version: 66.11
glider: 181
mission: 11
dive: 16
start: 5 18 113 21 19 42
data:
$ID,181
$MISSION,11
$DIVE,16
$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,-95692.328
$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,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,58
$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,0.001
$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
$GPS1,180513,211151,2154.419,12027.373,14,3.0,33,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-71.1
$GPS2,180513,211913,2154.432,12027.410,11,1.6,11,-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,152.0,12717,-14.3,-10.000,-17.31,2952
$D_GRID,909
$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,-194.6,224,2368,922,921,0.0,0.0,0,108,0.00,0.00,-88.00,0.000,16386,0.000,0.000,223,2369,3116,3168,3064,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.91,-194.6,222,2369,3168,3062,3.4,-11.0,15,137,10.30,2.40,-7.43,0.000,18692,0.420,0.112,2390,3781,3550,3639,3462,0,0,0,0,0,0,14.45,14.67,14.91
$GC,274,-0.91,-194.6,2390,3780,3639,3464,72.2,-38.2,31,279,0.00,2.12,0.00,0.000,1030,0.000,0.038,2390,2401,3551,3639,3464,0,0,0,0,0,0,28.83,14.77,28.83
$GC,585,-0.91,-194.6,2390,2395,3640,3467,150.0,-21.6,47,591,0.00,2.30,0.00,0.000,260,0.000,0.088,2379,3777,3553,3640,3467,0,0,0,0,0,0,28.83,14.81,28.83
$GC,622,-0.91,-194.6,2379,3777,3640,3467,154.7,-21.6,48,629,0.00,2.10,0.00,0.000,1030,0.000,0.037,2379,2392,3553,3640,3467,0,0,0,0,0,0,28.83,14.90,28.83
$GC,928,-0.91,-194.6,2379,2387,3641,3467,222.4,-21.1,64,933,0.00,2.15,0.00,0.000,516,0.000,0.045,2379,999,3554,3640,3468,0,0,0,0,0,0,28.83,14.90,28.83
$GC,970,-0.91,-194.6,2379,998,3641,3468,230.9,-21.2,66,977,0.15,2.25,0.00,0.000,3078,0.265,0.059,2404,2399,3554,3641,3468,0,0,0,0,0,0,14.77,14.89,28.83
$GC,1293,-0.91,-194.6,2404,2399,3641,3467,285.6,-16.1,82,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2399,3554,3640,3468,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1594,-0.91,-194.6,2404,2399,3641,3467,332.2,-14.2,97,1599,0.00,2.25,0.00,0.000,260,0.000,0.086,2396,3780,3553,3640,3466,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1626,-0.91,-194.6,2396,3780,3641,3466,335.6,-14.2,98,1631,0.00,2.10,0.00,0.000,1030,0.000,0.039,2396,2388,3553,3641,3466,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1938,-0.91,-194.6,2398,2384,3641,3463,389.7,-15.4,114,1943,0.00,2.12,0.00,0.000,516,0.000,0.050,2396,1013,3552,3641,3463,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2100,-0.91,-194.6,2396,1013,3641,3463,412.2,-13.3,122,2105,0.00,2.25,0.00,0.000,1030,0.000,0.060,2386,2407,3551,3641,3462,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2422,-0.91,-194.6,2390,2407,3640,3458,459.3,-15.1,138,2428,0.00,2.25,0.00,0.000,260,0.000,0.091,2376,3780,3549,3641,3458,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2509,-0.91,-194.6,2376,3780,3640,3458,471.9,-15.2,142,2515,0.12,2.10,0.00,0.000,3078,0.273,0.041,2403,2390,3549,3640,3458,0,0,0,0,0,0,14.83,15.01,28.83
$GC,2827,-0.91,-194.6,2403,2386,3639,3455,516.7,-13.8,158,2828,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2386,3547,3639,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3127,-0.91,-194.6,2403,2386,3639,3451,559.9,-14.8,173,3132,0.00,2.15,0.00,0.000,516,0.000,0.053,2403,1013,3545,3639,3451,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3179,-0.91,-194.6,2403,1013,3639,3451,565.7,-14.3,175,3184,0.00,2.25,0.00,0.000,1030,0.000,0.063,2397,2404,3544,3639,3450,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3501,-0.91,-194.6,2397,2405,3637,3447,613.7,-14.3,190,3503,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2405,3543,3637,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3801,-0.91,-194.6,2395,2405,3634,3445,656.1,-13.9,200,3806,0.00,2.28,0.00,0.000,260,0.000,0.096,2386,3783,3539,3634,3445,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3853,-0.91,-194.6,2386,3783,3633,3445,660.6,-13.8,201,3858,0.00,2.10,0.00,0.000,1030,0.000,0.046,2386,2412,3539,3633,3445,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4166,-0.91,-194.6,2386,2407,3633,3441,705.9,-13.6,212,4171,0.00,2.28,0.00,0.000,260,0.000,0.096,2376,3778,3537,3633,3441,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4192,-0.91,-194.6,2376,3778,3639,3442,705.9,-13.6,212,4199,0.12,2.12,0.00,0.000,3078,0.270,0.047,2404,2394,3537,3632,3442,0,0,0,0,0,0,14.85,15.02,28.83
$GC,4499,-0.91,-194.6,2404,2393,3631,3439,746.5,-12.1,223,4504,0.00,2.30,0.00,0.000,260,0.000,0.096,2396,3777,3535,3631,3439,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4540,-0.91,-194.6,2396,3777,3629,3439,750.6,-12.3,224,4546,0.00,2.12,0.00,0.000,1030,0.000,0.047,2396,2397,3534,3629,3439,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4863,-0.91,-194.6,2396,2391,3627,3437,790.7,-11.9,235,4868,0.00,2.20,0.00,0.000,516,0.000,0.057,2396,999,3532,3627,3438,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4899,-0.91,-194.6,1568,998,3623,3434,794.7,-12.0,236,4904,0.00,2.30,0.00,0.000,1030,0.000,0.069,2387,2405,3532,3627,3437,0,0,0,0,0,0,28.83,14.96,28.83
$GC,5227,-0.91,-194.6,2387,2405,3625,3435,835.4,-11.8,247,5232,0.00,2.30,0.00,0.000,260,0.000,0.101,2376,3786,3529,3624,3435,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5269,-0.91,-194.6,2377,3786,3624,3435,839.7,-11.9,248,5275,0.12,2.15,0.00,0.000,3078,0.273,0.050,2403,2394,3529,3624,3435,0,0,0,0,0,0,14.83,15.00,28.83
$GC,5592,-0.91,-194.6,2403,2392,3623,3433,878.6,-11.7,259,5593,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2392,3528,3623,3433,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5860,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5860,begin apogee
$GC,5864,-0.25,0.0,2404,2392,3622,3432,909.0,-11.3,268,6044,0.70,0.00,168.62,1.811,10246,0.214,0.000,2614,2392,2747,2777,2717,0,0,0,0,0,0,14.82,28.83,13.45
$STATE,6045,end apogee,CONTROL_FINISHED_OK
$STATE,6045,begin climb
$GC,6047,0.91,194.6,2615,2392,2775,2715,912.7,0.0,274,6248,1.15,2.42,190.02,1.657,10756,0.120,0.061,3001,985,1953,1981,1926,0,0,0,0,0,0,14.17,14.07,13.45
$GC,6259,0.91,194.6,3001,984,1980,1919,881.7,18.3,281,6264,0.00,2.40,0.00,0.000,1030,0.000,0.065,3001,2375,1948,1980,1916,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6587,0.91,194.6,3001,2378,1980,1901,806.7,22.4,292,6592,0.00,2.40,0.00,0.000,260,0.000,0.095,3001,3788,1941,1981,1902,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6628,0.91,194.6,3001,3788,1980,1901,798.8,22.4,293,6633,0.00,2.22,0.00,0.000,1030,0.000,0.044,3017,2376,1940,1980,1901,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6951,0.91,194.6,3012,2372,1979,1896,724.4,22.2,304,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2372,1938,1980,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7250,0.91,194.6,3011,2372,1980,1895,660.2,21.3,314,7256,0.00,2.40,0.00,0.000,260,0.000,0.096,3011,3790,1938,1980,1896,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7331,0.91,194.6,3011,3790,1979,1895,645.9,21.8,316,7337,0.00,2.22,0.00,0.000,1030,0.000,0.044,3022,2361,1937,1980,1895,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7655,0.91,194.6,3022,2356,1979,1894,572.2,21.9,329,7661,0.00,2.42,0.00,0.000,260,0.000,0.094,3022,3786,1937,1980,1894,0,0,0,0,0,0,28.83,14.84,28.83
$GC,7678,0.91,194.6,3022,3784,1980,1894,566.7,22.3,330,7685,0.17,2.20,0.00,0.000,5126,0.319,0.043,2996,2367,1936,1979,1894,0,0,0,0,0,0,14.71,14.92,28.83
$GC,8002,0.91,194.6,2997,2363,1980,1892,498.8,20.9,346,8007,0.00,2.20,0.00,0.000,516,0.000,0.057,3004,985,1936,1980,1892,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8068,0.91,194.6,3003,985,1981,1892,486.9,19.6,349,8074,0.00,2.28,0.00,0.000,1030,0.000,0.063,3004,2385,1935,1979,1892,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8386,0.91,194.6,3004,2385,1979,1891,422.1,20.7,365,8392,0.00,2.33,0.00,0.000,260,0.000,0.094,3004,3780,1938,1979,1898,0,0,0,0,0,0,28.83,14.87,28.83
$GC,8517,0.91,194.6,3004,3785,1979,1891,394.0,23.2,371,8524,0.00,2.17,0.00,0.000,1030,0.000,0.044,3014,2378,1935,1979,1891,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8831,0.91,194.6,3014,2374,1979,1890,329.6,19.4,387,8836,0.00,2.22,0.00,0.000,516,0.000,0.057,3024,978,1935,1980,1890,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8877,0.91,194.6,3024,977,1981,1890,321.4,19.3,389,8883,0.12,2.28,0.00,0.000,5126,0.291,0.062,3001,2381,1934,1979,1890,0,0,0,0,0,0,14.76,14.91,28.83
$GC,9195,0.91,194.6,2998,2380,1980,1889,258.4,19.4,405,9201,0.00,2.33,0.00,0.000,260,0.000,0.092,2998,3780,1934,1979,1890,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9287,0.91,194.6,2998,3780,1980,1889,240.8,21.4,409,9292,0.00,2.17,0.00,0.000,1030,0.000,0.043,3005,2369,1934,1979,1890,0,0,0,0,0,0,28.83,14.95,28.83
$GC,9599,0.91,194.6,3006,2364,1979,1889,178.4,18.5,425,9600,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2365,1935,1980,1890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9899,0.91,194.6,3006,2364,1980,1890,126.7,15.9,440,9904,0.00,2.38,0.00,0.000,260,0.000,0.092,3005,3784,1937,1979,1895,0,0,0,0,0,0,28.83,14.88,28.83
$GC,10070,0.91,194.6,3006,3784,1979,1890,98.6,17.0,448,10077,0.00,2.17,0.00,0.000,1030,0.000,0.041,3016,2367,1932,1979,1885,0,0,0,0,0,0,28.83,14.91,28.83
$GC,10384,0.91,194.6,3016,2363,1979,1890,58.8,12.3,464,10389,0.00,2.17,0.00,0.000,516,0.000,0.053,3026,984,1934,1979,1889,0,0,0,0,0,0,28.83,14.92,28.83
$GC,10435,0.91,194.6,3026,984,1979,1889,54.0,11.8,466,10441,0.15,2.25,0.00,0.000,5126,0.265,0.057,2992,2388,1934,1979,1889,0,0,0,0,0,0,14.77,14.90,28.83
$GC,10749,0.97,252.5,2992,2388,1980,1890,26.6,8.0,495,10780,0.00,2.30,24.88,0.224,8452,0.000,0.086,2989,3777,1722,1763,1681,0,0,0,0,0,0,28.83,14.83,14.73
$GC,10903,1.01,291.1,2992,3778,1774,1693,12.4,8.7,522,10928,0.00,2.15,19.27,0.184,9222,0.000,0.040,3000,2366,1564,1608,1521,0,0,0,0,0,0,28.83,14.89,14.73
$STATE,11013,end climb,SURFACE_DEPTH_REACHED
$STATE,11013,begin surface coast
$FINISH,-0.1,1.021668
$STATE,11045,end surface coast,CONTROL_FINISHED_OK
$STATE,11045,begin surface
$SM_CCo,11060,71.47,0.150,0,0,916,450.13
$SM_GC,0.07,7.47,0.00,71.47,0.050,0.000,0.150,224,2364,916,-7.61,-1.02,450.13,0,0,0,0,0,0,14.88,28.83,14.73
$IRIDIUM_FIX,2159.71,12021.92,180513,181857
$TT8_MAMPS,0.019474,0.019474
$HUMID,44.56
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,24.70
$XPDR_PINGS,1
$SC_FREEKB,3931968
$24V_AH,13.4,28.011
$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,20.600,103.050,402.800,71.475,0.000,28.337,22.798,214.974,0.250,0.000,13.646,1766.252,7440.974,571.343,1697.978,110.676,0.000,1335.119,0.000,1297.114,0.000,0.542,0.000
$DEVICE_MAMPS,419.985,112.455,1810.755,149.940,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11081.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.274,0.000,0.000,0.000
$MEM,323244
$DATA_FILE_SIZE,20099,549
$CAP_FILE_SIZE,131246,0
$CFSIZE,260034560,254439424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127,313.0,1
$GPS,190513,002636,2153.510,12027.796,40,0.9,40,-2.7