version: 66.11
glider: 181
mission: 11
dive: 20
start: 5 19 113 8 27 59
data:
$ID,181
$MISSION,11
$DIVE,20
$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,-95697.336
$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,62
$R_STBD_OVSHOOT,31
$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
$GPS1,190513,082054,2151.356,12028.723,41,1.0,41,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-69.3
$GPS2,190513,082730,2151.363,12028.684,12,1.1,17,-2.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,DOGLEG
$TGT_LATLONG,2148.000,12030.000
$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,158.7,6627,-14.3,-10.000,-17.31,2952
$D_GRID,683
$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,17,begin dive
$GC,19,-0.91,-194.6,217,2387,917,919,0.0,0.0,0,112,0.00,0.00,-90.55,0.000,16386,0.000,0.000,217,2392,3202,3254,3151,0,0,0,0,0,0,28.83,28.83,28.83
$GC,114,-0.91,-194.6,216,2392,3254,3152,4.1,-13.9,16,135,10.23,2.25,-5.72,0.000,18948,0.418,0.071,2395,1008,3549,3634,3465,0,0,0,0,0,0,14.50,14.75,14.94
$GC,357,-0.91,-194.6,2398,1007,3637,3464,81.6,-25.3,37,364,0.00,2.25,0.00,0.000,1030,0.000,0.060,2390,2396,3552,3637,3467,0,0,0,0,0,0,28.83,14.80,28.83
$GC,663,-0.91,-194.6,2390,2397,3640,3468,149.5,-21.2,53,668,0.00,2.25,0.00,0.000,260,0.000,0.083,2379,3780,3553,3639,3468,0,0,0,0,0,0,28.83,14.86,28.83
$GC,694,-0.91,-194.6,2379,3780,3640,3469,155.0,-22.2,54,699,0.00,2.10,0.00,0.000,1030,0.000,0.037,2375,2397,3552,3640,3465,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1006,-0.91,-194.6,2379,2391,3641,3469,226.2,-19.8,70,1012,0.00,2.15,0.00,0.000,516,0.000,0.044,2378,999,3554,3640,3469,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1053,-0.91,-194.6,2379,998,3640,3469,234.3,-19.2,72,1059,0.15,2.25,0.00,0.000,3078,0.269,0.060,2404,2402,3554,3640,3469,0,0,0,0,0,0,14.78,14.90,28.83
$GC,1371,-0.91,-194.6,2404,2402,3640,3469,287.2,-16.0,88,1376,0.00,2.17,0.00,0.000,516,0.000,0.046,2404,1004,3555,3640,3470,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1413,-0.91,-194.6,2404,1004,3640,3468,293.8,-16.0,90,1418,0.00,2.25,0.00,0.000,1030,0.000,0.060,2397,2410,3557,3640,3475,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1735,-0.91,-194.6,2397,2410,3640,3466,338.5,-13.0,106,1736,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2411,3553,3640,3467,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2036,-0.91,-194.6,2403,2411,3640,3463,383.3,-15.7,121,2041,0.00,2.22,0.00,0.000,260,0.000,0.088,2386,3776,3551,3640,3463,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2119,-0.91,-194.6,2387,3777,3640,3462,397.3,-16.9,125,2124,0.00,2.10,0.00,0.000,1030,0.000,0.041,2386,2383,3551,3640,3462,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2441,-0.91,-194.6,2386,2378,3637,3458,446.4,-15.2,141,2447,0.00,2.12,0.00,0.000,516,0.000,0.051,2386,1012,3548,3640,3457,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2478,-0.91,-194.6,2386,1011,3639,3457,450.0,-15.3,142,2485,0.12,2.25,0.00,0.000,3078,0.273,0.063,2405,2408,3548,3640,3457,0,0,0,0,0,0,14.87,14.97,28.83
$GC,2784,-0.91,-194.6,2405,2408,3641,3453,494.5,-13.9,158,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2408,3546,3640,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3084,-0.91,-194.6,2405,2408,3638,3450,538.9,-14.1,173,3090,0.00,2.25,0.00,0.000,260,0.000,0.093,2397,3780,3544,3638,3450,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3187,-0.91,-194.6,2397,3780,3637,3450,554.0,-14.7,178,3192,0.00,2.10,0.00,0.000,1030,0.000,0.044,2397,2398,3543,3636,3450,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3509,-0.91,-194.6,2397,2392,3636,3446,598.7,-13.5,194,3514,0.00,2.17,0.00,0.000,516,0.000,0.054,2399,1005,3541,3636,3446,0,0,0,0,0,0,28.83,15.00,28.83
$GC,3555,-0.91,-194.6,2397,1005,3635,3446,603.0,-13.6,196,3561,0.00,2.25,0.00,0.000,1030,0.000,0.063,2388,2399,3541,3636,3446,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3873,-0.91,-194.6,2388,2400,3633,3443,647.3,-13.4,207,3878,0.00,2.28,0.00,0.000,260,0.000,0.095,2378,3778,3538,3634,3443,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3899,-0.91,-194.6,2378,3778,3633,3443,647.3,-13.4,207,3907,0.00,2.10,0.00,0.000,1030,0.000,0.046,2378,2404,3538,3633,3443,0,0,0,0,0,0,28.83,15.02,28.83
$STATE,4174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4174,begin apogee
$GC,4177,-0.25,0.0,2378,2401,3632,3440,686.6,-13.0,217,4365,0.80,0.00,179.95,1.431,10246,0.227,0.000,2612,2401,2750,2783,2718,0,0,0,0,0,0,14.86,28.83,13.69
$STATE,4366,end apogee,CONTROL_FINISHED_OK
$STATE,4366,begin climb
$GC,4368,0.91,194.6,2612,2401,2781,2716,689.4,0.0,223,4560,1.15,2.42,180.82,1.407,10756,0.125,0.055,2997,988,1954,1984,1924,0,0,0,0,0,0,14.24,14.18,13.64
$GC,4571,0.91,194.6,2997,988,1983,1918,661.0,17.6,230,4577,0.00,2.35,0.00,0.000,1030,0.000,0.060,2997,2376,1949,1983,1916,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4880,0.91,194.6,2997,2376,1983,1903,591.2,22.3,241,4885,0.00,2.38,0.00,0.000,260,0.000,0.091,2997,3784,1943,1983,1903,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4931,0.91,194.6,2997,3784,1983,1902,581.4,22.3,243,4937,0.00,2.20,0.00,0.000,1030,0.000,0.041,3007,2373,1942,1983,1902,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5243,0.91,194.6,3008,2368,1983,1898,513.3,21.2,259,5245,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2368,1940,1983,1898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5545,0.91,194.6,3008,2367,1983,1896,448.7,21.5,274,5550,0.00,2.38,0.00,0.000,260,0.000,0.091,3008,3784,1939,1983,1896,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5621,0.91,194.6,3008,3784,1983,1896,434.2,22.4,277,5629,0.00,2.17,0.00,0.000,1030,0.000,0.041,3018,2374,1939,1983,1896,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5927,0.91,194.6,3018,2369,1983,1894,364.0,21.2,293,5933,0.00,2.20,0.00,0.000,516,0.000,0.053,3028,982,1938,1983,1894,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5939,0.91,194.6,3028,982,1983,1894,364.0,21.2,293,5945,0.15,2.25,0.00,0.000,5126,0.285,0.059,2996,2379,1939,1984,1894,0,0,0,0,0,0,14.76,14.90,28.83
$GC,6252,0.91,194.6,2996,2379,1983,1892,298.7,22.2,309,6257,0.00,2.30,0.00,0.000,260,0.000,0.090,2996,3772,1937,1983,1892,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6348,0.91,194.6,2996,3772,1983,1891,279.8,23.1,313,6355,0.00,2.15,0.00,0.000,1030,0.000,0.042,3003,2376,1937,1983,1892,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6654,0.91,194.6,3004,2372,1983,1890,213.6,19.8,329,6659,0.00,2.20,0.00,0.000,516,0.000,0.054,3014,982,1936,1983,1890,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6696,0.91,194.6,3014,982,1983,1890,205.7,19.2,331,6701,0.00,2.25,0.00,0.000,1030,0.000,0.061,3014,2373,1936,1983,1890,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7019,0.91,194.6,3014,2371,1983,1890,148.0,16.5,347,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2373,1936,1983,1889,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7319,0.91,194.6,3014,2373,1983,1888,98.4,16.1,362,7325,0.00,2.33,0.00,0.000,260,0.000,0.087,3014,3783,1936,1983,1889,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7346,0.91,194.6,3013,3782,1983,1889,95.1,15.1,363,7352,0.15,2.15,0.00,0.000,5126,0.308,0.040,2993,2366,1935,1983,1888,0,0,0,0,0,0,14.76,14.95,28.83
$GC,7665,0.91,194.6,2992,2362,1983,1888,58.3,11.3,379,7670,0.00,2.35,0.00,0.000,260,0.000,0.086,2993,3785,1935,1983,1888,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7716,0.91,194.6,2993,3785,1983,1888,53.4,10.8,381,7721,0.00,2.15,0.00,0.000,1030,0.000,0.040,3001,2370,1935,1983,1888,0,0,0,0,0,0,28.83,14.97,28.83
$GC,8023,0.92,202.2,2048,2364,1945,1879,19.9,9.7,415,8031,0.00,2.15,0.00,0.000,516,0.000,0.050,3010,989,1935,1984,1887,0,0,0,0,0,0,28.83,14.94,28.83
$GC,8098,0.97,257.3,2048,989,1944,1879,13.2,8.1,429,8134,0.00,2.22,26.92,0.187,9222,0.000,0.055,3010,2385,1701,1741,1661,0,0,0,0,0,0,28.83,14.92,14.76
$STATE,8260,end climb,SURFACE_DEPTH_REACHED
$STATE,8260,begin surface coast
$FINISH,-0.4,1.021668
$STATE,8297,end surface coast,CONTROL_FINISHED_OK
$STATE,8297,begin surface
$SM_CCo,8311,85.80,0.149,0,0,915,450.13
$SM_GC,-0.11,7.55,0.00,85.80,0.055,0.000,0.149,232,2385,915,-7.62,-0.42,450.13,0,0,0,0,0,0,14.92,28.83,14.76
$IRIDIUM_FIX,2134.17,12026.40,190513,050550
$TT8_MAMPS,0.019474,0.019474
$HUMID,44.29
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,24.50
$XPDR_PINGS,2
$SC_FREEKB,3930432
$24V_AH,13.6,28.928
$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,20.300,80.125,387.700,85.800,0.000,24.603,37.826,173.249,0.500,0.000,20.061,1413.520,5356.581,548.475,1401.234,90.900,0.000,1184.349,0.000,1050.846,0.000,0.542,0.000
$DEVICE_MAMPS,417.690,94.860,1430.550,149.175,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8328.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.213,0.000,0.000,0.000
$MEM,323256
$DATA_FILE_SIZE,16763,467
$CAP_FILE_SIZE,106225,0
$CFSIZE,260034560,254140416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,346.7,1
$GPS,190513,104849,2150.559,12029.193,11,1.6,11,-2.7