version: 66.11
glider: 181
mission: 11
dive: 3
start: 5 17 113 6 37 58
data:
$ID,181
$MISSION,11
$DIVE,3
$N_DIVES,4
$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,-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,-95608.523
$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,2350
$C_ROLL_CLIMB,2175
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$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
$GPS1,170513,063336,2206.305,12022.808,10,1.4,27,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-68.2
$GPS2,170513,063730,2206.271,12022.770,9,1.1,14,-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,117.5,36049,-14.3,-10.000,-17.31,2952
$D_GRID,578
$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,-0.77,-194.6,222,2356,496,460,0.0,0.0,0,122,0.00,0.00,-100.10,0.000,16386,0.000,0.000,217,2356,2954,3002,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-0.77,-194.6,217,2356,3001,2906,3.5,-8.5,17,157,10.50,2.35,-11.05,0.000,18692,0.409,0.101,2497,3765,3549,3642,3457,0,0,0,0,0,0,14.66,14.93,15.16
$GC,260,-0.65,-194.6,2496,3765,3642,3457,38.8,-16.6,35,266,0.20,2.12,0.00,0.000,3078,0.214,0.040,2550,2350,3549,3642,3457,0,0,0,0,0,0,14.80,14.97,28.83
$GC,583,-0.65,-194.6,2550,2346,3642,3457,75.5,-11.0,56,588,0.00,2.15,0.00,0.000,516,0.000,0.052,2551,962,3549,3641,3457,0,0,0,0,0,0,28.83,14.97,28.83
$GC,626,-0.70,-194.6,2550,962,3642,3457,80.1,-11.3,58,632,0.00,2.22,0.00,0.000,1030,0.000,0.065,2549,2355,3549,3642,3457,0,0,0,0,0,0,28.83,14.97,28.83
$GC,949,-0.74,-194.6,2549,2356,3642,3457,110.1,-8.9,74,955,0.00,2.28,0.00,0.000,260,0.000,0.084,2546,3763,3549,3642,3457,0,0,0,0,0,0,28.83,14.96,28.83
$GC,987,-0.78,-194.6,2546,3764,3642,3457,112.2,-8.9,75,994,0.12,2.12,0.00,0.000,5126,0.129,0.043,2477,2337,3549,3642,3456,0,0,0,0,0,0,15.02,15.04,28.83
$GC,1293,-0.71,-194.6,2478,2336,3642,3456,151.7,-11.6,91,1298,0.17,2.30,0.00,0.000,2308,0.222,0.077,2522,3761,3549,3642,3456,0,0,0,0,0,0,14.83,14.95,28.83
$GC,1329,-0.65,-194.6,1600,3760,3638,3454,154.1,-11.4,92,1336,0.00,2.10,0.00,0.000,1030,0.000,0.042,2521,2357,3549,3643,3455,0,0,0,0,0,0,28.83,15.04,28.83
$GC,1636,-0.69,-194.6,2521,2356,3642,3454,182.0,-8.2,108,1641,0.00,2.30,0.00,0.000,260,0.000,0.084,2513,3768,3547,3642,3453,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1749,-0.74,-194.6,2514,3767,3642,3452,191.4,-9.2,113,1755,0.00,2.12,0.00,0.000,1030,0.000,0.041,2513,2353,3547,3642,3452,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2063,-0.77,-194.6,2514,2348,3642,3449,219.9,-9.2,129,2068,0.00,2.30,0.00,0.000,260,0.000,0.086,2506,3758,3545,3642,3449,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2175,-0.77,-194.6,2506,3758,3642,3448,230.3,-10.2,134,2180,0.00,2.15,0.00,0.000,1030,0.000,0.045,2506,2346,3545,3642,3448,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2487,-0.77,-194.6,2506,2340,3642,3445,261.3,-9.2,150,2493,0.00,2.33,0.00,0.000,260,0.000,0.087,2503,3762,3543,3642,3445,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2530,-0.77,-194.6,2503,3762,3642,3445,265.1,-8.9,152,2537,0.00,2.17,0.00,0.000,1030,0.000,0.045,2503,2340,3543,3642,3445,0,0,0,0,0,0,28.83,15.03,28.83
$STATE,2592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2592,begin apogee
$GC,2596,-0.20,0.0,2503,2152,3641,3445,270.8,-9.0,155,2756,0.57,0.00,153.32,0.965,10246,0.168,0.000,2688,2152,2753,2794,2712,0,0,0,0,0,0,14.84,28.83,14.11
$STATE,2757,end apogee,CONTROL_FINISHED_OK
$STATE,2757,begin climb
$GC,2759,0.77,194.6,2689,2152,2792,2710,276.5,0.0,163,2921,0.88,2.40,152.88,0.949,11012,0.068,0.077,3017,3580,1957,1995,1920,0,0,0,0,0,0,14.61,14.47,14.07
$GC,2968,0.42,194.6,3017,3581,1994,1914,253.2,17.8,173,2974,0.47,2.17,0.00,0.000,5126,0.256,0.044,2902,2189,1953,1993,1914,0,0,0,0,0,0,14.57,14.71,28.83
$GC,3281,0.37,194.6,2902,2189,1993,1901,215.8,10.6,189,3287,0.00,2.33,0.00,0.000,260,0.000,0.090,2902,3583,1948,1994,1902,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3309,0.31,194.6,2902,3583,1993,1902,213.1,10.9,190,3315,0.20,2.17,0.00,0.000,5126,0.225,0.044,2856,2169,1947,1993,1902,0,0,0,0,0,0,14.81,14.95,28.83
$GC,3627,0.47,288.9,2855,2169,1993,1896,189.0,6.7,206,3709,0.15,2.38,72.68,0.885,10500,0.113,0.085,2936,3575,1570,1617,1523,0,0,0,0,0,0,15.00,14.66,14.26
$GC,3785,0.39,288.9,2936,3575,1616,1517,171.4,13.6,213,3792,0.22,2.17,0.00,0.000,5126,0.222,0.044,2886,2170,1566,1616,1516,0,0,0,0,0,0,14.73,14.85,28.83
$GC,4091,0.48,306.3,2886,2170,1615,1508,140.9,9.4,229,4121,0.00,2.38,18.02,0.839,8452,0.000,0.091,2886,3577,1504,1559,1450,0,0,0,0,1,0,28.83,14.81,14.16
$GC,4213,0.54,306.3,2886,3577,1563,1457,128.4,10.5,235,4219,0.12,2.17,0.00,0.000,3078,0.128,0.045,2955,2164,1510,1563,1458,0,0,0,0,0,0,14.95,14.95,28.83
$GC,4537,0.49,306.3,2955,2165,1563,1457,85.7,14.5,251,4543,0.12,2.35,0.00,0.000,4356,0.253,0.086,2921,3588,1510,1564,1457,0,0,0,0,0,0,14.83,14.94,28.83
$GC,4601,0.49,306.3,2921,3588,1563,1457,78.0,12.4,254,4606,0.00,2.17,0.00,0.000,1030,0.000,0.044,2926,2167,1509,1563,1456,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4924,0.59,345.9,2927,2166,1563,1454,48.3,8.6,270,4950,0.00,2.35,19.42,0.279,8452,0.000,0.089,2927,3583,1342,1391,1294,0,0,0,0,0,0,28.83,14.90,14.76
$GC,5072,0.71,370.1,2926,3583,1395,1298,34.5,9.2,284,5090,0.15,2.17,11.95,0.238,11270,0.117,0.043,3013,2164,1243,1289,1197,0,0,0,0,0,0,15.00,15.00,14.80
$STATE,5305,end climb,SURFACE_DEPTH_REACHED
$STATE,5306,begin surface coast
$FINISH,0.3,1.020878
$STATE,5337,end surface coast,CONTROL_FINISHED_OK
$STATE,5337,begin surface
$SM_CCo,5353,57.40,0.142,0,0,712,500.17
$SM_GC,0.71,7.57,0.32,57.40,0.065,0.096,0.142,234,2374,712,-7.81,-0.79,500.17,0,0,0,0,0,0,15.00,14.97,14.85
$IRIDIUM_FIX,2148.09,12011.21,170513,060650
$TT8_MAMPS,0.019474,0.019474
$HUMID,49.52
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,24.40
$XPDR_PINGS,0
$SC_FREEKB,3937024
$24V_AH,14.1,25.088
$10V_AH,13.9,0.000
$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,21.475,58.800,428.275,57.400,0.000,0.000,0.000,0.000,0.000,0.000,17.457,1020.778,3041.757,551.082,830.140,49.434,0.000,1046.265,0.000,787.888,0.000,0.544,0.000
$DEVICE_MAMPS,409.275,100.980,965.430,142.290,0.000,0.000,0.000,0.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5310.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.306,0.000,0.000,0.000
$MEM,323484
$DATA_FILE_SIZE,10108,330
$CAP_FILE_SIZE,92009,0
$CFSIZE,260034560,255664128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.120,291.7,1
$GPS,170513,080921,2206.137,12023.116,11,8.2,30,-2.7