version: 66.13
glider: 530
mission: 4
dive: 3
start: 9 21 116 18 16 35
data:
$ID,530
$MISSION,4
$DIVE,3
$N_DIVES,3
$STOP_T,0
$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,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,22
$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
$GPS1,210916,181223,4743.5171,-12225.1035,15,1.0,16,16.6,0.0,0.0,7,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-73.7
$GPS2,210916,181600,4743.5181,-12225.1064,18,1.0,19,16.6,0.0,0.0,7,9.0
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,73.5,137,-27.8,-10.000,-30.00,966
$D_GRID,179
$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,5,begin dive
$GC,7,-1.01,-63.1,105,2281,695,602,0.0,0.0,0,110,0.00,0.00,-96.40,0.000,16390,0.000,0.000,105,2282,3068,3232,2905,0,0,0,0,0,0,14.96,14.07,14.94
$GC,112,-1.02,-75.2,105,2281,3232,2905,3.4,-8.7,18,139,16.58,2.55,-0.82,0.000,18980,0.525,2.174,2841,897,3120,3298,2942,0,0,0,0,0,0,14.41,13.78,14.69
$GC,270,-1.02,-75.2,2840,897,3303,2942,43.2,-22.0,48,278,0.00,2.40,0.00,0.000,1030,0.000,0.098,2841,2298,3122,3303,2942,0,0,0,0,0,0,14.73,14.63,14.75
$GC,460,-1.02,-75.2,2840,2298,3303,2941,81.5,-19.9,85,467,0.00,2.45,0.00,0.000,260,0.000,0.125,2841,3717,3122,3303,2941,0,0,0,0,0,0,14.95,14.66,14.97
$GC,538,-1.02,-75.2,2841,3718,3302,2939,96.0,-19.1,100,546,0.00,2.33,0.00,0.000,1030,0.000,0.076,2841,2289,3121,3302,2940,0,0,0,0,0,0,14.81,14.73,14.83
$GC,728,-1.07,-75.2,2841,2287,3302,2940,130.7,-17.8,137,735,0.00,2.30,0.00,0.000,644,0.000,0.089,2841,889,3120,3302,2939,0,0,0,0,0,0,15.00,14.73,15.02
$STATE,833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,833,begin apogee
$GC,839,-0.17,0.0,2841,2288,3302,2940,151.0,-19.1,157,916,1.10,0.00,72.75,1.047,10246,0.323,0.000,3115,2289,2809,2985,2633,0,0,0,0,0,0,14.59,14.45,13.99
$STATE,917,end apogee,CONTROL_FINISHED_OK
$STATE,917,begin climb
$GC,918,1.02,75.2,3115,2288,2980,2628,156.4,0.0,170,1001,1.30,2.50,71.53,1.005,10756,0.190,0.090,3506,877,2493,2627,2360,0,0,0,0,0,0,14.34,14.22,13.83
$GC,1013,1.04,178.6,3505,876,2624,2359,156.8,-1.0,186,1117,0.00,2.40,94.88,0.991,9382,0.000,0.082,3506,2287,2071,2211,1932,0,0,0,0,0,0,14.40,14.31,13.76
$GC,1299,1.04,178.6,3505,2287,2207,1917,121.2,16.0,240,1306,0.00,2.42,0.00,0.000,260,0.000,0.115,3506,3684,2062,2208,1917,0,0,0,0,0,0,14.76,14.49,14.78
$GC,1443,0.94,178.6,3505,3685,2208,1917,96.7,16.4,268,1451,0.00,2.30,0.00,0.000,1158,0.000,0.071,3506,2277,2062,2208,1916,0,0,0,0,0,0,14.70,14.63,14.73
$GC,1633,0.94,178.6,3505,2271,2208,1914,71.2,11.7,305,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,2271,2061,2208,1914,0,0,0,0,0,0,14.92,14.95,14.95
$GC,1820,0.94,178.6,3505,2271,2208,1914,51.4,10.0,342,1827,0.00,2.45,0.00,0.000,260,0.000,0.116,3506,3690,2060,2208,1913,0,0,0,0,0,0,14.97,14.69,14.99
$GC,1879,0.85,178.6,3505,3691,2208,1913,45.1,11.5,353,1886,0.22,2.30,0.00,0.000,5254,0.354,0.073,3460,2275,2061,2208,1914,0,0,0,0,0,0,14.57,14.73,14.80
$GC,2068,1.08,191.6,3459,2268,2208,1913,29.6,8.6,390,2082,0.17,2.35,4.30,0.787,10916,0.147,0.092,3533,878,2029,2178,1880,0,0,0,0,0,0,14.73,14.71,14.20
$GC,2099,1.13,191.6,3532,878,2178,1882,26.3,11.0,395,2106,0.00,2.33,0.00,0.000,1158,0.000,0.086,3533,2277,2030,2178,1882,0,0,0,0,0,0,14.81,14.73,14.84
$STATE,2265,end climb,SURFACE_DEPTH_REACHED
$STATE,2265,begin surface coast
$FINISH,0.2,1.022647
$STATE,2282,end surface coast,CONTROL_FINISHED_OK
$STATE,2282,begin surface
$SM_CCo,2298,152.98,0.084,0,0,648,529.84
$SM_GC,0.94,10.18,0.00,152.98,0.108,0.000,0.084,100,2277,648,-9.59,-0.65,529.84,0,0,0,0,0,0,14.71,15.03,14.71
$IRIDIUM_FIX,4726.11,-12222.38,210916,180924
$TT8_MAMPS,0.024717,0.159537
$HUMID,49.92
$INTERNAL_PRESSURE,8.77093
$TCM_TEMP,20.70
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,140.9,54.3
$24V_AH,13.76,3.009
$10V_AH,13.90,0.000
$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,29.550,33.500,243.450,152.975,0.000,0.000,0.000,0.000,1.000,0.000,19.890,961.461,407.481,499.238,645.570,24.322,0.000,871.179,0.000,623.752,0.000,5.576,0.000
$DEVICE_MAMPS,524.790,2174.130,1047.285,84.150,0.000,0.000,0.000,0.000,420.000,0.000,11.240,11.260,2.190,10.510,30.740,36.730,0.000,15.700,0.000,17.230,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,297.045,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312784
$DATA_FILE_SIZE,16758,431
$CAP_FILE_SIZE,53127,0
$CFSIZE,2097872896,2095022080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.068,353.81,1
$GPS,210916,185839,4743.667,-12224.768,35,1.1,38,16.6,0.3,0.0,7,8.7