version: 66.11
glider: 181
mission: 11
dive: 65
start: 5 23 113 2 20 5
data:
$ID,181
$MISSION,11
$DIVE,65
$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,-95754.492
$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,58
$R_STBD_OVSHOOT,55
$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
$GPS1,230513,021306,2143.836,12104.357,39,1.4,39,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-71.8
$GPS2,230513,021936,2143.975,12104.477,9,1.8,14,-2.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,DOGLEG4
$TGT_LATLONG,2148.000,12112.000
$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,65.4,14930,-14.3,-10.000,-17.31,2952
$D_GRID,782
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.91,-194.6,209,2484,914,917,0.0,0.0,0,104,0.00,0.00,-82.18,0.000,16386,0.000,0.000,207,2485,2990,3029,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.91,-194.6,207,2485,3029,2952,3.3,-10.5,14,133,10.20,2.35,-9.73,0.000,18948,0.410,0.070,2400,1047,3551,3639,3463,0,0,0,0,0,0,14.45,14.73,14.92
$GC,309,-0.91,-194.6,2400,1047,3639,3466,75.7,-30.5,33,315,0.00,2.25,0.00,0.000,1030,0.000,0.062,2392,2426,3553,3640,3466,0,0,0,0,0,0,28.83,14.77,28.83
$GC,626,-0.91,-194.6,2392,2426,3640,3468,165.4,-25.7,49,632,0.00,2.22,0.00,0.000,260,0.000,0.081,2382,3787,3553,3639,3468,0,0,0,0,0,0,28.83,14.83,28.83
$GC,708,-0.91,-194.6,2382,3788,3640,3468,182.5,-20.9,53,714,0.00,2.05,0.00,0.000,1030,0.000,0.037,2382,2432,3554,3640,3469,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1031,-0.91,-194.6,2381,2426,3639,3469,246.8,-20.3,69,1036,0.00,2.12,0.00,0.000,516,0.000,0.043,2382,1051,3554,3640,3469,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1118,-0.91,-194.6,2382,1049,3640,3469,262.1,-18.6,73,1124,0.15,2.28,0.00,0.000,3078,0.252,0.062,2407,2461,3555,3641,3469,0,0,0,0,0,0,14.78,14.90,28.83
$GC,1436,-0.91,-194.6,2407,2461,3640,3469,316.6,-17.6,89,1442,0.00,2.15,0.00,0.000,260,0.000,0.083,2399,3785,3554,3640,3469,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1473,-0.91,-194.6,2399,3785,3640,3469,320.7,-17.6,90,1480,0.00,2.03,0.00,0.000,1030,0.000,0.037,2399,2435,3554,3640,3469,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1779,-0.91,-194.6,2399,2433,3640,3466,374.8,-15.1,106,1785,0.00,2.12,0.00,0.000,516,0.000,0.047,2399,1063,3553,3640,3466,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1882,-0.91,-194.6,2399,1063,3640,3465,389.8,-14.3,111,1888,0.00,2.25,0.00,0.000,1030,0.000,0.060,2390,2455,3552,3640,3464,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2205,-0.91,-194.6,2389,2455,3640,3462,444.5,-17.2,127,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2455,3550,3640,3461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2505,-0.91,-194.6,2389,2455,3640,3453,491.8,-16.5,142,2510,0.00,2.17,0.00,0.000,516,0.000,0.051,2389,1072,3549,3640,3458,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2527,-0.91,-194.6,2389,1072,3640,3457,495.5,-16.5,143,2533,0.00,2.22,0.00,0.000,1030,0.000,0.063,2380,2454,3548,3640,3456,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2850,-0.91,-194.6,2380,2454,3640,3453,545.4,-15.3,159,2855,0.00,2.17,0.00,0.000,260,0.000,0.089,2370,3783,3546,3639,3453,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2886,-0.91,-194.6,2370,3783,3638,3453,549.0,-15.5,160,2895,0.15,2.03,0.00,0.000,3078,0.269,0.042,2403,2438,3545,3638,3453,0,0,0,0,0,0,14.81,15.02,28.83
$GC,3192,-0.91,-194.6,2403,2436,3637,3450,596.8,-15.2,176,3198,0.00,2.22,0.00,0.000,260,0.000,0.088,2395,3784,3543,3637,3450,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3220,-0.91,-194.6,2395,3784,3636,3448,600.7,-15.9,177,3226,0.00,2.03,0.00,0.000,1030,0.000,0.042,2395,2441,3543,3636,3450,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3526,-0.91,-194.6,2396,2440,3634,3453,638.4,-9.7,188,3532,0.00,2.15,0.00,0.000,516,0.000,0.053,2395,1073,3540,3634,3446,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3593,-0.91,-194.6,1536,1073,3628,3443,647.2,-12.3,190,3598,0.00,2.25,0.00,0.000,1030,0.000,0.070,2386,2452,3539,3633,3446,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3921,-0.91,-194.6,2386,2453,3632,3442,705.3,-18.6,201,3927,0.00,2.20,0.00,0.000,516,0.000,0.054,2386,1070,3537,3632,3442,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3954,-0.91,-194.6,2386,1070,3632,3442,711.5,-18.5,202,3960,0.12,2.28,0.00,0.000,3078,0.276,0.067,2404,2459,3537,3632,3442,0,0,0,0,0,0,14.83,14.95,28.83
$GC,4288,-0.91,-194.6,2404,2460,3629,3439,759.6,-12.7,213,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2460,3533,3628,3439,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4436,begin apogee
$GC,4440,-0.25,0.0,2404,2354,3627,3438,782.0,-15.0,218,4631,0.70,0.00,179.73,1.668,10246,0.230,0.000,2609,2359,2753,2782,2724,0,0,0,0,1,0,14.83,28.83,13.38
$STATE,4633,end apogee,CONTROL_FINISHED_OK
$STATE,4633,begin climb
$GC,4635,0.91,194.6,2609,2354,2783,2726,789.6,0.0,224,4829,1.17,2.42,175.73,2.245,10756,0.126,0.059,2997,973,1960,1987,1933,0,0,0,0,1,0,14.16,14.04,13.28
$GC,4850,0.91,194.6,2997,973,1988,1934,765.1,16.0,231,4855,0.00,2.38,0.00,0.000,1030,0.000,0.063,2997,2359,1961,1988,1934,0,0,0,0,0,0,28.83,14.23,28.83
$GC,5162,0.91,194.6,2997,2361,1988,1928,696.3,19.4,242,5163,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2361,1961,1988,1935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5463,0.91,194.6,2997,2361,1988,1923,641.1,18.4,252,5468,0.00,2.35,0.00,0.000,260,0.000,0.093,2997,3762,1956,1988,1924,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5519,0.91,194.6,2997,3762,1988,1924,634.5,19.0,253,5527,0.00,2.20,0.00,0.000,1030,0.000,0.044,3007,2353,1955,1988,1922,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5836,0.91,194.6,3007,2349,1988,1921,566.3,19.1,267,5837,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2349,1954,1988,1921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6136,0.91,194.6,3007,2348,1988,1919,509.6,17.6,282,6141,0.00,2.38,0.00,0.000,260,0.000,0.090,3007,3766,1954,1988,1920,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6213,0.91,194.6,3007,3767,1988,1919,497.6,18.2,285,6221,0.00,2.22,0.00,0.000,1030,0.000,0.044,3018,2339,1953,1988,1919,0,0,0,0,0,0,28.83,14.93,28.83
$GC,6519,0.91,194.6,3018,2334,1989,1917,433.6,18.7,301,6525,0.00,2.38,0.00,0.000,260,0.000,0.090,3017,3762,1952,1988,1917,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6567,0.91,194.6,3018,3756,1988,1918,424.4,19.8,303,6573,0.15,2.17,0.00,0.000,5126,0.301,0.042,2996,2348,1953,1988,1918,0,0,0,0,0,0,14.76,14.93,28.83
$GC,6884,0.91,194.6,2996,2344,1988,1915,363.5,19.4,319,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2344,1951,1988,1915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7185,0.91,194.6,2997,2343,1988,1914,307.1,19.5,334,7187,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2344,1952,1990,1914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7486,0.91,194.6,2996,2344,1988,1914,258.1,14.0,349,7491,0.00,2.38,0.00,0.000,260,0.000,0.090,2996,3758,1950,1988,1913,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7517,0.91,194.6,2996,3758,1988,1914,254.8,14.0,350,7522,0.00,2.17,0.00,0.000,1030,0.000,0.042,3005,2350,1951,1988,1914,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7829,0.91,194.6,3005,2346,1988,1913,208.9,15.7,366,7835,0.00,2.22,0.00,0.000,516,0.000,0.054,3015,953,1950,1988,1913,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7927,0.91,194.6,3015,952,1989,1913,196.8,14.5,370,7933,0.00,2.28,0.00,0.000,1030,0.000,0.057,3015,2363,1950,1988,1913,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8232,0.91,194.6,3015,2365,1988,1913,153.9,12.3,386,8237,0.00,2.30,0.00,0.000,260,0.000,0.088,3015,3752,1950,1988,1913,0,0,0,0,0,0,28.83,14.89,28.83
$GC,8269,0.91,194.6,3015,3752,1988,1913,151.0,12.4,387,8276,0.15,2.17,0.00,0.000,5126,0.291,0.041,2993,2335,1950,1988,1913,0,0,0,0,0,0,14.76,14.96,28.83
$GC,8574,0.91,194.6,2993,2331,1988,1913,110.5,12.1,403,8576,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2331,1953,1988,1919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8876,1.00,289.5,2992,2332,1988,1913,85.9,6.7,418,8924,0.00,0.00,46.15,0.410,8454,0.000,0.000,2993,2331,1571,1607,1535,0,0,0,0,0,0,28.83,28.83,14.59
$GC,9215,1.00,289.5,2992,2332,1610,1532,54.0,10.5,435,9220,0.00,2.17,0.00,0.000,516,0.000,0.054,2999,962,1570,1609,1532,0,0,0,0,0,0,28.83,14.86,28.83
$GC,9398,1.06,342.4,3000,962,1610,1530,37.9,8.2,451,9430,0.12,2.22,24.90,0.256,11270,0.133,0.054,3060,2350,1354,1392,1317,0,0,0,0,0,0,14.86,14.83,14.68
$STATE,9728,end climb,SURFACE_DEPTH_REACHED
$STATE,9728,begin surface coast
$FINISH,-0.0,1.021375
$STATE,9754,end surface coast,CONTROL_FINISHED_OK
$STATE,9754,begin surface
$SM_CCo,9769,48.08,0.147,0,0,915,450.13
$SM_GC,0.06,7.65,0.15,48.08,0.046,0.124,0.147,225,2472,915,-7.63,-1.05,450.13,0,0,0,0,0,0,14.86,14.87,14.75
$IRIDIUM_FIX,2127.21,12057.43,220513,232303
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.55
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,23.50
$XPDR_PINGS,19
$SC_FREEKB,3913152
$24V_AH,13.3,36.901
$10V_AH,13.5,0.000
$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,20.575,80.250,426.500,48.075,0.000,26.640,20.010,176.342,4.750,0.000,17.537,1565.049,6489.571,551.260,1507.202,111.997,0.000,1244.984,0.000,1161.588,0.000,0.540,0.000
$DEVICE_MAMPS,410.040,123.930,2245.275,146.880,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9796.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.867,0.000,0.000,0.000
$MEM,322816
$DATA_FILE_SIZE,20123,509
$CAP_FILE_SIZE,115311,0
$CFSIZE,260034560,250961920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.328, 47.4,1
$GPS,230513,050457,2145.908,12107.313,11,2.8,30,-2.7