version: 66.11
glider: 181
mission: 11
dive: 72
start: 5 24 113 1 35 34
data:
$ID,181
$MISSION,11
$DIVE,72
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$D_NO_BLEED,500
$D_BOOST,150
$T_BOOST,5
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52184
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0033
$HD_B,0.0082
$HD_C,1.5e-05
$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,450
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-95763.305
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,250
$PITCH_MAX,3941
$C_PITCH,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,50
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2753
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,12
$MINV_10V,12
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-160.75446
$PRESSURE_SLOPE,0.000109412
$AD7714Ch0Gain,1
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$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,149
$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,0.00062910328
$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
$GPS1,240513,012803,2152.618,12111.857,13,3.2,32,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.06
$_SM_ANGLEo,-72.4
$GPS2,240513,013506,2152.878,12111.864,12,0.9,12,-2.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,20.0,133124,-14.3,-10.000,-17.31,2952
$D_GRID,765
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.91,-194.6,228,2473,914,918,0.0,0.0,0,108,0.00,0.00,-86.62,0.000,16386,0.000,0.000,228,2473,3191,3239,3144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.91,-194.6,229,2473,3239,3145,4.6,-17.0,15,132,10.18,2.38,-5.53,0.000,18948,0.412,0.081,2405,1054,3549,3630,3469,0,0,0,0,0,0,14.45,14.71,14.90
$GC,344,-0.91,-194.6,2406,1053,3633,3469,89.0,-25.9,34,350,0.00,2.25,0.00,0.000,1030,0.000,0.061,2398,2432,3551,3634,3469,0,0,0,0,0,0,28.83,14.74,28.83
$GC,667,-0.91,-194.6,2397,2432,3635,3469,161.3,-19.4,50,672,0.00,2.20,0.00,0.000,260,0.000,0.081,2387,3778,3552,3635,3469,0,0,0,0,0,0,28.83,14.82,28.83
$GC,823,-0.91,-194.6,2387,3779,3635,3469,191.2,-20.6,57,830,0.00,2.03,0.00,0.000,1030,0.000,0.035,2388,2435,3552,3635,3470,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1129,-0.91,-194.6,2387,2429,3635,3471,256.9,-19.7,73,1134,0.00,2.12,0.00,0.000,516,0.000,0.044,2387,1064,3552,3635,3470,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1326,-0.91,-194.6,2387,1061,3637,3470,289.8,-17.5,82,1334,0.00,2.22,0.00,0.000,1030,0.000,0.056,2377,2454,3556,3637,3475,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1632,-0.91,-194.6,2378,2454,3637,3469,342.9,-15.3,98,1638,0.00,2.15,0.00,0.000,260,0.000,0.080,2367,3779,3552,3637,3468,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1729,-0.91,-194.6,2367,3780,3637,3467,358.0,-18.2,102,1737,0.15,2.00,0.00,0.000,3078,0.279,0.037,2400,2432,3552,3637,3467,0,0,0,0,0,0,14.78,14.98,28.83
$GC,2035,-0.91,-194.6,2400,2431,3637,3464,409.0,-15.6,118,2041,0.00,2.10,0.00,0.000,516,0.000,0.046,2400,1078,3550,3637,3464,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2072,-0.91,-194.6,2406,1077,3637,3463,412.5,-15.6,119,2078,0.00,2.20,0.00,0.000,1030,0.000,0.060,2393,2448,3550,3637,3464,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2378,-0.91,-194.6,2393,2448,3637,3460,456.9,-13.8,135,2383,0.00,2.17,0.00,0.000,260,0.000,0.086,2383,3780,3548,3637,3460,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2474,-0.91,-194.6,2383,3780,3637,3459,469.3,-15.3,139,2481,0.00,1.98,0.00,0.000,1030,0.000,0.039,2383,2471,3547,3637,3458,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2780,-0.91,-194.6,2383,2468,3637,3455,518.4,-15.4,155,2786,0.00,2.20,0.00,0.000,516,0.000,0.049,2383,1058,3545,3637,3454,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2937,-0.91,-194.6,2383,1057,3636,3453,539.1,-14.3,162,2945,0.12,2.25,0.00,0.000,3078,0.265,0.063,2401,2449,3544,3636,3452,0,0,0,0,0,0,14.83,14.94,28.83
$GC,3243,-0.91,-194.6,2402,2446,3635,3449,579.5,-10.9,178,3249,0.00,2.17,0.00,0.000,260,0.000,0.088,2394,3777,3540,3633,3448,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3315,-0.91,-194.6,2394,3777,3633,3449,586.4,-10.8,181,3320,0.00,2.03,0.00,0.000,1030,0.000,0.043,2394,2449,3540,3633,3448,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3638,-0.91,-194.6,2394,2443,3631,3445,625.3,-12.5,194,3644,0.00,2.17,0.00,0.000,516,0.000,0.052,2394,1059,3538,3631,3445,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3762,-0.91,-194.6,2394,1057,3629,3444,640.7,-12.4,198,3768,0.00,2.28,0.00,0.000,1030,0.000,0.065,2384,2452,3536,3629,3444,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4096,-0.91,-194.6,2383,2453,3623,3441,686.2,-13.5,209,4102,0.00,2.17,0.00,0.000,260,0.000,0.090,2374,3777,3532,3623,3442,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4153,-0.91,-194.6,2374,3777,3623,3442,690.8,-13.5,210,4160,0.12,2.05,0.00,0.000,3078,0.278,0.045,2399,2436,3530,3618,3442,0,0,0,0,0,0,14.80,15.00,28.83
$GC,4459,-0.91,-194.6,2400,2434,3623,3438,727.0,-11.2,221,4461,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2434,3531,3624,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4759,-0.91,-194.6,2400,2434,3622,3436,761.1,-11.1,231,4765,0.00,2.17,0.00,0.000,516,0.000,0.056,2400,1061,3529,3622,3436,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4786,-0.91,-194.6,2401,1060,3622,3437,761.1,-11.1,231,4793,0.00,2.28,0.00,0.000,1030,0.000,0.068,2393,2452,3529,3622,3436,0,0,0,0,0,0,28.83,14.94,28.83
$STATE,4820,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4820,begin apogee
$GC,4825,-0.25,0.0,2393,2345,3621,3435,768.2,-11.0,233,5016,0.75,0.00,183.55,1.527,10246,0.224,0.000,2612,2345,2749,2777,2721,0,0,0,0,0,0,14.79,28.83,13.66
$STATE,5018,end apogee,CONTROL_FINISHED_OK
$STATE,5018,begin climb
$GC,5019,0.91,194.6,2612,2345,2776,2718,769.2,0.0,239,5218,1.17,2.38,185.77,1.486,10756,0.128,0.052,3000,969,1955,1982,1928,0,0,0,0,0,0,14.21,14.14,13.61
$GC,5239,0.91,194.6,3000,969,1981,1918,737.4,19.2,246,5247,0.00,2.35,0.00,0.000,1030,0.000,0.060,3000,2352,1949,1981,1917,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5545,0.91,194.6,3000,2352,1981,1904,667.4,21.3,257,5550,0.00,2.38,0.00,0.000,260,0.000,0.090,3001,3755,1942,1981,1904,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5648,0.91,194.6,3000,3755,1982,1904,646.0,22.6,260,5653,0.00,2.20,0.00,0.000,1030,0.000,0.042,3010,2352,1942,1981,1904,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5971,0.91,194.6,3011,2347,1981,1899,572.6,21.7,273,5976,0.00,2.25,0.00,0.000,516,0.000,0.054,3021,951,1938,1980,1897,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6033,0.91,194.6,3021,951,1981,1899,559.3,21.2,276,6038,0.00,2.30,0.00,0.000,1030,0.000,0.062,3021,2356,1940,1981,1899,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6355,0.91,194.6,3021,2356,1981,1896,489.0,21.4,292,6356,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2356,1938,1981,1896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6657,0.91,194.6,3021,2356,1981,1895,429.7,19.5,307,6662,0.00,2.25,0.00,0.000,516,0.000,0.054,3031,959,1938,1981,1895,0,0,0,0,0,0,28.83,14.89,28.83
$GC,6688,0.91,194.6,3031,959,1981,1895,425.4,19.1,308,6694,0.15,2.28,0.00,0.000,5126,0.288,0.061,2998,2359,1938,1981,1895,0,0,0,0,0,0,14.73,14.88,28.83
$GC,7001,0.91,194.6,2998,2359,1981,1894,367.2,18.1,324,7007,0.00,2.35,0.00,0.000,260,0.000,0.093,2999,3761,1937,1981,1893,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7098,0.91,194.6,2998,3761,1981,1894,350.6,19.7,328,7105,0.00,2.20,0.00,0.000,1030,0.000,0.043,3006,2341,1937,1981,1894,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7404,0.91,194.6,3006,2337,1981,1896,292.4,18.6,344,7409,0.00,2.40,0.00,0.000,260,0.000,0.092,3006,3761,1937,1981,1893,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7450,0.91,194.6,2096,3760,1946,1884,284.2,19.2,346,7456,0.00,2.20,0.00,0.000,1030,0.000,0.042,3016,2344,1937,1981,1893,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7768,0.91,194.6,3015,2339,1981,1891,234.0,16.1,362,7773,0.00,2.22,0.00,0.000,516,0.000,0.057,3027,961,1936,1981,1891,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7834,0.91,194.6,3027,959,1981,1891,225.0,14.7,365,7840,0.15,2.25,0.00,0.000,5126,0.278,0.057,2993,2353,1936,1981,1891,0,0,0,0,0,0,14.76,14.90,28.83
$GC,8153,0.91,194.6,2994,2354,1982,1890,180.9,14.3,381,8158,0.00,2.25,0.00,0.000,516,0.000,0.054,3000,954,1935,1981,1890,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8169,0.91,194.6,3001,954,1981,1890,180.9,14.3,381,8176,0.00,2.28,0.00,0.000,1030,0.000,0.059,3000,2361,1935,1981,1890,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8475,0.91,194.6,3000,2361,1981,1890,129.9,14.0,397,8481,0.00,2.33,0.00,0.000,260,0.000,0.089,3000,3760,1935,1981,1890,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8492,0.91,194.6,3001,3760,1981,1890,129.9,14.0,397,8499,0.00,2.20,0.00,0.000,1030,0.000,0.041,3011,2337,1939,1981,1897,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8798,0.91,194.6,3011,2333,1981,1890,87.0,13.5,413,8803,0.00,2.38,0.00,0.000,260,0.000,0.089,3011,3752,1936,1981,1891,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8830,0.91,194.6,3012,3752,1981,1891,83.7,13.8,414,8836,0.00,2.15,0.00,0.000,1030,0.000,0.041,3021,2353,1936,1981,1891,0,0,0,0,0,0,28.83,14.94,28.83
$GC,9143,0.95,233.6,3021,2351,1981,1891,49.0,8.6,430,9165,0.00,2.42,16.42,0.284,8452,0.000,0.086,3022,3756,1799,1838,1761,0,0,0,0,0,0,28.83,14.85,14.68
$GC,9301,0.95,233.6,2088,3755,1813,1760,33.4,11.2,445,9308,0.00,2.17,0.00,0.000,1030,0.000,0.040,3032,2343,1807,1845,1769,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9608,1.05,335.2,2080,2337,1812,1761,9.2,6.5,498,9663,0.00,2.28,47.55,0.172,8708,0.000,0.053,3043,956,1382,1423,1341,0,0,0,0,0,0,28.83,14.81,14.72
$STATE,9694,end climb,SURFACE_DEPTH_REACHED
$STATE,9694,begin surface coast
$FINISH,0.8,1.021264
$STATE,9719,end surface coast,CONTROL_FINISHED_OK
$STATE,9719,begin surface
$SM_CCo,9738,50.97,0.148,0,0,916,450.13
$SM_GC,0.03,8.05,2.50,50.97,0.095,0.056,0.148,229,2461,916,-7.62,-0.68,450.13,0,0,0,0,0,0,14.85,14.82,14.72
$IRIDIUM_FIX,2131.85,12041.92,230513,222226
$TT8_MAMPS,0.019474,0.019474
$HUMID,46.69
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,22.80
$XPDR_PINGS,1
$SC_FREEKB,3910400
$24V_AH,13.6,38.417
$10V_AH,13.7,0.000
$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,20.850,102.650,433.300,50.975,0.000,27.608,37.172,182.878,0.250,0.000,14.937,1709.209,6125.505,577.874,1688.743,123.962,0.000,1350.465,0.000,1308.725,0.000,0.540,0.000
$DEVICE_MAMPS,411.570,107.865,1526.940,148.410,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9763.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.902,0.000,0.000,0.000
$MEM,322848
$DATA_FILE_SIZE,20067,518
$CAP_FILE_SIZE,124137,0
$CFSIZE,260034560,250290176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.350, 21.3,1
$GPS,240513,042006,2155.819,12112.934,41,0.8,41,-2.7