version: 66.11
glider: 181
mission: 11
dive: 19
start: 5 19 113 6 0 48
data:
$ID,181
$MISSION,11
$DIVE,19
$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,-95696.086
$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,65
$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
$GPS1,190513,055324,2152.087,12028.549,39,1.3,39,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-69.4
$GPS2,190513,060019,2152.086,12028.568,10,1.6,10,-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,164.2,7957,-14.3,-10.000,-17.31,2952
$D_GRID,683
$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,-194.6,211,2365,918,918,0.0,0.0,0,110,0.00,0.00,-89.50,0.000,16386,0.000,0.000,209,2366,3198,3252,3145,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.91,-194.6,209,2366,3253,3146,4.1,-14.5,15,139,10.38,2.40,-5.85,0.000,18692,0.422,0.103,2389,3776,3550,3637,3463,0,0,0,0,0,0,14.50,14.71,14.93
$GC,216,-0.91,-194.6,2389,3777,3637,3464,48.3,-38.2,28,221,0.00,2.10,0.00,0.000,1030,0.000,0.038,2389,2413,3550,3637,3464,0,0,0,0,0,0,28.83,14.80,28.83
$GC,528,-0.91,-194.6,2389,2408,3638,3467,135.2,-23.7,44,533,0.00,2.20,0.00,0.000,516,0.000,0.044,2389,990,3552,3637,3467,0,0,0,0,0,0,28.83,14.86,28.83
$GC,565,-0.91,-194.6,2387,988,3638,3467,140.0,-23.2,45,571,0.00,2.28,0.00,0.000,1030,0.000,0.059,2379,2403,3552,3638,3467,0,0,0,0,0,0,28.83,14.85,28.83
$GC,871,-0.91,-194.6,2378,2400,3639,3468,214.4,-22.5,61,876,0.00,2.22,0.00,0.000,260,0.000,0.083,2368,3776,3553,3639,3468,0,0,0,0,0,0,28.83,14.88,28.83
$GC,907,-0.91,-194.6,2369,3776,3639,3468,219.4,-22.1,62,915,0.15,2.10,0.00,0.000,3078,0.279,0.036,2402,2375,3553,3639,3468,0,0,0,0,0,0,14.77,14.96,28.83
$GC,1213,-0.91,-194.6,2402,2378,3639,3468,270.9,-15.1,78,1219,0.00,2.10,0.00,0.000,516,0.000,0.047,2402,1013,3553,3639,3468,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1316,-0.91,-194.6,2402,1013,3640,3468,287.1,-15.6,83,1323,0.00,2.22,0.00,0.000,1030,0.000,0.061,2395,2399,3553,3639,3468,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1639,-0.91,-194.6,2400,2400,3639,3465,339.6,-15.7,99,1645,0.00,2.25,0.00,0.000,260,0.000,0.086,2384,3780,3552,3639,3465,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1681,-0.91,-194.6,2384,3781,3639,3463,346.8,-16.4,101,1687,0.00,2.08,0.00,0.000,1030,0.000,0.039,2384,2399,3551,3639,3464,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2003,-0.91,-194.6,2384,2395,3639,3462,398.6,-15.1,117,2009,0.00,2.15,0.00,0.000,516,0.000,0.049,2384,1010,3549,3638,3461,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2060,-0.91,-194.6,2384,1009,3639,3461,405.3,-15.5,119,2067,0.12,2.25,0.00,0.000,3078,0.272,0.063,2402,2407,3550,3640,3461,0,0,0,0,0,0,14.86,14.97,28.83
$GC,2366,-0.91,-194.6,2403,2408,3639,3456,453.2,-15.8,135,2371,0.00,2.25,0.00,0.000,260,0.000,0.091,2394,3781,3547,3639,3456,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2411,-0.91,-194.6,1552,3781,3635,3453,460.2,-16.3,137,2417,0.00,2.10,0.00,0.000,1030,0.000,0.041,2394,2398,3547,3639,3456,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2729,-0.91,-194.6,2394,2394,3639,3451,510.9,-16.0,153,2730,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2394,3545,3639,3451,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3029,-0.91,-194.6,2394,2392,3634,3450,558.8,-15.2,168,3034,0.00,2.30,0.00,0.000,260,0.000,0.095,2384,3781,3542,3634,3450,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3072,-0.91,-194.6,2384,3781,3635,3449,565.3,-15.3,170,3077,0.00,2.10,0.00,0.000,1030,0.000,0.043,2384,2401,3542,3635,3449,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3404,-0.91,-194.6,2384,2395,3634,3445,612.9,-14.2,185,3410,0.00,2.17,0.00,0.000,516,0.000,0.054,2384,1006,3539,3634,3445,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3477,-0.91,-194.6,2384,1006,3634,3445,621.4,-14.0,187,3483,0.12,2.25,0.00,0.000,3078,0.272,0.065,2403,2397,3539,3634,3444,0,0,0,0,0,0,14.87,14.98,28.83
$GC,3801,-0.91,-194.6,2403,2398,3633,3441,658.9,-10.4,198,3807,0.00,2.28,0.00,0.000,260,0.000,0.096,2395,3777,3536,3632,3441,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3837,-0.91,-194.6,1552,3776,3627,3438,662.7,-10.6,199,3843,0.00,2.15,0.00,0.000,1030,0.000,0.046,2395,2399,3536,3631,3441,0,0,0,0,0,0,28.83,15.02,28.83
$STATE,4014,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4014,begin apogee
$GC,4017,-0.25,0.0,2395,2398,3631,3440,685.8,-13.1,205,4201,0.73,0.00,176.38,1.435,10246,0.219,0.000,2610,2398,2750,2783,2718,0,0,0,0,0,0,14.85,28.83,13.69
$STATE,4203,end apogee,CONTROL_FINISHED_OK
$STATE,4203,begin climb
$GC,4204,0.91,194.6,2610,2398,2781,2716,691.9,0.0,211,4397,1.15,2.45,181.98,1.414,10500,0.125,0.090,2984,3783,1955,1986,1924,0,0,0,0,0,0,14.24,14.14,13.63
$GC,4408,0.91,194.6,2985,3784,1984,1919,664.4,17.1,218,4414,0.00,2.28,0.00,0.000,1030,0.000,0.041,2995,2376,1951,1984,1918,0,0,0,0,0,0,28.83,14.32,28.83
$GC,4731,0.91,194.6,2996,2372,1984,1903,594.4,21.0,229,4737,0.00,2.25,0.00,0.000,516,0.000,0.056,3005,981,1943,1984,1902,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4763,0.91,194.6,3006,980,1984,1902,589.6,21.0,230,4769,0.00,2.30,0.00,0.000,1030,0.000,0.060,3005,2382,1943,1984,1902,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5075,0.91,194.6,3006,2382,1984,1898,521.9,19.7,246,5081,0.00,2.33,0.00,0.000,260,0.000,0.091,3005,3775,1940,1983,1898,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5132,0.91,194.6,3006,3775,1984,1898,512.9,20.4,248,5139,0.00,2.17,0.00,0.000,1030,0.000,0.043,3016,2366,1939,1984,1894,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5438,0.91,194.6,3016,2361,1984,1895,440.1,22.9,264,5443,0.00,2.40,0.00,0.000,260,0.000,0.091,3016,3783,1940,1984,1896,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5464,0.91,194.6,2112,3782,1948,1886,434.5,23.5,265,5470,0.15,2.17,0.00,0.000,5126,0.323,0.041,2997,2373,1940,1984,1897,0,0,0,0,0,0,14.71,14.90,28.83
$GC,5782,0.91,194.6,2997,2369,1984,1893,365.1,21.3,281,5787,0.00,2.20,0.00,0.000,516,0.000,0.055,3005,985,1938,1983,1893,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5814,0.91,194.6,3005,985,1983,1893,360.1,21.7,282,5819,0.00,2.25,0.00,0.000,1030,0.000,0.060,3005,2377,1938,1983,1893,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6126,0.91,194.6,3005,2378,1984,1893,293.0,18.8,298,6131,0.00,2.33,0.00,0.000,260,0.000,0.092,3005,3778,1937,1984,1891,0,0,0,0,0,0,28.83,14.89,28.83
$GC,6188,0.91,194.6,3005,3778,1984,1892,281.0,19.2,301,6193,0.00,2.17,0.00,0.000,1030,0.000,0.042,3015,2368,1938,1984,1892,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6510,0.91,194.6,3015,2364,1983,1890,223.1,17.6,317,6515,0.00,2.20,0.00,0.000,516,0.000,0.054,3025,977,1936,1983,1890,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6687,0.91,194.6,3025,976,1983,1890,194.6,17.7,325,6694,0.15,2.25,0.00,0.000,5126,0.285,0.059,2994,2377,1940,1991,1889,0,0,0,0,0,0,14.78,14.92,28.83
$GC,6993,0.91,194.6,2992,2377,1982,1889,141.9,16.1,341,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2377,1935,1983,1888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7293,0.91,194.6,2993,2377,1983,1888,95.0,14.2,356,7299,0.00,2.33,0.00,0.000,260,0.000,0.089,2993,3785,1934,1983,1885,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7341,0.91,194.6,2993,3785,1983,1888,90.0,12.2,358,7346,0.00,2.17,0.00,0.000,1030,0.000,0.041,3001,2362,1935,1983,1888,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7658,0.91,195.9,3001,2358,1989,1888,54.1,10.0,374,7663,0.00,2.17,0.00,0.000,516,0.000,0.053,3011,980,1935,1983,1888,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7881,0.98,265.1,3010,979,1983,1887,34.6,7.6,394,7917,0.00,2.25,30.60,0.247,9222,0.000,0.057,3010,2384,1671,1709,1634,0,0,0,0,0,0,28.83,14.92,14.73
$STATE,8199,end climb,SURFACE_DEPTH_REACHED
$STATE,8199,begin surface coast
$FINISH,0.2,1.021687
$STATE,8225,end surface coast,CONTROL_FINISHED_OK
$STATE,8225,begin surface
$SM_CCo,8239,82.85,0.149,0,0,917,450.13
$SM_GC,-0.11,7.80,0.00,82.85,0.083,0.000,0.149,239,2385,917,-7.62,-0.42,450.13,0,0,0,0,0,0,14.90,28.83,14.76
$IRIDIUM_FIX,2131.85,11945.84,190513,030324
$TT8_MAMPS,0.019474,0.019474
$HUMID,44.95
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,24.50
$XPDR_PINGS,12
$SC_FREEKB,3930816
$24V_AH,13.6,28.721
$10V_AH,13.7,0.000
$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,20.750,84.625,388.950,82.850,0.000,25.127,47.451,183.282,3.000,0.000,12.878,1437.013,5230.042,577.419,1419.081,91.038,0.000,1196.900,0.000,1050.569,0.000,0.542,0.000
$DEVICE_MAMPS,422.280,102.510,1435.140,149.175,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8256.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.266,0.000,0.000,0.000
$MEM,323248
$DATA_FILE_SIZE,16737,453
$CAP_FILE_SIZE,106254,0
$CFSIZE,260034560,254222336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.134,330.3,1
$GPS,190513,082054,2151.356,12028.723,41,1.0,41,-2.7