version: 66.11
glider: 181
mission: 11
dive: 18
start: 5 19 113 3 19 26
data:
$ID,181
$MISSION,11
$DIVE,18
$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,-95694.836
$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,59
$R_STBD_OVSHOOT,31
$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
$GPS1,190513,031151,2152.816,12028.238,9,3.0,28,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-68.8
$GPS2,190513,031857,2152.826,12028.251,11,3.4,30,-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,161.8,9430,-14.3,-10.000,-17.31,2952
$D_GRID,758
$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,-194.6,216,2400,917,914,0.0,0.0,0,112,0.00,0.00,-90.15,0.000,16386,0.000,0.000,216,2401,3221,3276,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.91,-194.6,216,2401,3276,3168,4.2,-13.9,15,135,10.32,2.35,-5.32,0.000,18692,0.422,0.110,2389,3774,3549,3634,3464,0,0,0,0,0,0,14.49,14.71,14.94
$GC,207,-0.91,-194.6,2390,3774,3634,3468,48.1,-34.3,27,212,0.00,2.12,0.00,0.000,1030,0.000,0.039,2389,2395,3550,3634,3467,0,0,0,0,0,0,28.83,14.80,28.83
$GC,519,-0.91,-194.6,2389,2390,3638,3468,131.7,-22.2,43,525,0.00,2.28,0.00,0.000,260,0.000,0.084,2379,3775,3552,3638,3467,0,0,0,0,0,0,28.83,14.82,28.83
$GC,556,-0.91,-194.6,2380,3775,3638,3468,136.5,-21.9,44,563,0.00,2.10,0.00,0.000,1030,0.000,0.036,2379,2389,3553,3638,3468,0,0,0,0,0,0,28.83,14.90,28.83
$GC,862,-0.91,-194.6,2379,2385,3639,3469,208.4,-21.6,60,867,0.00,2.28,0.00,0.000,260,0.000,0.083,2369,3775,3554,3639,3469,0,0,0,0,0,0,28.83,14.88,28.83
$GC,938,-0.91,-194.6,2369,3776,3639,3469,221.1,-20.4,63,946,0.15,2.08,0.00,0.000,3078,0.276,0.037,2402,2383,3554,3639,3469,0,0,0,0,0,0,14.76,14.95,28.83
$GC,1244,-0.91,-194.6,2402,2382,3639,3469,272.0,-14.7,79,1249,0.00,2.12,0.00,0.000,516,0.000,0.047,2402,1016,3554,3639,3469,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1386,-0.91,-194.6,2402,1014,3639,3469,291.2,-13.4,86,1391,0.00,2.22,0.00,0.000,1030,0.000,0.057,2395,2410,3552,3637,3468,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1708,-0.91,-194.6,2395,2410,3639,3466,341.1,-17.5,102,1714,0.00,2.22,0.00,0.000,260,0.000,0.086,2385,3775,3552,3639,3465,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1751,-0.91,-194.6,2385,3776,3638,3465,349.0,-17.9,104,1756,0.00,2.05,0.00,0.000,1030,0.000,0.038,2385,2413,3552,3639,3465,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2073,-0.91,-194.6,2385,2408,3639,3462,402.6,-16.4,120,2079,0.00,2.17,0.00,0.000,516,0.000,0.050,2385,1008,3550,3639,3462,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2146,-0.91,-194.6,2385,1009,3639,3462,412.8,-16.1,123,2153,0.12,2.25,0.00,0.000,3078,0.272,0.062,2403,2407,3550,3639,3462,0,0,0,0,0,0,14.85,14.97,28.83
$GC,2459,-0.91,-194.6,2403,2408,3640,3457,461.3,-15.2,139,2465,0.00,2.25,0.00,0.000,260,0.000,0.091,2395,3781,3547,3639,3456,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2486,-0.91,-194.6,1512,3781,3635,3454,464.7,-15.3,140,2492,0.00,2.10,0.00,0.000,1030,0.000,0.041,2395,2394,3548,3639,3457,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2804,-0.91,-194.6,2395,2390,3639,3453,512.4,-14.0,156,2809,0.00,2.30,0.00,0.000,260,0.000,0.094,2385,3783,3545,3639,3452,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2870,-0.91,-194.6,1536,3782,3633,3451,521.6,-14.6,159,2875,0.00,2.10,0.00,0.000,1030,0.000,0.041,2384,2404,3545,3637,3453,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3187,-0.91,-194.6,2385,2398,3637,3450,570.1,-15.6,175,3193,0.00,2.20,0.00,0.000,516,0.000,0.053,2384,1000,3543,3637,3450,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3253,-0.91,-194.6,2385,1000,3637,3449,579.9,-15.7,178,3259,0.12,2.25,0.00,0.000,3078,0.273,0.063,2403,2399,3543,3637,3449,0,0,0,0,0,0,14.87,14.97,28.83
$GC,3572,-0.91,-194.6,2403,2400,3635,3446,626.3,-14.5,191,3577,0.00,2.28,0.00,0.000,260,0.000,0.096,2395,3782,3540,3634,3446,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3628,-0.91,-194.6,2396,3786,3634,3446,631.4,-14.8,192,3636,0.00,2.12,0.00,0.000,1030,0.000,0.044,2395,2384,3539,3634,3445,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3934,-0.91,-194.6,2395,2384,3634,3443,678.5,-13.3,203,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2383,3538,3633,3443,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4235,-0.91,-194.6,2395,2383,3631,3440,716.5,-11.9,213,4240,0.00,2.33,0.00,0.000,260,0.000,0.095,2385,3784,3535,3631,3440,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4281,-0.91,-194.6,2385,3784,3630,3440,720.3,-11.6,214,4286,0.00,2.12,0.00,0.000,1030,0.000,0.047,2385,2402,3535,3630,3440,0,0,0,0,0,0,28.83,15.03,28.83
$STATE,4597,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4597,begin apogee
$GC,4601,-0.25,0.0,2385,2397,3628,3438,760.0,-12.0,225,4788,0.77,0.00,181.15,1.512,10246,0.225,0.000,2613,2396,2752,2785,2720,0,0,0,0,0,0,14.85,28.83,13.64
$STATE,4790,end apogee,CONTROL_FINISHED_OK
$STATE,4790,begin climb
$GC,4791,0.91,194.6,2613,2396,2782,2718,763.5,0.0,231,4990,1.15,2.53,184.65,1.486,11012,0.122,0.090,2986,3783,1954,1984,1924,0,0,0,0,0,0,14.21,14.14,13.57
$GC,5016,0.91,194.6,2986,3783,1984,1918,736.2,16.8,238,5023,0.00,2.28,0.00,0.000,1030,0.000,0.041,2997,2368,1952,1987,1917,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5322,0.91,194.6,2995,2364,1984,1904,660.8,22.4,249,5328,0.00,2.42,0.00,0.000,260,0.000,0.093,2997,3783,1944,1984,1904,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5350,0.91,194.6,2997,3784,1984,1904,660.8,22.4,249,5356,0.00,2.20,0.00,0.000,1030,0.000,0.043,3008,2374,1943,1983,1904,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5656,0.91,194.6,3008,2370,1984,1900,580.7,22.4,261,5661,0.00,2.22,0.00,0.000,516,0.000,0.055,3018,979,1941,1983,1900,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5687,0.91,194.6,3018,979,1983,1900,575.4,22.7,262,5692,0.00,2.28,0.00,0.000,1030,0.000,0.061,3018,2377,1941,1983,1900,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5999,0.91,194.6,3018,2377,1984,1897,500.6,22.8,278,6000,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2378,1940,1983,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6300,0.91,194.6,3018,2377,1984,1895,431.5,23.7,293,6305,0.00,2.33,0.00,0.000,260,0.000,0.093,3018,3774,1939,1983,1895,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6356,0.91,194.6,3018,3774,1984,1895,421.0,24.5,295,6363,0.15,2.17,0.00,0.000,5126,0.322,0.042,2998,2361,1939,1984,1895,0,0,0,0,0,0,14.73,14.93,28.83
$GC,6662,0.91,194.6,2998,2356,1984,1895,350.9,21.7,311,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2356,1939,1984,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6963,0.91,194.6,2998,2356,1983,1893,288.5,20.5,326,6968,0.00,2.17,0.00,0.000,516,0.000,0.054,3006,984,1937,1983,1891,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6988,0.91,194.6,2112,982,1949,1884,283.9,20.3,327,6994,0.00,2.25,0.00,0.000,1030,0.000,0.060,3007,2375,1938,1984,1893,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7306,0.91,194.6,3006,2376,1983,1897,220.3,19.2,343,7312,0.00,2.22,0.00,0.000,516,0.000,0.054,3016,982,1937,1983,1892,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7398,0.91,194.6,3016,982,1983,1891,205.3,17.9,347,7403,0.00,2.25,0.00,0.000,1030,0.000,0.060,3016,2377,1937,1983,1891,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7710,0.91,194.6,3016,2377,1983,1891,149.7,16.8,363,7711,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2377,1936,1983,1890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8010,0.91,194.6,3016,2377,1983,1891,99.6,15.0,378,8016,0.00,2.30,0.00,0.000,260,0.000,0.089,3015,3773,1936,1983,1890,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8047,0.91,194.6,3016,3772,1983,1890,96.3,14.5,379,8055,0.15,2.15,0.00,0.000,5126,0.310,0.041,2995,2367,1936,1983,1890,0,0,0,0,0,0,14.78,14.96,28.83
$GC,8353,0.91,194.6,2995,2363,1983,1890,56.8,10.4,395,8358,0.00,2.35,0.00,0.000,260,0.000,0.087,2995,3783,1936,1983,1890,0,0,0,0,0,0,28.83,14.89,28.83
$GC,8404,0.91,194.6,2995,3783,1983,1890,52.0,10.7,397,8409,0.00,2.15,0.00,0.000,1030,0.000,0.040,3003,2372,1936,1983,1890,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8711,0.92,203.2,2048,2365,1946,1882,22.7,9.7,429,8719,0.00,2.40,1.62,0.215,8452,0.000,0.086,3004,3775,1924,1969,1880,0,0,0,0,0,0,28.83,14.88,14.79
$GC,8746,0.92,203.2,2056,3774,1935,1878,18.6,12.3,435,8753,0.00,2.12,0.00,0.000,1030,0.000,0.039,3014,2373,1930,1973,1887,0,0,0,0,0,0,28.83,14.96,28.83
$STATE,8964,end climb,SURFACE_DEPTH_REACHED
$STATE,8965,begin surface coast
$FINISH,-0.9,1.021631
$STATE,9031,end surface coast,CONTROL_FINISHED_OK
$STATE,9031,begin surface
$SM_CCo,9046,110.93,0.148,0,0,915,450.13
$SM_GC,0.01,7.57,0.00,110.93,0.060,0.000,0.148,227,2369,915,-7.61,-0.88,450.13,0,0,0,0,0,0,14.94,28.83,14.76
$IRIDIUM_FIX,2138.81,12030.76,190513,000016
$TT8_MAMPS,0.019474,0.019474
$HUMID,43.69
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,24.40
$XPDR_PINGS,2
$SC_FREEKB,3931200
$24V_AH,13.6,28.512
$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,20.525,89.150,367.425,110.925,0.000,30.334,22.776,191.073,0.500,0.000,34.335,1504.150,5950.299,594.642,1456.979,92.502,0.000,1230.281,0.000,1079.891,0.000,0.541,0.000
$DEVICE_MAMPS,422.280,226.440,1511.640,148.410,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9067.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.893,0.000,0.000,0.000
$MEM,323248
$DATA_FILE_SIZE,16772,491
$CAP_FILE_SIZE,112562,0
$CFSIZE,260034560,254291968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137,340.8,1
$GPS,190513,055324,2152.087,12028.549,39,1.3,39,-2.7