version: 66.12
glider: 141
mission: 21
dive: 5
start: 3 6 115 20 28 29
data:
$ID,141
$MISSION,21
$DIVE,5
$N_DIVES,5
$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,28
$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,2520
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,16
$R_STBD_OVSHOOT,27
$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
$GPS1,060315,202136,4743.4033,-12224.9688,11,1.5,28,18.2,0.3,191.2,5,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-76.2
$GPS2,060315,202759,4743.3525,-12224.9883,11,1.2,39,18.2,0.2,215.0,6,6.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,338.8,273,-27.2,-10.000,-30.00,962
$D_GRID,178
$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,-1.05,-63.1,53,2540,1237,1341,0.0,0.0,0,118,0.00,0.00,-89.07,0.000,16390,0.000,0.000,53,2541,3458,3632,3285,0,0,0,0,0,0,14.83,13.69,14.85
$GC,124,-1.15,-146.4,53,2540,3632,3285,2.2,-1.1,9,149,13.38,0.00,-8.20,0.000,18950,0.489,0.000,2499,2541,3798,3967,3629,0,0,0,0,0,0,14.38,13.70,14.67
$GC,330,-1.04,-146.4,2499,2541,3955,3639,55.7,-29.1,31,337,0.20,0.00,0.00,0.000,2054,0.393,0.000,2538,2541,3797,3954,3640,0,0,0,0,0,0,14.47,14.76,14.73
$GC,520,-1.00,-146.4,2538,2541,3950,3643,99.0,-21.6,50,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2541,3794,3946,3643,0,0,0,0,0,0,14.94,14.97,14.97
$GC,711,-0.97,-146.4,2538,2541,3949,3644,138.6,-20.0,69,717,0.00,2.47,0.00,0.000,516,0.000,0.102,2539,1096,3795,3946,3645,0,0,0,0,0,0,14.97,14.73,15.00
$GC,757,-0.97,-146.4,2538,1096,3946,3642,147.7,-19.8,77,763,0.15,2.45,0.00,0.000,3078,0.367,0.105,2558,2507,3796,3945,3647,0,0,0,0,0,0,14.57,14.73,14.82
$STATE,769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,769,begin apogee
$GC,779,-0.18,0.0,2558,2377,3945,3646,150.7,-19.0,79,893,1.00,0.08,109.22,0.916,10246,0.321,0.205,2809,2405,3198,3229,3167,0,0,0,0,0,0,14.58,14.32,13.97
$STATE,899,end apogee,CONTROL_FINISHED_OK
$STATE,899,begin climb
$GC,903,1.15,146.4,2809,2405,3221,3161,158.1,0.0,91,1025,1.45,0.00,108.82,0.942,10758,0.187,0.000,3242,2405,2594,2549,2640,0,0,0,0,0,0,14.32,14.23,13.79
$GC,1209,1.05,146.4,3241,2405,2547,2636,103.4,21.9,127,1214,0.00,2.55,0.00,0.000,260,0.000,0.123,3242,3818,2591,2547,2635,0,0,0,0,0,0,14.72,14.49,14.76
$GC,1235,0.92,146.4,3242,3818,2548,2640,96.8,21.8,131,1241,0.38,2.45,0.00,0.000,5126,0.389,0.098,3176,2411,2590,2547,2634,0,0,0,0,0,0,14.38,14.52,14.61
$GC,1432,0.89,146.4,3175,2411,2548,2634,60.8,17.2,151,1437,0.00,2.53,0.00,0.000,516,0.000,0.120,3185,986,2591,2548,2634,0,0,0,0,0,0,14.85,14.59,14.88
$GC,1462,0.87,146.4,3184,986,2549,2634,55.8,16.5,156,1468,0.00,2.53,0.00,0.000,1030,0.000,0.116,3185,2403,2591,2549,2634,0,0,0,0,0,0,14.73,14.60,14.77
$GC,1649,0.84,146.4,3185,2403,2548,2634,24.9,16.7,175,1657,0.15,0.00,0.00,0.000,4102,0.327,0.000,3155,2402,2591,2548,2634,0,0,0,0,0,0,14.54,14.78,14.76
$STATE,1815,end climb,SURFACE_DEPTH_REACHED
$STATE,1815,begin surface coast
$FINISH,0.8,1.000846
$STATE,1836,end surface coast,CONTROL_FINISHED_OK
$STATE,1836,begin surface
$SM_CCo,1861,137.62,0.060,0,0,1281,470.24
$SM_GC,1.61,9.23,0.22,137.62,0.109,0.144,0.060,52,2531,1281,-8.81,-0.37,470.24,0,0,0,0,0,0,14.68,14.73,14.73
$IRIDIUM_FIX,4722.92,-12220.67,010108,091143
$TT8_MAMPS,0.023219,0.023219
$HUMID,48.30
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,19.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.4,3.8
$SC_FREEKB,4018496
$24V_AH,13.69,4.422
$10V_AH,13.95,0.000
$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,25.925,15.675,218.050,137.625,0.000,0.000,0.000,182.675,1.000,0.000,41.427,437.809,757.389,452.731,540.457,210.392,0.000,849.873,0.000,311.372,0.000,9.716,0.000
$DEVICE_MAMPS,488.835,205.020,942.480,59.670,0.000,0.000,0.000,223.380,420.000,0.000,21.720,8.970,2.190,8.970,28.440,33.680,0.000,16.500,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1847.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,17.250,0.000,0.000,0.000
$MEM,274808
$DATA_FILE_SIZE,6818,194
$CAP_FILE_SIZE,42997,0
$CFSIZE,260034560,253362176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060315,210258,4743.476,-12225.110,9,1.6,18,18.2,0.2,237.4,4,8.1