version: 66.11
glider: 181
mission: 11
dive: 5
start: 5 17 113 11 57 8
data:
$ID,181
$MISSION,11
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,240
$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,500
$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,-95678.516
$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,2760
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2325
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,28
$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
$GPS1,170513,114603,2204.898,12024.155,12,3.0,31,-2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-70.0
$GPS2,170513,115637,2204.738,12024.315,14,1.6,14,-2.7
$SPEED_LIMITS,0.173,0.321
$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,203.3,1470,-27.9,-10.000,-30.00,792
$D_GRID,736
$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,-1.17,-51.7,222,2312,725,711,0.0,0.0,0,105,0.00,0.00,-83.90,0.000,16386,0.000,0.000,220,2311,2823,2883,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-1.19,-68.4,220,2311,2883,2766,3.1,-7.8,14,128,10.10,2.40,-4.25,0.000,18692,0.418,0.097,2362,3737,3033,3117,2949,0,0,0,0,0,0,14.48,14.73,14.95
$GC,310,-1.03,-68.4,2362,3737,3118,2952,56.8,-22.7,39,317,0.25,2.20,0.00,0.000,3078,0.282,0.043,2421,2326,3035,3118,2952,0,0,0,0,0,0,14.61,14.83,28.83
$GC,629,-1.09,-68.4,2421,2320,3119,2952,106.1,-14.7,55,634,0.00,2.33,0.00,0.000,260,0.000,0.082,2412,3743,3036,3120,2953,0,0,0,0,0,0,28.83,14.86,28.83
$GC,852,-1.13,-68.4,2412,3743,3120,2953,139.5,-13.3,66,857,0.00,2.17,0.00,0.000,1030,0.000,0.038,2412,2312,3036,3120,2953,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1175,-1.20,-68.4,2412,2307,3120,2953,176.4,-10.8,82,1177,0.12,0.00,0.00,0.000,4102,0.135,0.000,2352,2307,3036,3120,2953,0,0,0,0,0,0,14.97,28.83,28.83
$GC,1474,-1.17,-68.4,2352,2307,3121,2953,215.3,-13.6,97,1481,0.12,2.15,0.00,0.000,2564,0.288,0.049,2382,930,3036,3120,2953,0,0,0,0,0,0,14.76,14.95,28.83
$GC,1687,-1.22,-68.4,2383,930,3120,2953,239.4,-11.3,107,1693,0.00,2.25,0.00,0.000,1030,0.000,0.063,2375,2334,3036,3120,2953,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2000,-1.25,-68.4,2375,2335,3120,2953,271.3,-10.5,123,2005,0.00,2.22,0.00,0.000,516,0.000,0.055,2375,927,3036,3120,2953,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2191,-1.25,-68.4,2375,927,3120,2952,290.5,-10.1,132,2196,0.00,2.25,0.00,0.000,1030,0.000,0.061,2365,2332,3035,3119,2952,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2504,-1.26,-71.1,2365,2332,3120,2949,322.1,-9.7,148,2506,0.00,0.00,-0.08,0.000,16390,0.000,0.000,2365,2332,3051,3137,2966,0,0,0,0,0,0,28.83,28.83,14.59
$GC,2804,-1.26,-71.7,2365,2332,3137,2965,351.0,-9.9,163,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2332,3051,3137,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3104,-1.26,-71.7,2365,2332,3137,2962,386.1,-12.1,178,3110,0.00,2.30,0.00,0.000,260,0.000,0.090,2354,3740,3049,3137,2962,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3177,-1.26,-71.7,2354,3740,3136,2962,393.2,-11.4,181,3182,0.00,2.17,0.00,0.000,1030,0.000,0.045,2355,2319,3049,3136,2962,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3489,-1.27,-88.7,2354,2317,3135,2960,420.9,-7.8,197,3491,0.00,0.00,-0.30,0.000,16390,0.000,0.000,2354,2317,3128,3216,3040,0,0,0,0,0,0,28.83,28.83,15.12
$GC,3789,-1.30,-88.7,2354,2317,3216,3041,452.6,-10.6,212,3795,0.00,2.35,0.00,0.000,260,0.000,0.093,2343,3733,3128,3216,3041,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3861,-1.30,-88.7,2343,3733,3215,3040,459.4,-10.5,215,3867,0.00,2.17,0.00,0.000,1030,0.000,0.048,2343,2322,3128,3215,3041,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4174,-1.30,-88.7,2343,2320,3214,3040,492.8,-10.2,231,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2320,3127,3215,3040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4474,-1.30,-88.7,2343,2320,3213,3038,526.9,-11.6,246,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2320,3125,3213,3038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4774,-1.30,-88.7,2343,2320,3211,3036,555.1,-10.0,261,4779,0.00,2.22,0.00,0.000,516,0.000,0.063,2343,928,3123,3211,3035,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4846,-1.30,-88.7,2343,927,3210,3036,561.9,-10.7,264,4851,0.00,2.28,0.00,0.000,1030,0.000,0.070,2333,2319,3123,3210,3036,0,0,0,0,0,0,28.83,14.93,28.83
$GC,5158,-1.30,-88.7,2333,2319,3209,3034,595.3,-10.5,280,5163,0.00,2.35,0.00,0.000,260,0.000,0.101,2322,3736,3121,3208,3034,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5276,-1.24,-88.7,2322,3736,3207,3034,606.9,-12.6,284,5283,0.15,2.20,0.00,0.000,3078,0.303,0.053,2354,2326,3120,3207,3033,0,0,0,0,0,0,14.70,14.98,28.83
$GC,5582,-1.29,-89.0,2354,2326,3206,3031,641.0,-10.0,295,5588,0.00,2.25,0.00,0.000,516,0.000,0.065,2354,922,3119,3207,3031,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5715,-1.36,-91.7,2354,922,3205,3031,653.0,-9.6,299,5720,0.00,2.30,0.00,0.000,1030,0.000,0.073,2346,2325,3118,3205,3031,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,5796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5796,begin apogee
$GC,5799,-0.20,0.0,2346,2325,3205,3030,662.5,-10.1,302,5892,1.23,0.00,86.18,1.436,10246,0.260,0.000,2686,2326,2752,2816,2688,0,0,0,0,0,0,14.69,28.83,13.80
$STATE,5894,end apogee,CONTROL_FINISHED_OK
$STATE,5895,begin climb
$GC,5896,1.21,91.7,2686,2325,2813,2686,663.5,0.0,305,5996,1.27,2.47,89.10,1.414,10756,0.064,0.060,3166,903,2374,2397,2351,0,0,0,0,0,0,14.47,14.26,13.66
$GC,6043,0.92,91.7,2272,902,2347,2335,638.3,19.3,310,6050,0.45,2.35,0.00,0.000,5126,0.327,0.065,3062,2302,2369,2393,2345,0,0,0,0,0,0,14.31,14.47,28.83
$GC,6363,0.81,91.7,3063,2302,2393,2334,569.2,21.0,323,6369,0.12,2.38,0.00,0.000,4356,0.335,0.091,3030,3717,2363,2393,2334,0,0,0,0,0,0,14.59,14.73,28.83
$GC,6440,0.68,91.7,3029,3717,2393,2334,555.0,22.0,326,6449,0.25,2.22,0.00,0.000,5126,0.317,0.046,2982,2293,2362,2392,2333,0,0,0,0,0,0,14.59,14.82,28.83
$GC,6746,0.73,91.7,2982,2289,2392,2327,499.8,16.5,342,6747,0.00,0.00,0.00,0.000,6,0.000,0.000,2982,2289,2359,2392,2327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7047,0.78,91.7,2982,2289,2399,2326,450.7,15.3,357,7052,0.00,2.40,0.00,0.000,260,0.000,0.095,2982,3713,2359,2392,2326,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7113,0.78,91.7,2983,3713,2392,2326,440.4,16.0,360,7119,0.00,2.20,0.00,0.000,1030,0.000,0.047,2990,2295,2359,2392,2326,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7431,0.82,91.7,2991,2290,2392,2323,391.3,14.9,376,7437,0.10,2.40,0.00,0.000,2308,0.169,0.094,3028,3720,2357,2392,2323,0,0,0,0,0,0,14.91,14.85,28.83
$GC,7449,0.86,91.7,3028,3720,2392,2323,391.3,14.9,376,7455,0.00,2.20,0.00,0.000,1030,0.000,0.046,3039,2300,2357,2392,2323,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7755,0.80,91.7,3039,2297,2391,2321,336.1,16.5,392,7760,0.00,2.38,0.00,0.000,260,0.000,0.093,3039,3715,2356,2392,2321,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7908,0.65,91.7,3039,3715,2392,2321,309.8,19.4,399,7914,0.32,2.20,0.00,0.000,5126,0.311,0.045,2973,2291,2356,2392,2320,0,0,0,0,0,0,14.68,14.95,28.83
$GC,8221,0.74,91.7,2973,2287,2392,2318,268.6,13.2,415,8227,0.00,2.20,0.00,0.000,516,0.000,0.058,2981,905,2355,2391,2319,0,0,0,0,0,0,28.83,14.91,28.83
$GC,8279,0.84,91.7,2981,905,2391,2318,262.8,13.4,417,8286,0.15,2.28,0.00,0.000,3078,0.137,0.063,3037,2309,2354,2391,2318,0,0,0,0,0,0,14.91,14.90,28.83
$GC,8585,0.80,91.7,3037,2310,2391,2318,213.2,14.8,433,8590,0.00,2.25,0.00,0.000,516,0.000,0.055,3047,906,2354,2391,2318,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8661,0.80,91.7,3047,904,2391,2317,204.0,14.9,436,8668,0.00,2.25,0.00,0.000,1030,0.000,0.060,3047,2302,2354,2391,2318,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8967,0.74,91.7,3047,2303,2391,2317,164.2,12.5,452,8973,0.17,2.33,0.00,0.000,4356,0.308,0.090,3004,3708,2354,2392,2317,0,0,0,0,0,0,14.63,14.86,28.83
$GC,9085,0.71,91.7,3004,3708,2391,2317,150.0,13.6,457,9092,0.00,2.17,0.00,0.000,1030,0.000,0.045,3012,2293,2354,2391,2317,0,0,0,0,0,0,28.83,14.95,28.83
$GC,9391,0.74,93.3,3012,2292,2391,2316,114.8,9.8,473,9396,0.00,2.38,0.00,0.000,260,0.000,0.093,3012,3713,2354,2391,2317,0,0,0,0,0,0,28.83,14.86,28.83
$GC,9503,0.69,95.0,3012,3712,2391,2316,104.7,9.8,478,9510,0.17,2.17,0.00,0.000,5126,0.319,0.043,2985,2293,2353,2391,2316,0,0,0,0,0,0,14.67,14.95,28.83
$GC,9817,0.81,106.2,2986,2287,2391,2316,75.9,8.5,494,9829,0.12,2.17,4.47,0.308,10756,0.144,0.054,3048,910,2320,2355,2285,0,0,0,0,0,0,14.85,14.92,14.61
$GC,9911,0.85,113.7,3048,910,2360,2297,68.3,9.0,498,9922,0.00,2.25,5.35,0.313,9222,0.000,0.056,3048,2315,2290,2324,2256,0,0,0,0,0,0,28.83,14.88,14.65
$GC,10222,0.90,162.3,3048,2315,2329,2268,41.8,3.7,520,10253,0.00,2.30,25.25,0.265,8708,0.000,0.050,3057,907,2091,2120,2062,0,0,0,0,0,0,28.83,14.86,14.67
$GC,10481,1.03,175.9,2096,908,2080,2056,17.6,8.2,553,10494,0.00,2.25,7.38,0.198,9222,0.000,0.057,3058,2308,2036,2068,2005,0,0,0,0,0,0,28.83,14.83,14.73
$GC,10797,1.23,242.6,2080,2307,2028,1996,8.5,1.4,615,10834,0.25,0.00,31.33,0.168,10246,0.104,0.000,3163,2309,1763,1795,1731,0,0,0,0,0,0,14.82,28.83,14.73
$STATE,10890,end climb,SURFACE_DEPTH_REACHED
$STATE,10891,begin surface coast
$FINISH,-0.2,1.020773
$STATE,10927,end surface coast,CONTROL_FINISHED_OK
$STATE,10927,begin surface
$SM_CCo,10942,113.25,0.146,0,0,713,500.17
$SM_GC,0.41,8.18,0.00,113.25,0.076,0.000,0.146,238,2309,713,-7.81,-0.45,500.17,0,0,0,0,0,0,14.85,28.83,14.70
$IRIDIUM_FIX,2209.02,12015.89,170513,111154
$TT8_MAMPS,0.019474,0.019474
$HUMID,45.55
$INTERNAL_PRESSURE,9.69764
$TCM_TEMP,24.90
$XPDR_PINGS,0
$SC_FREEKB,3936256
$24V_AH,13.7,25.509
$10V_AH,13.7,0.000
$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,23.550,90.775,249.050,113.250,0.000,58.796,73.644,250.942,0.000,0.000,17.910,2121.068,6937.666,494.019,2034.932,113.809,0.000,1303.786,0.000,1507.431,0.000,0.541,0.000
$DEVICE_MAMPS,417.690,100.980,1435.905,146.115,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10973.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.624,0.000,0.000,0.000
$MEM,323428
$DATA_FILE_SIZE,23384,639
$CAP_FILE_SIZE,147623,0
$CFSIZE,260034560,255414272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035, 34.6,1
$GPS,170513,150235,2203.894,12024.056,30,0.8,30,-2.7