version: 66.12
glider: 128
mission: 3
dive: 3
start: 6 3 116 18 49 20
data:
$ID,128
$MISSION,3
$DIVE,3
$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,21
$R_STBD_OVSHOOT,17
$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
$GPS1,030616,184557,4743.4849,-12224.1143,15,0.9,18,16.6,0.3,215.4,10,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-73.5
$GPS2,030616,184852,4743.4590,-12224.1426,17,0.9,21,16.6,0.3,223.3,10,9.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,EIGHT
$TGT_LATLONG,4808.000,-12224.000
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,334.3,45451,-17.5,-10.000,-21.04,2225
$D_GRID,173
$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,-146.6,248,2135,441,368,0.0,0.0,0,144,0.00,0.00,-126.55,0.000,16386,0.000,0.000,248,2135,3436,3413,3460,0,0,0,0,0,0,15.06,28.83,15.08
$GC,146,-0.76,-146.6,248,2135,3413,3461,3.1,-1.2,22,172,12.93,2.75,-3.80,0.000,19204,0.493,2.232,2591,3560,3650,3642,3658,0,0,0,0,0,0,14.57,13.93,14.78
$GC,226,0.74,-146.6,2591,3561,3644,3657,27.5,-27.2,36,235,1.83,2.45,0.00,0.000,3078,0.292,0.106,3087,2159,3651,3646,3656,0,0,0,0,0,0,14.63,14.73,14.82
$GC,415,-0.60,-146.6,3087,2154,3652,3650,41.3,-7.0,56,425,1.23,2.40,0.00,0.000,4612,0.101,0.103,2664,734,3651,3652,3650,0,0,0,0,0,0,14.82,14.80,14.88
$GC,458,-1.39,-146.6,2664,734,3652,3650,45.1,-8.3,64,469,0.73,2.50,0.00,0.000,5126,0.118,0.117,2414,2156,3651,3652,3650,0,0,0,0,0,0,14.81,14.81,14.87
$GC,648,-0.45,-146.6,2414,2157,3652,3650,111.5,-36.7,84,659,1.27,2.40,0.00,0.000,2308,0.399,0.112,2690,3559,3651,3652,3650,0,0,0,0,0,0,14.68,14.83,14.85
$GC,751,-0.57,-146.6,2690,3559,3652,3650,126.2,-11.7,104,762,0.00,2.42,0.00,0.000,1030,0.000,0.093,2691,2137,3650,3652,3649,0,0,0,0,0,0,14.97,14.87,14.99
$GC,941,-0.63,-146.6,2690,2137,3652,3649,146.3,-10.8,124,952,0.12,2.40,0.00,0.000,4612,0.158,0.109,2640,729,3651,3653,3649,0,0,0,0,0,0,14.91,14.88,14.97
$STATE,973,end dive,TARGET_DEPTH_EXCEEDED
$STATE,973,begin apogee
$GC,978,-0.17,0.0,2640,2100,3653,3649,150.7,-10.9,130,1097,0.57,0.00,109.97,1.172,10246,0.278,0.000,2796,2101,3050,3075,3026,0,0,0,0,1,0,14.78,14.44,13.88
$STATE,1098,end apogee,CONTROL_FINISHED_OK
$STATE,1098,begin climb
$GC,1099,0.76,146.6,2796,2101,3075,3026,156.8,0.0,142,1255,1.02,2.53,142.02,0.969,10500,0.203,0.106,3094,3515,2438,2484,2392,0,0,0,0,0,0,14.33,14.24,13.93
$GC,1330,0.40,146.6,3094,3514,2470,2390,142.1,12.0,184,1338,0.40,2.47,0.00,0.000,5126,0.288,0.096,2995,2100,2430,2470,2390,0,0,1,0,0,0,14.42,14.51,14.60
$GC,1518,0.62,230.1,2995,2100,2468,2383,130.1,6.2,203,1609,0.17,2.62,79.80,0.944,10500,0.140,0.114,3066,3516,2096,2142,2051,0,0,0,0,0,0,14.73,14.40,14.07
$GC,1644,0.56,230.1,3065,3516,2133,2050,116.6,11.5,228,1651,0.00,2.50,0.00,0.000,1030,0.000,0.102,3066,2099,2091,2133,2049,0,0,1,0,0,0,14.61,14.50,14.64
$GC,1830,0.56,230.1,3066,2098,2130,2044,95.1,11.6,247,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,3066,2098,2087,2130,2044,0,0,0,0,0,0,14.95,14.97,14.97
$GC,2010,0.56,230.1,3066,2098,2127,2044,74.0,11.7,265,2015,0.00,2.47,0.00,0.000,516,0.000,0.119,3067,678,2085,2127,2044,0,0,0,0,0,0,15.04,14.76,15.06
$GC,2044,0.56,230.1,3067,678,2124,2044,70.1,11.6,272,2052,0.00,2.50,0.00,0.000,1030,0.000,0.100,3067,2098,2083,2124,2043,0,0,0,0,0,0,14.84,14.77,14.87
$GC,2232,0.56,230.1,3066,2099,2124,2043,50.2,10.6,291,2236,0.00,2.47,0.00,0.000,260,0.000,0.118,3066,3517,2083,2124,2042,0,0,0,0,0,0,15.09,14.81,15.11
$GC,2268,0.56,230.1,3066,3517,2123,2042,46.1,10.9,298,2278,0.00,2.45,0.00,0.000,1030,0.000,0.105,3067,2099,2082,2123,2042,0,0,0,0,0,0,14.93,14.83,14.96
$GC,2459,0.62,239.3,3066,2099,2123,2042,27.9,9.6,318,2468,0.00,2.45,0.00,0.000,516,0.000,0.120,3067,678,2082,2123,2042,0,0,0,0,0,0,15.12,14.85,15.14
$GC,2511,0.76,268.8,3067,678,2121,2042,23.9,8.6,328,2552,0.12,2.45,34.30,0.899,11270,0.165,0.105,3111,2101,1951,1995,1907,0,0,0,0,0,0,14.90,14.85,14.38
$STATE,2694,end climb,SURFACE_DEPTH_REACHED
$STATE,2694,begin surface coast
$FINISH,0.5,1.021233
$STATE,2716,end surface coast,CONTROL_FINISHED_OK
$STATE,2716,begin surface
$SM_CCo,2731,179.77,0.117,0,0,398,650.03
$SM_CCo,2913,-0.10,0.000,0,0,401,650.03
$SM_CCo,2916,0.25,0.155,0,0,399,650.03
$SM_GC,1.05,8.55,0.10,0.25,0.115,0.181,0.155,252,2155,399,-8.11,-0.59,650.03,0,0,0,0,0,0,14.77,14.78,14.71
$IRIDIUM_FIX,4722.92,-12220.67,030616,184241
$TT8_MAMPS,0.023968,0.160286
$HUMID,47.32
$INTERNAL_PRESSURE,9.32266
$TCM_TEMP,19.10
$XPDR_PINGS,0
$24V_AH,13.88,0.828
$10V_AH,14.09,0.000
$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,28.950,44.800,366.100,180.025,0.000,0.000,0.000,0.000,0.000,0.000,21.545,734.002,1018.287,667.079,554.101,24.208,0.000,1035.256,0.000,534.949,0.000,0.543,0.000
$DEVICE_MAMPS,493.425,2231.505,1171.980,154.530,0.000,0.000,0.000,0.000,420.000,0.000,20.220,9.470,2.190,9.470,28.190,34.180,0.000,16.000,0.000,17.230,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,193.281,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,193796
$DATA_FILE_SIZE,16774,368
$CAP_FILE_SIZE,63980,0
$CFSIZE,260034560,259104768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,1,0
$CURRENT,0.148,202.93,1
$GPS,030616,193907,4743.500,-12224.364,35,1.0,37,16.6,0.4,211.6,8,10.0