version: 66.11
glider: 181
mission: 11
dive: 33
start: 5 20 113 15 27 19
data:
$ID,181
$MISSION,11
$DIVE,33
$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,-95713.594
$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,68
$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
$GPS1,200513,151945,2148.487,12038.874,11,2.9,30,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-70.4
$GPS2,200513,152651,2148.595,12039.011,13,3.1,32,-2.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,DOGLEG2
$TGT_LATLONG,2145.000,12042.000
$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,156.3,8412,-14.3,-10.000,-17.31,2952
$D_GRID,719
$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,-194.6,207,2394,917,920,0.0,0.0,0,115,0.00,0.00,-93.68,0.000,16386,0.000,0.000,206,2394,3312,3361,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-0.91,-194.6,206,2395,3361,3263,4.7,-17.1,16,138,10.10,2.33,-3.78,0.000,18692,0.409,0.091,2389,3785,3550,3627,3473,0,0,0,0,0,0,14.50,14.73,14.95
$GC,309,-0.91,-194.6,2389,3786,3631,3474,77.0,-28.9,33,314,0.00,2.10,0.00,0.000,1030,0.000,0.036,2389,2402,3552,3631,3474,0,0,0,0,0,0,28.83,14.86,28.83
$GC,626,-0.91,-194.6,2389,2396,3635,3474,156.9,-21.0,49,632,0.00,2.15,0.00,0.000,516,0.000,0.044,2389,1008,3554,3634,3474,0,0,0,0,0,0,28.83,14.92,28.83
$GC,689,-0.91,-194.6,2388,1007,3634,3475,170.9,-22.7,52,694,0.00,2.22,0.00,0.000,1030,0.000,0.056,2379,2400,3554,3634,3475,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1011,-0.91,-194.6,2379,2400,3634,3474,240.0,-21.5,68,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2401,3554,3634,3475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1312,-0.91,-194.6,2379,2401,3634,3474,303.4,-20.9,83,1317,0.00,2.22,0.00,0.000,260,0.000,0.081,2368,3777,3554,3634,3474,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1388,-0.91,-194.6,2368,3777,3634,3473,317.2,-22.1,86,1395,0.15,2.08,0.00,0.000,3078,0.279,0.037,2401,2404,3553,3634,3473,0,0,0,0,0,0,14.81,14.98,28.83
$GC,1694,-0.91,-194.6,2401,2398,3634,3471,373.3,-16.1,102,1699,0.00,2.25,0.00,0.000,260,0.000,0.085,2394,3774,3552,3634,3471,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1756,-0.91,-194.6,2394,3775,3634,3470,384.9,-18.4,105,1761,0.00,2.10,0.00,0.000,1030,0.000,0.038,2394,2395,3552,3634,3470,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2078,-0.91,-194.6,2394,2389,3634,3467,440.8,-16.8,121,2083,0.00,2.15,0.00,0.000,516,0.000,0.049,2393,1004,3550,3634,3467,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2134,-0.91,-194.6,2394,1004,3634,3467,447.4,-15.7,123,2142,0.00,2.25,0.00,0.000,1030,0.000,0.059,2384,2409,3550,3634,3467,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2440,-0.91,-194.6,2384,2409,3634,3462,496.7,-15.3,139,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2409,3549,3635,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2741,-0.91,-194.6,2384,2409,3634,3457,541.4,-14.4,154,2746,0.00,2.22,0.00,0.000,260,0.000,0.089,2374,3774,3546,3634,3458,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2783,-0.91,-194.6,2373,3774,3634,3458,547.8,-14.6,156,2789,0.12,2.10,0.00,0.000,3078,0.280,0.041,2400,2398,3545,3634,3457,0,0,0,0,0,0,14.85,15.03,28.83
$GC,3105,-0.91,-194.6,2401,2392,3634,3454,591.0,-13.2,172,3111,0.00,2.17,0.00,0.000,516,0.000,0.053,2401,1009,3543,3634,3453,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3172,-0.91,-194.6,2401,1009,3634,3454,599.0,-12.6,175,3177,0.00,2.25,0.00,0.000,1030,0.000,0.064,2393,2402,3543,3634,3453,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3490,-0.91,-194.6,2395,2403,3631,3450,640.8,-12.6,186,3496,0.00,2.28,0.00,0.000,260,0.000,0.092,2383,3788,3540,3631,3449,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3577,-0.91,-194.6,2383,3788,3629,3450,649.7,-13.1,188,3584,0.00,2.12,0.00,0.000,1030,0.000,0.045,2383,2399,3539,3629,3450,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3883,-0.91,-194.6,2383,2398,3628,3445,694.2,-13.6,199,3889,0.00,2.17,0.00,0.000,516,0.000,0.054,2383,1011,3537,3628,3447,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3920,-0.91,-194.6,2383,1007,3628,3446,699.0,-13.9,200,3926,0.12,2.25,0.00,0.000,3078,0.270,0.065,2401,2400,3537,3628,3446,0,0,0,0,0,0,14.85,14.97,28.83
$STATE,4066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4066,begin apogee
$GC,4070,-0.25,0.0,2401,2400,3627,3445,719.4,-13.3,205,4254,0.70,0.00,179.00,1.472,10246,0.226,0.000,2610,2401,2751,2781,2722,0,0,0,0,0,0,14.85,28.83,13.69
$STATE,4256,end apogee,CONTROL_FINISHED_OK
$STATE,4256,begin climb
$GC,4257,0.91,194.6,2610,2401,2777,2718,724.8,0.0,211,4448,1.17,2.38,180.55,1.445,10756,0.130,0.050,2998,990,1955,1986,1925,0,0,0,0,0,0,14.23,14.19,13.63
$GC,4479,0.91,194.6,2997,989,1984,1914,698.8,15.9,218,4485,0.00,2.35,0.00,0.000,1030,0.000,0.062,2997,2379,1949,1985,1914,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4792,0.91,194.6,2998,2380,1985,1901,630.7,21.1,229,4793,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2380,1943,1985,1901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5091,0.91,194.6,2997,2380,1985,1897,570.0,20.0,241,5093,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2380,1941,1985,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5392,0.91,194.6,2998,2380,1988,1895,507.8,20.8,256,5397,0.00,2.33,0.00,0.000,260,0.000,0.090,2998,3778,1939,1985,1894,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5465,0.91,194.6,2997,3778,1985,1895,493.3,22.5,259,5471,0.00,2.17,0.00,0.000,1030,0.000,0.041,3008,2366,1940,1985,1895,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5778,0.91,194.6,3008,2362,1985,1893,424.8,20.0,275,5784,0.00,2.17,0.00,0.000,516,0.000,0.053,3018,988,1939,1985,1893,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5869,0.91,194.6,3018,988,1984,1892,409.2,18.9,279,5875,0.00,2.25,0.00,0.000,1030,0.000,0.060,3018,2379,1937,1984,1891,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6182,0.91,194.6,3018,2380,1985,1890,344.3,19.5,295,6183,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2380,1936,1984,1889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6483,0.91,194.6,3017,2380,1985,1889,286.8,20.2,310,6488,0.00,2.33,0.00,0.000,260,0.000,0.090,3018,3784,1936,1984,1889,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6579,0.91,194.6,3017,3784,1985,1889,267.5,23.3,314,6587,0.15,2.15,0.00,0.000,5126,0.305,0.041,2997,2376,1936,1984,1889,0,0,0,0,0,0,14.78,14.97,28.83
$GC,6885,0.91,194.6,2997,2373,1984,1887,210.0,17.3,330,6891,0.00,2.20,0.00,0.000,516,0.000,0.052,3005,981,1935,1984,1887,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7008,0.91,194.6,2048,980,1946,1877,190.9,15.2,336,7013,0.00,2.25,0.00,0.000,1030,0.000,0.057,3005,2381,1935,1984,1887,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7330,0.91,194.6,3005,2381,1984,1887,135.6,16.9,352,7335,0.00,2.30,0.00,0.000,260,0.000,0.087,3001,3777,1935,1984,1887,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7381,0.91,194.6,3005,3777,1984,1887,127.4,18.3,354,7387,0.00,2.15,0.00,0.000,1030,0.000,0.040,3015,2369,1935,1984,1887,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7693,0.91,194.6,3016,2364,1984,1887,80.1,11.3,370,7700,0.00,2.17,0.00,0.000,516,0.000,0.050,3026,982,1935,1984,1887,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7710,0.91,194.6,3025,982,1984,1887,80.1,11.3,370,7718,0.15,2.22,0.00,0.000,5126,0.266,0.057,2991,2376,1936,1984,1888,0,0,0,0,0,0,14.80,14.93,28.83
$GC,8017,0.91,194.6,2991,2376,1984,1887,46.3,10.3,387,8023,0.00,2.30,0.00,0.000,260,0.000,0.086,2992,3774,1935,1984,1887,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8220,0.98,269.3,2991,3774,1984,1887,26.5,7.4,407,8258,0.00,2.12,32.58,0.224,9222,0.000,0.038,2999,2359,1653,1693,1614,0,0,0,0,0,0,28.83,14.95,14.76
$STATE,8514,end climb,SURFACE_DEPTH_REACHED
$STATE,8514,begin surface coast
$FINISH,0.2,1.021769
$STATE,8541,end surface coast,CONTROL_FINISHED_OK
$STATE,8541,begin surface
$SM_CCo,8557,80.95,0.148,0,0,916,450.13
$SM_GC,-0.11,7.72,0.08,80.95,0.079,0.175,0.148,239,2413,916,-7.62,-0.88,450.13,0,0,0,0,0,0,14.90,14.90,14.76
$IRIDIUM_FIX,2143.45,12119.72,200513,121259
$TT8_MAMPS,0.019474,0.019474
$HUMID,45.03
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,24.30
$XPDR_PINGS,11
$SC_FREEKB,3925440
$24V_AH,13.6,31.561
$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,20.400,75.350,392.125,80.950,0.000,24.987,31.170,187.456,2.750,0.000,35.792,1482.000,5474.883,537.589,1495.637,90.863,0.000,1197.322,0.000,1113.569,0.000,0.541,0.000
$DEVICE_MAMPS,408.510,175.185,1471.860,148.410,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8571.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.130,0.000,0.000,0.000
$MEM,323100
$DATA_FILE_SIZE,16765,467
$CAP_FILE_SIZE,107534,0
$CFSIZE,260034560,253108224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029,322.2,1
$GPS,200513,175236,2147.533,12039.554,36,1.0,36,-2.7