version: 66.08
glider: 141
mission: 12
dive: 5
start: 8 20 110 19 3 35
data:
$ID,141
$MISSION,12
$DIVE,5
$N_DIVES,8
$D_SURF,3
$D_FLARE,3
$D_TGT,120
$D_ABORT,160
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$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,720
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$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,51548
$NAV_MODE,0
$FERRY_MAX,0
$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
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,446.0127
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-20168.949
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3900
$C_PITCH,3000
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,256
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,48
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,751
$VBD_MAX,4040
$C_VBD,2610
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$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,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-32.594627
$PRESSURE_SLOPE,0.0001160265
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,90
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,4
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,133
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043389718
$SEABIRD_T_H,0.00062576612
$SEABIRD_T_I,2.3935872e-05
$SEABIRD_T_J,2.5729423e-06
$SEABIRD_C_G,-9.9350653
$SEABIRD_C_H,1.1074669
$SEABIRD_C_I,-0.0013234058
$SEABIRD_C_J,0.00018881446
$GPS1,200810,185904,4743.091,-12224.449,7,2.6,26,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-78.8
$GPS2,200810,190301,4743.084,-12224.454,9,2.0,14,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NE
$TGT_LATLONG,4743.500,-12224.000
$TGT_RADIUS,100.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,18.1,955,-17.5,-10.000
$D_GRID,176
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.62,-146.6,0.0,0.0,0,131,0.00,0.00,-112.38,0.000,6,0.000,0.000,116,2420,3209,0,0,0,0,0,0
$GC,135,-0.62,-146.6,4.0,-8.7,20,154,12.07,2.15,0.00,0.000,4,0.301,0.034,2786,975,3209,0,0,0,0,0,0
$GC,401,-0.54,-146.6,51.1,-12.4,67,409,0.15,2.15,0.00,0.000,6,0.219,0.050,2823,2383,3210,0,0,0,0,0,0
$GC,546,-0.51,-146.6,66.7,-10.8,92,552,0.00,2.22,0.00,0.000,4,0.000,0.060,2824,3821,3210,0,0,0,0,0,0
$GC,654,-0.51,-146.6,78.9,-10.3,111,661,0.00,2.10,0.00,0.000,6,0.000,0.036,2824,2394,3210,0,0,0,0,0,0
$GC,798,-0.48,-146.6,93.5,-9.2,136,805,0.00,2.17,0.00,0.000,4,0.000,0.058,2823,3812,3210,0,0,0,0,0,0
$GC,851,-0.48,-146.6,99.0,-9.8,145,858,0.00,2.08,0.00,0.000,6,0.000,0.035,2824,2398,3210,0,0,0,0,0,0
$STATE,968,end dive,BOTTOM_OBSTACLE_DETECTED
$STATE,968,begin apogee
$GC,973,-0.12,0.0,110.2,9.2,165,1090,0.43,0.00,107.05,0.812,6,0.184,0.000,2951,2268,2610,0,0,0,0,0,0
$STATE,1091,end apogee,CONTROL_FINISHED_OK
$STATE,1091,begin climb
$GC,1093,0.62,146.6,112.3,0.0,185,1216,0.75,2.15,112.93,0.785,4,0.133,0.045,3199,914,2012,0,0,0,0,0,0
$GC,1233,0.46,146.6,95.8,16.2,209,1241,0.20,2.20,0.00,0.000,6,0.199,0.044,3152,2303,2009,0,0,0,0,0,0
$GC,1378,0.40,146.6,75.3,13.6,234,1385,0.00,2.22,0.00,0.000,4,0.000,0.054,3151,3719,2006,0,0,0,0,0,0
$GC,1425,0.31,146.6,67.8,15.4,242,1433,0.22,2.12,0.00,0.000,6,0.197,0.038,3100,2322,2006,0,0,0,0,0,0
$GC,1572,0.39,159.9,53.5,9.4,267,1590,0.00,2.20,10.98,0.660,4,0.000,0.054,3100,3720,1957,0,0,0,0,0,0
$GC,1620,0.45,159.9,48.5,10.5,275,1627,0.12,2.17,0.00,0.000,6,0.110,0.036,3151,2288,1957,0,0,0,0,0,0
$GC,1762,0.45,159.9,31.1,11.1,300,1768,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2288,1956,0,0,0,0,0,0
$GC,1903,0.45,159.9,15.3,11.6,325,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2287,1956,0,0,0,0,0,0
$STATE,2022,end climb,SURFACE_DEPTH_REACHED
$STATE,2022,begin surface coast
$FINISH,0.6,1.008420
$STATE,2051,end surface coast,CONTROL_FINISHED_OK
$STATE,2052,begin surface
$SM_CCo,2068,118.57,0.047,0,0,790,446.20
$SM_GC,1.49,0.00,0.00,118.57,0.000,0.000,0.047,118,2433,790,-9.01,0.93,446.20
$RAFOS_CLK,68
$RAFOS,1,1282332241,19.416666,19.400278,76,71,68,53,51,48,222,189,167,113,205,85
$RAFOS,0,1282331042,19.083334,19.067223,63,57,50,49,48,48,206,218,147,232,131,90
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4716.56,-12248.33,200810,181802
$TT8_MAMPS,0.026215
$HUMID,46.10
$INTERNAL_PRESSURE,8.89683
$TCM_TEMP,20.30
$XPDR_PINGS,2
$ALTIM_BOTTOM_PING,110.2,6.4
$24V_AH,24.5,2.422
$10V_AH,10.6,0.856
$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,22.425,26.250,230.950,118.575,0.000,27.994,42.061,66.785,1.500,0.000,16.995,759.212,490.007,453.158,673.190,75.087,0.000,778.829,0.000,514.448,780.000,8.557,0.000
$DEVICE_MAMPS,300.645,86.445,812.430,46.665,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,232.193,250.554,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,281444
$DATA_FILE_SIZE,13521,351
$CAP_FILE_SIZE,43022,0
$CFSIZE,260165632,250798080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1492.0
$GPS,200810,194116,4743.133,-12224.440,9,2.3,28,18.2