version: 66.11
glider: 181
mission: 11
dive: 57
start: 5 22 113 3 43 25
data:
$ID,181
$MISSION,11
$DIVE,57
$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,-95744.266
$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,64
$R_STBD_OVSHOOT,36
$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
$GPS1,220513,033633,2146.270,12058.758,9,3.4,28,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-70.0
$GPS2,220513,034255,2146.414,12058.934,15,1.2,15,-2.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,DOGLEG3
$TGT_LATLONG,2142.000,12103.000
$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,187.1,10761,-14.3,-10.000,-17.31,2952
$D_GRID,734
$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,-194.6,224,2412,911,919,0.0,0.0,0,103,0.00,0.00,-82.65,0.000,16386,0.000,0.000,222,2412,3017,3053,2981,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.91,-194.6,221,2412,3054,2981,3.6,-11.7,14,132,10.02,2.25,-9.12,0.000,18692,0.407,0.098,2389,3771,3548,3634,3462,0,0,0,0,0,0,14.49,14.73,14.96
$GC,194,-0.91,-194.6,2389,3771,3634,3464,45.7,-43.1,26,199,0.00,2.10,0.00,0.000,1030,0.000,0.037,2389,2401,3549,3634,3464,0,0,0,0,0,0,28.83,14.79,28.83
$GC,516,-0.91,-194.6,2389,2395,3635,3466,138.0,-21.7,43,522,0.00,2.15,0.00,0.000,516,0.000,0.044,2389,1007,3553,3634,3472,0,0,0,0,0,0,28.83,14.86,28.83
$GC,539,-0.91,-194.6,2389,1007,3635,3466,142.7,-20.7,44,545,0.00,2.22,0.00,0.000,1030,0.000,0.058,2379,2394,3550,3634,3466,0,0,0,0,0,0,28.83,14.86,28.83
$GC,862,-0.91,-194.6,2379,2393,3637,3467,214.1,-20.5,60,868,0.00,2.25,0.00,0.000,260,0.000,0.079,2369,3783,3552,3637,3467,0,0,0,0,0,0,28.83,14.88,28.83
$GC,885,-0.91,-194.6,2369,3783,3637,3467,218.8,-20.5,61,891,0.15,2.10,0.00,0.000,3078,0.280,0.037,2402,2388,3552,3637,3467,0,0,0,0,0,0,14.73,14.95,28.83
$GC,1208,-0.91,-194.6,2398,2383,3637,3467,279.4,-17.3,77,1213,0.00,2.28,0.00,0.000,260,0.000,0.081,2394,3777,3552,3637,3467,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1254,-0.91,-194.6,1536,3778,3633,3464,285.6,-15.4,79,1259,0.00,2.08,0.00,0.000,1030,0.000,0.035,2394,2392,3552,3637,3467,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1571,-0.91,-194.6,2393,2386,3637,3466,342.8,-17.3,95,1576,0.00,2.28,0.00,0.000,260,0.000,0.081,2383,3780,3551,3637,3465,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1628,-0.91,-194.6,2383,3781,3637,3465,350.5,-17.7,97,1635,0.00,2.08,0.00,0.000,1030,0.000,0.038,2383,2412,3551,3637,3465,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1933,-0.91,-194.6,2383,2407,3637,3463,402.5,-17.0,113,1940,0.00,2.25,0.00,0.000,260,0.000,0.084,2373,3777,3549,3637,3462,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1976,-0.91,-194.6,2373,3775,3637,3462,410.1,-17.4,115,1983,0.12,2.10,0.00,0.000,3078,0.277,0.037,2400,2392,3548,3637,3460,0,0,0,0,0,0,14.82,14.99,28.83
$GC,2300,-0.91,-194.6,2400,2387,3637,3457,457.4,-12.3,131,2305,0.00,2.15,0.00,0.000,516,0.000,0.050,2401,1005,3547,3637,3457,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2352,-0.91,-194.6,2402,1007,3637,3459,461.9,-11.1,133,2357,0.00,2.25,0.00,0.000,1030,0.000,0.060,2398,2408,3547,3637,3457,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2664,-0.91,-194.6,2393,2408,3636,3453,506.5,-13.9,149,2669,0.00,2.25,0.00,0.000,260,0.000,0.088,2383,3786,3545,3637,3453,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2795,-0.91,-194.6,2383,3786,3634,3453,524.2,-14.7,155,2801,0.00,2.12,0.00,0.000,1030,0.000,0.042,2383,2401,3544,3635,3453,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3109,-0.91,-194.6,2382,2395,3634,3449,584.1,-19.3,171,3114,0.00,2.17,0.00,0.000,516,0.000,0.052,2383,1007,3541,3634,3449,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3226,-0.91,-194.6,2383,1007,3633,3448,603.2,-18.4,176,3234,0.12,2.25,0.00,0.000,3078,0.268,0.062,2401,2401,3540,3633,3447,0,0,0,0,0,0,14.83,14.97,28.83
$GC,3532,-0.91,-194.6,2401,2403,3632,3445,648.1,-11.8,187,3537,0.00,2.28,0.00,0.000,260,0.000,0.093,2392,3783,3538,3631,3445,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3625,-0.91,-194.6,2393,3784,3629,3445,659.6,-11.8,190,3630,0.00,2.12,0.00,0.000,1030,0.000,0.044,2392,2402,3537,3629,3445,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3958,-0.91,-194.6,2393,2397,3627,3441,709.7,-16.9,201,3963,0.00,2.20,0.00,0.000,516,0.000,0.055,2393,1002,3533,3627,3440,0,0,0,0,0,0,28.83,14.99,28.83
$GC,4075,-0.91,-194.6,2393,1001,3626,3440,726.4,-18.0,204,4083,0.00,2.28,0.00,0.000,1030,0.000,0.065,2383,2403,3533,3626,3440,0,0,0,0,0,0,28.83,14.96,28.83
$STATE,4109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4109,begin apogee
$GC,4113,-0.25,0.0,2383,2403,3626,3439,736.3,-16.9,206,4300,0.77,0.00,179.57,1.489,10246,0.229,0.000,2608,2404,2749,2778,2720,0,0,0,0,0,0,14.79,28.83,13.72
$STATE,4302,end apogee,CONTROL_FINISHED_OK
$STATE,4302,begin climb
$GC,4303,0.91,194.6,2608,2404,2777,2718,747.1,0.0,212,4498,1.17,2.40,184.27,1.460,10756,0.129,0.050,2997,980,1955,1986,1925,0,0,0,0,0,0,14.26,14.21,13.66
$GC,4574,0.91,194.6,2998,980,1984,1910,714.2,16.1,221,4580,0.00,2.35,0.00,0.000,1030,0.000,0.064,2998,2379,1946,1984,1909,0,0,0,0,0,0,28.83,14.48,28.83
$GC,4898,0.91,194.6,2998,2380,1984,1901,641.7,20.4,232,4903,0.00,2.35,0.00,0.000,260,0.000,0.091,2998,3777,1942,1983,1901,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4964,0.91,194.6,2997,3777,1984,1901,627.3,21.6,234,4969,0.00,2.20,0.00,0.000,1030,0.000,0.043,3008,2366,1942,1984,1901,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5272,0.91,194.6,3009,2360,1984,1897,560.0,22.3,247,5278,0.00,2.20,0.00,0.000,516,0.000,0.054,3018,982,1940,1984,1897,0,0,0,0,0,0,28.83,14.86,28.83
$GC,5335,0.91,194.6,3018,981,1984,1896,546.8,20.9,250,5341,0.00,2.28,0.00,0.000,1030,0.000,0.061,3018,2381,1940,1985,1896,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5658,0.91,194.6,3018,2381,1984,1895,476.7,22.4,266,5663,0.00,2.33,0.00,0.000,260,0.000,0.093,3018,3775,1939,1984,1895,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5720,0.91,194.6,3018,3775,1984,1895,459.7,26.6,269,5726,0.15,2.17,0.00,0.000,5126,0.302,0.043,2997,2364,1939,1984,1895,0,0,0,0,0,0,14.74,14.94,28.83
$GC,6043,0.91,194.6,2997,2360,1984,1893,384.1,21.2,285,6049,0.00,2.20,0.00,0.000,516,0.000,0.056,3005,982,1938,1984,1893,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6089,0.91,194.6,3005,981,1984,1893,375.7,20.1,287,6095,0.00,2.25,0.00,0.000,1030,0.000,0.059,3005,2377,1938,1984,1893,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6407,0.91,194.6,3005,2377,1984,1891,316.1,16.6,303,6413,0.00,2.33,0.00,0.000,260,0.000,0.092,3005,3775,1937,1984,1891,0,0,0,0,0,0,28.83,14.89,28.83
$GC,6459,0.91,194.6,3005,3775,1984,1891,308.0,17.7,305,6464,0.00,2.15,0.00,0.000,1030,0.000,0.042,3015,2375,1937,1984,1891,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6771,0.91,194.6,3016,2370,1984,1890,249.9,18.8,321,6777,0.00,2.35,0.00,0.000,260,0.000,0.091,3015,3773,1937,1984,1890,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6858,0.91,194.6,3015,3773,1984,1890,233.4,19.8,325,6864,0.15,2.15,0.00,0.000,5126,0.299,0.041,2993,2374,1937,1984,1890,0,0,0,0,0,0,14.77,14.97,28.83
$GC,7176,0.91,194.6,2993,2370,1984,1889,186.3,13.2,341,7181,0.00,2.20,0.00,0.000,516,0.000,0.054,3001,985,1936,1984,1889,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7208,0.91,194.6,3001,985,1984,1888,183.4,13.1,342,7213,0.00,2.25,0.00,0.000,1030,0.000,0.060,3002,2379,1933,1979,1888,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7520,0.91,194.6,3001,2379,1984,1889,140.0,13.1,358,7525,0.00,2.33,0.00,0.000,260,0.000,0.090,3001,3781,1936,1984,1889,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7582,0.91,194.6,3002,3782,1984,1889,130.5,14.9,361,7587,0.00,2.17,0.00,0.000,1030,0.000,0.041,3011,2365,1936,1984,1889,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7905,1.06,347.4,3012,2360,1984,1888,97.6,4.7,377,7986,0.00,2.20,72.10,0.449,8708,0.000,0.051,3021,985,1337,1370,1304,0,0,0,0,0,0,28.83,14.78,14.52
$GC,8018,1.11,392.6,3022,987,1375,1308,89.5,8.4,382,8051,0.10,2.28,22.73,0.415,11270,0.166,0.059,3069,2383,1152,1180,1124,0,0,0,0,0,0,14.78,14.78,14.47
$GC,8349,1.11,392.6,3069,2384,1192,1125,37.5,13.0,403,8355,0.00,2.33,0.00,0.000,260,0.000,0.089,3069,3782,1157,1191,1124,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8453,1.11,392.6,3070,3782,1192,1125,23.7,13.2,414,8461,0.00,2.17,0.00,0.000,1030,0.000,0.040,3080,2372,1157,1191,1124,0,0,0,0,0,0,28.83,14.87,28.83
$STATE,8606,end climb,SURFACE_DEPTH_REACHED
$STATE,8607,begin surface coast
$FINISH,-0.0,1.021266
$STATE,8628,end surface coast,CONTROL_FINISHED_OK
$STATE,8628,begin surface
$SM_CCo,8643,26.60,0.151,0,0,915,450.13
$SM_GC,0.08,7.78,0.00,26.60,0.054,0.000,0.151,231,2367,915,-7.62,-0.93,450.13,0,0,0,0,0,0,14.86,28.83,14.75
$IRIDIUM_FIX,2131.85,12106.97,220513,010141
$TT8_MAMPS,0.019474,0.019474
$HUMID,50.82
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,21.10
$XPDR_PINGS,7
$SC_FREEKB,3916224
$24V_AH,13.7,35.120
$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,20.550,97.875,458.675,26.600,0.000,30.857,17.938,168.236,1.750,0.000,19.878,1495.012,5416.222,572.160,1482.863,104.166,0.000,1265.436,0.000,1141.497,0.000,0.541,0.000
$DEVICE_MAMPS,406.980,225.675,1488.690,151.470,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8663.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.844,0.000,0.000,0.000
$MEM,322896
$DATA_FILE_SIZE,16720,448
$CAP_FILE_SIZE,113084,0
$CFSIZE,260034560,251650048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.360, 39.7,1
$GPS,220513,060905,2146.369,12100.099,28,1.6,28,-2.7