version: 66.11
glider: 181
mission: 7
dive: 8
start: 6 27 112 22 52 2
data:
$ID,181
$MISSION,7
$DIVE,8
$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,-43559.387
$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,12
$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
$GPS1,270612,224207,4743.734,-12224.747,28,1.4,28,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-74.2
$GPS2,270612,225102,4743.663,-12224.745,15,1.2,15,18.2
$SPEED_LIMITS,0.084,0.216
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,-0.000,-0.216
$KALMAN_X,202.5,131.4,40.7,-440.1,-18.5
$KALMAN_Y,-110.9,-224.4,-9.2,2493.0,145.4
$MHEAD_RNG_PITCHd_Wd,161.8,1785,-21.7,-10.000
$D_GRID,175
$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,-41.15,0.000,2,0.000,0.000,226,2401,1715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,65,-0.76,-97.8,4.4,-11.8,4,90,10.18,1.88,-7.68,0.000,4,0.439,0.135,2336,1340,2050,0,0,0,0,0,0,14.44,14.59,14.88
$GC,320,-0.73,-97.8,42.9,-13.8,29,325,0.00,1.92,0.00,0.000,6,0.000,0.141,2330,2409,2052,0,0,0,0,0,0,28.83,14.70,28.83
$GC,363,-0.68,-97.8,48.6,-13.4,33,369,0.15,1.83,0.00,0.000,4,0.319,0.099,2367,1335,2052,0,0,0,0,0,0,14.57,14.73,28.83
$GC,501,-0.68,-97.8,66.3,-13.2,46,508,0.00,1.92,0.00,0.000,6,0.000,0.142,2360,2400,2052,0,0,0,0,0,0,28.83,14.71,28.83
$GC,537,-0.68,-97.8,71.4,-12.8,50,542,0.00,1.90,0.00,0.000,4,0.000,0.160,2352,3461,2051,0,0,0,0,0,0,28.83,14.71,28.83
$GC,571,-0.67,-97.8,75.8,-13.3,53,576,0.00,1.80,0.00,0.000,6,0.000,0.106,2352,2391,2052,0,0,0,0,0,0,28.83,14.77,28.83
$GC,614,-0.64,-97.8,81.3,-12.7,57,620,0.12,1.77,0.00,0.000,4,0.312,0.100,2382,1340,2052,0,0,0,0,0,0,14.62,14.76,28.83
$GC,642,-0.64,-97.8,84.2,-12.2,59,648,0.00,1.90,0.00,0.000,6,0.000,0.142,2377,2401,2052,0,0,0,0,0,0,28.83,14.74,28.83
$GC,678,-0.66,-97.8,88.8,-11.6,63,683,0.00,1.92,0.00,0.000,4,0.000,0.159,2368,3468,2052,0,0,0,0,0,0,28.83,14.72,28.83
$GC,732,-0.66,-97.8,95.0,-11.9,68,737,0.00,1.80,0.00,0.000,6,0.000,0.103,2368,2395,2052,0,0,0,0,0,0,28.83,14.78,28.83
$GC,775,-0.66,-97.8,99.8,-11.1,72,780,0.00,1.77,0.00,0.000,4,0.000,0.104,2368,1345,2052,0,0,0,0,0,0,28.83,14.77,28.83
$GC,864,-0.68,-97.8,109.3,-11.3,80,872,0.00,1.90,0.00,0.000,6,0.000,0.141,2361,2402,2052,0,0,0,0,0,0,28.83,14.76,28.83
$GC,900,-0.68,-97.8,114.1,-11.3,84,901,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2402,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,930,-0.68,-97.8,117.4,-11.3,87,935,0.00,1.92,0.00,0.000,4,0.000,0.160,2353,3469,2052,0,0,0,0,0,0,28.83,14.74,28.83
$GC,953,-0.68,-97.8,120.2,-11.7,89,959,0.00,1.80,0.00,0.000,6,0.000,0.103,2353,2399,2052,0,0,0,0,0,0,28.83,14.79,28.83
$GC,997,-0.66,-97.8,125.8,-12.7,93,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2399,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1027,-0.66,-97.8,129.4,-12.4,96,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2399,2052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1057,-0.66,-97.8,133.4,-13.0,99,1062,0.00,1.77,0.00,0.000,4,0.000,0.104,2353,1345,2052,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1090,-0.66,-97.8,137.3,-12.1,102,1096,0.15,1.90,0.00,0.000,6,0.299,0.141,2377,2404,2053,0,0,0,0,0,0,14.69,14.77,28.83
$GC,1134,-0.68,-97.8,141.8,-10.1,106,1139,0.00,1.90,0.00,0.000,4,0.000,0.160,2371,3460,2052,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1158,-0.69,-97.8,144.3,-10.3,108,1163,0.00,1.77,0.00,0.000,6,0.000,0.105,2371,2399,2052,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1201,-0.70,-97.8,148.9,-10.9,112,1202,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2399,2051,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1207,begin apogee
$GC,1213,-0.17,0.0,150.0,-10.9,113,1313,0.57,0.00,91.53,0.770,6,0.236,0.000,2534,2398,1648,0,0,0,0,0,0,14.72,28.83,14.18
$STATE,1314,end apogee,CONTROL_FINISHED_OK
$STATE,1314,begin climb
$GC,1317,0.76,97.8,153.5,0.0,123,1415,0.93,1.90,88.93,0.747,4,0.142,0.105,2842,1348,1245,0,0,0,0,0,0,14.46,14.29,14.03
$GC,1445,0.70,97.8,141.8,14.0,136,1450,0.00,1.92,0.00,0.000,6,0.000,0.135,2842,2399,1242,0,0,0,0,0,0,28.83,14.40,28.83
$GC,1489,0.63,97.8,135.3,14.8,140,1491,0.17,0.00,0.00,0.000,6,0.298,0.000,2804,2399,1241,0,0,0,0,0,0,14.35,28.83,28.83
$GC,1519,0.58,97.8,130.8,15.2,143,1525,0.00,1.83,0.00,0.000,4,0.000,0.105,2810,1343,1238,0,0,0,0,0,0,28.83,14.52,28.83
$GC,1576,0.56,97.8,124.2,12.2,148,1584,0.15,1.92,0.00,0.000,6,0.281,0.135,2778,2401,1240,0,0,0,0,0,0,14.47,14.52,28.83
$GC,1613,0.54,97.8,119.3,12.1,152,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2402,1239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1642,0.54,97.8,116.1,11.0,155,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2402,1239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1673,0.54,97.8,112.6,11.3,158,1678,0.00,1.83,0.00,0.000,4,0.000,0.104,2783,1341,1239,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1720,0.54,97.8,108.0,10.7,162,1726,0.00,1.92,0.00,0.000,6,0.000,0.135,2783,2406,1242,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1756,0.53,97.8,103.4,11.3,166,1761,0.00,1.83,0.00,0.000,4,0.000,0.103,2791,1341,1238,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1803,0.53,97.8,98.4,11.4,170,1811,0.10,1.90,0.00,0.000,6,0.288,0.134,2770,2400,1238,0,0,0,0,0,0,14.59,14.66,28.83
$GC,1839,0.53,97.8,93.9,11.4,174,1844,0.00,1.80,0.00,0.000,4,0.000,0.104,2776,1342,1238,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1896,0.53,97.8,88.2,10.3,179,1902,0.00,1.90,0.00,0.000,6,0.000,0.137,2776,2399,1238,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1932,0.53,97.8,83.8,11.2,183,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2399,1238,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1962,0.53,97.8,80.4,11.1,186,1967,0.00,1.80,0.00,0.000,4,0.000,0.104,2783,1343,1238,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1999,0.53,97.8,76.8,10.8,189,2006,0.00,1.90,0.00,0.000,6,0.000,0.138,2783,2398,1241,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2035,0.53,97.8,72.3,11.2,193,2037,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2399,1237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2066,0.51,97.8,69.0,11.3,196,2071,0.00,1.95,0.00,0.000,4,0.000,0.155,2783,3470,1237,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2133,0.47,97.8,61.1,12.5,202,2140,0.17,1.80,0.00,0.000,6,0.286,0.102,2753,2398,1237,0,0,0,0,0,0,14.66,14.75,28.83
$GC,2169,0.47,97.8,56.8,10.7,206,2170,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,2398,1237,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2200,0.48,97.8,53.7,10.3,209,2205,0.00,1.80,0.00,0.000,4,0.000,0.110,2757,1344,1237,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2213,0.50,102.4,52.7,9.7,210,2218,0.00,1.90,0.00,0.000,6,0.000,0.139,2758,2402,1237,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2257,0.51,119.5,48.7,8.8,214,2276,0.00,1.90,9.70,0.288,4,0.000,0.107,2765,1338,1165,0,0,0,0,0,0,28.83,14.73,14.62
$GC,2370,0.54,129.9,38.4,9.3,225,2382,0.00,1.95,6.97,0.265,6,0.000,0.143,2766,2407,1119,0,0,0,0,0,0,28.83,14.72,14.62
$GC,2411,0.56,136.9,34.5,9.5,229,2422,0.00,1.90,4.60,0.272,4,0.000,0.156,2765,3459,1091,0,0,0,0,0,0,28.83,14.69,14.62
$GC,2455,0.56,136.9,29.7,10.7,233,2460,0.00,1.80,0.00,0.000,6,0.000,0.106,2773,2395,1098,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2498,0.57,136.9,25.1,10.8,237,2506,0.00,0.00,1.30,0.219,6,0.000,0.000,2774,2394,1091,0,0,0,0,0,0,28.83,28.83,14.69
$GC,2538,0.59,136.9,21.0,10.5,241,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2395,1097,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2568,0.59,136.9,18.0,10.0,244,2573,0.00,1.95,0.00,0.000,4,0.000,0.162,2773,3465,1099,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2585,0.59,143.3,16.9,9.6,245,2597,0.00,1.80,4.53,0.217,6,0.000,0.105,2781,2398,1063,0,0,0,0,0,0,28.83,14.76,14.64
$GC,2636,0.60,154.0,11.9,9.3,250,2647,0.00,1.88,5.82,0.211,4,0.000,0.111,2789,1344,1021,0,0,0,0,0,0,28.83,14.74,14.69
$GC,2685,0.64,170.3,7.8,8.9,254,2702,0.00,1.90,8.70,0.193,6,0.000,0.138,2789,2404,954,0,0,0,0,0,0,28.83,14.73,14.69
$GC,2731,0.70,233.8,4.7,5.6,259,2770,0.00,1.88,30.58,0.181,4,0.000,0.111,2796,1345,695,0,0,0,0,0,0,28.83,14.73,14.66
$STATE,2812,end climb,SURFACE_DEPTH_REACHED
$STATE,2812,begin surface coast
$FINISH,0.7,1.017725
$STATE,2927,end surface coast,CONTROL_FINISHED_OK
$STATE,2928,begin surface
$SM_CCo,2950,27.50,0.174,0,0,466,290.19
$SM_GC,1.39,7.53,1.98,27.50,0.099,0.139,0.174,223,2411,466,-7.36,-0.20,290.19,0,0,0,0,0,0,14.75,14.73,14.69
$IRIDIUM_FIX,4710.21,-12326.39,270612,212147
$TT8_MAMPS,0.023968,0.023968
$HUMID,45.70
$INTERNAL_PRESSURE,8.95542
$TCM_TEMP,19.80
$XPDR_PINGS,0
$ALTIM_BOTTOM_PING,130.6,59.0
$24V_AH,14.0,0.971
$10V_AH,13.9,0.605
$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,20.225,82.225,252.650,27.500,0.000,32.919,53.570,251.649,1.500,0.000,17.700,927.805,878.739,393.040,1070.328,259.001,33.225,865.890,0.000,674.012,0.000,11.802,0.000
$DEVICE_MAMPS,439.110,162.180,770.355,173.655,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,30.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2934.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,22.405,0.000,0.000,0.000
$MEM,323448
$DATA_FILE_SIZE,10117,278
$CAP_FILE_SIZE,99251,0
$CFSIZE,260165632,256905216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270612,234237,4743.467,-12224.692,9,1.8,9,18.2