version: 66.12
glider: 141
mission: 22
dive: 4
start: 3 13 115 19 42 6
data:
$ID,141
$MISSION,22
$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,64
$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,450
$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,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,35
$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,2600
$C_ROLL_CLIMB,2420
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,348
$VBD_MAX,3980
$C_VBD,3020
$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,4
$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
$GPS1,130315,193435,4743.3535,-12225.1289,30,1.5,40,18.2,0.2,69.4,6,6.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.63
$_SM_ANGLEo,-74.7
$GPS2,130315,194134,4743.4126,-12225.1182,14,1.9,24,18.2,0.3,4.1,4,7.4
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,24.1,218,-27.2,-10.000,-30.00,962
$D_GRID,179
$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,-0.86,-63.1,51,2615,1159,1209,0.0,0.0,0,112,0.00,0.00,-82.78,0.000,16390,0.000,0.000,50,2615,3278,3351,3206,0,0,0,0,0,0,14.83,13.66,14.87
$GC,118,-0.96,-146.6,51,2615,3350,3207,2.0,-0.6,8,149,13.15,2.50,-8.77,0.000,18948,0.483,0.116,2481,1176,3619,3674,3565,0,0,0,0,0,0,14.39,13.67,14.69
$GC,159,-0.70,-146.6,2480,1176,3674,3566,7.9,-15.6,15,166,0.45,2.45,0.00,0.000,3078,0.367,0.100,2568,2591,3619,3673,3566,0,0,0,0,0,0,14.45,14.59,14.68
$GC,347,-0.75,-146.6,2568,2591,3673,3569,42.4,-17.6,34,352,0.00,2.50,0.00,0.000,260,0.000,0.124,2561,4012,3620,3671,3569,0,0,0,0,0,0,14.89,14.65,14.92
$GC,387,-0.79,-146.6,2561,4012,3672,3569,49.7,-17.4,41,393,0.00,2.38,0.00,0.000,1030,0.000,0.072,2561,2582,3621,3672,3570,0,0,0,0,0,0,14.79,14.71,14.82
$GC,574,-0.85,-146.6,2561,2582,3671,3571,80.9,-16.8,60,580,0.12,2.35,0.00,0.000,4612,0.173,0.095,2514,1186,3621,3671,3571,0,0,0,0,0,0,14.73,14.73,14.79
$GC,631,-0.87,-146.6,2514,1186,3671,3571,91.6,-19.3,70,636,0.00,2.42,0.00,0.000,1030,0.000,0.103,2504,2600,3621,3671,3571,0,0,0,0,0,0,14.83,14.71,14.86
$GC,826,-0.87,-146.6,2504,2601,3671,3571,130.0,-19.4,90,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2504,2600,3620,3670,3571,0,0,0,0,0,0,15.00,15.04,15.04
$STATE,933,end dive,TARGET_DEPTH_EXCEEDED
$STATE,934,begin apogee
$GC,943,-0.14,0.0,2504,2406,3670,3572,151.7,-19.6,101,1057,0.95,0.00,109.45,0.856,10246,0.312,0.000,2744,2406,3018,2988,3048,0,0,0,0,0,0,14.62,14.47,14.04
$STATE,1063,end apogee,CONTROL_FINISHED_OK
$STATE,1063,begin climb
$GC,1067,0.96,146.6,2743,2405,2986,3042,158.1,0.0,113,1188,1.20,2.47,108.62,0.838,10756,0.200,0.108,3107,1020,2414,2379,2450,0,0,0,0,0,0,14.35,14.22,13.90
$GC,1213,0.96,146.6,3106,1021,2380,2442,145.5,14.6,141,1219,0.00,2.47,0.00,0.000,1030,0.000,0.097,3107,2417,2411,2380,2442,0,0,0,0,0,0,14.45,14.33,14.47
$GC,1410,0.94,146.6,3106,2420,2380,2441,115.1,15.6,161,1415,0.00,2.55,0.00,0.000,260,0.000,0.133,3102,3835,2410,2380,2440,0,0,0,0,0,0,14.79,14.53,14.83
$GC,1521,0.89,146.6,3106,3835,2387,2436,95.6,17.3,182,1528,0.00,2.40,0.00,0.000,1030,0.000,0.089,3117,2434,2411,2387,2435,0,0,0,0,0,0,14.73,14.62,14.76
$GC,1709,0.86,146.6,3116,2434,2392,2434,66.0,15.7,201,1715,0.17,0.00,0.00,0.000,4102,0.365,0.000,3083,2434,2410,2387,2434,0,0,0,0,0,0,14.55,14.81,14.78
$GC,1899,0.88,146.6,3083,2430,2387,2434,40.0,13.0,220,1904,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2434,2410,2387,2434,0,0,0,0,0,0,14.94,14.98,14.98
$GC,2089,0.91,146.6,3083,2434,2387,2434,16.1,11.9,239,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2434,2410,2387,2434,0,0,0,0,0,0,14.95,14.99,14.98
$STATE,2194,end climb,SURFACE_DEPTH_REACHED
$STATE,2194,begin surface coast
$FINISH,0.6,1.006445
$STATE,2219,end surface coast,CONTROL_FINISHED_OK
$STATE,2219,begin surface
$SM_CCo,2243,129.15,0.058,0,0,1184,450.13
$SM_GC,1.76,8.93,0.32,129.15,0.102,0.120,0.058,46,2616,1184,-8.57,-0.31,450.13,0,0,0,0,0,0,14.75,14.78,14.78
$IRIDIUM_FIX,4726.11,-12226.80,130315,183725
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.10
$INTERNAL_PRESSURE,8.70151
$TCM_TEMP,18.90
$XPDR_PINGS,0
$SC_FREEKB,4018816
$24V_AH,13.66,5.241
$10V_AH,13.29,0.000
$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,24.975,25.150,218.075,129.150,0.000,0.000,0.000,218.025,1.000,0.000,29.908,542.300,935.040,437.802,650.924,238.008,0.000,914.840,0.000,395.262,0.000,8.590,0.000
$DEVICE_MAMPS,482.715,133.110,856.035,58.140,0.000,0.000,0.000,231.030,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2241.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.056,0.000,0.000,0.000
$MEM,312688
$DATA_FILE_SIZE,6790,252
$CAP_FILE_SIZE,50793,0
$CFSIZE,260034560,252182528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130315,202305,4743.787,-12224.772,15,1.2,37,18.2,0.3,0.6,7,6.2