version: 66.11
glider: 181
mission: 11
dive: 27
start: 5 20 113 1 24 35
data:
$ID,181
$MISSION,11
$DIVE,27
$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,-95706.094
$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,62
$R_STBD_OVSHOOT,32
$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
$GPS1,200513,011737,2149.081,12031.826,8,1.5,8,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-69.9
$GPS2,200513,012407,2149.122,12031.835,14,1.2,14,-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,115.9,48476,-14.3,-10.000,-17.31,2952
$D_GRID,592
$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,-194.6,219,2391,917,921,0.0,0.0,0,113,0.00,0.00,-91.95,0.000,16386,0.000,0.000,218,2392,3246,3297,3195,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.91,-194.6,218,2392,3298,3197,4.2,-15.1,16,137,10.10,2.33,-4.95,0.000,18692,0.412,0.092,2389,3784,3550,3632,3469,0,0,0,0,0,0,14.51,14.76,14.97
$GC,224,-0.91,-194.6,2389,3785,3633,3472,53.5,-34.0,29,229,0.00,2.12,0.00,0.000,1030,0.000,0.040,2389,2401,3552,3633,3472,0,0,0,0,0,0,28.83,14.82,28.83
$GC,546,-0.91,-194.6,2389,2394,3637,3471,138.9,-23.8,45,551,0.00,2.17,0.00,0.000,516,0.000,0.047,2389,999,3554,3637,3472,0,0,0,0,0,0,28.83,14.90,28.83
$GC,609,-0.91,-194.6,2389,997,3638,3472,152.0,-21.3,48,614,0.00,2.28,0.00,0.000,1030,0.000,0.060,2379,2406,3554,3637,3472,0,0,0,0,0,0,28.83,14.88,28.83
$GC,931,-0.91,-194.6,2379,2407,3639,3472,216.6,-19.1,64,937,0.00,2.22,0.00,0.000,260,0.000,0.082,2369,3777,3555,3639,3472,0,0,0,0,0,0,28.83,14.90,28.83
$GC,978,-0.91,-194.6,1504,3777,3635,3469,225.2,-19.8,66,984,0.15,2.10,0.00,0.000,3078,0.279,0.037,2402,2386,3555,3639,3472,0,0,0,0,0,0,14.80,14.97,28.83
$GC,1296,-0.91,-194.6,2402,2381,3640,3471,281.7,-17.1,82,1301,0.00,2.15,0.00,0.000,516,0.000,0.048,2402,1002,3556,3640,3472,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1408,-0.91,-194.6,2402,1001,3639,3471,299.6,-17.7,87,1414,0.00,2.25,0.00,0.000,1030,0.000,0.063,2395,2401,3555,3639,3471,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1720,-0.91,-194.6,2395,2400,3639,3469,356.8,-16.9,103,1726,0.00,2.25,0.00,0.000,260,0.000,0.086,2384,3785,3554,3639,3469,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1777,-0.91,-194.6,2384,3786,3639,3468,363.8,-16.2,105,1784,0.00,2.10,0.00,0.000,1030,0.000,0.041,2384,2398,3553,3639,3468,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2083,-0.91,-194.6,2384,2395,3638,3464,418.4,-15.9,121,2088,0.00,2.28,0.00,0.000,260,0.000,0.090,2374,3779,3551,3639,3463,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2119,-0.91,-194.6,2374,3780,3639,3463,421.9,-15.6,122,2127,0.12,2.10,0.00,0.000,3078,0.275,0.041,2402,2389,3551,3639,3463,0,0,0,0,0,0,14.85,15.02,28.83
$GC,2425,-0.91,-194.6,2402,2388,3639,3461,467.7,-14.8,138,2431,0.00,2.15,0.00,0.000,516,0.000,0.052,2402,1010,3550,3639,3461,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2482,-0.91,-194.6,2402,1010,3639,3461,474.0,-14.9,140,2489,0.00,2.25,0.00,0.000,1030,0.000,0.063,2395,2407,3550,3639,3461,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2788,-0.91,-194.6,2395,2408,3639,3456,524.8,-16.7,156,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2408,3548,3640,3456,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3089,-0.91,-194.6,2395,2408,3638,3453,569.9,-14.8,171,3094,0.00,2.25,0.00,0.000,260,0.000,0.094,2385,3776,3545,3638,3453,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3131,-0.91,-194.6,2385,3776,3637,3454,576.4,-15.1,173,3136,0.00,2.10,0.00,0.000,1030,0.000,0.042,2385,2402,3545,3637,3453,0,0,0,0,0,0,28.83,15.04,28.83
$STATE,3232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3232,begin apogee
$GC,3235,-0.25,0.0,2385,2397,3637,3452,592.7,-16.2,178,3418,0.77,0.00,174.40,1.323,10246,0.222,0.000,2613,2396,2749,2781,2717,0,0,0,0,0,0,14.85,28.83,13.80
$STATE,3419,end apogee,CONTROL_FINISHED_OK
$STATE,3419,begin climb
$GC,3421,0.91,194.6,2613,2396,2779,2716,599.6,0.0,187,3604,1.15,0.00,177.65,1.298,10758,0.122,0.000,2990,2396,1956,1988,1924,0,0,0,0,0,0,14.31,28.83,13.74
$GC,3893,0.91,194.6,2990,2396,1985,1899,518.4,21.6,211,3898,0.00,2.35,0.00,0.000,260,0.000,0.090,2990,3786,1942,1986,1899,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3919,0.91,194.6,2080,3785,1948,1891,513.7,21.2,212,3924,0.00,2.20,0.00,0.000,1030,0.000,0.041,3001,2371,1942,1985,1899,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4237,0.91,194.6,3001,2366,1985,1896,447.4,21.2,228,4238,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2366,1940,1985,1895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4537,0.91,194.6,3000,2366,1985,1893,384.0,20.8,243,4543,0.00,2.38,0.00,0.000,260,0.000,0.090,3001,3783,1938,1985,1892,0,0,0,0,0,0,28.83,14.86,28.83
$GC,4574,0.91,194.6,3001,3784,1985,1893,379.1,20.6,244,4580,0.00,2.17,0.00,0.000,1030,0.000,0.041,3011,2362,1939,1985,1893,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4879,0.91,194.6,3012,2358,1985,1890,312.2,20.5,260,4885,0.00,2.38,0.00,0.000,260,0.000,0.090,3011,3777,1937,1985,1890,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4906,0.91,194.6,3012,3777,1985,1890,307.5,20.6,261,4912,0.00,2.15,0.00,0.000,1030,0.000,0.041,3022,2371,1937,1985,1890,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5224,0.91,194.6,3022,2367,1984,1890,242.3,20.5,277,5229,0.00,2.17,0.00,0.000,516,0.000,0.051,3032,985,1936,1984,1889,0,0,0,0,0,0,28.83,14.96,28.83
$GC,5295,0.91,194.6,3033,985,1984,1888,229.7,20.5,280,5302,0.17,2.25,0.00,0.000,5126,0.278,0.061,2992,2381,1936,1984,1888,0,0,0,0,0,0,14.79,14.93,28.83
$GC,5609,0.91,194.6,2992,2381,1984,1886,167.6,18.7,296,5614,0.00,2.30,0.00,0.000,260,0.000,0.088,2992,3775,1938,1984,1892,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5755,0.91,194.6,2993,3775,1984,1886,140.8,18.0,303,5760,0.00,2.15,0.00,0.000,1030,0.000,0.040,3000,2373,1935,1984,1886,0,0,0,0,0,0,28.83,14.99,28.83
$GC,6072,0.91,194.6,3000,2368,1984,1884,92.0,14.5,319,6078,0.00,2.17,0.00,0.000,516,0.000,0.051,3010,987,1933,1983,1884,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6149,0.91,194.6,3010,987,1984,1884,83.2,14.2,322,6156,0.00,2.22,0.00,0.000,1030,0.000,0.057,3010,2376,1934,1984,1884,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6455,0.91,194.6,3010,2377,1983,1884,35.8,13.8,342,6460,0.00,2.20,0.00,0.000,516,0.000,0.050,3020,984,1934,1984,1884,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6602,0.93,217.7,2048,983,1945,1874,19.8,9.2,361,6616,0.00,2.22,8.05,0.207,9222,0.000,0.054,3020,2383,1865,1909,1821,0,0,0,0,0,0,28.83,14.91,14.80
$STATE,6843,end climb,SURFACE_DEPTH_REACHED
$STATE,6843,begin surface coast
$FINISH,0.2,1.021695
$STATE,6879,end surface coast,CONTROL_FINISHED_OK
$STATE,6879,begin surface
$SM_CCo,6894,104.12,0.148,0,0,915,450.13
$SM_GC,-0.04,7.97,0.00,104.12,0.100,0.000,0.148,230,2382,915,-7.63,-0.51,450.13,0,0,0,0,0,0,14.93,28.83,14.78
$IRIDIUM_FIX,2134.17,12036.75,190513,232335
$TT8_MAMPS,0.020223,0.020223
$HUMID,45.23
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,23.60
$XPDR_PINGS,24
$SC_FREEKB,3927744
$24V_AH,13.7,30.256
$10V_AH,13.8,0.000
$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,20.450,66.425,360.100,104.125,0.000,23.980,38.909,168.010,6.000,0.000,17.220,1253.645,4259.236,564.652,1247.905,81.179,0.000,1099.773,0.000,906.367,0.000,0.543,0.000
$DEVICE_MAMPS,412.335,94.095,1322.685,148.410,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6911.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.607,0.000,0.000,0.000
$MEM,323248
$DATA_FILE_SIZE,13479,415
$CAP_FILE_SIZE,92668,0
$CFSIZE,260034560,253595648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.062,354.8,1
$GPS,200513,032236,2148.864,12032.886,40,1.0,40,-2.7