version: 66.11
glider: 181
mission: 11
dive: 22
start: 5 19 113 13 27 13
data:
$ID,181
$MISSION,11
$DIVE,22
$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,-95699.836
$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,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
$GPS1,190513,132006,2149.239,12029.779,30,1.2,30,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-71.4
$GPS2,190513,132643,2149.206,12029.768,10,1.3,10,-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,185.0,2270,-27.9,-10.000,-30.00,792
$D_GRID,874
$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,-1.45,-51.7,218,2377,919,919,0.0,0.0,0,108,0.00,0.00,-82.72,0.000,16390,0.000,0.000,216,2379,2964,3009,2919,0,0,0,0,0,0,28.83,28.83,14.97
$GC,110,-1.45,-51.7,215,2379,3009,2919,4.1,-14.0,15,125,9.45,2.35,0.00,0.000,2308,0.418,0.070,2220,3791,2965,3010,2921,0,0,0,0,0,0,14.50,14.73,28.83
$GC,200,-1.45,-51.7,1424,3790,2985,2915,39.8,-31.4,27,209,0.00,2.15,0.00,0.000,1030,0.000,0.039,2220,2397,2967,3012,2922,0,0,0,0,0,0,28.83,14.80,28.83
$GC,517,-1.45,-51.7,2220,2392,3016,2922,111.5,-19.1,45,522,0.00,2.17,0.00,0.000,516,0.000,0.046,2220,993,2969,3017,2922,0,0,0,0,0,0,28.83,14.88,28.83
$GC,563,-1.45,-51.7,1408,992,2990,2915,117.7,-16.3,47,568,0.00,2.25,0.00,0.000,1030,0.000,0.050,2211,2408,2970,3019,2921,0,0,0,0,0,0,28.83,14.87,28.83
$GC,880,-1.45,-51.7,2211,2408,3019,2922,172.2,-15.4,63,886,0.00,2.20,0.00,0.000,516,0.000,0.047,2211,997,2970,3019,2922,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1112,-1.45,-51.7,2211,997,3020,2922,205.4,-14.1,74,1117,0.15,2.22,0.00,0.000,3078,0.337,0.050,2230,2409,2971,3020,2923,0,0,0,0,0,0,14.74,14.93,28.83
$GC,1424,-1.45,-51.7,2231,2409,3022,2922,250.6,-12.7,90,1425,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2408,2971,3021,2922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1725,-1.45,-51.7,2231,2408,3022,2922,287.3,-10.6,105,1730,0.00,2.20,0.00,0.000,260,0.000,0.076,2222,3781,2972,3022,2922,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1816,-1.45,-51.7,2222,3781,3021,2921,296.0,-10.5,109,1822,0.00,2.10,0.00,0.000,1030,0.000,0.037,2222,2386,2971,3021,2922,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2128,-1.45,-51.7,2222,2381,3022,2919,328.8,-10.9,125,2134,0.00,2.12,0.00,0.000,516,0.000,0.047,2222,1004,2970,3022,2919,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2146,-1.45,-51.7,2222,1003,3022,2919,328.8,-10.9,125,2153,0.00,2.20,0.00,0.000,1030,0.000,0.054,2213,2399,2970,3022,2918,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2451,-1.45,-51.7,2212,2399,3022,2917,367.0,-12.8,141,2456,0.00,2.17,0.00,0.000,516,0.000,0.048,2212,1004,2969,3022,2917,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2634,-1.45,-51.7,2212,1004,3021,2915,390.4,-12.2,150,2640,0.15,2.22,0.00,0.000,3078,0.337,0.054,2233,2402,2968,3022,2915,0,0,0,0,0,0,14.80,14.99,28.83
$GC,2957,-1.45,-51.7,2233,2402,3021,2913,427.2,-12.1,166,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2402,2966,3021,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3258,-1.46,-66.8,2233,2404,3019,2911,455.8,-8.0,181,3264,0.00,2.22,-0.22,0.000,16644,0.000,0.103,2224,3775,3033,3097,2970,0,0,0,0,0,0,28.83,14.97,15.09
$GC,3295,-1.48,-80.1,2224,3777,3098,2970,457.9,-8.3,182,3303,0.00,2.08,-0.20,0.000,17414,0.000,0.041,2224,2404,3092,3159,3026,0,0,0,0,0,0,28.83,15.03,15.09
$GC,3601,-1.48,-80.1,2224,2404,3159,3026,503.6,-13.5,198,3606,0.00,2.17,0.00,0.000,516,0.000,0.051,2224,1010,3092,3159,3026,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3657,-1.48,-80.1,2224,1012,3160,3026,509.8,-14.1,200,3664,0.00,2.22,0.00,0.000,1030,0.000,0.060,2215,2400,3092,3159,3026,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3963,-1.48,-80.1,2214,2400,3160,3023,555.5,-14.9,216,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,2214,2399,3094,3159,3029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4264,-1.48,-80.1,2214,2400,3158,3021,595.8,-13.1,231,4270,0.00,2.20,0.00,0.000,516,0.000,0.055,2214,1007,3089,3158,3021,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4331,-1.48,-80.1,2214,1007,3158,3021,604.6,-13.7,234,4337,0.00,2.25,0.00,0.000,1030,0.000,0.061,2204,2407,3089,3158,3021,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4659,-1.48,-80.1,2204,2407,3158,3018,649.4,-13.2,245,4660,0.00,0.00,0.00,0.000,6,0.000,0.000,2204,2407,3088,3158,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4959,-1.48,-80.1,2204,2407,3155,3017,687.2,-12.4,255,4964,0.00,2.22,0.00,0.000,516,0.000,0.054,2204,1001,3085,3155,3016,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4991,-1.48,-80.1,2204,1000,3155,3016,691.4,-12.7,256,4998,0.12,2.28,0.00,0.000,3078,0.343,0.061,2218,2408,3085,3155,3016,0,0,0,0,0,0,14.79,14.99,28.83
$GC,5326,-1.48,-80.1,2217,2408,3154,3014,729.2,-10.8,267,5332,0.00,2.22,0.00,0.000,516,0.000,0.056,2218,1006,3084,3154,3014,0,0,0,0,0,0,28.83,15.00,28.83
$GC,5467,-1.48,-80.1,2218,1005,3153,3014,743.4,-11.4,271,5473,0.00,2.25,0.00,0.000,1030,0.000,0.062,2210,2401,3083,3153,3013,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5780,-1.48,-80.1,2210,2401,3151,3011,778.3,-10.4,282,5786,0.00,2.22,0.00,0.000,516,0.000,0.057,2209,1002,3081,3151,3011,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6012,-1.48,-80.1,2209,1001,3149,3011,804.3,-12.7,289,6017,0.00,2.28,0.00,0.000,1030,0.000,0.063,2199,2408,3080,3149,3011,0,0,0,0,0,0,28.83,14.96,28.83
$STATE,6294,end dive,NO_VERTICAL_VELOCITY
$STATE,6294,begin apogee
$GC,6298,-0.25,0.0,2206,2409,3149,3009,814.9,0.0,299,6385,1.35,0.00,81.00,1.583,10246,0.196,0.000,2616,2409,2750,2805,2696,0,0,0,0,0,0,14.85,28.83,13.81
$STATE,6387,end apogee,CONTROL_FINISHED_OK
$STATE,6387,begin climb
$GC,6389,1.48,80.1,2616,2409,2804,2694,815.0,0.0,302,6480,1.67,2.40,81.78,1.571,10756,0.124,0.052,3180,981,2422,2439,2405,0,0,0,0,0,0,14.42,14.22,13.62
$GC,6691,1.48,80.1,2304,981,2392,2379,751.6,24.6,312,6697,0.00,2.33,0.00,0.000,1030,0.000,0.063,3180,2380,2411,2434,2389,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7020,1.48,80.1,3180,2380,2433,2383,670.7,24.7,323,7025,0.00,2.25,0.00,0.000,516,0.000,0.052,3190,982,2409,2434,2384,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7076,1.48,80.1,3190,982,2434,2382,663.4,23.9,324,7083,0.00,2.28,0.00,0.000,1030,0.000,0.060,3190,2378,2407,2433,2382,0,0,0,0,0,0,28.83,14.79,28.83
$GC,7392,1.48,80.1,3191,2379,2434,2380,584.2,23.5,336,7393,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2379,2407,2434,2380,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7692,1.48,80.1,3190,2379,2434,2377,513.1,22.9,351,7698,0.00,2.22,0.00,0.000,516,0.000,0.050,3198,983,2405,2433,2377,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7719,1.48,80.1,3198,982,2433,2377,507.7,23.0,352,7725,0.00,2.25,0.00,0.000,1030,0.000,0.059,3199,2377,2405,2433,2377,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8037,1.48,80.1,3198,2377,2433,2375,437.2,20.8,368,8038,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2378,2404,2433,2375,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8338,1.48,80.1,3198,2377,2433,2374,375.5,19.1,383,8343,0.00,2.30,0.00,0.000,260,0.000,0.084,3198,3774,2403,2433,2374,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8349,1.48,80.1,3199,3774,2433,2374,375.5,19.1,383,8355,0.15,2.15,0.00,0.000,5126,0.389,0.040,3182,2367,2403,2433,2374,0,0,0,0,0,0,14.69,14.97,28.83
$GC,8662,1.48,80.1,3182,2362,2433,2372,311.6,20.6,399,8668,0.00,2.17,0.00,0.000,516,0.000,0.051,3190,982,2402,2432,2373,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8799,1.48,80.1,3190,982,2432,2372,285.9,20.7,405,8805,0.00,2.25,0.00,0.000,1030,0.000,0.057,3193,2382,2402,2432,2373,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9105,1.48,80.1,3190,2383,2432,2371,228.4,16.2,421,9110,0.00,2.30,0.00,0.000,260,0.000,0.085,3190,3782,2401,2432,2371,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9307,1.48,80.1,3190,3781,2436,2371,191.3,19.1,431,9312,0.00,2.15,0.00,0.000,1030,0.000,0.041,3199,2364,2402,2432,2372,0,0,0,0,0,0,28.83,14.96,28.83
$GC,9629,1.48,80.1,3200,2360,2428,2370,141.8,14.7,447,9634,0.00,2.15,0.00,0.000,516,0.000,0.049,3210,990,2401,2432,2370,0,0,0,0,0,0,28.83,14.94,28.83
$GC,9712,1.48,80.1,3209,990,2431,2370,131.0,13.2,451,9718,0.15,2.25,0.00,0.000,5126,0.352,0.054,3181,2388,2401,2432,2370,0,0,0,0,0,0,14.69,14.92,28.83
$GC,10036,1.48,80.1,3181,2388,2431,2370,90.6,12.6,467,10041,0.00,2.20,0.00,0.000,516,0.000,0.047,3189,988,2401,2432,2370,0,0,0,0,0,0,28.83,14.94,28.83
$GC,10268,1.52,120.3,3189,988,2431,2370,77.7,4.8,478,10293,0.00,2.20,17.15,0.369,9222,0.000,0.054,3189,2377,2262,2283,2242,0,0,0,0,0,0,28.83,14.90,14.64
$GC,10601,1.52,123.1,3189,2376,2289,2251,42.2,9.6,498,10613,0.00,2.22,2.65,0.233,8708,0.000,0.047,3199,991,2252,2273,2232,0,0,0,0,0,0,28.83,14.88,14.71
$GC,10776,1.56,161.3,3198,991,2281,2240,31.2,5.0,515,10802,0.00,2.20,20.17,0.237,9222,0.000,0.054,3198,2373,2094,2115,2073,0,0,0,0,0,0,28.83,14.88,14.71
$GC,11105,1.62,221.3,3199,2373,2120,2079,7.8,2.2,572,11142,0.00,2.20,28.23,0.170,8708,0.000,0.047,3208,988,1849,1872,1826,0,0,0,0,0,0,28.83,14.86,14.74
$STATE,11183,end climb,SURFACE_DEPTH_REACHED
$STATE,11183,begin surface coast
$FINISH,-0.7,1.021677
$STATE,11208,end surface coast,CONTROL_FINISHED_OK
$STATE,11208,begin surface
$SM_CCo,11227,100.88,0.147,0,0,917,450.13
$SM_GC,0.07,8.05,2.35,100.88,0.047,0.060,0.147,224,2395,917,-7.63,-0.96,450.13,0,0,0,0,0,0,14.85,14.83,14.71
$IRIDIUM_FIX,2150.42,11928.55,190513,101014
$TT8_MAMPS,0.019474,0.019474
$HUMID,42.91
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,24.70
$XPDR_PINGS,2
$SC_FREEKB,3929664
$24V_AH,13.6,29.291
$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,21.250,97.825,230.975,100.875,0.000,25.899,43.497,172.158,0.500,0.000,13.069,2047.092,7253.140,472.093,1860.230,110.159,0.000,1279.784,0.000,1499.336,0.000,0.541,0.000
$DEVICE_MAMPS,417.690,102.510,1582.785,146.880,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11232.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.883,0.000,0.000,0.000
$MEM,323272
$DATA_FILE_SIZE,20072,591
$CAP_FILE_SIZE,137034,0
$CFSIZE,260034560,253939712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.035, 13.7,1
$GPS,190513,163724,2148.583,12029.773,41,1.0,41,-2.7