version: 66.11
glider: 181
mission: 11
dive: 217
start: 6 14 113 19 27 32
data:
$ID,181
$MISSION,11
$DIVE,217
$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,-96016.445
$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,68
$R_STBD_OVSHOOT,58
$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
$GPS1,140613,191821,2317.097,12459.763,14,6.8,33,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-70.3
$GPS2,140613,192705,2317.065,12459.717,13,0.9,29,-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,210.8,223394,-14.7,-11.379,-23.37,3050
$D_GRID,1000
$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,-243.3,209,2482,1160,1158,0.0,0.0,0,99,0.00,0.00,-77.07,0.000,16386,0.000,0.000,208,2482,3155,3203,3107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.10,-243.3,208,2482,3203,3108,4.3,-14.9,14,132,9.52,2.25,-12.60,0.000,18948,0.379,0.063,2337,1059,3968,4011,3926,0,0,0,0,0,0,14.38,14.73,14.93
$GC,221,-1.10,-243.3,2337,1058,4002,3925,52.6,-31.2,29,226,0.00,2.25,0.00,0.000,1030,0.000,0.055,2329,2431,3965,4002,3929,0,0,0,0,0,0,28.83,14.70,28.83
$GC,543,-1.10,-243.3,2330,2431,4001,3933,159.9,-32.0,45,548,0.00,2.20,0.00,0.000,260,0.000,0.074,2319,3780,3967,4002,3932,0,0,0,0,0,0,28.83,14.78,28.83
$GC,586,-1.10,-243.3,2319,3780,4001,3933,175.2,-33.8,47,592,0.00,2.03,0.00,0.000,1030,0.000,0.033,2319,2430,3966,4001,3932,0,0,0,0,0,0,28.83,14.87,28.83
$GC,909,-1.10,-243.3,2318,2421,3997,3936,276.0,-29.5,63,914,0.00,2.25,0.00,0.000,260,0.000,0.073,2308,3790,3967,3998,3936,0,0,0,0,0,0,28.83,14.82,28.83
$GC,992,-1.10,-243.3,2308,3790,3998,3936,301.9,-31.4,67,998,0.15,2.03,0.00,0.000,3078,0.286,0.034,2341,2448,3967,3998,3937,0,0,0,0,0,0,14.61,14.90,28.83
$GC,1315,-1.10,-243.3,2340,2442,3998,3936,386.7,-23.8,83,1320,0.00,2.22,0.00,0.000,260,0.000,0.076,2333,3790,3966,3997,3936,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1402,-1.10,-243.3,1472,3790,3998,3935,406.1,-23.4,87,1407,0.00,2.03,0.00,0.000,1030,0.000,0.034,2333,2435,3967,3998,3936,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1719,-1.10,-243.3,2332,2429,3997,3934,476.1,-21.4,103,1725,0.00,2.25,0.00,0.000,260,0.000,0.076,2323,3790,3965,3998,3933,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1786,-1.10,-243.3,2323,3790,3998,3933,489.7,-21.4,106,1792,0.00,2.00,0.00,0.000,1030,0.000,0.035,2323,2457,3965,3998,3933,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2104,-1.10,-243.3,2322,2452,3998,3929,565.3,-24.7,122,2109,0.00,2.20,0.00,0.000,260,0.000,0.079,2312,3783,3963,3998,3928,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2191,-1.10,-243.3,1456,3782,3997,3926,587.1,-26.6,126,2197,0.15,2.00,0.00,0.000,3078,0.268,0.036,2346,2457,3962,3998,3926,0,0,0,0,0,0,14.66,14.95,28.83
$GC,2519,-1.10,-243.3,2346,2452,3998,3921,661.6,-21.9,138,2524,0.00,2.22,0.00,0.000,260,0.000,0.083,2338,3787,3959,3998,3921,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2582,-1.10,-243.3,2339,3787,3998,3920,675.5,-21.9,140,2587,0.00,2.05,0.00,0.000,1030,0.000,0.037,2339,2457,3958,3998,3919,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2916,-1.10,-243.3,2339,2452,3998,3912,747.4,-21.0,151,2921,0.00,2.22,0.00,0.000,260,0.000,0.083,2328,3781,3955,3998,3912,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2979,-1.10,-243.3,2328,3781,3997,3911,761.3,-21.4,153,2984,0.00,2.08,0.00,0.000,1030,0.000,0.039,2329,2444,3954,3998,3911,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3313,-1.10,-243.3,2328,2437,3998,3910,830.1,-20.5,164,3318,0.00,2.25,0.00,0.000,260,0.000,0.086,2318,3777,3950,3998,3903,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3376,-1.10,-243.3,2318,3777,3997,3902,843.9,-21.1,166,3381,0.00,2.08,0.00,0.000,1030,0.000,0.039,2318,2446,3949,3997,3902,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3710,-1.10,-243.3,2318,2440,3996,3896,913.0,-21.0,177,3715,0.00,2.25,0.00,0.000,260,0.000,0.088,2307,3777,3946,3996,3896,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3762,-1.10,-243.3,2308,3777,3996,3896,920.4,-21.2,178,3768,0.15,2.08,0.00,0.000,3078,0.269,0.041,2341,2447,3946,3996,3896,0,0,0,0,0,0,14.62,14.91,28.83
$GC,4077,-1.10,-243.3,2342,2440,3993,3891,983.9,-18.5,189,4082,0.00,2.28,0.00,0.000,260,0.000,0.096,2334,3772,3942,3994,3891,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,4108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4108,begin apogee
$GC,4116,-0.21,0.0,2334,2343,3993,3891,990.3,-18.5,190,4321,1.00,0.00,193.82,2.374,10246,0.225,0.000,2622,2338,3093,3119,3068,0,0,0,0,1,0,14.60,28.83,13.26
$STATE,4322,end apogee,CONTROL_FINISHED_OK
$STATE,4322,begin climb
$GC,4324,1.10,243.3,2622,2339,3120,3069,1003.0,0.0,197,4584,1.23,2.35,249.55,1.693,10756,0.062,0.057,3068,970,2095,2125,2066,0,0,0,0,0,0,14.14,14.10,13.50
$GC,4768,1.10,243.3,3068,970,2123,2049,947.5,21.8,211,4775,0.00,2.33,0.00,0.000,1030,0.000,0.064,3068,2346,2086,2123,2049,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5072,1.10,243.3,3068,2347,2123,2043,873.0,22.5,222,5077,0.00,2.28,0.00,0.000,516,0.000,0.054,3078,965,2083,2122,2044,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5094,1.10,243.3,3078,965,2123,2044,873.0,22.5,222,5100,0.00,2.33,0.00,0.000,1030,0.000,0.063,3078,2361,2082,2122,2043,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5408,1.10,243.3,3078,2361,2122,2039,796.7,22.3,233,5413,0.00,2.30,0.00,0.000,516,0.000,0.052,3089,958,2081,2123,2039,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5465,1.10,243.3,3089,958,2122,2039,789.3,22.2,234,5473,0.15,2.30,0.00,0.000,5126,0.318,0.062,3058,2351,2080,2122,2039,0,0,0,0,0,0,14.57,14.79,28.83
$GC,5772,1.10,243.3,3058,2351,2122,2035,721.2,20.1,245,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2352,2078,2122,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6071,1.10,243.3,3057,2351,2121,2035,662.1,19.3,255,6076,0.00,2.38,0.00,0.000,260,0.000,0.090,3058,3755,2077,2121,2034,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6113,1.10,243.3,3058,3755,2125,2033,655.3,19.6,256,6118,0.00,2.20,0.00,0.000,1030,0.000,0.041,3065,2348,2077,2120,2035,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6437,1.10,243.3,3066,2343,2119,2033,586.8,20.1,268,6442,0.00,2.22,0.00,0.000,516,0.000,0.052,3076,964,2076,2119,2033,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6575,1.10,243.3,3076,964,2119,2033,562.2,19.9,274,6581,0.00,2.28,0.00,0.000,1030,0.000,0.060,3076,2351,2075,2118,2033,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6881,1.10,243.3,3076,2351,2118,2032,499.9,18.9,290,6886,0.00,2.38,0.00,0.000,260,0.000,0.088,3076,3758,2075,2118,2032,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6967,1.10,243.3,2152,3757,2079,2022,482.6,20.9,294,6973,0.15,2.20,0.00,0.000,5126,0.333,0.040,3056,2347,2075,2118,2032,0,0,0,0,0,0,14.55,14.89,28.83
$GC,7286,1.10,243.3,3056,2342,2118,2030,428.1,15.4,310,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2343,2073,2117,2029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7587,1.10,243.3,3056,2342,2117,2028,379.1,16.8,325,7592,0.00,2.22,0.00,0.000,516,0.000,0.052,3064,961,2072,2117,2028,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7705,1.10,243.3,3064,961,2117,2028,363.0,15.5,330,7713,0.00,2.28,0.00,0.000,1030,0.000,0.055,3064,2358,2072,2117,2028,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8009,1.10,243.3,3065,2359,2117,2028,312.9,15.5,346,8010,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2359,2072,2117,2028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8311,1.10,243.3,3064,2359,2115,2029,269.6,14.2,361,8316,0.00,2.25,0.00,0.000,516,0.000,0.048,3074,961,2072,2117,2028,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8374,1.10,243.3,3074,960,2117,2028,260.6,14.1,364,8379,0.00,2.28,0.00,0.000,1030,0.000,0.054,3074,2357,2073,2117,2029,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8697,1.10,243.3,3074,2358,2117,2029,213.9,14.2,380,8702,0.00,2.25,0.00,0.000,516,0.000,0.047,3084,960,2073,2117,2030,0,0,0,0,0,0,28.83,14.86,28.83
$GC,8763,1.10,243.3,3085,961,2117,2031,205.4,13.5,383,8769,0.12,2.25,0.00,0.000,5126,0.288,0.053,3058,2349,2073,2116,2031,0,0,0,0,0,0,14.54,14.78,28.83
$GC,9082,1.10,243.3,3058,2348,2117,2032,165.2,11.4,399,9087,0.00,2.25,0.00,0.000,516,0.000,0.047,3066,953,2075,2117,2033,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9245,1.10,243.3,3066,952,2117,2033,145.5,12.0,407,9251,0.00,2.28,0.00,0.000,1030,0.000,0.052,3066,2360,2075,2117,2033,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9568,1.10,243.3,3066,2360,2117,2035,107.5,11.5,423,9573,0.00,2.25,0.00,0.000,516,0.000,0.047,3076,957,2076,2117,2035,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9801,1.24,312.2,3076,957,2117,2035,84.1,9.1,434,9841,0.00,2.25,32.08,0.379,9222,0.000,0.052,3076,2352,1820,1852,1789,0,0,0,0,0,0,28.83,14.79,14.49
$GC,10143,1.26,323.2,3077,2352,1861,1796,44.0,11.0,454,10155,0.00,2.30,6.68,0.248,8708,0.000,0.044,3086,957,1775,1810,1740,0,0,0,0,0,0,28.83,14.79,14.53
$GC,10290,1.34,363.0,3086,957,1819,1750,29.0,10.0,468,10320,0.12,2.25,20.62,0.215,11270,0.135,0.048,3136,2359,1613,1646,1580,0,0,0,0,0,0,14.81,14.81,14.57
$STATE,10493,end climb,SURFACE_DEPTH_REACHED
$STATE,10493,begin surface coast
$FINISH,-0.4,1.021537
$STATE,10514,end surface coast,CONTROL_FINISHED_OK
$STATE,10514,begin surface
$SM_CCo,10532,51.58,0.141,0,0,1155,475.15
$SM_GC,0.09,7.85,0.12,51.58,0.045,0.137,0.141,236,2466,1155,-7.62,-1.27,475.15,0,0,0,0,0,0,14.81,14.79,14.66
$IRIDIUM_FIX,2316.83,12636.69,140613,161645
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.04
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,25.30
$XPDR_PINGS,1
$SC_FREEKB,3852384
$24V_AH,13.3,78.752
$10V_AH,13.5,0.000
$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,20.600,102.250,502.750,51.575,0.000,32.269,22.349,244.471,0.250,0.000,31.933,1672.661,6795.495,599.169,1828.988,220.963,0.000,1427.247,0.000,1396.453,0.000,0.542,0.000
$DEVICE_MAMPS,379.440,136.935,2373.795,140.760,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10552.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.957,0.000,0.000,0.000
$MEM,328320
$DATA_FILE_SIZE,20127,509
$CAP_FILE_SIZE,131897,0
$CFSIZE,260034560,236158976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140613,222506,2315.697,12500.172,26,1.2,26,-3.4