version: 66.11
glider: 181
mission: 11
dive: 56
start: 5 22 113 1 14 5
data:
$ID,181
$MISSION,11
$DIVE,56
$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,-95742.922
$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,60
$R_STBD_OVSHOOT,32
$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
$GPS1,220513,010236,2145.830,12056.741,25,1.9,25,-2.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-72.4
$GPS2,220513,011335,2146.084,12056.924,15,1.8,25,-2.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,DOGLEG3
$TGT_LATLONG,2142.000,12103.000
$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,163.6,12905,-14.3,-10.000,-17.31,2952
$D_GRID,694
$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,-194.6,209,2384,917,914,0.0,0.0,0,103,0.00,0.00,-82.57,0.000,16386,0.000,0.000,208,2390,3034,3079,2990,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-0.91,-194.6,208,2384,3080,2991,3.8,-12.0,14,132,10.05,2.30,-8.60,0.000,18692,0.405,0.093,2392,3783,3548,3634,3463,0,0,0,0,0,0,14.49,14.75,14.97
$GC,168,-0.91,-194.6,2389,3783,3633,3466,32.3,-42.9,23,175,0.00,2.12,0.00,0.000,1030,0.000,0.039,2389,2404,3550,3634,3466,0,0,0,0,0,0,28.83,14.81,28.83
$GC,474,-0.91,-194.6,2388,2398,3634,3466,132.7,-26.1,41,479,0.00,2.17,0.00,0.000,516,0.000,0.045,2389,998,3548,3631,3466,0,0,0,0,0,0,28.83,14.85,28.83
$GC,505,-0.91,-194.6,2389,995,3638,3467,137.7,-25.0,42,510,0.00,2.25,0.00,0.000,1030,0.000,0.060,2378,2396,3550,3634,3467,0,0,0,0,0,0,28.83,14.87,28.83
$GC,817,-0.91,-194.6,2378,2397,3634,3467,205.6,-20.8,58,823,0.00,2.25,0.00,0.000,260,0.000,0.080,2368,3790,3550,3634,3467,0,0,0,0,0,0,28.83,14.90,28.83
$GC,880,-0.91,-194.6,2368,3790,3634,3468,220.4,-22.7,61,887,0.15,2.12,0.00,0.000,3078,0.288,0.037,2400,2385,3551,3634,3468,0,0,0,0,0,0,14.76,14.97,28.83
$GC,1205,-0.91,-194.6,2400,2379,3634,3468,279.6,-15.4,77,1210,0.00,2.12,0.00,0.000,516,0.000,0.046,2400,1003,3551,3634,3468,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1227,-0.91,-194.6,2400,1003,3634,3467,283.4,-15.8,78,1232,0.00,2.25,0.00,0.000,1030,0.000,0.059,2393,2411,3550,3634,3467,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1549,-0.91,-194.6,2393,2412,3634,3466,340.1,-17.6,94,1554,0.00,2.22,0.00,0.000,260,0.000,0.083,2382,3785,3550,3634,3466,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1661,-0.91,-194.6,2383,3786,3634,3464,358.8,-18.4,99,1667,0.00,2.10,0.00,0.000,1030,0.000,0.037,2382,2391,3549,3634,3464,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1974,-0.91,-194.6,2382,2385,3635,3461,416.6,-19.0,115,1980,0.00,2.15,0.00,0.000,516,0.000,0.049,2382,1009,3548,3635,3461,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2046,-0.91,-194.6,2382,1008,3634,3461,427.2,-17.4,118,2052,0.15,2.22,0.00,0.000,3078,0.252,0.061,2408,2399,3547,3634,3461,0,0,0,0,0,0,14.86,14.98,28.83
$GC,2359,-0.91,-194.6,2408,2399,3634,3456,468.5,-14.5,134,2365,0.00,2.25,0.00,0.000,260,0.000,0.086,2400,3782,3545,3634,3456,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2482,-0.91,-194.6,2400,3783,3634,3455,486.9,-15.0,140,2488,0.00,2.10,0.00,0.000,1030,0.000,0.040,2400,2395,3544,3634,3455,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2805,-0.91,-194.6,2400,2390,3633,3451,535.2,-15.7,156,2810,0.00,2.17,0.00,0.000,516,0.000,0.050,2400,999,3542,3634,3450,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2852,-0.91,-194.6,1512,998,3629,3447,541.8,-15.6,158,2858,0.00,2.25,0.00,0.000,1030,0.000,0.063,2391,2396,3542,3634,3450,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3170,-0.91,-194.6,2390,2396,3632,3446,593.4,-15.0,174,3176,0.00,2.28,0.00,0.000,260,0.000,0.090,2380,3785,3538,3631,3446,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3323,-0.91,-194.6,2380,3785,3627,3446,614.8,-13.9,180,3329,0.00,2.12,0.00,0.000,1030,0.000,0.044,2380,2407,3537,3628,3446,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3657,-0.91,-194.6,2380,2401,3626,3442,668.9,-18.0,191,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2404,3534,3626,3442,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3805,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3805,begin apogee
$GC,3809,-0.25,0.0,2380,2401,3625,3440,694.7,-16.8,196,3993,0.80,0.00,178.25,1.449,10246,0.230,0.000,2613,2401,2751,2781,2722,0,0,0,0,0,0,14.81,28.83,13.75
$STATE,3995,end apogee,CONTROL_FINISHED_OK
$STATE,3995,begin climb
$GC,3996,0.91,194.6,2613,2401,2779,2719,702.3,0.0,202,4186,1.15,0.00,185.50,1.401,10758,0.122,0.000,2989,2400,1959,1989,1929,0,0,0,0,0,0,14.28,28.83,13.73
$GC,4466,0.91,194.6,2988,2400,1986,1905,610.8,22.3,218,4467,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2401,1946,1987,1905,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4767,0.91,194.6,2988,2400,1987,1900,544.1,21.2,232,4773,0.00,2.33,0.00,0.000,260,0.000,0.090,2988,3778,1943,1987,1900,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4813,0.91,194.6,2080,3778,1950,1892,533.6,22.6,234,4819,0.00,2.20,0.00,0.000,1030,0.000,0.044,2999,2362,1943,1987,1900,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5131,0.91,194.6,3000,2358,1987,1896,469.5,19.6,250,5137,0.00,2.20,0.00,0.000,516,0.000,0.055,3009,981,1941,1987,1896,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5194,0.91,194.6,3009,981,1987,1896,457.1,19.9,253,5200,0.00,2.28,0.00,0.000,1030,0.000,0.062,3009,2381,1941,1987,1896,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5518,0.91,194.6,3009,2382,1987,1894,400.5,17.3,269,5519,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2382,1940,1986,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5818,0.91,194.6,3009,2382,1987,1893,340.9,19.7,284,5823,0.00,2.22,0.00,0.000,516,0.000,0.053,3019,983,1939,1987,1892,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5844,0.91,194.6,2112,982,1949,1883,336.7,19.0,285,5849,0.00,2.28,0.00,0.000,1030,0.000,0.063,3020,2385,1939,1987,1891,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6161,0.91,194.6,3019,2384,1986,1890,276.1,20.5,301,6167,0.00,2.33,0.00,0.000,260,0.000,0.092,3019,3775,1938,1986,1890,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6285,0.91,194.6,3020,3775,1986,1890,252.9,18.9,307,6291,0.15,2.15,0.00,0.000,5126,0.296,0.041,2997,2370,1938,1986,1891,0,0,0,0,0,0,14.78,14.98,28.83
$GC,6608,0.91,194.6,2997,2366,1986,1889,201.0,17.9,323,6614,0.00,2.20,0.00,0.000,516,0.000,0.056,3005,985,1938,1987,1889,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6691,0.91,194.6,3005,985,1986,1889,186.6,17.2,327,6698,0.00,2.25,0.00,0.000,1030,0.000,0.060,3005,2381,1937,1986,1889,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7015,0.91,194.6,3004,2381,1986,1889,140.9,14.4,343,7020,0.00,2.30,0.00,0.000,260,0.000,0.089,3005,3772,1937,1986,1889,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7091,0.91,194.6,3005,3778,1986,1889,132.2,14.2,346,7098,0.00,2.15,0.00,0.000,1030,0.000,0.043,3015,2375,1937,1986,1889,0,0,0,0,0,0,28.83,14.97,28.83
$GC,7397,0.91,194.6,3016,2372,1986,1889,91.1,10.9,362,7402,0.00,2.20,0.00,0.000,516,0.000,0.054,3025,983,1940,1986,1894,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7580,0.95,234.1,3025,982,1986,1888,76.1,8.6,371,7605,0.00,2.25,17.17,0.366,9222,0.000,0.058,3025,2384,1797,1838,1757,0,0,0,0,0,0,28.83,14.93,14.66
$GC,7912,0.97,253.4,3025,2384,1839,1763,42.1,9.3,391,7928,0.00,2.30,10.00,0.263,8452,0.000,0.088,3026,3775,1719,1759,1680,0,0,0,0,0,0,28.83,14.86,14.71
$GC,8025,0.97,253.4,3026,3775,1764,1689,30.1,10.1,402,8030,0.00,2.15,0.00,0.000,1030,0.000,0.039,3036,2367,1724,1763,1686,0,0,0,0,0,0,28.83,14.94,28.83
$GC,8334,1.04,325.8,2064,2361,1730,1679,3.8,7.5,457,8347,0.00,0.00,11.15,0.158,8706,0.000,0.000,3036,2363,1629,1673,1585,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8348,end climb,SURFACE_DEPTH_REACHED
$STATE,8348,begin surface coast
$FINISH,-0.4,1.021259
$STATE,8384,end surface coast,CONTROL_FINISHED_OK
$STATE,8384,begin surface
$SM_CCo,8399,77.57,0.145,0,0,915,450.13
$SM_GC,0.04,7.62,0.00,77.57,0.056,0.000,0.145,230,2362,915,-7.61,-1.07,450.13,0,0,0,0,0,0,14.90,28.83,14.76
$IRIDIUM_FIX,2131.85,12058.62,220513,010109
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.91
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,23.60
$XPDR_PINGS,1
$SC_FREEKB,3916608
$24V_AH,13.7,34.897
$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,20.075,75.250,402.075,77.575,0.000,79.317,122.879,163.564,0.250,0.000,28.498,1506.486,5369.899,573.066,1600.683,105.181,0.000,1208.812,0.000,1107.327,0.000,0.542,0.000
$DEVICE_MAMPS,405.450,93.330,1448.910,145.350,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8411.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.295,0.000,0.000,0.000
$MEM,322816
$DATA_FILE_SIZE,16774,466
$CAP_FILE_SIZE,108774,0
$CFSIZE,260034560,251740160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.436, 45.4,1
$GPS,220513,033633,2146.270,12058.758,9,3.4,28,-2.7