version: 66.11
glider: 141
mission: 19
dive: 4
start: 6 24 114 4 4 2
data:
$ID,141
$MISSION,19
$DIVE,4
$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,-519375.84
$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,36
$R_STBD_OVSHOOT,28
$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
$GPS1,240614,023437,6654.909,-5640.719,301,99.0,301,-37.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.1
$GPS2,240614,040320,6654.903,-5639.681,150,99.0,170,-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,26,-1.21,-63.0,78,2689,1191,1110,0.0,0.0,0,118,0.00,0.00,-87.50,0.000,16390,0.000,0.000,78,2690,3258,3059,3457,0,0,0,0,0,0,28.83,28.83,14.65
$GC,124,-1.26,-102.0,78,2690,3059,3457,4.3,-5.8,9,147,13.40,2.15,-2.53,0.000,19204,0.454,0.134,2721,3867,3419,3234,3604,0,0,0,0,0,0,14.21,14.40,14.60
$GC,371,-1.34,-102.0,2719,3867,3243,3594,51.2,-15.6,32,377,0.00,1.95,0.00,0.000,1030,0.000,0.074,2719,2704,3418,3245,3592,0,0,0,0,0,0,28.83,14.48,28.83
$GC,679,-1.44,-102.0,2719,2704,3249,3586,99.4,-15.7,63,685,0.12,2.45,0.00,0.000,4612,0.189,0.096,2675,1288,3417,3249,3586,0,0,0,0,0,0,14.52,14.52,28.83
$GC,919,-1.44,-102.0,2676,1287,3251,3583,138.9,-16.9,75,924,0.00,2.40,0.00,0.000,1030,0.000,0.083,2666,2699,3416,3251,3582,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1235,-1.44,-102.0,2666,2700,3251,3582,190.8,-15.6,91,1240,0.00,2.42,0.00,0.000,516,0.000,0.096,2666,1298,3417,3252,3582,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1471,-1.44,-102.0,2665,1298,3253,3581,227.4,-15.9,102,1476,0.00,2.38,0.00,0.000,1030,0.000,0.083,2657,2699,3417,3253,3581,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,1543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1543,begin apogee
$GC,1552,-0.21,0.0,2657,2699,3254,3580,240.9,-15.9,106,1634,1.58,0.00,77.50,1.157,10246,0.308,0.000,3059,2699,3002,2913,3092,0,0,0,0,0,0,14.47,28.83,13.76
$STATE,1640,end apogee,CONTROL_FINISHED_OK
$STATE,1640,begin climb
$GC,1644,1.26,102.0,3059,2699,2908,3082,244.6,0.0,110,1729,1.55,2.20,76.88,1.132,10500,0.157,0.109,3537,3868,2577,2532,2622,0,0,0,0,0,0,14.18,13.94,13.50
$GC,1925,1.16,102.0,3537,3868,2530,2620,217.3,13.0,124,1931,0.15,2.00,0.00,0.000,5126,0.345,0.070,3517,2701,2574,2530,2619,0,0,0,0,0,0,14.14,14.28,28.83
$GC,2246,1.16,102.0,3517,2701,2530,2620,181.7,10.6,140,2252,0.00,2.42,0.00,0.000,516,0.000,0.098,3525,1301,2575,2530,2620,0,0,0,0,0,0,28.83,14.45,28.83
$GC,2295,1.16,102.0,2688,1300,2468,2611,176.7,10.7,142,2301,0.00,2.38,0.00,0.000,1030,0.000,0.077,3526,2705,2575,2530,2620,0,0,0,0,0,0,28.83,14.49,28.83
$GC,2616,1.16,102.0,3526,2705,2530,2620,142.8,10.5,158,2621,0.00,2.42,0.00,0.000,516,0.000,0.096,3533,1301,2575,2530,2620,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2748,1.16,102.0,3533,1301,2530,2620,128.7,11.3,164,2753,0.00,2.35,0.00,0.000,1030,0.000,0.077,3533,2703,2574,2529,2620,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3058,1.16,102.0,3533,2704,2530,2621,93.8,11.4,182,3064,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2704,2575,2530,2620,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3369,1.18,111.3,3533,2704,2529,2621,63.8,9.0,213,3384,0.00,2.50,7.28,0.913,8708,0.000,0.096,3543,1278,2542,2497,2587,0,0,0,0,0,0,28.83,14.58,14.19
$GC,3619,1.18,114.7,3542,1278,2496,2586,41.2,9.6,237,3630,0.00,2.38,2.45,0.444,9222,0.000,0.076,3542,2702,2532,2485,2579,0,0,0,0,0,0,28.83,14.62,14.06
$GC,3934,1.24,161.4,3543,2702,2486,2588,16.4,5.0,268,3966,0.00,2.47,22.58,0.143,8708,0.000,0.096,3552,1300,2341,2307,2376,0,0,0,0,0,0,28.83,14.55,14.54
$GC,4002,1.29,200.7,3551,1300,2307,2379,12.7,5.8,274,4027,0.00,2.35,18.88,0.123,9222,0.000,0.076,3552,2706,2180,2161,2199,0,0,0,0,0,0,28.83,14.59,14.54
$STATE,4127,end climb,SURFACE_DEPTH_REACHED
$STATE,4127,begin surface coast
$FINISH,0.6,1.025302
$STATE,4155,end surface coast,CONTROL_FINISHED_OK
$STATE,4155,begin surface
$SM_CCo,4181,116.35,0.081,0,0,1165,450.13
$SM_GC,1.38,10.62,0.00,116.35,0.127,0.000,0.081,93,2706,1165,-9.49,0.17,450.13,0,0,0,0,0,0,14.54,28.83,14.55
$RAFOS_CLK,195
$RAFOS,6,1403585343,4.833333,4.817500,80,64,64,59,58,57,873,201,186,160,177,219
$RAFOS,5,1403584864,4.700000,4.684444,96,55,55,51,51,48,678,178,166,143,119,201
$RAFOS,4,1403584385,4.566667,4.551389,79,66,65,62,60,59,894,199,188,903,147,220
$RAFOS,3,1403583902,4.433333,4.417222,61,58,57,56,55,53,160,200,211,142,172,983
$RAFOS,2,1403583427,4.300000,4.285278,90,54,52,52,51,51,1053,214,128,150,508,162
$RAFOS,1,1403582942,4.166667,4.150556,64,58,55,53,50,49,208,135,192,159,183,168
$RAFOS_FIX,6658.415527,-5647.065918,240614,040452,4,86,4.07
$IRIDIUM_FIX,6636.54,-5311.13,200407,151511
$TT8_MAMPS,0.023968,0.023968
$HUMID,52.36
$INTERNAL_PRESSURE,8.67221
$TCM_TEMP,16.10
$XPDR_PINGS,0
$SC_FREEKB,4018848
$24V_AH,13.5,4.891
$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,27.425,37.225,205.550,116.350,0.000,0.000,0.000,302.475,1.000,0.000,173.098,1003.227,2038.430,391.735,1280.168,293.234,0.000,1137.303,0.000,782.905,2160.000,7.059,0.000
$DEVICE_MAMPS,454.410,133.875,1157.445,81.090,0.000,0.000,0.000,237.150,420.000,0.000,20.970,16.220,2.310,16.220,34.940,40.930,0.000,10.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4189.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.696,0.000,0.000,0.000
$MEM,150660
$DATA_FILE_SIZE,10153,289
$CAP_FILE_SIZE,71396,0
$CFSIZE,260034560,248418304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,240614,040320,6654.903,-5639.681,301,99.0,301,-37.3