version: 66.11
glider: 181
mission: 11
dive: 97
start: 5 27 113 1 43 6
data:
$ID,181
$MISSION,11
$DIVE,97
$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,-95803.672
$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,109
$R_STBD_OVSHOOT,66
$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
$GPS1,270513,013712,2259.581,12127.872,11,1.2,16,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.12
$_SM_ANGLEo,-71.2
$GPS2,270513,014237,2259.759,12128.004,14,1.2,14,-3.0
$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,290.6,8013,-14.3,-10.000,-17.31,2952
$D_GRID,468
$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,16,begin dive
$GC,18,-0.91,-194.6,225,2479,910,919,0.0,0.0,0,108,0.00,0.00,-87.43,0.000,16386,0.000,0.000,224,2479,3155,3207,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.91,-194.6,224,2479,3207,3104,3.8,-13.9,15,137,9.82,2.08,-6.40,0.000,18692,0.399,0.095,2390,3742,3549,3633,3466,0,0,0,0,0,0,14.60,14.81,15.04
$GC,219,-0.91,-194.6,2390,3742,3633,3468,51.1,-32.7,28,225,0.00,1.88,0.00,0.000,1030,0.000,0.033,2390,2482,3551,3634,3468,0,0,0,0,0,0,28.83,14.92,28.83
$GC,525,-0.91,-194.6,2390,2479,3637,3468,125.1,-22.5,44,530,0.00,2.17,0.00,0.000,516,0.000,0.038,2390,1050,3552,3637,3468,0,0,0,0,0,0,28.83,14.94,28.83
$GC,656,-0.91,-194.6,2390,1050,3637,3469,155.3,-24.5,50,661,0.00,2.17,0.00,0.000,1030,0.000,0.054,2378,2419,3553,3637,3469,0,0,0,0,0,0,28.83,14.95,28.83
$GC,968,-0.91,-194.6,2381,2420,3637,3469,222.6,-19.8,66,974,0.00,2.10,0.00,0.000,516,0.000,0.044,2380,1063,3553,3637,3469,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1081,-0.91,-194.6,2380,1063,3637,3469,243.0,-20.0,71,1087,0.15,2.22,0.00,0.000,3078,0.256,0.059,2405,2457,3552,3637,3468,0,0,0,0,0,0,14.85,14.97,28.83
$GC,1394,-0.91,-194.6,2405,2457,3637,3468,299.7,-17.1,87,1399,0.00,2.12,0.00,0.000,260,0.000,0.078,2398,3775,3552,3637,3467,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1436,-0.91,-194.6,2398,3775,3637,3467,307.2,-17.0,89,1442,0.00,1.98,0.00,0.000,1030,0.000,0.035,2398,2451,3552,3637,3467,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1759,-0.91,-194.6,2398,2446,3638,3463,363.3,-17.7,105,1764,0.00,2.15,0.00,0.000,260,0.000,0.079,2388,3774,3550,3637,3463,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1790,-0.91,-194.6,2388,3775,3637,3463,367.4,-17.7,106,1796,0.00,2.00,0.00,0.000,1030,0.000,0.036,2388,2433,3550,3637,3463,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2104,-0.91,-194.6,2387,2432,3638,3461,422.5,-18.4,122,2109,0.00,2.10,0.00,0.000,516,0.000,0.045,2387,1074,3542,3638,3447,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2147,-0.91,-194.6,2387,1073,3638,3461,430.2,-18.0,124,2152,0.00,2.20,0.00,0.000,1030,0.000,0.060,2378,2451,3549,3638,3461,0,0,0,0,0,0,28.83,15.00,28.83
$STATE,2368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2369,begin apogee
$GC,2373,-0.25,0.0,2378,2332,3638,3456,469.2,-17.3,135,2535,0.80,0.00,154.75,1.238,10246,0.226,0.000,2611,2332,2749,2782,2717,0,0,0,0,0,0,14.85,28.83,13.95
$STATE,2537,end apogee,CONTROL_FINISHED_OK
$STATE,2537,begin climb
$GC,2539,0.91,194.6,2611,2332,2781,2714,476.4,0.0,143,2716,1.15,2.20,166.82,1.172,10756,0.127,0.049,2998,988,1955,1990,1920,0,0,0,0,0,0,14.42,14.38,13.91
$GC,2734,0.91,194.6,2998,988,1989,1914,451.7,17.1,153,2739,0.00,2.28,0.00,0.000,1030,0.000,0.056,2998,2355,1950,1989,1912,0,0,0,0,0,0,28.83,14.46,28.83
$GC,3056,0.91,194.6,2998,2355,1989,1899,391.3,17.8,169,3062,0.00,2.33,0.00,0.000,260,0.000,0.083,2998,3754,1944,1988,1900,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3073,0.91,194.6,2998,3754,1989,1900,391.3,17.8,169,3080,0.00,2.12,0.00,0.000,1030,0.000,0.037,3008,2364,1944,1988,1900,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3379,0.91,194.6,3008,2360,1988,1895,327.3,19.2,185,3384,0.00,2.33,0.00,0.000,260,0.000,0.085,3008,3758,1942,1989,1895,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3411,0.91,194.6,3008,3758,1988,1895,322.8,19.5,186,3417,0.00,2.15,0.00,0.000,1030,0.000,0.037,3019,2354,1941,1988,1895,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3724,0.91,194.6,3019,2350,1988,1892,256.3,21.0,202,3729,0.00,2.33,0.00,0.000,260,0.000,0.083,3019,3758,1940,1988,1892,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3790,0.91,194.6,3019,3758,1987,1892,241.8,22.6,205,3796,0.15,2.15,0.00,0.000,5126,0.291,0.037,2997,2343,1939,1987,1892,0,0,0,0,0,0,14.77,14.97,28.83
$GC,4109,0.91,194.6,2996,2339,1987,1889,186.0,16.1,221,4114,0.00,2.17,0.00,0.000,516,0.000,0.051,3003,964,1938,1988,1889,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4235,0.91,194.6,3004,963,1987,1887,166.1,16.1,227,4240,0.00,2.22,0.00,0.000,1030,0.000,0.054,3004,2354,1937,1987,1887,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4552,0.91,194.6,3004,2355,1987,1885,119.5,14.6,243,4559,0.00,2.20,0.00,0.000,516,0.000,0.047,3014,965,1936,1987,1886,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4716,0.91,194.6,3014,965,1987,1885,95.9,13.5,251,4722,0.00,2.22,0.00,0.000,1030,0.000,0.054,3014,2353,1936,1987,1885,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5039,0.91,194.6,3014,2353,1987,1883,53.8,14.5,267,5044,0.00,2.20,0.00,0.000,516,0.000,0.044,3024,949,1935,1987,1883,0,0,0,0,0,0,28.83,14.96,28.83
$GC,5234,0.93,211.0,3024,952,1987,1883,34.5,9.4,284,5245,0.00,2.22,5.18,0.238,9222,0.000,0.052,3024,2353,1891,1939,1844,0,0,0,0,0,0,28.83,14.95,14.76
$GC,5545,1.12,405.5,3024,2353,1942,1853,14.6,3.2,337,5643,0.10,2.30,88.88,0.183,10500,0.165,0.078,3070,3758,1097,1128,1066,0,0,0,0,0,0,14.94,14.84,14.75
$GC,5655,1.12,405.5,3070,3757,1130,1067,4.4,14.0,355,5662,0.00,2.15,0.00,0.000,1030,0.000,0.036,3081,2347,1099,1131,1067,0,0,0,0,0,0,28.83,14.88,28.83
$STATE,5667,end climb,SURFACE_DEPTH_REACHED
$STATE,5667,begin surface coast
$FINISH,-0.4,1.021209
$STATE,5689,end surface coast,CONTROL_FINISHED_OK
$STATE,5689,begin surface
$SM_CCo,5705,20.00,0.149,0,0,916,450.13
$SM_GC,0.07,7.72,0.17,20.00,0.050,0.122,0.149,237,2452,916,-7.63,-1.16,450.13,0,0,0,0,0,0,14.86,14.85,14.78
$IRIDIUM_FIX,2239.35,12120.68,270513,000004
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.63
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,24.40
$XPDR_PINGS,9
$SC_FREEKB,3900800
$24V_AH,13.9,44.373
$10V_AH,13.9,0.000
$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,19.900,61.025,415.625,20.000,0.000,31.329,20.643,130.492,2.250,0.000,16.981,1103.052,3260.592,476.300,1138.460,96.042,0.000,1018.851,0.000,863.612,0.000,0.542,0.000
$DEVICE_MAMPS,398.565,122.400,1237.770,149.175,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5711.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.966,0.000,0.000,0.000
$MEM,322788
$DATA_FILE_SIZE,13501,361
$CAP_FILE_SIZE,84112,0
$CFSIZE,260034560,248213504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.380, 32.9,1
$GPS,270513,031959,2300.922,12127.863,39,1.3,45,-3.0