface
$SM_CCo,2107,164.90,0.086,0,0,649,529.84
$SM_GC,0.94,10.15,0.00,164.90,0.116,0.000,0.086,105,2278,649,-9.58,-0.59,529.84,0,0,0,0,0,0,14.69,15.03,14.70
$IRIDIUM_FIX,4722.92,-12209.14,210916,171922
$TT8_MAMPS,0.024717,0.159537
$HUMID,48.50
$INTERNAL_PRESSURE,8.77093
$TCM_TEMP,20.70
$XPDR_PINGS,3
$24V_AH,13.70,2.896
$10V_AH,13.93,0.000
$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,30.450,28.750,251.575,164.900,0.000,0.000,0.000,0.000,0.750,0.000,23.885,882.839,364.733,505.666,594.581,22.332,0.000,851.569,0.000,573.046,0.000,1.007,0.000
$DEVICE_MAMPS,540.090,2209.320,994.500,85.680,0.000,0.000,0.000,0.000,420.000,0.000,11.240,11.260,2.190,10.510,30.740,36.730,0.000,15.700,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,272.001,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312808
$DATA_FILE_SIZE,16854,395
$CAP_FILE_SIZE,50916,0
$CFSIZE,2097872896,2095120384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,1,0
$CURRENT,0.043,205.62,1
$GPS,210916,180528,4743.510,-12225.094,53,1.3,58,16.6,0.0,0.0,6,9.3