version: 66.11
glider: 181
mission: 11
dive: 81
start: 5 25 113 8 2 53
data:
$ID,181
$MISSION,11
$DIVE,81
$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,-95774.703
$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,66
$R_STBD_OVSHOOT,56
$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
$GPS1,250513,075205,2218.713,12116.742,11,1.6,27,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.17
$_SM_ANGLEo,-70.6
$GPS2,250513,080224,2219.069,12116.845,14,1.7,31,-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,347.3,83883,-14.3,-10.000,-17.31,2952
$D_GRID,717
$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,-194.6,227,2485,928,910,0.0,0.0,0,104,0.00,0.00,-82.97,0.000,16386,0.000,0.000,226,2486,3092,3142,3042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.91,-194.6,229,2486,3142,3043,4.1,-14.5,14,133,10.23,2.10,-7.25,0.000,18692,0.413,0.105,2391,3752,3549,3638,3460,0,0,0,0,0,0,14.44,14.69,14.91
$GC,189,-0.91,-194.6,2391,3752,3638,3462,43.7,-45.5,24,197,0.00,2.00,0.00,0.000,1030,0.000,0.039,2391,2468,3550,3638,3462,0,0,0,0,0,0,28.83,14.75,28.83
$GC,505,-0.91,-194.6,2391,2464,3638,3462,141.8,-27.4,41,511,0.00,2.12,0.00,0.000,260,0.000,0.078,2381,3760,3550,3638,3463,0,0,0,0,0,0,28.83,14.81,28.83
$GC,588,-0.91,-194.6,2381,3760,3638,3463,156.6,-17.8,45,593,0.00,2.03,0.00,0.000,1030,0.000,0.034,2381,2418,3550,3637,3463,0,0,0,0,0,0,28.83,14.88,28.83
$GC,911,-0.91,-194.6,2381,2413,3639,3463,218.1,-20.1,61,917,0.00,2.10,0.00,0.000,516,0.000,0.044,2381,1056,3551,3639,3464,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1054,-0.91,-194.6,2381,1054,3639,3464,246.9,-19.9,68,1060,0.15,2.20,0.00,0.000,3078,0.252,0.057,2406,2429,3551,3639,3464,0,0,0,0,0,0,14.76,14.87,28.83
$GC,1377,-0.91,-194.6,2407,2429,3639,3463,305.7,-17.4,84,1383,0.00,2.17,0.00,0.000,260,0.000,0.080,2399,3777,3551,3639,3463,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1534,-0.91,-194.6,2399,3777,3638,3462,332.1,-17.5,91,1541,0.00,2.00,0.00,0.000,1030,0.000,0.036,2399,2447,3550,3639,3462,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1840,-0.91,-194.6,2399,2444,3639,3459,384.9,-16.7,107,1845,0.00,2.15,0.00,0.000,516,0.000,0.047,2399,1056,3549,3639,3459,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1922,-0.91,-194.6,1508,1055,3634,3456,398.5,-16.6,111,1927,0.00,2.25,0.00,0.000,1030,0.000,0.057,2389,2457,3548,3639,3458,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2245,-0.91,-194.6,2389,2456,3639,3454,449.5,-15.3,127,2250,0.00,2.17,0.00,0.000,260,0.000,0.085,2379,3784,3546,3639,3454,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2357,-0.91,-194.6,2379,3785,3638,3454,466.8,-17.0,132,2362,0.00,2.03,0.00,0.000,1030,0.000,0.038,2379,2449,3547,3639,3455,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2669,-0.91,-194.6,2379,2444,3638,3450,522.1,-15.5,148,2675,0.00,2.15,0.00,0.000,516,0.000,0.049,2379,1060,3544,3638,3450,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2706,-0.91,-194.6,2379,1060,3637,3449,525.9,-15.7,149,2713,0.15,2.25,0.00,0.000,3078,0.264,0.061,2404,2457,3544,3638,3450,0,0,0,0,0,0,14.83,14.95,28.83
$GC,3012,-0.91,-194.6,2404,2457,3635,3445,574.9,-13.8,165,3017,0.00,2.17,0.00,0.000,260,0.000,0.088,2397,3784,3540,3635,3445,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3068,-0.91,-194.6,2397,3784,3633,3445,580.7,-13.5,167,3075,0.00,2.03,0.00,0.000,1030,0.000,0.041,2396,2451,3539,3633,3446,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3395,-0.91,-194.6,2396,2447,3630,3443,621.3,-10.9,181,3401,0.00,2.20,0.00,0.000,260,0.000,0.088,2387,3783,3536,3630,3442,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3428,-0.91,-194.6,2387,3782,3630,3442,625.2,-11.1,182,3433,0.00,2.05,0.00,0.000,1030,0.000,0.042,2387,2449,3536,3630,3442,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3761,-0.91,-194.6,2387,2444,3628,3437,671.3,-14.2,193,3766,0.00,2.17,0.00,0.000,516,0.000,0.054,2387,1061,3533,3628,3439,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3823,-0.91,-194.6,2387,1060,3628,3438,680.5,-14.4,195,3829,0.00,2.28,0.00,0.000,1030,0.000,0.066,2377,2455,3533,3628,3438,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,4064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4064,begin apogee
$GC,4068,-0.25,0.0,2377,2339,3625,3435,718.5,-15.6,203,4260,0.80,0.00,181.07,1.545,10246,0.226,0.000,2610,2339,2754,2784,2725,0,0,0,0,1,0,14.81,28.83,13.43
$STATE,4262,end apogee,CONTROL_FINISHED_OK
$STATE,4262,begin climb
$GC,4264,0.91,194.6,2610,2339,2784,2727,723.7,0.0,209,4452,1.17,0.00,175.12,2.147,10246,0.124,0.000,2989,2339,1960,1988,1932,0,0,0,0,1,0,14.19,28.83,13.33
$GC,4750,0.91,194.6,2989,2339,1988,1922,643.8,20.3,226,4756,0.00,2.40,0.00,0.000,260,0.000,0.088,2989,3757,1953,1988,1918,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4808,0.91,194.6,2989,3756,1988,1922,636.7,20.9,227,4814,0.00,2.20,0.00,0.000,1030,0.000,0.042,2999,2353,1955,1988,1922,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5115,0.91,194.6,3000,2349,1988,1918,570.6,19.3,240,5121,0.00,2.38,0.00,0.000,260,0.000,0.088,2999,3762,1953,1988,1918,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5151,0.91,194.6,3000,3762,1988,1918,565.4,19.9,241,5158,0.00,2.20,0.00,0.000,1030,0.000,0.042,3010,2349,1953,1988,1918,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5458,0.91,194.6,3010,2344,1988,1916,497.8,19.1,257,5463,0.00,2.38,0.00,0.000,260,0.000,0.090,3010,3755,1951,1988,1915,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5480,0.91,194.6,3010,3755,1988,1915,493.5,19.1,258,5485,0.00,2.20,0.00,0.000,1030,0.000,0.041,3021,2344,1951,1988,1915,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5803,0.91,194.6,3021,2339,1988,1914,432.3,19.8,274,5808,0.00,2.38,0.00,0.000,260,0.000,0.090,3021,3758,1951,1988,1914,0,0,0,0,0,0,28.83,14.86,28.83
$GC,5885,0.91,194.6,3021,3758,1987,1914,414.0,22.4,278,5891,0.15,2.17,0.00,0.000,5126,0.291,0.041,2997,2349,1951,1988,1914,0,0,0,0,0,0,14.75,14.92,28.83
$GC,6208,0.91,194.6,2998,2344,1988,1911,356.9,16.9,294,6214,0.00,2.22,0.00,0.000,516,0.000,0.055,3005,955,1949,1987,1911,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6255,0.91,194.6,3005,955,1988,1911,350.2,16.0,296,6260,0.00,2.28,0.00,0.000,1030,0.000,0.060,3005,2359,1949,1988,1911,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6572,0.91,194.6,3005,2356,1988,1908,290.7,17.1,312,6578,0.00,2.25,0.00,0.000,516,0.000,0.054,3015,956,1948,1988,1908,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6646,0.91,194.6,3015,956,1988,1908,280.6,16.2,315,6651,0.00,2.25,0.00,0.000,1030,0.000,0.060,3015,2349,1948,1988,1908,0,0,0,0,0,0,28.83,14.89,28.83
$GC,6958,0.91,194.6,3015,2350,1988,1907,217.0,19.6,331,6963,0.00,2.33,0.00,0.000,260,0.000,0.090,3015,3756,1947,1988,1907,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7054,0.91,194.6,3015,3756,1988,1907,201.1,19.4,335,7061,0.15,2.17,0.00,0.000,5126,0.289,0.042,2993,2342,1947,1988,1907,0,0,0,0,0,0,14.77,14.95,28.83
$GC,7360,0.91,194.6,2993,2338,1988,1906,156.8,14.4,351,7365,0.00,2.20,0.00,0.000,516,0.000,0.054,3001,954,1947,1988,1906,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7497,0.91,194.6,3000,953,1988,1906,139.2,14.3,357,7503,0.00,2.25,0.00,0.000,1030,0.000,0.059,3000,2350,1947,1988,1906,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7803,0.94,224.2,3000,2350,1988,1905,100.9,9.0,373,7824,0.00,2.22,13.90,0.464,8708,0.000,0.050,3010,956,1837,1873,1802,0,0,0,0,0,0,28.83,14.88,14.59
$GC,7870,0.96,243.0,2088,955,1841,1794,94.9,9.3,376,7888,0.00,2.25,9.65,0.438,9222,0.000,0.058,3010,2351,1761,1798,1725,0,0,0,0,0,0,28.83,14.88,14.59
$GC,8186,0.96,243.0,3010,2351,1798,1724,59.9,10.2,392,8192,0.00,2.33,0.00,0.000,260,0.000,0.086,3010,3759,1761,1798,1724,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8339,1.01,294.1,3010,3759,1798,1729,43.2,8.2,403,8370,0.00,2.17,24.42,0.275,9222,0.000,0.039,3021,2337,1552,1590,1515,0,0,0,0,0,0,28.83,14.90,14.67
$GC,8669,1.07,355.3,3021,2339,1590,1509,17.5,7.9,445,8706,0.00,2.17,27.90,0.202,8708,0.000,0.054,3030,973,1302,1342,1262,0,0,0,0,0,0,28.83,14.83,14.70
$GC,8773,1.13,416.1,3030,974,1342,1259,9.0,7.9,464,8809,0.00,2.22,27.25,0.175,9222,0.000,0.057,3030,2354,1052,1089,1016,0,0,0,0,0,0,28.83,14.81,14.67
$STATE,8846,end climb,SURFACE_DEPTH_REACHED
$STATE,8846,begin surface coast
$FINISH,-0.6,1.021210
$STATE,8882,end surface coast,CONTROL_FINISHED_OK
$STATE,8882,begin surface
$SM_CCo,8898,14.65,0.153,0,0,916,450.13
$SM_GC,-0.64,7.62,0.15,14.65,0.048,0.129,0.153,224,2471,916,-7.62,-0.93,450.13,0,0,0,0,0,0,14.84,14.82,14.73
$IRIDIUM_FIX,2213.68,12336.23,250513,070703
$TT8_MAMPS,0.019474,0.019474
$HUMID,48.58
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,22.80
$XPDR_PINGS,11
$SC_FREEKB,3906944
$24V_AH,13.3,40.925
$10V_AH,13.2,0.000
$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,20.425,92.525,459.325,14.650,0.000,59.525,74.180,221.162,2.750,0.000,34.597,1568.076,5581.321,600.228,1677.002,121.950,0.000,1283.690,0.000,1169.383,0.000,0.540,0.000
$DEVICE_MAMPS,413.100,129.285,2146.590,153.000,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8930.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.168,0.000,0.000,0.000
$MEM,322824
$DATA_FILE_SIZE,16755,484
$CAP_FILE_SIZE,117237,0
$CFSIZE,260034560,249446400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.180, 20.5,1
$GPS,250513,103254,2221.200,12116.812,36,1.9,36,-2.8