version: 66.12
glider: 181
mission: 13
dive: 4
start: 3 6 115 19 15 44
data:
$ID,181
$MISSION,13
$DIVE,4
$N_DIVES,4
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,175
$D_NO_BLEED,50
$D_BOOST,30
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,50
$T_MISSION,65
$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,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52131
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,2.4475299e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$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,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,100440
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,360
$PITCH_MAX,3941
$C_PITCH,2280
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,19.9
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,1800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,17
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,350
$VBD_MAX,3900
$C_VBD,2600
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,540
$PITCH_VBD_SHIFT,0.0020000001
$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,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,11
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-168.70068
$PRESSURE_SLOPE,0.000116609
$AD7714Ch0Gain,1
$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,0
$ALTIM_PING_DEPTH,100
$ALTIM_PING_DELTA,20
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,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,149
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043542129
$SEABIRD_T_H,0.00062476192
$SEABIRD_T_I,3.3198539e-05
$SEABIRD_T_J,2.4122426e-06
$SEABIRD_C_G,-9.9804163
$SEABIRD_C_H,1.1108048
$SEABIRD_C_I,-0.0016910112
$SEABIRD_C_J,0.00021821642
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,060315,191125,4743.5737,-12224.2959,2,1.2,12,16.3,0.0,335.8,8,9.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-63.0
$GPS2,060315,191513,4743.5850,-12224.3145,15,1.2,15,16.3,0.0,311.9,8,9.9
$SPEED_LIMITS,0.173,0.254
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,212.5,868,-17.8,-10.000,-21.47,2182
$D_GRID,174
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.19,-146.6,346,2199,352,361,0.0,0.0,0,143,0.00,0.00,-119.93,0.000,16386,0.000,0.000,346,2200,2997,2962,3032,0,0,0,0,0,0,14.85,28.83,14.88
$GC,148,-1.19,-146.6,346,2197,2963,3032,3.3,-4.4,12,166,7.90,2.45,-4.35,0.000,18948,0.469,0.096,1888,781,3198,3113,3283,0,0,0,0,0,0,14.38,13.76,14.66
$GC,397,-1.04,-146.6,1888,780,3113,3285,74.9,-28.5,60,404,0.22,2.53,0.00,0.000,3078,0.331,0.113,1936,2198,3199,3113,3285,0,0,0,0,0,0,14.52,14.62,14.71
$GC,594,-0.93,-146.6,1936,2198,3113,3285,120.6,-22.7,80,600,0.15,2.38,0.00,0.000,2564,0.351,0.073,1971,786,3200,3114,3286,0,0,0,0,0,0,14.56,14.66,14.69
$GC,666,-0.87,-146.6,1971,785,3120,3291,135.1,-18.9,93,672,0.00,2.47,0.00,0.000,1030,0.000,0.106,1972,2199,3199,3113,3286,0,0,0,0,0,0,14.77,14.65,14.80
$STATE,748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,748,begin apogee
$GC,756,-0.25,0.0,1971,1785,3113,3285,152.0,-19.7,102,889,0.80,0.00,118.47,1.521,10246,0.263,0.000,2189,1783,2601,2550,2653,0,0,0,0,1,0,14.57,14.09,13.51
$STATE,893,end apogee,CONTROL_FINISHED_OK
$STATE,893,begin climb
$GC,897,1.19,146.6,2188,1783,2550,2655,161.1,0.0,116,1048,1.50,2.45,140.45,0.877,10756,0.140,0.079,2665,390,1995,1972,2018,0,0,0,0,0,0,14.10,14.05,13.76
$GC,1219,1.00,146.6,2665,391,1963,2013,113.4,22.6,177,1227,0.28,2.47,0.00,0.000,5126,0.311,0.083,2604,1815,1988,1963,2013,0,0,0,0,0,0,14.30,14.40,14.48
$GC,1406,0.86,146.6,2604,1815,1959,2013,75.0,18.3,196,1412,0.17,2.47,0.00,0.000,4356,0.313,0.115,2561,3214,1986,1959,2014,0,0,0,0,0,0,14.42,14.52,14.54
$GC,1484,0.71,146.6,2561,3215,1958,2013,62.5,17.3,210,1491,0.25,2.35,0.00,0.000,5126,0.311,0.067,2513,1807,1985,1958,2013,0,0,0,0,0,0,14.46,14.57,14.64
$GC,1681,0.64,146.6,2513,1807,1954,2015,35.4,12.7,230,1687,0.00,2.45,0.00,0.000,516,0.000,0.096,2522,381,1984,1954,2015,0,0,0,0,0,0,14.81,14.62,14.84
$GC,1696,0.56,146.6,2521,381,1955,2015,33.5,12.7,232,1702,0.22,2.45,0.00,0.000,5126,0.260,0.087,2469,1807,1984,1954,2015,0,0,0,0,0,0,14.52,14.60,14.69
$GC,1891,0.54,146.6,2468,1807,1953,2016,12.3,10.3,252,1897,0.00,2.47,0.00,0.000,260,0.000,0.119,2468,3205,1984,1953,2016,0,0,0,0,0,0,14.85,14.63,14.88
$GC,1931,0.49,147.6,2468,3205,1953,2016,8.3,10.0,259,1939,0.15,2.35,0.00,0.000,5126,0.292,0.070,2443,1795,1984,1952,2016,0,0,0,0,0,0,14.57,14.66,14.73
$STATE,1994,end climb,SURFACE_DEPTH_REACHED
$STATE,1994,begin surface coast
$FINISH,0.4,1.022578
$STATE,2029,end surface coast,CONTROL_FINISHED_OK
$STATE,2029,begin surface
$SM_CCo,2049,151.60,0.170,0,0,558,500.17
$SM_GC,0.85,6.10,0.77,151.60,0.095,0.140,0.170,362,2192,558,-5.96,-0.74,500.17,0,0,0,0,0,0,14.64,14.65,14.52
$IRIDIUM_FIX,4726.11,-12222.38,010108,083259
$TT8_MAMPS,0.021721,0.021721
$HUMID,44.48
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,18.10
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,140.2,53.3
$SC_FREEKB,3936160
$24V_AH,13.51,1.560
$10V_AH,13.21,0.000
$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,17.750,30.775,258.925,151.600,0.000,0.000,0.000,0.000,1.000,0.000,17.048,568.276,670.377,512.105,439.208,100.883,0.000,783.068,0.000,411.955,0.000,8.696,0.000
$DEVICE_MAMPS,468.945,139.995,1520.820,169.830,0.000,0.000,0.000,0.000,420.000,0.000,20.970,13.470,2.190,13.470,31.440,38.190,0.000,10.500,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2010.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.528,0.000,0.000,0.000
$MEM,312696
$DATA_FILE_SIZE,10116,269
$CAP_FILE_SIZE,63492,0
$CFSIZE,260034560,255811584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,4,0
$INTR,0,2284.56,0x23765a,7,5
$CURRENT,0.090,14.31,1
$GPS,060315,195325,4743.500,-12224.517,2,0.8,12,16.3,0.0,235.3,10,9.4