version: 66.12
glider: 141
mission: 21
dive: 1
start: 3 6 115 17 18 42
data:
$ID,141
$MISSION,21
$DIVE,1
$N_DIVES,1
$D_SURF,3
$D_FLARE,5
$D_TGT,60
$D_ABORT,100
$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,20
$T_MISSION,35
$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,603.25
$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,2950
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,24
$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,1600
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,14
$R_STBD_OVSHOOT,27
$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
$GPS1,060315,171512,4743.1929,-12223.9590,6,1.3,11,18.2,0.2,190.2,8,6.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.86
$_SM_ANGLEo,-72.8
$GPS2,060315,171805,4743.2031,-12223.9639,11,1.4,15,18.2,0.2,37.1,9,5.7
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,274.9,1403,-17.5,-10.000,-21.04,2225
$D_GRID,170
$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,-0.91,-146.6,38,1607,692,791,0.0,0.0,0,158,0.00,0.00,-128.02,0.000,16390,0.000,0.000,38,1607,3798,3991,3605,0,0,0,0,0,0,14.97,13.62,14.97
$GC,164,-0.91,-146.6,38,1607,3992,3605,1.6,-1.1,13,185,13.75,2.40,0.00,0.000,2308,0.473,0.097,2639,3008,3798,3974,3623,0,0,0,0,0,0,14.47,14.69,14.77
$GC,419,-0.83,-146.6,2638,3009,3959,3637,34.7,-16.9,62,427,0.17,2.40,0.00,0.000,3078,0.308,0.083,2675,1593,3797,3956,3638,0,0,0,0,0,0,14.59,14.73,14.81
$GC,607,-0.83,-146.6,2675,1593,3951,3641,57.0,-9.6,81,613,0.00,2.47,0.00,0.000,260,0.000,0.113,2667,3001,3795,3950,3641,0,0,0,0,0,0,15.02,14.72,15.06
$STATE,639,end dive,TARGET_DEPTH_EXCEEDED
$STATE,639,begin apogee
$GC,650,-0.21,0.0,2667,1594,3950,3642,60.0,-7.8,87,764,0.77,0.00,109.43,0.956,10246,0.271,0.000,2874,1594,3198,3242,3155,0,0,0,0,0,0,14.60,14.47,14.01
$STATE,769,end apogee,CONTROL_FINISHED_OK
$STATE,769,begin climb
$GC,773,0.91,146.6,2874,1594,3232,3149,60.4,0.0,99,894,1.15,2.60,107.20,0.905,10500,0.148,0.132,3240,2996,2592,2561,2623,0,0,0,0,0,0,14.42,14.28,13.94
$STATE,1093,end climb,SURFACE_DEPTH_REACHED
$STATE,1093,begin surface coast
$FINISH,0.3,1.021484
$STATE,1103,end surface coast,CONTROL_FINISHED_OK
$STATE,1107,begin surface
$SM_CCo,1134,199.57,0.058,0,0,739,603.44
$SM_GC,1.02,9.52,2.45,199.57,0.110,0.091,0.058,54,1604,739,-9.02,0.62,603.44,0,0,0,0,0,0,14.60,14.63,14.73
$IRIDIUM_FIX,4722.92,-12225.08,010108,063809
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.31
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,19.80
$XPDR_PINGS,3
$SC_FREEKB,4019776
$24V_AH,13.62,3.978
$10V_AH,13.24,0.000
$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,25.375,14.750,216.625,199.575,0.000,0.000,0.000,0.000,0.750,0.000,17.947,302.249,250.075,507.834,273.026,95.131,0.000,694.136,0.000,255.654,0.000,1.005,0.000
$DEVICE_MAMPS,472.770,131.580,956.250,58.140,0.000,0.000,0.000,0.000,420.000,0.000,21.720,8.970,2.190,8.970,28.440,33.680,0.000,16.500,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1081.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,24.826,0.000,0.000,0.000
$MEM,275112
$DATA_FILE_SIZE,3504,164
$CAP_FILE_SIZE,51649,0
$CFSIZE,260034560,253526016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,2945.24,0x23765a,7,5
$GPS,060315,174204,4743.341,-12223.805,11,1.5,20,18.2,0.1,0.7,7,6.8