version: 66.11
glider: 181
mission: 11
dive: 67
start: 5 23 113 8 8 36
data:
$ID,181
$MISSION,11
$DIVE,67
$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,-95757
$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,79
$R_STBD_OVSHOOT,52
$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
$GPS1,230513,080054,2147.369,12109.199,40,1.0,40,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-70.0
$GPS2,230513,080806,2147.430,12109.405,11,1.1,16,-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,124.4,4585,-27.9,-10.000,-30.00,792
$D_GRID,821
$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,-1.45,-51.7,227,2478,911,913,0.0,0.0,0,103,0.00,0.00,-82.43,0.000,16390,0.000,0.000,227,2479,2965,3005,2925,0,0,0,0,0,0,28.83,28.83,14.93
$GC,106,-1.46,-61.2,227,2479,3005,2926,2.8,-8.8,14,121,9.32,2.28,-0.77,0.000,19204,0.414,0.061,2228,1063,3004,3049,2960,0,0,0,0,0,0,14.48,14.75,14.84
$GC,128,-1.46,-61.2,2228,1063,3050,2960,13.5,-37.1,17,135,0.00,2.20,0.00,0.000,1030,0.000,0.046,2220,2438,3005,3050,2961,0,0,0,0,0,0,28.83,14.73,28.83
$GC,452,-1.46,-61.2,2220,2438,3055,2960,104.8,-20.6,41,457,0.00,2.15,0.00,0.000,260,0.000,0.073,2210,3770,3007,3055,2960,0,0,0,0,0,0,28.83,14.78,28.83
$GC,534,-1.46,-61.2,2209,3771,3054,2960,121.1,-19.9,45,539,0.00,1.98,0.00,0.000,1030,0.000,0.035,2209,2462,3008,3056,2961,0,0,0,0,0,0,28.83,14.84,28.83
$GC,857,-1.46,-61.2,2210,2458,3059,2960,172.9,-13.7,61,862,0.00,2.17,0.00,0.000,516,0.000,0.044,2210,1053,3009,3059,2960,0,0,0,0,0,0,28.83,14.90,28.83
$GC,867,-1.46,-61.2,2210,1052,3059,2956,172.9,-13.7,61,873,0.12,2.22,0.00,0.000,3078,0.343,0.050,2223,2447,3009,3059,2960,0,0,0,0,0,0,14.68,14.87,28.83
$GC,1180,-1.46,-61.2,2222,2447,3060,2957,221.2,-15.7,77,1186,0.00,2.12,0.00,0.000,260,0.000,0.072,2215,3777,3010,3060,2960,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1412,-1.46,-61.2,2215,3777,3060,2960,261.2,-18.0,88,1418,0.00,2.00,0.00,0.000,1030,0.000,0.033,2215,2436,3010,3060,2960,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1725,-1.46,-61.2,2215,2433,3060,2960,305.7,-13.9,104,1730,0.00,2.17,0.00,0.000,260,0.000,0.073,2205,3783,3010,3061,2960,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1957,-1.46,-61.2,2205,3783,3060,2959,339.3,-14.7,115,1962,0.00,2.00,0.00,0.000,1030,0.000,0.034,2205,2445,3009,3060,2959,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2269,-1.46,-61.2,2204,2440,3060,2956,391.6,-15.7,131,2274,0.00,2.12,0.00,0.000,516,0.000,0.047,2205,1066,3008,3061,2956,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2500,-1.46,-61.2,2205,1067,3061,2955,421.4,-14.0,142,2507,0.15,2.20,0.00,0.000,3078,0.327,0.057,2224,2448,3008,3062,2954,0,0,0,0,0,0,14.76,14.96,28.83
$GC,2814,-1.46,-61.2,2225,2448,3056,2952,456.4,-10.1,158,2820,0.00,2.15,0.00,0.000,260,0.000,0.078,2216,3777,3006,3060,2952,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2961,-1.46,-61.2,1424,3776,3037,2945,474.0,-12.5,165,2967,0.00,2.00,0.00,0.000,1030,0.000,0.038,2216,2450,3006,3060,2952,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3278,-1.46,-61.2,2216,2448,3060,2949,507.4,-10.4,181,3285,0.00,2.15,0.00,0.000,516,0.000,0.048,2216,1065,3004,3060,2949,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3511,-1.46,-61.2,2216,1065,3060,2946,531.0,-10.7,192,3516,0.00,2.22,0.00,0.000,1030,0.000,0.057,2206,2456,3002,3059,2946,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3823,-1.46,-61.2,2206,2457,3058,2943,565.7,-11.3,208,3828,0.00,2.20,0.00,0.000,516,0.000,0.050,2206,1058,3000,3058,2942,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4055,-1.46,-61.2,2206,1057,3056,2941,593.2,-12.7,219,4061,0.15,2.25,0.00,0.000,3078,0.337,0.058,2225,2459,2998,3056,2940,0,0,0,0,0,0,14.76,14.94,28.83
$GC,4378,-1.46,-61.2,2226,2460,3055,2937,631.4,-10.5,231,4383,0.00,2.20,0.00,0.000,516,0.000,0.051,2226,1062,2996,3056,2937,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4609,-1.46,-61.2,2226,1066,3056,2934,655.9,-11.5,238,4615,0.00,2.22,0.00,0.000,1030,0.000,0.059,2218,2450,2995,3056,2934,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4922,-1.46,-61.2,2218,2450,3054,2931,689.8,-10.4,249,4923,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2451,2992,3054,2931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5222,-1.46,-61.2,2218,2451,3053,2929,722.2,-10.5,259,5227,0.00,2.15,0.00,0.000,260,0.000,0.084,2208,3774,2990,3051,2929,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5295,-1.46,-61.2,2208,3774,3050,2931,728.9,-10.6,261,5301,0.00,2.03,0.00,0.000,1030,0.000,0.045,2209,2451,2990,3050,2930,0,0,0,0,0,0,28.83,15.01,28.83
$GC,5619,-1.46,-61.2,2208,2450,3050,2926,764.7,-11.7,272,5624,0.00,2.20,0.00,0.000,516,0.000,0.055,2208,1056,2988,3050,2927,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5851,-1.46,-61.2,2207,1054,3050,2931,789.9,-11.4,279,5857,0.15,2.28,0.00,0.000,3078,0.347,0.063,2227,2449,2987,3049,2926,0,0,0,0,0,0,14.73,14.94,28.83
$GC,6165,-1.47,-74.8,2227,2449,3049,2923,819.3,-8.2,290,6171,0.00,2.17,0.00,0.000,260,0.000,0.086,2219,3776,2985,3048,2923,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,6197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6197,begin apogee
$GC,6204,-0.25,0.0,2219,2348,3048,2923,822.4,-8.5,291,6268,1.50,0.00,59.12,1.623,10246,0.308,0.000,2610,2346,2752,2805,2700,0,0,0,0,0,0,14.71,28.83,13.93
$STATE,6270,end apogee,CONTROL_FINISHED_OK
$STATE,6270,begin climb
$GC,6272,1.47,74.8,2610,2346,2805,2698,824.6,0.0,293,6356,1.67,0.00,79.65,1.587,10246,0.124,0.000,3165,2346,2446,2467,2426,0,0,0,0,0,0,14.51,28.83,13.69
$GC,6648,1.47,74.8,3165,2346,2460,2410,746.6,22.5,306,6655,0.00,2.28,0.00,0.000,516,0.000,0.059,3175,956,2435,2460,2410,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6731,1.47,74.8,3174,956,2460,2409,733.0,21.8,308,6737,0.00,2.30,0.00,0.000,1030,0.000,0.064,3175,2347,2434,2459,2409,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7044,1.47,74.8,3175,2348,2459,2405,658.8,21.8,319,7050,0.00,2.35,0.00,0.000,260,0.000,0.086,3175,3758,2432,2459,2405,0,0,0,0,0,0,28.83,14.79,28.83
$GC,7077,1.47,74.8,3175,3758,2457,2405,651.4,21.8,320,7082,0.00,2.20,0.00,0.000,1030,0.000,0.041,3185,2343,2432,2458,2406,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7390,1.47,74.8,3186,2338,2458,2402,589.3,19.5,331,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2338,2430,2458,2402,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7691,1.47,74.8,3185,2338,2458,2401,534.0,17.8,346,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2338,2429,2458,2401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7990,1.47,74.8,3185,2338,2458,2399,480.4,17.5,361,7996,0.00,2.20,0.00,0.000,516,0.000,0.050,3195,952,2428,2457,2399,0,0,0,0,0,0,28.83,14.91,28.83
$GC,8073,1.47,74.8,3195,952,2457,2397,464.5,18.9,365,8080,0.00,2.28,0.00,0.000,1030,0.000,0.057,3195,2364,2427,2457,2397,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8397,1.47,74.8,3196,2365,2458,2396,396.3,20.5,381,8402,0.00,2.30,0.00,0.000,260,0.000,0.082,3195,3764,2427,2458,2396,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8509,1.47,74.8,3195,3764,2457,2396,375.4,20.5,386,8515,0.15,2.17,0.00,0.000,5126,0.383,0.041,3179,2344,2426,2457,2396,0,0,0,0,0,0,14.66,14.95,28.83
$GC,8822,1.47,74.8,3179,2340,2457,2395,322.0,16.8,402,8828,0.00,2.20,0.00,0.000,516,0.000,0.052,3187,955,2426,2457,2395,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8848,1.47,74.8,2312,954,2416,2384,318.3,16.6,403,8853,0.00,2.25,0.00,0.000,1030,0.000,0.058,3186,2349,2426,2457,2395,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9166,1.47,74.8,3187,2348,2457,2395,264.2,16.0,419,9171,0.00,2.33,0.00,0.000,260,0.000,0.084,3187,3757,2426,2457,2395,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9352,1.47,74.8,2312,3756,2415,2384,236.0,14.1,428,9358,0.00,2.17,0.00,0.000,1030,0.000,0.040,3197,2342,2426,2457,2395,0,0,0,0,0,0,28.83,14.95,28.83
$GC,9670,1.47,76.6,3197,2339,2457,2394,200.3,9.8,444,9676,0.00,2.20,0.00,0.000,516,0.000,0.053,3207,960,2426,2457,2395,0,0,0,0,0,0,28.83,14.92,28.83
$GC,9903,1.47,76.6,3207,960,2451,2395,171.6,13.3,455,9909,0.15,2.25,0.00,0.000,5126,0.353,0.056,3179,2361,2425,2456,2394,0,0,0,0,0,0,14.66,14.90,28.83
$GC,10216,1.52,123.1,3179,2361,2456,2394,143.2,4.0,471,10278,0.00,2.33,46.45,1.324,8708,0.000,0.051,3187,967,2252,2271,2234,0,0,0,0,1,0,28.83,14.62,14.01
$GC,10505,1.52,123.1,2272,966,2230,2220,106.9,14.6,485,10510,0.00,2.25,0.00,0.000,1030,0.000,0.057,3187,2346,2251,2271,2232,0,0,0,0,0,0,28.83,14.73,28.83
$GC,10822,1.56,165.7,3186,2347,2271,2230,77.7,4.5,501,10852,0.00,2.38,21.65,0.386,8452,0.000,0.080,3187,3756,2077,2095,2059,0,0,0,0,0,0,28.83,14.74,14.53
$GC,10928,1.56,165.7,3187,3756,2095,2059,66.7,12.1,506,10934,0.00,2.17,0.00,0.000,1030,0.000,0.038,3197,2341,2077,2095,2059,0,0,0,0,0,0,28.83,14.80,28.83
$GC,11236,1.58,179.1,3197,2339,2095,2050,34.5,8.3,530,11249,0.00,2.25,6.53,0.252,8708,0.000,0.049,3207,957,2021,2046,1997,0,0,0,0,0,0,28.83,14.83,14.65
$GC,11322,1.61,216.7,3207,958,2046,1997,29.8,5.1,538,11348,0.00,2.25,18.02,0.236,9222,0.000,0.052,3207,2360,1866,1891,1842,0,0,0,0,0,0,28.83,14.80,14.64
$STATE,11579,end climb,SURFACE_DEPTH_REACHED
$STATE,11579,begin surface coast
$FINISH,-0.3,1.021409
$STATE,11606,end surface coast,CONTROL_FINISHED_OK
$STATE,11606,begin surface
$SM_CCo,11622,102.97,0.148,0,0,917,450.13
$SM_GC,-0.08,8.20,0.12,102.97,0.060,0.145,0.148,227,2459,917,-7.63,-1.19,450.13,0,0,0,0,0,0,14.83,14.81,14.69
$IRIDIUM_FIX,2131.85,12106.97,230513,050536
$TT8_MAMPS,0.019474,0.019474
$HUMID,45.07
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,23.40
$XPDR_PINGS,5
$SC_FREEKB,3912384
$24V_AH,13.7,37.286
$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,21.575,101.350,231.425,102.975,0.000,30.609,39.061,187.764,1.250,0.000,18.909,2233.639,7259.821,496.009,2047.961,133.724,0.000,1361.381,0.000,1656.437,0.000,0.540,0.000
$DEVICE_MAMPS,413.865,145.350,1623.330,147.645,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11645.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.618,0.000,0.000,0.000
$MEM,322840
$DATA_FILE_SIZE,23427,588
$CAP_FILE_SIZE,143316,0
$CFSIZE,260034560,250757120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.040,330.2,1
$GPS,230513,112515,2147.399,12109.781,12,5.3,31,-2.7