version: 66.11
glider: 141
mission: 17
dive: 3
start: 8 15 113 18 21 53
data:
$ID,141
$MISSION,17
$DIVE,3
$N_DIVES,4
$D_SURF,3
$D_FLARE,5
$D_TGT,150
$D_ABORT,175
$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,50
$T_MISSION,64
$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,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51618
$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,0.25
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,500
$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,5
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-517748.5
$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,3180
$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,1300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,700
$VBD_MAX,4040
$C_VBD,3150
$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,-34.066193
$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
$GPS1,150813,181736,4742.859,-12225.052,6,1.2,11,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-72.7
$GPS2,150813,182112,4742.862,-12225.055,10,1.0,10,18.2
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$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,345.1,1183,-17.5,-10.000,-21.04,2225
$D_GRID,186
$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,-146.6,92,1598,1136,1079,0.0,0.0,0,128,0.00,0.00,-99.28,0.000,16390,0.000,0.000,92,1598,3749,3553,3945,0,0,0,0,0,0,28.83,28.83,15.04
$GC,138,-0.91,-146.6,92,1598,3553,3945,3.7,-9.0,18,158,14.35,2.08,0.00,0.000,2564,0.470,0.105,2767,377,3749,3560,3938,0,0,0,0,0,0,14.59,14.76,28.83
$GC,392,-0.70,-146.6,1800,377,3572,3913,62.0,-17.7,43,398,0.32,1.95,0.00,0.000,3078,0.311,0.060,2947,1620,3748,3582,3914,0,0,0,0,0,0,14.73,14.92,28.83
$GC,654,-0.73,-146.6,2947,1620,3584,3913,88.6,-8.4,56,659,0.00,2.12,0.00,0.000,516,0.000,0.115,2947,378,3748,3585,3912,0,0,0,0,0,0,28.83,14.86,28.83
$GC,803,-0.73,-146.6,2947,378,3587,3910,103.6,-10.6,63,808,0.00,1.88,0.00,0.000,1030,0.000,0.060,2943,1591,3748,3586,3910,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1073,-0.78,-146.6,2943,1592,3587,3910,128.2,-9.3,76,1078,0.00,2.05,0.00,0.000,516,0.000,0.115,2943,378,3748,3587,3909,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1132,-0.78,-146.6,2943,378,3587,3909,133.7,-10.1,78,1140,0.00,1.92,0.00,0.000,1030,0.000,0.057,2936,1615,3748,3587,3909,0,0,0,0,0,0,28.83,15.01,28.83
$STATE,1255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1256,begin apogee
$GC,1265,-0.21,0.0,2936,1304,3587,3909,151.0,-12.7,85,1371,0.62,0.00,100.10,0.871,10246,0.269,0.000,3106,1303,3153,3086,3220,0,0,0,0,0,0,14.85,28.83,14.25
$STATE,1376,end apogee,CONTROL_FINISHED_OK
$STATE,1376,begin climb
$GC,1380,0.91,146.6,3106,1304,3086,3214,155.9,0.0,90,1489,1.17,0.00,103.72,0.842,10246,0.187,0.000,3464,1304,2550,2562,2539,0,0,0,0,0,0,14.54,28.83,14.12
$GC,1720,0.77,151.0,3464,1303,2561,2537,126.8,9.8,108,1730,0.12,1.60,4.12,0.719,12804,0.334,0.116,3441,369,2534,2545,2524,0,0,0,0,0,0,14.62,14.69,14.30
$GC,1756,0.63,155.3,3441,370,2545,2525,124.0,9.8,109,1768,0.22,1.48,4.88,0.779,13318,0.295,0.067,3389,1299,2516,2527,2506,0,0,0,0,0,0,14.64,14.79,14.31
$GC,2006,0.71,219.8,3390,1300,2527,2506,103.1,7.0,122,2058,0.00,1.62,45.72,0.800,8708,0.000,0.118,3394,359,2252,2271,2233,0,0,0,0,0,0,28.83,14.64,14.37
$GC,2089,0.76,229.1,3394,358,2270,2231,95.1,9.6,126,2103,0.00,1.50,7.93,0.790,9222,0.000,0.067,3394,1295,2214,2235,2193,0,0,0,0,0,0,28.83,14.75,14.35
$GC,2354,0.83,231.1,3394,1295,2236,2191,67.7,9.9,139,2360,0.12,1.62,0.00,0.000,2564,0.160,0.116,3450,352,2213,2235,2191,0,0,0,0,0,0,14.83,14.77,28.83
$GC,2464,0.73,231.1,3450,352,2235,2190,53.0,14.5,144,2470,0.15,1.50,0.00,0.000,5126,0.296,0.066,3417,1318,2212,2235,2189,0,0,0,0,0,0,14.73,14.90,28.83
$GC,2721,0.81,256.6,3418,1318,2236,2190,27.5,8.8,168,2742,0.00,1.70,15.98,0.735,8708,0.000,0.122,3420,368,2102,2127,2078,0,0,0,0,0,0,28.83,14.77,14.54
$GC,2856,0.81,256.6,3420,368,2127,2076,14.0,10.6,190,2863,0.00,1.50,0.00,0.000,1030,0.000,0.066,3419,1326,2101,2127,2076,0,0,0,0,0,0,28.83,14.89,28.83
$STATE,2966,end climb,SURFACE_DEPTH_REACHED
$STATE,2967,begin surface coast
$FINISH,0.4,1.021726
$STATE,2998,end surface coast,CONTROL_FINISHED_OK
$STATE,2998,begin surface
$SM_CCo,3023,104.50,0.076,0,0,1110,500.17
$SM_GC,1.24,9.75,0.45,104.50,0.106,0.083,0.076,90,1605,1110,-9.62,-0.85,500.17,0,0,0,0,0,0,14.83,14.88,14.85
$RAFOS_CLK,116
$RAFOS,0,1376593449,19.083334,19.069166,64,61,58,56,53,51,214,179,201,120,155,136
$RAFOS,2,1376592243,18.750000,18.734167,59,58,58,56,55,51,139,116,175,191,150,217
$RAFOS,1,1376591056,18.416666,18.404444,63,57,54,52,52,50,217,165,198,208,147,114
$RAFOS_FIX,0.000000,0.000000,010170,000000,0,0,0.00
$IRIDIUM_FIX,4726.11,-12227.78,150813,181849
$TT8_MAMPS,0.023968,0.023968
$HUMID,53.74
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,19.90
$XPDR_PINGS,0
$SC_FREEKB,4019168
$24V_AH,14.1,2.063
$10V_AH,14.2,0.000
$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,26.850,25.525,282.450,104.500,0.000,0.000,0.000,0.000,0.750,0.000,12.644,665.842,1423.980,457.824,525.144,155.316,0.000,774.390,0.000,510.515,1260.000,5.562,0.000
$DEVICE_MAMPS,470.475,121.635,870.570,75.735,0.000,0.000,0.000,0.000,420.000,0.000,20.970,16.220,2.310,16.220,34.940,40.930,0.000,10.000,0.000,6.740,1.500,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2971.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.562,0.000,0.000,0.000
$MEM,280652
$DATA_FILE_SIZE,6794,217
$CAP_FILE_SIZE,67764,0
$CFSIZE,260034560,254230528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1465.0
$GPS,150813,191507,4743.022,-12225.297,11,1.0,11,18.2