version: 66.08
glider: 141
mission: 15
dive: 1027
start: 6 18 111 19 41 36
data:
$ID,141
$MISSION,15
$DIVE,1027
$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,-111829.2
$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,39
$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
$GPS1,180611,081642,6715.065,-5701.191,181,99.0,181,-37.6
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,13.10
$_SM_ANGLEo,5.8
$GPS2,180611,081642,6715.065,-5701.191,181,99.0,181,-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,194.5,24291,-17.5,-10.000
$D_GRID,274
$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,17,-0.62,-146.0,0.0,0.0,0,24,0.00,0.00,-5.57,0.000,2,0.000,0.000,2899,3692,3054,0,0,0,0,0,0
$GC,28,-0.62,-146.0,16.6,-0.0,1,47,0.82,0.35,-10.20,0.000,4,0.152,0.141,2670,3898,3630,0,0,0,0,0,0
$GC,305,-0.97,-146.0,57.3,-15.2,49,312,0.40,2.47,0.00,0.000,6,0.112,0.057,2554,2491,3631,0,0,0,0,0,0
$GC,654,-1.40,-146.0,96.2,-10.2,110,661,0.40,2.47,0.00,0.000,4,0.102,0.073,2418,1081,3629,0,0,0,0,0,0
$GC,682,-1.43,-146.0,100.5,-14.4,114,686,0.00,2.28,0.00,0.000,6,0.000,0.032,2418,2498,3629,0,0,0,0,0,0
$GC,1008,-1.36,-146.0,163.6,-18.8,144,1009,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2499,3628,0,0,0,0,0,0
$GC,1329,-1.34,-146.0,221.9,-16.7,174,1334,0.00,2.45,0.00,0.000,4,0.000,0.070,2418,1080,3626,0,0,0,0,0,0
$STATE,1477,end dive,NO_VERTICAL_VELOCITY
$STATE,1478,begin apogee
$GC,1487,-0.12,0.0,222.1,0.0,186,1619,1.30,0.00,126.68,1.023,6,0.123,0.000,2818,2281,3029,0,0,0,0,0,0
$STATE,1620,end apogee,CONTROL_FINISHED_OK
$STATE,1620,begin climb
$GC,1623,0.62,146.0,222.0,0.0,198,1763,0.77,0.00,133.12,0.977,6,0.085,0.000,3055,2281,2434,0,0,0,0,0,0
$GC,2080,1.06,358.6,221.9,0.2,241,2290,0.45,2.88,200.43,0.956,4,0.076,0.063,3217,871,1567,0,0,0,0,0,0
$GC,2322,0.69,358.6,203.4,21.5,264,2327,0.60,2.55,0.00,0.000,6,0.227,0.040,3092,2261,1564,0,0,0,0,0,0
$GC,2649,0.64,358.6,166.4,10.7,294,2653,0.00,2.60,0.00,0.000,4,0.000,0.058,3100,868,1558,0,0,0,0,0,0
$GC,2679,0.58,358.6,163.0,10.9,296,2684,0.20,2.53,0.00,0.000,6,0.161,0.038,3054,2290,1557,0,0,0,0,0,0
$GC,3006,0.65,395.9,134.3,8.3,326,3051,0.00,2.60,34.88,0.900,4,0.000,0.060,3054,3684,1415,0,0,0,0,0,0
$GC,3058,0.76,425.0,129.7,8.7,330,3098,0.15,2.62,29.95,0.881,6,0.085,0.052,3112,2267,1297,0,0,0,0,0,0
$GC,3421,0.76,425.0,89.3,11.4,372,3428,0.00,2.58,0.00,0.000,4,0.000,0.057,3122,868,1292,0,0,0,0,0,0
$GC,3486,0.72,425.0,81.5,12.1,383,3493,0.00,2.47,0.00,0.000,6,0.000,0.041,3123,2290,1291,0,0,0,0,0,0
$GC,3833,0.68,425.0,32.4,10.3,444,3841,0.15,2.60,0.00,0.000,4,0.187,0.064,3098,862,1291,0,0,0,0,0,0
$GC,3890,0.79,452.6,27.3,8.7,453,3914,0.00,2.42,17.75,0.853,6,0.000,0.034,3098,2284,1184,0,0,0,0,0,0
$FREEZE,8.89,0.147,-1.782,0,390,2
$FREEZE,8.49,0.220,-1.780,0,390,2
$FREEZE,8.00,0.249,-1.780,0,390,2
$FREEZE,7.70,0.267,-1.780,0,390,2
$FREEZE,7.38,0.262,-1.781,0,390,2
$FREEZE,6.98,0.276,-1.780,0,390,2
$FREEZE,6.55,0.278,-1.780,0,390,2
$FREEZE,6.21,0.278,-1.780,0,390,2
$FREEZE,5.84,0.278,-1.780,0,390,2
$FREEZE,5.23,0.276,-1.780,0,390,2
$FREEZE,4.83,0.275,-1.780,0,390,2
$FREEZE,4.39,0.272,-1.780,0,390,2
$FREEZE,3.92,0.276,-1.779,0,390,2
$FREEZE,3.53,0.275,-1.779,0,390,2
$FREEZE,3.16,0.267,-1.779,0,390,2
$FREEZE,2.69,0.225,-1.780,0,390,2
$STATE,4203,end climb,SURFACE_DEPTH_REACHED
$STATE,4203,begin surface coast
$FREEZE,2.17,0.206,-1.778,0,390,2
$FREEZE,1.83,0.152,-1.769,0,390,2
$FREEZE,1.76,0.164,-1.491,0,390,2
$FREEZE,1.82,0.172,-0.877,0,390,2
$FREEZE,1.88,0.165,-1.520,0,390,2
$FREEZE,1.82,0.170,-0.720,0,390,2
$FREEZE,1.78,0.170,-0.214,0,390,2
$FINISH,1.8,1.003007
$STATE,4241,end surface coast,CONTROL_FINISHED_OK
$STATE,4241,begin surface
$SM_CCo,4304,53.03,0.058,0,0,751,559.04
$SM_GC,2.09,0.00,0.00,53.03,0.000,0.000,0.058,108,2496,751,-8.61,0.17,559.04
$RAFOS_CLK,242
$RAFOS,5,1308429666,20.700001,20.684999,60,59,56,55,54,54,206,164,191,152,139,181
$RAFOS,4,1308429185,20.566668,20.551390,61,59,55,54,53,51,193,137,215,233,180,153
$RAFOS,3,1308428708,20.433332,20.418888,62,57,54,51,50,50,187,162,211,132,200,1290
$RAFOS,2,1308428223,20.299999,20.284166,67,66,56,53,52,51,193,212,228,184,133,165
$RAFOS,1,1308427745,20.166666,20.151388,60,60,59,56,54,47,184,216,135,173,201,148
$RAFOS,0,1308427271,20.033333,20.019722,57,56,51,50,49,48,171,149,212,226,329,191
$RAFOS_FIX,6639.496582,-5814.677246,030611,000056,2,87,1.71
$IRIDIUM_FIX,6715.07,-5701.19,180611,080842
$TT8_MAMPS,0.029211
$HUMID,73.39
$INTERNAL_PRESSURE,8.57455
$TCM_TEMP,17.20
$XPDR_PINGS,22
$ALTIM_TOP_PING,19.8,18.3
$24V_AH,20.8,135.054
$10V_AH,9.8,63.583
$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,14.650,38.125,542.800,53.025,0.000,0.000,0.000,0.000,5.750,0.000,0.000,1192.730,1722.599,534.721,837.098,137.606,0.000,1043.196,0.000,834.232,2520.000,5.056,0.000
$DEVICE_MAMPS,227.205,140.760,1022.805,58.140,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.920,2.310,19.920,39.920,45.920,0.000,12.000,0.000,15.000,1.500,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,363.027,380.698,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,150552
$DATA_FILE_SIZE,20131,516
$CAP_FILE_SIZE,58327,0
$CFSIZE,260165632,194973696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$SOUNDSPEED,1459.8
$GPS,180611,081642,6715.065,-5701.191,181,99.0,181,-37.6