version: 66.11
glider: 181
mission: 11
dive: 36
start: 5 20 113 22 29 59
data:
$ID,181
$MISSION,11
$DIVE,36
$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,-95717.352
$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,54
$R_STBD_OVSHOOT,30
$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
$GPS1,200513,222307,2147.187,12040.190,13,1.1,13,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-68.3
$GPS2,200513,222930,2147.230,12040.244,8,1.1,13,-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,148.1,5116,-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,-194.6,206,2378,919,917,0.0,0.0,0,108,0.00,0.00,-87.95,0.000,16386,0.000,0.000,205,2380,3165,3212,3119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.91,-194.6,205,2380,3212,3120,4.2,-14.6,15,137,10.35,2.35,-6.28,0.000,18692,0.419,0.099,2391,3778,3550,3634,3467,0,0,0,0,0,0,14.51,14.74,14.96
$GC,318,-0.91,-194.6,2391,3779,3634,3471,73.9,-27.6,34,324,0.00,2.12,0.00,0.000,1030,0.000,0.037,2391,2379,3552,3634,3471,0,0,0,0,0,0,28.83,14.85,28.83
$GC,630,-0.91,-194.6,2391,2374,3638,3471,149.6,-22.2,50,631,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2374,3555,3638,3472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,931,-0.91,-194.6,2391,2374,3638,3472,212.9,-20.9,65,936,0.00,2.30,0.00,0.000,260,0.000,0.079,2381,3782,3555,3638,3472,0,0,0,0,0,0,28.83,14.90,28.83
$GC,987,-0.91,-194.6,2381,3781,3639,3473,221.3,-19.9,67,994,0.00,2.08,0.00,0.000,1030,0.000,0.035,2380,2402,3555,3638,3472,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1293,-0.91,-194.6,2381,2396,3638,3472,281.1,-19.9,83,1294,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2396,3555,3638,3472,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1593,-0.91,-194.6,2381,2397,3639,3470,335.6,-17.7,98,1600,0.00,2.15,0.00,0.000,516,0.000,0.046,2381,1010,3554,3638,3470,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1620,-0.91,-194.6,1536,1009,3634,3467,339.6,-17.8,99,1626,0.15,2.22,0.00,0.000,3078,0.257,0.060,2406,2399,3553,3637,3470,0,0,0,0,0,0,14.85,14.97,28.83
$GC,1938,-0.91,-194.6,2406,2399,3639,3468,386.2,-15.7,115,1943,0.00,2.17,0.00,0.000,516,0.000,0.049,2406,1007,3553,3639,3468,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1964,-0.91,-194.6,1552,1006,3634,3465,389.8,-15.8,116,1970,0.00,2.25,0.00,0.000,1030,0.000,0.061,2399,2408,3553,3638,3468,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2282,-0.91,-194.6,2399,2408,3638,3464,433.1,-13.8,132,2287,0.00,2.22,0.00,0.000,260,0.000,0.087,2389,3775,3551,3639,3463,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2328,-0.91,-194.6,2388,3777,3638,3463,439.1,-13.8,134,2333,0.00,2.08,0.00,0.000,1030,0.000,0.041,2389,2399,3554,3646,3463,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2645,-0.91,-194.6,2384,2394,3638,3460,487.1,-16.5,150,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2394,3548,3637,3460,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2945,-0.91,-194.6,2388,2394,3639,3456,530.5,-13.5,165,2951,0.00,2.28,0.00,0.000,260,0.000,0.090,2378,3776,3547,3639,3455,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3012,-0.91,-194.6,1536,3775,3634,3452,540.1,-15.0,168,3018,0.00,2.10,0.00,0.000,1030,0.000,0.042,2378,2402,3546,3638,3455,0,0,0,0,0,0,28.83,15.04,28.83
$GC,3330,-0.91,-194.6,2378,2397,3637,3452,589.0,-14.7,184,3335,0.00,2.17,0.00,0.000,516,0.000,0.052,2378,1008,3544,3636,3452,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3356,-0.91,-194.6,2378,1008,3636,3452,592.1,-14.6,185,3363,0.15,2.25,0.00,0.000,3078,0.277,0.064,2403,2402,3544,3637,3452,0,0,0,0,0,0,14.85,14.98,28.83
$GC,3674,-0.91,-194.6,2403,2407,3634,3448,627.4,-10.1,197,3679,0.00,2.28,0.00,0.000,260,0.000,0.091,2395,3787,3541,3635,3448,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3695,-0.91,-194.6,2396,3787,3633,3448,627.4,-10.1,197,3701,0.00,2.12,0.00,0.000,1030,0.000,0.046,2395,2402,3540,3633,3448,0,0,0,0,0,0,28.83,15.03,28.83
$STATE,3826,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3826,begin apogee
$GC,3830,-0.25,0.0,2396,2397,3633,3447,645.2,-11.7,202,4014,0.73,0.00,175.95,1.394,10246,0.217,0.000,2610,2396,2749,2779,2719,0,0,0,0,0,0,14.85,28.83,13.76
$STATE,4016,end apogee,CONTROL_FINISHED_OK
$STATE,4016,begin climb
$GC,4017,0.91,194.6,2611,2396,2778,2717,648.1,0.0,208,4207,1.15,2.50,178.32,1.362,10500,0.129,0.088,2984,3779,1953,1986,1921,0,0,0,0,0,0,14.27,14.19,13.69
$GC,4220,0.91,194.6,2983,3780,1984,1917,619.6,17.0,215,4225,0.00,2.28,0.00,0.000,1030,0.000,0.041,2994,2369,1949,1984,1915,0,0,0,0,0,0,28.83,14.35,28.83
$GC,4532,0.91,194.6,2994,2364,1984,1901,553.6,20.7,229,4533,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,2364,1941,1984,1899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4833,0.91,194.6,2994,2364,1984,1896,492.1,19.9,244,4838,0.00,2.40,0.00,0.000,260,0.000,0.090,2994,3787,1940,1984,1896,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4909,0.91,194.6,2994,3787,1980,1896,479.0,20.7,247,4916,0.00,2.20,0.00,0.000,1030,0.000,0.042,3005,2366,1940,1984,1896,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5215,0.91,194.6,3005,2360,1984,1894,418.8,18.5,263,5216,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2360,1939,1984,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5516,0.91,194.6,3005,2361,1984,1892,361.5,19.4,278,5521,0.00,2.20,0.00,0.000,516,0.000,0.054,3015,980,1937,1983,1891,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5542,0.91,194.6,2112,979,1949,1882,356.6,20.0,279,5547,0.00,2.28,0.00,0.000,1030,0.000,0.060,3015,2387,1937,1984,1891,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5859,0.91,194.6,3015,2387,1984,1889,293.4,20.3,295,5865,0.00,2.33,0.00,0.000,260,0.000,0.089,3015,3785,1936,1984,1889,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5906,0.91,194.6,3015,3785,1984,1890,284.2,21.0,297,5912,0.15,2.17,0.00,0.000,5126,0.310,0.041,3000,2366,1936,1984,1889,0,0,0,0,0,0,14.78,14.97,28.83
$GC,6224,0.91,194.6,2994,2360,1984,1887,225.2,17.4,313,6229,0.00,2.17,0.00,0.000,516,0.000,0.054,3002,990,1936,1984,1888,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6306,0.91,194.6,3002,990,1983,1887,212.3,15.6,317,6312,0.00,2.25,0.00,0.000,1030,0.000,0.059,3002,2382,1935,1983,1887,0,0,0,0,0,0,28.83,14.93,28.83
$GC,6628,0.91,194.6,3002,2382,1984,1886,155.0,18.0,333,6634,0.00,2.30,0.00,0.000,260,0.000,0.087,3002,3780,1934,1983,1886,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6771,0.91,194.6,3002,3780,1983,1886,127.1,19.4,340,6776,0.00,2.15,0.00,0.000,1030,0.000,0.041,3012,2373,1935,1983,1887,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7093,0.91,194.6,3012,2368,1984,1886,75.2,14.3,356,7099,0.00,2.20,0.00,0.000,516,0.000,0.052,3022,977,1934,1983,1886,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7116,0.91,194.6,3022,976,1983,1886,72.1,14.3,357,7121,0.00,2.28,0.00,0.000,1030,0.000,0.057,3022,2379,1935,1984,1886,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7428,0.91,194.6,3022,2379,1983,1886,31.8,11.1,379,7434,0.00,2.22,0.00,0.000,516,0.000,0.050,3033,976,1934,1983,1886,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7481,0.93,216.4,3032,976,1983,1886,26.9,9.2,384,7494,0.12,2.22,7.78,0.226,13318,0.269,0.054,3004,2377,1869,1914,1825,0,0,0,0,0,0,14.78,14.91,14.76
$GC,7792,1.07,358.8,2048,2375,1882,1826,8.8,5.0,443,7858,0.12,0.00,63.20,0.170,10242,0.135,0.000,3062,2377,1309,1346,1272,0,0,0,0,0,0,14.92,28.83,28.83
$STATE,7859,end climb,SURFACE_DEPTH_REACHED
$STATE,7860,begin surface coast
$FINISH,-0.9,1.021684
$STATE,7886,end surface coast,CONTROL_FINISHED_OK
$STATE,7886,begin surface
$SM_CCo,7900,42.22,0.153,0,0,916,450.13
$SM_GC,0.02,7.68,0.00,42.22,0.051,0.000,0.153,229,2378,916,-7.61,-0.65,450.13,0,0,0,0,0,0,14.88,28.83,14.76
$IRIDIUM_FIX,2136.49,12037.93,200513,202059
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.00
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,24.00
$XPDR_PINGS,9
$SC_FREEKB,3924288
$24V_AH,13.7,32.156
$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,20.600,71.300,425.250,42.225,0.000,31.399,24.348,169.239,2.250,0.000,16.184,1364.870,5017.364,540.652,1333.364,87.741,0.000,1139.681,0.000,998.218,0.000,0.543,0.000
$DEVICE_MAMPS,419.220,98.685,1393.830,153.000,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7914.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.368,0.000,0.000,0.000
$MEM,322984
$DATA_FILE_SIZE,16796,459
$CAP_FILE_SIZE,102017,0
$CFSIZE,260034560,252882944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.125, 30.2,1
$GPS,210513,004336,2146.670,12041.209,32,1.0,32,-2.7