version: 66.11
glider: 181
mission: 7
dive: 7
start: 6 27 112 21 52 6
data:
$ID,181
$MISSION,7
$DIVE,7
$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,-43558.129
$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,23
$R_STBD_OVSHOOT,15
$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
$GPS1,270612,214246,4743.308,-12224.644,82,3.6,101,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-76.0
$GPS2,270612,215104,4743.356,-12224.623,13,4.0,32,18.2
$SPEED_LIMITS,0.084,0.216
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.054,0.209
$KALMAN_X,171.0,125.9,70.0,-281.4,-15.4
$KALMAN_Y,-3.7,-203.2,-117.2,1898.6,193.2
$MHEAD_RNG_PITCHd_Wd,327.3,1031,-21.7,-10.000
$D_GRID,176
$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,-41.15,0.000,2,0.000,0.000,220,2410,1661,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.76,-97.8,3.3,-7.1,4,91,10.23,1.83,-9.57,0.000,4,0.442,0.127,2336,1339,2049,0,0,0,0,0,0,14.47,14.68,14.90
$GC,321,-0.72,-97.8,38.9,-12.9,29,327,0.12,1.90,0.00,0.000,6,0.304,0.141,2355,2397,2052,0,0,0,0,0,0,14.65,14.73,28.83
$GC,366,-0.68,-97.8,44.3,-12.2,33,371,0.00,1.77,0.00,0.000,4,0.000,0.097,2356,1342,2052,0,0,0,0,0,0,28.83,14.76,28.83
$GC,601,-0.67,-97.8,74.5,-11.9,56,606,0.00,1.90,0.00,0.000,6,0.000,0.142,2350,2400,2051,0,0,0,0,0,0,28.83,14.76,28.83
$GC,644,-0.66,-97.8,80.0,-12.9,60,650,0.12,1.80,0.00,0.000,4,0.324,0.097,2379,1333,2051,0,0,0,0,0,0,14.63,14.78,28.83
$GC,714,-0.68,-97.8,86.7,-10.0,66,721,0.00,1.92,0.00,0.000,6,0.000,0.143,2374,2404,2051,0,0,0,0,0,0,28.83,14.76,28.83
$GC,752,-0.70,-97.8,90.9,-10.3,70,758,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2404,2051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,789,-0.72,-97.8,95.1,-10.5,74,794,0.00,1.92,0.00,0.000,4,0.000,0.161,2366,3469,2051,0,0,0,0,0,0,28.83,14.73,28.83
$GC,864,-0.72,-97.8,103.3,-11.1,81,869,0.00,1.80,0.00,0.000,6,0.000,0.104,2366,2395,2052,0,0,0,0,0,0,28.83,14.81,28.83
$GC,907,-0.72,-97.8,108.0,-10.9,85,908,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2395,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,937,-0.72,-97.8,111.2,-11.0,88,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2395,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,967,-0.72,-97.8,114.5,-10.7,91,968,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2394,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,997,-0.72,-97.8,117.8,-10.9,94,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2395,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1028,-0.72,-97.8,120.8,-10.4,97,1029,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2395,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1057,-0.72,-97.8,123.7,-9.7,100,1058,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2395,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1087,-0.72,-97.8,126.4,-8.8,103,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2395,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1117,-0.72,-97.8,129.1,-9.2,106,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2395,2051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1147,-0.72,-97.8,132.0,-9.5,109,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2395,2051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1177,-0.72,-97.8,134.9,-9.5,112,1178,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2395,2051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1207,-0.72,-97.8,137.9,-10.0,115,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2395,2051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1237,-0.72,-97.8,140.8,-10.0,118,1242,0.00,1.95,0.00,0.000,4,0.000,0.165,2358,3463,2051,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1270,-0.72,-97.8,144.4,-10.7,121,1276,0.00,1.80,0.00,0.000,6,0.000,0.105,2358,2392,2051,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1314,-0.72,-97.8,149.3,-11.2,125,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2358,2392,2051,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1321,begin apogee
$GC,1328,-0.17,0.0,150.4,-11.3,126,1426,0.62,0.00,91.35,0.778,6,0.241,0.000,2534,2391,1648,0,0,0,0,0,0,14.74,28.83,14.19
$STATE,1427,end apogee,CONTROL_FINISHED_OK
$STATE,1427,begin climb
$GC,1430,0.76,97.8,154.0,0.0,136,1525,0.93,1.90,88.12,0.754,4,0.144,0.103,2842,1348,1248,0,0,0,0,0,0,14.48,14.34,14.04
$GC,1580,0.71,97.8,139.3,14.9,151,1585,0.00,1.92,0.00,0.000,6,0.000,0.134,2842,2401,1245,0,0,0,0,0,0,28.83,14.44,28.83
$GC,1624,0.64,97.8,132.1,16.3,155,1626,0.17,0.00,0.00,0.000,6,0.301,0.000,2804,2402,1244,0,0,0,0,0,0,14.40,28.83,28.83
$GC,1654,0.58,97.8,127.2,16.3,158,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,2402,1241,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1684,0.55,97.8,122.6,15.4,161,1686,0.15,0.00,0.00,0.000,6,0.296,0.000,2771,2402,1241,0,0,0,0,0,0,14.47,28.83,28.83
$GC,1715,0.52,97.8,118.1,14.8,164,1716,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2402,1240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1744,0.52,97.8,113.9,14.0,167,1749,0.00,1.83,0.00,0.000,4,0.000,0.103,2776,1340,1240,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1791,0.52,97.8,108.4,12.7,171,1798,0.00,1.92,0.00,0.000,6,0.000,0.136,2776,2406,1239,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1827,0.52,97.8,103.7,11.8,175,1828,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2405,1240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1858,0.51,97.8,100.2,11.5,178,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2405,1239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1888,0.50,97.8,96.4,12.5,181,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2405,1239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1917,0.50,97.8,92.9,11.8,184,1918,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2405,1239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1948,0.49,97.8,89.5,11.6,187,1953,0.00,1.90,0.00,0.000,4,0.000,0.153,2776,3460,1239,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2001,0.46,97.8,82.5,13.8,192,2007,0.17,1.80,0.00,0.000,6,0.282,0.100,2745,2402,1239,0,0,0,0,0,0,14.62,14.73,28.83
$GC,2045,0.46,97.8,77.4,11.2,196,2051,0.00,1.83,0.00,0.000,4,0.000,0.107,2750,1336,1239,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2283,0.49,120.5,55.7,8.4,219,2298,0.00,1.92,10.38,0.316,6,0.000,0.139,2750,2410,1157,0,0,0,0,0,0,28.83,14.69,14.61
$GC,2337,0.52,129.9,50.2,9.4,224,2345,0.00,0.00,5.97,0.308,6,0.000,0.000,2750,2410,1119,0,0,0,0,0,0,28.83,28.83,14.62
$GC,2377,0.54,141.3,46.4,9.2,228,2388,0.00,1.98,6.78,0.304,4,0.000,0.161,2750,3459,1073,0,0,0,0,0,0,28.83,14.69,14.61
$GC,2426,0.56,144.8,42.1,9.8,232,2433,0.00,1.83,2.75,0.280,6,0.000,0.106,2759,2390,1059,0,0,0,0,0,0,28.83,14.75,14.62
$GC,2462,0.58,150.1,38.2,9.6,236,2473,0.00,1.80,3.62,0.279,4,0.000,0.109,2765,1344,1038,0,0,0,0,0,0,28.83,14.73,14.62
$GC,2568,0.63,163.2,28.7,9.1,246,2583,0.00,1.92,8.07,0.252,6,0.000,0.141,2766,2404,982,0,0,0,0,0,0,28.83,14.73,14.62
$GC,2622,0.66,165.7,23.2,9.8,251,2634,0.12,1.88,1.98,0.232,4,0.155,0.107,2832,1341,974,0,0,0,0,0,0,14.76,14.76,14.66
$GC,2699,0.66,165.7,14.2,11.8,258,2704,0.00,1.90,0.00,0.000,6,0.000,0.139,2832,2400,982,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2742,0.65,165.7,8.1,13.6,262,2747,0.00,1.80,0.00,0.000,4,0.000,0.106,2839,1343,982,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2779,0.65,165.7,4.6,11.2,265,2787,0.15,1.92,1.23,0.216,6,0.241,0.144,2803,2400,972,0,0,0,0,0,0,14.71,14.75,14.71
$STATE,2803,end climb,SURFACE_DEPTH_REACHED
$STATE,2803,begin surface coast
$FINISH,2.8,1.018116
$STATE,2846,end surface coast,CONTROL_FINISHED_OK
$STATE,2846,begin surface
$SM_CCo,2865,60.33,0.175,0,0,466,290.19
$SM_GC,1.29,7.60,0.00,60.33,0.109,0.000,0.175,226,2400,466,-7.36,0.00,290.19,0,0,0,0,0,0,14.76,28.83,14.69
$IRIDIUM_FIX,4719.74,-12152.54,270612,202046
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.82
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,19.40
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.0,64.3
$24V_AH,14.0,0.904
$10V_AH,13.9,0.557
$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,20.400,48.650,220.250,60.325,0.000,27.647,38.205,215.602,1.750,0.000,39.824,912.834,924.065,353.139,994.736,232.080,33.216,778.567,0.000,647.484,0.000,14.642,0.000
$DEVICE_MAMPS,442.170,165.240,778.005,175.185,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2854.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,23.102,0.000,0.000,0.000
$MEM,323328
$DATA_FILE_SIZE,10125,272
$CAP_FILE_SIZE,91968,0
$CFSIZE,260165632,256966656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270612,224207,4743.734,-12224.747,28,1.4,28,18.2