version: 66.11
glider: 181
mission: 11
dive: 66
start: 5 23 113 5 12 38
data:
$ID,181
$MISSION,11
$DIVE,66
$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,-95755.75
$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,2450
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,54
$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
$GPS1,230513,050457,2145.908,12107.313,11,2.8,30,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-70.6
$GPS2,230513,051201,2146.031,12107.623,12,1.8,12,-2.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,DOGLEG4
$TGT_LATLONG,2148.000,12112.000
$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,95.0,8363,-24.5,-10.000,-26.73,1035
$D_GRID,855
$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,-1.29,-67.6,215,2477,912,916,0.0,0.0,0,106,0.00,0.00,-83.55,0.000,16390,0.000,0.000,214,2477,3033,3080,2987,0,0,0,0,0,0,28.83,28.83,14.95
$GC,108,-1.29,-67.6,214,2477,3074,2987,3.4,-11.2,14,127,9.60,2.10,0.00,0.000,2308,0.411,0.062,2268,3768,3032,3077,2987,0,0,0,0,0,0,14.46,14.71,28.83
$GC,355,-1.29,-67.6,2268,3768,3083,2985,97.2,-35.9,35,360,0.00,2.00,0.00,0.000,1030,0.000,0.034,2268,2447,3034,3083,2985,0,0,0,0,0,0,28.83,14.81,28.83
$GC,667,-1.29,-67.6,2268,2442,3087,2985,159.1,-21.2,51,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2442,3036,3087,2986,0,0,0,0,0,0,28.83,28.83,28.83
$GC,968,-1.29,-67.6,2268,2442,3088,2986,207.4,-16.7,66,973,0.00,2.12,0.00,0.000,260,0.000,0.074,2258,3758,3038,3088,2989,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1051,-1.29,-67.6,2258,3758,3088,2985,221.6,-16.9,70,1056,0.00,1.98,0.00,0.000,1030,0.000,0.033,2258,2438,3037,3088,2986,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1373,-1.29,-67.6,2257,2431,3090,2983,272.4,-15.6,86,1379,0.00,2.12,0.00,0.000,516,0.000,0.046,2258,1057,3037,3090,2984,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1560,-1.29,-67.6,2257,1057,3090,2983,303.0,-16.5,95,1566,0.15,2.20,0.00,0.000,3078,0.316,0.054,2278,2444,3036,3090,2983,0,0,0,0,0,0,14.76,14.95,28.83
$GC,1878,-1.29,-67.6,2278,2444,3090,2981,345.9,-10.3,111,1883,0.00,2.15,0.00,0.000,516,0.000,0.045,2279,1060,3035,3090,2981,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2110,-1.29,-67.6,2278,1060,3089,2980,370.3,-11.2,122,2115,0.00,2.22,0.00,0.000,1030,0.000,0.056,2271,2458,3035,3090,2980,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2422,-1.29,-67.6,2271,2458,3090,2977,410.3,-11.7,138,2427,0.00,2.17,0.00,0.000,516,0.000,0.047,2271,1063,3036,3096,2977,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2653,-1.29,-67.6,2271,1063,3090,2975,441.2,-14.7,149,2659,0.00,2.22,0.00,0.000,1030,0.000,0.056,2260,2460,3032,3090,2974,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2967,-1.29,-67.6,2260,2460,3090,2971,482.4,-11.4,165,2972,0.00,2.17,0.00,0.000,516,0.000,0.047,2261,1064,3030,3090,2971,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3173,-1.29,-67.6,2260,1064,3090,2969,502.6,-10.1,175,3179,0.15,2.22,0.00,0.000,3078,0.318,0.055,2281,2457,3029,3090,2969,0,0,0,0,0,0,14.78,14.97,28.83
$GC,3491,-1.29,-67.6,2282,2458,3089,2966,541.4,-12.4,191,3497,0.00,2.15,0.00,0.000,260,0.000,0.083,2274,3783,3027,3088,2966,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3543,-1.29,-67.6,2273,3782,3088,2966,547.0,-12.6,193,3548,0.00,2.03,0.00,0.000,1030,0.000,0.041,2273,2436,3027,3088,2966,0,0,0,0,0,0,28.83,15.02,28.83
$GC,3855,-1.29,-67.6,2274,2435,3088,2963,586.6,-12.1,209,3860,0.00,2.15,0.00,0.000,516,0.000,0.052,2274,1062,3024,3087,2962,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3968,-1.29,-67.6,2273,1062,3087,2958,598.9,-11.8,214,3973,0.00,2.22,0.00,0.000,1030,0.000,0.061,2264,2446,3023,3086,2961,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4281,-1.32,-92.3,2264,2447,3085,2959,627.7,-7.6,225,4286,0.00,2.17,0.00,0.000,260,0.000,0.084,2253,3784,3021,3084,2959,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4393,-1.34,-111.7,2253,3784,3082,2959,635.4,-8.1,228,4399,0.00,2.03,0.00,0.000,1030,0.000,0.043,2253,2449,3018,3077,2959,0,0,0,0,0,0,28.83,15.02,28.83
$GC,4706,-1.34,-111.7,2253,2448,3081,2955,666.4,-10.6,239,4711,0.00,2.17,0.00,0.000,516,0.000,0.052,2253,1063,3018,3081,2955,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4937,-1.34,-111.7,2253,1063,3079,2953,689.7,-10.8,246,4943,0.00,2.25,0.00,0.000,1030,0.000,0.061,2243,2458,3016,3079,2953,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5250,-1.34,-111.7,2243,2458,3078,2952,728.1,-11.6,257,5256,0.00,2.15,0.00,0.000,260,0.000,0.087,2232,3774,3014,3077,2952,0,0,0,0,0,0,28.83,14.93,28.83
$GC,5342,-1.34,-111.7,2232,3775,3076,2952,740.0,-12.6,260,5349,0.15,2.03,0.00,0.000,3078,0.342,0.045,2261,2454,3014,3076,2952,0,0,0,0,0,0,14.72,15.00,28.83
$GC,5676,-1.34,-111.7,2261,2454,3076,2949,784.2,-13.0,271,5681,0.00,2.20,0.00,0.000,516,0.000,0.055,2262,1063,3013,3078,2949,0,0,0,0,0,0,28.83,14.96,28.83
$GC,5808,-1.34,-111.7,2258,1063,3073,2949,802.7,-15.2,275,5813,0.00,2.25,0.00,0.000,1030,0.000,0.064,2254,2451,3011,3073,2949,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6131,-1.42,-194.6,2253,2450,3069,2947,832.9,-0.6,286,6137,0.00,2.20,0.00,0.000,260,0.000,0.093,2247,3779,3010,3073,2947,0,0,0,0,0,0,28.83,14.90,28.83
$STATE,6253,end dive,NO_VERTICAL_VELOCITY
$STATE,6253,begin apogee
$GC,6260,-0.25,0.0,2247,2335,3073,2946,832.9,0.0,290,6338,1.08,0.00,68.43,1.565,10246,0.111,0.000,2619,2335,2752,2805,2700,0,0,0,0,1,0,14.88,28.83,13.94
$STATE,6340,end apogee,CONTROL_FINISHED_OK
$STATE,6340,begin climb
$GC,6342,1.42,194.6,2619,2334,2805,2699,832.9,0.0,292,6540,1.55,2.35,182.20,2.331,10756,0.099,0.064,3162,979,1959,1967,1952,0,0,0,0,1,0,14.51,14.04,13.27
$GC,6587,1.42,194.6,3163,978,1967,1949,784.1,25.7,301,6593,0.00,2.35,0.00,0.000,1030,0.000,0.067,3163,2348,1955,1961,1949,0,0,0,0,0,0,28.83,14.32,28.83
$GC,6921,1.42,194.6,3163,2348,1967,1940,681.5,32.3,312,6927,0.00,2.38,0.00,0.000,260,0.000,0.087,3161,3765,1953,1967,1940,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6998,1.42,194.6,3161,3765,1966,1940,659.1,33.2,314,7004,0.00,2.20,0.00,0.000,1030,0.000,0.041,3170,2362,1953,1967,1939,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7316,1.42,194.6,3170,2356,1967,1935,551.4,32.4,327,7318,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2356,1951,1967,1935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7617,1.42,194.6,3170,2356,1967,1932,461.2,27.7,342,7618,0.00,0.00,0.00,0.000,6,0.000,0.000,3170,2357,1950,1967,1933,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7916,1.42,194.6,3170,2356,1967,1931,366.6,30.0,357,7917,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2356,1949,1967,1931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8216,1.42,194.6,3170,2356,1967,1929,282.4,27.0,372,8222,0.00,2.35,0.00,0.000,260,0.000,0.090,3170,3758,1947,1966,1929,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8268,1.42,194.6,3170,3758,1967,1929,270.0,28.1,374,8274,0.00,2.17,0.00,0.000,1030,0.000,0.041,3180,2348,1948,1967,1929,0,0,0,0,0,0,28.83,14.94,28.83
$GC,8580,1.42,194.6,3180,2342,1967,1929,180.7,27.0,390,8586,0.00,2.22,0.00,0.000,516,0.000,0.053,3190,952,1948,1967,1929,0,0,0,0,0,0,28.83,14.91,28.83
$GC,8591,1.42,194.6,3190,951,1966,1928,180.7,27.0,390,8598,0.15,2.28,0.00,0.000,5126,0.348,0.056,3162,2362,1947,1967,1928,0,0,0,0,0,0,14.68,14.88,28.83
$GC,8905,1.42,194.6,3163,2365,1967,1926,111.0,23.0,406,8911,0.00,2.25,0.00,0.000,516,0.000,0.052,3170,958,1947,1967,1927,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9008,1.42,194.6,3170,957,1967,1926,88.9,21.2,411,9013,0.00,2.25,0.00,0.000,1030,0.000,0.060,3170,2346,1947,1968,1926,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9321,1.42,194.6,3176,2347,1967,1925,40.1,12.8,429,9326,0.00,2.33,0.00,0.000,260,0.000,0.083,3171,3759,1946,1967,1925,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9554,1.42,198.7,2208,3758,1929,1915,21.4,9.6,455,9561,0.00,2.17,0.00,0.000,1030,0.000,0.037,3180,2319,1946,1967,1925,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,9811,end climb,SURFACE_DEPTH_REACHED
$STATE,9812,begin surface coast
$FINISH,-0.9,1.021399
$STATE,9884,end surface coast,CONTROL_FINISHED_OK
$STATE,9884,begin surface
$SM_CCo,9900,112.57,0.151,0,0,915,450.13
$SM_GC,-0.10,8.15,0.22,112.57,0.067,0.097,0.151,231,2476,915,-7.63,-0.88,450.13,0,0,0,0,0,0,14.88,14.92,14.73
$IRIDIUM_FIX,2129.53,12255.12,230513,020240
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.91
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,22.80
$XPDR_PINGS,16
$SC_FREEKB,3912768
$24V_AH,13.3,37.122
$10V_AH,13.4,0.000
$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,20.975,83.500,250.625,112.575,0.000,29.030,39.068,187.176,4.000,0.000,15.231,1915.830,6138.880,494.213,1800.396,112.396,0.000,1248.323,0.000,1417.780,0.000,0.540,0.000
$DEVICE_MAMPS,410.805,97.155,2330.955,150.705,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9935.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.545,0.000,0.000,0.000
$MEM,322836
$DATA_FILE_SIZE,20069,520
$CAP_FILE_SIZE,122443,0
$CFSIZE,260034560,250875904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.248, 26.1,1
$GPS,230513,080054,2147.369,12109.199,40,1.0,40,-2.7