version: 66.11
glider: 141
mission: 19
dive: 5
start: 6 24 114 5 36 18
data:
$ID,141
$MISSION,19
$DIVE,5
$N_DIVES,8
$D_SURF,3
$D_FLARE,5
$D_TGT,450
$D_ABORT,500
$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,150
$T_MISSION,180
$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,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-519984.41
$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,3120
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$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,32
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,700
$VBD_MAX,4040
$C_VBD,2950
$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
$GPS1,240614,040320,6654.903,-5639.681,301,99.0,301,-37.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-69.7
$GPS2,240614,040320,6654.903,-5639.681,301,99.0,301,-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,345.0,293,-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,27,-1.21,-63.0,81,1599,1188,1103,0.0,0.0,0,118,0.00,0.00,-86.15,0.000,16390,0.000,0.000,81,1600,3208,3008,3408,0,0,0,0,0,0,28.83,28.83,14.66
$GC,124,-1.27,-106.1,81,1599,3009,3408,4.3,-5.4,9,147,13.05,2.25,-2.85,0.000,18948,0.448,0.148,2706,381,3385,3202,3569,0,0,0,0,0,0,14.23,14.38,14.62
$GC,382,-1.27,-106.1,2706,381,3215,3554,54.8,-15.6,33,388,0.00,2.05,0.00,0.000,1030,0.000,0.079,2700,1602,3384,3216,3553,0,0,0,0,0,0,28.83,14.50,28.83
$GC,689,-1.32,-106.1,2700,1604,3219,3550,103.9,-16.1,63,694,0.00,2.40,0.00,0.000,260,0.000,0.088,2690,3011,3384,3218,3550,0,0,0,0,0,0,28.83,14.54,28.83
$GC,862,-1.38,-106.1,2690,3011,3218,3550,130.8,-16.0,71,868,0.00,2.40,0.00,0.000,1030,0.000,0.086,2690,1608,3384,3218,3550,0,0,0,0,0,0,28.83,14.54,28.83
$GC,1183,-1.42,-106.1,2685,1609,3221,3547,182.2,-15.6,87,1189,0.00,2.38,0.00,0.000,260,0.000,0.087,2679,3003,3384,3221,3547,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1315,-1.48,-106.1,2680,3007,3221,3547,201.4,-15.1,93,1321,0.12,2.42,0.00,0.000,5126,0.186,0.086,2641,1589,3384,3221,3547,0,0,0,0,0,0,14.60,14.60,28.83
$GC,1642,-1.48,-106.1,2641,1588,3222,3546,253.6,-15.4,109,1647,0.00,2.40,0.00,0.000,260,0.000,0.085,2631,3006,3383,3222,3545,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1830,-1.48,-106.1,2631,3006,3223,3545,282.4,-15.2,118,1836,0.00,2.38,0.00,0.000,1030,0.000,0.083,2631,1600,3384,3223,3545,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2156,-1.45,-106.1,2631,1603,3224,3545,331.4,-14.5,134,2162,0.00,2.38,0.00,0.000,260,0.000,0.084,2622,3009,3384,3224,3545,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2345,-1.45,-106.1,2622,3009,3224,3545,359.3,-14.7,143,2351,0.15,2.38,0.00,0.000,3078,0.331,0.082,2651,1598,3385,3225,3545,0,0,0,0,0,0,14.52,14.65,28.83
$GC,2671,-1.45,-106.1,2651,1599,3225,3545,403.7,-13.6,159,2676,0.00,2.38,0.00,0.000,260,0.000,0.083,2644,3010,3385,3225,3545,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2860,-1.45,-106.1,2644,3010,3227,3545,429.7,-13.8,168,2865,0.00,2.38,0.00,0.000,1030,0.000,0.080,2643,1593,3385,3226,3545,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,3022,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3022,begin apogee
$GC,3031,-0.21,0.0,2644,1592,3227,3545,452.4,-13.6,176,3117,1.52,0.00,79.80,1.421,10246,0.306,0.000,3048,1592,2948,2862,3035,0,0,0,0,0,0,14.54,28.83,13.62
$STATE,3123,end apogee,CONTROL_FINISHED_OK
$STATE,3123,begin climb
$GC,3127,1.27,106.1,3048,1592,2860,3030,455.4,0.0,180,3219,1.55,2.33,81.28,1.388,10756,0.171,0.115,3526,374,2511,2481,2541,0,0,0,0,0,0,14.12,13.80,13.33
$GC,3253,1.27,106.1,3525,374,2481,2538,444.1,11.3,187,3258,0.00,2.10,0.00,0.000,1030,0.000,0.068,3525,1604,2509,2480,2538,0,0,0,0,0,0,28.83,14.02,28.83
$GC,3578,1.27,106.1,3526,1610,2480,2537,398.1,13.8,203,3584,0.00,2.40,0.00,0.000,260,0.000,0.080,3525,3008,2509,2480,2538,0,0,0,0,0,0,28.83,14.38,28.83
$GC,3816,1.27,106.1,3526,3004,2480,2538,365.6,14.4,214,3821,0.00,2.42,0.00,0.000,1030,0.000,0.081,3535,1600,2509,2480,2538,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4132,1.27,106.1,3535,1600,2480,2538,320.2,14.1,230,4137,0.00,2.40,0.00,0.000,260,0.000,0.079,3535,3010,2509,2480,2538,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4369,1.27,106.1,3535,3010,2480,2538,287.9,13.9,241,4375,0.00,2.42,0.00,0.000,1030,0.000,0.081,3544,1589,2509,2480,2538,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4685,1.27,106.1,3544,1589,2480,2539,244.8,13.2,257,4690,0.00,2.12,0.00,0.000,516,0.000,0.112,3552,372,2509,2480,2539,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4919,1.19,106.1,3550,374,2480,2540,211.8,14.5,268,4925,0.20,2.03,0.00,0.000,5126,0.328,0.068,3511,1611,2510,2480,2540,0,0,0,0,0,0,14.50,14.69,28.83
$GC,5241,1.23,106.1,3511,1616,2480,2540,172.0,12.2,284,5247,0.00,2.33,0.00,0.000,260,0.000,0.078,3510,3001,2510,2480,2540,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5479,1.23,106.1,3510,3001,2480,2541,142.8,12.7,295,5484,0.00,2.38,0.00,0.000,1030,0.000,0.081,3517,1600,2510,2480,2541,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5795,1.23,106.1,3517,1600,2480,2541,102.4,11.3,311,5800,0.00,2.35,0.00,0.000,260,0.000,0.079,3517,3003,2510,2480,2541,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6032,1.23,106.1,3517,3003,2480,2541,76.9,10.2,333,6037,0.00,2.38,0.00,0.000,1030,0.000,0.080,3527,1598,2510,2480,2541,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6348,1.24,116.2,3527,1599,2480,2541,46.5,8.9,364,6363,0.00,2.40,8.50,0.908,8452,0.000,0.079,3527,2998,2472,2439,2505,0,0,0,0,0,0,28.83,14.67,14.26
$GC,6598,1.26,125.2,3527,2997,2439,2505,22.5,9.0,388,6609,0.00,2.35,3.90,0.721,9222,0.000,0.081,3536,1600,2438,2405,2472,0,0,0,0,0,0,28.83,14.63,14.15
$GC,6914,1.43,215.2,3536,1600,2405,2478,7.3,0.4,419,6958,0.12,0.00,41.67,0.096,10246,0.180,0.000,3580,1599,2070,2073,2068,0,0,0,0,0,0,14.59,28.83,14.59
$STATE,7006,end climb,SURFACE_DEPTH_REACHED
$STATE,7006,begin surface coast
$FINISH,0.6,1.006362
$STATE,7037,end surface coast,CONTROL_FINISHED_OK
$STATE,7038,begin surface
$SM_CCo,7063,108.93,0.079,0,0,1114,450.13
$SM_GC,1.63,10.68,0.00,108.93,0.125,0.000,0.079,91,1600,1114,-9.43,0.00,450.13,0,0,0,0,0,0,14.57,28.83,14.57
$RAFOS_CLK,415
$RAFOS_FIX,6658.415527,-5647.065918,240614,040452,4,86,4.07
$IRIDIUM_FIX,6625.71,-5639.92,200407,181822
$TT8_MAMPS,0.023219,0.023219
$HUMID,50.86
$INTERNAL_PRESSURE,8.66244
$TCM_TEMP,16.10
$XPDR_PINGS,0
$SC_FREEKB,4018528
$24V_AH,13.3,5.041
$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,27.400,62.525,215.150,108.925,0.000,0.000,0.000,291.775,2.250,0.000,303.281,1567.846,3790.198,416.487,1893.136,362.382,0.000,1365.780,0.000,1264.743,0.000,14.646,0.000
$DEVICE_MAMPS,448.290,147.645,1420.605,78.795,0.000,0.000,0.000,206.550,420.000,0.000,20.970,16.220,2.310,16.220,34.940,40.930,0.000,10.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7066.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.248,0.000,0.000,0.000
$MEM,150660
$DATA_FILE_SIZE,13426,432
$CAP_FILE_SIZE,102478,0
$CFSIZE,260034560,248307712
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,240614,040320,6654.903,-5639.681,301,99.0,301,-37.3