version: 66.11
glider: 181
mission: 11
dive: 14
start: 5 18 113 15 18 17
data:
$ID,181
$MISSION,11
$DIVE,14
$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,-95689.812
$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,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,0.00039999999
$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
$GPS1,180513,151133,2156.677,12026.881,10,4.3,29,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-71.8
$GPS2,180513,151749,2156.674,12026.981,10,2.0,10,-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,169.7,16882,-14.3,-10.000,-17.31,2952
$D_GRID,791
$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,-0.92,-194.6,225,2368,918,924,0.0,0.0,0,107,0.00,0.00,-86.07,0.000,16386,0.000,0.000,222,2369,3068,3123,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.92,-194.6,222,2369,3123,3014,3.2,-10.5,15,136,10.27,2.35,-8.43,0.000,18692,0.421,0.105,2386,3781,3549,3641,3457,0,0,0,0,0,0,14.45,14.70,14.92
$GC,343,-0.92,-194.6,2386,3781,3641,3461,87.7,-28.3,36,349,0.00,2.10,0.00,0.000,1030,0.000,0.036,2386,2398,3551,3641,3461,0,0,0,0,0,0,28.83,14.84,28.83
$GC,666,-0.92,-194.6,2386,2393,3642,3463,151.5,-19.3,52,671,0.00,2.28,0.00,0.000,260,0.000,0.086,2375,3776,3552,3641,3463,0,0,0,0,0,0,28.83,14.84,28.83
$GC,688,-0.92,-194.6,2375,3775,3641,3463,156.2,-20.2,53,693,0.00,2.10,0.00,0.000,1030,0.000,0.039,2375,2393,3552,3642,3463,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1010,-0.92,-194.6,2375,2388,3642,3463,220.1,-19.4,69,1015,0.00,2.15,0.00,0.000,516,0.000,0.045,2375,999,3552,3641,3463,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1146,-0.92,-194.6,2375,998,3642,3463,243.7,-18.9,75,1154,0.15,2.28,0.00,0.000,3078,0.267,0.063,2400,2405,3552,3642,3463,0,0,0,0,0,0,14.78,14.90,28.83
$GC,1452,-0.92,-194.6,2400,2406,3642,3462,290.3,-14.5,91,1458,0.00,2.25,0.00,0.000,260,0.000,0.089,2392,3780,3552,3642,3463,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1544,-0.92,-194.6,2393,3781,3641,3463,302.9,-15.2,95,1549,0.00,2.10,0.00,0.000,1030,0.000,0.040,2392,2398,3551,3640,3463,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1856,-0.92,-194.6,2392,2393,3642,3461,356.4,-17.2,111,1862,0.00,2.30,0.00,0.000,260,0.000,0.091,2382,3780,3551,3641,3461,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1903,-0.92,-194.6,2382,3780,3642,3460,363.7,-17.1,113,1909,0.00,2.08,0.00,0.000,1030,0.000,0.039,2382,2402,3551,3642,3460,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2220,-0.92,-194.6,2382,2396,3642,3457,415.3,-14.6,129,2226,0.00,2.17,0.00,0.000,516,0.000,0.051,2382,1002,3549,3642,3457,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2343,-0.92,-194.6,2382,998,3641,3457,434.5,-15.4,135,2349,0.12,2.28,0.00,0.000,3078,0.265,0.063,2400,2407,3549,3642,3456,0,0,0,0,0,0,14.83,14.95,28.83
$GC,2666,-0.92,-194.6,2400,2408,3642,3453,475.2,-12.3,151,2671,0.00,2.25,0.00,0.000,260,0.000,0.093,2392,3775,3547,3642,3453,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2688,-0.92,-194.6,2391,3776,3642,3453,478.1,-12.3,152,2693,0.00,2.10,0.00,0.000,1030,0.000,0.043,2391,2405,3545,3641,3450,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3011,-0.92,-194.6,2391,2399,3639,3450,520.7,-13.8,168,3016,0.00,2.17,0.00,0.000,516,0.000,0.053,2391,1010,3545,3640,3450,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3027,-0.92,-194.6,2391,1009,3640,3450,520.7,-13.8,168,3035,0.00,2.25,0.00,0.000,1030,0.000,0.064,2382,2401,3545,3640,3450,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3333,-0.92,-194.6,2382,2402,3639,3446,566.4,-13.0,184,3334,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2402,3542,3639,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3654,-0.92,-194.6,2382,2402,3638,3444,607.5,-12.6,199,3659,0.00,2.28,0.00,0.000,260,0.000,0.096,2372,3779,3540,3637,3444,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3720,-0.92,-194.6,2372,3780,3636,3444,616.2,-13.2,201,3727,0.12,2.12,0.00,0.000,3078,0.269,0.046,2399,2389,3539,3634,3444,0,0,0,0,0,0,14.85,15.02,28.83
$GC,4048,-0.92,-194.6,2399,2387,3634,3440,656.0,-12.1,212,4054,0.00,2.33,0.00,0.000,260,0.000,0.097,2391,3783,3537,3634,3440,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4075,-0.92,-194.6,2391,3783,3634,3440,656.0,-12.1,212,4082,0.00,2.12,0.00,0.000,1030,0.000,0.047,2391,2395,3537,3634,3440,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4381,-0.92,-194.6,2391,2393,3633,3438,697.5,-12.4,223,4386,0.00,2.30,0.00,0.000,260,0.000,0.097,2378,3777,3538,3633,3443,0,0,0,0,0,0,28.83,14.93,28.83
$GC,4414,-0.92,-194.6,2381,3777,3632,3438,701.8,-12.7,224,4419,0.00,2.12,0.00,0.000,1030,0.000,0.047,2382,2405,3535,3632,3438,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4747,-0.92,-194.6,2381,2399,3630,3437,746.3,-13.2,235,4752,0.00,2.20,0.00,0.000,516,0.000,0.059,2381,1009,3533,3630,3437,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4803,-0.92,-194.6,2381,1009,3629,3436,750.8,-13.3,236,4811,0.12,2.28,0.00,0.000,3078,0.272,0.068,2399,2407,3532,3629,3436,0,0,0,0,0,0,14.83,14.96,28.83
$STATE,5108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5108,begin apogee
$GC,5112,-0.29,0.0,2403,2407,3627,3434,791.3,-12.0,247,5308,0.65,0.00,187.25,1.523,10246,0.223,0.000,2593,2407,2751,2789,2714,0,0,0,0,0,0,14.83,28.83,13.58
$STATE,5310,end apogee,CONTROL_FINISHED_OK
$STATE,5310,begin climb
$GC,5311,0.92,194.6,2593,2407,2780,2714,796.9,0.0,253,5510,1.25,2.42,188.25,1.515,10756,0.138,0.054,3001,984,1953,1983,1924,0,0,0,0,0,0,14.19,14.12,13.52
$GC,5541,0.92,194.6,3001,984,1981,1914,764.2,18.5,261,5547,0.00,2.35,0.00,0.000,1030,0.000,0.062,3001,2373,1946,1980,1912,0,0,0,0,0,0,28.83,14.31,28.83
$GC,5864,0.92,194.6,3001,2373,1980,1900,691.6,22.0,272,5869,0.00,2.38,0.00,0.000,260,0.000,0.094,3001,3774,1940,1981,1900,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5886,0.92,194.6,3001,3774,1981,1900,691.6,22.0,272,5891,0.00,2.20,0.00,0.000,1030,0.000,0.042,3011,2362,1940,1981,1900,0,0,0,0,0,0,28.83,14.74,28.83
$GC,6198,0.92,194.6,3012,2358,1980,1896,612.2,24.1,283,6204,0.00,2.40,0.00,0.000,260,0.000,0.093,3011,3775,1938,1980,1896,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6264,0.92,194.6,2112,3775,1944,1887,595.6,25.4,285,6270,0.00,2.17,0.00,0.000,1030,0.000,0.043,3022,2380,1937,1980,1895,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6582,0.92,194.6,3018,2373,1980,1895,519.5,23.4,301,6588,0.00,2.22,0.00,0.000,516,0.000,0.054,3033,980,1937,1980,1894,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6598,0.92,194.6,3033,979,1981,1895,519.5,23.4,301,6606,0.15,2.28,0.00,0.000,5126,0.295,0.064,3001,2375,1937,1980,1894,0,0,0,0,0,0,14.70,14.85,28.83
$GC,6904,0.92,194.6,3001,2376,1976,1897,450.7,21.4,317,6910,0.00,2.22,0.00,0.000,516,0.000,0.056,3008,984,1936,1980,1893,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6950,0.92,194.6,2096,982,1944,1884,442.0,20.9,319,6956,0.00,2.28,0.00,0.000,1030,0.000,0.062,3008,2381,1936,1980,1892,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7268,0.92,194.6,3008,2382,1980,1890,371.5,22.5,335,7269,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2382,1935,1980,1891,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7569,0.92,194.6,3008,2381,1980,1890,313.1,17.9,350,7574,0.00,2.33,0.00,0.000,260,0.000,0.093,3008,3780,1935,1980,1890,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7615,0.92,194.6,2112,3779,1946,1882,304.2,18.9,352,7620,0.00,2.17,0.00,0.000,1030,0.000,0.043,3018,2370,1935,1980,1890,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7932,0.92,194.6,3018,2366,1981,1889,241.9,19.2,368,7938,0.00,2.38,0.00,0.000,260,0.000,0.093,3019,3784,1935,1981,1889,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8035,0.92,194.6,3018,3784,1980,1890,219.0,22.3,373,8042,0.15,2.20,0.00,0.000,5126,0.319,0.043,2997,2356,1935,1981,1889,0,0,0,0,0,0,14.74,14.95,28.83
$GC,8359,0.92,194.6,2998,2352,1981,1889,165.7,15.6,389,8364,0.00,2.17,0.00,0.000,516,0.000,0.055,3006,981,1933,1980,1887,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8496,0.92,194.6,3006,981,1980,1888,145.7,16.7,395,8503,0.00,2.25,0.00,0.000,1030,0.000,0.060,3006,2375,1934,1980,1888,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8801,0.92,194.6,3006,2377,1980,1888,91.7,17.1,411,8806,0.00,2.33,0.00,0.000,260,0.000,0.090,3006,3779,1934,1980,1888,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8937,0.92,194.6,3006,3780,1980,1889,68.5,19.6,417,8944,0.00,2.15,0.00,0.000,1030,0.000,0.041,3016,2372,1934,1980,1889,0,0,0,0,0,0,28.83,14.93,28.83
$GC,9244,0.95,282.2,3016,2369,1981,1888,38.0,7.0,441,9285,0.00,0.00,38.90,0.259,8710,0.000,0.000,3016,2369,1600,1638,1563,0,0,0,0,0,0,28.83,28.83,14.69
$GC,9584,0.97,315.3,2048,2366,1625,1564,4.1,8.8,497,9604,0.00,1.12,16.48,0.163,8451,0.000,0.078,3017,3044,1463,1507,1420,0,0,0,0,0,0,28.83,28.83,14.76
$STATE,9605,end climb,SURFACE_DEPTH_REACHED
$STATE,9605,begin surface coast
$FINISH,-1.1,1.010075
$STATE,9637,end surface coast,CONTROL_FINISHED_OK
$STATE,9637,begin surface
$SM_CCo,9653,59.97,0.151,0,0,915,450.13
$SM_GC,-0.11,7.62,1.00,59.97,0.058,0.049,0.151,231,2396,915,-7.63,1.89,450.13,0,0,0,0,0,0,14.88,14.90,14.73
$IRIDIUM_FIX,2152.74,12133.71,180513,121206
$TT8_MAMPS,0.019474,0.019474
$HUMID,45.82
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,23.80
$XPDR_PINGS,2
$SC_FREEKB,3932736
$24V_AH,13.5,27.515
$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,20.625,95.975,430.875,59.975,0.000,23.097,24.402,176.012,0.500,0.000,12.734,1634.638,6231.629,574.796,1568.572,95.842,0.000,1306.815,0.000,1228.877,0.000,0.540,0.000
$DEVICE_MAMPS,420.750,104.805,1523.115,151.470,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9676.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.723,0.000,0.000,0.000
$MEM,323236
$DATA_FILE_SIZE,16750,506
$CAP_FILE_SIZE,120297,0
$CFSIZE,260034560,254631936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.070,316.0,1
$GPS,180513,180130,2155.464,12027.118,38,1.5,38,-2.7