version: 66.11
glider: 181
mission: 11
dive: 64
start: 5 22 113 23 35 50
data:
$ID,181
$MISSION,11
$DIVE,64
$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,-95753.141
$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,2450
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,59
$R_STBD_OVSHOOT,71
$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
$GPS1,220513,232828,2142.591,12102.961,14,2.2,33,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.08
$_SM_ANGLEo,-69.6
$GPS2,220513,233521,2142.689,12102.927,13,2.4,32,-2.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,DOGLEG4
$TGT_LATLONG,2148.000,12112.000
$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,55.7,18443,-14.3,-10.000,-17.31,2952
$D_GRID,729
$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,-194.6,206,2499,913,912,0.0,0.0,0,104,0.00,0.00,-83.12,0.000,16386,0.000,0.000,206,2499,3055,3104,3007,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.91,-194.6,206,2499,3104,3008,4.0,-13.6,14,133,10.23,2.33,-8.12,0.000,19204,0.412,0.072,2397,1060,3549,3635,3464,0,0,0,0,0,0,14.45,14.71,14.94
$GC,150,-0.91,-194.6,1504,1058,3631,3464,26.6,-48.6,21,157,0.00,2.25,0.00,0.000,1030,0.000,0.072,2389,2405,3551,3636,3466,0,0,0,0,0,0,28.83,14.71,28.83
$GC,455,-0.91,-194.6,2390,2407,3638,3467,119.5,-24.0,40,461,0.00,2.28,0.00,0.000,260,0.000,0.083,2379,3792,3552,3637,3467,0,0,0,0,0,0,28.83,14.79,28.83
$GC,687,-0.91,-194.6,2379,3791,3637,3469,166.2,-21.2,51,692,0.00,2.05,0.00,0.000,1030,0.000,0.037,2379,2447,3553,3637,3469,0,0,0,0,0,0,28.83,14.90,28.83
$GC,999,-0.91,-194.6,2378,2435,3638,3469,232.0,-21.9,67,1004,0.00,2.15,0.00,0.000,516,0.000,0.044,2379,1048,3554,3639,3469,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1095,-0.91,-194.6,2379,1047,3639,3469,248.3,-19.8,71,1102,0.15,2.30,0.00,0.000,3078,0.258,0.065,2404,2464,3554,3639,3469,0,0,0,0,0,0,14.77,14.86,28.83
$GC,1401,-0.91,-194.6,2404,2464,3639,3468,302.4,-18.1,87,1406,0.00,2.15,0.00,0.000,260,0.000,0.083,2397,3786,3554,3640,3468,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1432,-0.91,-194.6,2396,3786,3639,3468,305.9,-17.5,88,1438,0.00,2.03,0.00,0.000,1030,0.000,0.037,2396,2439,3553,3638,3468,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1745,-0.91,-194.6,2397,2434,3638,3465,358.3,-14.3,104,1751,0.00,2.12,0.00,0.000,516,0.000,0.047,2396,1067,3551,3638,3465,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1797,-0.91,-194.6,2396,1065,3639,3465,364.1,-14.0,106,1802,0.00,2.22,0.00,0.000,1030,0.000,0.060,2387,2451,3552,3639,3465,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2109,-0.91,-194.6,2392,2453,3639,3468,414.7,-15.0,122,2115,0.00,2.17,0.00,0.000,260,0.000,0.086,2377,3784,3549,3638,3461,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2176,-0.91,-194.6,2377,3783,3639,3460,425.3,-16.6,125,2183,0.12,2.05,0.00,0.000,3078,0.278,0.040,2403,2433,3549,3638,3461,0,0,0,0,0,0,14.78,15.00,28.83
$GC,2494,-0.91,-194.6,2403,2430,3638,3456,469.6,-13.5,141,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2430,3548,3639,3457,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2795,-0.91,-194.6,2403,2430,3638,3451,508.3,-13.3,156,2797,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2430,3545,3639,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3096,-0.91,-194.6,2403,2429,3637,3449,548.9,-13.3,171,3101,0.00,2.25,0.00,0.000,260,0.000,0.093,2395,3780,3543,3637,3449,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3158,-0.91,-194.6,2395,3781,3635,3449,558.1,-14.3,174,3164,0.00,2.03,0.00,0.000,1030,0.000,0.043,2392,2455,3541,3634,3449,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3480,-0.91,-194.6,2395,2450,3634,3445,602.6,-13.7,190,3486,0.00,2.17,0.00,0.000,516,0.000,0.053,2395,1067,3537,3629,3445,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3604,-0.91,-194.6,2395,1066,3632,3445,618.3,-12.6,194,3610,0.00,2.28,0.00,0.000,1030,0.000,0.067,2386,2460,3539,3633,3445,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3937,-0.91,-194.6,2386,2459,3630,3441,665.8,-14.8,205,3944,0.00,2.17,0.00,0.000,260,0.000,0.095,2376,3775,3535,3629,3441,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4025,-0.91,-194.6,2375,3775,3628,3441,676.3,-15.9,207,4032,0.12,2.03,0.00,0.000,3078,0.280,0.046,2402,2455,3534,3627,3441,0,0,0,0,0,0,14.78,14.98,28.83
$GC,4331,-0.91,-194.6,2402,2453,3626,3438,728.9,-16.2,218,4337,0.00,2.20,0.00,0.000,516,0.000,0.056,2402,1064,3532,3626,3438,0,0,0,0,0,0,28.83,14.96,28.83
$STATE,4363,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4363,begin apogee
$GC,4369,-0.25,0.0,2396,2351,3626,3438,734.1,-16.1,219,4559,0.73,0.00,180.98,1.496,10246,0.220,0.000,2610,2352,2749,2780,2719,0,0,0,0,0,0,14.81,28.83,13.69
$STATE,4560,end apogee,CONTROL_FINISHED_OK
$STATE,4560,begin climb
$GC,4562,0.91,194.6,2610,2352,2778,2717,742.8,0.0,225,4757,1.17,2.42,184.55,1.468,10756,0.126,0.056,3000,968,1956,1984,1928,0,0,0,0,0,0,14.23,14.16,13.64
$GC,4790,0.91,194.6,2999,968,1983,1916,712.9,17.3,233,4795,0.00,2.35,0.00,0.000,1030,0.000,0.062,3000,2348,1949,1983,1915,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5123,0.91,194.6,3000,2349,1983,1904,642.9,21.2,244,5129,0.00,2.40,0.00,0.000,260,0.000,0.092,3000,3765,1943,1983,1904,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5169,0.91,194.6,3000,3765,1983,1904,635.0,21.6,245,5175,0.00,2.22,0.00,0.000,1030,0.000,0.042,3010,2345,1943,1982,1904,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5478,0.91,194.6,3010,2339,1983,1900,567.4,20.8,258,5483,0.00,2.22,0.00,0.000,516,0.000,0.055,3022,958,1941,1983,1900,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5510,0.91,194.6,3020,957,1983,1900,562.7,20.4,259,5515,0.00,2.28,0.00,0.000,1030,0.000,0.061,3020,2351,1941,1983,1900,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5822,0.91,194.6,3020,2353,1982,1897,494.7,20.4,275,5828,0.00,2.38,0.00,0.000,260,0.000,0.091,3020,3765,1939,1983,1896,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5989,0.91,194.6,3020,3765,1983,1896,458.7,22.7,283,5995,0.15,2.20,0.00,0.000,5126,0.304,0.043,2998,2345,1939,1982,1897,0,0,0,0,0,0,14.72,14.91,28.83
$GC,6307,0.91,194.6,2998,2341,1982,1894,397.4,17.8,299,6309,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,2341,1938,1983,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6608,0.91,194.6,2998,2341,1982,1893,342.2,17.7,314,6613,0.00,2.38,0.00,0.000,260,0.000,0.090,2998,3756,1937,1982,1893,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6644,0.91,194.6,2998,3756,1983,1894,337.9,18.1,315,6651,0.00,2.17,0.00,0.000,1030,0.000,0.043,3006,2350,1938,1982,1894,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6950,0.91,194.6,3006,2345,1982,1893,280.9,17.5,331,6955,0.00,2.22,0.00,0.000,516,0.000,0.056,3017,955,1937,1982,1893,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6993,0.91,194.6,3017,954,1982,1892,273.7,16.9,333,6998,0.00,2.28,0.00,0.000,1030,0.000,0.060,3017,2359,1937,1982,1892,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7315,0.91,194.6,3017,2361,1982,1891,220.9,16.0,349,7321,0.00,2.33,0.00,0.000,260,0.000,0.090,3017,3760,1936,1982,1891,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7378,0.91,194.6,3017,3760,1982,1891,209.7,17.3,352,7385,0.15,2.17,0.00,0.000,5126,0.297,0.042,2995,2346,1936,1982,1891,0,0,0,0,0,0,14.76,14.95,28.83
$GC,7702,0.91,194.6,2995,2342,1982,1891,162.1,13.6,368,7707,0.00,2.20,0.00,0.000,516,0.000,0.055,3003,962,1939,1981,1897,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7744,0.91,194.6,3003,962,1982,1890,156.3,13.4,370,7750,0.00,2.28,0.00,0.000,1030,0.000,0.059,3003,2359,1936,1982,1890,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8067,0.91,194.6,3003,2359,1982,1891,115.3,13.3,386,8068,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2359,1936,1982,1890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8368,1.01,292.9,3003,2359,1982,1890,84.9,6.6,401,8416,0.00,0.00,45.65,0.407,8454,0.000,0.000,3003,2359,1559,1596,1522,0,0,0,0,0,0,28.83,28.83,14.58
$GC,8708,1.02,301.8,3003,2359,1604,1523,55.4,9.7,418,8718,0.00,2.30,5.25,0.288,8452,0.000,0.084,3003,3753,1522,1565,1479,0,0,0,0,0,0,28.83,14.81,14.62
$GC,8751,1.02,301.8,3003,3753,1572,1486,50.7,10.2,420,8756,0.00,2.17,0.00,0.000,1030,0.000,0.041,3013,2342,1528,1572,1485,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9058,1.02,301.8,2048,2336,1549,1480,19.9,10.6,454,9065,0.00,2.17,0.00,0.000,516,0.000,0.052,3023,961,1529,1574,1485,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9087,1.05,332.0,3023,961,1574,1486,17.2,9.0,459,9108,0.00,2.25,15.23,0.197,9222,0.000,0.054,3025,2355,1398,1442,1354,0,0,0,0,0,0,28.83,14.85,14.73
$STATE,9253,end climb,SURFACE_DEPTH_REACHED
$STATE,9253,begin surface coast
$FINISH,0.2,1.021451
$STATE,9285,end surface coast,CONTROL_FINISHED_OK
$STATE,9285,begin surface
$SM_CCo,9300,53.42,0.148,0,0,915,450.13
$SM_GC,-0.01,7.85,0.15,53.42,0.081,0.124,0.148,235,2478,915,-7.62,-0.88,450.13,0,0,0,0,0,0,14.87,14.87,14.73
$IRIDIUM_FIX,2129.53,12108.96,220513,202010
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.00
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,23.40
$XPDR_PINGS,2
$SC_FREEKB,3913536
$24V_AH,13.6,36.635
$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,20.675,88.925,431.650,53.425,0.000,30.299,18.124,177.622,0.500,0.000,35.848,1581.508,5981.588,565.195,1548.248,106.973,0.000,1262.924,0.000,1177.681,0.000,0.540,0.000
$DEVICE_MAMPS,411.570,123.930,1496.340,147.645,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9327.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.050,0.000,0.000,0.000
$MEM,322816
$DATA_FILE_SIZE,16796,497
$CAP_FILE_SIZE,115807,0
$CFSIZE,260034560,251043840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.107, 52.1,1
$GPS,230513,021306,2143.836,12104.357,39,1.4,39,-2.7