version: 66.11
glider: 181
mission: 11
dive: 68
start: 5 23 113 11 33 45
data:
$ID,181
$MISSION,11
$DIVE,68
$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,-95758.258
$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,66
$R_STBD_OVSHOOT,45
$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
$GPS1,230513,112515,2147.399,12109.781,12,5.3,31,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-71.1
$GPS2,230513,113305,2147.440,12109.791,31,1.2,31,-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,87.3,3937,-21.4,-10.000,-23.84,1355
$D_GRID,926
$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,-1.16,-88.7,220,2463,911,916,0.0,0.0,0,107,0.00,0.00,-85.95,0.000,16390,0.000,0.000,219,2464,3116,3164,3069,0,0,0,0,0,0,28.83,28.83,14.92
$GC,110,-1.16,-88.7,219,2464,3164,3068,4.0,-14.4,15,130,9.77,2.22,0.00,0.000,2564,0.409,0.036,2323,1050,3107,3167,3047,0,0,0,0,0,0,14.45,14.72,28.83
$GC,355,-1.16,-88.7,2323,1050,3171,3071,85.4,-24.0,35,362,0.00,2.25,0.00,0.000,1030,0.000,0.060,2314,2435,3121,3171,3071,0,0,0,0,0,0,28.83,14.76,28.83
$GC,661,-1.16,-88.7,2315,2435,3174,3070,149.6,-15.2,51,667,0.00,2.15,0.00,0.000,516,0.000,0.046,2314,1065,3123,3175,3071,0,0,0,0,0,0,28.83,14.85,28.83
$GC,804,-1.16,-88.7,2315,1064,3176,3070,171.4,-15.8,58,809,0.00,2.25,0.00,0.000,1030,0.000,0.057,2304,2465,3123,3176,3070,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1126,-1.16,-88.7,2304,2466,3177,3070,222.4,-16.8,74,1132,0.00,2.12,0.00,0.000,260,0.000,0.076,2293,3788,3123,3177,3070,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1178,-1.16,-88.7,2294,3788,3177,3070,229.7,-16.8,76,1184,0.12,2.03,0.00,0.000,3078,0.307,0.036,2320,2439,3124,3176,3072,0,0,0,0,0,0,14.73,14.95,28.83
$GC,1491,-1.16,-88.7,2320,2436,3179,3069,272.2,-11.9,92,1497,0.00,2.20,0.00,0.000,260,0.000,0.078,2311,3783,3124,3179,3069,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1618,-1.16,-88.7,2312,3784,3179,3064,287.7,-12.8,98,1623,0.00,2.00,0.00,0.000,1030,0.000,0.034,2312,2446,3123,3178,3069,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1935,-1.16,-88.7,2311,2440,3179,3067,325.5,-12.6,114,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2311,2440,3123,3179,3067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2236,-1.16,-88.7,2311,2441,3179,3062,367.6,-13.7,129,2241,0.00,2.12,0.00,0.000,516,0.000,0.046,2311,1066,3121,3179,3063,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2338,-1.16,-88.7,2311,1065,3179,3062,382.4,-14.6,134,2344,0.00,2.22,0.00,0.000,1030,0.000,0.057,2301,2459,3120,3179,3062,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2661,-1.16,-88.7,2301,2459,3179,3058,426.2,-13.2,150,2666,0.00,2.15,0.00,0.000,260,0.000,0.081,2291,3783,3118,3179,3058,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2853,-1.16,-88.7,2291,3783,3178,3058,455.4,-15.8,159,2859,0.15,2.00,0.00,0.000,3078,0.305,0.038,2322,2457,3117,3177,3057,0,0,0,0,0,0,14.77,15.00,28.83
$GC,3166,-1.16,-88.7,2322,2455,3177,3053,499.6,-13.0,175,3173,0.00,2.17,0.00,0.000,516,0.000,0.049,2323,1059,3114,3177,3052,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3329,-1.16,-88.7,2322,1059,3175,3051,517.8,-10.5,183,3335,0.00,2.25,0.00,0.000,1030,0.000,0.060,2315,2451,3114,3177,3051,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3652,-1.17,-96.5,2315,2451,3175,3047,549.7,-9.4,199,3658,0.00,2.20,0.00,0.000,516,0.000,0.052,2315,1060,3108,3170,3047,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3689,-1.17,-99.9,2312,1060,3175,3047,552.0,-9.7,200,3695,0.00,2.25,0.00,0.000,1030,0.000,0.061,2304,2457,3111,3175,3047,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3995,-1.17,-99.9,2305,2457,3172,3044,585.9,-11.3,216,4000,0.00,2.20,0.00,0.000,516,0.000,0.052,2304,1064,3111,3172,3050,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4226,-1.17,-99.9,2304,1064,3172,3042,613.7,-13.6,225,4232,0.00,2.25,0.00,0.000,1030,0.000,0.060,2294,2459,3106,3171,3042,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4539,-1.17,-99.9,2294,2459,3170,3040,651.6,-11.0,236,4545,0.00,2.20,0.00,0.000,516,0.000,0.051,2294,1064,3105,3170,3040,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4773,-1.17,-102.3,2294,1064,3169,3039,672.7,-9.8,243,4779,0.15,2.25,0.00,0.000,3078,0.305,0.063,2316,2454,3104,3169,3039,0,0,0,0,0,0,14.78,14.95,28.83
$GC,5086,-1.19,-121.4,2316,2454,3168,3036,701.5,-8.5,254,5092,0.00,2.22,0.00,0.000,516,0.000,0.054,2316,1060,3101,3168,3035,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5194,-1.19,-122.8,2316,1060,3167,3035,711.0,-9.9,257,5199,0.00,2.25,0.00,0.000,1030,0.000,0.063,2308,2448,3101,3167,3035,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5512,-1.19,-122.8,2307,2449,3163,3029,747.8,-10.6,268,5518,0.00,2.20,0.00,0.000,516,0.000,0.055,2306,1066,3098,3163,3033,0,0,0,0,0,0,28.83,14.96,28.83
$GC,5589,-1.19,-122.8,2307,1066,3163,3033,754.5,-10.2,270,5594,0.00,2.28,0.00,0.000,1030,0.000,0.063,2297,2454,3097,3162,3032,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5906,-1.19,-122.8,2296,2455,3162,3030,790.8,-11.5,281,5912,0.00,2.22,0.00,0.000,516,0.000,0.056,2296,1060,3096,3163,3030,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6024,-1.19,-122.8,2296,1060,3161,3029,800.3,-10.3,284,6031,0.00,2.28,0.00,0.000,1030,0.000,0.064,2287,2457,3095,3161,3029,0,0,0,0,0,0,28.83,14.94,28.83
$GC,6330,-1.20,-128.2,2286,2456,3161,3028,833.1,-9.6,295,6335,0.00,2.22,0.00,0.000,516,0.000,0.057,2286,1067,3094,3161,3027,0,0,0,0,0,0,28.83,14.95,28.83
$GC,6453,-1.20,-128.2,2283,1068,3161,3027,846.9,-11.3,299,6459,0.15,2.28,0.00,0.000,3078,0.311,0.066,2308,2455,3094,3161,3027,0,0,0,0,0,0,14.75,14.93,28.83
$GC,6787,-1.20,-128.2,2308,2456,3160,3024,889.7,-12.9,310,6788,0.00,0.00,0.00,0.000,6,0.000,0.000,2309,2455,3092,3160,3024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7086,-1.20,-128.2,2308,2455,3159,3023,923.8,-10.6,320,7092,0.00,2.17,0.00,0.000,260,0.000,0.090,2300,3775,3090,3158,3023,0,0,0,0,0,0,28.83,14.91,28.83
$STATE,7117,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7118,begin apogee
$GC,7124,-0.25,0.0,2300,2349,3158,3023,928.3,-11.5,321,7215,1.17,0.00,86.55,1.719,10246,0.290,0.000,2611,2348,2753,2802,2704,0,0,0,0,0,0,14.71,28.83,13.74
$STATE,7218,end apogee,CONTROL_FINISHED_OK
$STATE,7218,begin climb
$GC,7219,1.20,128.2,2611,2348,2799,2700,932.9,0.0,324,7354,1.42,0.00,123.28,2.426,10758,0.119,0.000,3081,2347,2230,2233,2228,0,0,0,0,1,0,14.33,28.83,13.22
$GC,7662,1.20,128.2,3081,2347,2233,2218,832.7,22.8,339,7667,0.00,2.30,0.00,0.000,516,0.000,0.066,3091,954,2225,2232,2218,0,0,0,0,0,0,28.83,14.64,28.83
$GC,7785,1.20,128.2,3091,954,2233,2215,806.5,21.3,343,7790,0.00,2.33,0.00,0.000,1030,0.000,0.067,3091,2349,2224,2233,2215,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8119,1.20,128.2,3091,2349,2233,2212,726.1,25.0,354,8124,0.00,2.28,0.00,0.000,516,0.000,0.055,3101,951,2222,2233,2212,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8195,1.20,128.2,3101,950,2232,2211,712.0,23.5,356,8201,0.00,2.30,0.00,0.000,1030,0.000,0.064,3101,2350,2221,2232,2211,0,0,0,0,0,0,28.83,14.79,28.83
$GC,8513,1.20,128.2,3101,2351,2233,2209,635.6,22.0,367,8515,0.00,0.00,0.00,0.000,6,0.000,0.000,3101,2350,2221,2232,2210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8813,1.20,128.2,3101,2351,2233,2208,568.8,23.6,379,8818,0.00,2.25,0.00,0.000,516,0.000,0.055,3111,958,2220,2233,2208,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8839,1.20,128.2,2208,957,2192,2198,563.4,23.6,380,8844,0.00,2.28,0.00,0.000,1030,0.000,0.061,3111,2352,2220,2232,2208,0,0,0,0,0,0,28.83,14.86,28.83
$GC,9156,1.20,128.2,3111,2355,2228,2206,484.6,24.3,396,9162,0.00,2.35,0.00,0.000,260,0.000,0.089,3111,3764,2219,2233,2206,0,0,0,0,0,0,28.83,14.86,28.83
$GC,9199,1.20,128.2,3111,3764,2232,2207,473.9,24.4,398,9206,0.15,2.20,0.00,0.000,5126,0.363,0.043,3092,2341,2219,2232,2206,0,0,0,0,0,0,14.68,14.92,28.83
$GC,9523,1.20,128.2,3092,2336,2232,2205,405.3,19.7,414,9528,0.00,2.22,0.00,0.000,516,0.000,0.055,3101,953,2218,2232,2205,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9586,1.20,128.2,3101,953,2232,2205,392.8,19.8,417,9591,0.00,2.28,0.00,0.000,1030,0.000,0.061,3100,2351,2218,2232,2204,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9908,1.20,128.2,3101,2351,2233,2203,323.0,23.1,433,9913,0.00,2.35,0.00,0.000,260,0.000,0.088,3101,3765,2218,2233,2204,0,0,0,0,0,0,28.83,14.88,28.83
$GC,10125,1.20,128.2,3101,3765,2232,2203,272.9,23.9,443,10132,0.00,2.20,0.00,0.000,1030,0.000,0.042,3111,2343,2217,2232,2203,0,0,0,0,0,0,28.83,14.90,28.83
$GC,10431,1.20,128.2,3108,2340,2233,2202,210.9,16.9,459,10432,0.00,0.00,0.00,0.000,6,0.000,0.000,3112,2340,2217,2232,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10731,1.20,128.2,3111,2339,2232,2202,165.3,15.1,474,10732,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2339,2217,2232,2202,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11031,1.20,128.2,3111,2339,2233,2198,120.1,13.7,489,11037,0.00,2.38,0.00,0.000,260,0.000,0.086,3111,3761,2217,2232,2202,0,0,0,0,0,0,28.83,14.87,28.83
$GC,11264,1.21,139.1,3111,3760,2232,2202,96.4,9.2,500,11276,0.15,2.17,4.30,0.431,13318,0.345,0.040,3093,2334,2185,2204,2167,0,0,0,0,0,0,14.64,14.90,14.56
$GC,11574,1.24,174.1,3092,2334,2204,2169,71.8,7.3,516,11599,0.00,2.22,17.77,0.365,8708,0.000,0.054,3100,972,2043,2065,2021,0,0,0,0,0,0,28.83,14.85,14.63
$GC,11616,1.28,207.9,3100,972,2065,2021,68.1,7.4,518,11641,0.00,2.22,16.65,0.351,9222,0.000,0.055,3100,2355,1904,1928,1880,0,0,0,0,0,0,28.83,14.83,14.60
$GC,11948,1.30,233.2,3100,2355,1928,1874,30.7,8.1,544,11965,0.00,2.38,11.77,0.243,8452,0.000,0.083,3100,3752,1801,1831,1772,0,0,0,0,0,0,28.83,14.78,14.68
$STATE,12187,end climb,SURFACE_DEPTH_REACHED
$STATE,12187,begin surface coast
$FINISH,0.6,1.021443
$STATE,12209,end surface coast,CONTROL_FINISHED_OK
$STATE,12209,begin surface
$SM_CCo,12227,96.25,0.151,0,0,916,450.13
$SM_GC,-0.27,8.57,2.05,96.25,0.127,0.037,0.151,223,2442,916,-7.63,2.01,450.13,0,0,0,0,0,0,14.85,14.88,14.69
$IRIDIUM_FIX,2150.42,12316.92,230513,080834
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.00
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,22.80
$XPDR_PINGS,8
$SC_FREEKB,3911968
$24V_AH,13.2,37.497
$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,21.825,106.650,260.325,96.250,0.000,29.511,23.963,213.545,2.000,0.000,33.996,2183.591,7940.031,491.483,2066.516,135.447,0.000,1374.735,0.000,1635.903,0.000,0.540,0.000
$DEVICE_MAMPS,409.275,90.270,2425.815,151.470,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12254.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.256,0.000,0.000,0.000
$MEM,322760
$DATA_FILE_SIZE,23441,590
$CAP_FILE_SIZE,144557,0
$CFSIZE,260034560,250654720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.062,227.7,1
$GPS,230513,150030,2147.511,12110.591,37,1.4,38,-2.7