version: 66.11
glider: 181
mission: 11
dive: 34
start: 5 20 113 17 59 53
data:
$ID,181
$MISSION,11
$DIVE,34
$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,-95714.844
$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,77
$R_STBD_OVSHOOT,40
$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
$GPS1,200513,175236,2147.533,12039.554,36,1.0,36,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-68.7
$GPS2,200513,175924,2147.557,12039.642,10,1.2,16,-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,142.3,6235,-14.3,-10.000,-17.31,2952
$D_GRID,642
$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,-194.6,213,2417,921,915,0.0,0.0,0,110,0.00,0.00,-89.65,0.000,16386,0.000,0.000,213,2418,3192,3238,3147,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.91,-194.6,213,2418,3239,3147,4.0,-13.5,15,138,10.20,2.25,-5.88,0.000,18692,0.415,0.091,2389,3775,3549,3628,3470,0,0,0,0,0,0,14.50,14.71,14.95
$GC,346,-0.91,-194.6,2389,3776,3629,3473,93.6,-31.6,35,351,0.00,2.08,0.00,0.000,1030,0.000,0.036,2389,2410,3552,3630,3474,0,0,0,0,0,0,28.83,14.83,28.83
$GC,668,-0.91,-194.6,2388,2404,3634,3469,169.9,-23.8,51,673,0.00,2.17,0.00,0.000,516,0.000,0.044,2389,999,3552,3634,3470,0,0,0,0,0,0,28.83,14.90,28.83
$GC,764,-0.91,-194.6,2389,998,3634,3474,189.0,-23.3,55,771,0.00,2.25,0.00,0.000,1030,0.000,0.060,2379,2396,3554,3634,3474,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1070,-0.91,-194.6,2379,2397,3634,3473,259.4,-21.1,71,1075,0.00,2.17,0.00,0.000,516,0.000,0.047,2379,1003,3553,3634,3473,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1133,-0.91,-194.6,2379,1001,3634,3473,271.8,-20.3,74,1139,0.15,2.25,0.00,0.000,3078,0.268,0.060,2404,2402,3553,3634,3473,0,0,0,0,0,0,14.79,14.90,28.83
$GC,1456,-0.91,-194.6,2404,2403,3634,3473,332.1,-19.1,90,1462,0.00,2.22,0.00,0.000,260,0.000,0.082,2396,3780,3553,3634,3472,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1583,-0.91,-194.6,1536,3779,3630,3468,357.3,-20.5,96,1588,0.00,2.08,0.00,0.000,1030,0.000,0.036,2396,2389,3552,3634,3471,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1900,-0.91,-194.6,2396,2384,3634,3469,413.6,-16.4,112,1905,0.00,2.28,0.00,0.000,260,0.000,0.085,2386,3779,3551,3634,3469,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1946,-0.91,-194.6,2386,3778,3634,3468,420.8,-16.9,114,1952,0.00,2.08,0.00,0.000,1030,0.000,0.037,2386,2402,3551,3634,3468,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2264,-0.91,-194.6,2386,2397,3634,3464,476.3,-16.2,130,2269,0.00,2.15,0.00,0.000,516,0.000,0.049,2385,1010,3548,3634,3463,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2310,-0.91,-194.6,2386,1010,3634,3464,483.0,-16.2,132,2316,0.12,2.22,0.00,0.000,3078,0.272,0.059,2401,2401,3549,3634,3464,0,0,0,0,0,0,14.85,14.97,28.83
$GC,2628,-0.91,-194.6,2404,2401,3634,3460,529.0,-14.1,148,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2401,3547,3634,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2928,-0.91,-194.6,2404,2401,3634,3455,572.9,-15.0,163,2934,0.00,2.28,0.00,0.000,260,0.000,0.089,2396,3783,3544,3634,3455,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2951,-0.91,-194.6,2396,3783,3634,3455,576.5,-15.1,164,2957,0.00,2.10,0.00,0.000,1030,0.000,0.041,2396,2400,3544,3634,3455,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3264,-0.91,-194.6,2396,2398,3633,3452,623.2,-14.0,177,3270,0.00,2.28,0.00,0.000,260,0.000,0.090,2389,3778,3542,3633,3451,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3281,-0.91,-194.6,2386,3780,3633,3452,623.2,-14.0,177,3287,0.00,2.12,0.00,0.000,1030,0.000,0.042,2386,2396,3542,3633,3452,0,0,0,0,0,0,28.83,15.02,28.83
$STATE,3417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3417,begin apogee
$GC,3421,-0.25,0.0,2386,2392,3632,3450,645.2,-14.1,182,3604,0.77,0.00,175.07,1.383,10246,0.224,0.000,2613,2391,2750,2781,2719,0,0,0,0,0,0,14.84,28.83,13.74
$STATE,3606,end apogee,CONTROL_FINISHED_OK
$STATE,3606,begin climb
$GC,3607,0.91,194.6,2613,2390,2779,2717,649.9,0.0,188,3792,1.15,0.00,178.27,1.356,10758,0.127,0.000,2986,2391,1958,1989,1927,0,0,0,0,0,0,14.27,28.83,13.70
$GC,4089,0.91,194.6,2986,2390,1986,1897,561.9,21.3,207,4095,0.00,2.35,0.00,0.000,260,0.000,0.087,2986,3781,1941,1986,1897,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4116,0.91,194.6,2986,3782,1986,1898,556.7,21.8,208,4121,0.00,2.20,0.00,0.000,1030,0.000,0.040,2996,2372,1941,1986,1897,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4433,0.91,194.6,2996,2363,1986,1894,486.7,21.6,224,4438,0.00,2.38,0.00,0.000,260,0.000,0.089,2997,3775,1940,1986,1894,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4469,0.91,194.6,2997,3775,1986,1894,481.7,21.6,225,4476,0.00,2.17,0.00,0.000,1030,0.000,0.041,3007,2366,1939,1986,1893,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4775,0.91,194.6,3007,2361,1986,1890,412.0,22.8,241,4780,0.00,2.20,0.00,0.000,516,0.000,0.051,3017,976,1937,1985,1890,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4877,0.91,194.6,3017,976,1985,1889,392.7,18.1,246,4883,0.00,2.28,0.00,0.000,1030,0.000,0.059,3017,2380,1937,1985,1889,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5200,0.91,194.6,3018,2379,1984,1887,324.5,21.4,262,5205,0.00,2.30,0.00,0.000,260,0.000,0.088,3017,3772,1936,1985,1887,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5256,0.91,194.6,3017,3772,1985,1887,314.7,22.1,264,5265,0.15,2.15,0.00,0.000,5126,0.311,0.040,2996,2363,1936,1985,1887,0,0,0,0,0,0,14.74,14.95,28.83
$GC,5562,0.91,194.6,2997,2355,1985,1884,256.3,17.6,280,5568,0.00,2.38,0.00,0.000,260,0.000,0.088,2996,3780,1934,1985,1884,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5579,0.91,194.6,2996,3779,1985,1885,256.3,17.6,280,5586,0.00,2.15,0.00,0.000,1030,0.000,0.039,3005,2374,1934,1985,1884,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5885,0.91,194.6,3005,2370,1984,1883,194.2,19.2,296,5890,0.00,2.17,0.00,0.000,516,0.000,0.050,3015,986,1934,1984,1884,0,0,0,0,0,0,28.83,14.96,28.83
$GC,5922,0.91,194.6,3014,986,1984,1883,190.0,19.1,297,5928,0.00,2.22,0.00,0.000,1030,0.000,0.057,3015,2374,1933,1984,1883,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6227,0.91,194.6,3015,2375,1984,1883,135.6,15.7,313,6232,0.00,2.20,0.00,0.000,516,0.000,0.052,3024,987,1933,1984,1883,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6429,0.91,194.6,3025,987,1984,1882,109.4,12.9,323,6435,0.12,2.22,0.00,0.000,5126,0.278,0.057,2997,2379,1933,1984,1882,0,0,0,0,0,0,14.80,14.93,28.83
$GC,6753,0.91,194.6,2997,2378,1983,1882,69.3,11.0,339,6758,0.00,2.30,0.00,0.000,260,0.000,0.086,2997,3775,1933,1984,1882,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6839,0.92,202.6,2064,3775,1947,1873,61.2,9.7,343,6844,0.00,2.15,0.00,0.000,1030,0.000,0.038,3005,2363,1931,1984,1878,0,0,0,0,0,0,28.83,14.96,28.83
$GC,7147,0.94,230.5,3005,2360,1984,1889,30.9,9.0,368,7169,0.00,2.33,14.32,0.231,8452,0.000,0.081,3006,3772,1811,1854,1768,0,0,0,0,0,0,28.83,14.89,14.76
$GC,7246,0.94,230.5,3005,3772,1858,1779,20.7,11.3,381,7254,0.00,2.12,0.00,0.000,1030,0.000,0.037,3016,2364,1818,1858,1779,0,0,0,0,0,0,28.83,14.96,28.83
$STATE,7476,end climb,SURFACE_DEPTH_REACHED
$STATE,7476,begin surface coast
$FINISH,-0.7,1.021727
$STATE,7522,end surface coast,CONTROL_FINISHED_OK
$STATE,7523,begin surface
$SM_CCo,7537,98.35,0.145,0,0,917,450.13
$SM_GC,-0.03,7.60,0.00,98.35,0.059,0.000,0.145,229,2360,917,-7.63,-1.10,450.13,0,0,0,0,0,0,14.95,28.83,14.77
$IRIDIUM_FIX,2148.09,12038.30,200513,151512
$TT8_MAMPS,0.019474,0.019474
$HUMID,43.69
$INTERNAL_PRESSURE,9.71717
$TCM_TEMP,24.80
$XPDR_PINGS,22
$SC_FREEKB,3925056
$24V_AH,13.7,31.760
$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,20.275,75.250,367.675,98.350,0.000,29.312,39.065,176.321,5.500,0.000,19.013,1387.728,4633.732,562.105,1392.380,84.686,0.000,1167.998,0.000,1034.184,0.000,0.542,0.000
$DEVICE_MAMPS,414.630,91.035,1383.120,145.350,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7553.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.572,0.000,0.000,0.000
$MEM,323012
$DATA_FILE_SIZE,16817,435
$CAP_FILE_SIZE,100879,0
$CFSIZE,260034560,253034496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.189,310.8,1
$GPS,200513,200830,2147.196,12039.784,39,1.4,39,-2.7