version: 66.08
glider: 141
mission: 15
dive: 969
start: 6 15 111 9 17 55
data:
$ID,141
$MISSION,15
$DIVE,969
$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,-97384.828
$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,28
$R_STBD_OVSHOOT,66
$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
$GPS1,150611,060412,6715.065,-5705.686,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.80
$_SM_ANGLEo,-75.6
$GPS2,150611,060412,6715.065,-5705.686,181,99.0,181,-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,187.8,25737,-17.5,-10.000
$D_GRID,322
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.62,-146.0,0.0,0.0,0,132,0.00,0.00,-113.15,0.000,2,0.000,0.000,116,2529,2617,0,0,0,0,0,0
$GC,139,-0.62,-146.0,6.0,-8.4,20,182,12.75,2.20,-20.15,0.000,4,0.316,0.065,2652,3862,3630,0,0,0,0,0,0
$GC,439,-1.00,-146.0,56.8,-15.7,72,446,0.35,2.30,0.00,0.000,6,0.103,0.068,2537,2487,3630,0,0,0,0,0,0
$GC,788,-1.26,-146.0,93.8,-9.9,133,795,0.22,2.28,0.00,0.000,4,0.101,0.052,2456,3859,3629,0,0,0,0,0,0
$GC,864,-1.54,-146.0,102.6,-11.2,144,871,0.25,2.28,0.00,0.000,6,0.099,0.057,2369,2482,3629,0,0,0,0,0,0
$GC,1190,-1.41,-146.0,166.4,-19.8,175,1195,0.15,2.25,0.00,0.000,4,0.218,0.052,2403,3861,3628,0,0,0,0,0,0
$GC,1449,-1.50,-146.0,205.1,-14.0,197,1456,0.00,2.28,0.00,0.000,6,0.000,0.057,2404,2487,3628,0,0,0,0,0,0
$STATE,1655,end dive,NO_VERTICAL_VELOCITY
$STATE,1655,begin apogee
$GC,1663,-0.12,0.0,211.6,0.0,217,1796,1.52,0.00,119.88,1.037,6,0.187,0.000,2815,2263,3030,0,0,0,0,0,0
$STATE,1797,end apogee,CONTROL_FINISHED_OK
$STATE,1797,begin climb
$GC,1800,0.62,146.0,211.4,0.0,229,1937,0.68,2.55,124.75,0.989,4,0.065,0.048,3060,3645,2434,0,0,0,0,0,0
$GC,2191,0.85,361.8,211.2,0.0,263,2385,0.20,2.28,185.68,0.958,6,0.084,0.065,3146,2273,1555,0,0,0,0,0,0
$GC,2713,0.74,361.8,157.7,12.8,312,2718,0.17,2.35,0.00,0.000,4,0.197,0.068,3111,858,1546,0,0,0,0,0,0
$GC,2758,0.71,361.8,151.6,12.6,315,2765,0.00,2.20,0.00,0.000,6,0.000,0.040,3112,2251,1544,0,0,0,0,0,0
$GC,3086,0.44,361.8,94.9,17.1,348,3093,0.38,2.28,0.00,0.000,4,0.239,0.058,3022,863,1543,0,0,0,0,0,0
$GC,3135,0.65,430.2,90.2,6.8,356,3201,0.15,2.22,58.45,0.890,6,0.093,0.047,3085,2287,1275,0,0,0,0,0,0
$GC,3543,0.87,449.7,55.2,9.1,427,3568,0.15,2.35,17.67,0.845,4,0.095,0.062,3162,862,1194,0,0,0,0,0,0
$GC,3600,0.87,449.7,48.5,12.6,436,3607,0.00,2.22,0.00,0.000,6,0.000,0.048,3162,2271,1193,0,0,0,0,0,0
$FREEZE,8.28,-0.138,-1.807,0,332,0
$FREEZE,7.20,-0.172,-1.806,0,332,0
$STATE,3821,end climb,SURFACE_OBSTACLE_DETECTED
$STATE,3821,begin subsurface finish
$FINISH1,7.2,1.026402,54
$GC,3830,0.07,53.8,7.2,-19.3,475,3933,1.02,2.30,-87.85,0.000,4,0.220,0.058,2893,3697,2812,0,0,0,0,0,0
$FINISH2,4.4
$STATE,3933,end subsurface finish,CONTROL_FINISHED_OK
$STATE,3934,begin surface
$RAFOS_CLK,260
$RAFOS,6,1308127744,8.833333,8.817778,63,60,53,52,51,49,201,165,115,183,151,49
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5705.69,150611,060612
$TT8_MAMPS,0.026215
$HUMID,74.96
$INTERNAL_PRESSURE,8.7894
$TCM_TEMP,17.40
$XPDR_PINGS,36
$ALTIM_TOP_PING,19.2,16.4
$24V_AH,22.0,126.769
$10V_AH,9.8,60.937
$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,18.000,34.675,506.425,0.000,0.000,103.555,30.052,0.000,9.250,0.000,185.635,1055.467,1513.963,600.185,1179.271,614.356,0.000,1147.355,0.000,849.944,0.000,2.615,0.000
$DEVICE_MAMPS,315.945,73.440,1036.575,0.000,0.000,103.000,160.000,0.000,420.000,0.000,50.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,342.041,352.485,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150472
$DATA_FILE_SIZE,20153,492
$CAP_FILE_SIZE,60241,0
$CFSIZE,260165632,197095424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.8
$GPS,150611,060412,6715.065,-5705.686,181,99.0,181,-37.6