version: 66.11
glider: 181
mission: 11
dive: 79
start: 5 25 113 1 54 6
data:
$ID,181
$MISSION,11
$DIVE,79
$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,-95772.094
$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,63
$R_STBD_OVSHOOT,38
$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
$GPS1,250513,014352,2211.975,12114.467,10,1.9,19,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.20
$_SM_ANGLEo,-71.2
$GPS2,250513,015337,2212.216,12114.285,13,2.0,19,-2.8
$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,30.3,97178,-14.3,-10.000,-17.31,2952
$D_GRID,863
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.91,-194.6,227,2470,920,915,0.0,0.0,0,100,0.00,0.00,-78.88,0.000,16386,0.000,0.000,227,2470,2945,2986,2905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.91,-194.6,226,2470,2986,2906,3.0,-10.6,14,129,10.20,2.22,-10.38,0.000,18692,0.412,0.106,2391,3771,3549,3642,3457,0,0,0,0,0,0,14.43,14.65,14.88
$GC,162,-0.91,-194.6,1488,3770,3639,3457,28.7,-40.1,24,168,0.00,2.03,0.00,0.000,1030,0.000,0.037,2391,2457,3555,3650,3460,0,0,0,0,0,0,28.83,14.73,28.83
$GC,485,-0.91,-194.6,2391,2453,3643,3461,126.6,-25.4,43,491,0.00,2.17,0.00,0.000,516,0.000,0.043,2391,1051,3552,3643,3461,0,0,0,0,0,0,28.83,14.81,28.83
$GC,552,-0.91,-194.6,2391,1051,3643,3462,140.6,-23.3,46,558,0.00,2.28,0.00,0.000,1030,0.000,0.060,2381,2453,3549,3638,3461,0,0,0,0,0,0,28.83,14.80,28.83
$GC,870,-0.91,-194.6,2382,2452,3643,3462,212.2,-24.4,62,875,0.00,2.20,0.00,0.000,516,0.000,0.043,2381,1043,3552,3643,3462,0,0,0,0,0,0,28.83,14.88,28.83
$GC,921,-0.91,-194.6,2381,1048,3643,3462,222.5,-24.5,64,927,0.15,2.30,0.00,0.000,3078,0.275,0.063,2404,2460,3552,3643,3461,0,0,0,0,0,0,14.72,14.85,28.83
$GC,1234,-0.91,-194.6,2404,2460,3643,3462,284.0,-18.9,80,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2460,3552,3643,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1535,-0.91,-194.6,2404,2460,3642,3462,332.9,-16.0,95,1541,0.00,2.15,0.00,0.000,260,0.000,0.085,2396,3777,3552,3643,3462,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1762,-0.91,-194.6,1544,3776,3639,3457,372.1,-17.1,106,1767,0.00,2.03,0.00,0.000,1030,0.000,0.037,2397,2433,3551,3643,3460,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2079,-0.91,-194.6,2395,2426,3641,3457,422.5,-15.1,122,2085,0.00,2.22,0.00,0.000,260,0.000,0.084,2387,3784,3549,3641,3457,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2167,-0.91,-194.6,2386,3785,3642,3456,436.1,-16.3,126,2172,0.00,2.00,0.00,0.000,1030,0.000,0.037,2387,2461,3548,3642,3455,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2484,-0.91,-194.6,2387,2455,3641,3451,494.9,-17.8,142,2489,0.00,2.17,0.00,0.000,516,0.000,0.047,2386,1056,3546,3641,3451,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2607,-0.91,-194.6,2387,1056,3641,3450,516.3,-17.2,148,2613,0.12,2.28,0.00,0.000,3078,0.269,0.062,2404,2461,3545,3641,3450,0,0,0,0,0,0,14.82,14.93,28.83
$GC,2930,-0.91,-194.6,2404,2461,3639,3446,565.5,-14.3,164,2935,0.00,2.22,0.00,0.000,516,0.000,0.052,2405,1053,3543,3640,3446,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2996,-0.91,-194.6,2405,1053,3639,3441,573.9,-13.6,167,3001,0.00,2.28,0.00,0.000,1030,0.000,0.063,2397,2457,3542,3639,3446,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3313,-0.91,-194.6,2397,2457,3636,3443,616.2,-12.4,181,3318,0.00,2.17,0.00,0.000,260,0.000,0.092,2388,3778,3538,3635,3442,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3330,-0.91,-194.6,2388,3779,3634,3442,616.2,-12.4,181,3335,0.00,2.03,0.00,0.000,1030,0.000,0.044,2387,2452,3538,3634,3442,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3648,-0.91,-194.6,2388,2447,3633,3439,658.4,-12.9,192,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2447,3535,3632,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3947,-0.91,-194.6,2388,2447,3630,3437,697.3,-13.2,202,3953,0.00,2.20,0.00,0.000,516,0.000,0.053,2387,1050,3536,3630,3442,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3980,-0.91,-194.6,2388,1049,3630,3437,701.6,-13.3,203,3985,0.00,2.30,0.00,0.000,1030,0.000,0.067,2377,2455,3533,3630,3437,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4313,-0.91,-194.6,2378,2455,3626,3434,749.0,-14.1,214,4319,0.12,2.20,0.00,0.000,2308,0.299,0.092,2402,3783,3529,3625,3434,0,0,0,0,0,0,14.80,14.92,28.83
$GC,4386,-0.91,-194.6,2402,3784,3624,3434,757.2,-13.5,216,4391,0.00,2.05,0.00,0.000,1030,0.000,0.046,2402,2451,3529,3624,3434,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4709,-0.91,-194.6,2402,2446,3623,3431,792.2,-10.6,227,4710,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2446,3527,3623,3431,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5009,-0.91,-194.6,2402,2445,3622,3427,826.1,-11.8,237,5010,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2445,3524,3622,3427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5308,-0.91,-194.6,2402,2445,3621,3425,841.6,-0.0,247,5314,0.00,2.20,0.00,0.000,516,0.000,0.055,2402,1055,3523,3621,3425,0,0,0,0,0,0,28.83,14.96,28.83
$STATE,5369,end dive,NO_VERTICAL_VELOCITY
$STATE,5369,begin apogee
$GC,5375,-0.25,0.0,2401,2351,3621,3425,842.1,0.0,249,5570,0.62,0.00,185.65,1.601,10246,0.118,0.000,2619,2352,2748,2777,2720,0,0,0,0,0,0,14.91,28.83,13.62
$STATE,5572,end apogee,CONTROL_FINISHED_OK
$STATE,5572,begin climb
$GC,5574,0.91,194.6,2619,2352,2775,2718,841.5,0.0,255,5777,1.12,2.58,189.77,1.569,10500,0.111,0.095,2988,3765,1954,1980,1929,0,0,0,0,0,0,14.20,14.07,13.55
$GC,5824,0.91,194.6,2988,3766,1979,1918,801.0,21.3,264,5830,0.00,2.30,0.00,0.000,1030,0.000,0.043,2999,2353,1948,1979,1918,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6158,0.91,194.6,2999,2348,1978,1905,737.1,18.0,275,6163,0.00,2.40,0.00,0.000,260,0.000,0.090,2999,3755,1941,1978,1905,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6200,0.91,194.6,2999,3754,1978,1905,729.8,18.9,276,6205,0.00,2.22,0.00,0.000,1030,0.000,0.042,3009,2342,1942,1980,1905,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6523,0.91,194.6,3010,2336,1978,1901,653.5,22.4,287,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,3010,2336,1939,1978,1901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6832,0.91,194.6,3010,2333,1978,1898,585.4,22.1,298,6838,0.00,2.42,0.00,0.000,260,0.000,0.092,3009,3763,1938,1979,1898,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6904,0.91,194.6,3010,3764,1978,1899,570.3,23.8,301,6910,0.00,2.20,0.00,0.000,1030,0.000,0.044,3020,2349,1938,1978,1898,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7217,0.91,194.6,3021,2344,1977,1902,502.4,21.3,317,7222,0.00,2.22,0.00,0.000,516,0.000,0.055,3030,957,1937,1978,1896,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7240,0.91,194.6,3031,956,1978,1896,497.7,21.1,318,7246,0.15,2.30,0.00,0.000,5126,0.291,0.063,2999,2362,1936,1978,1894,0,0,0,0,0,0,14.71,14.86,28.83
$GC,7563,0.91,194.6,2999,2362,1978,1894,436.5,18.0,334,7569,0.00,2.33,0.00,0.000,260,0.000,0.093,2998,3751,1936,1978,1895,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7610,0.91,194.6,2080,3752,1943,1885,428.7,17.8,336,7615,0.00,2.17,0.00,0.000,1030,0.000,0.043,3006,2349,1937,1978,1896,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7927,0.91,194.6,3006,2344,1977,1894,368.4,19.5,352,7928,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2344,1934,1974,1895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8228,0.91,194.6,3006,2344,1978,1894,313.2,17.8,367,8229,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2344,1936,1978,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8528,0.91,194.6,3006,2344,1978,1893,262.9,19.0,382,8534,0.00,2.38,0.00,0.000,260,0.000,0.091,3006,3758,1935,1978,1893,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8554,0.91,194.6,2112,3757,1943,1885,258.3,19.0,383,8560,0.00,2.20,0.00,0.000,1030,0.000,0.042,3021,2340,1935,1978,1893,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8872,0.91,194.6,3017,2336,1978,1893,203.0,15.1,399,8877,0.00,2.38,0.00,0.000,260,0.000,0.089,3017,3754,1935,1978,1893,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8888,0.91,194.6,3017,3753,1978,1893,203.0,15.1,399,8896,0.15,2.17,0.00,0.000,5126,0.298,0.042,2994,2344,1935,1978,1893,0,0,0,0,0,0,14.74,14.95,28.83
$GC,9195,0.91,194.6,2994,2340,1978,1893,155.6,13.4,415,9200,0.00,2.20,0.00,0.000,516,0.000,0.055,3002,963,1935,1978,1893,0,0,0,0,0,0,28.83,14.91,28.83
$GC,9261,0.91,194.6,3002,963,1978,1895,147.9,12.7,418,9267,0.00,2.25,0.00,0.000,1030,0.000,0.058,3002,2355,1935,1978,1893,0,0,0,0,0,0,28.83,14.86,28.83
$GC,9579,0.91,194.6,3002,2356,1978,1893,107.2,13.4,434,9584,0.00,2.33,0.00,0.000,260,0.000,0.089,3002,3754,1935,1978,1893,0,0,0,0,0,0,28.83,14.87,28.83
$GC,9692,0.91,194.6,3002,3754,1978,1893,94.1,12.1,439,9698,0.00,2.17,0.00,0.000,1030,0.000,0.041,3013,2343,1935,1978,1893,0,0,0,0,0,0,28.83,14.93,28.83
$GC,10006,0.94,227.2,3013,2337,1978,1893,64.8,8.9,455,10027,0.00,2.20,13.57,0.324,8708,0.000,0.051,3023,951,1826,1864,1788,0,0,0,0,0,0,28.83,14.88,14.62
$GC,10240,0.98,266.4,3023,950,1872,1796,46.1,8.6,468,10266,0.00,2.28,20.23,0.275,9222,0.000,0.057,3023,2362,1665,1704,1626,0,0,0,0,0,0,28.83,14.83,14.64
$GC,10570,1.04,323.2,3023,2362,1714,1633,17.5,8.0,509,10607,0.00,2.35,27.62,0.198,8452,0.000,0.086,3023,3749,1431,1471,1392,0,0,0,0,0,0,28.83,14.75,14.69
$GC,10679,1.04,323.2,3023,3749,1483,1395,7.2,10.8,529,10686,0.00,2.17,0.00,0.000,1030,0.000,0.040,3033,2342,1439,1483,1395,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,10721,end climb,SURFACE_DEPTH_REACHED
$STATE,10722,begin surface coast
$FINISH,-0.1,1.021228
$STATE,10753,end surface coast,CONTROL_FINISHED_OK
$STATE,10753,begin surface
$SM_CCo,10769,57.38,0.148,0,0,917,450.13
$SM_GC,-0.24,7.68,0.20,57.38,0.057,0.094,0.148,230,2486,917,-7.62,-0.76,450.13,0,0,0,0,0,0,14.85,14.87,14.71
$IRIDIUM_FIX,2157.39,12120.15,250513,010140
$TT8_MAMPS,0.019474,0.019474
$HUMID,46.88
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,23.10
$XPDR_PINGS,2
$SC_FREEKB,3907712
$24V_AH,13.6,40.395
$10V_AH,13.6,0.000
$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,20.325,98.300,436.850,57.375,0.000,56.311,64.894,208.413,0.500,0.000,21.643,1743.193,7196.247,578.635,1770.329,134.855,0.000,1337.190,0.000,1297.716,0.000,0.539,0.000
$DEVICE_MAMPS,412.335,105.570,1601.145,147.645,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10809.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.610,0.000,0.000,0.000
$MEM,322836
$DATA_FILE_SIZE,20045,543
$CAP_FILE_SIZE,129065,0
$CFSIZE,260034560,249610240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.275, 10.4,1
$GPS,250513,045554,2215.236,12115.255,39,1.5,39,-2.8