version: 66.11
glider: 181
mission: 11
dive: 28
start: 5 20 113 3 29 12
data:
$ID,181
$MISSION,11
$DIVE,28
$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,-95707.344
$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,63
$R_STBD_OVSHOOT,35
$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
$GPS1,200513,032236,2148.864,12032.886,40,1.0,40,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-69.5
$GPS2,200513,032843,2148.881,12032.925,13,1.0,13,-2.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,DOGLEG2
$TGT_LATLONG,2148.000,12100.000
$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,105.8,46586,-14.3,-10.000,-17.31,2952
$D_GRID,592
$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,-194.6,215,2387,923,920,0.0,0.0,0,110,0.00,0.00,-89.50,0.000,16386,0.000,0.000,213,2389,3120,3169,3071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.91,-194.6,213,2389,3169,3077,3.2,-10.5,15,138,10.15,2.28,-7.53,0.000,19204,0.414,0.094,2389,3783,3550,3636,3464,0,0,0,0,0,0,14.52,14.76,14.97
$GC,299,-0.91,-194.6,2389,3783,3636,3468,62.5,-28.0,34,306,0.00,2.10,0.00,0.000,1030,0.000,0.037,2389,2404,3551,3636,3466,0,0,0,0,0,0,28.83,14.85,28.83
$GC,605,-0.91,-194.6,2389,2399,3638,3469,137.7,-17.8,50,611,0.00,2.17,0.00,0.000,516,0.000,0.047,2389,997,3553,3638,3469,0,0,0,0,0,0,28.83,14.90,28.83
$GC,728,-0.91,-194.6,2389,997,3640,3469,163.0,-21.6,56,733,0.00,2.25,0.00,0.000,1030,0.000,0.057,2380,2406,3554,3639,3470,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1051,-0.91,-194.6,2379,2406,3640,3469,228.8,-19.6,72,1056,0.00,2.22,0.00,0.000,260,0.000,0.080,2368,3777,3554,3640,3469,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1116,-0.91,-194.6,1536,3776,3636,3467,241.7,-20.2,75,1122,0.15,2.10,0.00,0.000,3078,0.275,0.037,2402,2381,3554,3639,3470,0,0,0,0,0,0,14.81,14.98,28.83
$GC,1434,-0.91,-194.6,2402,2376,3640,3469,293.4,-15.2,91,1440,0.00,2.12,0.00,0.000,516,0.000,0.048,2402,1006,3554,3639,3469,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1477,-0.91,-194.6,2402,1005,3635,3469,300.1,-15.9,93,1483,0.00,2.22,0.00,0.000,1030,0.000,0.060,2394,2398,3554,3639,3469,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1800,-0.91,-194.6,2395,2398,3639,3466,355.2,-16.9,109,1805,0.00,2.25,0.00,0.000,260,0.000,0.084,2381,3787,3553,3639,3467,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1842,-0.91,-194.6,2385,3787,3639,3465,362.6,-17.4,111,1847,0.00,2.10,0.00,0.000,1030,0.000,0.038,2385,2402,3552,3639,3465,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2164,-0.91,-194.6,2385,2397,3639,3462,419.0,-17.1,127,2169,0.00,2.28,0.00,0.000,260,0.000,0.089,2374,3783,3550,3639,3462,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2195,-0.91,-194.6,2374,3784,3639,3462,423.0,-17.5,128,2202,0.12,2.10,0.00,0.000,3078,0.274,0.041,2401,2397,3550,3639,3462,0,0,0,0,0,0,14.85,15.02,28.83
$GC,2509,-0.91,-194.6,2402,2393,3639,3458,473.6,-14.3,144,2514,0.00,2.28,0.00,0.000,260,0.000,0.086,2394,3783,3548,3639,3458,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2545,-0.91,-194.6,2394,3784,3639,3457,476.8,-14.9,145,2552,0.00,2.10,0.00,0.000,1030,0.000,0.041,2394,2396,3548,3640,3457,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2851,-0.91,-194.6,2394,2395,3639,3454,519.1,-9.8,161,2857,0.00,2.17,0.00,0.000,516,0.000,0.054,2394,1006,3546,3639,3454,0,0,0,0,0,0,28.83,15.03,28.83
$GC,3083,-0.91,-194.6,1504,1005,3635,3449,520.9,-0.1,172,3089,0.00,2.22,0.00,0.000,1030,0.000,0.057,2384,2404,3544,3637,3451,0,0,0,0,0,0,28.83,14.99,28.83
$STATE,3315,end dive,NO_VERTICAL_VELOCITY
$STATE,3315,begin apogee
$GC,3318,-0.25,0.0,2384,2403,3638,3449,522.3,0.0,184,3497,0.73,0.00,171.05,1.248,10246,0.181,0.000,2612,2405,2749,2778,2720,0,0,0,0,0,0,14.89,28.83,13.83
$STATE,3499,end apogee,CONTROL_FINISHED_OK
$STATE,3499,begin climb
$GC,3500,0.91,194.6,2612,2405,2776,2717,522.2,0.0,193,3687,1.27,2.45,173.90,1.221,11012,0.203,0.055,2993,989,1954,1993,1915,0,0,0,0,0,0,14.27,14.26,13.76
$GC,3828,0.93,211.3,2993,988,1992,1898,500.7,9.4,209,3849,0.00,2.28,14.68,1.259,9222,0.000,0.055,2993,2378,1888,1936,1840,0,0,0,0,0,0,28.83,14.62,14.04
$GC,4161,0.93,211.3,2992,2377,1931,1827,467.8,10.7,226,4162,0.00,0.00,0.00,0.000,6,0.000,0.000,2992,2377,1879,1931,1827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4462,0.95,237.8,2993,2377,1931,1824,438.0,9.1,241,4492,0.00,2.42,23.85,1.212,8452,0.000,0.092,2993,3778,1778,1826,1730,0,0,0,0,0,0,28.83,14.69,14.23
$GC,4548,0.95,237.8,2992,3778,1823,1726,429.4,10.3,245,4554,0.00,2.17,0.00,0.000,1030,0.000,0.042,3002,2375,1774,1823,1726,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4866,0.95,237.8,3003,2371,1823,1719,390.1,11.8,261,4871,0.00,2.22,0.00,0.000,516,0.000,0.057,3013,982,1771,1823,1719,0,0,0,0,0,0,28.83,14.86,28.83
$GC,4892,0.95,237.8,3013,982,1823,1719,387.7,11.5,262,4897,0.00,2.25,0.00,0.000,1030,0.000,0.060,3012,2373,1770,1823,1718,0,0,0,0,0,0,28.83,14.86,28.83
$GC,5209,0.95,237.8,3012,2373,1823,1716,351.5,10.5,278,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2373,1769,1823,1715,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5510,1.00,281.4,3013,2373,1823,1715,322.6,8.5,293,5555,0.00,2.25,38.60,1.090,8708,0.000,0.054,3022,987,1599,1646,1553,0,0,0,0,0,0,28.83,14.73,14.27
$GC,5607,1.03,314.8,3021,987,1645,1545,315.3,8.8,297,5642,0.00,2.28,29.20,1.079,9222,0.000,0.060,3021,2381,1470,1513,1427,0,0,0,0,0,0,28.83,14.76,14.17
$GC,5954,1.03,314.8,3021,2381,1508,1405,277.0,11.4,315,5959,0.00,2.35,0.00,0.000,260,0.000,0.093,3021,3783,1458,1509,1407,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5970,1.03,314.8,3021,3782,1508,1406,277.0,11.4,315,5977,0.00,2.17,0.00,0.000,1030,0.000,0.043,3032,2379,1457,1509,1405,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6276,1.03,314.8,3032,2375,1508,1402,235.2,13.8,331,6281,0.00,2.22,0.00,0.000,516,0.000,0.057,3042,978,1456,1509,1403,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6292,1.03,314.8,3042,978,1509,1402,235.2,13.8,331,6299,0.00,2.28,0.00,0.000,1030,0.000,0.060,3042,2381,1455,1509,1402,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6598,1.03,314.8,3042,2381,1509,1401,188.1,13.5,347,6603,0.00,2.33,0.00,0.000,260,0.000,0.093,3042,3778,1455,1509,1401,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6671,1.03,314.8,3042,3778,1509,1402,179.3,13.9,350,6676,0.00,2.15,0.00,0.000,1030,0.000,0.041,3053,2374,1454,1508,1401,0,0,0,0,0,0,28.83,14.93,28.83
$GC,6983,1.03,314.8,3053,2370,1508,1399,137.5,14.2,366,6989,0.00,2.20,0.00,0.000,516,0.000,0.055,3062,986,1454,1508,1400,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7035,1.03,314.8,3063,985,1508,1399,131.6,14.4,368,7040,0.00,2.25,0.00,0.000,1030,0.000,0.059,3063,2382,1453,1508,1399,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7347,1.03,314.8,3063,2383,1508,1398,90.6,12.3,384,7349,0.12,0.00,0.00,0.000,4102,0.257,0.000,3032,2382,1453,1508,1398,0,0,0,0,0,0,14.84,28.83,28.83
$GC,7648,1.13,419.3,3032,2382,1508,1398,64.2,6.4,399,7702,0.00,2.28,47.72,0.337,8708,0.000,0.060,3034,987,1042,1078,1007,0,0,0,0,0,0,28.83,14.85,14.64
$GC,7723,1.23,510.7,3034,987,1082,1009,59.9,6.8,402,7775,0.17,2.25,42.70,0.322,11270,0.099,0.057,3127,2383,672,699,645,0,0,0,0,0,0,14.90,14.85,14.59
$GC,8077,1.23,511.8,2192,2381,718,644,13.0,10.0,444,8086,0.12,2.38,1.92,0.184,12548,0.241,0.089,3092,3773,665,706,624,0,0,0,0,0,0,14.73,14.80,14.73
$GC,8099,1.23,514.9,3095,3773,712,628,10.9,9.9,447,8106,0.00,2.15,2.33,0.207,9222,0.000,0.041,3098,2373,651,694,609,0,0,0,0,0,0,28.83,14.88,14.74
$STATE,8196,end climb,SURFACE_DEPTH_REACHED
$STATE,8196,begin surface coast
$FINISH,0.3,1.021640
$STATE,8228,end surface coast,CONTROL_FINISHED_OK
$STATE,8228,begin surface
$SM_CCo,8302,0.00,0.000,0,0,662,512.92
$SM_GC,-0.31,7.97,0.00,0.00,0.074,0.000,0.000,241,2369,662,-7.61,-0.88,512.92,0,0,0,0,0,0,14.87,28.83,28.83
$IRIDIUM_FIX,2134.17,12034.75,200513,010149
$TT8_MAMPS,0.018725,0.018725
$HUMID,48.30
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,22.30
$XPDR_PINGS,20
$SC_FREEKB,3927360
$24V_AH,13.8,30.477
$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,20.825,80.300,545.950,0.000,0.000,30.305,16.766,165.772,5.000,0.000,16.226,1450.388,5119.846,580.779,1447.640,87.069,0.000,1269.636,0.000,1120.715,0.000,0.541,0.000
$DEVICE_MAMPS,413.865,94.095,1259.190,0.000,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8256.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.515,0.000,0.000,0.000
$MEM,323192
$DATA_FILE_SIZE,16805,472
$CAP_FILE_SIZE,109511,0
$CFSIZE,260034560,253501440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,332.7,1
$GPS,200513,054845,2148.862,12033.951,11,4.0,30,-2.7