version: 66.11
glider: 181
mission: 11
dive: 83
start: 5 25 113 14 29 35
data:
$ID,181
$MISSION,11
$DIVE,83
$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,-95784.68
$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,72
$R_STBD_OVSHOOT,46
$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
$GPS1,250513,142036,2223.887,12116.171,47,1.0,48,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.18
$_SM_ANGLEo,-70.2
$GPS2,250513,142907,2224.091,12116.232,13,0.9,13,-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,36.9,74980,-14.3,-10.000,-17.31,2952
$D_GRID,857
$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,-194.6,205,2476,918,912,0.0,0.0,0,103,0.00,0.00,-81.93,0.000,16386,0.000,0.000,205,2476,3067,3118,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.91,-194.6,205,2476,3118,3019,4.5,-16.3,14,132,10.95,2.12,-7.97,0.000,18692,0.439,0.096,2390,3767,3563,3661,3466,0,0,0,0,0,0,14.38,14.66,14.88
$GC,145,-0.91,-194.6,2390,3767,3661,3489,27.2,-57.4,20,150,0.00,2.05,0.00,0.000,1030,0.000,0.045,2391,2478,3575,3661,3490,0,0,0,0,0,0,28.83,14.69,28.83
$GC,457,-0.91,-194.6,2390,2473,3663,3491,129.2,-29.3,38,463,0.00,2.28,0.00,0.000,516,0.000,0.047,2390,1034,3577,3663,3491,0,0,0,0,0,0,28.83,14.78,28.83
$GC,534,-0.91,-194.6,2390,1034,3663,3491,144.3,-25.1,41,541,0.00,2.28,0.00,0.000,1030,0.000,0.058,2380,2437,3578,3664,3492,0,0,0,0,0,0,28.83,14.76,28.83
$GC,840,-0.91,-194.6,2380,2438,3663,3492,219.3,-23.6,57,845,0.00,2.22,0.00,0.000,516,0.000,0.048,2380,1034,3577,3663,3492,0,0,0,0,0,0,28.83,14.85,28.83
$GC,922,-0.91,-194.6,2380,1034,3664,3492,235.8,-19.9,61,928,0.15,2.30,0.00,0.000,3078,0.257,0.062,2404,2453,3577,3663,3492,0,0,0,0,0,0,14.73,14.83,28.83
$GC,1245,-0.91,-194.6,2404,2453,3665,3492,291.5,-16.0,77,1251,0.00,2.20,0.00,0.000,260,0.000,0.083,2397,3787,3579,3666,3492,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1302,-0.91,-194.6,2397,3788,3666,3492,299.0,-17.2,79,1309,0.00,2.08,0.00,0.000,1030,0.000,0.037,2396,2416,3578,3665,3491,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1608,-0.91,-194.6,2397,2413,3666,3492,353.2,-17.2,95,1613,0.00,2.25,0.00,0.000,260,0.000,0.082,2387,3778,3578,3665,3492,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1634,-0.91,-194.6,1544,3778,3660,3489,357.2,-17.1,96,1639,0.00,2.03,0.00,0.000,1030,0.000,0.037,2387,2446,3578,3664,3492,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1951,-0.91,-194.6,2387,2441,3663,3491,419.4,-18.2,112,1952,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2441,3577,3663,3491,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2252,-0.91,-194.6,2387,2441,3661,3487,469.4,-15.8,127,2257,0.00,2.22,0.00,0.000,260,0.000,0.086,2377,3784,3574,3661,3487,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2364,-0.91,-194.6,2377,3784,3658,3487,485.5,-15.6,132,2370,0.12,2.03,0.00,0.000,3078,0.273,0.040,2404,2450,3576,3658,3494,0,0,0,0,0,0,14.79,14.97,28.83
$GC,2677,-0.91,-194.6,2403,2445,3658,3483,524.3,-12.3,148,2682,0.00,2.20,0.00,0.000,260,0.000,0.087,2397,3778,3570,3658,3483,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2703,-0.91,-194.6,2396,3778,3657,3483,527.2,-12.6,149,2708,0.00,2.03,0.00,0.000,1030,0.000,0.041,2396,2446,3570,3657,3483,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3021,-0.91,-194.6,2396,2441,3655,3480,572.9,-15.4,165,3022,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2441,3567,3655,3480,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3321,-0.91,-194.6,2396,2441,3652,3477,619.5,-15.4,178,3322,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2441,3564,3651,3477,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3620,-0.91,-194.6,2396,2441,3650,3474,668.8,-17.4,188,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2440,3562,3650,3474,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3921,-0.91,-194.6,2396,2441,3647,3471,717.0,-15.9,198,3926,0.00,2.22,0.00,0.000,260,0.000,0.090,2386,3781,3558,3647,3470,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3953,-0.91,-194.6,2387,3781,3646,3471,722.2,-15.8,199,3959,0.00,2.05,0.00,0.000,1030,0.000,0.044,2387,2444,3558,3646,3470,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4287,-0.91,-194.6,2387,2444,3646,3468,772.8,-15.2,210,4292,0.00,2.17,0.00,0.000,516,0.000,0.054,2387,1066,3557,3646,3468,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4320,-0.91,-194.6,2387,1066,3645,3468,777.4,-14.8,211,4325,0.00,2.28,0.00,0.000,1030,0.000,0.066,2377,2455,3556,3645,3467,0,0,0,0,0,0,28.83,14.93,28.83
$GC,4653,-0.91,-194.6,2376,2457,3639,3467,825.9,-14.2,222,4659,0.12,2.20,0.00,0.000,2308,0.292,0.093,2401,3780,3553,3639,3467,0,0,0,0,0,0,14.78,14.92,28.83
$GC,4695,-0.91,-194.6,2401,3780,3638,3467,830.6,-14.0,223,4700,0.00,2.05,0.00,0.000,1030,0.000,0.046,2401,2453,3552,3639,3465,0,0,0,0,0,0,28.83,14.99,28.83
$STATE,4926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4926,begin apogee
$GC,4930,-0.25,0.0,2401,2329,3638,3464,859.9,-11.9,231,5127,0.73,0.00,188.82,1.636,10246,0.219,0.000,2614,2329,2751,2778,2725,0,0,0,0,0,0,14.78,28.83,13.60
$STATE,5128,end apogee,CONTROL_FINISHED_OK
$STATE,5128,begin climb
$GC,5130,0.91,194.6,2614,2329,2776,2722,862.7,0.0,237,5324,1.15,0.00,187.80,1.597,10758,0.123,0.000,2985,2329,1957,1985,1930,0,0,0,0,0,0,14.16,28.83,13.54
$GC,5618,0.91,194.6,2985,2329,1983,1906,780.4,19.2,254,5624,0.00,2.45,0.00,0.000,260,0.000,0.091,2985,3757,1944,1983,1906,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5675,0.91,194.6,2985,3758,1983,1906,773.2,19.8,255,5682,0.00,2.20,0.00,0.000,1030,0.000,0.043,2996,2363,1944,1982,1906,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5981,0.91,194.6,2997,2362,1983,1901,708.0,20.1,266,5982,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2358,1942,1983,1901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6281,0.91,194.6,2996,2358,1983,1898,653.0,18.4,276,6287,0.00,2.38,0.00,0.000,260,0.000,0.091,2996,3759,1940,1983,1898,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6318,0.91,194.6,2996,3759,1983,1898,646.2,19.0,277,6323,0.00,2.20,0.00,0.000,1030,0.000,0.043,3006,2348,1940,1983,1898,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6636,0.91,194.6,3007,2343,1983,1896,585.0,18.0,289,6641,0.00,2.40,0.00,0.000,260,0.000,0.091,3007,3762,1939,1983,1896,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6718,0.91,194.6,3007,3762,1983,1896,567.7,20.9,293,6724,0.00,2.22,0.00,0.000,1030,0.000,0.043,3017,2341,1939,1983,1896,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7041,0.91,194.6,3017,2335,1983,1895,503.7,19.9,309,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2335,1939,1983,1895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7342,0.91,194.6,3017,2335,1983,1894,442.8,21.7,324,7348,0.00,2.40,0.00,0.000,260,0.000,0.091,3017,3756,1941,1983,1900,0,0,0,0,0,0,28.83,14.86,28.83
$GC,7394,0.91,194.6,3018,3757,1983,1894,431.9,23.3,326,7400,0.15,2.20,0.00,0.000,5126,0.295,0.042,2996,2337,1938,1982,1894,0,0,0,0,0,0,14.73,14.92,28.83
$GC,7707,0.91,194.6,2996,2332,1985,1900,366.2,18.8,342,7713,0.00,2.20,0.00,0.000,516,0.000,0.056,3004,960,1938,1983,1893,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7734,0.91,194.6,3003,960,1983,1893,362.1,18.3,343,7740,0.00,2.28,0.00,0.000,1030,0.000,0.060,3004,2364,1938,1983,1893,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8052,0.91,194.6,3004,2365,1983,1892,309.4,14.1,359,8057,0.00,2.33,0.00,0.000,260,0.000,0.091,3004,3758,1937,1983,1892,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8154,0.91,194.6,3004,3758,1983,1892,292.7,16.8,364,8159,0.00,2.17,0.00,0.000,1030,0.000,0.043,3014,2351,1937,1983,1892,0,0,0,0,0,0,28.83,14.93,28.83
$GC,8476,0.91,194.6,3014,2347,1983,1888,242.3,16.8,380,8481,0.00,2.38,0.00,0.000,260,0.000,0.090,3014,3759,1937,1983,1891,0,0,0,0,0,0,28.83,14.87,28.83
$GC,8507,0.91,194.6,3014,3759,1983,1891,238.1,17.4,381,8514,0.15,2.20,0.00,0.000,5126,0.295,0.041,2991,2335,1937,1983,1891,0,0,0,0,0,0,14.71,14.93,28.83
$GC,8822,0.91,194.6,2992,2331,1983,1891,191.9,12.2,397,8827,0.00,2.20,0.00,0.000,516,0.000,0.055,3000,957,1936,1982,1891,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9034,0.91,194.6,3000,957,1983,1890,165.8,13.1,407,9039,0.00,2.25,0.00,0.000,1030,0.000,0.058,3000,2351,1936,1983,1890,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9346,0.93,212.0,2999,2352,1983,1890,123.0,9.4,423,9355,0.00,0.00,6.55,0.467,8198,0.000,0.000,3000,2351,1888,1932,1844,0,0,0,0,0,0,28.83,28.83,14.52
$GC,9646,0.93,212.0,3000,2352,1939,1855,83.8,13.9,438,9651,0.00,2.22,0.00,0.000,516,0.000,0.053,3010,959,1897,1939,1855,0,0,0,0,0,0,28.83,14.89,28.83
$GC,9692,0.93,212.0,2088,958,1905,1846,78.5,13.5,440,9698,0.00,2.25,0.00,0.000,1030,0.000,0.057,3009,2355,1895,1939,1851,0,0,0,0,0,0,28.83,14.87,28.83
$GC,10010,0.99,275.4,3010,2355,1940,1855,49.0,7.8,456,10052,0.00,2.38,31.88,0.288,8452,0.000,0.088,3010,3750,1630,1668,1592,0,0,0,0,0,0,28.83,14.79,14.65
$GC,10089,0.99,275.4,3010,3750,1673,1595,42.5,10.2,463,10096,0.00,2.17,0.00,0.000,1030,0.000,0.040,3020,2347,1634,1673,1595,0,0,0,0,0,0,28.83,14.85,28.83
$GC,10394,1.12,402.1,3020,2344,1673,1594,18.8,5.6,505,10462,0.12,2.38,58.45,0.200,11012,0.135,0.085,3085,3753,1111,1145,1078,0,0,0,0,0,0,14.84,14.74,14.67
$GC,10510,1.12,402.1,3085,3753,1152,1079,6.0,15.0,525,10517,0.15,2.17,0.00,0.000,5126,0.272,0.040,3061,2347,1114,1152,1076,0,0,0,0,0,0,14.64,14.81,28.83
$STATE,10533,end climb,SURFACE_DEPTH_REACHED
$STATE,10533,begin surface coast
$FINISH,0.2,1.021207
$STATE,10555,end surface coast,CONTROL_FINISHED_OK
$STATE,10555,begin surface
$SM_CCo,10571,21.98,0.152,0,0,917,450.13
$SM_GC,-0.53,7.82,0.17,21.98,0.062,0.106,0.152,232,2452,917,-7.63,-1.07,450.13,0,0,0,0,0,0,14.78,14.80,14.70
$IRIDIUM_FIX,2218.34,12117.82,250513,101031
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.40
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,23.10
$XPDR_PINGS,1
$SC_FREEKB,3906176
$24V_AH,13.5,41.443
$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,21.625,93.575,473.500,21.975,0.000,24.042,45.204,245.410,0.250,0.000,15.798,1632.402,7115.793,569.615,1663.468,131.321,0.000,1299.907,0.000,1211.217,0.000,0.540,0.000
$DEVICE_MAMPS,439.110,109.395,1635.570,152.235,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10617.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.630,0.000,0.000,0.000
$MEM,322872
$DATA_FILE_SIZE,20113,533
$CAP_FILE_SIZE,125580,0
$CFSIZE,260034560,249249792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.098,353.0,1
$GPS,250513,172721,2226.030,12117.289,10,2.3,29,-2.9