version: 66.13
glider: 530
mission: 4
dive: 4
start: 9 21 116 19 13 44
data:
$ID,530
$MISSION,4
$DIVE,4
$N_DIVES,4
$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,21
$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
$GPS1,210916,190918,4743.6982,-12224.7520,17,1.1,19,16.6,0.0,0.0,7,8.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-73.1
$GPS2,210916,191300,4743.7100,-12224.7471,20,1.1,21,16.6,0.0,0.0,7,6.8
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,189.7,501,-21.7,-10.000,-24.21,1590
$D_GRID,175
$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,5,end surface,CONTROL_FINISHED_OK
$STATE,5,begin dive
$GC,7,-0.85,-104.1,101,2285,694,606,0.0,0.0,0,109,0.00,0.00,-100.07,0.000,16386,0.000,0.000,101,2286,3233,3398,3068,0,0,0,0,0,0,14.96,28.83,14.98
$GC,112,-0.87,-120.2,101,2286,3398,3070,3.6,-9.0,18,138,16.27,2.55,-1.10,0.000,18980,0.512,2.205,2889,882,3303,3473,3133,0,0,0,0,0,0,14.44,13.77,14.74
$GC,366,-0.87,-120.2,2890,881,3478,3132,59.3,-16.8,67,372,0.00,2.40,0.00,0.000,1030,0.000,0.099,2890,2297,3305,3478,3132,0,0,0,0,0,0,14.78,14.67,14.80
$GC,553,-0.87,-120.2,2890,2297,3477,3133,91.6,-17.1,104,561,0.00,2.45,0.00,0.000,260,0.000,0.129,2890,3712,3304,3476,3133,0,0,0,0,0,0,14.98,14.69,15.00
$GC,597,-0.87,-120.2,2890,3712,3475,3132,99.3,-18.0,112,605,0.00,2.30,0.00,0.000,1030,0.000,0.076,2890,2299,3303,3475,3132,0,0,0,0,0,0,14.83,14.75,14.85
$GC,787,-0.87,-120.2,2890,2294,3475,3132,132.5,-18.4,149,794,0.00,2.47,0.00,0.000,260,0.000,0.128,2890,3714,3303,3475,3132,0,0,0,0,0,0,15.00,14.71,15.03
$GC,820,-0.87,-120.2,2890,3715,3473,3132,138.7,-18.5,155,827,0.00,2.33,0.00,0.000,1030,0.000,0.080,2890,2293,3303,3474,3132,0,0,0,0,0,0,14.85,14.76,14.87
$STATE,885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,885,begin apogee
$GC,888,-0.17,0.0,2890,2286,3474,3132,150.8,-18.4,167,1010,0.85,0.00,112.38,1.032,10246,0.286,0.000,3114,2286,2801,2963,2639,0,0,0,0,0,0,14.62,14.21,13.87
$STATE,1011,end apogee,CONTROL_FINISHED_OK
$STATE,1011,begin climb
$GC,1012,0.87,120.2,3114,2286,2962,2638,158.6,0.0,188,1130,1.12,2.53,110.07,1.006,10756,0.168,0.092,3454,870,2311,2438,2184,0,0,0,0,0,0,14.26,14.15,13.74
$GC,1184,0.80,185.2,3454,870,2430,2179,158.6,5.8,218,1248,0.00,2.42,57.97,0.993,9382,0.000,0.086,3454,2285,2050,2190,1910,0,0,0,0,0,0,14.42,14.33,13.81
$GC,1430,0.73,185.2,3454,2285,2184,1891,134.2,10.5,265,1437,0.15,0.00,0.00,0.000,4230,0.322,0.000,3422,2285,2037,2184,1891,0,0,0,0,0,0,14.37,14.56,14.50
$GC,1620,0.76,213.5,3421,2285,2184,1889,118.8,8.2,302,1651,0.00,2.50,24.70,0.989,8484,0.000,0.119,3421,3686,1931,2085,1778,0,0,0,0,0,0,14.86,14.47,14.10
$GC,1688,0.76,213.5,3421,3686,2083,1776,112.3,10.5,314,1695,0.00,2.33,0.00,0.000,1030,0.000,0.072,3422,2268,1929,2083,1776,0,0,0,0,0,0,14.64,14.56,14.65
$GC,1876,0.86,213.5,3421,2263,2083,1770,92.2,10.7,351,1883,0.12,2.30,0.00,0.000,2692,0.161,0.089,3476,876,1926,2082,1770,0,0,0,0,0,0,14.63,14.63,14.68
$GC,1905,0.86,213.5,3475,876,2081,1770,88.6,13.2,356,1912,0.00,2.38,0.00,0.000,1030,0.000,0.089,3476,2288,1925,2081,1770,0,0,0,0,0,0,14.73,14.64,14.76
$GC,2094,0.75,213.5,3476,2288,2081,1770,58.5,16.9,393,2102,0.20,2.40,0.00,0.000,4484,0.317,0.115,3428,3693,1925,2081,1769,0,0,0,0,0,0,14.56,14.67,14.69
$GC,2248,0.75,213.5,3428,3693,2081,1769,37.0,11.5,423,2255,0.00,2.30,0.00,0.000,1030,0.000,0.073,3428,2282,1925,2081,1769,0,0,0,0,0,0,14.81,14.73,14.83
$GC,2437,0.83,213.5,3428,2275,2081,1768,15.6,11.9,460,2444,0.00,2.33,0.00,0.000,644,0.000,0.092,3437,871,1924,2081,1768,0,0,0,0,0,0,15.00,14.73,15.02
$GC,2500,0.96,213.5,3437,871,2081,1767,8.9,11.1,472,2508,0.15,2.35,0.00,0.000,3206,0.148,0.089,3491,2282,1924,2081,1767,0,0,0,0,0,0,14.76,14.74,14.85
$STATE,2548,end climb,SURFACE_DEPTH_REACHED
$STATE,2548,begin surface coast
$FINISH,0.4,1.022639
$STATE,2570,end surface coast,CONTROL_FINISHED_OK
$STATE,2570,begin surface
$SM_CCo,2586,140.07,0.087,0,0,649,529.84
$SM_GC,0.98,10.00,0.00,140.07,0.104,0.000,0.087,105,2282,649,-9.58,-0.54,529.84,0,0,0,0,0,0,14.71,15.02,14.70
$IRIDIUM_FIX,4726.11,-12226.80,210916,190614
$TT8_MAMPS,0.024717,0.158788
$HUMID,49.33
$INTERNAL_PRESSURE,8.76116
$TCM_TEMP,20.60
$XPDR_PINGS,7
$ALTIM_BOTTOM_PING,140.9,50.0
$24V_AH,13.74,3.145
$10V_AH,13.89,0.000
$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,28.875,38.325,305.125,140.075,0.000,0.000,0.000,0.000,2.250,0.000,21.882,1083.122,449.805,539.048,725.451,26.690,0.000,957.934,0.000,699.985,0.000,5.567,0.000
$DEVICE_MAMPS,511.785,2205.495,1031.985,87.210,0.000,0.000,0.000,0.000,420.000,0.000,11.240,11.260,2.190,10.510,30.740,36.730,0.000,15.700,0.000,17.230,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,334.269,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312756
$DATA_FILE_SIZE,20174,485
$CAP_FILE_SIZE,61186,0
$CFSIZE,2097872896,2094923776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.099,352.60,1
$GPS,210916,200029,4743.567,-12224.952,38,0.9,44,16.6,0.0,0.0,9,9.0