version: 66.11
glider: 181
mission: 7
dive: 2
start: 6 27 112 17 45 25
data:
$ID,181
$MISSION,7
$DIVE,2
$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,120
$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,-43412.965
$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,35
$C_ROLL_DIVE,2300
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,19
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,1602
$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
$GPS1,270612,173850,4742.371,-12224.742,9,1.9,9,18.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-74.6
$GPS2,270612,174426,4742.336,-12224.706,8,1.7,8,18.2
$SPEED_LIMITS,0.084,0.235
$TGT_NAME,NW
$TGT_LATLONG,4743.900,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.001,0.235
$KALMAN_X,-1.2,-1.2,-1.2,-12.1,-2.3
$KALMAN_Y,-127.8,-127.8,-127.8,83.3,-231.6
$MHEAD_RNG_PITCHd_Wd,342.0,2898,-19.7,-10.000
$D_GRID,57
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-0.70,-117.3,0.0,0.0,0,70,0.00,0.00,-50.60,0.000,2,0.000,0.000,210,2305,1890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,74,-0.70,-117.3,4.1,-9.5,5,92,10.18,0.00,-4.65,0.000,6,0.436,0.000,2355,2306,2082,0,0,0,0,0,0,14.55,28.83,15.02
$GC,121,-0.50,-117.3,11.5,-13.4,10,127,0.25,2.10,0.00,0.000,4,0.268,0.099,2425,1060,2086,0,0,0,0,0,0,14.65,14.80,28.83
$GC,170,-0.51,-117.3,15.6,-9.1,14,177,0.00,2.20,0.00,0.000,6,0.000,0.127,2418,2304,2086,0,0,0,0,0,0,28.83,14.78,28.83
$GC,206,-0.53,-117.3,19.2,-8.9,18,207,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2304,2090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,236,-0.55,-117.3,21.8,-8.8,21,241,0.00,2.20,0.00,0.000,4,0.000,0.145,2408,3543,2086,0,0,0,0,0,0,28.83,14.76,28.83
$GC,289,-0.55,-117.3,27.8,-11.9,26,294,0.00,2.10,0.00,0.000,6,0.000,0.093,2409,2292,2087,0,0,0,0,0,0,28.83,14.83,28.83
$GC,332,-0.55,-117.3,30.8,-6.5,30,333,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2290,2087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,362,-0.55,-117.3,33.1,-7.8,33,367,0.00,2.05,0.00,0.000,4,0.000,0.099,2408,1061,2087,0,0,0,0,0,0,28.83,14.83,28.83
$GC,426,-0.57,-117.3,39.4,-9.9,39,431,0.00,2.20,0.00,0.000,6,0.000,0.129,2401,2305,2087,0,0,0,0,0,0,28.83,14.80,28.83
$GC,469,-0.57,-117.3,44.2,-10.9,43,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2306,2087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,499,-0.57,-117.3,47.5,-11.3,46,500,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2306,2087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,530,-0.57,-117.3,50.3,-9.4,49,535,0.00,2.17,0.00,0.000,4,0.000,0.144,2391,3537,2087,0,0,0,0,0,0,28.83,14.81,28.83
$GC,572,-0.57,-117.3,54.7,-10.3,53,578,0.00,2.08,0.00,0.000,6,0.000,0.094,2391,2292,2086,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,603,begin apogee
$GC,609,-0.17,0.0,57.9,-9.7,56,676,0.50,0.00,62.65,0.350,6,0.226,0.000,2534,2290,1601,0,0,0,0,0,0,14.76,28.83,14.57
$STATE,678,end apogee,CONTROL_FINISHED_OK
$STATE,678,begin climb
$GC,680,0.70,117.3,59.4,0.0,63,746,0.88,0.00,59.47,0.353,6,0.155,0.000,2819,2290,1124,0,0,0,0,0,0,14.70,28.83,14.50
$GC,778,0.64,117.3,51.2,10.8,73,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,2290,1127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,816,0.59,117.3,46.1,12.7,77,818,0.15,0.00,0.00,0.000,6,0.272,0.000,2786,2290,1131,0,0,0,0,0,0,14.57,28.83,28.83
$GC,846,0.56,117.3,43.0,10.7,80,851,0.00,2.08,0.00,0.000,4,0.000,0.102,2792,1061,1128,0,0,0,0,0,0,28.83,14.71,28.83
$GC,945,0.55,117.8,34.0,10.0,89,952,0.00,2.17,0.00,0.000,6,0.000,0.118,2792,2301,1129,0,0,0,0,0,0,28.83,14.72,28.83
$GC,980,0.53,117.8,29.8,10.2,93,981,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,2300,1129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1010,0.51,117.8,26.3,11.4,96,1012,0.15,0.00,0.00,0.000,6,0.259,0.000,2758,2301,1128,0,0,0,0,0,0,14.64,28.83,28.83
$GC,1040,0.51,117.8,23.2,10.9,99,1041,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2301,1129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1071,0.53,132.8,20.6,9.1,102,1081,0.00,0.00,8.10,0.228,6,0.000,0.000,2758,2301,1059,0,0,0,0,0,0,28.83,28.83,14.64
$GC,1111,0.56,161.2,17.2,8.4,106,1130,0.00,2.17,14.43,0.220,4,0.000,0.097,2764,1054,942,0,0,0,0,0,0,28.83,14.76,14.67
$GC,1164,0.60,189.7,12.6,8.4,111,1185,0.00,2.17,14.18,0.204,6,0.000,0.119,2764,2299,827,0,0,0,0,0,0,28.83,14.73,14.68
$GC,1214,0.63,193.2,7.7,9.8,116,1225,0.00,2.25,1.90,0.219,4,0.000,0.137,2764,3539,813,0,0,0,0,0,0,28.83,14.72,14.69
$GC,1252,0.65,193.2,4.0,10.4,119,1259,0.00,2.08,0.00,0.000,6,0.000,0.090,2773,2292,816,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,1266,end climb,SURFACE_DEPTH_REACHED
$STATE,1266,begin surface coast
$FINISH,0.8,1.019267
$STATE,1297,end surface coast,CONTROL_FINISHED_OK
$STATE,1297,begin surface
$SM_CCo,1315,44.25,0.168,0,0,438,285.04
$SM_CCo,1363,-0.15,0.000,0,0,440,285.04
$SM_CCo,1367,0.00,0.000,0,0,441,285.04
$SM_GC,1.88,7.43,0.00,0.00,0.100,0.000,0.000,218,2290,441,-7.36,-0.28,285.04,0,0,0,0,0,0,14.80,28.83,28.83
$IRIDIUM_FIX,4735.69,-12257.80,270612,171748
$TT8_MAMPS,0.023219,0.023219
$HUMID,44.88
$INTERNAL_PRESSURE,8.98472
$TCM_TEMP,19.70
$XPDR_PINGS,0
$24V_AH,14.5,0.579
$10V_AH,13.9,0.362
$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,19.525,30.025,160.725,44.250,0.000,0.000,0.000,0.000,0.000,0.000,11.237,417.045,384.143,271.662,300.471,77.598,30.071,494.160,0.000,281.720,0.000,1.000,0.000
$DEVICE_MAMPS,436.050,145.350,352.665,167.535,0.000,0.000,0.000,0.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,5.000,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1274.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,21.922,0.000,0.000,0.000
$MEM,323388
$DATA_FILE_SIZE,3507,124
$CAP_FILE_SIZE,68278,0
$CFSIZE,260165632,257208320
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270612,180928,4742.397,-12224.751,8,5.5,27,18.2