version: 66.11
glider: 181
mission: 11
dive: 23
start: 5 19 113 16 45 41
data:
$ID,181
$MISSION,11
$DIVE,23
$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,-95701.094
$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,71
$R_STBD_OVSHOOT,25
$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
$GPS1,190513,163724,2148.583,12029.773,41,1.0,41,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-70.9
$GPS2,190513,164512,2148.585,12029.754,9,1.3,14,-2.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,DOGLEG2
$TGT_LATLONG,2148.000,12100.000
$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,100.0,52021,-14.3,-10.000,-17.31,2952
$D_GRID,657
$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,-194.6,208,2402,922,919,0.0,0.0,0,108,0.00,0.00,-87.07,0.000,16386,0.000,0.000,207,2402,3084,3135,3033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.91,-194.6,207,2402,3135,3034,3.0,-10.0,15,136,10.35,2.30,-8.07,0.000,18692,0.418,0.099,2389,3782,3548,3636,3461,0,0,0,0,0,0,14.46,14.71,14.92
$GC,257,-0.91,-194.6,2389,3783,3636,3463,58.8,-30.7,31,263,0.00,2.12,0.00,0.000,1030,0.000,0.037,2389,2408,3549,3636,3463,0,0,0,0,0,0,28.83,14.79,28.83
$GC,570,-0.91,-194.6,2389,2402,3636,3465,140.5,-22.3,47,575,0.00,2.28,0.00,0.000,260,0.000,0.084,2379,3784,3550,3636,3465,0,0,0,0,0,0,28.83,14.81,28.83
$GC,621,-0.91,-194.6,2378,3784,3636,3465,151.1,-23.9,49,627,0.00,2.12,0.00,0.000,1030,0.000,0.038,2379,2387,3550,3636,3465,0,0,0,0,0,0,28.83,14.89,28.83
$GC,933,-0.91,-194.6,2384,2381,3638,3466,215.6,-20.2,65,934,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2381,3551,3638,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1234,-0.91,-194.6,2379,2381,3639,3465,277.2,-21.0,80,1240,0.12,2.15,0.00,0.000,2564,0.291,0.043,2410,996,3552,3638,3466,0,0,0,0,0,0,14.80,14.94,28.83
$GC,1286,-0.91,-194.6,2411,995,3638,3465,284.4,-18.0,82,1292,0.00,2.28,0.00,0.000,1030,0.000,0.058,2404,2416,3549,3634,3465,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1598,-0.91,-194.6,2404,2416,3638,3463,332.1,-15.0,98,1604,0.00,2.22,0.00,0.000,260,0.000,0.086,2393,3781,3550,3638,3463,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1670,-0.91,-194.6,2393,3783,3638,3463,341.8,-15.2,101,1676,0.00,2.10,0.00,0.000,1030,0.000,0.039,2393,2392,3550,3638,3463,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1982,-0.91,-194.6,2393,2388,3638,3460,390.2,-15.1,117,1987,0.00,2.15,0.00,0.000,516,0.000,0.051,2393,1006,3548,3638,3459,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2078,-0.91,-194.6,2393,1004,3638,3458,402.7,-15.3,121,2085,0.00,2.25,0.00,0.000,1030,0.000,0.063,2383,2400,3548,3638,3458,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2384,-0.91,-194.6,2383,2401,3638,3452,453.0,-15.3,137,2389,0.00,2.28,0.00,0.000,260,0.000,0.091,2373,3787,3545,3638,3453,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2415,-0.91,-194.6,2373,3787,3637,3452,456.6,-15.7,138,2422,0.12,2.12,0.00,0.000,3078,0.276,0.044,2401,2386,3543,3634,3452,0,0,0,0,0,0,14.83,15.01,28.83
$GC,2730,-0.91,-194.6,2401,2386,3638,3448,506.0,-15.4,154,2731,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2386,3543,3638,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3030,-0.91,-194.6,2401,2386,3635,3446,544.4,-11.2,169,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2386,3541,3636,3446,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3330,-0.91,-194.6,2401,2385,3632,3445,577.9,-11.3,184,3335,0.00,2.30,0.00,0.000,260,0.000,0.093,2393,3775,3538,3632,3444,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3356,-0.91,-194.6,2393,3776,3632,3444,580.5,-11.2,185,3362,0.00,2.10,0.00,0.000,1030,0.000,0.044,2393,2398,3538,3632,3444,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3684,-0.91,-194.6,2393,2396,3632,3440,619.8,-12.2,199,3690,0.00,2.30,0.00,0.000,260,0.000,0.094,2382,3783,3536,3633,3440,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3712,-0.91,-194.6,2383,3783,3630,3440,619.8,-12.2,199,3719,0.00,2.12,0.00,0.000,1030,0.000,0.047,2382,2395,3535,3631,3439,0,0,0,0,0,0,28.83,15.02,28.83
$STATE,3986,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3986,begin apogee
$GC,3989,-0.25,0.0,2382,2393,3629,3438,660.3,-14.6,209,4173,0.77,0.00,176.52,1.408,10246,0.223,0.000,2610,2394,2750,2782,2718,0,0,0,0,0,0,14.83,28.83,13.69
$STATE,4175,end apogee,CONTROL_FINISHED_OK
$STATE,4175,begin climb
$GC,4176,0.91,194.6,2610,2393,2781,2716,667.0,0.0,215,4364,1.17,0.00,182.55,1.379,10246,0.129,0.000,2990,2393,1958,1987,1929,0,0,0,0,0,0,14.23,28.83,13.64
$GC,4658,0.91,194.6,2990,2393,1983,1902,578.9,20.8,233,4659,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2393,1942,1983,1901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4958,0.91,194.6,2990,2393,1983,1896,519.9,19.7,248,4964,0.00,2.35,0.00,0.000,260,0.000,0.093,2989,3784,1940,1983,1897,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5026,0.91,194.6,2990,3785,1983,1896,505.6,21.7,251,5031,0.00,2.20,0.00,0.000,1030,0.000,0.044,3000,2369,1939,1983,1896,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5343,0.91,194.6,3001,2364,1982,1894,443.0,18.7,267,5344,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2364,1938,1983,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5644,0.91,194.6,3001,2364,1983,1892,383.9,19.5,282,5649,0.00,2.20,0.00,0.000,516,0.000,0.058,3011,985,1937,1983,1892,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5680,0.91,194.6,3011,985,1983,1892,379.3,19.7,283,5687,0.00,2.28,0.00,0.000,1030,0.000,0.063,3011,2385,1937,1982,1892,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5986,0.91,194.6,3011,2386,1982,1890,313.0,20.3,299,5991,0.00,2.33,0.00,0.000,260,0.000,0.093,3011,3784,1936,1982,1890,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6022,0.91,194.6,3011,3784,1983,1890,308.3,20.3,300,6030,0.00,2.17,0.00,0.000,1030,0.000,0.044,3021,2366,1936,1982,1890,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6328,0.91,194.6,3021,2364,1982,1889,244.1,19.0,316,6334,0.00,2.38,0.00,0.000,260,0.000,0.090,3022,3787,1935,1982,1889,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6345,0.91,194.6,3021,3787,1982,1889,244.1,19.0,316,6353,0.17,2.17,0.00,0.000,5126,0.309,0.043,2994,2370,1936,1983,1889,0,0,0,0,0,0,14.76,14.97,28.83
$GC,6651,0.91,194.6,2994,2366,1983,1887,184.5,18.2,332,6657,0.00,2.20,0.00,0.000,516,0.000,0.055,3002,981,1934,1982,1887,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6734,0.91,194.6,3002,981,1982,1887,171.8,15.4,336,6739,0.00,2.25,0.00,0.000,1030,0.000,0.060,3002,2379,1934,1981,1887,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7056,0.91,194.6,3002,2380,1982,1886,121.9,14.6,352,7062,0.00,2.22,0.00,0.000,516,0.000,0.053,3011,984,1934,1983,1886,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7082,0.91,194.6,2096,983,1946,1877,118.5,15.1,353,7087,0.00,2.25,0.00,0.000,1030,0.000,0.061,3012,2376,1934,1982,1886,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7400,0.91,194.6,3012,2377,1982,1886,75.4,12.2,369,7405,0.00,2.22,0.00,0.000,516,0.000,0.054,3021,981,1937,1989,1886,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7431,0.91,194.6,3022,981,1982,1886,72.4,12.4,370,7436,0.00,2.25,0.00,0.000,1030,0.000,0.060,3021,2378,1933,1981,1886,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7743,0.91,194.6,3021,2378,1982,1886,31.6,10.2,394,7749,0.00,2.30,0.00,0.000,260,0.000,0.087,3022,3774,1934,1982,1886,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7786,0.91,194.6,3022,3774,1982,1886,26.6,11.6,398,7793,0.17,2.15,0.00,0.000,5126,0.285,0.040,2992,2353,1934,1982,1886,0,0,0,0,0,0,14.77,14.95,28.83
$GC,8096,1.05,333.3,2048,2351,1943,1877,6.3,5.2,457,8145,0.12,0.00,45.90,0.161,10754,0.132,0.000,3054,2352,1522,1562,1483,0,0,0,0,0,0,14.92,28.83,28.83
$STATE,8146,end climb,SURFACE_DEPTH_REACHED
$STATE,8147,begin surface coast
$FINISH,-0.9,1.021919
$STATE,8178,end surface coast,CONTROL_FINISHED_OK
$STATE,8178,begin surface
$SM_CCo,8193,65.55,0.148,0,0,914,450.13
$SM_GC,-0.03,7.65,0.10,65.55,0.050,0.155,0.148,222,2436,914,-7.64,-0.71,450.13,0,0,0,0,0,0,14.89,14.87,14.76
$IRIDIUM_FIX,2150.42,12019.57,190513,131327
$TT8_MAMPS,0.019474,0.019474
$HUMID,44.88
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,24.50
$XPDR_PINGS,12
$SC_FREEKB,3929280
$24V_AH,13.6,29.497
$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,20.675,71.225,404.975,65.550,0.000,30.888,39.692,218.706,3.000,0.000,17.191,1361.260,5339.696,572.979,1374.064,92.708,0.000,1142.247,0.000,962.268,0.000,0.541,0.000
$DEVICE_MAMPS,418.455,155.295,1407.600,148.410,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8221.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.241,0.000,0.000,0.000
$MEM,323256
$DATA_FILE_SIZE,16786,471
$CAP_FILE_SIZE,103631,0
$CFSIZE,260034560,253878272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137,307.1,1
$GPS,190513,190433,2148.784,12030.624,11,4.3,30,-2.7