version: 66.11
glider: 141
mission: 19
dive: 3
start: 6 24 114 2 35 16
data:
$ID,141
$MISSION,19
$DIVE,3
$N_DIVES,5
$D_SURF,3
$D_FLARE,5
$D_TGT,240
$D_ABORT,280
$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,80
$T_MISSION,110
$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,-1
$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,450
$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,-519069.78
$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,2700
$C_ROLL_CLIMB,2700
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$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,3000
$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
$GPS1,240614,022948,6654.927,-5640.724,10,1.2,27,-37.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-67.9
$GPS2,240614,023437,6654.909,-5640.719,12,1.3,18,-37.3
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,LAUNCH
$TGT_LATLONG,6655.000,-5640.000
$TGT_RADIUS,2500.000
$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,109.4,548,-27.2,-10.000,-30.00,965
$D_GRID,542
$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,-1.21,-63.0,78,2695,756,643,0.0,0.0,0,139,0.00,0.00,-109.18,0.000,16390,0.000,0.000,78,2696,3257,3061,3454,0,0,0,0,0,0,28.83,28.83,14.69
$GC,148,-1.27,-112.7,79,2696,3061,3453,3.5,-4.7,11,171,13.32,2.15,-3.20,0.000,18692,0.454,0.142,2714,3873,3462,3280,3644,1,0,0,0,0,0,14.24,14.43,14.64
$GC,180,-0.09,-112.7,2714,3873,3280,3644,14.8,-27.1,13,188,1.52,2.03,0.00,0.000,3078,0.288,0.076,3103,2692,3462,3280,3644,0,0,0,0,0,0,14.31,14.46,28.83
$GC,492,-1.02,-129.6,3103,2692,3291,3631,39.7,-8.2,44,499,0.93,2.47,-0.65,0.000,20996,0.164,0.119,2817,1292,3536,3377,3696,0,0,0,0,0,0,14.46,14.48,14.66
$GC,632,-1.30,-129.6,2817,1291,3377,3695,56.0,-12.5,57,639,0.28,2.42,0.00,0.000,5126,0.135,0.086,2720,2702,3536,3377,3695,0,0,0,0,0,0,14.51,14.54,28.83
$GC,950,-1.43,-129.6,2720,2702,3377,3695,106.0,-14.9,86,955,0.12,2.45,0.00,0.000,4612,0.181,0.095,2675,1289,3535,3376,3695,0,0,0,0,0,0,14.57,14.57,28.83
$GC,1187,-1.48,-129.6,2681,1290,3377,3695,145.6,-17.0,97,1193,0.00,2.40,0.00,0.000,1030,0.000,0.086,2665,2705,3536,3377,3695,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1504,-1.53,-129.6,2665,2705,3377,3694,200.3,-17.0,113,1510,0.00,2.45,0.00,0.000,516,0.000,0.096,2665,1287,3535,3377,3694,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,1729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1729,begin apogee
$GC,1740,-0.21,0.0,2656,2701,3377,3694,240.5,-17.6,124,1845,1.58,0.00,98.82,1.163,10246,0.304,0.000,3061,2701,2998,2922,3074,0,0,0,0,0,0,14.49,28.83,13.71
$STATE,1850,end apogee,CONTROL_FINISHED_OK
$STATE,1850,begin climb
$GC,1854,1.29,129.6,3061,2701,2916,3066,245.8,0.0,129,1964,1.58,2.15,97.60,1.133,10500,0.152,0.110,3548,3868,2463,2444,2483,0,0,0,0,0,0,14.13,13.90,13.47
$GC,2054,1.21,129.6,3549,3868,2439,2478,229.7,14.2,139,2061,0.00,2.05,0.00,0.000,1030,0.000,0.073,3556,2690,2458,2439,2478,0,0,0,0,0,0,28.83,14.19,28.83
$GC,2360,1.17,129.6,3557,2690,2439,2478,184.0,14.1,155,2362,0.17,0.00,0.00,0.000,4102,0.337,0.000,3521,2690,2458,2439,2478,0,0,0,0,0,0,14.29,28.83,28.83
$GC,2659,1.17,129.6,3521,2690,2439,2478,146.5,12.7,170,2665,0.00,2.40,0.00,0.000,516,0.000,0.096,3529,1294,2458,2439,2478,0,0,0,0,0,0,28.83,14.52,28.83
$GC,2818,1.17,129.6,3530,1294,2439,2478,127.4,12.6,177,2824,0.00,2.40,0.00,0.000,1030,0.000,0.080,3529,2704,2458,2438,2478,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3134,1.17,129.6,3529,2704,2439,2478,86.8,11.4,198,3139,0.00,2.42,0.00,0.000,516,0.000,0.096,3539,1287,2459,2439,2479,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3210,1.17,129.6,3538,1287,2439,2479,78.2,11.1,205,3215,0.00,2.40,0.00,0.000,1030,0.000,0.080,3539,2705,2459,2439,2479,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3526,1.17,129.6,3539,2705,2439,2480,44.7,10.8,236,3531,0.00,2.03,0.00,0.000,260,0.000,0.111,3539,3868,2459,2439,2480,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3565,1.17,129.6,3539,3869,2439,2480,40.6,11.4,239,3572,0.00,1.95,0.00,0.000,1030,0.000,0.070,3547,2701,2459,2439,2480,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3873,1.21,162.4,3547,2701,2439,2480,15.3,6.5,270,3894,0.00,2.05,14.48,0.135,8452,0.000,0.106,3547,3872,2336,2311,2362,0,0,0,0,0,0,28.83,14.62,14.58
$STATE,4057,end climb,SURFACE_DEPTH_REACHED
$STATE,4058,begin surface coast
$FINISH,1.3,1.025281
$STATE,4101,end surface coast,CONTROL_FINISHED_OK
$STATE,4101,begin surface
$SM_CCo,4130,133.95,0.081,0,0,1163,450.13
$SM_GC,1.43,10.93,2.00,133.95,0.153,0.067,0.081,91,2694,1163,-9.49,0.99,450.13,0,0,0,0,0,0,14.58,14.65,14.59
$RAFOS_CLK,192
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,6625.71,-5638.35,200407,151542
$TT8_MAMPS,0.023968,0.023968
$HUMID,52.79
$INTERNAL_PRESSURE,8.69174
$TCM_TEMP,16.20
$XPDR_PINGS,0
$SC_FREEKB,4019168
$24V_AH,13.5,4.766
$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,30.425,40.675,210.900,133.950,0.000,0.000,0.000,0.000,1.000,0.000,20.532,959.121,2024.041,427.758,780.384,177.810,0.000,855.643,0.000,751.948,0.000,7.059,0.000
$DEVICE_MAMPS,453.645,141.525,1162.800,81.090,0.000,0.000,0.000,0.000,420.000,0.000,20.970,16.220,2.310,16.220,34.940,40.930,0.000,10.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4075.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.973,0.000,0.000,0.000
$MEM,150720
$DATA_FILE_SIZE,10101,292
$CAP_FILE_SIZE,83300,0
$CFSIZE,260034560,248463360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,240614,023437,6654.909,-5640.719,301,99.0,301,-37.3