version: 66.11
glider: 141
mission: 19
dive: 2
start: 6 24 114 1 24 12
data:
$ID,141
$MISSION,19
$DIVE,2
$N_DIVES,2
$D_SURF,3
$D_FLARE,5
$D_TGT,120
$D_ABORT,160
$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,60
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-3
$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,1.0275
$MASS,51859
$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,180
$ESCAPE_HEADING,120
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0.5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,590.98499
$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,2
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-519005.16
$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,3140
$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,1600
$C_ROLL_CLIMB,1600
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,700
$VBD_MAX,4040
$C_VBD,3048
$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,-34.049137
$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
$GPS1,240614,011919,6654.954,-5640.928,7,1.4,7,-37.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-68.3
$GPS2,240614,012337,6654.946,-5640.887,11,1.1,11,-37.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,HEADING
$TGT_LATLONG,6644.147,-5640.887
$TGT_RADIUS,1852.000
$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,217.3,20000,-17.5,-10.000,-21.06,2227
$D_GRID,546
$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,27,-0.91,-146.0,83,1596,751,653,0.0,0.0,0,149,0.00,0.00,-118.78,0.000,16386,0.000,0.000,83,1594,3619,3406,3833,0,0,0,0,0,0,28.83,28.83,28.83
$GC,158,-0.91,-146.0,83,1594,3407,3833,5.5,-9.5,12,181,13.52,2.22,-0.35,0.000,18948,0.441,0.139,2641,373,3646,3447,3846,2,0,0,0,0,0,14.27,14.42,14.62
$GC,417,-0.91,-146.0,513,373,3467,3824,56.1,-12.4,37,423,0.17,2.08,0.00,0.000,3078,0.288,0.076,2875,1607,3645,3468,3823,0,0,0,0,0,0,14.43,14.57,28.83
$GC,737,-1.01,-146.0,2875,1610,3470,3820,85.7,-8.7,68,743,0.17,2.20,0.00,0.000,4612,0.157,0.118,2814,374,3645,3470,3820,0,0,0,0,0,0,14.57,14.56,28.83
$GC,840,-1.01,-146.0,2815,374,3470,3819,97.4,-12.1,77,847,0.00,2.05,0.00,0.000,1030,0.000,0.078,2806,1604,3644,3470,3819,0,0,0,0,0,0,28.83,14.66,28.83
$STATE,1033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1033,begin apogee
$GC,1042,-0.21,0.0,2806,1606,3472,3817,121.7,-11.8,88,1163,0.93,0.00,110.57,1.023,10246,0.253,0.000,3060,1606,3041,2969,3114,0,0,0,0,0,0,14.52,28.83,13.78
$STATE,1165,end apogee,CONTROL_FINISHED_OK
$STATE,1165,begin climb
$GC,1169,0.91,146.0,3060,1607,2965,3108,126.7,0.0,94,1293,1.20,2.33,109.47,0.988,10756,0.169,0.120,3432,382,2441,2431,2451,0,0,0,0,0,0,14.15,13.95,13.60
$GC,1480,0.79,149.0,3432,382,2424,2446,108.8,9.9,109,1487,0.15,2.08,0.00,0.000,5126,0.295,0.077,3402,1606,2434,2424,2445,0,0,0,0,0,0,14.25,14.38,28.83
$GC,1786,0.82,197.4,3401,1607,2423,2445,82.1,7.8,135,1831,0.00,2.28,40.17,0.933,8964,0.000,0.119,3408,379,2235,2224,2246,0,0,0,0,0,0,28.83,14.31,13.97
$GC,2061,0.84,219.8,2496,380,2148,2226,56.7,9.0,161,2087,0.00,2.05,17.45,0.925,9222,0.000,0.077,3408,1599,2140,2131,2149,0,0,0,0,0,0,28.83,14.50,14.05
$GC,2392,0.93,262.9,3408,1599,2127,2142,29.2,8.0,194,2433,0.00,2.50,34.53,0.902,8452,0.000,0.088,3408,3000,1968,1970,1967,0,0,0,0,0,0,28.83,14.37,14.01
$GC,2637,1.04,302.7,3408,3000,1964,1959,9.3,8.2,217,2664,0.20,2.42,17.67,0.106,11270,0.146,0.090,3478,1610,1814,1827,1801,0,0,0,0,0,0,14.46,14.45,14.45
$STATE,2701,end climb,SURFACE_DEPTH_REACHED
$STATE,2701,begin surface coast
$FINISH,0.3,1.025263
$STATE,2732,end surface coast,CONTROL_FINISHED_OK
$STATE,2732,begin surface
$SM_CCo,2757,132.18,0.081,0,0,699,575.96
$SM_CCo,2894,-0.03,0.000,0,0,699,575.96
$SM_CCo,2900,0.00,0.000,0,0,700,575.96
$SM_GC,1.04,10.23,0.00,0.00,0.106,0.000,0.000,88,1610,700,-9.50,0.28,575.96,0,0,0,0,0,0,14.48,28.83,28.83
$RAFOS_CLK,121
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5635.34,200407,141443
$TT8_MAMPS,0.023968,0.023968
$HUMID,51.92
$INTERNAL_PRESSURE,8.63314
$TCM_TEMP,16.00
$XPDR_PINGS,0
$SC_FREEKB,4019488
$24V_AH,13.6,4.614
$10V_AH,13.7,0.000
$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,26.575,22.200,329.875,132.175,0.000,0.000,0.000,0.000,0.500,0.000,13.760,697.885,1025.856,499.929,620.018,150.725,0.000,877.988,0.000,601.012,0.000,4.029,0.000
$DEVICE_MAMPS,441.405,139.230,1022.805,81.090,0.000,0.000,0.000,0.000,420.000,0.000,20.970,16.220,2.310,16.220,34.940,40.930,0.000,10.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2697.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,12.515,0.000,0.000,0.000
$MEM,150936
$DATA_FILE_SIZE,6841,227
$CAP_FILE_SIZE,70695,0
$CFSIZE,260034560,248541184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,240614,021354,6654.971,-5640.748,23,1.9,28,-37.3