version: 66.11
glider: 181
mission: 11
dive: 216
start: 6 14 113 16 25 9
data:
$ID,181
$MISSION,11
$DIVE,216
$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,290
$T_MISSION,320
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-9
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52184
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00189915
$HD_B,0.015333
$HD_C,1.4612e-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,475
$N_FILEKB,4
$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,-96015.18
$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,24
$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,67
$R_STBD_OVSHOOT,44
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3093
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,48
$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
$GPS1,140613,161529,2318.709,12459.075,38,1.3,43,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-72.2
$GPS2,140613,162443,2318.631,12459.052,12,1.7,12,-3.4
$SPEED_LIMITS,0.197,0.263
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,210.2,225453,-14.7,-11.379,-23.37,3050
$D_GRID,6252
$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,-1.10,-243.3,210,2476,1160,1155,0.0,0.0,0,94,0.00,0.00,-72.68,0.000,16386,0.000,0.000,209,2476,2995,3041,2949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.10,-243.3,209,2476,3041,2951,3.1,-10.7,13,134,9.52,2.30,-16.33,0.000,18948,0.380,0.063,2335,1060,3966,4005,3927,0,0,0,0,0,0,14.39,14.73,14.92
$GC,231,-1.10,-243.3,2333,1058,4002,3930,51.7,-31.9,29,236,0.00,2.25,0.00,0.000,1030,0.000,0.057,2326,2435,3966,4002,3930,0,0,0,0,0,0,28.83,14.70,28.83
$GC,544,-1.10,-243.3,2329,2435,4001,3932,160.6,-32.6,45,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2435,3966,4001,3932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,845,-1.10,-243.3,2329,2435,4001,3933,253.7,-29.4,60,850,0.00,2.20,0.00,0.000,260,0.000,0.073,2319,3785,3967,4001,3933,0,0,0,0,0,0,28.83,14.83,28.83
$GC,942,-1.10,-243.3,2318,3786,3997,3936,278.6,-29.8,64,949,0.00,2.03,0.00,0.000,1030,0.000,0.033,2318,2431,3967,3997,3937,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1248,-1.10,-243.3,2318,2425,3998,3937,371.0,-28.4,80,1253,0.00,2.22,0.00,0.000,260,0.000,0.073,2308,3783,3967,3998,3936,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1345,-1.10,-243.3,2308,3782,3997,3937,394.0,-27.8,84,1352,0.15,2.00,0.00,0.000,3078,0.274,0.033,2341,2441,3967,3997,3937,0,0,0,0,0,0,14.65,14.94,28.83
$GC,1651,-1.10,-243.3,2341,2435,3997,3934,471.5,-22.0,100,1656,0.00,2.22,0.00,0.000,260,0.000,0.076,2334,3781,3965,3997,3933,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1693,-1.10,-243.3,2333,3781,3997,3933,481.3,-22.7,102,1699,0.00,2.00,0.00,0.000,1030,0.000,0.034,2334,2451,3965,3997,3933,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2016,-1.10,-243.3,2334,2445,3998,3929,552.1,-21.1,118,2021,0.00,2.20,0.00,0.000,260,0.000,0.077,2323,3780,3963,3997,3929,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2093,-1.10,-243.3,2324,3780,3997,3927,566.3,-22.3,121,2099,0.00,2.00,0.00,0.000,1030,0.000,0.034,2323,2457,3962,3998,3927,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2420,-1.10,-243.3,2323,2453,3997,3921,642.6,-21.5,135,2425,0.00,2.20,0.00,0.000,260,0.000,0.080,2313,3780,3959,3997,3921,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2447,-1.10,-243.3,2313,3780,3997,3921,642.6,-21.5,135,2454,0.12,2.03,0.00,0.000,3078,0.283,0.037,2339,2454,3959,3998,3921,0,0,0,0,0,0,14.66,14.95,28.83
$GC,2754,-1.10,-243.3,2339,2447,3998,3914,713.4,-21.5,146,2760,0.00,2.22,0.00,0.000,260,0.000,0.082,2332,3782,3955,3997,3914,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2836,-1.10,-243.3,2331,3782,3998,3912,727.1,-21.3,148,2842,0.00,2.05,0.00,0.000,1030,0.000,0.039,2332,2451,3954,3997,3912,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3150,-1.10,-243.3,2331,2444,3998,3906,801.0,-22.3,159,3155,0.00,2.25,0.00,0.000,260,0.000,0.086,2321,3784,3951,3997,3906,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3201,-1.10,-243.3,2321,3784,3997,3905,808.7,-22.5,160,3206,0.00,2.08,0.00,0.000,1030,0.000,0.040,2321,2450,3950,3996,3904,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3514,-1.10,-243.3,2321,2443,3997,3898,882.6,-22.2,171,3519,0.00,2.25,0.00,0.000,260,0.000,0.088,2311,3777,3947,3997,3897,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3571,-1.10,-243.3,2311,3777,3996,3897,890.4,-22.6,172,3578,0.15,2.08,0.00,0.000,3078,0.274,0.041,2344,2441,3946,3996,3897,0,0,0,0,0,0,14.62,14.93,28.83
$GC,3878,-1.10,-243.3,2344,2438,3995,3892,955.6,-19.0,183,3883,0.00,2.28,0.00,0.000,260,0.000,0.090,2337,3778,3943,3996,3891,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3930,-1.10,-243.3,2337,3779,3996,3891,962.0,-19.0,184,3935,0.00,2.08,0.00,0.000,1030,0.000,0.042,2337,2456,3942,3994,3891,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,4061,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4061,begin apogee
$GC,4066,-0.21,0.0,2337,2328,3994,3889,992.4,-20.0,189,4277,1.00,0.00,204.35,1.736,10246,0.221,0.000,2625,2327,3091,3118,3064,0,0,0,0,0,0,14.62,28.83,13.59
$STATE,4279,end apogee,CONTROL_FINISHED_OK
$STATE,4279,begin climb
$GC,4281,1.10,243.3,2625,2327,3115,3061,1005.6,0.0,196,4531,1.23,2.33,239.98,1.714,10756,0.060,0.057,3074,979,2096,2124,2068,0,0,0,0,0,0,14.25,14.14,13.52
$GC,4648,1.10,243.3,3075,979,2121,2051,961.7,22.4,208,4653,0.00,2.33,0.00,0.000,1030,0.000,0.063,3075,2347,2085,2121,2050,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4961,1.10,243.3,3075,2348,2121,2043,883.7,23.8,219,4966,0.00,2.28,0.00,0.000,516,0.000,0.052,3085,967,2082,2121,2043,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4994,1.10,243.3,3085,966,2121,2043,876.5,23.5,220,5000,0.12,2.33,0.00,0.000,5126,0.317,0.063,3061,2356,2082,2121,2043,0,0,0,0,0,0,14.52,14.71,28.83
$GC,5328,1.10,243.3,3060,2356,2121,2038,800.2,22.7,231,5333,0.00,2.38,0.00,0.000,260,0.000,0.090,3061,3754,2079,2121,2037,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5344,1.10,243.3,3060,3753,2121,2038,800.2,22.7,231,5350,0.00,2.17,0.00,0.000,1030,0.000,0.041,3068,2361,2079,2121,2037,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5664,1.10,243.3,3068,2357,2121,2035,721.4,23.5,242,5669,0.00,2.25,0.00,0.000,516,0.000,0.051,3077,965,2077,2120,2035,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5686,1.10,243.3,3078,964,2119,2035,721.4,23.5,242,5691,0.00,2.28,0.00,0.000,1030,0.000,0.060,3079,2350,2077,2119,2035,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5998,1.10,243.3,3079,2350,2121,2035,642.5,23.6,253,6004,0.00,2.38,0.00,0.000,260,0.000,0.089,3079,3760,2076,2119,2034,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6056,1.10,243.3,3079,3757,2118,2034,634.4,23.8,254,6063,0.15,2.20,0.00,0.000,5126,0.348,0.040,3057,2349,2076,2118,2034,0,0,0,0,0,0,14.55,14.90,28.83
$GC,6371,1.10,243.3,3060,2344,2117,2032,562.8,19.6,268,6376,0.00,2.22,0.00,0.000,516,0.000,0.051,3068,964,2074,2117,2032,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6454,1.10,243.3,3067,964,2117,2032,547.1,18.8,272,6460,0.00,2.28,0.00,0.000,1030,0.000,0.059,3068,2350,2074,2116,2032,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6777,1.10,243.3,3068,2350,2117,2028,484.4,19.9,288,6782,0.00,2.38,0.00,0.000,260,0.000,0.089,3067,3759,2072,2117,2028,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6874,1.10,243.3,3068,3759,2115,2028,466.5,21.7,292,6881,0.00,2.20,0.00,0.000,1030,0.000,0.040,3084,2350,2072,2116,2028,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7180,1.10,243.3,3079,2346,2115,2027,403.9,17.7,308,7185,0.00,2.22,0.00,0.000,516,0.000,0.051,3089,963,2071,2115,2027,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7227,1.10,243.3,3089,962,2116,2027,396.0,18.3,310,7233,0.15,2.28,0.00,0.000,5126,0.300,0.057,3057,2352,2071,2116,2027,0,0,0,0,0,0,14.55,14.82,28.83
$GC,7545,1.10,243.3,3057,2352,2116,2026,346.4,14.0,326,7550,0.00,2.25,0.00,0.000,516,0.000,0.050,3065,963,2070,2115,2026,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7582,1.10,243.3,3066,962,2115,2026,343.2,14.0,327,7589,0.00,2.28,0.00,0.000,1030,0.000,0.057,3065,2354,2071,2116,2026,0,0,0,0,0,0,28.83,14.82,28.83
$GC,7888,1.10,243.3,3064,2354,2116,2026,295.2,15.5,343,7893,0.00,2.25,0.00,0.000,516,0.000,0.048,3075,958,2071,2116,2026,0,0,0,0,0,0,28.83,14.86,28.83
$GC,7920,1.10,243.3,3075,958,2116,2026,291.8,15.4,344,7925,0.00,2.28,0.00,0.000,1030,0.000,0.056,3075,2353,2071,2116,2026,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8233,1.10,243.3,3074,2353,2115,2026,241.2,15.5,360,8238,0.00,2.35,0.00,0.000,260,0.000,0.083,3074,3755,2071,2116,2026,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8256,1.10,243.3,3075,3755,2116,2027,237.4,15.8,361,8262,0.15,2.17,0.00,0.000,5126,0.327,0.037,3055,2342,2071,2116,2027,0,0,0,0,0,0,14.52,14.91,28.83
$GC,8579,1.10,243.3,3056,2337,2116,2027,190.1,14.4,377,8585,0.00,2.20,0.00,0.000,516,0.000,0.048,3063,961,2071,2116,2026,0,0,0,0,0,0,28.83,14.82,28.83
$GC,8688,1.10,243.3,3063,961,2116,2028,176.5,13.3,382,8693,0.00,2.28,0.00,0.000,1030,0.000,0.055,3063,2361,2071,2116,2027,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9006,1.10,243.3,3063,2361,2119,2028,138.1,11.8,398,9011,0.00,2.25,0.00,0.000,516,0.000,0.047,3072,963,2072,2116,2028,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9119,1.10,244.8,3073,962,2116,2030,126.4,11.3,403,9125,0.00,2.25,0.00,0.000,1030,0.000,0.052,3073,2356,2072,2115,2030,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9432,1.10,244.8,3073,2355,2116,2032,89.5,11.4,419,9438,0.00,2.22,0.00,0.000,516,0.000,0.047,3082,964,2074,2116,2033,0,0,0,0,0,0,28.83,14.86,28.83
$GC,9636,1.16,273.9,3078,964,2117,2034,66.5,10.4,429,9656,0.00,2.22,12.30,0.305,9222,0.000,0.050,3083,2349,1977,2017,1938,0,0,0,0,0,0,28.83,14.83,14.52
$GC,9956,1.38,385.9,3083,2349,2034,1952,37.3,7.6,453,10021,0.15,2.30,55.58,0.239,10756,0.126,0.044,3156,955,1524,1554,1494,0,0,0,0,0,0,14.79,14.80,14.59
$GC,10195,1.38,385.9,3156,955,1562,1497,8.0,13.8,489,10203,0.00,2.25,1.40,0.191,9222,0.000,0.051,3156,2347,1515,1554,1476,0,0,0,0,0,0,28.83,14.73,14.66
$STATE,10233,end climb,SURFACE_DEPTH_REACHED
$STATE,10234,begin surface coast
$FINISH,0.1,1.021386
$STATE,10255,end surface coast,CONTROL_FINISHED_OK
$STATE,10255,begin surface
$SM_CCo,10272,41.25,0.144,0,0,1153,475.15
$SM_GC,0.03,7.85,0.15,41.25,0.039,0.117,0.144,234,2475,1153,-7.61,-1.13,475.15,0,0,0,0,0,0,14.81,14.79,14.66
$IRIDIUM_FIX,2319.18,12519.15,140613,131301
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.44
$INTERNAL_PRESSURE,9.75623
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,3852768
$24V_AH,13.5,78.424
$10V_AH,13.6,0.000
$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,20.750,111.225,513.600,41.250,0.000,31.990,46.260,267.721,0.000,0.000,15.140,1575.037,6710.611,609.679,1761.768,219.970,0.000,1406.197,0.000,1305.377,0.000,0.541,0.000
$DEVICE_MAMPS,380.205,117.045,1735.785,143.820,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10296.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.148,0.000,0.000,0.000
$MEM,328408
$DATA_FILE_SIZE,16750,500
$CAP_FILE_SIZE,131452,0
$CFSIZE,260034560,236249088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140613,191821,2317.097,12459.763,14,6.8,33,-3.4