version: 66.11
glider: 181
mission: 8
dive: 6
start: 8 12 112 7 59 2
data:
$ID,181
$MISSION,8
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$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,300
$T_MISSION,320
$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,350
$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,-44193.746
$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,38
$R_STBD_OVSHOOT,21
$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,20
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,200
$ALTIM_PING_DELTA,50
$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
$GPS1,120812,075045,2142.340,12055.233,13,3.2,32,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-63.2
$GPS2,120812,075833,2142.344,12055.537,12,3.7,31,-2.7
$SPEED_LIMITS,0.191,0.389
$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,268.9,95659,-12.6,-11.000
$D_GRID,432
$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,-0.45,-340.6,0.0,0.0,0,85,0.00,0.00,-64.00,0.000,2,0.000,0.000,205,2392,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.45,-340.6,3.2,-7.5,11,137,10.00,0.00,-34.22,0.000,6,0.418,0.000,2344,2391,3965,0,0,0,0,0,0,14.59,28.83,15.00
$GC,449,-0.45,-340.6,71.8,-13.2,46,454,0.00,1.75,0.00,0.000,4,0.000,0.093,2339,3468,3965,0,0,0,0,0,0,28.83,14.88,28.83
$GC,556,-0.53,-340.6,81.0,-7.9,51,561,0.00,1.65,0.00,0.000,6,0.000,0.056,2340,2391,3965,0,0,0,0,0,0,28.83,14.90,28.83
$GC,880,-0.70,-340.6,120.5,-13.3,67,885,0.17,1.75,0.00,0.000,4,0.137,0.087,2262,3462,3965,0,0,0,0,0,0,14.97,14.94,28.83
$GC,1113,-0.89,-340.6,133.6,-5.5,78,1119,0.20,1.62,0.00,0.000,6,0.180,0.054,2206,2390,3964,0,0,0,0,0,0,14.91,14.98,28.83
$GC,1428,-0.82,-340.6,194.7,-21.8,94,1434,0.00,1.65,0.00,0.000,4,0.000,0.057,2206,1343,3963,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1516,-0.82,-340.6,203.3,-9.9,98,1522,0.12,1.73,0.00,0.000,6,0.236,0.085,2231,2402,3964,0,0,0,0,0,0,14.92,14.98,28.83
$GC,1835,-0.79,-340.6,244.5,-15.1,114,1842,0.00,1.75,0.00,0.000,4,0.000,0.097,2225,3454,3963,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1891,-0.76,-340.6,250.9,-14.2,116,1897,0.12,1.62,0.00,0.000,6,0.222,0.060,2259,2391,3962,0,0,0,0,0,0,14.93,15.02,28.83
$GC,2205,-0.82,-340.6,274.8,-5.3,132,2210,0.00,1.77,0.00,0.000,4,0.000,0.105,2258,3456,3960,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2311,-0.88,-340.6,283.6,-9.3,137,2317,0.12,1.62,0.00,0.000,6,0.142,0.063,2192,2399,3959,0,0,0,0,0,0,15.02,15.03,28.83
$GC,2635,-0.84,-340.6,343.0,-19.2,153,2641,0.12,1.75,0.00,0.000,4,0.284,0.098,2220,3468,3953,0,0,0,0,0,0,14.91,15.00,28.83
$GC,2838,-0.85,-340.6,369.6,-12.8,162,2845,0.00,1.65,0.00,0.000,6,0.000,0.065,2220,2401,3954,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3143,-0.85,-340.6,406.0,-10.8,178,3148,0.00,1.75,0.00,0.000,4,0.000,0.108,2213,3458,3951,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3240,-0.85,-340.6,415.7,-11.5,182,3247,0.00,1.65,0.00,0.000,6,0.000,0.070,2213,2401,3950,0,0,0,0,0,0,28.83,15.04,28.83
$STATE,3404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3404,begin apogee
$GC,3410,-0.12,0.0,434.1,-10.2,191,3708,0.75,0.00,287.12,1.014,6,0.171,0.000,2454,2189,2590,0,0,0,0,0,0,14.95,28.83,13.94
$STATE,3709,end apogee,CONTROL_FINISHED_OK
$STATE,3710,begin climb
$GC,3712,0.45,340.6,443.8,0.0,206,4028,0.52,1.83,299.60,0.978,4,0.073,0.081,2664,1154,1195,0,0,0,0,0,0,14.43,14.33,13.94
$GC,4182,0.41,340.6,379.7,16.8,229,4188,0.00,1.80,0.00,0.000,6,0.000,0.101,2663,2204,1187,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4496,0.34,340.6,319.7,19.7,245,4503,0.17,1.77,0.00,0.000,4,0.249,0.104,2614,3263,1183,0,0,0,0,0,0,14.78,14.83,28.83
$GC,4583,0.29,340.6,306.4,15.3,249,4589,0.00,1.70,0.00,0.000,6,0.000,0.073,2619,2201,1183,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4907,0.25,340.6,262.3,18.7,265,4913,0.12,1.80,0.00,0.000,4,0.259,0.115,2583,3263,1182,0,0,0,0,0,0,14.85,14.88,28.83
$GC,5025,0.26,340.6,245.4,14.5,270,5032,0.00,1.70,0.00,0.000,6,0.000,0.076,2588,2190,1182,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5332,0.29,384.2,216.9,10.1,286,5379,0.00,1.77,35.50,1.122,4,0.000,0.086,2601,1152,1029,0,0,0,0,1,0,28.83,14.71,14.14
$GC,5402,0.35,471.5,211.3,9.1,289,5587,0.00,1.80,136.80,1.393,6,0.000,0.098,2595,2210,671,0,0,0,0,8,0,28.83,14.74,13.70
$GC,5896,0.48,663.1,169.9,6.8,314,5961,0.15,1.92,54.00,1.333,4,0.125,0.119,2670,3258,441,0,0,0,0,1,0,14.78,14.41,13.86
$GC,6145,0.44,663.1,133.1,22.6,326,6152,0.08,1.77,1.20,0.220,6,0.194,0.078,2637,2197,439,0,0,0,0,0,0,14.66,14.72,14.61
$GC,6466,0.50,663.1,97.5,11.9,342,6473,0.00,1.80,1.27,0.226,4,0.000,0.109,2637,3258,439,0,0,0,0,0,0,28.83,14.81,14.69
$GC,6516,0.58,703.8,93.0,10.1,344,6523,0.15,1.70,0.90,0.238,6,0.132,0.073,2707,2196,439,0,0,0,0,0,0,14.87,14.85,14.73
$GC,6836,0.57,703.8,51.8,11.1,360,6843,0.00,1.83,1.20,0.217,4,0.000,0.109,2707,3268,440,0,0,0,0,0,0,28.83,14.85,14.78
$GC,6983,0.58,718.6,36.8,10.7,373,6989,0.00,1.70,0.95,0.220,6,0.000,0.071,2714,2202,439,0,0,0,0,0,0,28.83,14.89,14.82
$GC,7295,0.68,903.7,9.2,7.0,422,7302,0.00,1.77,1.23,0.210,4,0.000,0.103,2714,3260,438,0,0,0,0,0,0,28.83,14.83,14.81
$STATE,7374,end climb,SURFACE_DEPTH_REACHED
$STATE,7374,begin surface coast
$FINISH,0.6,1.020782
$STATE,7404,end surface coast,CONTROL_FINISHED_OK
$STATE,7405,begin surface
$SM_CCo,7424,0.75,0.223,0,0,437,528.38
$SM_GC,1.54,6.80,1.42,0.75,0.057,0.068,0.223,217,2390,437,-7.07,0.90,528.38,0,0,0,0,0,0,14.90,14.91,14.85
$IRIDIUM_FIX,2122.58,12045.91,120812,050552
$TT8_MAMPS,0.023219,0.023219
$HUMID,50.35
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,25.10
$XPDR_PINGS,6
$24V_AH,13.7,3.546
$10V_AH,13.8,0.000
$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,19.625,52.150,819.775,0.750,0.000,24.003,15.143,200.769,3.000,0.000,34.788,1432.934,3867.500,769.496,1593.537,242.017,0.000,1563.448,0.000,1247.555,0.000,12.183,0.000
$DEVICE_MAMPS,418.455,119.340,1393.065,222.615,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7434.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.530,0.000,0.000,0.000
$MEM,323400
$DATA_FILE_SIZE,16801,443
$CAP_FILE_SIZE,109573,0
$CFSIZE,260165632,253816832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,10,0,0
$CURRENT,0.070, 77.7,1
$GPS,120812,100406,2142.516,12054.903,31,1.3,31,-2.7