version: 66.11
glider: 181
mission: 11
dive: 31
start: 5 20 113 10 41 24
data:
$ID,181
$MISSION,11
$DIVE,31
$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,-95711.094
$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,60
$R_STBD_OVSHOOT,34
$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
$GPS1,200513,103412,2148.667,12035.786,11,1.4,27,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.13
$_SM_ANGLEo,-69.8
$GPS2,200513,104055,2148.685,12035.792,13,1.5,13,-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,101.9,41646,-14.3,-10.000,-17.31,2952
$D_GRID,698
$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,-194.6,208,2384,917,915,0.0,0.0,0,105,0.00,0.00,-84.15,0.000,16386,0.000,0.000,207,2386,3046,3095,2997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.91,-194.6,207,2385,3095,2998,3.2,-10.9,14,134,10.30,2.25,-8.43,0.000,19204,0.418,0.067,2397,996,3550,3638,3463,0,0,0,0,0,0,14.48,14.77,14.94
$GC,360,-0.91,-194.6,2397,995,3638,3466,88.2,-29.1,35,367,0.00,2.28,0.00,0.000,1030,0.000,0.059,2389,2402,3552,3638,3466,0,0,0,0,0,0,28.83,14.81,28.83
$GC,666,-0.91,-194.6,2389,2402,3639,3468,161.1,-21.4,51,671,0.00,2.25,0.00,0.000,260,0.000,0.080,2379,3788,3553,3639,3467,0,0,0,0,0,0,28.83,14.85,28.83
$GC,697,-0.91,-194.6,2378,3789,3639,3468,166.3,-22.0,52,703,0.00,2.12,0.00,0.000,1030,0.000,0.037,2379,2389,3553,3639,3468,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1011,-0.91,-194.6,2379,2383,3639,3469,236.9,-21.3,68,1016,0.00,2.12,0.00,0.000,516,0.000,0.046,2378,1007,3554,3639,3469,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1082,-0.91,-194.6,2379,1007,3639,3468,249.4,-19.9,71,1088,0.15,2.25,0.00,0.000,3078,0.278,0.060,2403,2410,3554,3639,3469,0,0,0,0,0,0,14.80,14.92,28.83
$GC,1394,-0.91,-194.6,2403,2410,3640,3468,305.5,-17.4,87,1400,0.00,2.22,0.00,0.000,260,0.000,0.083,2395,3782,3553,3639,3468,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1557,-0.91,-194.6,2395,3782,3639,3466,334.3,-17.4,95,1563,0.00,2.10,0.00,0.000,1030,0.000,0.036,2395,2391,3552,3638,3467,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1880,-0.91,-194.6,2394,2385,3640,3463,386.3,-16.1,111,1885,0.00,2.12,0.00,0.000,516,0.000,0.048,2395,1013,3551,3639,3463,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1916,-0.91,-194.6,2395,1012,3639,3463,389.9,-16.2,112,1923,0.00,2.22,0.00,0.000,1030,0.000,0.060,2385,2400,3551,3639,3463,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2222,-0.91,-194.6,2385,2400,3639,3460,445.8,-16.8,128,2227,0.00,2.25,0.00,0.000,260,0.000,0.086,2375,3783,3549,3639,3459,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2248,-0.91,-194.6,2375,3783,3639,3459,449.6,-16.9,129,2254,0.12,2.10,0.00,0.000,3078,0.278,0.039,2400,2396,3548,3639,3458,0,0,0,0,0,0,14.85,15.02,28.83
$GC,2566,-0.91,-194.6,2401,2392,3639,3455,499.4,-15.1,145,2568,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2392,3550,3646,3455,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2866,-0.91,-194.6,2398,2392,3639,3451,546.2,-16.5,160,2872,0.00,2.15,0.00,0.000,516,0.000,0.050,2402,1009,3545,3639,3451,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2953,-0.91,-194.6,1544,1009,3634,3448,558.6,-15.0,164,2959,0.00,2.25,0.00,0.000,1030,0.000,0.060,2395,2409,3544,3638,3450,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3270,-0.91,-194.6,2394,2410,3636,3447,611.2,-15.3,179,3276,0.00,2.25,0.00,0.000,260,0.000,0.090,2384,3784,3541,3635,3447,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3303,-0.91,-194.6,2385,3785,3634,3447,616.3,-15.1,180,3309,0.00,2.12,0.00,0.000,1030,0.000,0.042,2385,2399,3540,3634,3447,0,0,0,0,0,0,28.83,15.02,28.83
$STATE,3635,end dive,NO_VERTICAL_VELOCITY
$STATE,3635,begin apogee
$GC,3639,-0.25,0.0,2384,2398,3634,3444,633.6,0.0,191,3822,0.62,0.00,175.45,1.386,10246,0.061,0.000,2640,2392,2749,2782,2717,0,0,0,0,0,0,15.01,28.83,13.76
$STATE,3824,end apogee,CONTROL_FINISHED_OK
$STATE,3824,begin climb
$GC,3825,0.91,194.6,2641,2392,2781,2716,634.0,0.0,197,4008,0.98,0.00,178.80,1.346,10502,0.047,0.000,3018,2392,1958,1988,1929,0,0,0,0,0,0,14.34,28.83,13.70
$GC,4306,0.91,194.6,3019,2392,1984,1909,549.4,20.5,217,4312,0.00,2.35,0.00,0.000,260,0.000,0.088,3019,3784,1943,1984,1903,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4337,0.91,194.6,3018,3784,1984,1903,544.2,21.1,218,4344,0.15,2.20,0.00,0.000,5126,0.311,0.041,2999,2369,1943,1984,1903,0,0,0,0,0,0,14.58,14.76,28.83
$GC,4650,0.91,194.6,2999,2363,1984,1897,481.3,21.2,234,4656,0.00,2.20,0.00,0.000,516,0.000,0.052,3006,984,1940,1984,1897,0,0,0,0,0,0,28.83,14.84,28.83
$GC,4696,0.91,194.6,2096,982,1948,1888,473.3,19.4,236,4702,0.00,2.25,0.00,0.000,1030,0.000,0.058,3006,2375,1940,1983,1897,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5014,0.91,194.6,3006,2375,1985,1895,408.6,21.0,252,5019,0.00,2.33,0.00,0.000,260,0.000,0.089,3006,3784,1939,1984,1895,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5045,0.91,194.6,3006,3784,1984,1895,403.9,21.1,253,5051,0.00,2.17,0.00,0.000,1030,0.000,0.040,3017,2369,1939,1984,1895,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5358,0.91,194.6,3017,2364,1984,1893,338.8,20.2,269,5363,0.00,2.20,0.00,0.000,516,0.000,0.052,3027,975,1938,1984,1893,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5381,0.91,194.6,3027,975,1984,1892,334.4,19.8,270,5387,0.15,2.28,0.00,0.000,5126,0.282,0.058,2994,2382,1938,1983,1893,0,0,0,0,0,0,14.78,14.91,28.83
$GC,5704,0.91,194.6,2995,2382,1984,1890,280.7,16.6,286,5710,0.00,2.30,0.00,0.000,260,0.000,0.089,2994,3774,1937,1984,1891,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5812,0.91,194.6,2994,3775,1984,1891,260.2,20.2,291,5817,0.00,2.15,0.00,0.000,1030,0.000,0.041,3002,2370,1937,1984,1891,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6129,0.91,194.6,3002,2366,1984,1889,201.3,16.5,307,6130,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2366,1936,1984,1889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6429,0.91,194.6,3002,2366,1984,1888,153.5,15.6,322,6435,0.00,2.20,0.00,0.000,516,0.000,0.054,3012,975,1936,1984,1888,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6502,0.91,194.6,3012,975,1984,1889,143.9,15.6,325,6508,0.00,2.25,0.00,0.000,1030,0.000,0.057,3012,2377,1935,1983,1888,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6815,0.91,194.6,3012,2378,1983,1887,92.4,13.0,341,6817,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2377,1935,1984,1887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7116,0.93,215.5,3012,2377,1985,1887,60.8,9.3,356,7130,0.00,2.33,7.47,0.304,8452,0.000,0.085,3012,3769,1874,1917,1832,0,0,0,0,0,0,28.83,14.88,14.73
$GC,7137,0.93,215.5,3012,3769,1917,1836,58.2,10.0,357,7143,0.00,2.12,0.00,0.000,1030,0.000,0.038,3022,2370,1876,1917,1836,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7450,1.01,298.5,3022,2366,1922,1842,26.3,7.1,384,7495,0.00,2.25,39.90,0.222,8708,0.000,0.051,3033,984,1535,1573,1497,0,0,0,0,0,0,28.83,14.89,14.75
$GC,7602,1.01,298.5,3033,983,1577,1498,10.9,10.2,411,7609,0.00,2.25,0.00,0.000,1030,0.000,0.054,3036,2382,1538,1578,1498,0,0,0,0,0,0,28.83,14.87,28.83
$STATE,7675,end climb,SURFACE_DEPTH_REACHED
$STATE,7675,begin surface coast
$FINISH,-0.2,1.021722
$STATE,7701,end surface coast,CONTROL_FINISHED_OK
$STATE,7701,begin surface
$SM_CCo,7716,67.57,0.148,0,0,916,450.13
$SM_GC,0.09,7.60,0.00,67.57,0.054,0.000,0.148,226,2382,916,-7.62,-0.51,450.13,0,0,0,0,0,0,14.90,28.83,14.77
$IRIDIUM_FIX,2145.77,12023.58,200513,080848
$TT8_MAMPS,0.019474,0.019474
$HUMID,45.82
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,24.30
$XPDR_PINGS,19
$SC_FREEKB,3926208
$24V_AH,13.7,31.140
$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,20.075,70.900,401.625,67.575,0.000,28.039,40.604,176.148,4.750,0.000,15.905,1322.151,4921.718,559.574,1319.287,82.187,0.000,1130.883,0.000,964.364,0.000,0.539,0.000
$DEVICE_MAMPS,418.455,89.505,1386.180,148.410,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7729.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.370,0.000,0.000,0.000
$MEM,323232
$DATA_FILE_SIZE,16797,430
$CAP_FILE_SIZE,98188,0
$CFSIZE,260034560,253280256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028, 56.1,1
$GPS,200513,125230,2148.574,12037.057,40,1.0,40,-2.7