version: 66.11
glider: 181
mission: 11
dive: 58
start: 5 22 113 6 16 5
data:
$ID,181
$MISSION,11
$DIVE,58
$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,-95745.516
$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,30
$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
$GPS1,220513,060905,2146.369,12100.099,28,1.6,28,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.10
$_SM_ANGLEo,-70.8
$GPS2,220513,061537,2146.444,12100.307,12,1.6,12,-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,198.3,9445,-14.3,-10.000,-17.31,2952
$D_GRID,779
$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,-0.91,-194.6,226,2363,921,916,0.0,0.0,0,105,0.00,0.00,-83.18,0.000,16386,0.000,0.000,225,2364,3027,3072,2983,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.91,-194.6,225,2364,3073,2984,3.5,-12.3,14,133,10.10,2.35,-8.70,0.000,18692,0.411,0.097,2391,3783,3547,3634,3461,0,0,0,0,0,0,14.46,14.71,14.94
$GC,195,-0.91,-194.6,2392,3788,3634,3463,44.5,-39.7,26,201,0.00,2.15,0.00,0.000,1030,0.000,0.038,2391,2387,3549,3635,3463,0,0,0,0,0,0,28.83,14.78,28.83
$GC,518,-0.91,-194.6,2391,2382,3634,3464,130.3,-20.6,43,519,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2382,3549,3634,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,818,-0.91,-194.6,2391,2381,3636,3467,187.8,-19.1,58,824,0.00,2.30,0.00,0.000,260,0.000,0.080,2381,3784,3551,3636,3467,0,0,0,0,0,0,28.83,14.86,28.83
$GC,890,-0.91,-194.6,2381,3784,3636,3467,200.7,-19.9,61,895,0.00,2.10,0.00,0.000,1030,0.000,0.037,2380,2401,3551,3636,3467,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1202,-0.91,-194.6,2380,2396,3636,3466,255.5,-16.5,77,1208,0.10,2.28,0.00,0.000,2308,0.330,0.076,2393,3789,3551,3636,3467,0,0,0,0,0,0,14.76,14.90,28.83
$GC,1234,-0.91,-194.6,2393,3789,3636,3467,259.2,-16.6,78,1240,0.00,2.12,0.00,0.000,1030,0.000,0.037,2393,2383,3551,3636,3467,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1546,-0.91,-194.6,2393,2378,3636,3465,314.6,-17.1,94,1552,0.00,2.12,0.00,0.000,516,0.000,0.046,2393,1007,3550,3636,3465,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1569,-0.91,-194.6,2393,1007,3636,3465,318.5,-17.5,95,1574,0.00,2.22,0.00,0.000,1030,0.000,0.057,2383,2400,3550,3636,3465,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1891,-0.91,-194.6,2383,2400,3636,3463,376.3,-18.5,111,1896,0.00,2.17,0.00,0.000,516,0.000,0.049,2383,1013,3549,3636,3462,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1934,-0.91,-194.6,2383,1013,3636,3459,384.4,-18.8,113,1940,0.12,2.25,0.00,0.000,3078,0.267,0.060,2401,2408,3552,3636,3469,0,0,0,0,0,0,14.82,14.95,28.83
$GC,2256,-0.91,-194.6,2401,2408,3636,3458,438.5,-15.4,129,2262,0.00,2.22,0.00,0.000,260,0.000,0.086,2393,3775,3547,3636,3458,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2334,-0.91,-194.6,2393,3775,3636,3458,448.4,-15.6,132,2340,0.00,2.08,0.00,0.000,1030,0.000,0.040,2393,2402,3546,3636,3457,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2639,-0.91,-194.6,2393,2401,3636,3454,495.7,-14.5,148,2644,0.00,2.17,0.00,0.000,516,0.000,0.050,2393,1007,3544,3636,3453,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2711,-0.91,-194.6,2393,1006,3636,3453,505.6,-16.0,151,2716,0.00,2.25,0.00,0.000,1030,0.000,0.060,2383,2405,3544,3636,3453,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3023,-0.91,-194.6,2383,2405,3634,3450,553.7,-15.5,167,3028,0.00,2.25,0.00,0.000,260,0.000,0.089,2373,3780,3542,3634,3450,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3105,-0.91,-194.6,2373,3780,3633,3449,566.9,-16.1,171,3111,0.12,2.10,0.00,0.000,3078,0.276,0.042,2401,2401,3541,3633,3450,0,0,0,0,0,0,14.81,15.00,28.83
$GC,3438,-0.91,-194.6,2401,2397,3633,3446,612.1,-13.1,186,3444,0.00,2.17,0.00,0.000,516,0.000,0.053,2401,1010,3539,3633,3446,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3495,-0.91,-194.6,2401,1010,3632,3446,616.3,-13.0,187,3502,0.00,2.25,0.00,0.000,1030,0.000,0.062,2393,2402,3538,3632,3445,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3801,-0.91,-194.6,2394,2402,3629,3443,659.1,-12.4,198,3806,0.00,2.28,0.00,0.000,260,0.000,0.091,2383,3782,3535,3629,3442,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3882,-0.91,-194.6,2383,3784,3623,3443,667.3,-12.8,200,3888,0.00,2.12,0.00,0.000,1030,0.000,0.044,2383,2400,3535,3627,3443,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4195,-0.91,-194.6,2383,2393,3625,3440,712.6,-13.9,211,4196,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2394,3532,3625,3440,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4495,-0.91,-194.6,2383,2393,3624,3438,753.5,-13.7,221,4500,0.00,2.20,0.00,0.000,516,0.000,0.056,2384,1003,3531,3624,3438,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4557,-0.91,-194.6,2383,1003,3624,3438,762.1,-13.7,223,4564,0.12,2.28,0.00,0.000,3078,0.273,0.066,2401,2397,3530,3624,3437,0,0,0,0,0,0,14.81,14.95,28.83
$STATE,4710,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4710,begin apogee
$GC,4714,-0.25,0.0,2401,2397,3623,3436,782.5,-13.0,228,4906,0.73,0.00,183.05,1.533,10246,0.223,0.000,2617,2398,2748,2775,2721,0,0,0,0,0,0,14.80,28.83,13.66
$STATE,4908,end apogee,CONTROL_FINISHED_OK
$STATE,4908,begin climb
$GC,4909,0.91,194.6,2616,2398,2774,2719,787.5,0.0,234,5107,1.15,2.45,186.23,1.500,10756,0.121,0.054,3000,985,1957,1983,1931,0,0,0,0,0,0,14.23,14.16,13.63
$GC,5144,0.91,194.6,3001,985,1982,1915,756.5,17.2,242,5149,0.00,2.38,0.00,0.000,1030,0.000,0.061,3000,2386,1948,1982,1915,0,0,0,0,0,0,28.83,14.35,28.83
$GC,5467,0.91,194.6,3000,2387,1981,1904,686.6,21.3,253,5469,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2387,1942,1982,1903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5766,0.91,194.6,3000,2387,1982,1900,623.1,21.3,263,5771,0.00,2.35,0.00,0.000,260,0.000,0.091,3003,3786,1941,1982,1900,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5812,0.91,194.6,3000,3787,1982,1900,615.6,21.7,264,5818,0.00,2.20,0.00,0.000,1030,0.000,0.043,3011,2372,1941,1982,1900,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6130,0.91,194.6,3011,2367,1982,1897,540.8,20.4,279,6136,0.00,2.20,0.00,0.000,516,0.000,0.051,3021,981,1939,1982,1897,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6181,0.91,194.6,3021,981,1981,1897,532.6,20.0,281,6187,0.00,2.28,0.00,0.000,1030,0.000,0.062,3021,2378,1939,1982,1897,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6494,0.91,194.6,3022,2378,1982,1896,470.2,18.4,297,6500,0.00,2.33,0.00,0.000,260,0.000,0.091,3021,3774,1938,1981,1896,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6536,0.91,194.6,3022,3774,1982,1895,461.5,19.4,299,6543,0.17,2.17,0.00,0.000,5126,0.299,0.042,2993,2373,1939,1982,1896,0,0,0,0,0,0,14.73,14.93,28.83
$GC,6860,0.91,194.6,2993,2369,1982,1894,400.8,20.2,315,6865,0.00,2.38,0.00,0.000,260,0.000,0.093,2993,3777,1934,1978,1890,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6946,0.91,194.6,2080,3777,1946,1885,382.2,22.8,319,6952,0.00,2.17,0.00,0.000,1030,0.000,0.043,3001,2372,1937,1981,1894,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7264,0.91,194.6,3002,2367,1981,1893,321.5,16.6,335,7269,0.00,2.22,0.00,0.000,516,0.000,0.054,3011,972,1937,1982,1893,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7289,0.91,194.6,2112,972,1946,1884,317.7,16.6,336,7295,0.00,2.28,0.00,0.000,1030,0.000,0.060,3012,2371,1937,1982,1893,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7607,0.91,194.6,3012,2375,1982,1892,263.2,16.5,352,7613,0.00,2.35,0.00,0.000,260,0.000,0.091,3011,3787,1937,1982,1892,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7650,0.91,194.6,3011,3787,1981,1892,254.9,18.0,354,7655,0.00,2.17,0.00,0.000,1030,0.000,0.043,3022,2376,1936,1981,1892,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7972,0.91,194.6,3022,2371,1982,1891,195.6,18.3,370,7978,0.00,2.22,0.00,0.000,516,0.000,0.054,3032,975,1936,1982,1891,0,0,0,0,0,0,28.83,14.93,28.83
$GC,8096,0.91,194.6,3032,975,1981,1891,174.7,17.0,376,8103,0.17,2.28,0.00,0.000,5126,0.279,0.061,2992,2380,1936,1982,1891,0,0,0,0,0,0,14.73,14.89,28.83
$GC,8420,0.91,194.6,2992,2380,1982,1890,130.1,13.4,392,8425,0.00,2.33,0.00,0.000,260,0.000,0.090,2992,3780,1936,1982,1891,0,0,0,0,0,0,28.83,14.86,28.83
$GC,8543,0.91,194.6,2992,3780,1982,1891,112.3,14.5,398,8548,0.00,2.17,0.00,0.000,1030,0.000,0.041,3000,2366,1936,1982,1891,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8865,0.98,262.1,3001,2361,1981,1890,73.8,7.7,414,8901,0.00,2.45,30.35,0.368,8452,0.000,0.088,3000,3783,1680,1714,1647,0,0,0,0,0,0,28.83,14.83,14.62
$GC,8928,1.01,297.9,3000,3783,1721,1646,67.9,8.8,417,8954,0.00,2.17,17.90,0.352,9222,0.000,0.041,3012,2368,1538,1574,1502,0,0,0,0,0,0,28.83,14.89,14.59
$GC,9261,1.01,297.9,3011,2369,1584,1505,31.8,10.3,442,9267,0.00,2.35,0.00,0.000,260,0.000,0.088,3011,3772,1544,1584,1505,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9379,1.02,306.9,3011,3772,1590,1505,19.0,9.7,459,9393,0.00,2.15,5.43,0.207,9222,0.000,0.041,3021,2368,1499,1543,1455,0,0,0,0,0,0,28.83,14.88,14.69
$STATE,9564,end climb,SURFACE_DEPTH_REACHED
$STATE,9564,begin surface coast
$FINISH,-0.6,1.021249
$STATE,9605,end surface coast,CONTROL_FINISHED_OK
$STATE,9606,begin surface
$SM_CCo,9621,64.82,0.151,0,0,915,450.13
$SM_GC,-0.35,7.57,0.00,64.82,0.050,0.000,0.151,230,2369,915,-7.62,-0.90,450.13,0,0,0,0,0,0,14.87,28.83,14.73
$IRIDIUM_FIX,2127.21,12102.59,220513,030302
$TT8_MAMPS,0.019474,0.019474
$HUMID,49.72
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,22.50
$XPDR_PINGS,1
$SC_FREEKB,3915840
$24V_AH,13.6,35.348
$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,20.375,98.500,422.950,64.825,0.000,22.584,40.143,167.259,0.250,0.000,15.365,1618.229,6239.010,566.341,1563.408,106.411,0.000,1295.273,0.000,1212.433,0.000,0.539,0.000
$DEVICE_MAMPS,410.805,97.155,1533.060,150.705,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9643.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.848,0.000,0.000,0.000
$MEM,322876
$DATA_FILE_SIZE,16750,503
$CAP_FILE_SIZE,120785,0
$CFSIZE,260034560,251559936
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.108, 54.4,1
$GPS,220513,085835,2145.470,12100.295,12,1.8,22,-2.7