version: 66.11
glider: 181
mission: 11
dive: 24
start: 5 19 113 19 11 23
data:
$ID,181
$MISSION,11
$DIVE,24
$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,-95702.344
$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,72
$R_STBD_OVSHOOT,57
$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
$GPS1,190513,190433,2148.784,12030.624,11,4.3,30,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-69.3
$GPS2,190513,191054,2148.783,12030.575,9,1.3,14,-2.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,DOGLEG2
$TGT_LATLONG,2148.000,12100.000
$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,108.7,50618,-14.3,-10.000,-17.31,2952
$D_GRID,592
$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,-194.6,212,2436,919,919,0.0,0.0,0,113,0.00,0.00,-92.38,0.000,16386,0.000,0.000,211,2436,3268,3320,3217,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.91,-194.6,211,2436,3320,3219,4.4,-15.6,16,136,10.30,2.22,-4.53,0.000,18692,0.419,0.099,2391,3758,3555,3635,3476,0,0,0,0,0,0,14.49,14.74,14.94
$GC,278,-0.91,-194.6,2392,3758,3638,3477,67.2,-29.6,30,284,0.00,2.08,0.00,0.000,1030,0.000,0.037,2392,2397,3557,3638,3477,0,0,0,0,0,0,28.83,14.83,28.83
$GC,584,-0.91,-194.6,2391,2391,3642,3477,146.9,-23.1,46,589,0.00,2.15,0.00,0.000,516,0.000,0.044,2391,1006,3559,3642,3477,0,0,0,0,0,0,28.83,14.88,28.83
$GC,729,-0.91,-194.6,1536,1005,3640,3475,176.3,-19.4,53,735,0.00,2.20,0.00,0.000,1030,0.000,0.062,2382,2373,3561,3644,3478,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1047,-0.91,-194.6,2382,2373,3644,3477,240.0,-19.2,69,1048,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2373,3561,3644,3478,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1347,-0.91,-194.6,2382,2373,3646,3477,300.8,-18.0,84,1353,0.00,2.30,0.00,0.000,260,0.000,0.085,2371,3779,3561,3645,3477,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1384,-0.91,-194.6,2370,3780,3646,3477,304.8,-17.5,85,1391,0.12,2.10,0.00,0.000,3078,0.274,0.038,2401,2386,3561,3646,3477,0,0,0,0,0,0,14.81,14.98,28.83
$GC,1689,-0.91,-194.6,2401,2382,3645,3475,353.9,-13.8,101,1695,0.00,2.30,0.00,0.000,260,0.000,0.086,2393,3778,3559,3645,3474,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1726,-0.91,-194.6,2393,3778,3646,3474,357.1,-13.6,102,1733,0.00,2.08,0.00,0.000,1030,0.000,0.039,2393,2398,3559,3645,3474,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2032,-0.91,-194.6,2393,2397,3646,3471,406.3,-15.8,118,2037,0.00,2.17,0.00,0.000,516,0.000,0.051,2393,1007,3558,3646,3471,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2103,-0.91,-194.6,2393,1006,3646,3470,416.5,-16.4,121,2108,0.00,2.25,0.00,0.000,1030,0.000,0.061,2383,2407,3557,3645,3470,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2415,-0.91,-194.6,2383,2407,3645,3466,473.6,-17.6,137,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2407,3556,3647,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2716,-0.91,-194.6,2383,2407,3646,3462,523.5,-15.4,152,2721,0.00,2.20,0.00,0.000,516,0.000,0.057,2383,1017,3554,3646,3462,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2748,-0.91,-194.6,2384,1016,3646,3462,527.2,-15.4,153,2754,0.12,2.22,0.00,0.000,3078,0.269,0.064,2402,2397,3553,3645,3462,0,0,0,0,0,0,14.87,14.98,28.83
$GC,3061,-0.91,-194.6,2402,2398,3644,3458,571.6,-13.3,169,3066,0.00,2.28,0.00,0.000,260,0.000,0.093,2394,3781,3551,3644,3458,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3137,-0.91,-194.6,2393,3782,3642,3458,580.0,-13.2,172,3144,0.00,2.10,0.00,0.000,1030,0.000,0.044,2394,2404,3551,3643,3459,0,0,0,0,0,0,28.83,15.03,28.83
$STATE,3221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3221,begin apogee
$GC,3225,-0.25,0.0,2394,2401,3642,3457,592.7,-12.6,177,3418,0.73,0.00,183.90,1.298,10246,0.220,0.000,2608,2401,2750,2782,2718,0,0,0,0,0,0,14.85,28.83,13.76
$STATE,3419,end apogee,CONTROL_FINISHED_OK
$STATE,3419,begin climb
$GC,3421,0.91,194.6,2609,2401,2781,2717,596.7,0.0,186,3609,1.17,2.42,177.60,1.297,10756,0.129,0.055,2998,989,1953,1986,1921,0,0,0,0,0,0,14.28,14.21,13.71
$GC,3620,0.91,194.6,2999,988,1984,1915,569.6,19.4,196,3628,0.00,2.35,0.00,0.000,1030,0.000,0.063,2999,2374,1949,1984,1914,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3926,0.91,194.6,2999,2375,1984,1899,498.2,20.6,212,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2375,1941,1984,1899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4227,0.91,194.6,2999,2375,1984,1895,438.5,20.2,227,4233,0.00,2.33,0.00,0.000,260,0.000,0.090,2999,3777,1939,1984,1895,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4253,0.91,194.6,2080,3776,1948,1886,433.6,20.4,228,4259,0.00,2.17,0.00,0.000,1030,0.000,0.043,3009,2372,1940,1984,1896,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4571,0.91,194.6,3009,2367,1984,1892,363.0,21.4,244,4576,0.00,2.20,0.00,0.000,516,0.000,0.054,3019,982,1938,1984,1892,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4633,0.91,194.6,3019,982,1984,1892,350.2,20.8,247,4639,0.00,2.28,0.00,0.000,1030,0.000,0.063,3020,2378,1938,1984,1892,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4956,0.91,194.6,3019,2379,1984,1889,282.4,20.7,263,4961,0.00,2.33,0.00,0.000,260,0.000,0.091,3019,3778,1936,1984,1889,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4987,0.91,194.6,3020,3778,1984,1889,277.5,21.0,264,4993,0.15,2.15,0.00,0.000,5126,0.314,0.042,2999,2370,1936,1984,1889,0,0,0,0,0,0,14.76,14.95,28.83
$GC,5300,0.91,194.6,2999,2366,1984,1887,221.7,17.9,280,5306,0.00,2.17,0.00,0.000,516,0.000,0.054,3007,990,1935,1984,1886,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5374,0.91,194.6,3006,990,1983,1886,210.3,18.1,283,5379,0.00,2.25,0.00,0.000,1030,0.000,0.063,3007,2380,1934,1983,1886,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5686,0.91,194.6,3006,2381,1983,1885,151.3,17.2,299,5691,0.00,2.30,0.00,0.000,260,0.000,0.090,3007,3775,1933,1983,1884,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5868,0.91,194.6,3006,3775,1983,1885,115.2,19.2,308,5873,0.00,2.15,0.00,0.000,1030,0.000,0.042,3017,2370,1934,1983,1885,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6190,0.91,194.6,3017,2366,1983,1884,67.4,15.3,324,6195,0.00,2.20,0.00,0.000,516,0.000,0.054,3027,977,1933,1983,1883,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6408,0.93,212.3,3027,977,1984,1883,41.7,9.4,338,6419,0.00,2.25,5.60,0.243,9222,0.000,0.057,3027,2383,1886,1932,1840,0,0,0,0,0,0,28.83,14.92,14.76
$GC,6722,1.04,326.6,3028,2384,1941,1854,13.5,6.0,383,6783,0.00,2.30,53.80,0.184,8708,0.000,0.051,3038,983,1418,1457,1380,0,0,0,0,0,0,28.83,14.86,14.76
$STATE,6833,end climb,SURFACE_DEPTH_REACHED
$STATE,6833,begin surface coast
$FINISH,0.4,1.021761
$STATE,6855,end surface coast,CONTROL_FINISHED_OK
$STATE,6855,begin surface
$SM_CCo,6872,54.90,0.149,0,0,916,450.13
$SM_GC,-0.09,7.60,2.35,54.90,0.051,0.057,0.149,227,2404,916,-7.63,-0.85,450.13,0,0,0,0,0,0,14.90,14.88,14.76
$IRIDIUM_FIX,2145.77,12016.39,190513,161609
$TT8_MAMPS,0.019474,0.019474
$HUMID,44.52
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,24.30
$XPDR_PINGS,29
$SC_FREEKB,3928896
$24V_AH,13.7,29.689
$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,20.200,66.850,420.900,54.900,0.000,24.160,18.361,177.321,7.250,0.000,17.370,1247.365,4175.707,525.358,1296.361,81.418,0.000,1112.602,0.000,961.313,0.000,0.541,0.000
$DEVICE_MAMPS,419.220,98.685,1298.205,149.175,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6899.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.720,0.000,0.000,0.000
$MEM,323216
$DATA_FILE_SIZE,13466,407
$CAP_FILE_SIZE,93610,0
$CFSIZE,260034560,253816832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.244,305.5,1
$GPS,190513,210743,2148.994,12030.817,10,1.9,10,-2.7