version: 66.08
glider: 181
mission: 3
dive: 4
start: 7 14 110 20 10 32
data:
$ID,181
$MISSION,3
$DIVE,4
$N_DIVES,0
$D_SURF,5
$D_FLARE,3
$D_TGT,120
$D_ABORT,200
$D_NO_BLEED,50
$D_BOOST,3
$T_BOOST,0
$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,40
$T_MISSION,55
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,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,175
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51525
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$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,-37578.887
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,225
$PITCH_MAX,3941
$C_PITCH,2330
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,25
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2800
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,360
$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,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-59.424763
$PRESSURE_SLOPE,0.000116609
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$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
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,102
$DEVICE3,87
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,3
$LOGGERDEVICE1,83
$LOGGERDEVICE2,101
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043203235
$SEABIRD_T_H,0.00062277901
$SEABIRD_T_I,2.2452641e-05
$SEABIRD_T_J,2.2905836e-06
$SEABIRD_C_G,-10.17854
$SEABIRD_C_H,1.1531147
$SEABIRD_C_I,-0.0013870052
$SEABIRD_C_J,0.0002016264
$TM_RECORDABOVE,200.0
$TM_PROFILE,3.0
$TM_XMITPROFILE,3.0
$TM_UPLOADMAX,25000.0
$TM_NFFT,256.0
$TM_NAVG,1.0
$TM_PSD,10.0
$LA_RECORDABOVE,200.0
$LA_PROFILE,3.0
$LA_XMITPROFILE,0.0
$LA_UPLOADMAX,0.0
$GPS1,140710,200520,4743.903,-12224.818,10,1.4,10,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-68.1
$GPS2,140710,201002,4743.907,-12224.839,13,1.4,13,18.2
$SPEED_LIMITS,0.173,0.278
$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,176.7,780,-16.0,-10.000
$D_GRID,176
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.71,-171.1,0.0,0.0,0,116,0.00,0.00,-92.68,0.000,6,0.000,0.000,207,2180,3499,0,0,0,0,0,0
$GC,118,-0.71,-171.1,3.3,-7.6,13,135,7.95,2.15,0.00,0.000,4,0.256,0.037,2100,779,3500,0,0,0,0,0,0
$GC,372,-0.49,-171.1,53.0,-16.9,60,381,0.25,2.25,0.00,0.000,6,0.171,0.047,2164,2209,3501,0,0,0,0,0,0
$GC,510,-0.38,-171.1,68.8,-10.0,85,519,0.15,2.22,0.00,0.000,4,0.172,0.045,2204,789,3502,0,0,0,0,0,0
$GC,599,-0.38,-171.1,75.7,-6.7,101,607,0.00,2.22,0.00,0.000,6,0.000,0.049,2202,2200,3501,0,0,0,0,0,0
$GC,736,-0.38,-171.1,84.7,-6.1,126,743,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2200,3502,0,0,0,0,0,0
$GC,873,-0.38,-171.1,91.6,-3.1,151,882,0.00,2.25,0.00,0.000,4,0.000,0.053,2191,3608,3502,0,0,0,0,0,0
$GC,948,-0.38,-171.1,94.8,-5.6,164,956,0.00,2.17,0.00,0.000,6,0.000,0.038,2192,2196,3501,0,0,0,0,0,0
$GC,1088,-0.36,-171.1,101.6,-4.6,189,1096,0.00,2.25,0.00,0.000,4,0.000,0.054,2183,3615,3502,0,0,0,0,0,0
$GC,1125,-0.33,-171.1,104.0,-7.1,195,1134,0.10,2.17,0.00,0.000,6,0.142,0.038,2214,2200,3501,0,0,0,0,0,0
$GC,1266,-0.38,-171.1,112.0,-5.4,220,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2200,3502,0,0,0,0,0,0
$STATE,1403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1403,begin apogee
$GC,1407,-0.16,0.0,120.1,6.7,245,1541,0.20,0.00,124.68,0.631,6,0.138,0.000,2277,2042,2802,0,0,0,0,0,0
$STATE,1560,end apogee,CONTROL_FINISHED_OK
$STATE,1560,begin climb
$GC,1561,0.71,171.1,124.0,0.0,263,1701,0.85,2.25,129.50,0.603,4,0.100,0.046,2570,652,2103,0,0,0,0,0,0
$GC,1716,0.51,171.1,100.6,19.5,283,1725,0.25,2.30,0.00,0.000,6,0.158,0.045,2499,2051,2102,0,0,0,0,0,0
$GC,1854,0.45,171.1,80.2,12.9,308,1862,0.00,2.28,0.00,0.000,4,0.000,0.051,2499,3458,2098,0,0,0,0,0,0
$GC,1900,0.45,171.1,73.5,13.5,316,1909,0.08,2.22,0.00,0.000,6,0.152,0.042,2483,2066,2097,0,0,0,0,0,0
$GC,2038,0.45,171.1,57.7,10.3,341,2046,0.00,2.28,0.00,0.000,4,0.000,0.050,2492,631,2096,0,0,0,0,0,0
$GC,2102,0.53,198.5,51.6,8.9,352,2134,0.00,2.25,20.88,0.568,6,0.000,0.046,2493,2049,1995,0,0,0,0,0,0
$GC,2263,0.56,198.5,35.3,10.0,380,2271,0.00,2.30,0.00,0.000,4,0.000,0.053,2493,3467,1988,0,0,0,0,0,0
$GC,2352,0.61,198.5,25.5,11.5,396,2360,0.00,2.25,0.00,0.000,6,0.000,0.041,2503,2044,1988,0,0,0,0,0,0
$GC,2489,0.62,211.6,11.7,9.5,421,2506,0.00,2.22,11.25,0.539,4,0.000,0.050,2513,631,1937,0,0,0,0,0,0
$GC,2552,0.70,211.6,5.0,11.0,431,2561,0.08,2.25,0.00,0.000,6,0.065,0.045,2560,2049,1936,0,0,0,0,0,0
$STATE,2567,end climb,SURFACE_DEPTH_REACHED
$STATE,2567,begin surface coast
$FINISH,-0.3,1.009415
$STATE,2617,end surface coast,CONTROL_FINISHED_OK
$STATE,2617,begin surface
$SM_CCo,2642,86.70,0.068,0,0,1169,400.57
$SM_GC,0.53,0.00,0.00,86.70,0.000,0.000,0.068,203,2228,1169,-6.65,0.82,400.57
$IRIDIUM_FIX,4722.92,-12227.78,140710,191908
$TT8_MAMPS,0.030709
$HUMID,49.60
$INTERNAL_PRESSURE,8.83823
$TCM_TEMP,20.20
$XPDR_PINGS,0
$24V_AH,24.6,3.976
$10V_AH,10.2,2.426
$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,16.200,40.750,286.300,86.700,0.000,28.081,39.635,109.125,0.000,0.000,16.668,998.445,9.058,397.177,1563.681,67.386,0.000,904.130,0.000,646.618,0.000,0.539,0.000
$DEVICE_MAMPS,255.510,62.730,631.125,68.085,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BBFL2VMT,nil,nil,nil,TMicro,LAB,nil,nil
$SENSOR_SECS,298.404,679.127,1240.544,0.000,0.000,0.000,2671.221,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,0.000,0.000,0.000,50.000,0.000,0.000,0.000
$MEM,321996
$DATA_FILE_SIZE,27063,442
$CAP_FILE_SIZE,54714,0
$CFSIZE,260165632,255234048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140710,205704,4743.671,-12224.758,8,2.3,27,18.2