version: 66.12
glider: 141
mission: 22
dive: 5
start: 3 13 115 20 30 20
data:
$ID,141
$MISSION,22
$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,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,11
$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,2
$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
$GPS1,130315,202305,4743.7871,-12224.7725,15,1.2,37,18.2,0.3,0.6,7,6.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.70
$_SM_ANGLEo,-74.9
$GPS2,130315,202947,4743.8452,-12224.7959,13,1.8,23,18.2,0.3,357.0,5,7.0
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,183.5,688,-20.3,-10.000,-23.55,1696
$D_GRID,176
$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,-0.72,-111.5,46,2616,1163,1214,0.0,0.0,0,117,0.00,0.00,-89.55,0.000,16390,0.000,0.000,46,2617,3475,3559,3392,0,0,0,0,0,0,14.83,13.69,14.87
$GC,123,-0.76,-146.6,46,2617,3559,3392,2.4,-1.3,9,146,13.57,2.53,-3.03,0.000,18948,0.483,0.115,2545,1172,3619,3683,3555,0,0,0,0,0,0,14.38,13.69,14.69
$GC,368,-0.69,-146.6,2545,1172,3679,3562,49.5,-17.0,56,376,0.17,2.45,0.00,0.000,3078,0.339,0.099,2571,2592,3619,3674,3565,0,0,0,0,0,0,14.52,14.65,14.75
$GC,556,-0.66,-146.6,2571,2595,3674,3566,78.5,-15.3,75,562,0.00,2.50,0.00,0.000,260,0.000,0.125,2563,4018,3619,3673,3566,0,0,0,0,0,0,14.96,14.69,14.99
$GC,592,-0.62,-146.6,2563,4018,3674,3566,84.3,-16.1,81,599,0.15,2.38,0.00,0.000,3078,0.321,0.073,2592,2580,3620,3673,3567,0,0,0,0,0,0,14.59,14.75,14.81
$GC,789,-0.62,-146.6,2592,2580,3673,3566,111.7,-13.4,101,794,0.00,2.35,0.00,0.000,516,0.000,0.098,2592,1186,3620,3673,3567,0,0,0,0,0,0,14.99,14.76,15.02
$GC,898,-0.65,-146.6,2592,1186,3673,3567,126.1,-13.1,121,904,0.00,2.42,0.00,0.000,1030,0.000,0.099,2588,2606,3620,3673,3567,0,0,0,0,0,0,14.87,14.74,14.90
$GC,1094,-0.65,-146.6,2587,2605,3672,3568,149.6,-11.1,141,1099,0.00,2.47,0.00,0.000,260,0.000,0.127,2579,4017,3619,3671,3568,0,0,0,0,0,0,15.02,14.76,15.05
$STATE,1105,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1105,begin apogee
$GC,1117,-0.14,0.0,2579,2425,3672,3568,151.3,-11.4,143,1231,0.62,0.00,110.10,0.857,10246,0.288,0.000,2742,2425,3018,2990,3047,0,0,0,0,0,0,14.64,14.46,14.05
$STATE,1236,end apogee,CONTROL_FINISHED_OK
$STATE,1237,begin climb
$GC,1240,0.76,146.6,2742,2424,2986,3040,157.3,0.0,155,1357,1.00,0.00,109.35,0.840,10246,0.208,0.000,3032,2424,2415,2376,2454,0,0,0,0,0,0,14.35,14.20,13.89
$GC,1545,0.74,146.6,3032,2424,2375,2447,129.8,10.8,186,1550,0.00,2.60,0.00,0.000,260,0.000,0.140,3032,3834,2410,2375,2446,0,0,0,0,0,0,14.75,14.48,14.78
$GC,1634,0.69,146.6,3032,3834,2377,2443,118.8,13.0,202,1639,0.00,2.42,0.00,0.000,1030,0.000,0.089,3041,2419,2410,2377,2444,0,0,0,0,0,0,14.68,14.56,14.71
$GC,1830,0.65,146.6,3041,2419,2377,2443,96.3,11.4,222,1836,0.12,2.45,0.00,0.000,4612,0.346,0.112,3022,1009,2410,2378,2443,0,0,0,0,0,0,14.54,14.64,14.69
$GC,1846,0.63,146.6,3021,1006,2380,2439,94.6,11.1,224,1852,0.00,2.45,0.00,0.000,1030,0.000,0.105,3022,2418,2409,2379,2439,0,0,0,0,0,0,14.76,14.64,14.80
$GC,2042,0.63,149.5,3021,2418,2380,2439,75.4,9.8,244,2048,0.00,2.55,0.00,0.000,260,0.000,0.141,3022,3837,2409,2380,2439,0,0,0,0,0,0,14.95,14.66,14.97
$GC,2118,0.59,149.5,3021,3840,2381,2438,66.6,12.0,258,2125,0.17,2.42,0.00,0.000,5126,0.348,0.088,2996,2416,2410,2382,2439,0,0,0,0,0,0,14.57,14.69,14.79
$GC,2316,0.65,166.7,2996,2416,2381,2438,48.2,9.0,278,2337,0.00,2.65,14.93,0.720,8452,0.000,0.142,2996,3836,2334,2298,2370,0,0,0,0,0,0,14.96,14.64,14.37
$GC,2407,0.66,176.4,2996,3836,2298,2366,40.2,9.4,294,2422,0.00,2.40,8.00,0.701,9222,0.000,0.086,3000,2417,2295,2257,2334,0,0,0,0,0,0,14.81,14.69,14.36
$GC,2613,0.75,204.3,2999,2417,2256,2333,22.3,8.3,316,2639,0.12,2.47,18.52,0.696,10756,0.154,0.114,3058,1001,2181,2134,2229,0,0,0,0,0,0,14.73,14.62,14.35
$GC,2722,0.77,204.3,3058,1001,2136,2223,10.3,11.6,336,2728,0.00,2.50,0.00,0.000,1030,0.000,0.110,3058,2427,2178,2136,2220,0,0,0,0,0,0,14.76,14.63,14.78
$STATE,2784,end climb,SURFACE_DEPTH_REACHED
$STATE,2784,begin surface coast
$FINISH,0.8,1.001985
$STATE,2805,end surface coast,CONTROL_FINISHED_OK
$STATE,2805,begin surface
$SM_CCo,2833,105.28,0.060,0,0,1184,450.13
$SM_GC,1.81,8.82,0.32,105.28,0.096,0.128,0.060,52,2620,1184,-8.55,-0.23,450.13,0,0,0,0,0,0,14.69,14.71,14.73
$IRIDIUM_FIX,4722.92,-12225.08,130315,193733
$TT8_MAMPS,0.023219,0.023219
$HUMID,46.65
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,19.00
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,120.6,69.3
$SC_FREEKB,4018496
$24V_AH,13.69,5.348
$10V_AH,13.45,0.000
$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,24.775,45.050,260.900,105.275,0.000,0.000,0.000,206.525,0.750,0.000,25.880,734.701,1102.380,467.344,776.157,275.360,0.000,994.274,0.000,533.609,0.000,7.181,0.000
$DEVICE_MAMPS,483.480,142.290,856.800,59.670,0.000,0.000,0.000,228.735,420.000,0.000,21.720,8.970,2.190,8.970,27.690,33.680,0.000,16.500,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2823.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.289,0.000,0.000,0.000
$MEM,312620
$DATA_FILE_SIZE,10174,345
$CAP_FILE_SIZE,63370,0
$CFSIZE,260034560,252121088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130315,212059,4743.813,-12224.912,18,1.8,52,18.2,0.3,300.4,6,7.2