version: 66.11
glider: 181
mission: 11
dive: 30
start: 5 20 113 8 23 47
data:
$ID,181
$MISSION,11
$DIVE,30
$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,-95709.844
$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,67
$R_STBD_OVSHOOT,33
$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
$GPS1,200513,081406,2148.917,12034.931,34,1.0,34,-2.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.12
$_SM_ANGLEo,-70.1
$GPS2,200513,082318,2148.884,12034.932,10,1.0,15,-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,107.4,43138,-14.3,-10.000,-17.31,2952
$D_GRID,623
$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,-194.6,210,2410,921,908,0.0,0.0,0,109,0.00,0.00,-88.18,0.000,16386,0.000,0.000,209,2411,3176,3225,3127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.91,-194.6,209,2411,3225,3128,4.2,-16.3,15,137,10.32,2.30,-5.88,0.000,18692,0.421,0.100,2389,3775,3550,3633,3468,0,0,0,0,0,0,14.49,14.72,14.94
$GC,318,-0.91,-194.6,2389,3775,3633,3470,89.5,-34.5,32,325,0.00,2.10,0.00,0.000,1030,0.000,0.037,2390,2404,3551,3633,3470,0,0,0,0,0,0,28.83,14.85,28.83
$GC,625,-0.91,-194.6,2389,2398,3637,3470,166.5,-22.4,48,630,0.00,2.17,0.00,0.000,516,0.000,0.043,2388,994,3553,3637,3470,0,0,0,0,0,0,28.83,14.88,28.83
$GC,670,-0.91,-194.6,2388,994,3637,3470,176.8,-24.8,50,676,0.00,2.28,0.00,0.000,1030,0.000,0.058,2379,2407,3553,3637,3470,0,0,0,0,0,0,28.83,14.88,28.83
$GC,988,-0.91,-194.6,2378,2407,3637,3470,250.5,-21.2,66,994,0.00,2.20,0.00,0.000,516,0.000,0.045,2379,996,3553,3637,3470,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1014,-0.91,-194.6,1536,994,3633,3467,255.4,-21.8,67,1020,0.15,2.25,0.00,0.000,3078,0.279,0.059,2403,2396,3553,3637,3470,0,0,0,0,0,0,14.78,14.90,28.83
$GC,1332,-0.91,-194.6,2403,2396,3637,3469,311.0,-16.6,83,1339,0.00,2.25,0.00,0.000,260,0.000,0.083,2395,3780,3551,3637,3466,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1404,-0.91,-194.6,2394,3780,3644,3469,322.3,-17.9,86,1410,0.00,2.10,0.00,0.000,1030,0.000,0.037,2394,2383,3553,3637,3469,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1716,-0.91,-194.6,2395,2377,3637,3466,376.6,-16.7,102,1718,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2377,3551,3636,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2017,-0.91,-194.6,2394,2378,3637,3462,425.5,-16.4,117,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2377,3549,3637,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2318,-0.91,-194.6,2395,2377,3637,3457,480.6,-18.3,132,2323,0.00,2.30,0.00,0.000,260,0.000,0.089,2384,3778,3547,3637,3457,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2369,-0.91,-194.6,2384,3780,3636,3457,489.0,-18.8,134,2374,0.00,2.08,0.00,0.000,1030,0.000,0.039,2384,2404,3547,3637,3457,0,0,0,0,0,0,28.83,15.04,28.83
$GC,2681,-0.91,-194.6,2384,2403,3637,3453,545.1,-17.3,150,2682,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2398,3544,3637,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2982,-0.91,-194.6,2384,2398,3634,3450,597.7,-16.4,165,2987,0.00,2.17,0.00,0.000,516,0.000,0.051,2384,1004,3541,3634,3449,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3038,-0.91,-194.6,2384,1004,3634,3449,603.0,-16.4,167,3045,0.12,2.25,0.00,0.000,3078,0.277,0.060,2402,2405,3541,3633,3449,0,0,0,0,0,0,14.87,14.99,28.83
$STATE,3163,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3163,begin apogee
$GC,3166,-0.25,0.0,2402,2405,3633,3447,625.4,-14.7,172,3346,0.73,0.00,173.70,1.373,10246,0.231,0.000,2615,2406,2753,2784,2722,0,0,0,0,0,0,14.85,28.83,13.78
$STATE,3348,end apogee,CONTROL_FINISHED_OK
$STATE,3348,begin climb
$GC,3349,0.91,194.6,2615,2406,2784,2720,630.2,0.0,178,3533,1.15,0.00,178.23,1.341,10758,0.132,0.000,2983,2405,1957,1988,1926,0,0,0,0,0,0,14.26,28.83,13.70
$GC,3825,0.91,194.6,2985,2405,1987,1901,557.6,16.1,198,3830,0.00,2.30,0.00,0.000,516,0.000,0.053,2995,987,1944,1987,1901,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3861,0.91,194.6,2996,987,1988,1900,553.9,16.0,199,3868,0.00,2.28,0.00,0.000,1030,0.000,0.059,2995,2378,1943,1987,1900,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4167,0.91,194.6,2995,2378,1987,1896,500.6,16.9,215,4168,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2378,1941,1987,1896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4467,0.91,194.6,2995,2378,1987,1894,445.5,18.3,230,4472,0.00,2.33,0.00,0.000,260,0.000,0.090,2995,3783,1940,1987,1894,0,0,0,0,0,0,28.83,14.86,28.83
$GC,4519,0.91,194.6,2995,3778,1987,1894,437.2,19.4,232,4524,0.00,2.15,0.00,0.000,1030,0.000,0.041,3005,2375,1940,1986,1894,0,0,0,0,0,0,28.83,14.93,28.83
$GC,4831,0.91,194.6,3006,2371,1987,1892,377.8,17.8,248,4832,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2371,1939,1987,1892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5132,0.91,194.6,3006,2370,1987,1890,325.3,17.8,263,5137,0.00,2.20,0.00,0.000,516,0.000,0.052,3016,981,1938,1987,1890,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5223,0.91,194.6,3016,980,1989,1890,311.4,16.8,267,5228,0.00,2.25,0.00,0.000,1030,0.000,0.062,3016,2376,1938,1987,1890,0,0,0,0,0,0,28.83,14.93,28.83
$GC,5535,0.91,194.6,3017,2376,1988,1888,262.4,14.4,283,5541,0.00,2.33,0.00,0.000,260,0.000,0.091,3016,3781,1937,1987,1888,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5638,0.91,194.6,3015,3781,1987,1889,244.5,17.7,288,5645,0.15,2.15,0.00,0.000,5126,0.295,0.040,2994,2376,1938,1987,1889,0,0,0,0,0,0,14.80,14.98,28.83
$GC,5962,0.91,194.6,2994,2371,1988,1886,196.5,13.8,304,5967,0.00,2.20,0.00,0.000,516,0.000,0.054,3001,981,1937,1987,1887,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6004,0.91,194.6,3002,981,1987,1886,190.9,13.4,306,6009,0.00,2.25,0.00,0.000,1030,0.000,0.057,3002,2384,1937,1987,1887,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6326,0.91,194.6,3002,2384,1987,1886,144.5,14.0,322,6331,0.00,2.30,0.00,0.000,260,0.000,0.089,3001,3778,1936,1987,1885,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6383,0.91,194.6,3002,3778,1987,1886,138.0,14.7,324,6389,0.00,2.15,0.00,0.000,1030,0.000,0.041,3012,2372,1936,1987,1886,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6689,0.91,194.6,3012,2367,1987,1885,97.6,11.7,340,6694,0.00,2.20,0.00,0.000,516,0.000,0.053,3022,977,1936,1987,1885,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6745,0.91,194.6,3022,977,1987,1886,92.3,11.9,342,6752,0.00,2.25,0.00,0.000,1030,0.000,0.057,3022,2380,1936,1987,1885,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7051,0.97,250.8,3022,2380,1987,1885,60.5,8.0,358,7080,0.00,2.30,24.52,0.326,8452,0.000,0.085,3024,3781,1730,1769,1691,0,0,0,0,0,0,28.83,14.85,14.68
$GC,7142,0.97,250.8,3022,3781,1770,1696,52.3,10.0,362,7148,0.00,2.17,0.00,0.000,1030,0.000,0.039,3033,2365,1732,1770,1695,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7450,0.97,250.8,3033,2361,1770,1694,18.6,10.3,398,7457,0.00,2.17,0.00,0.000,516,0.000,0.049,3043,974,1732,1770,1695,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7585,1.05,338.9,3043,974,1770,1693,8.8,6.9,424,7633,0.00,2.25,40.45,0.171,9222,0.000,0.054,3043,2378,1367,1404,1330,0,0,0,0,0,0,28.83,14.90,14.76
$STATE,7659,end climb,SURFACE_DEPTH_REACHED
$STATE,7659,begin surface coast
$FINISH,-0.1,1.021691
$STATE,7690,end surface coast,CONTROL_FINISHED_OK
$STATE,7690,begin surface
$SM_CCo,7705,49.12,0.151,0,0,916,450.13
$SM_GC,-0.05,7.93,0.00,49.12,0.084,0.000,0.151,222,2378,916,-7.62,-0.62,450.13,0,0,0,0,0,0,14.90,28.83,14.76
$IRIDIUM_FIX,2145.77,12035.12,200513,080832
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.04
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,22.60
$XPDR_PINGS,19
$SC_FREEKB,3926592
$24V_AH,13.7,30.941
$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,20.550,66.675,416.900,49.125,0.000,61.462,92.319,177.871,4.750,0.000,18.123,1318.322,4968.639,534.022,1419.647,83.927,0.000,1120.305,0.000,974.503,0.000,0.540,0.000
$DEVICE_MAMPS,420.750,100.215,1373.175,150.705,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7713.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.630,0.000,0.000,0.000
$MEM,323208
$DATA_FILE_SIZE,16776,443
$CAP_FILE_SIZE,99072,0
$CFSIZE,260034560,253349888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,306.2,1
$GPS,200513,103412,2148.667,12035.786,11,1.4,27,-2.7