version: 66.11
glider: 181
mission: 11
dive: 8
start: 5 17 113 20 36 42
data:
$ID,181
$MISSION,11
$DIVE,8
$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,-95682.273
$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,67
$R_STBD_OVSHOOT,37
$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
$GPS1,170513,202606,2203.886,12023.706,28,1.1,28,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.43
$_SM_ANGLEo,-71.1
$GPS2,170513,203613,2203.805,12023.653,11,1.4,11,-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,156.8,31240,-14.3,-10.000,-17.31,2952
$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,-0.91,-194.6,219,2361,726,709,0.0,0.0,0,103,0.00,0.00,-82.93,0.000,16386,0.000,0.000,218,2362,2807,2860,2755,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.91,-194.6,218,2362,2861,2757,3.1,-8.6,14,138,10.77,2.38,-12.88,0.000,18692,0.425,0.114,2449,3771,3549,3651,3447,0,0,0,0,0,0,14.42,14.66,14.90
$GC,305,-0.91,-194.6,2449,3771,3651,3449,59.4,-24.9,37,311,0.00,2.10,0.00,0.000,1030,0.000,0.038,2445,2399,3550,3650,3450,0,0,0,0,0,0,28.83,14.78,28.83
$GC,628,-0.91,-194.6,2449,2395,3651,3451,127.8,-19.2,53,634,0.00,2.17,0.00,0.000,516,0.000,0.048,2449,1000,3550,3650,3451,0,0,0,0,0,0,28.83,14.84,28.83
$GC,760,-0.91,-194.6,2449,1000,3650,3451,148.5,-15.5,59,765,0.00,2.25,0.00,0.000,1030,0.000,0.063,2439,2392,3551,3651,3451,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1072,-0.91,-194.6,2439,2392,3651,3451,196.3,-14.9,75,1077,0.00,2.28,0.00,0.000,260,0.000,0.087,2429,3784,3550,3650,3451,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1103,-0.91,-194.6,2429,3784,3651,3451,199.8,-15.3,76,1110,0.15,2.10,0.00,0.000,3078,0.247,0.041,2465,2393,3550,3650,3451,0,0,0,0,0,0,14.75,14.91,28.83
$GC,1417,-0.91,-194.6,2465,2389,3651,3451,240.3,-11.5,92,1422,0.00,2.15,0.00,0.000,516,0.000,0.050,2465,1005,3551,3651,3451,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1440,-0.91,-194.6,2465,1004,3650,3451,243.0,-11.6,93,1446,0.00,2.28,0.00,0.000,1030,0.000,0.064,2460,2408,3550,3650,3451,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1762,-0.91,-194.6,2460,2414,3650,3450,279.3,-11.4,109,1768,0.00,2.25,0.00,0.000,260,0.000,0.090,2451,3781,3550,3650,3450,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1909,-0.91,-194.6,1568,3780,3647,3446,295.7,-10.9,116,1914,0.00,2.10,0.00,0.000,1030,0.000,0.044,2450,2398,3550,3651,3449,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2226,-0.91,-194.6,2450,2394,3650,3447,331.8,-11.1,132,2232,0.00,2.30,0.00,0.000,260,0.000,0.096,2447,3780,3548,3650,3447,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2272,-0.91,-194.6,1584,3779,3645,3444,336.6,-11.2,134,2278,0.00,2.10,0.00,0.000,1030,0.000,0.042,2447,2396,3548,3649,3447,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2590,-0.91,-194.6,2447,2396,3648,3444,372.9,-11.6,150,2595,0.00,2.15,0.00,0.000,516,0.000,0.052,2447,1013,3546,3648,3444,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2641,-0.91,-194.6,2447,1013,3648,3444,377.9,-11.9,152,2647,0.00,2.25,0.00,0.000,1030,0.000,0.065,2438,2404,3545,3647,3444,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2955,-0.91,-194.6,2438,2404,3646,3441,418.3,-12.6,168,2960,0.00,2.28,0.00,0.000,260,0.000,0.096,2427,3781,3543,3646,3441,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3072,-0.91,-194.6,2427,3781,3640,3441,431.4,-12.7,173,3080,0.15,2.10,0.00,0.000,3078,0.239,0.045,2465,2408,3542,3644,3441,0,0,0,0,0,0,14.82,15.00,28.83
$GC,3377,-0.91,-194.6,2470,2407,3644,3438,460.6,-9.3,189,3383,0.00,2.20,0.00,0.000,516,0.000,0.056,2465,1005,3541,3645,3438,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3415,-0.91,-194.6,2465,1005,3644,3438,462.8,-9.5,190,3421,0.00,2.28,0.00,0.000,1030,0.000,0.068,2460,2404,3541,3644,3438,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3721,-0.91,-194.6,2460,2405,3641,3436,491.1,-8.0,206,3723,0.00,0.00,-0.08,0.000,16390,0.000,0.000,2460,2405,3559,3660,3458,0,0,0,0,0,0,28.83,28.83,14.62
$GC,4020,-0.91,-194.6,2460,2405,3660,3456,520.2,-10.1,221,4025,0.00,2.28,0.00,0.000,260,0.000,0.099,2451,3776,3558,3660,3456,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4071,-0.91,-194.6,2451,3776,3660,3455,524.5,-10.2,223,4077,0.00,2.12,0.00,0.000,1030,0.000,0.049,2451,2392,3557,3660,3455,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4385,-0.91,-194.6,2451,2391,3660,3451,556.6,-10.2,239,4390,0.00,2.33,0.00,0.000,260,0.000,0.099,2442,3780,3555,3659,3451,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4421,-0.91,-194.6,2442,3780,3660,3451,559.0,-10.3,240,4428,0.00,2.12,0.00,0.000,1030,0.000,0.050,2442,2398,3555,3660,3451,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4727,-0.91,-194.6,2442,2398,3658,3449,592.7,-10.6,256,4733,0.00,2.33,0.00,0.000,260,0.000,0.101,2435,3784,3554,3659,3449,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4754,-0.91,-194.6,2435,3784,3658,3449,595.3,-10.8,257,4760,0.12,2.12,0.00,0.000,3078,0.254,0.050,2463,2407,3553,3658,3449,0,0,0,0,0,0,14.81,15.00,28.83
$GC,5082,-0.91,-194.6,2463,2405,3657,3447,627.6,-9.5,269,5088,0.00,2.30,0.00,0.000,260,0.000,0.102,2457,3778,3552,3657,3447,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5119,-0.91,-194.6,2457,3777,3656,3447,631.0,-9.8,270,5124,0.00,2.12,0.00,0.000,1030,0.000,0.050,2457,2399,3551,3656,3447,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5448,-0.91,-194.6,2457,2395,3655,3445,665.1,-10.2,281,5453,0.00,2.33,0.00,0.000,260,0.000,0.103,2448,3776,3550,3655,3445,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5469,-0.91,-194.6,2448,3776,3654,3445,665.1,-10.2,281,5474,0.00,2.12,0.00,0.000,1030,0.000,0.050,2448,2398,3549,3654,3445,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5782,-0.91,-194.6,2448,2393,3652,3443,699.5,-10.0,292,5787,0.00,2.20,0.00,0.000,516,0.000,0.060,2448,1010,3547,3652,3443,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5834,-0.91,-194.6,2448,1009,3651,3443,703.0,-9.9,293,5839,0.00,2.28,0.00,0.000,1030,0.000,0.073,2440,2398,3547,3652,3443,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,6144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6145,begin apogee
$GC,6149,-0.25,0.0,2441,2398,3651,3441,737.5,-10.7,304,6345,0.77,0.00,186.95,1.501,10246,0.203,0.000,2675,2399,2751,2790,2712,0,0,0,0,0,0,14.78,28.83,13.58
$STATE,6347,end apogee,CONTROL_FINISHED_OK
$STATE,6347,begin climb
$GC,6348,0.91,194.6,2676,2399,2789,2711,744.4,0.0,310,6547,1.05,2.40,187.27,1.464,10756,0.055,0.057,3079,986,1954,1981,1928,0,0,0,0,0,0,14.27,14.16,13.56
$GC,6673,0.91,194.6,3076,985,1979,1909,683.2,24.4,321,6678,0.00,2.35,0.00,0.000,1030,0.000,0.066,3080,2382,1944,1979,1909,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6990,0.91,194.6,3080,2383,1979,1902,597.8,26.3,332,6992,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2383,1940,1979,1902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7291,0.91,194.6,3080,2383,1979,1900,518.5,26.4,347,7296,0.00,2.35,0.00,0.000,260,0.000,0.095,3079,3774,1937,1979,1896,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7393,0.91,194.6,3080,3774,1979,1900,488.6,29.7,352,7399,0.15,2.17,0.00,0.000,5126,0.337,0.046,3058,2377,1939,1979,1900,0,0,0,0,0,0,14.63,14.86,28.83
$GC,7716,0.91,194.6,3058,2373,1979,1896,407.1,25.5,368,7721,0.00,2.22,0.00,0.000,516,0.000,0.057,3066,982,1937,1979,1896,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7772,0.91,194.6,3067,983,1979,1896,397.2,24.3,370,7780,0.00,2.28,0.00,0.000,1030,0.000,0.064,3067,2379,1937,1979,1896,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8078,0.91,194.6,3067,2379,1979,1895,321.7,22.9,386,8084,0.00,2.25,0.00,0.000,516,0.000,0.055,3077,978,1937,1979,1895,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8145,0.91,194.6,3077,978,1979,1895,307.9,22.4,389,8151,0.00,2.30,0.00,0.000,1030,0.000,0.066,3077,2382,1937,1979,1895,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8463,0.91,194.6,3077,2382,1979,1894,236.5,23.2,405,8468,0.00,2.35,0.00,0.000,260,0.000,0.096,3077,3786,1936,1979,1894,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8639,0.91,194.6,3077,3787,1979,1894,194.3,25.2,413,8646,0.15,2.20,0.00,0.000,5126,0.333,0.045,3056,2364,1939,1978,1901,0,0,0,0,0,0,14.69,14.94,28.83
$GC,8945,0.91,194.6,3056,2359,1979,1893,126.9,20.2,429,8950,0.00,2.38,0.00,0.000,260,0.000,0.092,3057,3775,1936,1979,1893,0,0,0,0,0,0,28.83,14.86,28.83
$GC,8955,0.91,194.6,3057,3775,1979,1893,126.9,20.2,429,8961,0.00,2.17,0.00,0.000,1030,0.000,0.044,3065,2366,1936,1979,1893,0,0,0,0,0,0,28.83,14.95,28.83
$GC,9269,0.91,194.6,3066,2361,1979,1893,69.7,16.6,445,9274,0.00,2.20,0.00,0.000,516,0.000,0.057,3076,977,1936,1979,1893,0,0,0,0,0,0,28.83,14.92,28.83
$GC,9372,0.91,194.6,3076,976,1979,1893,53.4,15.3,450,9377,0.00,2.28,0.00,0.000,1030,0.000,0.060,3076,2387,1936,1979,1893,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9679,0.96,244.0,2112,2385,1939,1884,20.0,8.3,484,9710,0.00,2.35,20.88,0.207,8452,0.000,0.088,3076,3778,1757,1796,1718,0,0,0,0,0,0,28.83,14.81,14.73
$GC,9756,0.96,244.0,2144,3777,1766,1718,11.1,13.9,498,9763,0.00,2.15,0.00,0.000,1030,0.000,0.042,3086,2376,1762,1800,1725,0,0,0,0,0,0,28.83,14.88,28.83
$STATE,9835,end climb,SURFACE_DEPTH_REACHED
$STATE,9835,begin surface coast
$FINISH,0.0,1.020456
$STATE,9867,end surface coast,CONTROL_FINISHED_OK
$STATE,9867,begin surface
$SM_CCo,9882,92.40,0.154,0,0,916,450.13
$SM_GC,0.25,8.05,0.00,92.40,0.085,0.000,0.154,235,2371,916,-7.81,-0.82,450.13,0,0,0,0,0,0,14.88,28.83,14.71
$IRIDIUM_FIX,2209.02,12002.31,170513,171751
$TT8_MAMPS,0.019474,0.019474
$HUMID,46.92
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,23.80
$XPDR_PINGS,1
$SC_FREEKB,3935104
$24V_AH,13.6,26.059
$10V_AH,13.6,0.000
$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,21.375,102.750,395.100,92.400,0.000,27.963,22.608,390.928,0.250,0.000,13.722,1697.531,6366.701,593.169,1829.040,109.260,0.000,1345.332,0.000,1274.930,0.000,0.542,0.000
$DEVICE_MAMPS,424.575,113.985,1500.930,153.765,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9915.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.691,0.000,0.000,0.000
$MEM,323396
$DATA_FILE_SIZE,20098,519
$CAP_FILE_SIZE,127322,0
$CFSIZE,260034560,255168512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,305.5,1
$GPS,170513,232405,2202.612,12024.006,11,0.9,27,-2.7