version: 66.11
glider: 181
mission: 11
dive: 37
start: 5 21 113 0 50 47
data:
$ID,181
$MISSION,11
$DIVE,37
$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,-95718.602
$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,61
$R_STBD_OVSHOOT,32
$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
$GPS1,210513,004336,2146.670,12041.209,32,1.0,32,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-67.8
$GPS2,210513,005007,2146.618,12041.335,10,1.2,10,-2.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,DOGLEG2
$TGT_LATLONG,2145.000,12042.000
$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,180.3,3207,-15.1,-10.000,-18.04,2666
$D_GRID,756
$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,-0.93,-175.6,208,2382,922,919,0.0,0.0,0,110,0.00,0.00,-89.32,0.000,16386,0.000,0.000,206,2385,3207,3254,3160,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.93,-175.6,206,2385,3254,3160,4.3,-14.1,15,134,10.40,2.40,-4.30,0.000,18692,0.424,0.107,2384,3783,3472,3547,3397,0,0,0,0,0,0,14.51,14.72,14.95
$GC,359,-0.93,-175.6,2389,3783,3554,3401,82.2,-27.0,36,366,0.00,2.12,0.00,0.000,1030,0.000,0.036,2384,2380,3461,3547,3376,0,0,0,0,0,0,28.83,14.87,28.83
$GC,666,-0.93,-175.6,2384,2376,3551,3401,155.6,-20.1,52,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2376,3476,3552,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,967,-0.93,-175.6,2384,2376,3552,3402,210.7,-17.1,67,972,0.00,2.30,0.00,0.000,260,0.000,0.083,2374,3783,3476,3552,3401,0,0,0,0,0,0,28.83,14.90,28.83
$GC,998,-0.93,-175.6,2374,3783,3552,3401,215.2,-17.3,68,1003,0.00,2.08,0.00,0.000,1030,0.000,0.037,2374,2405,3476,3551,3402,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1310,-0.93,-175.6,2374,2399,3552,3401,276.9,-19.3,84,1316,0.00,2.15,0.00,0.000,516,0.000,0.047,2374,1010,3476,3552,3401,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1533,-0.93,-175.6,2374,1009,3551,3401,322.2,-20.0,95,1539,0.15,2.25,0.00,0.000,3078,0.266,0.062,2398,2412,3476,3552,3400,0,0,0,0,0,0,14.83,14.95,28.83
$GC,1856,-0.93,-175.6,2398,2412,3552,3397,372.7,-15.4,111,1861,0.00,2.22,0.00,0.000,260,0.000,0.084,2390,3781,3474,3552,3397,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1912,-0.93,-175.6,2396,3781,3552,3397,380.6,-17.4,113,1919,0.00,2.10,0.00,0.000,1030,0.000,0.038,2390,2388,3474,3552,3397,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2218,-0.93,-175.6,2390,2385,3552,3395,429.6,-15.0,129,2223,0.00,2.30,0.00,0.000,260,0.000,0.086,2380,3778,3473,3552,3394,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2235,-0.93,-175.6,2384,3779,3552,3394,429.6,-15.0,129,2241,0.00,2.10,0.00,0.000,1030,0.000,0.040,2380,2388,3473,3552,3394,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2541,-0.93,-175.6,2379,2386,3552,3391,475.4,-14.5,145,2546,0.00,2.15,0.00,0.000,516,0.000,0.050,2380,1006,3471,3552,3390,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2577,-0.93,-175.6,2380,1005,3552,3390,478.7,-14.6,146,2585,0.12,2.25,0.00,0.000,3078,0.271,0.061,2398,2405,3471,3552,3390,0,0,0,0,0,0,14.86,14.97,28.83
$GC,2883,-0.93,-175.6,2398,2405,3552,3386,518.3,-12.4,162,2889,0.00,2.25,0.00,0.000,260,0.000,0.091,2389,3777,3469,3552,3386,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2946,-0.93,-175.6,2390,3777,3551,3385,527.0,-13.6,165,2952,0.00,2.10,0.00,0.000,1030,0.000,0.043,2390,2396,3468,3551,3385,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3269,-0.93,-175.6,2389,2392,3551,3382,572.9,-15.5,181,3274,0.00,2.17,0.00,0.000,516,0.000,0.054,2389,1005,3466,3551,3381,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3365,-0.93,-175.6,2390,1005,3551,3381,585.4,-15.2,185,3372,0.00,2.25,0.00,0.000,1030,0.000,0.064,2380,2398,3465,3550,3381,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3681,-0.93,-175.6,2380,2398,3548,3378,633.5,-14.9,198,3687,0.00,2.28,0.00,0.000,260,0.000,0.093,2369,3779,3463,3548,3378,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3763,-0.93,-175.6,2369,3781,3545,3378,643.9,-15.9,200,3769,0.12,2.12,0.00,0.000,3078,0.282,0.045,2396,2396,3461,3545,3378,0,0,0,0,0,0,14.83,15.02,28.83
$GC,4076,-0.93,-175.6,2396,2392,3545,3374,687.9,-11.8,211,4081,0.00,2.17,0.00,0.000,516,0.000,0.055,2396,1010,3459,3545,3374,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4148,-0.93,-175.6,2396,1009,3546,3374,695.3,-11.8,213,4153,0.00,2.28,0.00,0.000,1030,0.000,0.067,2390,2409,3459,3545,3374,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4471,-0.93,-175.6,2389,2409,3543,3371,736.0,-12.7,224,4476,0.00,2.28,0.00,0.000,260,0.000,0.096,2379,3783,3457,3543,3371,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4503,-0.93,-175.6,2379,3783,3542,3371,740.3,-12.9,225,4509,0.00,2.15,0.00,0.000,1030,0.000,0.048,2379,2398,3456,3542,3371,0,0,0,0,0,0,28.83,15.02,28.83
$STATE,4624,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4624,begin apogee
$GC,4628,-0.25,0.0,2379,2393,3542,3370,756.2,-12.9,229,4801,0.80,0.00,164.25,1.515,10246,0.228,0.000,2612,2393,2749,2781,2717,0,0,0,0,0,0,14.81,28.83,13.67
$STATE,4803,end apogee,CONTROL_FINISHED_OK
$STATE,4803,begin climb
$GC,4804,0.93,175.6,2613,2393,2779,2715,758.1,0.0,234,4975,1.17,0.00,165.98,1.483,10502,0.125,0.000,2994,2392,2036,2058,2015,0,0,0,0,0,0,14.25,28.83,13.63
$GC,5256,0.93,175.6,2994,2392,2053,1986,672.2,21.1,250,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2392,2019,2053,1986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5555,0.93,175.6,2994,2392,2053,1982,613.9,18.6,260,5561,0.00,2.38,0.00,0.000,260,0.000,0.093,2994,3787,2017,2053,1982,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5591,0.93,175.6,2088,3786,2016,1973,607.1,19.2,261,5597,0.00,2.22,0.00,0.000,1030,0.000,0.044,3004,2364,2017,2053,1982,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5909,0.93,175.6,3005,2360,2053,1978,540.6,20.9,276,5914,0.00,2.20,0.00,0.000,516,0.000,0.054,3014,982,2015,2053,1978,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5945,0.93,175.6,3014,983,2053,1977,535.9,21.3,277,5953,0.00,2.28,0.00,0.000,1030,0.000,0.063,3015,2381,2015,2053,1977,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6251,0.93,175.6,3015,2382,2053,1976,468.5,20.8,293,6257,0.00,2.33,0.00,0.000,260,0.000,0.093,3014,3774,2014,2053,1976,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6324,0.93,175.6,3014,3774,2053,1976,454.5,21.9,296,6329,0.00,2.17,0.00,0.000,1030,0.000,0.043,3025,2367,2014,2053,1976,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6636,0.93,175.6,3025,2363,2053,1973,384.3,21.4,312,6641,0.00,2.20,0.00,0.000,516,0.000,0.055,3035,981,2013,2052,1974,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6702,0.93,175.6,2128,981,2014,1963,372.7,18.8,315,6709,0.15,2.28,0.00,0.000,5126,0.294,0.061,3003,2381,2012,2052,1972,0,0,0,0,0,0,14.76,14.91,28.83
$GC,7021,0.93,175.6,3003,2381,2048,1970,316.0,17.0,331,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2381,2011,2052,1970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7322,0.93,175.6,3003,2381,2052,1969,263.7,17.5,346,7323,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2381,2011,2052,1970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7621,0.93,175.6,3003,2381,2052,1969,212.0,17.4,361,7627,0.00,2.33,0.00,0.000,260,0.000,0.091,3003,3783,2010,2052,1969,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7678,0.93,175.6,3003,3783,2052,1970,203.7,18.1,363,7685,0.00,2.17,0.00,0.000,1030,0.000,0.042,3011,2366,2010,2052,1969,0,0,0,0,0,0,28.83,14.98,28.83
$GC,7984,0.93,175.6,3011,2362,2052,1969,148.2,15.1,379,7989,0.00,2.38,0.00,0.000,260,0.000,0.089,3011,3785,2010,2052,1969,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8066,0.93,175.6,3011,3785,2053,1969,134.2,17.2,383,8072,0.00,2.17,0.00,0.000,1030,0.000,0.041,3021,2370,2014,2053,1976,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8388,0.93,175.6,3022,2367,2052,1969,84.5,12.6,399,8394,0.00,2.35,0.00,0.000,260,0.000,0.086,3022,3780,2010,2052,1969,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8491,0.93,175.6,3021,3780,2052,1969,67.9,16.7,404,8497,0.15,2.17,0.00,0.000,5126,0.291,0.041,2999,2367,2010,2052,1969,0,0,0,0,0,0,14.78,14.97,28.83
$GC,8806,1.07,311.1,2998,2363,2052,1969,43.9,4.8,424,8877,0.12,2.25,60.75,0.275,10756,0.138,0.051,3070,980,1483,1519,1448,0,0,0,0,0,0,14.94,14.84,14.68
$GC,8980,1.07,311.1,3070,979,1525,1452,25.0,11.8,441,8986,0.00,2.25,0.00,0.000,1030,0.000,0.058,3070,2378,1489,1526,1452,0,0,0,0,0,0,28.83,14.83,28.83
$STATE,9151,end climb,SURFACE_DEPTH_REACHED
$STATE,9152,begin surface coast
$FINISH,-0.4,1.021590
$STATE,9174,end surface coast,CONTROL_FINISHED_OK
$STATE,9174,begin surface
$SM_CCo,9189,62.50,0.151,0,0,915,450.13
$SM_GC,0.05,7.72,0.00,62.50,0.054,0.000,0.151,230,2378,915,-7.61,-0.62,450.13,0,0,0,0,0,0,14.88,28.83,14.73
$IRIDIUM_FIX,2134.17,11954.19,200513,222234
$TT8_MAMPS,0.019474,0.019474
$HUMID,46.77
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,24.20
$XPDR_PINGS,4
$SC_FREEKB,3923904
$24V_AH,13.6,32.364
$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,20.925,84.600,390.975,62.500,0.000,23.699,39.088,172.525,1.000,0.000,12.533,1570.862,5946.849,557.089,1502.209,94.282,0.000,1230.449,0.000,1150.870,0.000,0.541,0.000
$DEVICE_MAMPS,423.810,107.100,1514.700,151.470,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9218.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.825,0.000,0.000,0.000
$MEM,323036
$DATA_FILE_SIZE,16797,478
$CAP_FILE_SIZE,113247,0
$CFSIZE,260034560,252788736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.149, 82.2,1
$GPS,210513,032549,2145.363,12042.277,8,1.5,8,-2.7