version: 66.11
glider: 181
mission: 11
dive: 32
start: 5 20 113 12 59 23
data:
$ID,181
$MISSION,11
$DIVE,32
$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,-95712.344
$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,64
$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
$GPS1,200513,125230,2148.574,12037.057,40,1.0,40,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-71.3
$GPS2,200513,125855,2148.621,12037.078,14,1.7,14,-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,97.4,39432,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.91,-194.6,208,2388,918,917,0.0,0.0,0,110,0.00,0.00,-88.72,0.000,16386,0.000,0.000,207,2389,3148,3195,3102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.91,-194.6,207,2389,3195,3102,3.5,-12.2,15,138,10.18,2.33,-6.88,0.000,18692,0.412,0.094,2390,3784,3550,3633,3467,0,0,0,0,0,0,14.51,14.71,14.96
$GC,245,-0.91,-194.6,2389,3784,3634,3470,59.1,-32.6,30,250,0.00,2.12,0.00,0.000,1030,0.000,0.037,2389,2392,3551,3633,3470,0,0,0,0,0,0,28.83,14.83,28.83
$GC,567,-0.91,-194.6,2389,2387,3637,3471,143.3,-18.5,46,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2388,3554,3637,3471,0,0,0,0,0,0,28.83,28.83,28.83
$GC,868,-0.91,-194.6,2389,2388,3638,3472,207.3,-20.0,61,874,0.00,2.15,0.00,0.000,516,0.000,0.045,2389,1002,3555,3638,3472,0,0,0,0,0,0,28.83,14.94,28.83
$GC,924,-0.91,-194.6,2388,1000,3639,3473,216.5,-20.6,63,932,0.00,2.25,0.00,0.000,1030,0.000,0.059,2379,2406,3555,3638,3473,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1230,-0.91,-194.6,2378,2406,3639,3473,286.7,-20.5,79,1236,0.00,2.25,0.00,0.000,260,0.000,0.083,2368,3786,3555,3638,3473,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1317,-0.91,-194.6,1512,3785,3634,3470,303.9,-20.9,83,1323,0.15,2.10,0.00,0.000,3078,0.285,0.037,2401,2382,3555,3638,3472,0,0,0,0,0,0,14.81,14.99,28.83
$GC,1635,-0.91,-194.6,2401,2377,3638,3469,363.1,-16.5,99,1640,0.00,2.30,0.00,0.000,260,0.000,0.084,2393,3786,3553,3638,3469,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1671,-0.91,-194.6,2393,3785,3638,3469,366.6,-15.9,100,1678,0.00,2.08,0.00,0.000,1030,0.000,0.038,2393,2407,3553,3638,3469,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1977,-0.91,-194.6,2393,2406,3638,3466,421.7,-18.0,116,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2405,3552,3638,3466,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2278,-0.91,-194.6,2393,2405,3638,3462,473.3,-16.8,131,2284,0.00,2.17,0.00,0.000,516,0.000,0.049,2393,1004,3550,3638,3462,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2315,-0.91,-194.6,2393,1004,3637,3462,477.2,-16.4,132,2322,0.00,2.25,0.00,0.000,1030,0.000,0.060,2383,2406,3550,3638,3462,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2620,-0.91,-194.6,2383,2406,3638,3457,529.8,-15.4,148,2626,0.00,2.25,0.00,0.000,260,0.000,0.089,2373,3784,3547,3638,3457,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2683,-0.91,-194.6,2373,3784,3634,3457,540.0,-16.1,151,2690,0.15,2.10,0.00,0.000,3078,0.273,0.041,2407,2409,3548,3638,3458,0,0,0,0,0,0,14.85,15.03,28.83
$GC,3007,-0.91,-194.6,2407,2404,3638,3453,581.6,-13.8,167,3013,0.00,2.28,0.00,0.000,260,0.000,0.093,2399,3781,3545,3638,3452,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3033,-0.91,-194.6,2400,3781,3637,3452,584.8,-14.3,168,3040,0.00,2.12,0.00,0.000,1030,0.000,0.043,2399,2388,3544,3636,3452,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3362,-0.91,-194.6,2399,2385,3634,3449,632.4,-14.6,181,3367,0.00,2.17,0.00,0.000,516,0.000,0.054,2399,998,3541,3634,3449,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3457,-0.91,-194.6,1568,998,3630,3446,645.2,-14.1,184,3463,0.00,2.28,0.00,0.000,1030,0.000,0.065,2389,2399,3540,3633,3448,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3786,-0.91,-194.6,2390,2400,3632,3446,691.4,-13.0,195,3791,0.00,2.20,0.00,0.000,516,0.000,0.053,2389,1005,3539,3632,3446,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3837,-0.91,-194.6,2390,1005,3632,3446,696.0,-13.1,196,3842,0.00,2.28,0.00,0.000,1030,0.000,0.065,2380,2410,3539,3632,3446,0,0,0,0,0,0,28.83,14.97,28.83
$STATE,3847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3847,begin apogee
$GC,3851,-0.25,0.0,2380,2410,3632,3445,700.1,-13.1,197,4035,0.77,0.00,177.25,1.449,10246,0.236,0.000,2604,2411,2750,2781,2719,0,0,0,0,0,0,14.83,28.83,13.70
$STATE,4037,end apogee,CONTROL_FINISHED_OK
$STATE,4037,begin climb
$GC,4038,0.91,194.6,2604,2411,2778,2717,703.7,0.0,203,4225,1.20,0.00,180.02,1.416,10758,0.135,0.000,2987,2412,1959,1989,1929,0,0,0,0,0,0,14.24,28.83,13.66
$GC,4537,0.91,194.6,2987,2411,1985,1900,611.5,21.7,220,4542,0.00,2.33,0.00,0.000,516,0.000,0.054,2998,981,1943,1986,1900,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4603,0.91,194.6,2998,981,1985,1898,600.1,20.0,222,4609,0.00,2.30,0.00,0.000,1030,0.000,0.060,2998,2385,1941,1985,1898,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4911,0.91,194.6,2998,2385,1985,1895,536.2,20.7,237,4916,0.00,2.33,0.00,0.000,260,0.000,0.091,2998,3777,1940,1986,1895,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4947,0.91,194.6,2997,3777,1985,1896,531.2,21.0,238,4953,0.00,2.17,0.00,0.000,1030,0.000,0.041,3008,2363,1940,1985,1895,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5253,0.91,194.6,3008,2358,1985,1893,464.2,19.9,254,5258,0.00,2.38,0.00,0.000,260,0.000,0.090,3008,3775,1939,1986,1893,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5295,0.91,194.6,3009,3775,1985,1893,455.2,20.7,256,5300,0.00,2.15,0.00,0.000,1030,0.000,0.041,3019,2369,1939,1985,1893,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5617,0.91,194.6,3019,2365,1986,1891,389.9,20.5,272,5622,0.00,2.17,0.00,0.000,516,0.000,0.052,3030,990,1935,1985,1886,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5673,0.91,194.6,3029,990,1985,1890,380.8,21.1,274,5681,0.15,2.25,0.00,0.000,5126,0.280,0.060,2996,2382,1937,1985,1890,0,0,0,0,0,0,14.77,14.91,28.83
$GC,5979,0.91,194.6,2997,2382,1985,1888,317.8,18.6,290,5985,0.00,2.30,0.00,0.000,260,0.000,0.090,2996,3775,1936,1984,1888,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5996,0.91,194.6,2996,3775,1985,1888,317.8,18.6,290,6003,0.00,2.15,0.00,0.000,1030,0.000,0.040,3004,2366,1936,1985,1888,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6302,0.91,194.6,3004,2361,1980,1887,259.1,17.6,306,6307,0.00,2.38,0.00,0.000,260,0.000,0.090,3004,3783,1933,1985,1882,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6368,0.91,194.6,2088,3783,1949,1878,247.9,17.7,309,6374,0.00,2.15,0.00,0.000,1030,0.000,0.040,3014,2374,1934,1985,1884,0,0,0,0,0,0,28.83,14.97,28.83
$GC,6686,0.91,194.6,3015,2371,1985,1886,194.5,16.2,325,6691,0.00,2.17,0.00,0.000,516,0.000,0.051,3025,989,1935,1985,1886,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6772,0.91,194.6,3025,988,1985,1886,181.7,15.6,329,6778,0.12,2.25,0.00,0.000,5126,0.280,0.062,2998,2381,1932,1984,1881,0,0,0,0,0,0,14.80,14.92,28.83
$GC,7090,0.91,194.6,2997,2381,1984,1885,130.8,16.7,345,7095,0.00,2.30,0.00,0.000,260,0.000,0.090,2997,3775,1935,1985,1885,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7216,0.91,194.6,2997,3775,1984,1885,113.4,12.9,351,7222,0.00,2.15,0.00,0.000,1030,0.000,0.040,3005,2364,1937,1990,1885,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7533,0.91,194.6,3005,2359,1985,1885,63.9,13.2,367,7539,0.00,2.35,0.00,0.000,260,0.000,0.086,3005,3777,1935,1985,1885,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7625,0.91,194.6,3005,3777,1985,1885,51.8,14.7,371,7631,0.00,2.12,0.00,0.000,1030,0.000,0.038,3016,2373,1935,1985,1885,0,0,0,0,0,0,28.83,15.00,28.83
$GC,7933,0.91,199.0,2048,2367,1946,1876,22.0,9.8,404,7940,0.00,2.15,0.00,0.000,516,0.000,0.050,3026,990,1934,1983,1885,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7952,0.93,218.5,3026,990,1985,1885,20.2,9.3,407,7967,0.00,2.22,8.85,0.207,9222,0.000,0.054,3026,2388,1860,1905,1816,0,0,0,0,0,0,28.83,14.92,14.78
$STATE,8193,end climb,SURFACE_DEPTH_REACHED
$STATE,8193,begin surface coast
$FINISH,0.2,1.021779
$STATE,8230,end surface coast,CONTROL_FINISHED_OK
$STATE,8230,begin surface
$SM_CCo,8245,103.95,0.149,0,0,916,450.13
$SM_GC,-0.04,8.00,0.00,103.95,0.100,0.000,0.149,224,2388,916,-7.64,-0.34,450.13,0,0,0,0,0,0,14.92,28.83,14.76
$IRIDIUM_FIX,2143.45,12107.39,200513,101033
$TT8_MAMPS,0.019474,0.019474
$HUMID,44.52
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,24.00
$XPDR_PINGS,14
$SC_FREEKB,3925824
$24V_AH,13.7,31.347
$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,20.725,84.450,366.125,103.950,0.000,25.006,27.644,176.983,3.500,0.000,16.717,1449.454,5230.271,575.547,1410.006,86.816,0.000,1208.459,0.000,1067.776,0.000,0.542,0.000
$DEVICE_MAMPS,412.335,94.095,1448.910,149.175,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8257.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.215,0.000,0.000,0.000
$MEM,323216
$DATA_FILE_SIZE,16779,461
$CAP_FILE_SIZE,107398,0
$CFSIZE,260034560,253190144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.077, 87.7,1
$GPS,200513,151945,2148.487,12038.874,11,2.9,30,-2.7