version: 66.11
glider: 181
mission: 11
dive: 62
start: 5 22 113 17 50 40
data:
$ID,181
$MISSION,11
$DIVE,62
$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,-95750.531
$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,65
$R_STBD_OVSHOOT,46
$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
$GPS1,220513,174215,2143.070,12102.729,10,2.7,29,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-70.6
$GPS2,220513,174956,2143.148,12102.789,11,2.7,30,-2.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,DOGLEG3
$TGT_LATLONG,2142.000,12103.000
$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,188.5,2158,-24.9,-10.000,-27.13,999
$D_GRID,729
$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,-1.31,-65.2,211,2466,914,909,0.0,0.0,0,103,0.00,0.00,-82.00,0.000,16390,0.000,0.000,208,2467,3021,3064,2978,0,0,0,0,0,0,28.83,28.83,14.95
$GC,105,-1.31,-65.2,208,2467,3064,2978,4.0,-13.1,14,120,9.62,2.15,0.00,0.000,2308,0.413,0.057,2262,3781,3022,3067,2978,0,0,0,0,0,0,14.48,14.72,28.83
$GC,138,-1.31,-65.2,2262,3781,3070,2978,21.3,-51.5,19,145,0.00,2.05,0.00,0.000,1030,0.000,0.039,2261,2458,3023,3070,2977,0,0,0,0,0,0,28.83,14.74,28.83
$GC,452,-1.31,-65.2,2261,2453,3076,2976,112.2,-20.3,39,457,0.00,2.15,0.00,0.000,260,0.000,0.075,2251,3771,3025,3075,2976,0,0,0,0,0,0,28.83,14.82,28.83
$GC,603,-1.31,-65.2,2251,3771,3077,2976,138.9,-17.1,46,608,0.00,2.03,0.00,0.000,1030,0.000,0.034,2251,2414,3026,3076,2976,0,0,0,0,0,0,28.83,14.90,28.83
$GC,915,-1.31,-65.2,2251,2410,3078,2976,188.6,-15.0,62,921,0.00,2.08,0.00,0.000,516,0.000,0.044,2250,1067,3027,3078,2976,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1058,-1.31,-65.2,2251,1066,3079,2974,212.8,-17.4,69,1065,0.15,2.17,0.00,0.000,3078,0.315,0.052,2272,2440,3026,3079,2974,0,0,0,0,0,0,14.73,14.91,28.83
$GC,1382,-1.31,-65.2,2272,2441,3080,2974,263.3,-14.6,85,1387,0.00,2.12,0.00,0.000,516,0.000,0.045,2272,1073,3026,3079,2974,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1428,-1.31,-65.2,2271,1073,3079,2974,269.4,-14.4,87,1434,0.00,2.20,0.00,0.000,1030,0.000,0.054,2264,2459,3026,3079,2974,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1746,-1.31,-65.2,2264,2459,3080,2973,310.4,-11.2,103,1747,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2459,3026,3079,2973,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2047,-1.31,-65.2,2264,2459,3080,2971,346.1,-12.2,118,2048,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2459,3025,3079,2971,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2347,-1.31,-65.2,2264,2459,3079,2968,382.3,-11.6,133,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2459,3023,3079,2968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2647,-1.31,-65.2,2264,2459,3080,2965,417.9,-11.1,148,2652,0.00,2.15,0.00,0.000,516,0.000,0.047,2264,1078,3022,3079,2965,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2718,-1.31,-65.2,2264,1078,3079,2964,426.2,-13.2,151,2724,0.00,2.20,0.00,0.000,1030,0.000,0.057,2254,2457,3022,3080,2965,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3031,-1.31,-65.2,2254,2458,3080,2960,464.1,-10.8,167,3036,0.00,2.15,0.00,0.000,516,0.000,0.047,2253,1077,3019,3079,2960,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3182,-1.31,-65.2,2249,1076,3080,2959,479.8,-11.0,174,3189,0.15,2.20,0.00,0.000,3078,0.328,0.057,2274,2458,3019,3079,2959,0,0,0,0,0,0,14.78,14.97,28.83
$GC,3496,-1.33,-82.9,2274,2458,3079,2955,508.1,-8.2,190,3501,0.00,2.12,0.00,0.000,260,0.000,0.081,2266,3774,3015,3079,2951,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3688,-1.33,-82.9,2266,3774,3076,2955,526.9,-10.7,199,3693,0.00,1.98,0.00,0.000,1030,0.000,0.040,2266,2457,3016,3077,2955,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4000,-1.33,-82.9,2266,2456,3077,2952,561.7,-10.9,215,4006,0.00,2.17,0.00,0.000,516,0.000,0.050,2266,1063,3014,3077,2951,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4232,-1.33,-82.9,2266,1063,3077,2950,588.4,-11.6,226,4237,0.00,2.22,0.00,0.000,1030,0.000,0.060,2256,2448,3013,3077,2950,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4565,-1.33,-82.9,2256,2448,3074,2947,628.4,-11.3,239,4571,0.00,2.17,0.00,0.000,516,0.000,0.050,2256,1067,3010,3074,2947,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4683,-1.33,-82.9,2256,1067,3074,2946,638.9,-11.3,242,4689,0.00,2.22,0.00,0.000,1030,0.000,0.059,2251,2453,3013,3081,2946,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4989,-1.33,-82.9,2246,2453,3072,2943,671.8,-10.1,253,4994,0.00,2.20,0.00,0.000,516,0.000,0.053,2245,1063,3007,3072,2943,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5220,-1.33,-82.9,2245,1062,3071,2941,693.1,-10.0,260,5227,0.15,2.25,0.00,0.000,3078,0.323,0.060,2266,2457,3006,3071,2941,0,0,0,0,0,0,14.74,14.95,28.83
$GC,5535,-1.34,-90.5,2266,2457,3070,2939,724.7,-9.2,271,5541,0.00,2.20,0.00,0.000,516,0.000,0.053,2267,1067,3004,3069,2939,0,0,0,0,0,0,28.83,14.97,28.83
$STATE,5596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5597,begin apogee
$GC,5603,-0.25,0.0,2259,2348,3070,2939,730.3,-8.6,273,5672,1.30,0.00,61.20,1.525,10246,0.288,0.000,2607,2351,2751,2805,2698,0,0,0,0,0,0,14.73,28.83,13.99
$STATE,5673,end apogee,CONTROL_FINISHED_OK
$STATE,5673,begin climb
$GC,5675,1.34,90.5,2607,2351,2805,2697,731.4,0.0,275,5780,1.55,2.50,91.32,1.483,10500,0.125,0.083,3122,3757,2381,2398,2364,0,0,0,0,0,0,14.53,14.26,13.73
$GC,5853,1.34,90.5,3122,3757,2394,2359,699.1,22.6,281,5858,0.00,2.20,0.00,0.000,1030,0.000,0.040,3132,2368,2376,2394,2359,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6177,1.34,90.5,3133,2361,2393,2351,617.1,25.1,292,6182,0.00,2.28,0.00,0.000,516,0.000,0.051,3142,947,2371,2392,2351,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6273,1.34,90.5,3143,947,2392,2349,594.2,24.4,295,6281,0.00,2.30,0.00,0.000,1030,0.000,0.060,3143,2352,2370,2392,2348,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6579,1.34,90.5,3143,2352,2392,2346,523.8,22.8,311,6585,0.00,2.25,0.00,0.000,516,0.000,0.050,3153,952,2369,2392,2346,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6706,1.34,90.5,3153,951,2392,2344,497.1,21.2,317,6711,0.00,2.28,0.00,0.000,1030,0.000,0.059,3154,2351,2368,2392,2344,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7023,1.34,90.5,3153,2351,2391,2341,428.9,20.4,333,7024,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2350,2366,2392,2341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7323,1.34,90.5,3153,2351,2391,2339,366.5,21.3,348,7324,0.00,0.00,0.00,0.000,6,0.000,0.000,3153,2351,2365,2392,2338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7624,1.34,90.5,3153,2351,2392,2338,305.5,20.3,363,7629,0.00,2.33,0.00,0.000,260,0.000,0.084,3153,3762,2364,2391,2338,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7856,1.34,90.5,3152,3762,2391,2338,259.3,20.5,374,7862,0.15,2.17,0.00,0.000,5126,0.365,0.041,3134,2342,2364,2391,2338,0,0,0,0,0,0,14.67,14.95,28.83
$GC,8169,1.34,90.5,3134,2338,2391,2336,212.9,12.6,390,8175,0.00,2.35,0.00,0.000,260,0.000,0.084,3134,3754,2363,2391,2336,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8367,1.34,90.5,3136,3754,2390,2336,185.3,15.9,399,8374,0.00,2.15,0.00,0.000,1030,0.000,0.040,3142,2349,2363,2390,2336,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8672,1.34,90.5,3143,2345,2390,2335,140.7,13.1,415,8677,0.00,2.20,0.00,0.000,516,0.000,0.051,3153,962,2363,2390,2336,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8904,1.34,90.5,3153,956,2390,2335,115.8,11.7,426,8909,0.00,2.25,0.00,0.000,1030,0.000,0.055,3153,2358,2362,2389,2335,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9216,1.35,108.1,3153,2358,2390,2335,88.7,8.2,442,9231,0.00,2.33,6.45,0.405,8452,0.000,0.080,3153,3752,2314,2339,2289,0,0,0,0,0,0,28.83,14.87,14.60
$GC,9282,1.38,133.0,3153,3751,2338,2294,84.0,7.4,445,9303,0.00,2.15,13.35,0.400,9222,0.000,0.038,3163,2332,2210,2231,2190,0,0,0,0,0,0,28.83,14.95,14.61
$GC,9621,1.45,208.9,3163,2332,2231,2190,61.2,2.2,462,9666,0.00,2.20,36.83,0.327,8708,0.000,0.049,3173,972,1901,1923,1879,0,0,0,0,0,0,28.83,14.82,14.62
$GC,9894,1.45,208.9,3173,971,1922,1872,25.5,13.5,483,9899,0.00,2.22,0.00,0.000,1030,0.000,0.054,3173,2356,1897,1922,1872,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,10119,end climb,SURFACE_DEPTH_REACHED
$STATE,10119,begin surface coast
$FINISH,0.2,1.021513
$STATE,10146,end surface coast,CONTROL_FINISHED_OK
$STATE,10146,begin surface
$SM_CCo,10162,106.62,0.148,0,0,917,450.13
$SM_GC,-0.14,8.30,0.15,106.62,0.084,0.121,0.148,221,2488,917,-7.63,-0.85,450.13,0,0,0,0,0,0,14.88,14.86,14.71
$IRIDIUM_FIX,2138.81,12057.83,220513,141445
$TT8_MAMPS,0.019474,0.019474
$HUMID,46.22
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,23.30
$XPDR_PINGS,0
$SC_FREEKB,3914304
$24V_AH,13.7,36.189
$10V_AH,13.8,0.000
$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,21.375,83.625,209.150,106.625,0.000,25.710,41.219,197.407,0.000,0.000,33.944,1977.237,6343.063,442.536,1883.625,110.169,0.000,1222.294,0.000,1468.161,0.000,0.541,0.000
$DEVICE_MAMPS,413.100,120.870,1524.645,147.645,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10195.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.954,0.000,0.000,0.000
$MEM,322848
$DATA_FILE_SIZE,20084,532
$CAP_FILE_SIZE,126648,0
$CFSIZE,260034560,251211776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.096,240.2,1
$GPS,220513,204329,2142.227,12102.290,57,1.0,57,-2.7