version: 66.12
glider: 141
mission: 21
dive: 3
start: 3 6 115 18 55 42
data:
$ID,141
$MISSION,21
$DIVE,3
$N_DIVES,4
$D_SURF,3
$D_FLARE,5
$D_TGT,150
$D_ABORT,175
$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,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,470
$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,2450
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,13
$R_STBD_OVSHOOT,23
$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
$GPS1,060315,185122,4743.5024,-12224.2158,10,1.4,19,18.2,0.2,276.9,7,5.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-74.8
$GPS2,060315,185512,4743.5107,-12224.2441,8,1.4,14,18.2,0.2,287.8,7,5.9
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,250.6,942,-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,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.91,-146.6,45,2463,712,799,0.0,0.0,0,149,0.00,0.00,-120.70,0.000,16390,0.000,0.000,45,2464,3798,3998,3599,0,0,0,0,0,0,14.91,13.69,14.93
$GC,155,-0.91,-146.6,45,2464,3994,3599,2.7,-2.2,12,176,13.60,2.42,0.00,0.000,2308,0.483,0.109,2571,3862,3798,3984,3613,0,0,0,0,0,0,14.42,14.65,14.76
$GC,410,-0.77,-146.6,2571,3862,3965,3630,64.6,-20.5,61,418,0.25,2.40,0.00,0.000,3078,0.324,0.083,2625,2445,3798,3962,3634,0,0,0,0,0,0,14.56,14.71,14.78
$GC,598,-0.71,-146.6,2625,2445,3953,3640,91.7,-13.6,80,604,0.00,0.00,0.00,0.000,6,0.000,0.000,2625,2446,3796,3952,3640,0,0,0,0,0,0,14.97,15.02,15.02
$GC,789,-0.66,-146.6,2625,2446,3950,3642,118.3,-13.8,99,795,0.12,2.40,0.00,0.000,2564,0.337,0.102,2656,1033,3796,3949,3643,0,0,0,0,0,0,14.63,14.76,14.77
$GC,819,-0.66,-146.6,2656,1033,3949,3643,122.5,-13.1,104,826,0.00,2.45,0.00,0.000,1030,0.000,0.104,2654,2445,3795,3948,3643,0,0,0,0,0,0,14.88,14.74,14.90
$GC,1006,-0.66,-146.6,2653,2445,3947,3644,144.7,-11.7,123,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2445,3795,3947,3644,0,0,0,0,0,0,15.03,15.07,15.07
$STATE,1052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1052,begin apogee
$GC,1061,-0.21,0.0,2653,2400,3952,3643,150.7,-11.8,128,1174,0.55,0.00,109.30,0.929,10246,0.263,0.000,2802,2400,3197,3233,3161,0,0,0,0,0,0,14.66,14.44,14.00
$STATE,1180,end apogee,CONTROL_FINISHED_OK
$STATE,1180,begin climb
$GC,1184,0.91,146.6,2802,2400,3226,3156,156.3,0.0,140,1308,1.20,2.58,109.70,0.954,10756,0.196,0.116,3169,994,2592,2547,2637,0,0,0,0,0,0,14.35,14.20,13.78
$GC,1323,0.76,146.6,3168,994,2546,2634,144.2,14.7,163,1330,0.20,2.53,0.00,0.000,5126,0.321,0.106,3127,2394,2589,2545,2634,0,0,0,0,0,0,14.21,14.28,14.42
$GC,1520,0.64,146.6,3127,2394,2543,2633,113.6,15.1,183,1527,0.17,0.00,0.00,0.000,4102,0.331,0.000,3090,2395,2589,2544,2634,0,0,0,0,0,0,14.45,14.69,14.66
$GC,1710,0.57,146.6,3089,2395,2544,2633,91.1,11.4,202,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,3089,2395,2588,2544,2633,0,0,0,0,0,0,14.88,14.92,14.92
$GC,1900,0.51,146.6,3089,2395,2544,2633,68.2,11.9,221,1906,0.15,2.50,0.00,0.000,4356,0.329,0.124,3052,3816,2588,2544,2633,0,0,0,0,0,0,14.59,14.69,14.73
$GC,1998,0.47,146.6,3051,3816,2545,2631,57.6,10.0,239,2004,0.00,2.42,0.00,0.000,1030,0.000,0.093,3057,2406,2587,2544,2631,0,0,0,0,0,0,14.83,14.71,14.86
$GC,2194,0.51,176.1,3056,2405,2544,2631,39.4,8.6,259,2224,0.00,2.50,22.17,0.802,8708,0.000,0.117,3066,986,2471,2430,2513,0,0,0,0,0,0,14.96,14.62,14.31
$GC,2265,0.56,196.4,3065,986,2429,2509,33.3,9.1,271,2286,0.00,2.53,14.95,0.776,9222,0.000,0.112,3066,2405,2394,2353,2435,0,0,0,0,0,0,14.77,14.64,14.27
$GC,2467,0.56,196.4,3065,2405,2351,2431,12.3,10.0,293,2472,0.00,2.58,0.00,0.000,260,0.000,0.138,3066,3820,2390,2351,2430,0,0,0,0,0,0,14.87,14.62,14.90
$GC,2513,0.54,196.4,3065,3820,2352,2429,7.5,10.7,301,2518,0.00,2.45,0.00,0.000,1030,0.000,0.093,3068,2399,2390,2352,2429,0,0,0,0,0,0,14.76,14.66,14.79
$STATE,2554,end climb,SURFACE_DEPTH_REACHED
$STATE,2555,begin surface coast
$FINISH,0.8,1.021495
$STATE,2576,end surface coast,CONTROL_FINISHED_OK
$STATE,2576,begin surface
$SM_CCo,2601,117.18,0.059,0,0,1282,470.24
$SM_GC,1.59,8.95,0.12,117.18,0.106,0.175,0.059,48,2462,1282,-8.82,-0.48,470.24,0,0,0,0,0,0,14.67,14.69,14.73
$IRIDIUM_FIX,4722.92,-12225.08,010108,081424
$TT8_MAMPS,0.023219,0.023219
$HUMID,49.52
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.0,3.8
$SC_FREEKB,4019136
$24V_AH,13.69,4.230
$10V_AH,13.39,0.000
$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,25.200,29.975,256.125,117.175,0.000,0.000,0.000,0.000,0.500,0.000,16.759,630.769,1029.315,488.351,496.504,159.895,0.000,788.984,0.000,479.052,0.000,5.431,0.000
$DEVICE_MAMPS,482.715,175.185,953.955,58.905,0.000,0.000,0.000,0.000,420.000,0.000,21.720,8.970,2.190,8.970,28.440,33.680,0.000,16.500,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2550.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,16.784,0.000,0.000,0.000
$MEM,274892
$DATA_FILE_SIZE,10138,308
$CAP_FILE_SIZE,63877,0
$CFSIZE,260034560,253419520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3287.00,0x23765a,7,5
$GPS,060315,194224,4743.465,-12224.597,18,1.6,35,18.2,0.0,0.0,7,6.1