version: 66.11
glider: 141
mission: 17
dive: 6
start: 8 15 113 21 9 20
data:
$ID,141
$MISSION,17
$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,500
$D_CALL,0
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,40
$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,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51618
$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,120
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.25
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,5
$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,-517752.34
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,92
$PITCH_MAX,4044
$C_PITCH,3180
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,361
$ROLL_MAX,3875
$ROLL_DEG,40
$C_ROLL_DIVE,1650
$C_ROLL_CLIMB,1200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,700
$VBD_MAX,4040
$C_VBD,3150
$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,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,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-34.066193
$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,50
$ALTIM_PING_DELTA,50
$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
$DEEPGLIDERMB,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,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043264292
$SEABIRD_T_H,0.00064045092
$SEABIRD_T_I,2.353942e-05
$SEABIRD_T_J,2.3043724e-06
$SEABIRD_C_G,-10.221929
$SEABIRD_C_H,1.1771696
$SEABIRD_C_I,-0.0034952678
$SEABIRD_C_J,0.00028950538
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,150813,210212,4743.436,-12224.896,10,1.5,27,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-73.5
$GPS2,150813,210836,4743.487,-12224.840,14,1.6,31,18.2
$SPEED_LIMITS,0.217,0.279
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$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,258.5,201,-27.5,-12.500,-30.00,1075
$D_GRID,178
$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,-1.26,-88.0,91,1632,1134,1070,0.0,0.0,0,122,0.00,0.00,-90.50,0.000,16390,0.000,0.000,91,1632,3509,3324,3695,0,0,0,0,0,0,28.83,28.83,14.96
$GC,131,-1.33,-146.6,92,1632,3324,3696,3.4,-5.9,17,157,14.05,2.17,-3.70,0.000,18948,0.479,0.135,2753,368,3750,3573,3928,1,0,0,0,0,0,14.53,14.69,14.93
$GC,300,-1.13,-146.6,2752,367,3578,3923,55.1,-25.2,37,307,0.30,2.08,0.00,0.000,3078,0.366,0.056,2808,1670,3750,3578,3922,0,0,0,0,0,0,14.62,14.82,28.83
$GC,567,-1.16,-146.6,2808,1670,3579,3920,105.5,-19.3,50,568,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1670,3749,3579,3920,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,804,begin apogee
$GC,814,-0.21,0.0,2808,1195,3584,3916,150.1,-18.1,62,925,1.15,0.00,101.80,0.865,10246,0.321,0.000,3102,1195,3149,3080,3218,0,0,0,0,0,0,14.73,28.83,14.16
$STATE,931,end apogee,CONTROL_FINISHED_OK
$STATE,931,begin climb
$GC,935,1.33,146.6,3102,1195,3080,3219,155.5,0.0,68,1050,1.65,2.40,102.43,0.834,10500,0.194,0.059,3595,2613,2552,2555,2549,0,0,0,0,0,0,14.46,14.38,14.01
$GC,1065,1.18,159.9,3599,2612,2555,2548,144.5,11.2,74,1084,0.25,2.47,11.15,0.821,13318,0.382,0.094,3562,1197,2496,2503,2490,0,0,0,0,0,0,14.26,14.41,14.06
$GC,1340,1.14,159.9,3562,1197,2503,2489,94.3,17.0,88,1345,0.00,1.45,0.00,0.000,516,0.000,0.125,3572,376,2496,2503,2489,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1406,1.06,159.9,3566,378,2503,2489,82.9,17.0,91,1412,0.15,1.30,0.00,0.000,5126,0.356,0.066,3527,1198,2496,2503,2489,0,0,0,0,0,0,14.58,14.77,28.83
$GC,1663,1.12,159.9,3527,1198,2503,2489,42.8,14.8,105,1668,0.00,2.25,0.00,0.000,260,0.000,0.060,3526,2611,2495,2503,2487,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1703,1.19,159.9,3526,2612,2502,2489,37.7,14.2,108,1710,0.00,2.40,0.00,0.000,1030,0.000,0.095,3533,1197,2495,2502,2489,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1892,1.23,159.9,2640,1196,2427,2479,12.3,12.9,136,1899,0.12,1.45,0.00,0.000,2564,0.193,0.122,3585,372,2495,2502,2489,0,0,0,0,0,0,14.81,14.78,28.83
$STATE,1959,end climb,SURFACE_DEPTH_REACHED
$STATE,1959,begin surface coast
$FINISH,0.4,1.021746
$STATE,1980,end surface coast,CONTROL_FINISHED_OK
$STATE,1980,begin surface
$SM_CCo,2007,144.38,0.076,0,0,1110,500.17
$SM_GC,1.41,10.38,2.05,144.38,0.117,0.059,0.076,96,1640,1110,-9.60,-1.70,500.17,0,0,0,0,0,0,14.81,14.88,14.82
$RAFOS_CLK,78
$RAFOS,1,1376601843,21.416666,21.400833,61,61,53,53,52,48,173,205,80,134,188,117
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12227.78,150813,202010
$TT8_MAMPS,0.023968,0.023968
$HUMID,52.12
$INTERNAL_PRESSURE,9.00425
$TCM_TEMP,19.80
$XPDR_PINGS,0
$SC_FREEKB,4018208
$24V_AH,14.0,2.369
$10V_AH,13.4,0.000
$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,28.050,20.850,215.375,144.375,0.000,0.000,0.000,172.025,0.750,0.000,33.506,446.669,917.225,414.554,569.739,209.606,0.000,838.039,0.000,346.147,480.000,5.559,0.000
$DEVICE_MAMPS,478.890,135.405,865.215,75.735,0.000,0.000,0.000,234.855,420.000,0.000,20.970,16.220,2.310,16.220,34.940,40.930,0.000,10.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1986.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.312,0.000,0.000,0.000
$MEM,280560
$DATA_FILE_SIZE,3494,152
$CAP_FILE_SIZE,42586,0
$CFSIZE,260034560,254128128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,150813,214619,4743.574,-12225.189,11,1.4,11,18.2