version: 66.11
glider: 181
mission: 11
dive: 504
start: 8 6 113 15 2 32
data:
$ID,181
$MISSION,11
$DIVE,504
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$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,100
$T_MISSION,130
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0028798201
$HD_B,0.025745301
$HD_C,2.4475299e-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,612.7594
$N_FILEKB,4
$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,-97823.477
$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,1200
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$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,30
$C_ROLL_DIVE,2725
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2938
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,11
$MINV_10V,11
$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,48
$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
$GPS1,060813,145812,2125.348,12434.869,6,1.8,11,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-69.0
$GPS2,060813,150143,2125.306,12434.982,13,1.8,13,-2.9
$SPEED_LIMITS,0.231,0.241
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,281.1,60903,-21.7,-13.333,-28.96,3299
$D_GRID,5045
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.33,-194.6,243,2721,471,431,0.0,0.0,0,123,0.00,0.00,-97.90,0.000,16386,0.000,0.000,243,2723,2965,3010,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-1.33,-194.6,243,2723,3010,2922,3.0,-10.0,18,155,2.35,1.62,-15.45,0.000,18948,0.372,0.055,767,1644,3732,3778,3687,0,0,0,0,0,0,14.00,14.73,14.91
$GC,221,-1.33,-194.6,767,1644,3778,3689,45.5,-47.4,30,226,0.00,1.75,0.00,0.000,1030,0.000,0.043,761,2748,3733,3778,3689,0,0,0,0,0,0,28.83,14.62,28.83
$GC,414,-1.33,-194.6,761,2748,3778,3689,127.9,-40.5,40,419,0.00,1.65,0.00,0.000,516,0.000,0.027,761,1646,3733,3778,3689,0,0,0,0,0,0,28.83,14.74,28.83
$GC,448,-1.33,-194.6,761,1646,3778,3689,137.2,-39.7,41,453,0.00,1.73,0.00,0.000,1030,0.000,0.044,755,2734,3733,3778,3688,0,0,0,0,0,0,28.83,14.70,28.83
$GC,641,-1.33,-194.6,755,2735,3778,3689,211.2,-35.5,51,642,0.00,0.00,0.00,0.000,6,0.000,0.000,755,2735,3733,3778,3689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,822,-1.33,-194.6,755,2735,3778,3688,271.6,-32.5,60,827,0.00,1.65,0.00,0.000,516,0.000,0.026,756,1634,3733,3778,3688,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1055,-1.33,-194.6,756,1635,3778,3689,343.1,-32.0,71,1060,0.00,1.73,0.00,0.000,1030,0.000,0.041,750,2735,3733,3778,3688,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,1226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1226,begin apogee
$GC,1234,-0.22,0.0,750,2068,3778,3688,402.7,-32.8,80,1432,1.73,0.00,190.73,0.988,10246,0.381,0.000,1117,2061,2936,2931,2941,0,0,0,0,0,0,13.95,28.83,13.72
$STATE,1434,end apogee,CONTROL_FINISHED_OK
$STATE,1434,begin climb
$GC,1437,1.33,194.6,1117,2061,2929,2939,453.2,0.0,90,1603,2.33,1.75,156.88,1.112,11012,0.389,0.041,1610,3146,2141,2134,2148,0,0,0,0,0,0,14.11,14.40,13.69
$GC,1612,1.33,194.6,1610,3147,2136,2140,439.5,20.6,99,1617,0.00,1.62,0.00,0.000,1030,0.000,0.037,1615,2113,2137,2134,2140,0,0,0,0,0,0,28.83,14.47,28.83
$GC,1816,1.33,194.6,1615,2108,2139,2121,396.5,21.1,109,1821,0.00,1.67,0.00,0.000,260,0.000,0.052,1609,3143,2132,2142,2123,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1869,1.33,194.6,1609,3143,2141,2124,387.2,20.9,111,1874,0.00,1.58,0.00,0.000,1030,0.000,0.031,1609,2093,2132,2141,2123,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2063,1.33,194.6,1609,2090,2137,2128,347.7,18.9,121,2068,0.00,1.67,0.00,0.000,260,0.000,0.044,1600,3146,2130,2137,2123,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2080,1.33,194.6,1600,3146,2137,2123,347.7,18.9,121,2087,0.00,1.60,0.00,0.000,1030,0.000,0.031,1602,2088,2130,2139,2121,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2267,1.33,194.6,1603,2084,2136,2119,309.5,18.4,131,2273,0.00,1.73,0.00,0.000,260,0.000,0.055,1596,3129,2127,2137,2118,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2503,1.33,194.6,1596,3129,2135,2118,267.4,19.0,142,2508,0.00,1.60,0.00,0.000,1030,0.000,0.034,1596,2102,2126,2135,2118,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2697,1.33,194.6,1597,2098,2135,2117,232.8,17.1,152,2702,0.00,1.67,0.00,0.000,260,0.000,0.047,1589,3150,2126,2135,2117,0,0,0,0,0,0,28.83,14.77,28.83
$GC,2932,1.33,194.6,1588,3150,2134,2118,195.0,15.8,163,2938,0.17,1.62,0.00,0.000,3078,0.415,0.035,1616,2082,2124,2134,2115,0,0,0,0,0,0,14.09,14.79,28.83
$GC,3129,1.33,194.6,1616,2081,2134,2113,165.0,13.7,173,3135,0.00,1.62,0.00,0.000,516,0.000,0.043,1623,1074,2123,2134,2113,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3269,1.33,194.6,1623,1074,2128,2112,147.0,14.0,179,3275,0.00,1.62,0.00,0.000,1030,0.000,0.041,1617,2107,2123,2134,2112,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3456,1.46,261.1,1618,2107,2134,2111,122.4,11.3,189,3499,0.20,1.67,35.58,0.500,10756,0.415,0.039,1657,1039,1877,1874,1880,0,0,0,0,0,0,14.06,14.78,14.24
$GC,3581,1.46,261.1,1044,1039,1843,1870,103.5,16.8,195,3587,0.00,1.67,0.00,0.000,1030,0.000,0.045,1652,2093,1878,1879,1878,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3781,1.57,312.5,1653,2094,1879,1874,77.1,11.7,205,3813,0.17,0.00,28.45,0.351,10502,0.401,0.000,1686,2094,1664,1667,1661,0,0,0,0,0,0,14.08,28.83,14.31
$GC,3985,1.57,312.5,1686,2094,1673,1665,48.9,13.7,215,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,1686,2094,1669,1672,1666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4174,1.57,312.5,1686,2094,1673,1663,20.7,14.2,236,4180,0.00,1.62,0.00,0.000,516,0.000,0.043,1692,1074,1667,1673,1662,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,4287,end climb,SURFACE_DEPTH_REACHED
$STATE,4287,begin surface coast
$FINISH,0.7,1.021392
$STATE,4303,end surface coast,CONTROL_FINISHED_OK
$STATE,4303,begin surface
$SM_CCo,4322,138.00,0.132,0,0,438,612.76
$SM_GC,-0.45,4.05,2.72,138.00,0.073,0.047,0.132,240,2718,438,-2.94,-1.36,612.76,0,0,0,0,0,0,14.66,14.72,14.52
$IRIDIUM_FIX,2108.69,12315.10,060813,141420
$TT8_MAMPS,0.018725,0.018725
$HUMID,51.41
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,23.50
$XPDR_PINGS,1
$SC_FREEKB,3732128
$24V_AH,13.7,170.548
$10V_AH,12.7,0.000
$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,11.000,38.575,411.625,138.000,0.000,0.000,0.000,0.000,0.250,0.000,16.259,853.040,2229.851,566.481,783.884,133.586,0.000,1052.632,0.000,743.064,0.000,0.543,0.000
$DEVICE_MAMPS,415.395,55.080,1112.310,131.580,0.000,0.000,0.000,0.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4278.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.679,0.000,0.000,0.000
$MEM,328564
$DATA_FILE_SIZE,10142,261
$CAP_FILE_SIZE,85552,1
$CFSIZE,260034560,202788864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060813,161749,2125.130,12435.902,7,1.8,7,-2.9