version: 66.11
glider: 120
mission: 16
dive: 2
start: 3 28 113 20 41 35
data:
$ID,120
$MISSION,16
$DIVE,2
$N_DIVES,0
$D_SURF,1
$D_FLARE,2
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,0
$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,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,40
$SPEED_FACTOR,1
$RHO,1.023
$MASS,56148
$MASS_COMP,1128.8
$NAV_MODE,0
$FERRY_MAX,22
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,1.6100001e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4739.3799
$TGT_DEFAULT_LON,-12219.1
$TGT_AUTO_DEFAULT,0
$SM_CC,550
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-39754.098
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,115
$PITCH_MAX,4069
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,156
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,294
$ROLL_MAX,3894
$ROLL_DEG,40
$C_ROLL_DIVE,1922
$C_ROLL_CLIMB,1922
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,16
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,395
$VBD_MAX,3895
$C_VBD,2672
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,2
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-5.6651554
$PRESSURE_SLOPE,0.0001164831
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$XPDR_VALID,5
$XPDR_INHIBIT,99
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-2.4000001
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,53
$LOGGERDEVICE2,67
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.00438176
$SEABIRD_T_H,0.00064101926
$SEABIRD_T_I,2.5489926e-05
$SEABIRD_T_J,2.6782905e-06
$SEABIRD_C_G,-10.157237
$SEABIRD_C_H,1.1376933
$SEABIRD_C_I,-0.0013911312
$SEABIRD_C_J,0.00019179068
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$TM_RECORDABOVE,250.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_LOGSAMPLE,0.0
$TM_XMITRAW,0.0
$GPS1,280313,202900,2446.827,-3749.721,9,2.0,9,-15.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-49.8
$GPS2,280313,204036,2446.903,-3749.675,11,1.7,16,-15.0
$SPEED_LIMITS,0.119,0.258
$TGT_NAME,NE
$TGT_LATLONG,2447.500,-3747.160
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.258,-0.003
$KALMAN_X,9.0,9.0,9.0,206.2,18.3
$KALMAN_Y,107.4,107.4,107.4,178.9,218.5
$MHEAD_RNG_PITCHd_Wd,90.3,4371,-17.6,-10.000,-21.21,2209
$D_GRID,1001
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-0.88,-146.6,129,1933,385,410,0.0,0.0,0,114,0.00,0.00,-89.97,0.000,16386,0.000,0.000,129,1933,3089,3176,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.88,-146.6,129,1934,3177,3003,2.2,-1.5,6,138,9.50,2.33,-3.85,0.000,18692,0.381,0.093,2295,3338,3271,3378,3165,0,0,0,0,0,0,14.42,14.73,14.97
$GC,368,-0.88,-146.6,2295,3338,3381,3165,34.8,-13.9,22,373,0.00,2.35,0.00,0.000,1030,0.000,0.056,2295,1903,3274,3382,3166,0,0,0,0,0,0,28.83,14.66,28.83
$GC,681,-0.88,-146.6,2295,1903,3381,3166,78.0,-12.4,43,686,0.00,2.38,0.00,0.000,260,0.000,0.068,2285,3337,3273,3381,3166,0,0,0,0,0,0,28.83,14.63,28.83
$GC,914,-0.88,-146.6,2285,3337,3381,3166,104.1,-11.3,58,920,0.12,2.35,0.00,0.000,3078,0.249,0.056,2314,1910,3274,3383,3166,0,0,0,0,0,0,14.41,14.58,28.83
$GC,1228,-0.88,-146.6,2314,1910,3381,3166,139.0,-11.6,79,1233,0.00,2.38,0.00,0.000,260,0.000,0.069,2305,3341,3273,3381,3166,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,1335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1336,begin apogee
$GC,1344,-0.20,0.0,2305,1916,3384,3166,151.5,-11.5,86,1462,0.75,0.00,110.72,1.192,10246,0.197,0.000,2530,1916,2672,2737,2607,0,0,0,0,0,0,14.45,28.83,13.73
$STATE,1465,end apogee,CONTROL_FINISHED_OK
$STATE,1465,begin climb
$GC,1467,0.88,146.6,2530,1916,2737,2606,156.2,0.0,94,1598,1.05,2.50,118.50,1.167,10756,0.120,0.083,2896,514,2073,2120,2027,0,0,0,0,0,0,14.36,14.23,13.67
$GC,1680,0.88,146.6,2896,514,2119,2027,141.5,11.4,108,1686,0.00,2.33,0.00,0.000,1030,0.000,0.044,2895,1942,2074,2120,2028,0,0,0,0,0,0,28.83,14.50,28.83
$GC,1986,0.88,146.6,2895,1942,2119,2026,105.9,11.3,129,1987,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1942,2072,2119,2026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2286,0.88,146.6,2895,1942,2119,2024,73.1,11.1,149,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1942,2071,2119,2024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2586,0.88,146.6,2896,1942,2119,2023,39.5,11.6,169,2591,0.00,2.28,0.00,0.000,260,0.000,0.066,2896,3328,2071,2119,2024,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2733,0.88,146.6,2895,3328,2116,2020,22.7,12.4,178,2739,0.00,2.28,0.00,0.000,1030,0.000,0.051,2904,1921,2068,2117,2020,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,2916,end climb,SURFACE_DEPTH_REACHED
$STATE,2917,begin surface coast
$FINISH,0.7,0.997996
$STATE,2932,end surface coast,CONTROL_FINISHED_OK
$STATE,2932,begin surface
$SM_CCo,2954,332.12,0.978,1,0,428,550.21
$SM_GC,1.19,9.07,0.00,332.12,0.197,0.000,0.978,130,1922,428,-7.72,-0.03,550.21,4,0,0,0,1,0,13.87,28.83,13.79
$IRIDIUM_FIX,2439.44,-3754.37,280313,202022
$TT8_MAMPS,0.023219,0.023219
$HUMID,34.32
$INTERNAL_PRESSURE,8.3133
$TCM_TEMP,24.10
$XPDR_PINGS,163
$SC_FREEKB,4019040
$TM_FREEKB,7885612
$24V_AH,13.7,5.081
$10V_AH,13.7,0.000
$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,20.500,23.525,229.225,332.125,0.000,0.000,0.000,0.000,40.750,0.000,17.336,615.859,1528.659,611.044,556.796,64.859,30.066,930.353,0.000,522.431,0.000,0.546,0.000
$DEVICE_MAMPS,380.970,93.330,1191.870,978.435,0.000,0.000,0.000,0.000,420.000,0.000,23.220,8.720,2.190,8.720,27.440,31.940,44.670,16.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2908.000,2907.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.700,12.929,0.000,0.000
$MEM,354020
$DATA_FILE_SIZE,6838,192
$CAP_FILE_SIZE,77625,0
$CFSIZE,260165632,257929216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,4,0,1,0,0
$GPS,280313,213745,2446.930,-3749.524,14,2.5,33,-15.0