version: 66.11
glider: 181
mission: 11
dive: 13
start: 5 18 113 12 54 18
data:
$ID,181
$MISSION,11
$DIVE,13
$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,-95688.562
$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,17
$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,66
$R_STBD_OVSHOOT,29
$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,0.00039999999
$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
$GPS1,180513,124630,2157.748,12026.404,39,1.6,39,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-70.4
$GPS2,180513,125349,2157.771,12026.531,11,1.4,11,-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,174.1,19054,-14.3,-10.000,-17.31,2952
$D_GRID,663
$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,-0.92,-194.6,228,2365,920,928,0.0,0.0,0,109,0.00,0.00,-87.85,0.000,16386,0.000,0.000,227,2366,3136,3189,3084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.92,-194.6,227,2365,3189,3086,3.6,-13.0,15,137,10.23,2.38,-7.03,0.000,18692,0.418,0.095,2386,3780,3547,3632,3463,0,0,0,0,0,0,14.45,14.67,14.90
$GC,273,-0.92,-194.6,2386,3780,3638,3465,68.9,-38.0,31,278,0.00,2.12,0.00,0.000,1030,0.000,0.040,2386,2409,3551,3638,3465,0,0,0,0,0,0,28.83,14.73,28.83
$GC,585,-0.92,-194.6,2386,2404,3640,3467,140.3,-19.6,47,590,0.00,2.28,0.00,0.000,260,0.000,0.086,2376,3780,3553,3640,3467,0,0,0,0,0,0,28.83,14.81,28.83
$GC,637,-0.92,-194.6,2376,3781,3640,3468,148.8,-20.0,49,642,0.00,2.12,0.00,0.000,1030,0.000,0.038,2376,2389,3554,3640,3468,0,0,0,0,0,0,28.83,14.88,28.83
$GC,949,-0.92,-194.6,2376,2384,3642,3468,211.1,-19.1,65,954,0.00,2.15,0.00,0.000,516,0.000,0.046,2375,1000,3554,3641,3468,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1045,-0.92,-194.6,2375,999,3640,3467,225.7,-17.6,69,1053,0.15,2.28,0.00,0.000,3078,0.271,0.063,2398,2405,3553,3640,3467,0,0,0,0,0,0,14.75,14.88,28.83
$GC,1351,-0.92,-194.6,2400,2405,3641,3467,279.7,-17.5,85,1356,0.00,2.25,0.00,0.000,260,0.000,0.088,2392,3780,3553,3640,3467,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1394,-0.92,-194.6,2392,3779,3640,3467,287.7,-18.4,87,1399,0.00,2.12,0.00,0.000,1030,0.000,0.039,2392,2386,3553,3639,3467,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1716,-0.92,-194.6,2391,2382,3640,3465,343.6,-15.8,103,1722,0.00,2.30,0.00,0.000,260,0.000,0.090,2379,3776,3552,3641,3464,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1779,-0.92,-194.6,2382,3776,3640,3464,353.8,-16.2,106,1785,0.00,2.10,0.00,0.000,1030,0.000,0.039,2381,2386,3551,3640,3463,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2102,-0.92,-194.6,2381,2381,3641,3462,401.9,-14.9,122,2103,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2381,3551,3641,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2402,-0.92,-194.6,2381,2382,3641,3459,449.0,-14.7,137,2407,0.00,2.12,0.00,0.000,516,0.000,0.050,2381,1014,3550,3641,3459,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2433,-0.92,-194.6,2380,1013,3645,3458,452.3,-14.7,138,2440,0.12,2.25,0.00,0.000,3078,0.269,0.063,2399,2409,3549,3641,3458,0,0,0,0,0,0,14.83,14.95,28.83
$GC,2747,-0.92,-194.6,2399,2409,3641,3454,494.2,-13.0,154,2753,0.00,2.25,0.00,0.000,260,0.000,0.094,2391,3776,3550,3648,3453,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2810,-0.92,-194.6,2391,3776,3641,3454,503.2,-14.1,157,2815,0.00,2.10,0.00,0.000,1030,0.000,0.044,2391,2395,3547,3641,3454,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3132,-0.92,-194.6,2391,2389,3638,3451,548.9,-13.6,173,3139,0.00,2.17,0.00,0.000,516,0.000,0.054,2391,1003,3544,3638,3451,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3184,-0.92,-194.6,2391,1003,3638,3451,554.6,-13.2,175,3190,0.00,2.28,0.00,0.000,1030,0.000,0.066,2381,2406,3544,3638,3451,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3497,-0.92,-194.6,2382,2406,3637,3447,597.6,-12.6,191,3502,0.00,2.28,0.00,0.000,260,0.000,0.096,2371,3780,3541,3636,3447,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3532,-0.92,-194.6,1536,3779,3631,3444,601.8,-13.0,193,3538,0.12,2.12,0.00,0.000,3078,0.272,0.047,2398,2394,3541,3636,3447,0,0,0,0,0,0,14.82,15.00,28.83
$GC,3861,-0.92,-194.6,2400,2392,3634,3444,640.8,-11.7,204,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2392,3539,3635,3444,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4069,begin apogee
$GC,4072,-0.29,0.0,2398,2392,3634,3443,665.1,-11.5,211,4260,0.68,0.00,180.65,1.398,10246,0.219,0.000,2600,2392,2750,2783,2717,0,0,0,0,0,0,14.83,28.83,13.65
$STATE,4262,end apogee,CONTROL_FINISHED_OK
$STATE,4262,begin climb
$GC,4263,0.92,194.6,2600,2392,2780,2713,669.2,0.0,217,4451,1.23,0.00,183.02,1.372,11014,0.136,0.000,2991,2391,1959,1989,1929,0,0,0,0,0,0,14.21,28.83,13.60
$GC,4731,0.92,194.6,2991,2391,1984,1900,584.6,19.1,234,4736,0.00,2.38,0.00,0.000,260,0.000,0.093,2991,3784,1941,1983,1900,0,0,0,0,0,0,28.83,14.63,28.83
$GC,4747,0.92,194.6,2991,3784,1983,1900,584.6,19.1,234,4755,0.00,2.22,0.00,0.000,1030,0.000,0.044,3001,2372,1942,1984,1900,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5053,0.92,194.6,3001,2367,1983,1895,517.2,21.0,250,5054,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2367,1939,1983,1895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5354,0.92,194.6,3002,2367,1983,1893,453.0,21.1,265,5355,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2372,1938,1983,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5653,0.92,194.6,3002,2367,1983,1891,389.3,20.5,280,5659,0.00,2.22,0.00,0.000,516,0.000,0.057,3012,976,1937,1984,1891,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5690,0.92,194.6,3012,975,1983,1891,384.8,20.3,281,5697,0.00,2.30,0.00,0.000,1030,0.000,0.061,3012,2390,1937,1983,1891,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5996,0.92,194.6,3012,2391,1983,1889,317.1,20.4,297,6001,0.00,2.30,0.00,0.000,260,0.000,0.090,3012,3777,1936,1983,1889,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6038,0.92,194.6,3011,3777,1983,1889,308.0,21.0,299,6044,0.00,2.17,0.00,0.000,1030,0.000,0.043,3022,2370,1936,1983,1889,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6360,0.92,194.6,3022,2366,1983,1887,244.2,19.4,315,6367,0.00,2.35,0.00,0.000,260,0.000,0.090,3022,3775,1935,1984,1887,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6478,0.92,194.6,3022,3775,1983,1887,222.1,21.8,320,6486,0.15,2.15,0.00,0.000,5126,0.318,0.043,3002,2373,1935,1984,1887,0,0,0,0,0,0,14.73,14.95,28.83
$GC,6783,0.92,194.6,3002,2370,1983,1885,161.9,18.2,336,6789,0.00,2.20,0.00,0.000,516,0.000,0.056,3009,984,1934,1983,1886,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6849,0.92,194.6,2088,983,1946,1877,151.5,17.1,339,6856,0.00,2.25,0.00,0.000,1030,0.000,0.058,3009,2377,1934,1983,1885,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7167,0.92,194.6,3009,2377,1983,1885,94.4,17.0,355,7173,0.00,2.33,0.00,0.000,260,0.000,0.090,3009,3783,1934,1983,1885,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7210,0.92,194.6,3009,3782,1983,1885,87.8,15.8,357,7215,0.00,2.15,0.00,0.000,1030,0.000,0.041,3019,2374,1933,1982,1885,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7522,0.92,194.6,3020,2370,1983,1885,48.2,10.0,373,7527,0.00,2.35,0.00,0.000,260,0.000,0.086,3020,3786,1934,1983,1885,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7554,0.92,194.6,3020,3785,1983,1886,44.7,10.4,376,7560,0.15,2.17,0.00,0.000,5126,0.301,0.041,2998,2356,1934,1983,1885,0,0,0,0,0,0,14.71,14.93,28.83
$GC,7862,0.98,338.1,2048,2350,1944,1876,21.1,5.0,413,7934,0.00,2.38,63.53,0.211,8452,0.000,0.083,2999,3780,1372,1411,1333,0,0,0,0,0,0,28.83,14.78,14.69
$GC,7998,0.99,378.3,2999,3780,1421,1337,11.5,8.6,437,8023,0.00,2.15,19.02,0.186,9222,0.000,0.041,3006,2373,1208,1251,1165,0,0,0,0,0,0,28.83,14.88,14.70
$STATE,8088,end climb,SURFACE_DEPTH_REACHED
$STATE,8088,begin surface coast
$FINISH,-0.4,1.021609
$STATE,8115,end surface coast,CONTROL_FINISHED_OK
$STATE,8115,begin surface
$SM_CCo,8130,32.80,0.154,0,0,915,450.13
$SM_GC,-0.22,7.57,0.00,32.80,0.055,0.000,0.154,227,2372,915,-7.64,-0.79,450.13,0,0,0,0,0,0,14.87,28.83,14.73
$IRIDIUM_FIX,2159.71,12021.92,180513,090944
$TT8_MAMPS,0.020223,0.020223
$HUMID,45.62
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.20
$XPDR_PINGS,4
$SC_FREEKB,3933120
$24V_AH,13.6,27.286
$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,20.400,75.750,446.225,32.800,0.000,25.953,43.198,199.865,1.000,0.000,16.126,1356.339,5230.660,560.991,1378.694,88.968,0.000,1159.427,0.000,989.480,0.000,0.541,0.000
$DEVICE_MAMPS,418.455,96.390,1397.655,153.765,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8156.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.307,0.000,0.000,0.000
$MEM,323236
$DATA_FILE_SIZE,16777,459
$CAP_FILE_SIZE,103969,0
$CFSIZE,260034560,254734336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.043, 22.7,1
$GPS,180513,151133,2156.677,12026.881,10,4.3,29,-2.7