version: 66.12
glider: 128
mission: 3
dive: 4
start: 6 3 116 19 42 45
data:
$ID,128
$MISSION,3
$DIVE,4
$N_DIVES,5
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,170
$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,720
$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,51464
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,3235
$TGT_DEFAULT_LON,-11731
$TGT_AUTO_DEFAULT,0
$SM_CC,676.8288
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,250
$PITCH_MAX,3750
$C_PITCH,2860
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,30
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.045000002
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3700
$ROLL_DEG,40
$C_ROLL_DIVE,2150
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,20
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,400
$VBD_MAX,3900
$C_VBD,3050
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,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,-13.390224
$PRESSURE_SLOPE,0.00011623861
$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,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-1
$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,0.0043553207
$SEABIRD_T_H,0.00062594062
$SEABIRD_T_I,2.3765557e-05
$SEABIRD_T_J,2.606791e-06
$SEABIRD_C_G,-9.8755465
$SEABIRD_C_H,1.1390997
$SEABIRD_C_I,-0.0019936475
$SEABIRD_C_J,0.00023608611
$GPS1,030616,193907,4743.5005,-12224.3643,35,1.0,37,16.6,0.4,211.6,8,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-72.7
$GPS2,030616,194216,4743.4712,-12224.3936,17,1.0,21,16.6,0.4,208.2,8,9.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,356.5,45430,-17.5,-10.000,-21.04,2225
$D_GRID,174
$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,-0.76,-146.6,252,2155,455,358,0.0,0.0,0,143,0.00,0.00,-125.95,0.000,16386,0.000,0.000,253,2156,3380,3354,3407,0,0,0,0,0,0,14.99,28.83,15.01
$GC,145,-0.76,-146.6,252,2156,3354,3406,3.1,-1.1,22,171,12.85,2.70,-4.97,0.000,19204,0.491,2.241,2591,3559,3648,3641,3656,0,0,0,0,0,0,14.52,13.90,14.73
$GC,214,0.96,-146.6,2591,3558,3640,3655,25.0,-23.8,34,225,2.17,2.47,0.00,0.000,3078,0.301,0.106,3156,2150,3649,3644,3654,0,0,0,0,0,0,14.59,14.69,14.72
$GC,404,-0.65,-146.6,3157,2145,3649,3648,43.7,-9.8,54,415,2.03,2.40,0.00,0.000,4612,0.352,0.098,2664,727,3648,3649,3647,0,0,0,0,0,0,14.64,14.77,14.86
$GC,490,-1.15,-146.6,2663,727,3649,3646,53.4,-10.8,71,498,0.52,2.53,0.00,0.000,5126,0.111,0.120,2484,2148,3647,3649,3646,0,0,0,0,0,0,14.81,14.78,14.90
$GC,678,-0.46,-146.6,2484,2150,3649,3645,107.6,-30.4,90,688,0.93,2.45,0.00,0.000,2308,0.368,0.117,2694,3566,3647,3649,3645,0,0,0,0,0,0,14.71,14.81,14.84
$GC,744,-0.26,-146.6,2694,3566,3649,3645,116.9,-21.3,103,752,0.28,2.45,0.00,0.000,3078,0.248,0.095,2767,2140,3647,3649,3645,0,0,0,0,0,0,14.76,14.83,14.93
$GC,931,-0.67,-146.6,2767,2137,3649,3645,127.2,-5.4,122,941,0.35,2.35,0.00,0.000,4612,0.107,0.103,2635,741,3647,3650,3645,0,0,0,0,0,0,14.89,14.84,14.95
$GC,995,-0.82,-146.6,2634,741,3650,3645,134.9,-8.1,134,1005,0.08,2.45,0.00,0.000,5126,0.126,0.108,2598,2163,3647,3650,3645,0,0,0,0,0,0,14.87,14.83,14.92
$STATE,1083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1083,begin apogee
$GC,1087,-0.17,0.0,2598,2097,3650,3645,150.6,-16.1,144,1205,0.77,0.00,107.07,1.341,10246,0.311,0.000,2795,2095,3049,3072,3027,0,0,0,0,1,0,14.76,14.37,13.81
$STATE,1206,end apogee,CONTROL_FINISHED_OK
$STATE,1206,begin climb
$GC,1207,0.76,146.6,2796,2095,3071,3028,158.0,0.0,156,1335,1.02,0.00,111.90,1.323,10758,0.203,0.000,3094,2094,2451,2501,2402,0,0,0,0,1,0,14.28,14.21,13.68
$GC,1514,0.46,146.6,3093,2094,2499,2402,135.1,11.5,196,1525,0.30,2.53,0.00,0.000,4356,0.275,0.109,3014,3518,2450,2498,2402,0,0,0,0,0,0,14.50,14.58,14.62
$GC,1609,0.40,166.1,3015,3518,2494,2402,126.6,9.1,214,1638,0.00,2.45,21.42,0.985,9222,0.000,0.090,3015,2102,2365,2411,2319,0,0,0,0,0,0,14.74,14.69,14.21
$GC,1819,0.55,216.2,3014,2102,2401,2314,110.6,7.7,238,1879,0.00,2.55,50.80,0.981,8452,0.000,0.116,3015,3516,2157,2201,2113,0,0,0,0,0,0,14.96,14.47,14.15
$GC,1904,0.74,259.0,3015,3516,2198,2112,103.3,8.0,255,1956,0.25,2.47,42.70,0.933,11270,0.120,0.103,3101,2102,1986,2032,1941,0,0,1,0,0,0,14.56,14.54,14.06
$GC,2143,0.60,259.0,3100,2102,2016,1931,68.9,14.9,284,2154,0.15,2.50,0.00,0.000,4612,0.267,0.118,3070,679,1972,2014,1931,0,0,0,0,0,0,14.56,14.62,14.69
$GC,2176,0.52,259.0,3070,679,2013,1931,64.9,14.4,290,2187,0.15,2.50,0.00,0.000,5126,0.247,0.103,3033,2109,1970,2011,1930,0,0,0,0,0,0,14.61,14.66,14.76
$GC,2367,0.77,299.3,3033,2109,2013,1929,49.1,8.1,310,2407,0.20,0.00,28.05,0.962,10758,0.128,0.000,3110,2110,1829,1876,1782,0,0,0,0,1,0,14.78,14.69,14.16
$GC,2585,0.77,299.3,3110,2114,1879,1789,18.4,13.9,336,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,3109,2114,1834,1879,1789,0,0,0,0,0,0,14.98,15.01,15.00
$GC,2653,0.70,299.3,3110,2113,1879,1790,8.9,14.6,349,2661,0.00,2.45,0.00,0.000,260,0.000,0.117,3110,3513,1834,1879,1790,0,0,0,0,0,0,15.00,14.73,15.02
$GC,2678,0.64,299.3,3110,3514,1879,1791,5.3,14.5,353,2687,0.17,2.50,0.00,0.000,5126,0.269,0.111,3069,2101,1836,1880,1792,0,0,0,0,0,0,14.68,14.74,14.84
$STATE,2697,end climb,SURFACE_DEPTH_REACHED
$STATE,2697,begin surface coast
$FINISH,0.8,1.021354
$STATE,2719,end surface coast,CONTROL_FINISHED_OK
$STATE,2719,begin surface
$SM_CCo,2734,170.15,0.119,0,0,398,650.03
$SM_CCo,2907,-0.12,0.000,0,0,400,650.03
$SM_CCo,2909,0.15,0.178,0,0,400,650.03
$SM_GC,1.20,8.38,0.12,0.15,0.108,0.157,0.178,247,2154,400,-8.13,-0.57,650.03,0,0,0,0,0,0,14.75,14.78,14.69
$IRIDIUM_FIX,4726.11,-12226.80,030616,184647
$TT8_MAMPS,0.023968,0.103362
$HUMID,47.55
$INTERNAL_PRESSURE,9.30313
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,13.68,0.982
$10V_AH,13.35,0.000
$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,30.600,40.025,361.950,170.300,0.000,0.000,0.000,124.050,0.000,0.000,22.391,730.328,1025.603,671.905,666.738,29.427,0.000,1167.787,0.000,525.191,0.000,0.543,0.000
$DEVICE_MAMPS,491.130,2241.450,1341.045,178.245,0.000,0.000,0.000,124.695,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,190.819,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,193776
$DATA_FILE_SIZE,13485,360
$CAP_FILE_SIZE,52896,0
$CFSIZE,260034560,259088384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,3,1,0
$CURRENT,0.133,206.46,1
$GPS,030616,203233,4743.543,-12224.463,40,1.1,44,16.6,0.2,0.0,7,9.2