version: 66.11
glider: 181
mission: 11
dive: 104
start: 5 27 113 11 18 51
data:
$ID,181
$MISSION,11
$DIVE,104
$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,-95813.312
$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,33
$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
$GPS1,270513,111221,2307.495,12130.232,7,7.5,26,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.13
$_SM_ANGLEo,-69.0
$GPS2,270513,111821,2307.760,12130.355,13,8.4,32,-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,193.3,10888,-14.3,-10.000,-17.31,2952
$D_GRID,537
$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,17,begin dive
$GC,19,-0.91,-194.6,226,2440,908,918,0.0,0.0,0,107,0.00,0.00,-85.72,0.000,16386,0.000,0.000,225,2442,3110,3160,3061,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.91,-194.6,225,2442,3161,3061,4.0,-15.2,15,136,9.77,2.20,-7.20,0.000,18948,0.395,0.061,2399,1043,3551,3640,3463,0,0,0,0,0,0,14.56,14.83,15.03
$GC,216,-0.91,-194.6,1536,1042,3636,3461,43.7,-27.8,28,223,0.00,2.28,0.00,0.000,1030,0.000,0.060,2391,2446,3552,3640,3464,0,0,0,0,0,0,28.83,14.83,28.83
$GC,523,-0.91,-194.6,2391,2448,3642,3464,112.1,-17.4,45,528,0.00,2.17,0.00,0.000,516,0.000,0.049,2391,1061,3554,3644,3464,0,0,0,0,0,0,28.83,14.92,28.83
$GC,565,-0.91,-194.6,2390,1060,3643,3465,121.2,-20.5,47,570,0.00,2.25,0.00,0.000,1030,0.000,0.060,2381,2461,3554,3643,3466,0,0,0,0,0,0,28.83,14.91,28.83
$GC,887,-0.91,-194.6,2381,2462,3643,3466,189.6,-21.4,63,892,0.00,2.12,0.00,0.000,260,0.000,0.077,2371,3780,3555,3643,3467,0,0,0,0,0,0,28.83,14.90,28.83
$GC,909,-0.91,-194.6,2371,3780,3644,3467,194.7,-22.3,64,915,0.15,2.00,0.00,0.000,3078,0.273,0.037,2404,2445,3553,3639,3467,0,0,0,0,0,0,14.79,15.00,28.83
$GC,1233,-0.91,-194.6,2404,2441,3645,3467,263.2,-19.7,80,1238,0.00,2.15,0.00,0.000,516,0.000,0.046,2404,1053,3556,3645,3467,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1284,-0.91,-194.6,2404,1053,3645,3466,270.7,-18.1,82,1289,0.00,2.25,0.00,0.000,1030,0.000,0.060,2397,2456,3555,3644,3466,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1596,-0.91,-194.6,2397,2457,3645,3463,332.1,-19.7,98,1603,0.00,2.15,0.00,0.000,260,0.000,0.082,2387,3780,3553,3645,3462,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1694,-0.91,-194.6,2387,3780,3644,3462,348.3,-19.3,102,1701,0.00,2.00,0.00,0.000,1030,0.000,0.038,2387,2446,3553,3644,3462,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2000,-0.91,-194.6,2386,2444,3645,3460,409.0,-19.1,118,2005,0.00,2.17,0.00,0.000,260,0.000,0.083,2377,3776,3552,3645,3459,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2032,-0.91,-194.6,2377,3777,3646,3458,413.6,-19.8,119,2038,0.12,2.00,0.00,0.000,3078,0.269,0.039,2404,2447,3551,3645,3458,0,0,0,0,0,0,14.83,15.02,28.83
$GC,2345,-0.91,-194.6,2404,2442,3645,3455,469.2,-16.1,135,2350,0.00,2.15,0.00,0.000,516,0.000,0.049,2404,1062,3549,3645,3454,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2396,-0.91,-194.6,2404,1061,3645,3454,475.9,-15.9,137,2402,0.00,2.22,0.00,0.000,1030,0.000,0.060,2397,2449,3549,3644,3454,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2709,-0.91,-194.6,2397,2450,3644,3451,526.4,-15.4,153,2715,0.00,2.20,0.00,0.000,516,0.000,0.052,2397,1063,3547,3644,3451,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2756,-0.91,-194.6,1552,1062,3639,3447,532.9,-15.2,155,2761,0.00,2.25,0.00,0.000,1030,0.000,0.063,2388,2450,3546,3643,3450,0,0,0,0,0,0,28.83,14.96,28.83
$STATE,2791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2791,begin apogee
$GC,2796,-0.25,0.0,2388,2344,3643,3449,539.2,-15.3,157,2973,0.75,0.00,169.10,1.269,10246,0.215,0.000,2610,2343,2750,2784,2717,0,0,0,0,0,0,14.81,28.83,13.91
$STATE,2975,end apogee,CONTROL_FINISHED_OK
$STATE,2975,begin climb
$GC,2977,0.91,194.6,2610,2343,2783,2715,547.5,0.0,166,3160,1.15,2.28,171.90,1.242,10756,0.124,0.053,2999,970,1957,1991,1923,0,0,0,0,0,0,14.38,14.35,13.87
$GC,3221,0.91,194.6,2048,970,1950,1902,515.4,18.4,178,3227,0.00,2.30,0.00,0.000,1030,0.000,0.057,3000,2356,1950,1989,1911,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3539,0.91,194.6,3000,2357,1989,1902,448.1,21.1,194,3545,0.00,2.33,0.00,0.000,260,0.000,0.084,2999,3757,1945,1989,1902,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3576,0.91,194.6,3000,3754,1989,1902,443.2,20.9,195,3583,0.00,2.15,0.00,0.000,1030,0.000,0.040,3009,2364,1945,1989,1902,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3882,0.91,194.6,3010,2360,1989,1897,376.0,20.6,211,3887,0.00,2.22,0.00,0.000,516,0.000,0.051,3020,959,1943,1989,1897,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3908,0.91,194.6,3020,959,1989,1898,371.6,20.4,212,3914,0.00,2.25,0.00,0.000,1030,0.000,0.056,3020,2359,1943,1989,1897,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4226,0.91,194.6,3020,2359,1989,1894,305.7,21.1,228,4232,0.00,2.22,0.00,0.000,516,0.000,0.050,3030,961,1941,1989,1894,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4249,0.91,194.6,3030,961,1989,1894,301.1,20.9,229,4255,0.15,2.25,0.00,0.000,5126,0.275,0.059,2997,2350,1941,1988,1894,0,0,0,0,0,0,14.78,14.92,28.83
$GC,4572,0.91,194.6,2997,2349,1989,1892,247.9,15.6,245,4574,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2350,1941,1990,1892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4873,0.91,194.6,2997,2350,1988,1890,194.7,19.3,260,4874,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2350,1939,1988,1890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5173,0.91,194.6,2997,2350,1989,1889,144.9,15.4,275,5178,0.00,2.30,0.00,0.000,260,0.000,0.086,2997,3753,1938,1987,1889,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5325,0.91,194.6,2996,3753,1988,1890,119.3,18.8,282,5330,0.00,2.15,0.00,0.000,1030,0.000,0.041,3009,2354,1938,1988,1889,0,0,0,0,0,0,28.83,14.99,28.83
$GC,5637,0.93,211.9,3005,2345,1988,1888,69.9,9.4,298,5652,0.00,2.25,6.00,0.324,8708,0.000,0.050,3015,955,1892,1935,1849,0,0,0,0,0,0,28.83,14.94,14.68
$GC,5880,1.04,325.8,3015,954,1939,1854,43.2,6.0,315,5942,0.00,2.25,54.62,0.268,9222,0.000,0.053,3015,2360,1423,1456,1390,0,0,0,0,0,0,28.83,14.90,14.69
$GC,6241,1.05,331.8,3015,2360,1464,1389,4.6,9.8,368,6249,0.00,2.35,2.78,0.182,8452,0.000,0.081,3015,3752,1400,1441,1359,0,0,0,0,0,0,28.83,14.84,14.79
$STATE,6260,end climb,SURFACE_DEPTH_REACHED
$STATE,6260,begin surface coast
$FINISH,-0.6,1.021289
$STATE,6291,end surface coast,CONTROL_FINISHED_OK
$STATE,6291,begin surface
$SM_CCo,6309,53.38,0.149,0,0,915,450.13
$SM_GC,-0.40,7.60,2.08,53.38,0.057,0.043,0.149,230,2458,915,-7.63,1.61,450.13,0,0,0,0,0,0,14.90,14.91,14.76
$IRIDIUM_FIX,2302.75,12157.34,270513,101042
$TT8_MAMPS,0.019474,0.019474
$HUMID,48.81
$INTERNAL_PRESSURE,9.71717
$TCM_TEMP,23.90
$XPDR_PINGS,14
$SC_FREEKB,3898112
$24V_AH,13.9,45.415
$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,19.700,66.050,404.400,53.375,0.000,31.274,26.733,134.082,3.500,0.000,36.384,1151.120,3795.786,501.948,1190.826,107.152,0.000,1057.794,0.000,885.102,0.000,0.542,0.000
$DEVICE_MAMPS,394.740,123.165,1269.135,149.175,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6311.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.186,0.000,0.000,0.000
$MEM,322856
$DATA_FILE_SIZE,13434,377
$CAP_FILE_SIZE,88254,0
$CFSIZE,260034560,247812096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.242, 39.6,1
$GPS,270513,130606,2307.535,12130.649,29,1.0,29,-3.0