version: 66.11
glider: 120
mission: 16
dive: 3
start: 3 28 113 22 50 2
data:
$ID,120
$MISSION,16
$DIVE,3
$N_DIVES,0
$D_SURF,1
$D_FLARE,2
$D_TGT,300
$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,100
$T_MISSION,120
$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,350
$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,-40031.109
$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,28
$R_STBD_OVSHOOT,38
$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
$GPS1,280313,223712,2447.238,-3749.430,7,1.4,12,-15.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-52.4
$GPS2,280313,224901,2447.303,-3749.419,12,1.7,12,-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,-0.006
$KALMAN_X,-134.8,-73.6,-58.6,939.8,-77.7
$KALMAN_Y,446.1,303.5,263.9,228.6,181.5
$MHEAD_RNG_PITCHd_Wd,99.5,3815,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-0.88,-146.6,129,1921,384,410,0.0,0.0,0,114,0.00,0.00,-90.60,0.000,16386,0.000,0.000,129,1922,3140,3226,3054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.88,-146.6,129,1922,3226,3055,2.7,-2.3,6,138,9.48,2.38,-2.67,0.000,18692,0.379,0.094,2299,3325,3273,3377,3170,0,0,0,0,0,0,14.45,14.71,14.99
$GC,368,-0.88,-146.6,2299,3324,3381,3170,37.2,-12.5,22,373,0.00,2.28,0.00,0.000,1030,0.000,0.054,2299,1924,3275,3380,3170,0,0,0,0,0,0,28.83,14.63,28.83
$GC,681,-0.88,-146.6,2299,1924,3381,3170,77.5,-11.9,43,686,0.00,2.33,0.00,0.000,260,0.000,0.067,2289,3329,3275,3381,3170,0,0,0,0,0,0,28.83,14.64,28.83
$GC,914,-0.88,-146.6,2289,3329,3381,3170,104.9,-11.9,58,919,0.00,2.33,0.00,0.000,1030,0.000,0.055,2289,1912,3275,3380,3170,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1227,-0.88,-146.6,2289,1912,3381,3170,142.4,-11.9,79,1228,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1912,3275,3381,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1527,-0.88,-146.6,2289,1911,3381,3170,176.8,-11.5,99,1528,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1912,3275,3381,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1827,-0.88,-146.6,2289,1911,3381,3170,213.8,-12.6,119,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1911,3275,3381,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2131,-0.88,-146.6,2289,1911,3381,3170,250.5,-12.2,139,2132,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1911,3275,3381,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2427,-0.88,-146.6,2289,1912,3380,3170,285.2,-11.4,149,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,1912,3275,3380,3170,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2574,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2574,begin apogee
$GC,2580,-0.20,0.0,2289,1912,3380,3170,302.3,-11.5,154,2701,0.80,0.00,113.68,1.420,10246,0.194,0.000,2530,1911,2671,2736,2606,0,0,0,0,0,0,14.46,28.83,13.63
$STATE,2704,end apogee,CONTROL_FINISHED_OK
$STATE,2704,begin climb
$GC,2706,0.88,146.6,2530,1911,2736,2605,305.8,0.0,158,2834,1.02,0.00,122.60,1.400,10758,0.109,0.000,2883,1910,2073,2117,2030,0,0,0,0,0,0,14.34,28.83,13.56
$GC,3117,0.88,146.6,2883,1910,2114,2030,267.3,12.5,172,3122,0.00,2.35,0.00,0.000,260,0.000,0.068,2879,3325,2072,2115,2029,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3199,0.88,146.6,2879,3324,2112,2028,258.8,13.0,174,3204,0.00,2.30,0.00,0.000,1030,0.000,0.056,2886,1919,2070,2113,2028,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3512,0.88,146.6,2887,1919,2113,2028,218.0,12.6,193,3517,0.00,2.35,0.00,0.000,260,0.000,0.070,2887,3325,2070,2113,2028,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3734,0.88,146.6,2887,3324,2109,2028,191.1,12.6,207,3741,0.00,2.30,0.00,0.000,1030,0.000,0.056,2897,1916,2068,2109,2028,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4040,0.88,146.6,2897,1916,2109,2028,152.8,12.2,228,4041,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1916,2068,2109,2027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4340,0.88,146.6,2897,1916,2109,2025,119.6,11.1,248,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1916,2067,2109,2026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4640,0.88,146.6,2897,1916,2109,2023,85.7,11.5,268,4646,0.00,2.35,0.00,0.000,260,0.000,0.070,2897,3323,2066,2109,2024,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4873,0.88,146.6,2897,3323,2109,2022,58.2,11.9,283,4878,0.00,2.30,0.00,0.000,1030,0.000,0.055,2907,1918,2065,2109,2022,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5186,0.88,146.6,2907,1918,2109,2022,21.8,11.4,304,5191,0.00,2.35,0.00,0.000,260,0.000,0.067,2907,3327,2065,2109,2022,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5268,0.88,146.6,2907,3327,2109,2022,12.5,11.7,309,5274,0.15,2.30,0.00,0.000,5126,0.288,0.054,2885,1918,2065,2109,2022,0,0,0,0,0,0,14.31,14.61,28.83
$STATE,5384,end climb,SURFACE_DEPTH_REACHED
$STATE,5384,begin surface coast
$FINISH,0.3,1.024845
$STATE,5404,end surface coast,CONTROL_FINISHED_OK
$STATE,5404,begin surface
$SM_CCo,5425,161.90,1.021,0,0,1244,350.04
$SM_GC,0.95,9.93,0.00,161.90,0.262,0.000,1.021,130,1917,1244,-7.72,-0.14,350.04,8,0,0,0,0,0,13.82,28.83,13.82
$IRIDIUM_FIX,2437.06,-3745.84,280313,222229
$TT8_MAMPS,0.023219,0.023219
$HUMID,37.95
$INTERNAL_PRESSURE,8.38166
$TCM_TEMP,23.70
$XPDR_PINGS,11
$SC_FREEKB,4018592
$TM_FREEKB,7879052
$24V_AH,13.6,5.367
$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,21.375,27.900,236.275,161.900,0.000,0.000,0.000,0.000,2.750,0.000,13.232,990.058,3310.848,450.503,828.695,90.168,31.305,892.190,0.000,790.081,0.000,0.546,0.000
$DEVICE_MAMPS,379.440,94.095,1419.840,1020.510,0.000,0.000,0.000,0.000,420.000,0.000,23.220,8.720,2.190,8.720,27.440,31.940,44.670,16.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,TMICL,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5370.000,4249.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.042,12.827,0.000,0.000
$MEM,354100
$DATA_FILE_SIZE,10103,318
$CAP_FILE_SIZE,113045,0
$CFSIZE,260165632,257818624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,8,0,0,0,0
$GPS,290313,002427,2447.618,-3748.806,13,2.8,32,-15.0