version: 66.12
glider: 141
mission: 22
dive: 2
start: 3 13 115 17 43 34
data:
$ID,141
$MISSION,22
$DIVE,2
$N_DIVES,2
$D_SURF,3
$D_FLARE,5
$D_TGT,120
$D_ABORT,150
$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,55
$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,51831
$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,500
$N_FILEKB,4
$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,2810
$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,29
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,348
$VBD_MAX,3980
$C_VBD,3160
$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,-33.527248
$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,48
$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
$GPS1,130315,173841,4742.8638,-12224.3447,10,1.6,20,18.2,0.0,0.0,6,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-71.6
$GPS2,130315,174305,4742.8540,-12224.3652,15,1.9,25,18.2,0.0,0.0,5,6.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,308.3,1434,-17.5,-10.000,-21.04,2225
$D_GRID,175
$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,-0.80,-146.6,48,2544,370,421,0.0,0.0,0,159,0.00,0.05,-128.07,0.000,16390,0.000,1.411,48,2515,3758,3854,3662,0,0,0,0,0,0,14.97,13.71,14.99
$GC,168,-0.80,-146.6,48,2521,3854,3663,3.2,-3.9,13,189,13.15,2.47,0.00,0.000,2308,0.475,0.116,2531,3923,3759,3850,3669,0,0,0,0,0,0,14.50,14.69,14.78
$GC,318,-0.69,-146.6,2531,3923,3841,3678,46.3,-20.3,41,324,0.22,2.33,0.00,0.000,3078,0.314,0.071,2579,2511,3759,3837,3682,0,0,0,0,0,0,14.59,14.76,14.81
$GC,515,-0.64,-146.6,2578,2511,3832,3688,77.7,-14.8,61,520,0.00,2.35,0.00,0.000,516,0.000,0.093,2580,1101,3759,3831,3688,0,0,0,0,0,0,15.03,14.79,15.07
$GC,585,-0.64,-146.6,2580,1102,3831,3689,87.8,-13.4,74,591,0.00,2.38,0.00,0.000,1030,0.000,0.094,2574,2506,3759,3830,3689,0,0,0,0,0,0,14.90,14.78,14.92
$GC,772,-0.61,-146.6,2574,2505,3829,3690,114.3,-13.6,93,778,0.12,2.47,0.00,0.000,2308,0.330,0.120,2596,3932,3761,3833,3690,0,0,0,0,0,0,14.66,14.77,14.81
$GC,808,-0.61,-146.6,2596,3932,3829,3690,119.1,-12.6,99,814,0.00,2.33,0.00,0.000,1030,0.000,0.070,2596,2517,3759,3829,3690,0,0,0,0,0,0,14.93,14.84,14.98
$STATE,819,end dive,TARGET_DEPTH_EXCEEDED
$STATE,819,begin apogee
$GC,829,-0.18,0.0,2596,2392,3829,3690,120.9,-12.2,101,943,0.55,0.00,110.05,0.831,10246,0.262,0.000,2743,2392,3158,3131,3185,0,0,0,0,0,0,14.67,14.54,14.13
$STATE,949,end apogee,CONTROL_FINISHED_OK
$STATE,949,begin climb
$GC,953,0.80,146.6,2744,2392,3125,3179,127.1,0.0,113,1076,1.05,2.65,108.35,0.806,10500,0.197,0.130,3058,3803,2553,2516,2590,0,0,0,0,0,0,14.42,14.30,14.01
$GC,1112,0.64,146.6,3057,3803,2516,2586,119.7,11.3,134,1118,0.22,2.40,0.00,0.000,5126,0.342,0.087,3022,2414,2550,2515,2586,0,0,0,0,0,0,14.32,14.45,14.55
$GC,1309,0.58,161.9,3022,2414,2515,2584,100.5,9.3,154,1326,0.00,0.00,12.05,0.749,8198,0.000,0.000,3022,2414,2493,2457,2529,0,0,0,0,0,0,14.88,14.67,14.27
$GC,1509,0.53,172.5,3022,2414,2454,2524,81.5,9.5,174,1517,0.17,0.00,3.58,0.524,12294,0.327,0.000,2984,2414,2456,2424,2488,0,0,0,0,0,0,14.59,14.76,14.25
$GC,1699,0.59,219.7,2984,2414,2459,2490,65.9,7.8,193,1748,0.00,2.58,39.58,0.744,8452,0.000,0.134,2984,3806,2259,2216,2302,0,0,0,0,0,0,14.99,14.58,14.31
$GC,1787,0.59,219.7,2984,3807,2216,2298,58.2,10.2,209,1792,0.00,2.40,0.00,0.000,1030,0.000,0.085,2989,2393,2257,2216,2298,0,0,0,0,0,0,14.76,14.65,14.78
$GC,1983,0.62,234.0,2989,2393,2216,2297,40.2,9.3,229,2004,0.00,2.53,11.25,0.721,8708,0.000,0.111,2997,977,2200,2155,2246,0,0,0,0,0,0,14.94,14.66,14.37
$GC,2067,0.72,275.1,2997,977,2157,2243,33.3,8.1,244,2104,0.15,2.47,30.33,0.713,11270,0.130,0.103,3057,2397,2038,1981,2095,0,0,0,0,0,0,14.75,14.66,14.29
$GC,2285,0.68,275.1,3056,2397,1974,2091,5.5,13.4,269,2290,0.00,2.50,0.00,0.000,260,0.000,0.126,3056,3814,2033,1975,2091,0,0,0,0,0,0,14.90,14.64,14.93
$STATE,2301,end climb,SURFACE_DEPTH_REACHED
$STATE,2301,begin surface coast
$FINISH,0.4,1.021870
$STATE,2321,end surface coast,CONTROL_FINISHED_OK
$STATE,2322,begin surface
$SM_CCo,2348,97.25,0.058,0,0,1120,500.17
$SM_GC,1.48,8.80,2.22,97.25,0.096,0.073,0.058,52,2513,1120,-8.58,0.51,500.17,0,0,0,0,0,0,14.71,14.73,14.76
$IRIDIUM_FIX,4726.11,-12226.80,130315,173516
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.49
$INTERNAL_PRESSURE,8.72104
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,100.3,3.8
$SC_FREEKB,4019456
$24V_AH,13.71,5.022
$10V_AH,14.13,0.000
$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,24.450,34.325,315.175,97.250,0.000,0.000,0.000,0.000,0.500,0.000,27.997,556.174,850.427,526.538,458.608,150.857,0.000,808.530,0.000,437.353,0.000,5.435,0.000
$DEVICE_MAMPS,475.065,1410.660,830.790,58.140,0.000,0.000,0.000,0.000,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2295.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.889,0.000,0.000,0.000
$MEM,312724
$DATA_FILE_SIZE,10138,276
$CAP_FILE_SIZE,61945,0
$CFSIZE,260034560,252256256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130315,182535,4742.926,-12224.805,16,1.5,26,18.2,0.3,322.7,7,6.1