version: 66.11
glider: 181
mission: 11
dive: 21
start: 5 19 113 10 55 35
data:
$ID,181
$MISSION,11
$DIVE,21
$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,-95698.586
$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,66
$R_STBD_OVSHOOT,33
$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
$GPS1,190513,104849,2150.559,12029.193,11,1.6,11,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-69.8
$GPS2,190513,105507,2150.535,12029.194,10,2.0,10,-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,167.0,4896,-14.3,-10.000,-17.31,2952
$D_GRID,715
$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,17,begin dive
$GC,18,-0.91,-194.6,217,2390,918,920,0.0,0.0,0,108,0.00,0.00,-86.60,0.000,16386,0.000,0.000,213,2391,3090,3141,3040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.91,-194.6,213,2391,3142,3040,3.4,-11.3,15,136,10.25,2.33,-7.88,0.000,18692,0.418,0.112,2389,3779,3550,3640,3461,0,0,0,0,0,0,14.50,14.73,14.95
$GC,227,-0.91,-194.6,1536,3778,3636,3461,48.8,-33.1,30,235,0.00,2.10,0.00,0.000,1030,0.000,0.037,2389,2405,3551,3640,3463,0,0,0,0,0,0,28.83,14.82,28.83
$GC,533,-0.91,-194.6,2389,2401,3640,3466,129.0,-21.0,46,539,0.00,2.17,0.00,0.000,516,0.000,0.044,2389,999,3553,3640,3466,0,0,0,0,0,0,28.83,14.85,28.83
$GC,585,-0.91,-194.6,2390,997,3640,3465,138.4,-21.7,48,591,0.00,2.28,0.00,0.000,1030,0.000,0.066,2379,2398,3553,3640,3467,0,0,0,0,0,0,28.83,14.90,28.83
$GC,897,-0.91,-194.6,2379,2400,3641,3468,207.3,-21.6,64,903,0.00,2.20,0.00,0.000,516,0.000,0.047,2379,1001,3555,3641,3470,0,0,0,0,0,0,28.83,14.92,28.83
$GC,923,-0.91,-194.6,1536,1001,3637,3466,212.2,-21.7,65,930,0.15,2.25,0.00,0.000,3078,0.282,0.059,2403,2399,3554,3640,3468,0,0,0,0,0,0,14.78,14.92,28.83
$GC,1242,-0.91,-194.6,2403,2399,3640,3469,269.3,-17.9,81,1247,0.00,2.22,0.00,0.000,260,0.000,0.083,2395,3778,3555,3641,3469,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1278,-0.91,-194.6,2395,3778,3641,3468,273.1,-17.3,82,1285,0.00,2.10,0.00,0.000,1030,0.000,0.037,2395,2378,3554,3641,3468,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1584,-0.91,-194.6,2395,2373,3638,3468,324.6,-14.5,98,1589,0.00,2.10,0.00,0.000,516,0.000,0.048,2395,1015,3554,3640,3468,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1615,-0.91,-194.6,2395,1014,3640,3467,327.9,-14.3,99,1621,0.00,2.22,0.00,0.000,1030,0.000,0.061,2385,2404,3554,3641,3467,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1927,-0.91,-194.6,2385,2404,3640,3464,380.7,-17.7,115,1933,0.00,2.22,0.00,0.000,260,0.000,0.086,2375,3774,3552,3641,3463,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1954,-0.91,-194.6,1512,3774,3636,3460,385.0,-18.4,116,1960,0.12,2.08,0.00,0.000,3078,0.272,0.039,2402,2401,3552,3641,3463,0,0,0,0,0,0,14.85,15.01,28.83
$GC,2272,-0.91,-194.6,2402,2396,3641,3460,433.5,-14.8,132,2273,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2395,3550,3640,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2573,-0.91,-194.6,2402,2395,3641,3456,478.8,-15.4,147,2578,0.00,2.28,0.00,0.000,260,0.000,0.091,2394,3776,3548,3641,3456,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2619,-0.91,-194.6,2394,3775,3640,3455,485.8,-16.1,149,2624,0.00,2.10,0.00,0.000,1030,0.000,0.041,2394,2389,3546,3640,3452,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2936,-0.91,-194.6,2394,2383,3642,3451,535.3,-15.2,165,2942,0.00,2.30,0.00,0.000,260,0.000,0.090,2384,3782,3546,3641,3451,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3009,-0.91,-194.6,2384,3782,3640,3451,545.4,-15.8,168,3014,0.00,2.10,0.00,0.000,1030,0.000,0.042,2384,2399,3545,3640,3451,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3321,-0.91,-194.6,2384,2394,3637,3448,591.6,-13.2,184,3327,0.00,2.17,0.00,0.000,516,0.000,0.053,2383,1004,3542,3637,3448,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3368,-0.91,-194.6,2384,1004,3637,3448,597.1,-12.9,186,3374,0.12,2.25,0.00,0.000,3078,0.275,0.063,2399,2399,3542,3637,3448,0,0,0,0,0,0,14.86,14.98,28.83
$GC,3677,-0.91,-194.6,2402,2399,3637,3444,634.8,-12.0,197,3678,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2400,3540,3637,3444,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3976,-0.91,-194.6,2402,2399,3634,3442,672.5,-12.3,207,3982,0.00,2.28,0.00,0.000,260,0.000,0.096,2394,3779,3538,3634,3442,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4058,-0.91,-194.6,2394,3778,3633,3442,681.0,-12.9,209,4064,0.00,2.10,0.00,0.000,1030,0.000,0.045,2394,2398,3537,3633,3442,0,0,0,0,0,0,28.83,15.04,28.83
$STATE,4309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4310,begin apogee
$GC,4313,-0.25,0.0,2394,2395,3632,3440,718.9,-13.8,218,4500,0.73,0.00,178.62,1.479,10246,0.221,0.000,2609,2395,2750,2782,2718,0,0,0,0,0,0,14.85,28.83,13.66
$STATE,4502,end apogee,CONTROL_FINISHED_OK
$STATE,4502,begin climb
$GC,4504,0.91,194.6,2609,2395,2781,2717,725.9,0.0,224,4696,1.17,2.45,182.12,1.447,10500,0.127,0.089,2989,3782,1955,1985,1925,0,0,0,0,0,0,14.23,14.14,13.62
$GC,4707,0.91,194.6,2989,3783,1983,1921,700.6,16.7,231,4713,0.00,2.25,0.00,0.000,1030,0.000,0.041,2999,2380,1950,1983,1918,0,0,0,0,0,0,28.83,14.30,28.83
$GC,5036,0.91,194.6,3000,2376,1984,1902,625.6,21.8,242,5041,0.00,2.38,0.00,0.000,260,0.000,0.090,3000,3775,1942,1982,1902,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5077,0.91,194.6,3000,3775,1983,1902,617.8,22.2,243,5082,0.00,2.17,0.00,0.000,1030,0.000,0.042,3010,2383,1942,1983,1902,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5400,0.91,194.6,3011,2379,1983,1898,541.9,21.7,258,5401,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2379,1940,1982,1898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5700,0.91,194.6,3011,2379,1982,1896,474.7,24.3,273,5706,0.00,2.35,0.00,0.000,260,0.000,0.090,3011,3780,1939,1983,1896,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5757,0.91,194.6,3011,3779,1982,1896,463.6,24.7,275,5764,0.00,2.17,0.00,0.000,1030,0.000,0.042,3021,2370,1939,1983,1896,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6063,0.91,194.6,3022,2366,1982,1894,391.8,22.1,291,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2366,1937,1982,1892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6364,0.91,194.6,3022,2366,1983,1899,322.8,22.9,306,6365,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2366,1937,1982,1893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6665,0.91,194.6,3022,2366,1982,1891,259.0,19.7,321,6670,0.00,2.35,0.00,0.000,260,0.000,0.090,3021,3775,1936,1982,1891,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6737,0.91,194.6,3022,3775,1982,1892,244.8,22.0,324,6743,0.17,2.15,0.00,0.000,5126,0.312,0.042,2994,2372,1937,1983,1891,0,0,0,0,0,0,14.76,14.95,28.83
$GC,7050,0.91,194.6,2996,2367,1982,1890,189.4,16.5,340,7051,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2367,1936,1982,1890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7351,0.91,194.6,2994,2367,1982,1889,140.5,15.6,355,7356,0.00,2.20,0.00,0.000,516,0.000,0.051,3002,976,1937,1982,1893,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7397,0.91,194.6,3002,975,1982,1889,134.2,15.4,357,7403,0.00,2.25,0.00,0.000,1030,0.000,0.057,3002,2379,1935,1982,1889,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7715,0.91,194.6,3002,2379,1982,1889,87.4,12.9,373,7720,0.00,2.22,0.00,0.000,516,0.000,0.051,3012,984,1935,1982,1888,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7761,0.91,194.6,3012,978,1982,1888,81.8,13.3,375,7767,0.00,2.25,0.00,0.000,1030,0.000,0.056,3011,2382,1935,1982,1888,0,0,0,0,0,0,28.83,14.93,28.83
$GC,8068,0.91,194.6,3012,2385,1982,1888,41.5,11.7,394,8075,0.00,2.25,0.00,0.000,516,0.000,0.050,3022,976,1935,1982,1888,0,0,0,0,0,0,28.83,14.94,28.83
$GC,8137,0.91,196.4,3022,975,1982,1888,35.1,9.9,400,8143,0.00,2.25,0.00,0.000,1030,0.000,0.056,3022,2378,1935,1982,1888,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8442,1.07,359.7,3022,2381,1982,1888,8.1,4.3,453,8524,0.00,2.38,72.05,0.168,8452,0.000,0.084,3022,3784,1283,1322,1245,0,0,0,0,0,0,28.83,14.82,14.76
$STATE,8531,end climb,SURFACE_DEPTH_REACHED
$STATE,8531,begin surface coast
$FINISH,-0.0,1.021657
$STATE,8542,end surface coast,CONTROL_FINISHED_OK
$STATE,8542,begin surface
$SM_CCo,8559,39.70,0.151,0,0,917,450.13
$SM_GC,0.07,7.53,2.20,39.70,0.046,0.040,0.151,233,2392,917,-7.63,1.58,450.13,0,0,0,0,0,0,14.85,14.90,14.75
$IRIDIUM_FIX,2148.09,12024.75,190513,080811
$TT8_MAMPS,0.019474,0.019474
$HUMID,45.82
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,24.20
$XPDR_PINGS,7
$SC_FREEKB,3930048
$24V_AH,13.6,29.139
$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,20.250,80.125,432.800,39.700,0.000,29.612,17.195,175.339,1.750,0.000,13.445,1373.295,5639.124,537.643,1352.156,90.456,0.000,1167.901,0.000,1017.546,0.000,0.542,0.000
$DEVICE_MAMPS,418.455,112.455,1478.745,150.705,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8575.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.050,0.000,0.000,0.000
$MEM,323248
$DATA_FILE_SIZE,16787,470
$CAP_FILE_SIZE,106042,0
$CFSIZE,260034560,254058496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.039, 61.7,1
$GPS,190513,132006,2149.239,12029.779,30,1.2,30,-2.7