version: 66.11
glider: 181
mission: 11
dive: 9
start: 5 17 113 23 34 47
data:
$ID,181
$MISSION,11
$DIVE,9
$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,-95683.531
$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,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,60
$R_STBD_OVSHOOT,30
$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
$GPS1,170513,232405,2202.612,12024.006,11,0.9,27,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.34
$_SM_ANGLEo,-70.2
$GPS2,170513,233419,2202.622,12023.980,11,1.5,11,-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,156.0,28991,-14.3,-10.000,-17.31,2952
$D_GRID,825
$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,-194.6,227,2367,919,922,0.0,0.0,0,102,0.00,0.00,-80.90,0.000,16386,0.000,0.000,226,2367,3008,3057,2959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.91,-194.6,226,2367,3057,2960,4.1,-13.5,14,131,10.68,2.35,-8.77,0.000,18692,0.423,0.100,2449,3780,3548,3642,3454,0,0,0,0,0,0,14.42,14.66,14.88
$GC,333,-0.91,-194.6,2449,3776,3643,3456,69.5,-22.3,35,338,0.00,2.12,0.00,0.000,1030,0.000,0.040,2449,2397,3549,3643,3456,0,0,0,0,0,0,28.83,14.80,28.83
$GC,644,-0.91,-194.6,2449,2392,3643,3457,133.0,-19.1,51,650,0.00,2.17,0.00,0.000,516,0.000,0.049,2449,999,3550,3643,3457,0,0,0,0,0,0,28.83,14.83,28.83
$GC,706,-0.91,-194.6,2448,998,3643,3457,143.1,-16.9,54,712,0.00,2.28,0.00,0.000,1030,0.000,0.064,2439,2401,3550,3643,3457,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1029,-0.91,-194.6,2439,2401,3643,3457,191.5,-14.3,70,1034,0.00,2.28,0.00,0.000,260,0.000,0.088,2428,3787,3550,3643,3458,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1085,-0.91,-194.6,2428,3787,3643,3458,198.1,-14.9,72,1093,0.15,2.12,0.00,0.000,3078,0.243,0.040,2465,2386,3550,3643,3458,0,0,0,0,0,0,14.77,14.93,28.83
$GC,1391,-0.91,-194.6,2465,2381,3643,3458,238.5,-11.4,88,1393,0.00,0.00,0.00,0.000,6,0.000,0.000,2465,2381,3550,3643,3458,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1691,-0.91,-194.6,2465,2380,3643,3458,272.3,-10.8,103,1698,0.00,2.30,0.00,0.000,260,0.000,0.090,2458,3777,3550,3643,3458,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1863,-0.91,-194.6,2458,3777,3643,3457,290.1,-10.6,111,1869,0.00,2.10,0.00,0.000,1030,0.000,0.041,2458,2386,3550,3644,3457,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2175,-0.91,-194.6,2458,2385,3643,3454,324.5,-10.5,127,2181,0.00,2.30,0.00,0.000,260,0.000,0.093,2447,3775,3548,3643,3454,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2202,-0.91,-194.6,2448,3775,3643,3453,326.8,-10.4,128,2208,0.00,2.08,0.00,0.000,1030,0.000,0.042,2449,2408,3548,3643,3454,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2519,-0.91,-194.6,2449,2405,3643,3450,361.6,-10.7,144,2525,0.00,2.20,0.00,0.000,516,0.000,0.053,2448,999,3547,3644,3450,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2637,-0.91,-194.6,2448,999,3643,3456,372.0,-9.8,149,2644,0.00,2.28,0.00,0.000,1030,0.000,0.064,2440,2407,3546,3643,3449,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2942,-0.91,-194.6,2440,2407,3643,3445,403.2,-10.5,165,2947,0.00,2.28,0.00,0.000,260,0.000,0.097,2429,3783,3544,3643,3445,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2993,-0.91,-194.6,2429,3782,3642,3445,407.9,-11.0,167,2999,0.15,2.12,0.00,0.000,3078,0.240,0.046,2466,2386,3544,3643,3445,0,0,0,0,0,0,14.83,15.00,28.83
$GC,3306,-0.91,-194.6,2466,2382,3642,3442,439.8,-10.5,183,3312,0.00,2.33,0.00,0.000,260,0.000,0.099,2459,3776,3541,3641,3442,0,0,0,0,0,0,28.83,14.91,28.83
$GC,3343,-0.91,-194.6,2459,3776,3641,3442,442.6,-10.8,184,3350,0.00,2.10,0.00,0.000,1030,0.000,0.044,2459,2392,3541,3641,3442,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3649,-0.91,-194.6,2459,2391,3640,3440,478.8,-11.5,200,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2392,3540,3640,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3950,-0.91,-194.6,2459,2391,3638,3439,512.9,-11.3,215,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2391,3538,3638,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4250,-0.91,-194.6,2459,2391,3637,3437,542.6,-8.9,230,4256,0.00,2.33,0.00,0.000,260,0.000,0.098,2450,3784,3536,3636,3437,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4302,-0.91,-194.6,2450,3784,3635,3437,546.8,-9.3,232,4307,0.00,2.12,0.00,0.000,1030,0.000,0.047,2451,2399,3536,3635,3437,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4614,-0.91,-194.6,2450,2393,3635,3434,576.8,-9.3,248,4621,0.00,2.33,0.00,0.000,260,0.000,0.099,2446,3782,3534,3634,3434,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4672,-0.91,-194.6,2446,3783,3633,3434,581.2,-9.7,250,4679,0.00,2.12,0.00,0.000,1030,0.000,0.048,2446,2399,3533,3633,3434,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4978,-0.91,-194.6,2446,2395,3633,3433,614.1,-10.0,264,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2446,2398,3532,3633,3432,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5278,-0.91,-194.6,2446,2397,3630,3428,644.4,-10.5,274,5283,0.00,2.30,0.00,0.000,260,0.000,0.100,2437,3774,3530,3629,3432,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5354,-0.91,-194.6,2437,3774,3630,3432,651.3,-10.8,276,5360,0.12,2.12,0.00,0.000,3078,0.246,0.050,2466,2395,3530,3629,3432,0,0,0,0,0,0,14.81,15.00,28.83
$GC,5673,-0.91,-194.6,2466,2394,3629,3428,681.0,-8.9,287,5678,0.00,2.33,0.00,0.000,260,0.000,0.102,2459,3779,3528,3629,3427,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5751,-0.91,-194.6,2459,3779,3627,3427,687.0,-9.0,289,5756,0.00,2.12,0.00,0.000,1030,0.000,0.050,2459,2399,3527,3628,3427,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6069,-0.91,-194.6,2460,2396,3627,3422,712.9,-7.2,300,6070,0.00,0.00,0.00,0.000,6,0.000,0.000,2459,2396,3527,3628,3426,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6369,-0.91,-194.6,2459,2396,3625,3425,736.5,-8.7,310,6374,0.00,2.33,0.00,0.000,260,0.000,0.103,2451,3776,3525,3625,3425,0,0,0,0,0,0,28.83,14.89,28.83
$GC,6405,-0.91,-194.6,2451,3777,3624,3425,739.6,-8.9,311,6411,0.00,2.12,0.00,0.000,1030,0.000,0.050,2451,2399,3524,3624,3425,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6734,-0.91,-194.6,2451,2398,3624,3424,770.7,-9.1,322,6739,0.00,2.33,0.00,0.000,260,0.000,0.104,2442,3774,3524,3624,3424,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6836,-0.91,-194.6,2442,3774,3623,3424,774.6,-5.6,325,6841,0.00,2.12,0.00,0.000,1030,0.000,0.049,2442,2391,3523,3623,3424,0,0,0,0,0,0,28.83,14.97,28.83
$STATE,7007,end dive,NO_VERTICAL_VELOCITY
$STATE,7007,begin apogee
$GC,7011,-0.25,0.0,2442,2390,3623,3423,775.2,0.0,331,7203,0.70,0.00,184.75,1.528,10246,0.147,0.000,2673,2391,2749,2784,2715,0,0,0,0,0,0,14.84,28.83,13.56
$STATE,7204,end apogee,CONTROL_FINISHED_OK
$STATE,7204,begin climb
$GC,7206,0.91,194.6,2673,2390,2782,2712,775.1,0.0,337,7404,1.05,2.38,189.27,1.499,10756,0.053,0.057,3079,991,1955,1980,1930,0,0,0,0,0,0,14.23,14.12,13.51
$GC,7586,0.91,194.6,3078,991,1975,1908,699.1,26.7,350,7592,0.00,2.33,0.00,0.000,1030,0.000,0.067,3079,2380,1941,1975,1908,0,0,0,0,0,0,28.83,14.56,28.83
$GC,7915,0.91,194.6,3079,2380,1975,1903,609.7,27.3,361,7920,0.00,2.35,0.00,0.000,260,0.000,0.093,3078,3774,1939,1975,1903,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7931,0.91,194.6,3079,3773,1975,1903,609.7,27.3,361,7937,0.15,2.17,0.00,0.000,5126,0.333,0.044,3059,2378,1939,1975,1903,0,0,0,0,0,0,14.57,14.78,28.83
$GC,8239,0.91,194.6,3058,2373,1975,1900,530.8,24.4,376,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2373,1937,1975,1900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8539,0.91,194.6,3059,2373,1975,1898,456.4,25.2,391,8544,0.00,2.38,0.00,0.000,260,0.000,0.095,3059,3780,1936,1975,1898,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8596,0.91,194.6,3059,3780,1975,1898,445.2,25.9,393,8602,0.00,2.17,0.00,0.000,1030,0.000,0.044,3067,2373,1936,1975,1898,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8902,0.91,194.6,3067,2368,1975,1897,365.6,23.6,409,8907,0.00,2.38,0.00,0.000,260,0.000,0.094,3068,3775,1936,1975,1897,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8944,0.91,194.6,3068,3775,1975,1897,354.1,25.2,411,8949,0.00,2.17,0.00,0.000,1030,0.000,0.044,3079,2365,1936,1975,1897,0,0,0,0,0,0,28.83,14.92,28.83
$GC,9266,0.91,194.6,3079,2363,1975,1896,275.7,24.0,427,9272,0.00,2.20,0.00,0.000,516,0.000,0.054,3089,975,1935,1975,1896,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9318,0.91,194.6,3089,975,1975,1896,265.1,24.4,429,9324,0.15,2.28,0.00,0.000,5126,0.296,0.060,3056,2381,1935,1975,1896,0,0,0,0,0,0,14.69,14.88,28.83
$GC,9631,0.91,194.6,3056,2381,1975,1895,194.9,21.9,445,9636,0.00,2.33,0.00,0.000,260,0.000,0.093,3056,3774,1935,1975,1896,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9787,0.91,194.6,3056,3774,1975,1896,161.4,23.9,452,9794,0.00,2.15,0.00,0.000,1030,0.000,0.043,3064,2375,1935,1975,1895,0,0,0,0,0,0,28.83,14.93,28.83
$GC,10093,0.91,194.6,3064,2370,1975,1895,95.2,17.8,468,10098,0.00,2.20,0.00,0.000,516,0.000,0.052,3075,980,1935,1975,1895,0,0,0,0,0,0,28.83,14.91,28.83
$GC,10184,0.91,194.6,3075,980,1975,1895,81.5,16.7,472,10190,0.00,2.25,0.00,0.000,1030,0.000,0.059,3074,2376,1935,1975,1895,0,0,0,0,0,0,28.83,14.89,28.83
$GC,10498,0.91,194.6,3075,2376,1975,1895,26.7,12.6,495,10499,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2376,1935,1975,1895,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10776,end climb,SURFACE_DEPTH_REACHED
$STATE,10776,begin surface coast
$FINISH,0.7,1.020831
$STATE,10807,end surface coast,CONTROL_FINISHED_OK
$STATE,10807,begin surface
$SM_CCo,10822,112.45,0.155,0,0,916,450.13
$SM_GC,0.17,8.27,0.00,112.45,0.113,0.000,0.155,238,2376,916,-7.81,-0.68,450.13,0,0,0,0,0,0,14.88,28.83,14.71
$IRIDIUM_FIX,2152.74,12022.75,170513,202044
$TT8_MAMPS,0.019474,0.019474
$HUMID,46.45
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,23.40
$XPDR_PINGS,3
$SC_FREEKB,3934688
$24V_AH,13.5,26.305
$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,21.425,93.800,374.025,112.450,0.000,25.418,21.898,401.612,0.750,0.000,14.092,1832.552,7119.470,573.075,1919.130,118.050,0.000,1350.031,0.000,1356.048,0.000,0.541,0.000
$DEVICE_MAMPS,423.045,104.040,1528.470,155.295,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10849.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.329,0.000,0.000,0.000
$MEM,323448
$DATA_FILE_SIZE,20113,555
$CAP_FILE_SIZE,132058,0
$CFSIZE,260034560,255074304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.084,329.6,1
$GPS,180513,023824,2201.638,12024.351,40,0.9,40,-2.7