version: 66.12
glider: 141
mission: 21
dive: 4
start: 3 6 115 19 49 11
data:
$ID,141
$MISSION,21
$DIVE,4
$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,12
$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
$GPS1,060315,194224,4743.4653,-12224.5967,18,1.6,35,18.2,0.0,0.0,7,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.59
$_SM_ANGLEo,-75.7
$GPS2,060315,194842,4743.4521,-12224.5771,9,1.7,14,18.2,0.0,0.0,5,6.5
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,261.4,534,-26.5,-10.000,-29.34,1013
$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,22,end surface,CONTROL_FINISHED_OK
$STATE,22,begin dive
$GC,26,-1.19,-66.4,48,2462,1236,1337,0.0,0.0,0,118,0.00,0.00,-89.62,0.000,16390,0.000,0.000,48,2463,3470,3646,3295,0,0,0,0,0,0,14.82,13.66,14.85
$GC,124,-1.29,-146.6,48,2462,3646,3295,2.2,-1.3,9,156,12.98,2.47,-7.95,0.000,18692,0.481,0.138,2449,3853,3799,3969,3629,0,0,0,0,0,0,14.37,13.66,14.67
$GC,388,-1.11,-146.6,2448,3853,3964,3635,79.3,-31.1,60,395,0.32,2.40,0.00,0.000,3078,0.376,0.083,2516,2440,3799,3961,3638,0,0,0,0,0,0,14.48,14.69,14.73
$GC,576,-1.04,-146.6,2516,2444,3952,3645,120.7,-21.1,79,581,0.00,2.40,0.00,0.000,516,0.000,0.104,2516,1042,3797,3950,3645,0,0,0,0,0,0,14.95,14.70,14.98
$GC,626,-1.00,-146.6,2516,1042,3951,3645,131.9,-21.3,88,635,0.20,2.42,0.00,0.000,3078,0.354,0.104,2547,2441,3798,3950,3646,0,0,0,0,0,0,14.55,14.70,14.80
$STATE,721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,721,begin apogee
$GC,734,-0.21,0.0,2547,2398,3950,3647,150.6,-18.6,98,847,1.02,0.00,109.10,0.910,10246,0.321,0.000,2804,2397,3197,3232,3162,0,0,0,0,0,0,14.57,14.40,13.97
$STATE,853,end apogee,CONTROL_FINISHED_OK
$STATE,853,begin climb
$GC,857,1.29,146.6,2804,2397,3226,3160,157.8,0.0,110,977,1.60,0.00,109.15,0.926,10758,0.190,0.000,3283,2397,2595,2556,2635,0,0,0,0,0,0,14.33,14.25,13.81
$GC,1160,1.12,146.6,3283,2397,2550,2632,101.1,24.7,147,1167,0.17,0.00,0.00,0.000,4102,0.409,0.000,3249,2397,2591,2550,2632,0,0,0,0,0,0,14.35,14.58,14.52
$GC,1347,1.00,146.6,3249,2397,2550,2631,57.5,21.0,166,1353,0.17,2.58,0.00,0.000,4356,0.381,0.143,3209,3816,2590,2550,2631,0,0,0,0,0,0,14.47,14.58,14.64
$GC,1414,0.88,146.6,3209,3816,2551,2629,43.7,21.2,178,1421,0.25,2.45,0.00,0.000,5126,0.373,0.099,3167,2402,2590,2551,2629,0,0,0,0,0,0,14.50,14.60,14.72
$GC,1611,0.86,146.6,3167,2402,2551,2629,13.9,12.8,198,1617,0.00,2.60,0.00,0.000,260,0.000,0.143,3167,3814,2587,2551,2624,0,0,0,0,0,0,14.88,14.62,14.91
$STATE,1688,end climb,SURFACE_DEPTH_REACHED
$STATE,1688,begin surface coast
$FINISH,0.8,1.021442
$STATE,1700,end surface coast,CONTROL_FINISHED_OK
$STATE,1700,begin surface
$SM_CCo,1726,138.30,0.060,0,0,1282,470.24
$SM_GC,1.67,9.32,2.38,138.30,0.115,0.080,0.060,54,2441,1282,-8.80,0.31,470.24,0,0,0,0,0,0,14.66,14.70,14.73
$IRIDIUM_FIX,4726.11,-12225.08,010108,081828
$TT8_MAMPS,0.023219,0.023219
$HUMID,48.42
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,19.50
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,101.7,3.8
$SC_FREEKB,4018816
$24V_AH,13.66,4.326
$10V_AH,13.19,0.000
$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,26.050,19.800,218.250,138.300,0.000,0.000,0.000,193.675,0.500,0.000,16.363,451.314,592.745,443.543,559.445,208.959,0.000,862.553,0.000,333.861,0.000,5.432,0.000
$DEVICE_MAMPS,481.185,159.885,925.650,59.670,0.000,0.000,0.000,229.500,420.000,0.000,21.720,8.970,2.190,8.970,28.440,33.680,0.000,16.500,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1718.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.083,0.000,0.000,0.000
$MEM,274812
$DATA_FILE_SIZE,6793,215
$CAP_FILE_SIZE,42092,0
$CFSIZE,260034560,253403136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,3208.63,0x23765a,7,5
$GPS,060315,202136,4743.403,-12224.969,11,1.5,28,18.2,0.3,191.2,5,6.1