version: 66.11
glider: 181
mission: 11
dive: 7
start: 5 17 113 17 46 34
data:
$ID,181
$MISSION,11
$DIVE,7
$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,-95681.016
$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,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,64
$R_STBD_OVSHOOT,38
$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
$GPS1,170513,173820,2204.495,12023.696,12,2.1,31,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-70.4
$GPS2,170513,174603,2204.404,12023.654,14,2.5,33,-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,148.7,954,-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,-1.45,-51.7,221,2387,726,712,0.0,0.0,0,111,0.00,0.00,-90.05,0.000,16387,0.000,0.000,219,2388,2964,3017,2912,0,0,0,0,0,0,28.83,28.83,14.95
$GC,113,-1.45,-54.4,219,2388,3018,2913,3.2,-9.6,15,132,9.90,2.33,-0.22,0.000,18692,0.427,0.102,2276,3767,2977,3031,2923,0,0,0,0,0,0,14.46,14.65,14.81
$GC,359,-1.45,-54.4,2275,3767,3035,2924,73.0,-23.9,38,366,0.00,2.10,0.00,0.000,1030,0.000,0.041,2275,2391,2979,3035,2923,0,0,0,0,0,0,28.83,14.83,28.83
$GC,665,-1.45,-54.4,2276,2390,3038,2923,130.1,-14.5,54,670,0.00,2.15,0.00,0.000,516,0.000,0.050,2276,1010,2980,3038,2923,0,0,0,0,0,0,28.83,14.86,28.83
$GC,816,-1.45,-54.4,2275,1010,3038,2923,148.9,-13.7,61,821,0.00,2.22,0.00,0.000,1030,0.000,0.056,2265,2401,2980,3038,2923,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1128,-1.45,-54.4,2266,2401,3039,2923,200.2,-17.9,77,1134,0.00,2.17,0.00,0.000,516,0.000,0.049,2265,1010,2981,3039,2923,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1355,-1.45,-54.4,2266,1009,3039,2923,230.5,-12.3,88,1361,0.15,2.22,0.00,0.000,3078,0.317,0.057,2287,2401,2981,3039,2923,0,0,0,0,0,0,14.69,14.90,28.83
$GC,1673,-1.46,-58.1,2287,2401,3039,2923,262.4,-9.5,104,1679,0.00,2.25,-0.08,0.000,16644,0.000,0.104,2278,3781,3001,3062,2940,0,0,0,0,0,0,28.83,14.86,14.77
$GC,1836,-1.46,-58.1,2283,3783,3062,2940,283.0,-12.9,112,1841,0.00,2.10,0.00,0.000,1030,0.000,0.041,2278,2395,3001,3062,2940,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2158,-1.46,-58.1,2278,2393,3062,2939,324.9,-14.1,128,2163,0.00,2.28,0.00,0.000,260,0.000,0.086,2268,3776,3001,3063,2939,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2363,-1.46,-58.1,1460,3775,3038,2930,351.6,-12.7,138,2369,0.00,2.10,0.00,0.000,1030,0.000,0.042,2268,2389,2999,3062,2936,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2681,-1.46,-58.1,2267,2388,3062,2933,389.6,-11.9,154,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2389,2997,3062,2933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2981,-1.46,-58.1,2268,2388,3062,2930,420.1,-10.3,169,2987,0.00,2.28,0.00,0.000,260,0.000,0.086,2256,3774,2996,3062,2930,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3099,-1.46,-58.1,2257,3774,3062,2928,433.1,-12.7,174,3106,0.15,2.10,0.00,0.000,3078,0.334,0.045,2287,2396,2995,3062,2928,0,0,0,0,0,0,14.70,14.99,28.83
$GC,3404,-1.46,-66.5,2287,2396,3062,2926,463.5,-8.9,190,3410,0.00,2.17,-0.12,0.000,16900,0.000,0.076,2287,1011,3033,3108,2959,0,0,0,0,0,0,28.83,14.94,14.97
$GC,3627,-1.46,-66.5,2287,1010,3108,2959,487.7,-11.4,201,3632,0.00,2.25,0.00,0.000,1030,0.000,0.066,2279,2401,3033,3108,2959,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3949,-1.47,-73.2,2279,2401,3108,2955,518.7,-9.1,217,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,2280,2400,3032,3109,2955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4250,-1.47,-73.2,2279,2401,3108,2952,548.9,-10.4,232,4255,0.00,2.20,0.00,0.000,516,0.000,0.057,2279,1013,3030,3108,2952,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4482,-1.48,-79.5,2279,1013,3108,2951,571.4,-9.2,243,4487,0.00,2.25,0.00,0.000,1030,0.000,0.067,2269,2398,3029,3108,2951,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4804,-1.48,-79.5,2269,2401,3108,2948,603.9,-10.2,259,4810,0.00,2.30,0.00,0.000,260,0.000,0.096,2258,3789,3028,3108,2948,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5036,-1.48,-79.5,2258,3789,3107,2945,626.5,-10.5,266,5041,0.00,2.15,0.00,0.000,1030,0.000,0.051,2258,2403,3027,3108,2946,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5349,-1.48,-80.0,2258,2403,3108,2944,659.4,-9.9,277,5354,0.00,2.22,0.00,0.000,516,0.000,0.062,2258,1004,3025,3108,2943,0,0,0,0,0,0,28.83,14.94,28.83
$STATE,5380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5380,begin apogee
$GC,5386,-0.25,0.0,2248,2379,3108,2943,662.2,-9.4,278,5461,1.58,0.00,64.32,1.828,10246,0.292,0.000,2667,2380,2753,2820,2686,0,0,0,0,1,0,14.66,28.83,13.54
$STATE,5462,end apogee,CONTROL_FINISHED_OK
$STATE,5463,begin climb
$GC,5464,1.48,80.0,2667,2380,2820,2691,663.2,0.0,280,5555,1.60,0.00,77.43,2.045,10502,0.073,0.000,3238,2381,2427,2461,2393,0,0,0,0,1,0,14.44,28.83,13.31
$GC,5872,1.48,80.0,3238,2380,2461,2395,569.2,26.5,296,5877,0.00,2.35,0.00,0.000,260,0.000,0.090,3238,3784,2428,2461,2396,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5895,1.48,80.0,3238,3784,2461,2395,562.9,26.8,297,5900,0.00,2.22,0.00,0.000,1030,0.000,0.043,3249,2370,2428,2461,2395,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6217,1.48,80.0,3249,2366,2461,2392,480.6,25.1,313,6223,0.00,2.20,0.00,0.000,516,0.000,0.052,3259,974,2426,2461,2392,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6449,1.48,80.0,3260,974,2461,2389,427.8,23.6,324,6454,0.00,2.28,0.00,0.000,1030,0.000,0.060,3260,2380,2424,2460,2389,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6761,1.48,80.0,3259,2380,2461,2387,350.1,22.6,340,6766,0.00,2.22,0.00,0.000,516,0.000,0.050,3269,974,2423,2460,2387,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6913,1.48,80.0,3270,974,2460,2386,318.8,21.5,347,6919,0.15,2.25,0.00,0.000,5126,0.372,0.058,3240,2376,2423,2461,2386,0,0,0,0,0,0,14.62,14.88,28.83
$GC,7225,1.48,80.0,3240,2376,2460,2384,255.0,17.5,363,7231,0.00,2.30,0.00,0.000,260,0.000,0.086,3239,3775,2423,2461,2385,0,0,0,0,0,0,28.83,14.87,28.83
$GC,7457,1.48,80.0,3239,3774,2460,2385,209.1,19.2,374,7463,0.00,2.17,0.00,0.000,1030,0.000,0.042,3247,2364,2422,2460,2385,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7770,1.48,80.0,3248,2359,2460,2382,156.2,17.1,390,7771,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2359,2421,2460,2382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8071,1.50,106.9,3248,2359,2460,2381,119.9,6.5,405,8091,0.00,2.15,13.75,0.512,8708,0.000,0.049,3258,984,2316,2348,2285,0,0,0,0,0,0,28.83,14.90,14.54
$GC,8317,1.50,106.9,2368,984,2304,2284,85.8,14.9,417,8323,0.00,2.22,0.00,0.000,1030,0.000,0.054,3258,2379,2321,2349,2294,0,0,0,0,0,0,28.83,14.89,28.83
$GC,8635,1.51,114.8,3258,2379,2349,2294,49.8,9.0,433,8647,0.00,2.20,4.93,0.279,8708,0.000,0.044,3266,979,2285,2313,2257,0,0,0,0,0,0,28.83,14.86,14.66
$GC,8680,1.53,137.3,3266,979,2314,2261,46.6,7.1,437,8702,0.00,2.22,11.98,0.281,9222,0.000,0.054,3266,2376,2192,2218,2167,0,0,0,0,0,0,28.83,14.85,14.67
$GC,9001,1.60,203.8,3266,2376,2220,2172,25.4,1.4,469,9045,0.00,2.35,32.10,0.222,8452,0.000,0.080,3265,3772,1921,1944,1899,0,0,0,0,0,0,28.83,14.81,14.69
$GC,9091,1.60,203.8,2368,3772,1906,1894,16.0,17.1,483,9098,0.00,2.12,0.00,0.000,1030,0.000,0.039,3276,2370,1923,1944,1902,0,0,0,0,0,0,28.83,14.89,28.83
$STATE,9253,end climb,SURFACE_DEPTH_REACHED
$STATE,9253,begin surface coast
$FINISH,1.2,1.020692
$STATE,9355,end surface coast,CONTROL_FINISHED_OK
$STATE,9355,begin surface
$SM_CCo,9371,130.10,0.147,0,0,714,500.17
$SM_GC,0.42,9.38,0.00,130.10,0.158,0.000,0.147,244,2366,714,-7.80,-0.96,500.17,0,0,0,0,0,0,14.86,28.83,14.69
$IRIDIUM_FIX,2159.71,12006.34,170513,151527
$TT8_MAMPS,0.019474,0.019474
$HUMID,44.21
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,24.60
$XPDR_PINGS,4
$SC_FREEKB,3935488
$24V_AH,13.3,25.818
$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,22.900,75.425,204.500,130.100,0.000,31.190,49.007,197.664,1.000,0.000,37.133,1958.694,5566.293,466.724,1895.468,95.862,0.000,1239.860,0.000,1468.877,0.000,0.541,0.000
$DEVICE_MAMPS,426.870,104.040,2044.845,146.880,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9398.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.481,0.000,0.000,0.000
$MEM,323260
$DATA_FILE_SIZE,20108,535
$CAP_FILE_SIZE,123187,0
$CFSIZE,260034560,255266816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.039,289.1,1
$GPS,170513,202606,2203.886,12023.706,28,1.1,28,-2.7