version: 66.12
glider: 141
mission: 21
dive: 2
start: 3 6 115 18 0 53
data:
$ID,141
$MISSION,21
$DIVE,2
$N_DIVES,2
$D_SURF,3
$D_FLARE,5
$D_TGT,120
$D_ABORT,160
$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,40
$T_MISSION,60
$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,0.1
$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,51541
$MASS_COMP,0
$NAV_MODE,0
$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,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,603.25
$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,50
$PITCH_MAX,3800
$C_PITCH,2880
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,361
$ROLL_MAX,4050
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,22
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,700
$VBD_MAX,3940
$C_VBD,3200
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,0
$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,-33.575516
$PRESSURE_SLOPE,0.0001160265
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,0
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,-1
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,53
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543633
$SEABIRD_T_H,0.00062237249
$SEABIRD_T_I,2.1446129e-05
$SEABIRD_T_J,2.055453e-06
$SEABIRD_C_G,-10.134171
$SEABIRD_C_H,1.1439899
$SEABIRD_C_I,-0.0013638148
$SEABIRD_C_J,0.00018835191
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,060315,175712,4743.3809,-12223.8369,10,2.0,15,18.2,0.0,0.0,6,6.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-73.9
$GPS2,060315,180024,4743.3916,-12223.8438,9,1.5,14,18.2,0.0,0.0,7,5.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,259.7,1454,-17.5,-10.000,-21.04,2225
$D_GRID,170
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,27,-0.91,-146.6,50,2204,714,776,0.0,0.0,0,158,0.00,0.00,-124.47,0.000,16390,0.000,0.000,50,2205,3794,3992,3596,0,0,0,0,0,0,14.93,14.06,14.94
$GC,164,-0.91,-146.6,50,2205,3992,3597,2.6,-2.9,13,185,13.50,2.42,0.00,0.000,2308,0.480,0.112,2571,3604,3795,3978,3613,0,0,0,0,0,0,14.44,14.64,14.74
$GC,410,-0.76,-146.6,2571,3604,3960,3629,56.9,-23.6,60,417,0.25,2.38,0.00,0.000,3078,0.331,0.080,2624,2194,3795,3959,3631,0,0,0,0,0,0,14.57,14.73,14.82
$GC,598,-0.70,-146.6,2624,2194,3950,3637,90.1,-15.4,79,603,0.00,2.53,0.00,0.000,260,0.000,0.127,2616,3609,3794,3950,3638,0,0,0,0,0,0,15.02,14.70,15.04
$GC,671,-0.63,-146.6,2616,3609,3949,3638,101.7,-15.8,92,678,0.25,2.38,0.00,0.000,3078,0.296,0.080,2673,2200,3796,3954,3638,0,0,0,0,0,0,14.62,14.76,14.85
$STATE,837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,837,begin apogee
$GC,846,-0.21,0.0,2673,2200,3946,3640,120.6,-9.9,109,960,0.47,0.00,109.62,0.936,10246,0.259,0.000,2805,2199,3194,3236,3153,0,0,0,0,0,0,14.66,14.46,14.02
$STATE,962,end apogee,CONTROL_FINISHED_OK
$STATE,965,begin climb
$GC,969,0.91,146.6,2805,2200,3231,3150,126.0,0.0,121,1091,1.20,2.58,109.03,0.910,10756,0.196,0.121,3172,792,2591,2553,2630,0,0,0,0,0,0,14.38,14.23,13.90
$GC,1121,0.76,146.6,3172,792,2551,2626,113.4,15.3,150,1128,0.20,2.53,0.00,0.000,5126,0.322,0.109,3131,2191,2588,2551,2625,0,0,0,0,0,0,14.27,14.35,14.49
$GC,1309,0.64,146.6,3131,2191,2549,2624,86.0,13.3,169,1315,0.15,2.58,0.00,0.000,4356,0.336,0.134,3095,3612,2587,2550,2624,0,0,0,0,0,0,14.47,14.55,14.62
$GC,1441,0.54,146.6,3095,3612,2549,2623,69.7,11.3,194,1449,0.20,2.45,0.00,0.000,5126,0.351,0.099,3055,2203,2586,2550,2623,0,0,0,0,0,0,14.54,14.64,14.76
$GC,1629,0.57,164.4,3056,2203,2550,2623,54.7,9.2,213,1650,0.00,2.47,13.48,0.763,8708,0.000,0.118,3063,787,2521,2486,2557,0,0,0,0,0,0,14.95,14.64,14.33
$GC,1665,0.62,208.3,3064,787,2484,2554,51.7,8.0,219,1705,0.00,2.50,32.88,0.784,9222,0.000,0.107,3064,2212,2343,2306,2381,0,0,0,0,0,0,14.76,14.63,14.22
$GC,1886,0.64,208.3,3064,2212,2300,2373,29.1,10.6,245,1892,0.00,2.53,0.00,0.000,260,0.000,0.132,3064,3611,2336,2301,2372,0,0,0,0,0,0,14.87,14.61,14.90
$GC,2035,0.60,208.3,3069,3611,2302,2371,12.3,12.3,273,2041,0.00,2.45,0.00,0.000,1030,0.000,0.099,3068,2199,2336,2301,2371,0,0,0,0,0,0,14.78,14.67,14.81
$STATE,2117,end climb,SURFACE_DEPTH_REACHED
$STATE,2117,begin surface coast
$FINISH,0.6,1.005041
$STATE,2141,end surface coast,CONTROL_FINISHED_OK
$STATE,2141,begin surface
$SM_CCo,2165,170.40,0.060,0,0,738,603.44
$SM_GC,1.35,8.93,0.00,170.40,0.105,0.000,0.060,47,2199,738,-8.82,0.00,603.44,0,0,0,0,0,0,14.69,14.99,14.75
$IRIDIUM_FIX,4726.11,-12159.30,010108,071957
$TT8_MAMPS,0.023219,0.023219
$HUMID,48.46
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,19.10
$XPDR_PINGS,0
$SC_FREEKB,4019456
$24V_AH,13.90,4.108
$10V_AH,13.25,0.000
$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,25.150,29.775,265.000,170.400,0.000,0.000,0.000,0.000,1.000,0.000,16.881,549.708,739.034,533.010,460.733,142.524,0.000,822.048,0.000,435.453,0.000,9.592,0.000
$DEVICE_MAMPS,479.655,133.875,936.360,60.435,0.000,0.000,0.000,0.000,420.000,0.000,21.720,8.970,2.190,8.970,28.440,33.680,0.000,16.500,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2112.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,18.515,0.000,0.000,0.000
$MEM,274868
$DATA_FILE_SIZE,10121,284
$CAP_FILE_SIZE,60720,0
$CFSIZE,260034560,253472768
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2530.04,0x23765a,7,5
$INTR,1,840.46,0x23765a,2,5
$INTR,2,2150.03,0x23765a,7,5
$GPS,060315,184111,4743.485,-12224.136,20,1.5,30,18.2,0.2,277.9,8,5.4