version: 66.11
glider: 181
mission: 11
dive: 17
start: 5 19 113 0 34 24
data:
$ID,181
$MISSION,11
$DIVE,17
$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,-95693.586
$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,2400
$C_ROLL_CLIMB,2375
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,68
$R_STBD_OVSHOOT,32
$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
$GPS1,190513,002636,2153.510,12027.796,40,0.9,40,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-69.6
$GPS2,190513,003355,2153.548,12027.823,12,1.4,12,-2.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,DOGLEG
$TGT_LATLONG,2148.000,12030.000
$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,152.3,10936,-14.3,-10.000,-17.31,2952
$D_GRID,758
$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,-194.6,211,2361,921,924,0.0,0.0,0,108,0.00,0.00,-87.20,0.000,16386,0.000,0.000,210,2361,3091,3142,3040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.91,-194.6,210,2361,3142,3040,3.1,-10.1,15,136,10.32,2.38,-8.10,0.000,18692,0.418,0.106,2389,3775,3549,3637,3461,0,0,0,0,0,0,14.45,14.67,14.92
$GC,237,-0.91,-194.6,2389,3775,3637,3463,51.8,-32.1,29,244,0.00,2.10,0.00,0.000,1030,0.000,0.041,2389,2418,3550,3637,3463,0,0,0,0,0,0,28.83,14.77,28.83
$GC,544,-0.91,-194.6,2389,2414,3638,3464,138.7,-18.3,45,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2414,3550,3637,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,845,-0.91,-194.6,2387,2414,3638,3467,200.3,-21.4,60,850,0.00,2.25,0.00,0.000,260,0.000,0.083,2379,3778,3552,3638,3466,0,0,0,0,0,0,28.83,14.85,28.83
$GC,901,-0.91,-194.6,2379,3777,3638,3466,209.9,-22.0,62,908,0.00,2.10,0.00,0.000,1030,0.000,0.037,2379,2381,3552,3638,3467,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1206,-0.91,-194.6,2379,2376,3638,3466,272.6,-18.8,78,1213,0.00,2.30,0.00,0.000,260,0.000,0.085,2369,3778,3552,3638,3466,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1223,-0.91,-194.6,2369,3778,3638,3466,272.6,-18.8,78,1231,0.15,2.08,0.00,0.000,3078,0.273,0.038,2402,2398,3552,3638,3466,0,0,0,0,0,0,14.79,14.97,28.83
$GC,1529,-0.91,-194.6,2402,2394,3638,3466,323.2,-14.9,94,1535,0.00,2.28,0.00,0.000,260,0.000,0.087,2395,3779,3551,3638,3464,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1565,-0.91,-194.6,1540,3778,3634,3460,326.7,-15.4,95,1572,0.00,2.08,0.00,0.000,1030,0.000,0.037,2394,2405,3551,3638,3464,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1871,-0.91,-194.6,2394,2402,3638,3462,376.3,-14.5,111,1877,0.00,2.17,0.00,0.000,516,0.000,0.048,2394,1000,3550,3638,3463,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1942,-0.91,-194.6,2395,1001,3638,3462,384.4,-13.4,114,1949,0.00,2.25,0.00,0.000,1030,0.000,0.060,2385,2404,3550,3638,3462,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2256,-0.91,-194.6,2385,2404,3634,3457,430.8,-14.6,130,2261,0.00,2.20,0.00,0.000,516,0.000,0.049,2384,1001,3548,3639,3457,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2272,-0.91,-194.6,2385,1000,3639,3457,430.8,-14.6,130,2280,0.12,2.25,0.00,0.000,3078,0.268,0.060,2403,2402,3547,3638,3457,0,0,0,0,0,0,14.85,14.96,28.83
$GC,2578,-0.91,-194.6,2404,2402,3638,3453,476.3,-14.4,146,2584,0.00,2.28,0.00,0.000,260,0.000,0.091,2395,3783,3545,3638,3453,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2650,-0.91,-194.6,2395,3782,3638,3451,486.0,-15.3,149,2655,0.00,2.10,0.00,0.000,1030,0.000,0.043,2395,2402,3545,3638,3452,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2962,-0.91,-194.6,2395,2396,3638,3448,532.9,-14.4,165,2967,0.00,2.28,0.00,0.000,260,0.000,0.091,2385,3775,3543,3638,3448,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2978,-0.91,-194.6,2385,3776,3637,3448,532.9,-14.4,165,2985,0.00,2.10,0.00,0.000,1030,0.000,0.044,2385,2396,3542,3637,3448,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3284,-0.91,-194.6,2385,2394,3636,3446,579.7,-14.4,181,3289,0.00,2.17,0.00,0.000,516,0.000,0.054,2385,1006,3541,3636,3446,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3376,-0.91,-194.6,2385,1007,3635,3445,591.6,-14.5,185,3383,0.12,2.25,0.00,0.000,3078,0.274,0.063,2403,2399,3539,3634,3445,0,0,0,0,0,0,14.85,14.97,28.83
$GC,3702,-0.91,-194.6,2403,2399,3633,3442,633.7,-13.0,197,3707,0.00,2.28,0.00,0.000,260,0.000,0.095,2396,3777,3537,3633,3442,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3773,-0.91,-194.6,2395,3777,3632,3442,642.4,-13.4,199,3778,0.00,2.10,0.00,0.000,1030,0.000,0.047,2395,2407,3537,3632,3442,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4096,-0.91,-194.6,2396,2402,3631,3439,684.3,-11.8,210,4097,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2402,3534,3631,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4395,-0.91,-194.6,2395,2402,3628,3437,720.1,-12.0,220,4400,0.00,2.30,0.00,0.000,260,0.000,0.096,2386,3786,3532,3628,3437,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4451,-0.91,-194.6,2385,3786,3627,3437,724.0,-12.0,221,4458,0.00,2.15,0.00,0.000,1030,0.000,0.047,2385,2387,3532,3627,3437,0,0,0,0,0,0,28.83,15.01,28.83
$STATE,4726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4726,begin apogee
$GC,4729,-0.25,0.0,2385,2385,3624,3436,760.1,-11.9,231,4909,0.77,0.00,165.32,2.229,10246,0.222,0.000,2614,2385,2756,2787,2726,0,0,0,0,1,0,14.83,28.83,13.26
$STATE,4911,end apogee,CONTROL_FINISHED_OK
$STATE,4911,begin climb
$GC,4913,0.91,194.6,2614,2385,2787,2727,764.9,0.0,237,5102,1.15,2.40,175.18,2.211,10756,0.119,0.054,2999,981,1959,1988,1931,0,0,0,0,1,0,14.12,14.00,13.21
$GC,5143,0.91,194.6,2999,981,1988,1931,735.7,17.8,244,5151,0.00,2.38,0.00,0.000,1030,0.000,0.060,2999,2380,1959,1988,1931,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5450,0.91,194.6,2999,2380,1988,1926,665.6,21.3,255,5455,0.00,2.35,0.00,0.000,260,0.000,0.090,2995,3781,1957,1988,1926,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5516,0.91,194.6,2999,3781,1988,1926,651.1,22.2,257,5522,0.00,2.20,0.00,0.000,1030,0.000,0.042,3009,2373,1956,1987,1926,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5834,0.91,194.6,3006,2368,1988,1922,580.7,21.6,269,5840,0.00,2.35,0.00,0.000,260,0.000,0.090,3010,3776,1955,1988,1922,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5857,0.91,194.6,3010,3777,1988,1922,575.4,21.9,270,5863,0.00,2.17,0.00,0.000,1030,0.000,0.041,3020,2370,1954,1988,1921,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6180,0.91,194.6,3020,2366,1988,1920,503.1,22.8,286,6185,0.00,2.20,0.00,0.000,516,0.000,0.054,3030,977,1954,1988,1921,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6286,0.91,194.6,2112,976,1950,1911,479.9,22.2,291,6293,0.15,2.28,0.00,0.000,5126,0.292,0.060,2998,2380,1953,1988,1919,0,0,0,0,0,0,14.73,14.87,28.83
$GC,6605,0.91,194.6,2999,2381,1988,1917,413.7,21.1,307,6610,0.00,2.30,0.00,0.000,260,0.000,0.090,2999,3772,1952,1988,1917,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6696,0.91,194.6,2999,3773,1987,1917,393.8,24.3,311,6702,0.00,2.15,0.00,0.000,1030,0.000,0.043,3006,2374,1952,1988,1917,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7010,0.91,194.6,3007,2370,1988,1915,325.9,19.7,327,7015,0.00,2.20,0.00,0.000,516,0.000,0.054,3016,984,1951,1988,1915,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7086,0.91,194.6,3016,983,1986,1915,314.0,19.0,330,7094,0.00,2.25,0.00,0.000,1030,0.000,0.059,3016,2377,1951,1988,1915,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7392,0.91,194.6,3016,2377,1988,1915,257.5,16.3,346,7398,0.00,2.33,0.00,0.000,260,0.000,0.091,3016,3780,1951,1988,1914,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7449,0.91,194.6,3017,3780,1988,1915,249.6,17.4,348,7456,0.15,2.15,0.00,0.000,5126,0.322,0.042,2996,2373,1951,1988,1915,0,0,0,0,0,0,14.77,14.96,28.83
$GC,7754,0.91,194.6,2996,2369,1988,1914,192.3,17.7,364,7760,0.00,2.20,0.00,0.000,516,0.000,0.054,3004,982,1952,1988,1916,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7806,0.91,194.6,3004,984,1988,1914,185.1,16.7,366,7811,0.00,2.25,0.00,0.000,1030,0.000,0.058,3004,2380,1951,1988,1914,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8118,0.91,194.6,3004,2380,1988,1914,129.6,16.3,382,8123,0.00,2.30,0.00,0.000,260,0.000,0.090,3004,3773,1951,1988,1914,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8241,0.91,194.6,3004,3773,1988,1914,109.6,16.2,388,8246,0.00,2.15,0.00,0.000,1030,0.000,0.041,3014,2367,1953,1988,1919,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8564,0.91,194.6,3015,2363,1988,1914,67.6,13.8,404,8569,0.00,2.35,0.00,0.000,260,0.000,0.088,3015,3775,1951,1988,1914,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8609,0.91,194.6,3015,3775,1988,1914,62.0,13.1,406,8615,0.15,2.15,0.00,0.000,5126,0.306,0.041,2993,2370,1951,1988,1914,0,0,0,0,0,0,14.78,14.96,28.83
$GC,8918,0.91,200.3,2994,2363,1988,1914,34.9,9.8,430,8922,0.00,0.00,1.95,0.255,8198,0.000,0.000,2994,2363,1936,1977,1895,0,0,0,0,0,0,28.83,28.83,14.77
$GC,9219,1.10,383.3,2994,2363,1981,1900,9.1,3.6,481,9304,0.15,0.00,81.38,0.168,10754,0.122,0.000,3063,2363,1205,1239,1171,0,0,0,0,0,0,14.91,28.83,28.83
$STATE,9305,end climb,SURFACE_DEPTH_REACHED
$STATE,9305,begin surface coast
$FINISH,-0.9,1.011072
$STATE,9331,end surface coast,CONTROL_FINISHED_OK
$STATE,9331,begin surface
$SM_CCo,9346,30.60,0.150,0,0,917,450.13
$SM_GC,-0.16,7.62,0.00,30.60,0.046,0.000,0.150,237,2362,917,-7.61,-1.07,450.13,0,0,0,0,0,0,14.85,28.83,14.74
$IRIDIUM_FIX,2134.17,12014.05,180513,212130
$TT8_MAMPS,0.019474,0.019474
$HUMID,44.36
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,24.60
$XPDR_PINGS,12
$SC_FREEKB,3931584
$24V_AH,13.2,28.292
$10V_AH,13.4,0.000
$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,20.875,93.525,423.825,30.600,0.000,31.404,45.179,194.038,3.000,0.000,15.206,1548.063,6074.831,554.075,1557.554,94.774,0.000,1256.676,0.000,1161.442,0.000,0.542,0.000
$DEVICE_MAMPS,418.455,105.570,2229.210,149.940,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9364.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.850,0.000,0.000,0.000
$MEM,323208
$DATA_FILE_SIZE,16768,500
$CAP_FILE_SIZE,117705,0
$CFSIZE,260034560,254369792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.113,334.9,1
$GPS,190513,031151,2152.816,12028.238,9,3.0,28,-2.7