version: 66.12
glider: 181
mission: 13
dive: 7
start: 3 6 115 21 43 33
data:
$ID,181
$MISSION,13
$DIVE,7
$N_DIVES,7
$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,32
$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,38
$R_STBD_OVSHOOT,20
$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
$GPS1,060315,213628,4743.3423,-12225.0498,4,0.9,8,16.3,0.0,0.0,9,10.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-65.5
$GPS2,060315,214300,4743.2803,-12225.0918,7,1.3,17,16.3,0.0,0.0,7,9.7
$SPEED_LIMITS,0.173,0.254
$TGT_NAME,NW
$TGT_LATLONG,4743.500,-12225.000
$TGT_RADIUS,100.000
$MHEAD_RNG_PITCHd_Wd,8.1,423,-17.8,-10.000,-21.47,2182
$D_GRID,178
$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,-0.85,-146.6,360,2181,552,571,0.0,0.0,0,133,0.00,0.00,-110.07,0.000,16386,0.000,0.000,360,2181,3020,2982,3058,0,0,0,0,0,0,14.72,28.83,14.76
$GC,138,-0.85,-146.6,360,2181,2983,3059,3.8,-6.1,11,156,8.43,2.35,-3.53,0.000,18948,0.469,0.086,1986,792,3199,3112,3286,0,0,0,0,0,0,14.35,13.73,14.62
$GC,165,-0.39,-146.6,1986,792,3112,3288,15.8,-39.0,15,172,0.60,2.50,0.00,0.000,3078,0.285,0.112,2137,2192,3200,3112,3289,0,0,0,0,0,0,14.43,14.50,14.61
$GC,361,-0.45,-146.6,2136,2192,3110,3294,32.7,-7.3,35,366,0.00,2.60,0.00,0.000,260,0.000,0.148,2137,3611,3202,3110,3294,0,0,0,0,0,0,14.78,14.54,14.82
$GC,406,-0.54,-146.6,2137,3611,3110,3294,36.5,-8.1,43,412,0.15,2.35,0.00,0.000,5126,0.131,0.072,2077,2207,3201,3109,3294,0,0,0,0,0,0,14.64,14.62,14.69
$GC,601,-0.54,-146.6,2076,2202,3109,3294,60.9,-12.9,63,602,0.00,0.00,0.00,0.000,6,0.000,0.000,2077,2202,3201,3109,3294,0,0,0,0,0,0,14.82,14.86,14.88
$GC,781,-0.54,-146.6,2076,2203,3109,3294,83.4,-11.4,81,788,0.00,2.38,0.00,0.000,516,0.000,0.080,2077,780,3201,3108,3294,0,0,0,0,0,0,14.85,14.65,14.88
$GC,796,-0.54,-146.6,2076,782,3109,3294,85.2,-11.7,83,801,0.00,2.50,0.00,0.000,1030,0.000,0.108,2076,2200,3201,3107,3295,0,0,0,0,0,0,14.73,14.62,14.76
$GC,990,-0.56,-146.6,2076,2199,3109,3294,107.2,-12.4,103,996,0.00,2.58,0.00,0.000,260,0.000,0.146,2075,3620,3201,3109,3294,0,0,0,0,0,0,14.86,14.62,14.90
$GC,1049,-0.59,-146.6,2076,3620,3109,3294,113.3,-9.9,114,1056,0.00,2.38,0.00,0.000,1030,0.000,0.072,2076,2200,3199,3109,3289,0,0,0,0,0,0,14.77,14.69,14.78
$GC,1236,-0.59,-146.6,2076,2195,3108,3294,131.3,-10.0,133,1242,0.00,0.00,0.00,0.000,6,0.000,0.000,2076,2196,3201,3108,3294,0,0,0,0,0,0,14.90,14.92,14.92
$STATE,1402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1402,begin apogee
$GC,1410,-0.16,0.0,2076,1787,3108,3294,150.9,-11.3,150,1556,0.47,0.00,136.98,0.901,10246,0.211,0.000,2213,1786,2595,2536,2655,0,0,0,0,0,0,14.62,14.26,13.87
$STATE,1558,end apogee,CONTROL_FINISHED_OK
$STATE,1558,begin climb
$GC,1561,0.85,146.6,2213,1786,2534,2654,158.1,0.0,165,1706,1.00,2.47,134.52,0.874,10756,0.115,0.089,2553,395,1996,1963,2030,0,0,0,0,0,0,14.22,14.02,13.74
$GC,1892,0.76,146.6,2553,395,1953,2022,124.2,15.9,228,1899,0.17,2.47,0.00,0.000,5126,0.294,0.090,2516,1806,1987,1952,2022,0,0,0,0,0,0,14.29,14.38,14.47
$GC,2079,0.68,146.6,2516,1805,1948,2022,98.6,13.1,247,2085,0.00,2.53,0.00,0.000,260,0.000,0.119,2516,3216,1985,1948,2022,0,0,0,0,0,0,14.70,14.47,14.73
$GC,2231,0.57,146.6,2514,3217,1948,2022,74.3,16.0,276,2238,0.28,2.38,0.00,0.000,5126,0.287,0.067,2459,1802,1985,1947,2023,0,0,0,0,0,0,14.46,14.57,14.64
$GC,2418,0.57,158.3,2459,1801,1946,2023,55.3,9.5,295,2431,0.00,2.55,4.28,0.763,8452,0.000,0.116,2459,3212,1956,1914,1999,0,0,0,0,0,0,14.80,14.55,14.09
$GC,2475,0.53,158.3,2459,3212,1919,2009,49.4,10.5,305,2481,0.00,2.38,1.48,0.236,9222,0.000,0.068,2465,1799,1953,1910,1997,0,0,0,0,0,0,14.69,14.60,14.51
$GC,2670,0.50,158.3,2465,1799,1918,2016,27.6,10.9,325,2678,0.12,2.55,1.75,0.205,12548,0.309,0.112,2436,3214,1952,1904,2001,0,0,0,0,0,0,14.53,14.59,14.54
$GC,2692,0.47,158.3,2436,3215,1911,2005,25.2,11.3,328,2699,0.00,2.40,0.00,0.000,1030,0.000,0.067,2443,1791,1960,1911,2009,0,0,0,0,0,0,14.71,14.62,14.73
$GC,2878,0.59,217.8,2442,1790,1916,2017,8.9,7.2,347,2915,0.00,2.55,28.90,0.189,8452,0.000,0.115,2442,3205,1710,1670,1750,0,0,0,0,0,0,14.84,14.57,14.55
$STATE,2941,end climb,SURFACE_DEPTH_REACHED
$STATE,2941,begin surface coast
$FINISH,0.2,1.022548
$STATE,2963,end surface coast,CONTROL_FINISHED_OK
$STATE,2964,begin surface
$SM_CCo,2984,122.50,0.168,0,0,558,500.17
$SM_GC,0.85,6.00,1.73,122.50,0.073,0.064,0.168,343,2191,558,-5.94,0.82,500.17,0,0,0,0,0,0,14.66,14.66,14.50
$IRIDIUM_FIX,4726.11,-12222.38,010108,101808
$TT8_MAMPS,0.020972,0.020972
$HUMID,44.60
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,18.10
$XPDR_PINGS,0
$SC_FREEKB,3934816
$24V_AH,13.73,1.933
$10V_AH,13.24,0.000
$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,17.225,44.300,307.900,122.500,0.000,0.000,0.000,195.675,0.750,0.000,21.119,790.997,1172.287,524.200,799.905,230.136,0.000,1075.332,0.000,565.752,0.000,5.698,0.000
$DEVICE_MAMPS,468.945,147.645,901.170,168.300,0.000,0.000,0.000,169.830,420.000,0.000,20.970,13.470,2.190,13.470,31.440,38.190,0.000,10.500,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3000.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,15.393,0.000,0.000,0.000
$MEM,312684
$DATA_FILE_SIZE,13430,363
$CAP_FILE_SIZE,66758,0
$CFSIZE,260034560,255651840
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$INTR,0,2854.82,0x23765a,7,5
$CURRENT,0.113,222.99,1
$GPS,060315,223627,4743.276,-12225.074,4,1.3,21,16.3,0.3,195.0,7,9.6