version: 66.08
glider: 141
mission: 15
dive: 869
start: 6 9 111 17 47 37
data:
$ID,141
$MISSION,15
$DIVE,869
$N_DIVES,0
$D_SURF,3
$D_FLARE,5
$D_TGT,990
$D_ABORT,1050
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,330
$T_MISSION,400
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-3
$USE_ICE,2
$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,51684
$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,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,559.0387
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,5
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-77086.906
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,110
$PITCH_MAX,3900
$C_PITCH,2864
$PITCH_DBAND,0.1
$PITCH_CNV,0.0031256729
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,256
$ROLL_MAX,3943
$ROLL_DEG,40
$C_ROLL_DIVE,2490
$C_ROLL_CLIMB,2275
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,325
$ROLL_MAXERRORS,0
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,751
$VBD_MAX,4040
$C_VBD,3030
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$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
$CF8_MAXERRORS,0
$AH0_24V,150
$AH0_10V,110
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-33.184971
$PRESSURE_SLOPE,0.0001160265
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2
$ALTIM_PING_DEPTH,300
$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
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,133
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042907749
$SEABIRD_T_H,0.0006300722
$SEABIRD_T_I,2.4342404e-05
$SEABIRD_T_J,2.663412e-06
$SEABIRD_C_G,-9.8752003
$SEABIRD_C_H,1.1299734
$SEABIRD_C_I,-0.00041852854
$SEABIRD_C_J,0.00012689357
$GPS1,090611,123143,6709.499,-5700.938,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.71
$_SM_ANGLEo,-69.8
$GPS2,090611,123143,6709.499,-5700.938,181,99.0,181,-37.6
$SPEED_LIMITS,0.173,0.260
$TGT_NAME,TARGET_E
$TGT_LATLONG,6703.000,-5648.000
$TGT_RADIUS,2000.000
$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,179.8,15236,-17.5,-10.000
$D_GRID,445
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,224,0.00,0.00,-200.20,0.000,6,0.000,0.000,110,2499,3626,0,0,0,0,0,0
$GC,228,-0.62,-146.0,3.2,-0.3,36,246,12.48,0.00,0.00,0.000,6,0.302,0.000,2654,2499,3628,0,0,0,0,0,0
$GC,587,-0.48,-146.0,67.3,-17.3,99,594,0.20,2.45,0.00,0.000,4,0.219,0.084,2704,3903,3629,0,0,0,0,0,0
$GC,723,-0.52,-146.0,82.8,-10.8,122,730,0.00,2.33,0.00,0.000,6,0.000,0.065,2705,2483,3629,0,0,0,0,0,0
$GC,1065,-0.54,-146.0,121.0,-10.4,166,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2484,3627,0,0,0,0,0,0
$GC,1388,-0.57,-146.0,153.3,-9.5,196,1392,0.00,2.30,0.00,0.000,4,0.000,0.073,2704,1083,3627,0,0,0,0,0,0
$GC,1420,-0.61,-146.0,156.7,-10.1,198,1425,0.12,2.35,0.00,0.000,6,0.119,0.070,2661,2486,3626,0,0,0,0,0,0
$GC,1746,-0.56,-146.0,196.9,-12.4,228,1750,0.00,2.40,0.00,0.000,4,0.000,0.082,2662,3900,3626,0,0,0,0,0,0
$GC,1822,-0.52,-146.0,206.6,-13.4,234,1827,0.12,2.22,0.00,0.000,6,0.132,0.048,2696,2485,3627,0,0,0,0,0,0
$STATE,1996,end dive,NO_VERTICAL_VELOCITY
$STATE,1996,begin apogee
$GC,2005,-0.12,0.0,207.2,0.0,250,2138,0.35,0.00,120.32,1.047,6,0.130,0.000,2815,2261,3030,0,0,0,0,0,0
$STATE,2139,end apogee,CONTROL_FINISHED_OK
$STATE,2139,begin climb
$GC,2142,0.62,146.0,207.2,0.0,262,2280,0.77,2.65,123.47,0.995,4,0.135,0.070,3053,3689,2433,0,0,0,0,0,0
$GC,2432,0.58,146.0,187.3,11.0,288,2439,0.00,2.30,0.00,0.000,6,0.000,0.056,3064,2289,2429,0,0,0,0,0,0
$GC,2760,0.60,167.5,158.1,9.0,319,2781,0.00,0.00,18.75,0.907,6,0.000,0.000,3063,2289,2347,0,0,0,0,0,0
$GC,3098,0.65,203.0,127.4,8.4,351,3135,0.00,2.40,31.17,0.922,4,0.000,0.073,3074,861,2201,0,0,0,0,0,0
$GC,3195,0.73,229.1,118.9,8.8,359,3225,0.00,2.28,23.90,0.898,6,0.000,0.056,3074,2282,2095,0,0,0,0,0,0
$GC,3555,0.81,245.1,84.1,9.3,406,3576,0.15,2.33,14.55,0.855,4,0.094,0.070,3138,3687,2030,0,0,0,0,0,0
$GC,3623,0.71,245.1,75.2,14.1,417,3631,0.20,2.25,0.00,0.000,6,0.187,0.055,3098,2277,2028,0,0,0,0,0,0
$GC,3974,0.78,257.4,37.3,9.4,478,3988,0.00,2.38,9.00,0.858,4,0.000,0.071,3105,868,1979,0,0,0,0,0,0
$GC,4059,0.91,307.9,30.7,7.7,492,4095,0.15,2.28,28.12,0.916,6,0.098,0.063,3167,2276,1773,0,0,0,0,0,0
$FREEZE,8.93,-1.338,-1.812,1,232,0
$FREEZE,7.93,-1.340,-1.810,1,232,0
$FREEZE,7.08,-1.341,-1.809,1,232,0
$STATE,4236,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,4236,begin subsurface finish
$FINISH1,7.1,1.026484,50
$GC,4245,0.06,49.8,7.1,-13.3,523,4304,0.98,2.35,-48.78,0.000,4,0.182,0.084,2889,3695,2828,0,0,0,0,0,0
$FINISH2,4.6
$STATE,4305,end subsurface finish,CONTROL_FINISHED_OK
$STATE,4305,begin surface
$RAFOS_CLK,285
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6709.50,-5819.47,090611,171745
$TT8_MAMPS,0.026215
$HUMID,71.46
$INTERNAL_PRESSURE,8.76987
$TCM_TEMP,17.10
$XPDR_PINGS,40
$ALTIM_TOP_PING,19.3,16.7
$24V_AH,22.3,113.765
$10V_AH,9.8,56.301
$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,15.525,35.575,369.300,0.000,0.000,93.169,50.588,0.000,10.250,0.000,183.289,1167.192,1838.773,520.228,1188.869,634.400,0.000,1055.335,0.000,859.484,0.000,4.734,0.000
$DEVICE_MAMPS,302.175,84.150,1046.520,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,374.217,386.712,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150512
$DATA_FILE_SIZE,20117,533
$CAP_FILE_SIZE,63741,0
$CFSIZE,260165632,200622080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1457.0
$GPS,090611,173745,6709.499,-5819.472,0,10000.0,0,-37.6