version: 66.11
glider: 181
mission: 11
dive: 35
start: 5 20 113 20 15 42
data:
$ID,181
$MISSION,11
$DIVE,35
$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,-95716.102
$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,73
$R_STBD_OVSHOOT,28
$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
$GPS1,200513,200830,2147.196,12039.784,39,1.4,39,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-69.4
$GPS2,200513,201513,2147.242,12039.742,13,1.4,13,-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,136.0,5685,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.91,-194.6,205,2395,920,917,0.0,0.0,0,109,0.00,0.00,-88.12,0.000,16386,0.000,0.000,205,2396,3103,3150,3057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.91,-194.6,205,2396,3150,3064,3.2,-10.3,15,138,10.30,2.20,-7.90,0.000,18948,0.417,0.063,2400,997,3549,3633,3466,0,0,0,0,0,0,14.50,14.78,14.97
$GC,365,-0.91,-194.6,2400,997,3634,3468,90.4,-27.5,37,370,0.00,2.28,0.00,0.000,1030,0.000,0.059,2392,2410,3551,3634,3468,0,0,0,0,0,0,28.83,14.82,28.83
$GC,687,-0.91,-194.6,2392,2410,3637,3469,165.2,-19.3,53,692,0.00,2.17,0.00,0.000,516,0.000,0.046,2392,1017,3553,3637,3469,0,0,0,0,0,0,28.83,14.91,28.83
$GC,763,-0.91,-194.6,2392,1015,3638,3469,177.3,-19.2,56,770,0.00,2.22,0.00,0.000,1030,0.000,0.058,2382,2404,3553,3638,3469,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1070,-0.91,-194.6,2382,2404,3637,3469,242.9,-19.7,72,1075,0.00,2.22,0.00,0.000,260,0.000,0.079,2372,3783,3554,3638,3470,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1096,-0.91,-194.6,2372,3783,3638,3469,247.6,-19.6,73,1102,0.15,2.08,0.00,0.000,3078,0.272,0.035,2405,2392,3553,3637,3469,0,0,0,0,0,0,14.80,14.98,28.83
$GC,1414,-0.91,-194.6,2405,2387,3638,3466,305.7,-18.4,89,1420,0.00,2.10,0.00,0.000,516,0.000,0.046,2405,1018,3553,3638,3469,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1497,-0.91,-194.6,2405,1019,3639,3469,320.4,-17.6,93,1503,0.00,2.22,0.00,0.000,1030,0.000,0.060,2398,2411,3553,3638,3469,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1820,-0.91,-194.6,2398,2412,3637,3465,376.4,-16.7,109,1825,0.00,2.20,0.00,0.000,260,0.000,0.083,2388,3773,3551,3638,3465,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1906,-0.91,-194.6,2388,3774,3638,3463,392.3,-19.7,113,1912,0.00,2.05,0.00,0.000,1030,0.000,0.039,2388,2416,3551,3638,3464,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2224,-0.91,-194.6,2387,2411,3638,3462,447.7,-17.6,129,2229,0.00,2.22,0.00,0.000,260,0.000,0.082,2377,3780,3549,3638,3461,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2234,-0.91,-194.6,2378,3780,3638,3461,447.7,-17.6,129,2241,0.12,2.10,0.00,0.000,3078,0.280,0.038,2404,2380,3549,3638,3461,0,0,0,0,0,0,14.85,15.04,28.83
$GC,2548,-0.91,-194.6,2405,2375,3638,3457,494.0,-13.7,145,2554,0.00,2.12,0.00,0.000,516,0.000,0.049,2404,1008,3547,3638,3457,0,0,0,0,0,0,28.83,15.01,28.83
$GC,2631,-0.91,-194.6,2404,1007,3638,3456,505.8,-14.3,149,2636,0.00,2.22,0.00,0.000,1030,0.000,0.060,2398,2396,3547,3638,3456,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2953,-0.91,-194.6,2397,2396,3638,3452,552.9,-14.3,165,2959,0.00,2.25,0.00,0.000,260,0.000,0.089,2387,3777,3544,3637,3451,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2996,-0.91,-194.6,2387,3777,3636,3451,559.8,-15.4,167,3002,0.00,2.10,0.00,0.000,1030,0.000,0.041,2387,2399,3543,3635,3451,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3319,-0.91,-194.6,2387,2397,3634,3448,613.0,-16.9,182,3320,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2397,3540,3634,3447,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3528,begin apogee
$GC,3532,-0.25,0.0,2387,2396,3636,3446,644.4,-14.6,189,3715,0.77,0.00,175.38,1.380,10246,0.227,0.000,2613,2396,2750,2782,2719,0,0,0,0,0,0,14.85,28.83,13.78
$STATE,3717,end apogee,CONTROL_FINISHED_OK
$STATE,3717,begin climb
$GC,3718,0.91,194.6,2614,2396,2781,2717,648.5,0.0,195,3904,1.15,2.42,176.40,1.357,10500,0.126,0.085,2987,3780,1955,1988,1922,0,0,0,0,0,0,14.28,14.20,13.70
$GC,3915,0.91,194.6,2987,3781,1986,1918,625.8,15.7,201,3922,0.00,2.25,0.00,0.000,1030,0.000,0.039,2998,2373,1950,1985,1916,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4222,0.91,194.6,2998,2369,1986,1903,557.5,20.4,215,4228,0.00,2.38,0.00,0.000,260,0.000,0.088,2998,3775,1943,1986,1900,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4249,0.91,194.6,2064,3775,1948,1892,552.2,20.8,216,4255,0.00,2.17,0.00,0.000,1030,0.000,0.040,3008,2376,1942,1985,1900,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4566,0.91,194.6,3009,2369,1985,1895,479.9,21.1,232,4572,0.00,2.38,0.00,0.000,260,0.000,0.088,3008,3785,1940,1986,1895,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4593,0.91,194.6,3009,3785,1986,1895,475.1,21.0,233,4599,0.00,2.17,0.00,0.000,1030,0.000,0.040,3019,2375,1941,1986,1896,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4911,0.91,194.6,3019,2370,1986,1893,404.2,22.0,249,4912,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2370,1939,1985,1893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5212,0.91,194.6,3019,2370,1984,1890,342.6,20.3,264,5217,0.00,2.20,0.00,0.000,516,0.000,0.053,3029,982,1937,1985,1890,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5248,0.91,194.6,3029,982,1985,1890,337.6,20.5,265,5256,0.15,2.25,0.00,0.000,5126,0.282,0.057,2997,2382,1937,1985,1890,0,0,0,0,0,0,14.78,14.91,28.83
$GC,5554,0.91,194.6,2997,2382,1985,1887,281.3,17.7,281,5560,0.00,2.30,0.00,0.000,260,0.000,0.089,2997,3775,1936,1985,1887,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5591,0.91,194.6,2996,3775,1985,1888,276.6,18.8,282,5597,0.00,2.15,0.00,0.000,1030,0.000,0.040,3004,2371,1936,1985,1887,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5897,0.91,194.6,3005,2367,1984,1886,214.2,20.3,298,5902,0.00,2.20,0.00,0.000,516,0.000,0.052,3015,975,1935,1984,1886,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5983,0.91,194.6,3014,975,1984,1886,198.2,19.5,302,5989,0.00,2.25,0.00,0.000,1030,0.000,0.059,3015,2374,1935,1984,1886,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6301,0.91,194.6,3015,2374,1984,1885,139.8,17.4,318,6306,0.00,2.30,0.00,0.000,260,0.000,0.086,3014,3774,1934,1984,1885,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6387,0.91,194.6,3015,3775,1984,1885,123.6,19.8,322,6393,0.15,2.15,0.00,0.000,5126,0.304,0.039,2993,2365,1934,1984,1885,0,0,0,0,0,0,14.78,14.98,28.83
$GC,6705,0.91,194.6,2993,2360,1985,1884,83.1,11.7,338,6710,0.00,2.35,0.00,0.000,260,0.000,0.086,2993,3778,1934,1984,1884,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6822,0.91,194.6,2993,3778,1984,1884,69.0,14.2,343,6829,0.00,2.15,0.00,0.000,1030,0.000,0.039,3001,2367,1934,1984,1884,0,0,0,0,0,0,28.83,14.98,28.83
$GC,7128,0.93,220.5,3001,2363,1984,1884,31.2,9.1,368,7140,0.00,0.00,9.55,0.231,8198,0.000,0.000,3002,2363,1853,1897,1810,0,0,0,0,0,0,28.83,28.83,14.78
$GC,7439,1.06,349.2,3002,2363,1904,1822,9.7,5.5,423,7506,0.12,2.35,59.62,0.168,10500,0.133,0.080,3066,3784,1326,1363,1290,0,0,0,0,0,0,14.92,14.83,14.76
$STATE,7512,end climb,SURFACE_DEPTH_REACHED
$STATE,7512,begin surface coast
$FINISH,-0.1,1.021685
$STATE,7529,end surface coast,CONTROL_FINISHED_OK
$STATE,7529,begin surface
$SM_CCo,7546,44.35,0.151,0,0,917,450.13
$SM_GC,0.07,7.68,2.20,44.35,0.050,0.041,0.151,227,2400,917,-7.63,1.67,450.13,0,0,0,0,0,0,14.90,14.90,14.76
$IRIDIUM_FIX,2148.09,12045.48,200513,171702
$TT8_MAMPS,0.019474,0.019474
$HUMID,45.74
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,24.20
$XPDR_PINGS,19
$SC_FREEKB,3924672
$24V_AH,13.7,31.958
$10V_AH,13.8,0.000
$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,20.600,75.450,420.950,44.350,0.000,27.856,49.708,168.402,4.750,0.000,16.157,1337.743,4686.474,530.142,1370.331,86.758,0.000,1147.472,0.000,1012.964,0.000,0.541,0.000
$DEVICE_MAMPS,416.925,221.085,1380.060,151.470,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7555.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.541,0.000,0.000,0.000
$MEM,323056
$DATA_FILE_SIZE,16780,438
$CAP_FILE_SIZE,100827,0
$CFSIZE,260034560,252960768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.198,326.4,1
$GPS,200513,222307,2147.187,12040.190,13,1.1,13,-2.7