version: 66.12
glider: 530
mission: 3
dive: 2
start: 3 30 116 17 14 50
data:
$ID,530
$MISSION,3
$DIVE,2
$N_DIVES,3
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$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,51641
$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,1
$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,100
$PITCH_MAX,3750
$C_PITCH,3200
$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,2000
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2700
$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,-54.952885
$PRESSURE_SLOPE,0.0001164562
$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
$GPS1,300316,171137,4743.1904,-12224.5303,6,1.4,19,16.3,0.0,199.5,6,9.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-71.3
$GPS2,300316,171426,4743.1562,-12224.5488,8,1.3,20,16.3,0.5,207.9,6,10.0
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,336.0,849,-18.2,-10.000,-20.99,2236
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.79,-146.6,101,2000,596,511,0.0,0.0,0,134,0.00,0.00,-116.20,0.000,16386,0.000,0.000,102,2000,3146,3282,3011,0,0,0,0,0,0,15.00,28.83,15.02
$GC,136,-0.79,-146.6,101,2000,3282,3012,3.9,-9.3,20,163,17.12,2.67,-2.80,0.000,18692,0.529,2.250,2931,3404,3301,3441,3162,0,0,0,0,0,0,14.50,13.85,14.77
$GC,256,-0.53,-146.6,2930,3403,3521,3210,30.3,-17.1,42,264,0.40,2.33,0.00,0.000,3078,0.328,0.092,3021,1999,3369,3526,3213,0,0,0,0,0,0,14.58,14.71,14.80
$GC,446,-0.64,-146.6,3021,1994,3575,3253,53.8,-11.4,79,453,0.00,2.42,0.00,0.000,260,0.000,0.127,3021,3405,3414,3575,3253,0,0,0,0,0,0,15.02,14.73,15.04
$GC,490,-0.78,-146.6,3021,3405,3575,3253,59.0,-11.7,87,499,0.22,2.33,0.00,0.000,5126,0.132,0.091,2946,1990,3414,3575,3253,0,0,0,0,0,0,14.78,14.77,14.87
$GC,681,-0.66,-146.6,2945,1985,3575,3253,90.4,-15.6,124,688,0.15,2.45,0.00,0.000,2308,0.302,0.126,2981,3411,3414,3576,3253,0,0,0,0,0,0,14.64,14.76,14.78
$GC,780,-0.66,-146.6,2980,3411,3575,3253,104.0,-13.4,143,787,0.00,2.30,0.00,0.000,1030,0.000,0.089,2981,2000,3413,3574,3253,0,0,0,0,0,0,14.90,14.80,14.92
$GC,969,-0.66,-146.6,2980,1995,3575,3253,129.0,-13.0,180,976,0.00,2.42,0.00,0.000,260,0.000,0.129,2981,3406,3414,3575,3253,0,0,0,0,0,0,15.07,14.78,15.09
$GC,1053,-0.66,-146.6,2981,3406,3575,3253,140.0,-13.0,196,1064,0.00,2.30,0.00,0.000,1030,0.000,0.091,2980,1996,3414,3575,3253,0,0,0,0,0,0,14.91,14.81,14.94
$STATE,1069,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,1069,begin apogee
$GC,1073,-0.17,0.0,2981,2203,3575,3253,142.3,-13.3,198,1237,0.57,0.00,155.15,1.035,10246,0.259,0.000,3139,2204,2692,2813,2571,0,0,0,0,0,0,14.70,14.35,13.93
$STATE,1239,end apogee,CONTROL_FINISHED_OK
$STATE,1239,begin climb
$GC,1240,0.79,146.6,3140,2204,2813,2571,149.4,0.0,226,1379,1.02,2.50,128.52,0.992,10756,0.195,0.107,3442,797,2091,2217,1965,0,0,0,0,0,0,14.26,14.23,13.85
$GC,1421,0.79,146.6,3441,797,2213,1960,137.0,10.5,258,1428,0.00,2.45,0.00,0.000,1030,0.000,0.099,3442,2199,2085,2213,1958,0,0,0,0,0,0,14.49,14.39,14.51
$GC,1610,0.73,146.6,3441,2201,2212,1954,116.7,11.0,295,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2200,2083,2213,1954,0,0,0,0,0,0,14.86,14.89,14.88
$GC,1799,0.67,146.6,3441,2200,2213,1952,96.6,10.3,332,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2200,2082,2213,1952,0,0,0,0,0,0,14.96,14.98,14.97
$GC,1987,0.62,150.4,3441,2200,2213,1951,76.9,9.8,369,1994,0.15,2.40,0.00,0.000,4356,0.286,0.119,3405,3610,2082,2213,1951,0,0,0,0,0,0,14.62,14.73,14.75
$GC,2047,0.66,185.0,3403,3609,2213,1951,71.9,8.4,380,2088,0.00,2.33,32.67,0.955,9222,0.000,0.087,3409,2194,1939,2084,1794,0,0,0,0,0,0,14.86,14.78,14.27
$GC,2270,0.87,249.2,3408,2193,2083,1786,53.8,7.1,423,2336,0.17,2.40,56.72,0.924,10756,0.127,0.105,3479,792,1677,1828,1527,0,0,0,0,0,0,14.71,14.48,14.15
$GC,2403,0.91,249.2,3479,790,1822,1521,38.4,11.8,447,2410,0.00,2.42,0.00,0.000,1030,0.000,0.099,3479,2205,1671,1822,1521,0,0,0,0,0,0,14.66,14.57,14.69
$GC,2592,0.91,249.2,3479,2205,1822,1518,12.9,13.2,484,2599,0.00,2.42,0.00,0.000,260,0.000,0.123,3479,3610,1670,1822,1518,0,0,0,0,0,0,14.92,14.66,14.95
$STATE,2675,end climb,SURFACE_DEPTH_REACHED
$STATE,2675,begin surface coast
$FINISH,-0.1,1.002639
$STATE,2707,end surface coast,CONTROL_FINISHED_OK
$STATE,2707,begin surface
$SM_CCo,2726,120.50,0.100,0,0,538,529.84
$SM_GC,1.26,10.25,2.75,120.50,0.124,0.092,0.100,103,1999,538,-9.65,0.57,529.84,0,0,0,0,0,0,14.66,14.71,14.69
$IRIDIUM_FIX,4722.92,-12433.81,300316,170804
$TT8_MAMPS,0.024717,0.159537
$HUMID,45.15
$INTERNAL_PRESSURE,9.31782
$TCM_TEMP,19.30
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,140.8,6.1
$24V_AH,13.85,1.384
$10V_AH,13.99,0.000
$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,30.075,39.275,373.075,120.500,0.000,0.000,0.000,0.000,0.750,0.000,21.260,1081.790,464.685,593.051,755.821,27.916,0.000,1041.057,0.000,729.631,0.000,5.433,0.000
$DEVICE_MAMPS,529.380,2249.865,1035.045,100.215,0.000,0.000,0.000,0.000,420.000,0.000,11.240,11.260,2.190,10.510,30.740,36.730,0.000,15.700,0.000,17.230,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,351.824,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312824
$DATA_FILE_SIZE,20069,506
$CAP_FILE_SIZE,63216,0
$CFSIZE,2097872896,2095284224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.084,225.24,1
$GPS,300316,180429,4743.458,-12224.694,99,1.1,99,16.3,0.4,169.5,7,3.8