version: 66.11
glider: 181
mission: 11
dive: 726
start: 10 22 113 16 47 37
data:
$ID,181
$MISSION,11
$DIVE,726
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,270
$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,90
$T_MISSION,110
$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,120
$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,0.0028798201
$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,475
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,4096
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-99443.984
$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,2670
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.9
$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,2
$C_ROLL_DIVE,1100
$C_ROLL_CLIMB,1100
$HEAD_ERRBAND,359
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,73
$R_STBD_OVSHOOT,77
$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,10
$MINV_10V,10
$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,0
$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
$GPS1,221013,163837,1741.043,12808.323,31,1.1,31,-1.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.17
$_SM_ANGLEo,-67.0
$GPS2,221013,164643,1740.958,12808.334,12,1.8,12,-1.9
$SPEED_LIMITS,0.173,0.183
$TGT_NAME,HOLDING
$TGT_LATLONG,2204.000,12024.000
$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,284.8,934052,-19.9,-10.000,-28.63,2970
$D_GRID,1000
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,18,-1.23,-116.8,212,1145,1005,1017,0.0,0.0,0,112,0.00,0.00,-88.78,0.000,16390,0.000,0.000,212,1145,3413,3479,3347,0,0,0,0,0,0,28.83,28.83,14.78
$GC,117,-1.23,-116.8,212,1145,3479,3347,0.0,0.0,0,129,10.00,0.00,0.00,0.000,2054,0.389,0.000,2267,1144,3413,3479,3348,0,0,0,0,0,0,13.97,28.83,28.83
$GC,420,-1.23,-116.8,2267,1144,3481,3347,81.1,-23.1,4,421,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,1144,3414,3481,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,721,-1.23,-116.8,2267,1144,3482,3347,132.9,-17.7,7,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,1144,3414,3482,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1021,-1.23,-116.8,2267,1144,3484,3347,182.1,-16.7,10,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,1144,3416,3484,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1321,-1.23,-116.8,2267,1144,3485,3347,224.3,-14.3,13,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,1145,3416,3485,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1622,-1.23,-116.8,2267,1144,3484,3347,269.5,-15.0,16,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,1145,3415,3484,3347,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1717,begin apogee
$GC,1725,-0.25,0.0,2267,1144,3484,3347,283.6,-14.9,17,1829,1.15,0.00,99.25,0.940,10246,0.220,0.000,2579,1146,2937,2990,2885,0,0,0,0,0,0,13.85,28.83,13.55
$STATE,1830,end apogee,CONTROL_FINISHED_OK
$STATE,1830,begin climb
$GC,1834,1.23,116.8,2579,1145,2985,2881,289.9,0.0,18,1942,1.42,0.00,102.93,0.933,10246,0.106,0.000,3060,1148,2461,2489,2433,0,0,0,0,0,0,14.31,28.83,13.50
$GC,2224,1.23,116.8,3061,1148,2483,2416,272.8,6.5,22,2225,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1148,2449,2483,2416,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2521,1.51,256.9,3061,1148,2482,2413,258.3,5.2,25,2646,0.28,0.00,121.80,0.897,10246,0.072,0.000,3185,1148,1889,1915,1863,0,0,0,0,0,0,14.64,28.83,13.59
$GC,2922,1.51,256.9,3185,1148,1911,1842,206.8,13.2,29,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1148,1876,1911,1842,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3221,1.51,256.9,3185,1148,1911,1837,165.6,13.8,32,3222,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1148,1874,1911,1837,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3521,1.51,256.9,3185,1148,1911,1834,130.6,12.3,35,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1148,1873,1911,1835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3821,1.52,260.0,3185,1148,1911,1832,100.6,9.9,38,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,3185,1148,1871,1911,1832,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4121,1.57,284.0,3185,1148,1911,1829,74.8,9.2,41,4135,0.00,0.00,12.50,0.321,8198,0.000,0.000,3184,1148,1780,1816,1744,0,0,0,0,0,0,28.83,28.83,13.92
$GC,4423,1.70,349.0,3185,1148,1824,1761,51.2,7.8,44,4461,0.00,0.00,35.95,0.268,8198,0.000,0.000,3185,1148,1515,1545,1485,0,0,0,0,0,0,28.83,28.83,14.15
$GC,4721,1.70,349.0,3185,1148,1561,1497,17.6,10.4,47,4724,0.00,0.00,1.55,0.177,8198,0.000,0.000,3185,1148,1513,1548,1479,0,0,0,0,0,0,28.83,28.83,14.05
$STATE,4917,end climb,SURFACE_DEPTH_REACHED
$STATE,4917,begin surface coast
$FINISH,-1.0,1.021315
$STATE,5018,end surface coast,CONTROL_FINISHED_OK
$STATE,5018,begin surface
$SM_CCo,5039,60.17,0.131,0,0,999,475.15
$SM_GC,-0.18,8.10,0.00,60.17,0.041,0.000,0.131,223,1150,999,-7.54,1.41,475.15,0,0,0,0,0,0,14.52,28.83,14.35
$IRIDIUM_FIX,1729.26,12820.87,221013,080810
$TT8_MAMPS,0.019474,0.019474
$HUMID,51.49
$INTERNAL_PRESSURE,9.87343
$TCM_TEMP,25.60
$XPDR_PINGS,2
$24V_AH,13.5,233.987
$10V_AH,12.5,0.000
$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,20.950,0.000,373.975,60.175,0.000,51.161,53.927,138.605,0.500,0.000,15.077,253.836,4275.042,468.385,408.140,181.721,0.000,635.990,0.000,168.413,0.000,0.543,0.000
$DEVICE_MAMPS,388.620,0.000,940.185,130.815,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,328732
$DATA_FILE_SIZE,181,50
$CAP_FILE_SIZE,29611,1
$CFSIZE,260034560,182112256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.262,174.7,1
$GPS,221013,181324,1740.237,12808.442,9,1.8,9,-1.9