version: 66.11
glider: 181
mission: 11
dive: 29
start: 5 20 113 5 57 59
data:
$ID,181
$MISSION,11
$DIVE,29
$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,-95708.594
$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,59
$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
$GPS1,200513,054845,2148.862,12033.951,11,4.0,30,-2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.15
$_SM_ANGLEo,-69.9
$GPS2,200513,055731,2148.866,12034.017,14,1.3,14,-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,103.9,44709,-14.3,-10.000,-17.31,2952
$D_GRID,650
$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,17,begin dive
$GC,18,-0.91,-194.6,232,2365,689,636,0.0,0.0,0,116,0.00,0.00,-95.28,0.000,16386,0.000,0.000,230,2366,3061,3109,3014,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.91,-194.6,230,2366,3109,3016,3.3,-11.2,16,145,10.12,2.35,-8.25,0.000,18692,0.417,0.099,2389,3778,3549,3635,3463,0,0,0,0,0,0,14.50,14.72,14.95
$GC,311,-0.91,-194.6,2389,3778,3636,3466,78.7,-31.8,34,316,0.00,2.12,0.00,0.000,1030,0.000,0.037,2389,2383,3551,3636,3466,0,0,0,0,0,0,28.83,14.85,28.83
$GC,628,-0.91,-194.6,2388,2380,3635,3467,157.5,-22.1,50,634,0.00,2.12,0.00,0.000,516,0.000,0.045,2389,1010,3552,3637,3467,0,0,0,0,0,0,28.83,14.90,28.83
$GC,674,-0.91,-194.6,1544,1008,3633,3465,167.8,-23.6,52,679,0.00,2.25,0.00,0.000,1030,0.000,0.060,2379,2400,3552,3637,3468,0,0,0,0,0,0,28.83,14.85,28.83
$GC,991,-0.91,-194.6,2379,2401,3637,3468,240.2,-22.2,68,997,0.00,2.22,0.00,0.000,260,0.000,0.081,2368,3778,3555,3638,3473,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1064,-0.91,-194.6,2368,3778,3636,3468,253.7,-21.6,71,1070,0.15,2.08,0.00,0.000,3078,0.282,0.036,2402,2396,3552,3637,3467,0,0,0,0,0,0,14.79,14.97,28.83
$GC,1377,-0.91,-194.6,2402,2392,3637,3466,313.3,-15.6,87,1378,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2392,3551,3637,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1678,-0.91,-194.6,2402,2392,3637,3463,357.3,-15.9,102,1683,0.00,2.12,0.00,0.000,516,0.000,0.047,2402,1014,3549,3637,3462,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1720,-0.91,-194.6,2402,1014,3637,3463,364.0,-15.8,104,1725,0.00,2.25,0.00,0.000,1030,0.000,0.062,2395,2409,3549,3637,3462,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2042,-0.91,-194.6,2395,2409,3637,3456,417.1,-16.3,120,2048,0.00,2.22,0.00,0.000,260,0.000,0.086,2384,3778,3546,3636,3457,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2114,-0.91,-194.6,2384,3777,3637,3456,427.5,-16.3,123,2119,0.00,2.08,0.00,0.000,1030,0.000,0.040,2384,2401,3547,3637,3457,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2426,-0.91,-194.6,2384,2395,3637,3451,483.8,-17.7,139,2432,0.00,2.15,0.00,0.000,516,0.000,0.050,2384,1013,3544,3637,3452,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2469,-0.91,-194.6,2384,1012,3637,3452,491.1,-17.6,141,2475,0.12,2.25,0.00,0.000,3078,0.278,0.065,2402,2408,3544,3636,3452,0,0,0,0,0,0,14.86,14.97,28.83
$GC,2792,-0.91,-194.6,2402,2408,3634,3448,537.4,-14.1,157,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2408,3541,3634,3448,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3093,-0.91,-194.6,2402,2408,3632,3445,582.1,-14.1,172,3098,0.00,2.25,0.00,0.000,260,0.000,0.090,2394,3783,3540,3632,3448,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3129,-0.91,-194.6,2394,3783,3631,3445,585.4,-14.1,173,3136,0.00,2.10,0.00,0.000,1030,0.000,0.042,2394,2403,3538,3631,3445,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3445,-0.91,-194.6,2394,2400,3630,3440,633.0,-14.8,186,3447,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2401,3535,3630,3441,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3564,begin apogee
$GC,3567,-0.25,0.0,2394,2401,3628,3440,650.1,-14.2,190,3747,0.75,0.00,166.05,2.023,10246,0.231,0.000,2612,2400,2755,2786,2724,0,0,0,0,1,0,14.85,28.83,13.40
$STATE,3748,end apogee,CONTROL_FINISHED_OK
$STATE,3749,begin climb
$GC,3750,0.91,194.6,2612,2401,2786,2726,655.4,0.0,196,3932,1.17,0.00,172.27,2.058,10758,0.131,0.000,2989,2400,1959,1989,1929,0,0,0,0,1,0,14.17,28.83,13.37
$GC,4235,0.91,194.6,2990,2400,1989,1922,576.6,18.8,214,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2401,1956,1990,1923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4536,0.91,194.6,2990,2400,1989,1919,522.0,17.3,229,4541,0.00,2.30,0.00,0.000,260,0.000,0.089,2989,3777,1954,1989,1919,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4567,0.91,194.6,2989,3777,1985,1919,517.6,17.7,230,4573,0.00,2.17,0.00,0.000,1030,0.000,0.042,3000,2367,1954,1989,1919,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4879,0.91,194.6,2999,2363,1989,1916,458.3,19.2,246,4885,0.00,2.17,0.00,0.000,516,0.000,0.053,3010,987,1952,1989,1916,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4931,0.91,194.6,3010,987,1989,1915,450.5,18.5,248,4936,0.00,2.25,0.00,0.000,1030,0.000,0.059,3010,2379,1952,1989,1915,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5243,0.91,194.6,3010,2379,1989,1914,387.1,19.6,264,5248,0.00,2.33,0.00,0.000,260,0.000,0.090,3010,3782,1953,1990,1917,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5279,0.91,194.6,3010,3782,1989,1915,382.6,19.5,265,5286,0.00,2.15,0.00,0.000,1030,0.000,0.041,3021,2374,1952,1990,1914,0,0,0,0,0,0,28.83,14.96,28.83
$GC,5585,0.91,194.6,3021,2370,1989,1912,320.9,19.1,281,5590,0.00,2.20,0.00,0.000,516,0.000,0.054,3031,982,1951,1989,1913,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5627,0.91,194.6,3031,982,1989,1912,313.3,18.1,283,5633,0.15,2.28,0.00,0.000,5126,0.279,0.060,2998,2385,1951,1990,1912,0,0,0,0,0,0,14.81,14.94,28.83
$GC,5951,0.91,194.6,2998,2385,1989,1910,260.0,15.4,299,5956,0.00,2.30,0.00,0.000,260,0.000,0.087,2998,3783,1949,1989,1910,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6047,0.91,194.6,2999,3783,1990,1910,246.9,16.0,303,6054,0.00,2.15,0.00,0.000,1030,0.000,0.041,3005,2377,1949,1989,1910,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6353,0.91,194.6,3005,2373,1989,1908,196.9,15.5,319,6358,0.00,2.20,0.00,0.000,516,0.000,0.054,3015,983,1947,1989,1905,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6395,0.91,194.6,3016,983,1989,1908,190.5,15.1,321,6402,0.00,2.25,0.00,0.000,1030,0.000,0.058,3015,2385,1949,1990,1908,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6718,0.91,194.6,3015,2385,1989,1908,141.3,15.4,337,6724,0.00,2.30,0.00,0.000,260,0.000,0.090,3015,3775,1948,1990,1907,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6775,0.91,194.6,3015,3776,1989,1908,134.9,15.1,339,6782,0.15,2.15,0.00,0.000,5126,0.296,0.041,2993,2371,1948,1989,1908,0,0,0,0,0,0,14.81,14.98,28.83
$GC,7081,0.94,221.0,2993,2367,1989,1907,100.6,9.1,355,7095,0.00,0.00,12.27,0.457,8710,0.000,0.000,2992,2367,1852,1891,1813,0,0,0,0,0,0,28.83,28.83,14.65
$GC,7403,0.95,233.0,2993,2367,1891,1817,64.4,9.6,371,7411,0.00,0.00,6.62,0.334,8198,0.000,0.000,2993,2367,1801,1841,1762,0,0,0,0,0,0,28.83,28.83,14.71
$GC,7703,1.00,290.0,2993,2367,1841,1765,41.1,8.0,391,7738,0.00,2.38,27.27,0.270,8452,0.000,0.086,2992,3768,1570,1611,1530,0,0,0,0,0,0,28.83,14.85,14.73
$GC,7745,1.10,381.9,2993,3768,1611,1531,38.2,6.8,395,7797,0.15,2.15,42.40,0.260,11270,0.115,0.040,3070,2359,1193,1230,1157,0,0,0,0,0,0,14.89,14.92,14.68
$STATE,8023,end climb,SURFACE_DEPTH_REACHED
$STATE,8023,begin surface coast
$FINISH,0.4,1.021627
$STATE,8045,end surface coast,CONTROL_FINISHED_OK
$STATE,8045,begin surface
$SM_CCo,8061,30.00,0.151,0,0,917,450.13
$SM_GC,0.08,8.10,0.08,30.00,0.096,0.174,0.151,239,2405,917,-7.61,-0.90,450.13,0,0,0,0,0,0,14.87,14.87,14.77
$IRIDIUM_FIX,2129.53,12028.40,200513,050508
$TT8_MAMPS,0.019474,0.019474
$HUMID,49.05
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,22.40
$XPDR_PINGS,18
$SC_FREEKB,3926976
$24V_AH,13.4,30.739
$10V_AH,13.6,0.000
$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,20.875,66.375,426.900,30.000,0.000,56.456,58.993,182.147,4.500,0.000,17.483,1309.794,5318.649,544.858,1375.718,84.181,0.000,1127.373,0.000,958.077,0.000,0.540,0.000
$DEVICE_MAMPS,416.925,174.420,2057.850,151.470,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8072.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.428,0.000,0.000,0.000
$MEM,323232
$DATA_FILE_SIZE,16779,443
$CAP_FILE_SIZE,100749,0
$CFSIZE,260034560,253423616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.102,314.9,1
$GPS,200513,081406,2148.917,12034.931,34,1.0,34,-2.7