version: 66.11
glider: 181
mission: 7
dive: 5
start: 6 27 112 19 42 26
data:
$ID,181
$MISSION,7
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1030
$D_NO_BLEED,44
$D_BOOST,120
$T_BOOST,2
$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,70
$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,100
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$SPEED_FACTOR,1
$RHO,1.0228
$MASS,52383
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$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,290
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-43553.777
$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,2595
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$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,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,13
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,1650
$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,50
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-60.542343
$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,1
$ALTIM_PING_DEPTH,90
$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,49
$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
$GPS1,270612,193332,4742.504,-12224.463,9,1.4,9,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-73.5
$GPS2,270612,194126,4742.484,-12224.444,11,1.4,11,18.2
$SPEED_LIMITS,0.084,0.216
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.068,0.205
$KALMAN_X,182.8,80.3,69.0,-22.7,90.5
$KALMAN_Y,-284.9,-229.6,-209.7,684.6,3.3
$MHEAD_RNG_PITCHd_Wd,323.5,2659,-21.7,-10.000
$D_GRID,137
$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,-0.76,-97.8,0.0,0.0,0,61,0.00,0.00,-41.00,0.000,2,0.000,0.000,214,2411,1629,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.76,-97.8,3.2,-9.5,4,91,10.12,1.98,-10.60,0.000,4,0.432,0.178,2332,3466,2050,0,0,0,0,0,0,14.45,14.65,14.92
$GC,141,-0.70,-97.8,13.6,-13.2,11,147,0.15,1.80,0.00,0.000,6,0.304,0.094,2363,2389,2055,0,0,0,0,0,0,14.57,14.73,28.83
$GC,185,-0.67,-97.8,19.6,-13.0,15,187,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2389,2054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,215,-0.64,-97.8,23.4,-12.3,18,220,0.00,1.75,0.00,0.000,4,0.000,0.093,2364,1341,2055,0,0,0,0,0,0,28.83,14.73,28.83
$GC,350,-0.63,-97.8,41.2,-13.0,31,356,0.15,1.92,0.00,0.000,6,0.295,0.139,2390,2400,2053,0,0,0,0,0,0,14.63,14.74,28.83
$GC,394,-0.63,-97.8,46.2,-11.4,35,395,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2400,2054,0,0,0,0,0,0,28.83,28.83,28.83
$GC,424,-0.64,-97.8,49.6,-11.3,38,429,0.00,1.92,0.00,0.000,4,0.000,0.155,2384,3468,2054,0,0,0,0,0,0,28.83,14.71,28.83
$GC,477,-0.64,-97.8,56.2,-12.4,43,482,0.00,1.77,0.00,0.000,6,0.000,0.098,2384,2402,2054,0,0,0,0,0,0,28.83,14.79,28.83
$GC,520,-0.64,-97.8,61.0,-11.2,47,525,0.00,1.77,0.00,0.000,4,0.000,0.096,2384,1342,2054,0,0,0,0,0,0,28.83,14.78,28.83
$GC,554,-0.65,-97.8,64.7,-11.4,50,559,0.00,1.90,0.00,0.000,6,0.000,0.139,2377,2401,2053,0,0,0,0,0,0,28.83,14.76,28.83
$GC,597,-0.66,-97.8,69.3,-10.6,54,602,0.00,1.90,0.00,0.000,4,0.000,0.157,2369,3462,2053,0,0,0,0,0,0,28.83,14.73,28.83
$GC,620,-0.66,-97.8,72.1,-11.2,56,625,0.00,1.77,0.00,0.000,6,0.000,0.098,2369,2391,2053,0,0,0,0,0,0,28.83,14.80,28.83
$GC,663,-0.66,-97.8,77.3,-12.0,60,668,0.00,1.75,0.00,0.000,4,0.000,0.098,2369,1344,2052,0,0,0,0,0,0,28.83,14.78,28.83
$GC,720,-0.66,-97.8,83.1,-10.7,65,726,0.00,1.90,0.00,0.000,6,0.000,0.141,2362,2403,2052,0,0,0,0,0,0,28.83,14.70,28.83
$GC,756,-0.66,-97.8,87.4,-10.9,69,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2403,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,790,-0.66,-97.8,90.9,-11.6,72,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2403,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,826,-0.66,-97.8,95.4,-11.3,76,827,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2403,2053,0,0,0,0,0,0,28.83,28.83,28.83
$GC,856,-0.66,-97.8,98.9,-11.5,79,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2403,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,886,-0.66,-97.8,102.4,-11.6,82,887,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2403,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,916,-0.66,-97.8,106.1,-12.3,85,918,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2402,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,946,-0.66,-97.8,109.8,-12.1,88,947,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2403,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,976,-0.66,-97.8,113.7,-12.9,91,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2403,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1006,-0.66,-97.8,117.4,-12.2,94,1011,0.00,1.92,0.00,0.000,4,0.000,0.160,2354,3468,2052,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1040,-0.65,-97.8,121.9,-13.5,97,1045,0.00,1.77,0.00,0.000,6,0.000,0.102,2354,2401,2052,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1083,-0.65,-97.8,127.4,-12.7,101,1084,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2401,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1113,-0.65,-97.8,130.6,-10.7,104,1114,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2401,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1143,-0.65,-97.8,134.0,-11.7,107,1148,0.00,1.92,0.00,0.000,4,0.000,0.164,2346,3461,2052,0,0,0,0,0,0,28.83,14.75,28.83
$STATE,1173,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1173,begin apogee
$GC,1182,-0.17,0.0,137.5,-10.4,110,1279,0.68,0.00,90.80,0.767,6,0.257,0.000,2530,2391,1648,0,0,0,0,0,0,14.69,28.83,14.19
$STATE,1281,end apogee,CONTROL_FINISHED_OK
$STATE,1281,begin climb
$GC,1284,0.76,97.8,141.2,0.0,120,1376,0.93,0.00,87.00,0.744,6,0.142,0.000,2834,2391,1248,0,0,0,0,0,0,14.50,28.83,14.07
$GC,1406,0.69,97.8,129.0,13.8,133,1411,0.00,1.80,0.00,0.000,4,0.000,0.098,2842,1345,1243,0,0,0,0,0,0,28.83,14.45,28.83
$GC,1460,0.63,97.8,120.9,14.8,138,1466,0.17,1.92,0.00,0.000,6,0.277,0.132,2809,2410,1242,0,0,0,0,0,0,14.43,14.50,28.83
$GC,1504,0.59,97.8,114.8,13.8,142,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2410,1241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1534,0.55,97.8,111.1,12.5,145,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2412,1241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1564,0.52,97.8,107.2,12.8,148,1566,0.15,0.00,0.00,0.000,6,0.300,0.000,2767,2410,1241,0,0,0,0,0,0,14.51,28.83,28.83
$GC,1594,0.50,97.8,103.6,12.2,151,1595,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2411,1241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1624,0.50,97.8,100.4,11.1,154,1625,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2411,1240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1654,0.50,97.8,97.1,10.8,157,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2411,1240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1684,0.50,97.8,93.8,11.0,160,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2411,1240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1714,0.50,97.8,90.8,10.3,163,1719,0.00,1.83,0.00,0.000,4,0.000,0.101,2773,1344,1240,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1838,0.50,97.8,76.1,12.4,175,1843,0.00,1.92,0.00,0.000,6,0.000,0.138,2773,2402,1240,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1881,0.50,97.8,70.7,12.3,179,1882,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2402,1239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1911,0.50,97.8,66.9,12.5,182,1912,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2403,1240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1941,0.50,97.8,63.0,12.9,185,1946,0.00,1.80,0.00,0.000,4,0.000,0.103,2780,1345,1239,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2015,0.50,99.4,55.4,9.9,192,2020,0.00,1.90,0.00,0.000,6,0.000,0.138,2781,2406,1239,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2058,0.50,99.4,51.1,10.0,196,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2406,1239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2088,0.50,100.8,48.1,9.9,199,2089,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2406,1239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2118,0.50,104.6,45.3,9.7,202,2127,0.00,0.00,2.00,0.245,6,0.000,0.000,2781,2406,1224,0,0,0,0,0,0,28.83,28.83,14.62
$GC,2158,0.50,120.0,41.7,8.9,206,2169,0.00,0.00,8.73,0.296,6,0.000,0.000,2780,2406,1160,0,0,0,0,0,0,28.83,28.83,14.60
$GC,2198,0.50,132.7,38.0,9.1,210,2207,0.00,0.00,7.22,0.288,6,0.000,0.000,2780,2406,1107,0,0,0,0,0,0,28.83,28.83,14.62
$GC,2238,0.50,143.1,34.3,9.3,214,2249,0.00,1.90,5.50,0.278,4,0.000,0.106,2788,1336,1067,0,0,0,0,0,0,28.83,14.75,14.64
$GC,2439,0.53,143.1,15.3,10.7,233,2446,0.00,1.90,1.30,0.226,6,0.000,0.138,2788,2400,1064,0,0,0,0,0,0,28.83,14.76,14.68
$GC,2475,0.54,143.1,11.2,10.2,237,2480,0.00,1.90,0.00,0.000,4,0.000,0.155,2788,3463,1069,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2498,0.54,143.1,8.6,10.6,239,2503,0.00,1.77,0.00,0.000,6,0.000,0.101,2796,2401,1070,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2541,0.54,145.7,4.3,9.8,243,2552,0.00,1.98,2.03,0.208,4,0.000,0.156,2798,3461,1055,0,0,0,0,0,0,28.83,14.73,14.73
$GC,2783,0.62,305.9,3.8,-1.0,266,2828,0.00,1.80,40.50,0.177,2,0.000,0.099,2804,2393,706,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,2829,end climb,SURFACE_DEPTH_REACHED
$STATE,2829,begin surface coast
$FINISH,-0.1,1.006305
$STATE,2961,end surface coast,CONTROL_FINISHED_OK
$STATE,2961,begin surface
$SM_CCo,2980,28.67,0.174,0,0,465,290.19
$SM_GC,2.24,7.50,0.00,28.67,0.094,0.000,0.174,212,2392,465,-7.38,-0.23,290.19,0,0,0,0,0,0,14.80,28.83,14.71
$IRIDIUM_FIX,4713.38,-12242.20,270612,191954
$TT8_MAMPS,0.023219,0.023219
$HUMID,47.36
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,19.60
$XPDR_PINGS,1
$ALTIM_BOTTOM_PING,100.0,60.4
$24V_AH,14.1,0.732
$10V_AH,13.8,0.459
$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,19.850,52.050,245.075,28.675,0.000,53.073,71.914,134.297,1.250,0.000,13.660,931.344,1031.405,340.055,969.182,233.791,33.217,792.208,0.000,674.109,0.000,10.039,0.000
$DEVICE_MAMPS,432.225,178.245,766.530,174.420,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2956.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.823,0.000,0.000,0.000
$MEM,323356
$DATA_FILE_SIZE,10140,284
$CAP_FILE_SIZE,93592,0
$CFSIZE,260165632,257073152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270612,203408,4742.821,-12224.614,25,2.4,44,18.2