version: 66.12
glider: 141
mission: 21
dive: 6
start: 3 6 115 21 9 9
data:
$ID,141
$MISSION,21
$DIVE,6
$N_DIVES,6
$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,13
$R_STBD_OVSHOOT,20
$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
$GPS1,060315,210258,4743.4756,-12225.1104,9,1.6,18,18.2,0.2,237.4,4,8.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-76.7
$GPS2,060315,210840,4743.4390,-12225.1611,13,1.8,22,18.2,0.3,215.7,4,9.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,42.5,230,-27.2,-10.000,-30.00,962
$D_GRID,181
$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,-63.1,53,2531,1236,1342,0.0,0.0,0,118,0.00,0.00,-88.78,0.000,16390,0.000,0.000,52,2531,3455,3631,3280,0,0,0,0,0,0,14.83,13.69,14.85
$GC,124,-1.15,-146.1,52,2531,3631,3285,2.2,-1.2,9,155,13.23,2.53,-8.18,0.000,18948,0.483,0.122,2500,1102,3796,3965,3628,0,0,0,0,0,0,14.38,13.69,14.68
$GC,222,-1.05,-146.1,2500,1102,3957,3636,23.0,-24.4,27,228,0.22,2.47,0.00,0.000,3078,0.389,0.106,2535,2512,3796,3955,3637,0,0,0,0,0,0,14.44,14.59,14.69
$GC,419,-1.01,-146.1,2534,2512,3950,3640,69.1,-21.4,47,424,0.00,2.53,0.00,0.000,260,0.000,0.122,2526,3939,3798,3949,3648,0,0,0,0,0,0,14.90,14.65,14.94
$GC,449,-0.96,-146.1,2526,3939,3950,3642,75.9,-23.0,52,456,0.20,2.40,0.00,0.000,3078,0.353,0.081,2565,2508,3796,3950,3642,0,0,0,0,0,0,14.52,14.70,14.76
$GC,636,-0.96,-146.1,2565,2508,3945,3644,111.0,-18.3,71,642,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2508,3795,3946,3645,0,0,0,0,0,0,14.95,14.99,14.98
$GC,826,-0.96,-146.1,2565,2506,3945,3644,146.1,-20.4,90,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2566,2508,3793,3945,3642,0,0,0,0,0,0,14.97,15.01,15.01
$STATE,843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,844,begin apogee
$GC,853,-0.18,0.0,2565,2388,3944,3645,150.4,-20.5,92,966,0.98,0.00,108.95,0.932,10246,0.308,0.000,2814,2388,3198,3227,3169,0,0,0,0,0,0,14.59,14.40,13.96
$STATE,972,end apogee,CONTROL_FINISHED_OK
$STATE,972,begin climb
$GC,976,1.15,146.1,2814,2388,3221,3163,157.8,0.0,104,1097,1.42,2.53,108.00,0.933,10756,0.182,0.113,3255,1000,2597,2550,2644,0,0,0,0,0,0,14.32,14.14,13.80
$GC,1123,1.05,146.1,3255,1000,2550,2640,140.7,19.6,132,1129,0.17,2.55,0.00,0.000,5126,0.378,0.109,3225,2402,2594,2549,2640,0,0,0,0,0,0,14.14,14.26,14.38
$GC,1319,0.96,146.1,3224,2402,2549,2639,99.0,21.3,152,1326,0.12,2.58,0.00,0.000,4356,0.391,0.138,3198,3816,2594,2549,2639,0,0,0,0,0,0,14.39,14.49,14.54
$GC,1448,0.87,146.1,3197,3816,2550,2636,72.6,20.4,176,1454,0.20,2.47,0.00,0.000,5126,0.373,0.099,3167,2404,2593,2550,2636,0,0,0,0,0,0,14.46,14.57,14.69
$GC,1644,0.87,146.1,3166,2404,2550,2636,41.8,14.4,196,1650,0.00,2.60,0.00,0.000,260,0.000,0.147,3167,3815,2593,2550,2637,0,0,0,0,0,0,14.87,14.60,14.89
$GC,1700,0.81,146.1,3166,3816,2550,2636,32.3,17.3,206,1706,0.15,2.45,0.00,0.000,5126,0.361,0.095,3147,2401,2593,2550,2636,0,0,0,0,0,0,14.50,14.64,14.74
$STATE,1893,end climb,SURFACE_DEPTH_REACHED
$STATE,1893,begin surface coast
$FINISH,1.3,1.021498
$STATE,1904,end surface coast,CONTROL_FINISHED_OK
$STATE,1904,begin surface
$SM_CCo,1928,137.32,0.060,0,0,1281,470.24
$SM_GC,1.63,9.18,0.25,137.32,0.105,0.128,0.060,49,2538,1281,-8.81,-0.28,470.24,0,0,0,0,0,0,14.67,14.73,14.73
$IRIDIUM_FIX,4726.11,-12222.38,010108,095044
$TT8_MAMPS,0.023219,0.023219
$HUMID,47.67
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,18.90
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,101.8,3.8
$SC_FREEKB,4018176
$24V_AH,13.69,4.516
$10V_AH,13.20,0.000
$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,25.875,25.550,216.950,137.325,0.000,0.000,0.000,157.075,0.500,0.000,24.508,480.339,737.038,438.214,548.393,220.453,0.000,836.414,0.000,363.823,0.000,5.433,0.000
$DEVICE_MAMPS,482.715,146.880,932.535,59.670,0.000,0.000,0.000,225.675,420.000,0.000,21.720,8.970,2.190,8.970,28.440,33.680,0.000,16.500,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1915.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.595,0.000,0.000,0.000
$MEM,274804
$DATA_FILE_SIZE,6807,227
$CAP_FILE_SIZE,45977,0
$CFSIZE,260034560,253317120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2439.15,0x23765a,7,5
$GPS,060315,214505,4743.337,-12224.901,16,1.4,38,18.2,0.5,216.5,8,6.1