version: 66.11
glider: 181
mission: 11
dive: 101
start: 5 27 113 7 13 30
data:
$ID,181
$MISSION,11
$DIVE,101
$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,-95809.469
$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,42
$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
$GPS1,270513,070718,2304.665,12128.521,8,1.1,13,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.06
$_SM_ANGLEo,-70.3
$GPS2,270513,071301,2304.981,12128.622,14,1.4,14,-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,199.6,5387,-14.3,-10.000,-17.31,2952
$D_GRID,471
$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,-194.6,226,2464,912,919,0.0,0.0,0,103,0.00,0.00,-81.75,0.000,16386,0.000,0.000,226,2461,2968,3012,2925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.91,-194.6,225,2465,3012,2926,3.6,-12.3,14,132,9.93,2.17,-9.82,0.000,18948,0.402,0.057,2399,1050,3548,3640,3457,0,0,0,0,0,0,14.54,14.83,15.02
$GC,214,-0.91,-194.6,2399,1050,3640,3460,42.5,-24.2,28,220,0.00,2.22,0.00,0.000,1030,0.000,0.056,2391,2441,3550,3640,3460,0,0,0,0,0,0,28.83,14.82,28.83
$GC,537,-0.91,-194.6,2391,2442,3641,3463,111.3,-17.1,46,538,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2442,3551,3641,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,838,-0.91,-194.6,2391,2442,3643,3463,174.1,-21.4,61,843,0.00,2.15,0.00,0.000,260,0.000,0.076,2381,3779,3553,3643,3463,0,0,0,0,0,0,28.83,14.93,28.83
$GC,864,-0.91,-194.6,1504,3779,3639,3460,179.5,-21.2,62,870,0.00,2.00,0.00,0.000,1030,0.000,0.036,2381,2444,3550,3638,3463,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1182,-0.91,-194.6,2381,2439,3644,3463,245.9,-20.5,78,1187,0.00,2.12,0.00,0.000,516,0.000,0.045,2381,1058,3553,3644,3463,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1204,-0.91,-194.6,2381,1057,3644,3463,250.6,-20.6,79,1210,0.15,2.22,0.00,0.000,3078,0.252,0.058,2406,2450,3553,3644,3463,0,0,0,0,0,0,14.85,14.97,28.83
$GC,1527,-0.91,-194.6,2407,2450,3644,3461,309.0,-18.5,95,1532,0.00,2.15,0.00,0.000,260,0.000,0.080,2399,3782,3552,3644,3461,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1619,-0.91,-194.6,2399,3783,3644,3460,322.8,-16.9,99,1625,0.00,2.00,0.00,0.000,1030,0.000,0.037,2399,2447,3552,3644,3460,0,0,0,0,0,0,28.83,15.03,28.83
$GC,1932,-0.91,-194.6,2399,2444,3645,3456,375.3,-15.3,115,1937,0.00,2.17,0.00,0.000,260,0.000,0.083,2389,3775,3550,3644,3456,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1950,-0.91,-194.6,2390,3776,3644,3456,375.3,-15.3,115,1957,0.00,2.00,0.00,0.000,1030,0.000,0.037,2389,2441,3549,3643,3456,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2255,-0.91,-194.6,2389,2439,3644,3452,421.0,-13.2,131,2261,0.00,2.12,0.00,0.000,516,0.000,0.047,2389,1070,3547,3644,3451,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2278,-0.91,-194.6,2389,1069,3644,3451,424.0,-13.3,132,2284,0.00,2.22,0.00,0.000,1030,0.000,0.060,2379,2450,3547,3644,3451,0,0,0,0,0,0,28.83,14.97,28.83
$STATE,2600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2600,begin apogee
$GC,2605,-0.25,0.0,2379,2338,3641,3448,471.9,-15.8,148,2767,0.80,0.00,152.23,1.256,10246,0.221,0.000,2614,2338,2751,2785,2718,0,0,0,0,0,0,14.82,28.83,13.94
$STATE,2768,end apogee,CONTROL_FINISHED_OK
$STATE,2768,begin climb
$GC,2770,0.91,194.6,2614,2338,2785,2717,477.8,0.0,156,2936,1.12,2.22,157.15,1.222,10756,0.123,0.048,2996,981,1954,1988,1920,0,0,0,0,0,0,14.41,14.35,13.88
$GC,2964,0.91,194.6,2995,980,1987,1911,453.5,16.8,166,2969,0.00,2.30,0.00,0.000,1030,0.000,0.057,2996,2359,1949,1987,1911,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3286,0.91,194.6,2996,2359,1987,1898,392.1,18.2,182,3287,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2359,1943,1988,1898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3587,0.91,194.6,2996,2359,1986,1895,336.0,18.8,197,3588,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2359,1940,1987,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3887,0.91,194.6,2996,2359,1987,1892,281.8,17.7,212,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2359,1939,1987,1891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4188,0.91,194.6,2996,2359,1986,1889,227.4,18.0,227,4193,0.00,2.30,0.00,0.000,260,0.000,0.086,2996,3753,1936,1983,1889,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4234,0.91,194.6,2080,3753,1949,1880,218.3,19.6,229,4239,0.00,2.12,0.00,0.000,1030,0.000,0.039,3005,2365,1937,1986,1889,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4551,0.91,194.6,3006,2361,1985,1886,155.1,19.4,245,4557,0.00,2.22,0.00,0.000,516,0.000,0.052,3016,954,1935,1984,1886,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4634,0.91,194.6,3017,953,1984,1886,138.7,19.9,249,4640,0.00,2.25,0.00,0.000,1030,0.000,0.060,3016,2351,1934,1984,1885,0,0,0,0,0,0,28.83,14.93,28.83
$GC,4957,0.91,194.6,3015,2352,1984,1883,74.4,23.9,265,4963,0.00,2.22,0.00,0.000,516,0.000,0.050,3026,956,1933,1984,1883,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5029,0.91,194.6,3022,956,1984,1883,67.6,13.0,268,5036,0.15,2.25,0.00,0.000,5126,0.259,0.054,2991,2358,1933,1984,1883,0,0,0,0,0,0,14.77,14.94,28.83
$GC,5344,0.95,236.6,2992,2358,1984,1881,43.3,8.5,287,5369,0.00,2.35,17.15,0.270,8452,0.000,0.083,2992,3750,1787,1828,1747,0,0,0,0,0,0,28.83,14.87,14.73
$GC,5598,0.99,273.6,2992,3750,1830,1754,22.2,8.7,315,5623,0.00,2.15,18.42,0.214,9222,0.000,0.037,3000,2331,1635,1676,1595,0,0,0,0,0,0,28.83,14.94,14.75
$STATE,5839,end climb,SURFACE_DEPTH_REACHED
$STATE,5839,begin surface coast
$FINISH,0.4,1.021162
$STATE,5876,end surface coast,CONTROL_FINISHED_OK
$STATE,5876,begin surface
$SM_CCo,5892,78.82,0.148,0,0,917,450.13
$SM_GC,-0.11,7.80,0.20,78.82,0.087,0.099,0.148,238,2468,917,-7.62,-0.99,450.13,0,0,0,0,0,0,14.90,14.93,14.77
$IRIDIUM_FIX,2246.36,12211.23,270513,050509
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.91
$INTERNAL_PRESSURE,9.7367
$TCM_TEMP,24.40
$XPDR_PINGS,2
$SC_FREEKB,3899264
$24V_AH,13.9,44.972
$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,19.950,48.275,344.950,78.825,0.000,27.822,29.266,135.797,0.500,0.000,16.684,1062.934,3631.777,467.244,1078.060,95.978,0.000,957.297,0.000,795.008,0.000,0.541,0.000
$DEVICE_MAMPS,402.390,124.695,1256.130,148.410,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5901.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.890,0.000,0.000,0.000
$MEM,322764
$DATA_FILE_SIZE,13432,369
$CAP_FILE_SIZE,79914,0
$CFSIZE,260034560,247988224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.493, 23.5,1
$GPS,270513,085409,2305.655,12129.021,5,3.6,24,-3.0