version: 66.12
glider: 181
mission: 13
dive: 6
start: 3 6 115 20 55 57
data:
$ID,181
$MISSION,13
$DIVE,6
$N_DIVES,6
$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,2270
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,28
$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,23
$R_STBD_OVSHOOT,16
$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
$GPS1,060315,204840,4743.3862,-12224.9658,4,0.9,32,16.3,0.3,200.9,8,9.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.85
$_SM_ANGLEo,-65.9
$GPS2,060315,205523,4743.3345,-12225.0078,6,0.9,10,16.3,0.0,175.5,8,9.5
$SPEED_LIMITS,0.173,0.254
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,350.8,307,-27.2,-10.000,-30.00,977
$D_GRID,179
$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,-1.10,-64.6,361,2206,549,568,0.0,0.0,0,132,0.00,0.00,-104.97,0.000,16390,0.000,0.000,361,2206,2864,2818,2910,0,0,0,0,0,0,14.74,14.05,14.77
$GC,137,-1.17,-102.3,362,2206,2819,2910,3.8,-6.1,11,155,8.32,0.00,-3.33,0.000,18438,0.493,0.000,1883,2206,3017,2963,3071,0,0,0,0,0,0,14.37,13.78,14.63
$GC,335,-1.09,-102.3,1882,2207,2943,3107,63.1,-28.7,31,341,0.12,2.55,0.00,0.000,2308,0.405,0.137,1903,3612,3025,2943,3107,0,0,0,0,0,0,14.46,14.56,14.60
$GC,350,-0.99,-102.3,1902,3612,2943,3107,67.3,-27.9,33,357,0.20,2.38,0.00,0.000,3078,0.333,0.070,1944,2189,3025,2943,3107,0,0,0,0,0,0,14.49,14.62,14.67
$GC,546,-0.97,-102.3,1944,2185,2941,3111,108.6,-21.4,53,552,0.00,2.33,0.00,0.000,516,0.000,0.077,1944,793,3026,2941,3111,0,0,0,0,0,0,14.85,14.64,14.88
$GC,565,-0.94,-102.3,1944,792,2940,3111,112.7,-20.9,56,572,0.00,2.50,0.00,0.000,1030,0.000,0.111,1944,2203,3025,2940,3111,0,0,0,0,0,0,14.73,14.61,14.75
$STATE,748,end dive,TARGET_DEPTH_EXCEEDED
$STATE,748,begin apogee
$GC,756,-0.18,0.0,1943,1797,2940,3112,150.2,-20.0,75,860,0.98,0.00,90.20,1.080,10246,0.278,0.000,2201,1794,2601,2529,2673,0,0,0,0,1,0,14.56,14.17,13.69
$STATE,862,end apogee,CONTROL_FINISHED_OK
$STATE,865,begin climb
$GC,868,1.17,102.3,2201,1794,2529,2674,157.7,0.0,86,972,1.40,2.50,89.95,0.915,10756,0.142,0.083,2653,393,2176,2131,2222,0,0,0,0,0,0,14.25,14.11,13.77
$GC,1107,1.07,102.3,2653,393,2121,2220,128.2,18.1,131,1115,0.17,2.47,0.00,0.000,5126,0.328,0.086,2619,1807,2170,2121,2220,0,0,0,0,0,0,14.26,14.36,14.45
$GC,1294,0.98,102.3,2619,1807,2116,2220,97.1,16.3,150,1300,0.12,2.47,0.00,0.000,4356,0.343,0.112,2591,3211,2167,2115,2220,0,0,0,0,0,0,14.38,14.47,14.51
$GC,1372,0.88,102.3,2590,3211,2114,2220,84.8,15.9,164,1379,0.20,2.38,0.00,0.000,5126,0.333,0.068,2557,1799,2167,2114,2220,0,0,0,0,0,0,14.42,14.54,14.61
$GC,1569,0.84,102.3,2557,1799,2112,2221,58.7,11.0,184,1575,0.00,2.42,0.00,0.000,516,0.000,0.093,2570,384,2166,2112,2221,0,0,0,0,0,0,14.79,14.60,14.82
$GC,1661,0.80,102.3,2565,384,2112,2221,48.9,10.6,201,1669,0.15,2.42,0.00,0.000,5126,0.316,0.085,2535,1802,2165,2111,2220,0,0,0,0,0,0,14.50,14.61,14.67
$GC,1848,0.80,106.6,2535,1802,2111,2221,31.8,9.5,220,1855,0.00,2.50,0.00,0.000,260,0.000,0.117,2535,3216,2166,2111,2222,0,0,0,0,0,0,14.84,14.60,14.87
$GC,1919,0.75,106.6,2536,3216,2109,2221,24.3,10.4,233,1925,0.00,2.35,0.00,0.000,1030,0.000,0.068,2542,1800,2166,2110,2222,0,0,0,0,0,0,14.73,14.65,14.75
$GC,2104,0.78,134.3,2542,1800,2111,2222,8.8,7.1,252,2126,0.00,2.53,13.43,0.192,8452,0.000,0.109,2542,3209,2050,1999,2101,0,0,0,0,0,0,14.85,14.62,14.58
$STATE,2171,end climb,SURFACE_DEPTH_REACHED
$STATE,2171,begin surface coast
$FINISH,0.4,1.022602
$STATE,2195,end surface coast,CONTROL_FINISHED_OK
$STATE,2195,begin surface
$SM_CCo,2216,158.82,0.168,0,0,559,500.17
$SM_GC,0.86,6.45,1.73,158.82,0.101,0.063,0.168,360,2186,559,-5.92,0.76,500.17,0,0,0,0,0,0,14.65,14.69,14.51
$IRIDIUM_FIX,4726.11,-12224.09,010108,093129
$TT8_MAMPS,0.020972,0.020972
$HUMID,43.42
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,18.40
$XPDR_PINGS,0
$SC_FREEKB,3935264
$24V_AH,13.69,1.813
$10V_AH,13.31,0.000
$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,18.125,34.225,193.575,158.825,0.000,0.000,0.000,216.850,1.000,0.000,12.060,607.816,837.365,473.495,674.372,207.322,0.000,959.102,0.000,421.149,0.000,8.591,0.000
$DEVICE_MAMPS,492.660,136.935,1080.180,167.535,0.000,0.000,0.000,162.180,420.000,0.000,20.970,13.470,2.190,13.470,31.440,38.190,0.000,10.500,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2227.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.491,0.000,0.000,0.000
$MEM,312636
$DATA_FILE_SIZE,10127,269
$CAP_FILE_SIZE,54158,0
$CFSIZE,260034560,255721472
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1,0
$INTR,0,2822.65,0x23765a,7,5
$CURRENT,0.123,213.97,1
$GPS,060315,213628,4743.342,-12225.050,4,0.9,8,16.3,0.0,0.0,9,10.0