version: 66.12
glider: 530
mission: 3
dive: 4
start: 3 30 116 18 58 53
data:
$ID,530
$MISSION,3
$DIVE,4
$N_DIVES,5
$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,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
$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,2300
$C_ROLL_CLIMB,2280
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,26
$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
$GPS1,300316,185453,4743.6338,-12224.9268,5,0.8,17,16.3,0.0,0.0,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-77.0
$GPS2,300316,185825,4743.6211,-12224.9492,18,0.9,19,16.3,0.0,0.0,8,9.6
$SPEED_LIMITS,0.173,0.261
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,167.5,233,-27.8,-10.000,-30.00,966
$D_GRID,178
$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,-1.01,-63.1,99,2311,608,546,0.0,0.0,0,115,0.00,0.00,-98.40,0.000,16386,0.000,0.000,100,2312,2774,2885,2663,0,0,0,0,0,0,14.91,28.83,14.94
$GC,118,-1.05,-102.6,99,2312,2885,2666,3.1,-5.8,18,150,16.88,2.58,-7.65,0.000,18948,0.535,2.239,2851,902,3121,3289,2954,2,0,0,0,0,0,14.42,13.85,14.71
$GC,376,-0.95,-102.6,2851,902,3358,3032,60.6,-23.0,68,384,0.20,2.40,0.00,0.000,3078,0.376,0.109,2887,2297,3194,3358,3031,0,0,0,0,0,0,14.54,14.67,14.76
$GC,566,-0.95,-102.6,2887,2297,3358,3031,96.3,-17.9,105,573,0.00,2.35,0.00,0.000,516,0.000,0.099,2887,901,3194,3358,3031,0,0,0,0,0,0,14.97,14.72,15.00
$GC,644,-0.95,-102.6,2887,901,3358,3032,109.6,-15.9,120,651,0.00,2.40,0.00,0.000,1030,0.000,0.106,2887,2305,3194,3358,3031,0,0,0,0,0,0,14.83,14.72,14.85
$STATE,809,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,810,begin apogee
$GC,813,-0.17,0.0,2887,2304,3358,3032,140.7,-18.3,152,932,0.98,0.00,112.68,1.040,10246,0.321,0.000,3132,2304,2694,2829,2560,0,0,0,0,0,0,14.61,14.35,13.92
$STATE,933,end apogee,CONTROL_FINISHED_OK
$STATE,933,begin climb
$GC,934,1.05,102.6,3132,2304,2826,2560,147.9,0.0,172,1041,1.38,2.55,94.18,1.004,10756,0.210,0.105,3533,890,2270,2382,2158,0,0,1,0,0,0,14.24,14.16,13.80
$GC,1143,1.05,102.6,3533,889,2377,2153,129.5,12.3,210,1149,0.00,2.42,0.00,0.000,1030,0.000,0.099,3533,2289,2264,2377,2152,0,0,0,0,0,0,14.52,14.42,14.55
$GC,1332,1.05,102.6,3533,2289,2378,2148,105.5,12.2,247,1338,0.00,2.42,0.00,0.000,260,0.000,0.119,3533,3686,2262,2377,2148,0,0,0,0,0,0,14.83,14.57,14.85
$GC,1345,0.99,102.6,3533,3687,2377,2148,103.8,12.1,249,1352,0.00,2.35,0.00,0.000,1030,0.000,0.087,3534,2286,2262,2377,2148,0,0,0,0,0,0,14.69,14.61,14.71
$GC,1535,0.99,102.6,3534,2282,2377,2147,80.6,11.9,286,1542,0.00,2.40,0.00,0.000,516,0.000,0.106,3534,869,2262,2377,2147,0,0,0,0,0,0,14.91,14.66,14.94
$GC,1723,0.99,102.6,3534,869,2377,2145,58.2,12.3,323,1730,0.00,2.40,0.00,0.000,1030,0.000,0.098,3534,2288,2261,2377,2146,0,0,0,0,0,0,14.81,14.71,14.83
$GC,1912,0.99,102.6,3534,2288,2377,2145,36.6,11.4,360,1918,0.00,2.40,0.00,0.000,260,0.000,0.121,3534,3688,2261,2378,2145,0,0,0,0,0,0,14.99,14.72,15.02
$GC,1955,0.87,102.6,3534,3688,2377,2145,31.0,13.0,368,1963,0.22,2.35,0.00,0.000,5126,0.350,0.087,3486,2269,2261,2377,2145,0,0,0,0,0,0,14.62,14.76,14.83
$GC,2145,1.09,135.8,3486,2265,2377,2145,15.1,6.5,405,2166,0.17,2.40,14.23,0.155,10756,0.138,0.100,3562,871,2145,2266,2024,0,0,0,0,0,0,14.76,14.74,14.72
$GC,2172,1.13,169.5,3560,870,2265,2024,13.4,6.4,409,2197,0.00,2.38,16.50,0.151,9222,0.000,0.095,3562,2284,2008,2133,1883,0,0,0,0,0,0,14.85,14.75,14.71
$STATE,2283,end climb,SURFACE_DEPTH_REACHED
$STATE,2283,begin surface coast
$FINISH,1.2,1.019810
$STATE,2309,end surface coast,CONTROL_FINISHED_OK
$STATE,2309,begin surface
$SM_CCo,2325,160.00,0.102,0,0,539,529.84
$SM_GC,1.36,11.07,0.00,160.00,0.171,0.000,0.102,105,2284,539,-9.64,-0.45,529.84,0,0,0,0,0,0,14.71,15.02,14.69
$IRIDIUM_FIX,4726.11,-12226.80,300316,180533
$TT8_MAMPS,0.024717,0.110103
$HUMID,44.21
$INTERNAL_PRESSURE,9.28853
$TCM_TEMP,19.20
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,140.7,6.2
$24V_AH,13.80,1.575
$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,30.900,34.375,237.575,160.000,0.000,0.000,0.000,149.375,0.750,0.000,20.393,976.097,415.682,503.190,800.195,27.412,0.000,1028.944,0.000,630.930,0.000,5.439,0.000
$DEVICE_MAMPS,534.735,2239.155,1039.635,101.745,0.000,0.000,0.000,142.290,420.000,0.000,11.240,11.260,2.190,10.510,30.740,36.730,0.000,15.700,0.000,17.230,0.000,30.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,302.402,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,312732
$DATA_FILE_SIZE,16794,435
$CAP_FILE_SIZE,47332,0
$CFSIZE,2097872896,2095087616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,1,0,5,0
$CURRENT,0.068,4.62,1
$GPS,300316,194116,4743.552,-12224.927,5,1.0,23,16.3,0.0,0.0,7,9.4