version: 66.11
glider: 181
mission: 8
dive: 4
start: 8 12 112 3 13 23
data:
$ID,181
$MISSION,8
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,360
$D_ABORT,1000
$D_NO_BLEED,200
$D_BOOST,120
$T_BOOST,4
$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,120
$T_MISSION,140
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52383
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-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,528.37616
$N_FILEKB,4
$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,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-44191.23
$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,2500
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,40
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,30
$C_ROLL_DIVE,2400
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2594
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$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,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.388226
$PRESSURE_SLOPE,0.000116609
$AD7714Ch0Gain,128
$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,0
$ALTIM_PING_DELTA,10
$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,-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,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004364301
$SEABIRD_T_H,0.00062910357
$SEABIRD_T_I,2.4425184e-05
$SEABIRD_T_J,2.6404416e-06
$SEABIRD_C_G,-9.9046793
$SEABIRD_C_H,1.1251128
$SEABIRD_C_I,-0.0019873739
$SEABIRD_C_J,0.00023203803
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,120812,030851,2141.723,12050.391,7,5.7,26,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-64.4
$GPS2,120812,031257,2141.739,12050.518,14,4.0,33,-2.7
$SPEED_LIMITS,0.173,0.296
$TGT_NAME,W2
$TGT_LATLONG,2145.000,12000.000
$TGT_RADIUS,4000.000
$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,292.7,87107,-15.7,-10.000
$D_GRID,810
$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,pitch_volts,roll_volts,vbd_volts
$STATE,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-0.47,-194.6,0.0,0.0,0,85,0.00,0.00,-64.85,0.000,2,0.000,0.000,211,2410,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.47,-194.6,3.2,-8.9,11,127,9.82,1.75,-23.02,0.000,4,0.413,0.088,2341,1336,3392,0,0,0,0,0,0,14.64,14.88,15.11
$GC,187,-0.45,-194.6,28.9,-20.8,27,192,0.00,1.75,0.00,0.000,6,0.000,0.078,2336,2387,3390,0,0,0,0,0,0,28.83,14.90,28.83
$GC,500,-0.45,-194.6,100.4,-14.2,47,505,0.00,1.73,0.00,0.000,4,0.000,0.087,2328,3468,3388,0,0,0,0,0,0,28.83,14.98,28.83
$GC,644,-0.50,-194.6,120.5,-13.8,54,649,0.00,1.65,0.00,0.000,6,0.000,0.056,2328,2380,3388,0,0,0,0,0,0,28.83,15.03,28.83
$GC,968,-0.57,-194.6,152.1,-8.2,70,973,0.00,1.75,0.00,0.000,4,0.000,0.090,2325,3466,3388,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1021,-0.64,-194.6,155.1,-7.4,72,1027,0.00,1.62,0.00,0.000,6,0.000,0.058,2325,2403,3388,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1336,-0.70,-194.6,176.7,-9.3,88,1342,0.12,1.65,0.00,0.000,4,0.129,0.057,2246,1343,3388,0,0,0,0,0,0,15.04,15.04,28.83
$GC,1370,-0.76,-194.6,179.4,-9.6,89,1375,0.00,1.73,0.00,0.000,6,0.000,0.083,2235,2407,3387,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1683,-0.74,-194.6,228.4,-16.9,105,1689,0.00,1.73,0.00,0.000,4,0.000,0.091,2230,3458,3386,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1787,-0.74,-194.6,247.7,-18.5,110,1794,0.12,1.62,0.00,0.000,6,0.242,0.063,2261,2402,3385,0,0,0,0,0,0,14.91,15.02,28.83
$GC,2113,-0.77,-194.6,282.0,-6.8,126,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2401,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2414,-0.80,-194.6,291.3,0.5,141,2420,0.00,1.77,0.00,0.000,4,0.000,0.100,2260,3483,3381,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2498,-0.84,-194.6,288.6,3.1,145,2504,0.00,1.67,0.00,0.000,6,0.000,0.070,2260,2404,3380,0,0,0,0,0,0,28.83,15.05,28.83
$GC,2823,-0.88,-194.6,298.4,-8.4,161,2829,0.12,1.75,0.00,0.000,4,0.135,0.101,2182,3464,3377,0,0,0,0,0,0,15.09,15.02,28.83
$GC,2890,-0.88,-194.6,306.1,-11.2,164,2896,0.12,1.67,0.00,0.000,6,0.252,0.072,2210,2390,3376,0,0,0,0,0,0,14.91,15.02,28.83
$GC,3209,-0.88,-194.6,346.3,-16.3,180,3215,0.00,1.75,0.00,0.000,4,0.000,0.106,2205,3456,3373,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3253,-0.88,-194.6,354.1,-18.2,182,3259,0.00,1.67,0.00,0.000,6,0.000,0.078,2205,2394,3373,0,0,0,0,0,0,28.83,15.04,28.83
$STATE,3295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3295,begin apogee
$GC,3302,-0.12,0.0,363.0,-18.4,184,3478,0.77,0.00,165.90,0.988,6,0.182,0.000,2451,2203,2589,0,0,0,0,0,0,14.93,28.83,14.10
$STATE,3480,end apogee,CONTROL_FINISHED_OK
$STATE,3480,begin climb
$GC,3482,0.47,194.6,411.9,0.0,193,3660,0.55,1.90,169.68,0.996,4,0.071,0.108,2662,3255,1796,0,0,0,0,0,0,14.61,14.45,14.05
$GC,3772,0.37,194.6,408.1,10.9,207,3779,0.20,1.70,0.00,0.000,6,0.269,0.070,2622,2196,1786,0,0,0,0,0,0,14.65,14.76,28.83
$GC,4088,0.32,215.5,375.1,9.3,223,4112,0.00,1.80,18.17,0.963,4,0.000,0.110,2622,3257,1709,0,0,0,0,0,0,28.83,14.81,14.43
$GC,4225,0.34,390.1,370.9,4.0,229,4385,0.00,1.70,151.85,0.944,6,0.000,0.075,2628,2193,998,0,0,0,0,0,0,28.83,14.91,14.11
$GC,4693,0.37,460.3,303.0,7.6,253,4762,0.00,1.80,60.80,0.881,4,0.000,0.088,2635,1145,710,0,0,0,0,0,0,28.83,14.64,14.27
$GC,4916,0.45,545.9,281.3,7.0,264,4984,0.00,1.85,60.22,0.859,6,0.000,0.128,2635,2199,435,0,0,0,0,0,0,28.83,14.78,14.22
$GC,5298,0.64,919.6,275.7,-2.9,283,5304,0.17,1.80,0.00,0.000,4,0.115,0.111,2718,3263,426,0,0,0,0,0,0,14.92,14.81,28.83
$GC,5432,0.59,919.6,262.8,12.0,289,5438,0.15,1.70,0.00,0.000,6,0.255,0.074,2689,2198,426,0,0,0,0,0,0,14.83,14.92,28.83
$GC,5746,0.59,919.6,228.0,10.9,305,5751,0.00,1.83,0.00,0.000,4,0.000,0.122,2689,3258,425,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5900,0.58,962.2,215.5,8.5,312,5906,0.00,1.70,0.00,0.000,6,0.000,0.074,2695,2195,426,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6214,0.58,962.2,166.3,24.9,328,6220,0.00,1.83,0.00,0.000,4,0.000,0.116,2695,3261,425,0,0,0,0,0,0,28.83,14.93,28.83
$GC,6287,0.57,962.2,149.1,26.9,331,6292,0.00,1.70,0.00,0.000,6,0.000,0.072,2700,2189,425,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6600,0.57,962.2,94.5,18.0,347,6606,0.00,1.80,0.00,0.000,4,0.000,0.116,2703,3259,427,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6726,0.57,962.2,71.8,17.8,353,6732,0.00,1.67,0.00,0.000,6,0.000,0.072,2711,2203,425,0,0,0,0,0,0,28.83,14.99,28.83
$GC,7050,0.70,1244.7,65.1,0.3,369,7056,0.00,1.77,0.00,0.000,4,0.000,0.106,2711,3271,425,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7198,0.76,1365.1,57.3,5.8,376,7204,0.00,1.70,0.00,0.000,6,0.000,0.069,2719,2189,425,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7509,0.80,1365.1,17.4,12.6,409,7515,0.12,0.00,0.00,0.000,6,0.142,0.000,2787,2187,427,0,0,0,0,0,0,14.97,28.83,28.83
$STATE,7592,end climb,SURFACE_DEPTH_REACHED
$STATE,7592,begin surface coast
$FINISH,0.1,1.020521
$STATE,7608,end surface coast,CONTROL_FINISHED_OK
$STATE,7608,begin surface
$SM_CCo,7687,0.00,0.000,0,0,427,531.57
$SM_GC,1.03,6.95,0.38,0.00,0.054,0.099,0.000,213,2411,427,-7.07,-0.51,531.57,0,0,0,0,0,0,14.97,14.97,28.83
$IRIDIUM_FIX,2122.58,12000.21,120812,030303
$TT8_MAMPS,0.023219,0.023219
$HUMID,50.74
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,25.20
$XPDR_PINGS,3
$24V_AH,14.1,2.905
$10V_AH,14.0,0.000
$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,19.250,56.200,626.625,0.000,0.000,0.000,0.000,0.000,0.750,0.000,37.512,1422.590,4379.575,604.224,1240.433,144.917,0.000,1321.606,0.000,1174.984,0.000,0.544,0.000
$DEVICE_MAMPS,413.100,127.755,996.030,0.000,0.000,0.000,0.000,0.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7577.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,19.812,0.000,0.000,0.000
$MEM,323384
$DATA_FILE_SIZE,16752,428
$CAP_FILE_SIZE,112970,0
$CFSIZE,260165632,253960192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.909,100.7,1
$GPS,120812,052254,2141.360,12053.756,39,1.4,39,-2.7