version: 66.11
glider: 181
mission: 11
dive: 59
start: 5 22 113 9 6 33
data:
$ID,181
$MISSION,11
$DIVE,59
$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,-95746.766
$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,69
$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
$GPS1,220513,085835,2145.470,12100.295,12,1.8,22,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.08
$_SM_ANGLEo,-71.0
$GPS2,220513,090605,2145.540,12100.460,13,1.0,29,-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,168.7,7880,-14.3,-10.000,-17.31,2952
$D_GRID,742
$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,-194.6,224,2364,914,923,0.0,0.0,0,100,0.00,0.00,-79.18,0.000,16386,0.000,0.000,223,2365,2933,2973,2893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.91,-194.6,224,2365,2973,2895,3.1,-10.6,14,130,10.25,2.42,-10.70,0.000,18692,0.417,0.103,2389,3780,3552,3642,3462,0,0,0,0,0,0,14.45,14.69,14.92
$GC,242,-0.91,-194.6,2389,3780,3640,3464,61.9,-32.8,30,247,0.00,2.12,0.00,0.000,1030,0.000,0.038,2389,2399,3552,3641,3464,0,0,0,0,0,0,28.83,14.78,28.83
$GC,565,-0.91,-194.6,2389,2392,3642,3466,138.6,-18.7,46,571,0.00,2.17,0.00,0.000,516,0.000,0.047,2389,1003,3554,3642,3466,0,0,0,0,0,0,28.83,14.83,28.83
$GC,678,-0.91,-194.6,2389,1003,3642,3467,154.3,-15.4,51,683,0.00,2.25,0.00,0.000,1030,0.000,0.059,2379,2401,3554,3642,3467,0,0,0,0,0,0,28.83,14.84,28.83
$GC,990,-0.91,-194.6,2379,2401,3642,3468,220.6,-21.0,67,995,0.00,2.25,0.00,0.000,260,0.000,0.082,2368,3777,3555,3642,3468,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1052,-0.91,-194.6,2368,3777,3642,3468,234.6,-22.7,70,1058,0.15,2.10,0.00,0.000,3078,0.273,0.035,2402,2380,3555,3642,3468,0,0,0,0,0,0,14.73,14.93,28.83
$GC,1375,-0.91,-194.6,2402,2375,3642,3468,293.5,-18.9,86,1380,0.00,2.33,0.00,0.000,260,0.000,0.083,2394,3785,3555,3642,3468,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1426,-0.91,-194.6,2394,3785,3642,3468,301.4,-18.6,88,1432,0.00,2.10,0.00,0.000,1030,0.000,0.037,2393,2401,3554,3642,3467,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1740,-0.91,-194.6,2394,2395,3642,3464,355.2,-15.4,104,1745,0.00,2.17,0.00,0.000,516,0.000,0.047,2394,999,3553,3642,3464,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1831,-0.91,-194.6,2394,997,3642,3463,367.5,-14.9,108,1836,0.00,2.25,0.00,0.000,1030,0.000,0.060,2384,2400,3552,3642,3463,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2143,-0.91,-194.6,2384,2400,3642,3460,416.0,-13.6,124,2149,0.00,2.25,0.00,0.000,260,0.000,0.086,2373,3777,3551,3643,3459,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2235,-0.91,-194.6,2373,3777,3642,3458,428.2,-14.7,128,2241,0.15,2.10,0.00,0.000,3078,0.278,0.040,2406,2396,3550,3642,3458,0,0,0,0,0,0,14.78,14.99,28.83
$GC,2547,-0.91,-194.6,2407,2390,3642,3454,467.1,-11.3,144,2553,0.00,2.17,0.00,0.000,516,0.000,0.050,2406,1000,3545,3642,3449,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2574,-0.91,-194.6,2406,1003,3642,3454,469.6,-11.3,145,2580,0.00,2.28,0.00,0.000,1030,0.000,0.061,2399,2409,3548,3642,3454,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2892,-0.91,-194.6,2399,2409,3641,3446,512.8,-14.4,161,2897,0.00,2.25,0.00,0.000,260,0.000,0.090,2389,3780,3545,3640,3450,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2983,-0.91,-194.6,2389,3780,3639,3451,525.8,-15.8,165,2989,0.00,2.10,0.00,0.000,1030,0.000,0.042,2389,2405,3544,3639,3450,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3296,-0.91,-194.6,2389,2399,3638,3447,575.9,-15.5,181,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2401,3542,3637,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3606,-0.91,-194.6,2388,2399,3634,3445,623.8,-15.0,194,3611,0.00,2.20,0.00,0.000,516,0.000,0.053,2389,1003,3539,3634,3445,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3627,-0.91,-194.6,2389,1002,3635,3445,623.8,-15.0,194,3633,0.00,2.28,0.00,0.000,1030,0.000,0.063,2379,2407,3539,3634,3444,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3939,-0.91,-194.6,2379,2407,3633,3442,679.1,-16.0,205,3945,0.00,2.28,0.00,0.000,260,0.000,0.093,2369,3784,3537,3633,3441,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4026,-0.91,-194.6,2368,3784,3631,3442,689.4,-16.3,207,4033,0.15,2.12,0.00,0.000,3078,0.283,0.045,2402,2405,3536,3631,3441,0,0,0,0,0,0,14.79,14.99,28.83
$GC,4332,-0.91,-194.6,2402,2399,3630,3438,737.5,-14.9,218,4337,0.00,2.22,0.00,0.000,516,0.000,0.057,2402,997,3534,3630,3438,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4349,-0.91,-194.6,2402,996,3630,3438,737.5,-14.9,218,4354,0.00,2.30,0.00,0.000,1030,0.000,0.067,2395,2406,3534,3630,3438,0,0,0,0,0,0,28.83,14.95,28.83
$STATE,4395,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4395,begin apogee
$GC,4399,-0.25,0.0,2396,2407,3629,3439,745.9,-13.8,220,4587,0.75,0.00,177.02,1.765,10246,0.230,0.000,2614,2408,2755,2783,2727,0,0,0,0,1,0,14.79,28.83,13.35
$STATE,4588,end apogee,CONTROL_FINISHED_OK
$STATE,4588,begin climb
$GC,4590,0.91,194.6,2614,2408,2783,2730,752.5,0.0,226,4781,1.15,2.45,175.85,2.213,10756,0.122,0.054,2996,983,1961,1987,1935,0,0,0,0,1,0,14.13,14.04,13.28
$GC,4822,0.91,194.6,2080,982,1950,1925,722.7,17.1,234,4827,0.00,2.38,0.00,0.000,1030,0.000,0.061,2995,2380,1961,1988,1934,0,0,0,0,0,0,28.83,14.29,28.83
$GC,5150,0.91,194.6,2995,2380,1988,1928,662.4,17.9,245,5155,0.00,2.35,0.00,0.000,260,0.000,0.091,2995,3776,1958,1988,1928,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5186,0.91,194.6,2080,3776,1951,1919,656.3,17.9,246,5192,0.00,2.20,0.00,0.000,1030,0.000,0.042,3010,2379,1958,1988,1928,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5515,0.91,194.6,3006,2374,1988,1924,598.5,17.4,257,5520,0.00,2.38,0.00,0.000,260,0.000,0.093,3006,3782,1955,1988,1923,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5561,0.91,194.6,3006,3783,1988,1924,589.3,19.9,259,5567,0.00,2.20,0.00,0.000,1030,0.000,0.041,3017,2367,1956,1988,1924,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5879,0.91,194.6,3017,2363,1988,1921,516.1,21.6,275,5884,0.00,2.20,0.00,0.000,516,0.000,0.053,3027,979,1955,1988,1922,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5910,0.91,194.6,3027,979,1988,1921,511.2,21.8,276,5917,0.15,2.28,0.00,0.000,5126,0.293,0.062,2995,2376,1954,1988,1921,0,0,0,0,0,0,14.71,14.85,28.83
$GC,6224,0.91,194.6,2995,2376,1988,1918,443.6,18.3,292,6230,0.00,2.35,0.00,0.000,260,0.000,0.096,2995,3780,1953,1988,1919,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6310,0.91,194.6,2088,3779,1952,1910,427.9,18.9,296,6315,0.00,2.20,0.00,0.000,1030,0.000,0.042,3003,2364,1953,1988,1919,0,0,0,0,0,0,28.83,14.93,28.83
$GC,6627,0.91,194.6,3003,2360,1987,1917,369.2,19.4,312,6633,0.00,2.20,0.00,0.000,516,0.000,0.054,3013,975,1953,1988,1918,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6670,0.91,194.6,3013,975,1988,1917,361.5,18.6,314,6676,0.00,2.28,0.00,0.000,1030,0.000,0.059,3013,2377,1952,1988,1917,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6993,0.91,194.6,3013,2377,1988,1916,304.4,17.5,330,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2378,1951,1987,1916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7294,0.91,194.6,3013,2377,1988,1916,252.5,17.3,345,7299,0.00,2.25,0.00,0.000,516,0.000,0.056,3022,981,1951,1988,1915,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7417,0.91,194.6,3023,981,1988,1915,232.6,16.1,351,7423,0.12,2.28,0.00,0.000,5126,0.292,0.060,2998,2377,1951,1988,1915,0,0,0,0,0,0,14.76,14.91,28.83
$GC,7741,0.91,194.6,2998,2377,1988,1914,185.6,15.4,367,7746,0.00,2.33,0.00,0.000,260,0.000,0.093,2997,3773,1951,1988,1914,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7792,0.91,194.6,2997,3774,1988,1914,178.2,16.5,369,7797,0.00,2.17,0.00,0.000,1030,0.000,0.042,3005,2366,1951,1988,1914,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8104,0.91,194.6,3005,2361,1988,1913,129.9,13.2,385,8110,0.00,2.20,0.00,0.000,516,0.000,0.055,3015,979,1951,1988,1914,0,0,0,0,0,0,28.83,14.93,28.83
$GC,8161,0.91,194.6,3015,980,1990,1914,124.9,12.2,387,8168,0.00,2.25,0.00,0.000,1030,0.000,0.059,3011,2376,1951,1988,1914,0,0,0,0,0,0,28.83,14.91,28.83
$GC,8467,0.91,194.6,3015,2376,1988,1914,83.2,12.5,403,8472,0.00,2.33,0.00,0.000,260,0.000,0.090,3015,3774,1951,1988,1914,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8579,0.91,194.6,3015,3774,1988,1914,70.1,12.5,408,8585,0.15,2.17,0.00,0.000,5126,0.284,0.041,2992,2355,1951,1989,1914,0,0,0,0,0,0,14.76,14.93,28.83
$GC,8893,0.97,250.9,2992,2350,1988,1913,41.0,8.0,429,8923,0.00,0.00,26.35,0.268,8710,0.000,0.000,2992,2351,1729,1765,1693,0,0,0,0,0,0,28.83,28.83,14.69
$GC,9222,1.08,366.6,2048,2348,1733,1685,21.0,6.0,468,9284,0.15,2.38,53.45,0.207,10500,0.117,0.083,3064,3775,1255,1292,1219,0,0,0,0,0,0,14.89,14.78,14.69
$GC,9305,1.08,366.6,2128,3775,1278,1215,12.5,12.3,482,9312,0.00,2.15,0.00,0.000,1030,0.000,0.041,3075,2376,1256,1292,1220,0,0,0,0,0,0,28.83,14.84,28.83
$STATE,9387,end climb,SURFACE_DEPTH_REACHED
$STATE,9387,begin surface coast
$FINISH,0.0,1.021323
$STATE,9414,end surface coast,CONTROL_FINISHED_OK
$STATE,9414,begin surface
$SM_CCo,9429,36.92,0.151,0,0,916,450.13
$SM_GC,-0.37,7.75,0.00,36.92,0.054,0.000,0.151,238,2372,916,-7.61,-0.79,450.13,0,0,0,0,0,0,14.83,28.83,14.73
$IRIDIUM_FIX,2129.53,12110.94,220513,060626
$TT8_MAMPS,0.019474,0.019474
$HUMID,48.26
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,22.80
$XPDR_PINGS,11
$SC_FREEKB,3915456
$24V_AH,13.3,35.617
$10V_AH,13.3,0.000
$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,20.925,98.675,432.675,36.925,0.000,30.925,45.012,185.199,2.750,0.000,34.671,1607.647,6047.775,550.814,1614.836,108.489,0.000,1277.426,0.000,1209.090,0.000,0.539,0.000
$DEVICE_MAMPS,416.925,103.275,2213.145,150.705,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9454.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.079,0.000,0.000,0.000
$MEM,322824
$DATA_FILE_SIZE,16739,503
$CAP_FILE_SIZE,120345,0
$CFSIZE,260034560,251473920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.084,224.6,1
$GPS,220513,114535,2143.879,12100.368,29,1.2,33,-2.7