version: 66.11
glider: 181
mission: 11
dive: 25
start: 5 19 113 21 14 35
data:
$ID,181
$MISSION,11
$DIVE,25
$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,-95703.594
$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
$GPS1,190513,210743,2148.994,12030.817,10,1.9,10,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-68.7
$GPS2,190513,211406,2149.001,12030.710,9,1.8,14,-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,119.6,50400,-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,-194.6,206,2412,916,919,0.0,0.0,0,108,0.00,0.00,-87.65,0.000,16386,0.000,0.000,206,2412,3097,3146,3049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.91,-194.6,206,2412,3146,3051,3.2,-10.0,15,137,10.23,2.28,-8.02,0.000,18692,0.415,0.103,2391,3777,3549,3637,3461,0,0,0,0,0,0,14.51,14.73,14.96
$GC,274,-0.91,-194.6,2391,3777,3637,3466,66.8,-32.8,31,280,0.00,2.12,0.00,0.000,1030,0.000,0.038,2391,2383,3552,3638,3466,0,0,0,0,0,0,28.83,14.82,28.83
$GC,586,-0.91,-194.6,2391,2380,3638,3469,144.3,-21.8,47,592,0.00,2.12,0.00,0.000,516,0.000,0.044,2391,1004,3553,3638,3469,0,0,0,0,0,0,28.83,14.89,28.83
$GC,652,-0.91,-194.6,1536,1003,3635,3466,157.0,-20.8,50,657,0.00,2.25,0.00,0.000,1030,0.000,0.060,2381,2402,3553,3638,3469,0,0,0,0,0,0,28.83,14.88,28.83
$GC,969,-0.91,-194.6,2380,2402,3638,3470,224.0,-20.1,66,975,0.00,2.22,0.00,0.000,260,0.000,0.081,2370,3777,3553,3638,3469,0,0,0,0,0,0,28.83,14.90,28.83
$GC,985,-0.91,-194.6,2370,3777,3639,3469,224.0,-20.1,66,994,0.15,2.08,0.00,0.000,3078,0.271,0.038,2403,2395,3554,3639,3470,0,0,0,0,0,0,14.80,14.96,28.83
$GC,1291,-0.91,-194.6,2404,2390,3640,3469,284.6,-19.6,82,1297,0.00,2.12,0.00,0.000,516,0.000,0.048,2404,1016,3554,3640,3469,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1458,-0.91,-194.6,1540,1015,3636,3462,310.5,-15.0,90,1463,0.00,2.22,0.00,0.000,1030,0.000,0.062,2397,2402,3554,3640,3469,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1775,-0.91,-194.6,2402,2402,3640,3467,361.6,-15.6,106,1780,0.00,2.25,0.00,0.000,260,0.000,0.086,2386,3787,3553,3640,3466,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1837,-0.91,-194.6,2386,3787,3640,3464,372.4,-17.0,109,1843,0.00,2.10,0.00,0.000,1030,0.000,0.041,2386,2406,3552,3640,3464,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2160,-0.91,-194.6,2386,2401,3640,3462,425.3,-17.1,125,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2401,3551,3640,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2460,-0.91,-194.6,2387,2401,3640,3457,474.1,-16.1,140,2466,0.00,2.17,0.00,0.000,516,0.000,0.056,2386,1010,3549,3640,3458,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2491,-0.91,-194.6,2386,1010,3640,3457,477.5,-15.5,141,2497,0.12,2.22,0.00,0.000,3078,0.277,0.063,2405,2399,3548,3640,3457,0,0,0,0,0,0,14.87,14.98,28.83
$GC,2804,-0.91,-194.6,2405,2399,3640,3454,519.8,-12.6,157,2805,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2399,3547,3640,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3105,-0.91,-194.6,2405,2399,3638,3451,559.7,-14.1,172,3110,0.00,2.28,0.00,0.000,260,0.000,0.094,2397,3781,3544,3638,3451,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3222,-0.91,-194.6,2398,3781,3637,3450,576.7,-17.2,177,3228,0.00,2.12,0.00,0.000,1030,0.000,0.044,2396,2390,3543,3637,3450,0,0,0,0,0,0,28.83,15.02,28.83
$STATE,3306,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3306,begin apogee
$GC,3309,-0.25,0.0,2397,2389,3636,3450,592.4,-15.3,182,3492,0.73,0.00,174.23,1.327,10246,0.216,0.000,2612,2388,2749,2782,2717,0,0,0,0,0,0,14.85,28.83,13.76
$STATE,3493,end apogee,CONTROL_FINISHED_OK
$STATE,3494,begin climb
$GC,3495,0.91,194.6,2612,2388,2780,2715,596.3,0.0,191,3683,1.12,2.45,177.75,1.298,10500,0.116,0.091,2984,3778,1954,1987,1921,0,0,0,0,0,0,14.30,14.20,13.72
$GC,3719,0.91,194.6,2984,3780,1984,1913,564.9,20.3,202,3725,0.00,2.25,0.00,0.000,1030,0.000,0.042,2995,2367,1948,1984,1912,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4031,0.91,194.6,2995,2363,1984,1894,498.6,21.1,218,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2363,1941,1984,1899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4333,0.91,194.6,2995,2363,1984,1895,434.6,21.3,233,4338,0.00,2.38,0.00,0.000,260,0.000,0.090,2995,3774,1939,1984,1895,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4384,0.91,194.6,2995,3774,1984,1895,424.4,22.4,235,4389,0.00,2.17,0.00,0.000,1030,0.000,0.044,3005,2372,1939,1984,1895,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4696,0.91,194.6,3006,2367,1984,1892,356.7,21.8,251,4702,0.00,2.22,0.00,0.000,516,0.000,0.056,3016,976,1938,1984,1893,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4728,0.91,194.6,3016,976,1984,1892,351.9,21.6,252,4733,0.00,2.28,0.00,0.000,1030,0.000,0.060,3016,2383,1938,1984,1892,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5040,0.91,194.6,3016,2383,1984,1889,287.5,19.8,268,5046,0.00,2.30,0.00,0.000,260,0.000,0.089,3016,3777,1936,1983,1890,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5092,0.91,194.6,3016,3776,1984,1890,279.2,19.2,270,5098,0.15,2.17,0.00,0.000,5126,0.316,0.043,2995,2360,1937,1984,1890,0,0,0,0,0,0,14.76,14.95,28.83
$GC,5405,0.91,194.6,2995,2355,1983,1887,223.4,17.3,286,5410,0.00,2.17,0.00,0.000,516,0.000,0.055,3003,984,1935,1984,1887,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5511,0.91,194.6,2064,984,1946,1878,206.7,16.2,291,5516,0.00,2.25,0.00,0.000,1030,0.000,0.062,3003,2378,1935,1982,1888,0,0,0,0,0,0,28.83,14.93,28.83
$GC,5829,0.91,194.6,3003,2378,1983,1886,146.9,19.9,307,5834,0.00,2.33,0.00,0.000,260,0.000,0.091,3003,3782,1934,1982,1886,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5911,0.91,194.6,3003,3783,1982,1886,129.9,20.7,311,5917,0.00,2.15,0.00,0.000,1030,0.000,0.041,3013,2373,1934,1982,1886,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6233,0.91,194.6,3014,2372,1983,1880,77.6,15.0,327,6239,0.00,2.20,0.00,0.000,516,0.000,0.053,3024,979,1933,1982,1885,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6312,0.91,194.6,3024,979,1982,1885,68.5,14.7,330,6319,0.12,2.25,0.00,0.000,5126,0.275,0.060,2997,2379,1933,1982,1885,0,0,0,0,0,0,14.79,14.92,28.83
$GC,6617,0.93,218.7,2998,2379,1983,1884,32.3,9.2,354,6633,0.00,2.33,8.50,0.234,8452,0.000,0.085,2997,3771,1863,1905,1822,0,0,0,0,0,0,28.83,14.88,14.78
$GC,6775,0.96,243.6,2048,3770,1875,1822,18.9,9.1,376,6795,0.00,2.15,13.32,0.203,9222,0.000,0.039,3005,2354,1757,1799,1716,0,0,0,0,0,0,28.83,14.94,14.79
$STATE,6965,end climb,SURFACE_DEPTH_REACHED
$STATE,6966,begin surface coast
$FINISH,-0.2,1.021778
$STATE,6998,end surface coast,CONTROL_FINISHED_OK
$STATE,6998,begin surface
$SM_CCo,7013,92.28,0.148,0,0,915,450.13
$SM_GC,0.03,7.50,0.08,92.28,0.054,0.177,0.148,231,2402,915,-7.61,-1.02,450.13,0,0,0,0,0,0,14.93,14.91,14.77
$IRIDIUM_FIX,2145.77,12117.74,190513,191952
$TT8_MAMPS,0.019474,0.019474
$HUMID,44.09
$INTERNAL_PRESSURE,9.69764
$TCM_TEMP,24.40
$XPDR_PINGS,27
$SC_FREEKB,3928512
$24V_AH,13.7,29.878
$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,20.125,66.700,373.800,92.275,0.000,27.489,41.403,162.021,6.750,0.000,17.127,1293.596,4294.053,539.643,1300.266,80.269,0.000,1113.328,0.000,966.265,0.000,0.541,0.000
$DEVICE_MAMPS,414.630,177.480,1327.275,147.645,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7030.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.769,0.000,0.000,0.000
$MEM,323264
$DATA_FILE_SIZE,13434,419
$CAP_FILE_SIZE,95334,0
$CFSIZE,260034560,253739008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.195,313.4,1
$GPS,190513,231423,2149.155,12031.141,23,0.9,40,-2.7