version: 66.11
glider: 181
mission: 7
dive: 6
start: 6 27 112 20 50 58
data:
$ID,181
$MISSION,7
$DIVE,6
$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,-43555.035
$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,25
$R_STBD_OVSHOOT,11
$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
$GPS1,270612,203408,4742.821,-12224.614,25,2.4,44,18.2
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-74.7
$GPS2,270612,204958,4742.899,-12224.629,10,2.2,29,18.2
$SPEED_LIMITS,0.084,0.216
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.025,0.214
$KALMAN_X,127.6,87.6,78.7,-212.3,-14.5
$KALMAN_Y,-129.1,-219.4,-177.1,1251.5,126.2
$MHEAD_RNG_PITCHd_Wd,335.2,1866,-21.7,-10.000
$D_GRID,178
$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,-41.05,0.000,2,0.000,0.000,212,2392,1673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.76,-97.8,3.4,-7.3,4,91,10.25,1.95,-9.90,0.000,4,0.437,0.175,2332,3466,2049,0,0,0,0,0,0,14.44,14.64,14.90
$GC,321,-0.70,-97.8,39.2,-18.1,29,327,0.15,1.77,0.00,0.000,6,0.301,0.096,2363,2397,2051,0,0,0,0,0,0,14.61,14.76,28.83
$GC,365,-0.66,-97.8,46.4,-16.1,33,366,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2398,2051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,395,-0.63,-97.8,50.9,-15.2,36,396,0.00,0.00,0.00,0.000,6,0.000,0.000,2363,2401,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,425,-0.61,-97.8,54.9,-13.8,39,427,0.12,0.00,0.00,0.000,6,0.308,0.000,2391,2397,2051,0,0,0,0,0,0,14.60,28.83,28.83
$GC,455,-0.61,-97.8,58.7,-12.4,42,456,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2398,2051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,485,-0.63,-97.8,62.3,-12.1,45,487,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2398,2051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,515,-0.64,-97.8,66.0,-12.5,48,521,0.00,1.77,0.00,0.000,4,0.000,0.098,2388,1341,2051,0,0,0,0,0,0,28.83,14.76,28.83
$GC,580,-0.68,-97.8,72.9,-9.9,54,585,0.00,1.90,0.00,0.000,6,0.000,0.134,2386,2410,2051,0,0,0,0,0,0,28.83,14.74,28.83
$GC,624,-0.70,-97.8,77.2,-9.9,58,625,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2410,2051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,654,-0.72,-97.8,80.1,-9.7,61,655,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2410,2050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,684,-0.75,-97.8,83.0,-9.5,64,685,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2410,2050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,713,-0.77,-97.8,86.0,-10.0,67,719,0.12,1.90,0.00,0.000,4,0.151,0.150,2323,3457,2051,0,0,0,0,0,0,14.75,14.75,28.83
$GC,778,-0.72,-97.8,93.8,-13.5,73,784,0.15,1.77,0.00,0.000,6,0.294,0.099,2355,2395,2050,0,0,0,0,0,0,14.67,14.80,28.83
$GC,822,-0.71,-97.8,98.4,-10.5,77,827,0.00,1.77,0.00,0.000,4,0.000,0.100,2355,1338,2050,0,0,0,0,0,0,28.83,14.79,28.83
$GC,865,-0.71,-97.8,102.5,-9.5,81,871,0.00,1.88,0.00,0.000,6,0.000,0.134,2350,2401,2050,0,0,0,0,0,0,28.83,14.77,28.83
$GC,909,-0.70,-97.8,107.1,-10.6,85,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2401,2050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,940,-0.68,-97.8,110.9,-12.3,88,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2400,2050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,969,-0.67,-97.8,114.6,-12.6,91,975,0.00,1.90,0.00,0.000,4,0.000,0.151,2342,3469,2050,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1016,-0.65,-97.8,120.0,-12.4,95,1024,0.17,1.80,0.00,0.000,6,0.285,0.101,2381,2390,2049,0,0,0,0,0,0,14.67,14.78,28.83
$GC,1053,-0.65,-97.8,124.5,-11.2,99,1054,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2390,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1083,-0.67,-97.8,127.3,-9.3,102,1085,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2390,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1116,-0.70,-97.8,130.1,-9.2,105,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2390,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1153,-0.72,-97.8,133.9,-9.6,109,1155,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2390,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1183,-0.74,-97.8,137.0,-10.2,112,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2389,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1213,-0.76,-97.8,140.0,-10.3,115,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2390,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1243,-0.79,-97.8,143.1,-10.4,118,1245,0.12,0.00,0.00,0.000,6,0.151,0.000,2333,2390,2049,0,0,0,0,0,0,14.81,28.83,28.83
$GC,1273,-0.79,-97.8,146.5,-10.9,121,1274,0.00,0.00,0.00,0.000,6,0.000,0.000,2333,2391,2049,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1301,begin apogee
$GC,1307,-0.17,0.0,150.1,-12.0,124,1409,0.73,0.00,89.93,1.444,6,0.260,0.000,2530,2389,1651,0,0,0,0,1,0,14.70,28.83,13.74
$STATE,1410,end apogee,CONTROL_FINISHED_OK
$STATE,1410,begin climb
$GC,1413,0.76,97.8,153.1,0.0,134,1513,0.95,0.00,90.62,1.437,6,0.143,0.000,2834,2389,1251,0,0,0,0,1,0,14.30,28.83,13.59
$GC,1543,0.69,97.8,139.9,15.3,148,1548,0.00,1.83,0.00,0.000,4,0.000,0.098,2842,1345,1255,0,0,0,0,0,0,28.83,14.28,28.83
$GC,1620,0.63,97.8,127.9,16.2,155,1628,0.17,1.95,0.00,0.000,6,0.274,0.131,2802,2406,1255,0,0,0,0,0,0,14.38,14.42,28.83
$GC,1657,0.59,97.8,122.1,14.5,159,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2406,1255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1687,0.55,97.8,117.9,13.7,162,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2406,1255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1717,0.51,97.8,113.5,14.8,165,1719,0.17,0.00,0.00,0.000,6,0.285,0.000,2761,2406,1255,0,0,0,0,0,0,14.49,28.83,28.83
$GC,1747,0.49,97.8,110.2,11.7,168,1748,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2406,1255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1777,0.49,99.1,107.3,9.9,171,1785,0.00,0.00,1.40,0.315,6,0.000,0.000,2761,2406,1247,0,0,0,0,0,0,28.83,28.83,14.40
$GC,1817,0.49,99.1,102.9,11.0,175,1822,0.00,1.83,0.00,0.000,4,0.000,0.101,2766,1341,1251,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1880,0.50,99.1,95.8,10.5,181,1886,0.00,1.92,0.00,0.000,6,0.000,0.134,2765,2402,1253,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1924,0.50,99.1,91.3,10.1,185,1925,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2403,1253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1953,0.50,99.1,88.1,10.5,188,1955,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2403,1253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1984,0.50,101.2,85.1,9.9,191,1993,0.00,0.00,2.17,0.359,6,0.000,0.000,2766,2402,1238,0,0,0,0,0,0,28.83,28.83,14.51
$GC,2024,0.50,101.2,81.1,10.3,195,2025,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2402,1242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2054,0.50,101.8,78.1,10.0,198,2062,0.00,0.00,1.38,0.313,6,0.000,0.000,2766,2403,1235,0,0,0,0,0,0,28.83,28.83,14.54
$GC,2094,0.50,101.8,73.8,10.6,202,2095,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2402,1240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2123,0.50,101.8,70.4,11.0,205,2129,0.00,1.80,0.00,0.000,4,0.000,0.101,2773,1343,1240,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2200,0.51,108.4,63.5,9.6,212,2212,0.00,1.88,4.30,0.347,6,0.000,0.132,2773,2399,1209,0,0,0,0,0,0,28.83,14.70,14.58
$GC,2250,0.51,123.3,58.7,9.0,217,2265,0.00,1.85,8.75,0.350,4,0.000,0.103,2781,1348,1147,0,0,0,0,0,0,28.83,14.69,14.59
$GC,2384,0.53,123.3,45.9,10.5,230,2390,0.00,1.88,0.00,0.000,6,0.000,0.132,2781,2402,1154,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2427,0.53,123.3,41.3,10.4,234,2432,0.00,1.90,0.00,0.000,4,0.000,0.153,2781,3462,1151,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2461,0.51,123.3,37.7,11.0,237,2466,0.00,1.77,0.00,0.000,6,0.000,0.099,2788,2400,1151,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2504,0.49,123.3,33.0,10.9,241,2510,0.12,1.77,0.00,0.000,4,0.283,0.099,2763,1344,1151,0,0,0,0,0,0,14.66,14.77,28.83
$GC,2600,0.52,140.7,24.4,8.8,250,2616,0.00,1.90,9.45,0.246,6,0.000,0.137,2763,2410,1074,0,0,0,0,0,0,28.83,14.76,14.69
$GC,2655,0.55,144.2,19.1,9.8,255,2663,0.00,0.00,1.98,0.246,6,0.000,0.000,2763,2410,1061,0,0,0,0,0,0,28.83,28.83,14.69
$GC,2695,0.58,144.8,15.1,10.0,259,2700,0.00,1.80,0.00,0.000,4,0.000,0.103,2770,1344,1066,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2742,0.62,161.9,11.1,8.8,263,2759,0.00,1.88,9.45,0.203,6,0.000,0.137,2771,2398,986,0,0,0,0,0,0,28.83,14.77,14.71
$GC,2788,0.67,199.3,7.3,7.4,268,2814,0.12,1.85,17.90,0.187,4,0.152,0.105,2836,1349,835,0,0,0,0,0,0,14.77,14.72,14.70
$STATE,2862,end climb,SURFACE_DEPTH_REACHED
$STATE,2862,begin surface coast
$FINISH,2.1,1.017232
$STATE,2893,end surface coast,CONTROL_FINISHED_OK
$STATE,2893,begin surface
$SM_CCo,2914,43.53,0.169,0,0,464,290.19
$SM_GC,1.34,7.75,1.95,43.53,0.114,0.132,0.169,220,2410,464,-7.37,-0.23,290.19,0,0,0,0,0,0,14.76,14.75,14.70
$IRIDIUM_FIX,4722.92,-11933.99,270612,202010
$TT8_MAMPS,0.023219,0.023219
$HUMID,45.51
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.1,60.9
$24V_AH,13.6,0.840
$10V_AH,13.4,0.509
$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,21.125,48.175,237.325,43.525,0.000,116.077,240.760,210.917,1.500,0.000,33.083,911.690,1133.320,375.821,1258.715,244.859,33.219,808.491,0.000,626.134,0.000,11.822,0.000
$DEVICE_MAMPS,436.815,175.185,1444.320,169.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2901.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.848,0.000,0.000,0.000
$MEM,323348
$DATA_FILE_SIZE,10157,278
$CAP_FILE_SIZE,101071,0
$CFSIZE,260165632,257007616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,270612,214246,4743.308,-12224.644,82,3.6,101,18.2