version: 66.11
glider: 181
mission: 11
dive: 218
start: 6 14 113 22 33 39
data:
$ID,181
$MISSION,11
$DIVE,218
$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,-96017.695
$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,60
$R_STBD_OVSHOOT,55
$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
$GPS1,140613,222506,2315.697,12500.172,26,1.2,26,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-70.1
$GPS2,140613,223313,2315.734,12500.173,11,1.2,11,-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,211.3,221576,-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,20,-1.10,-243.3,209,2473,1155,1157,0.0,0.0,0,100,0.00,0.00,-77.62,0.000,16386,0.000,0.000,208,2473,3139,3187,3092,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-1.10,-243.3,208,2473,3184,3093,3.9,-13.9,14,134,9.57,2.25,-13.25,0.000,18948,0.379,0.057,2339,1041,3966,4008,3924,0,0,0,0,0,0,14.40,14.73,14.93
$GC,216,-1.10,-243.3,2339,1039,4003,3928,45.5,-31.3,28,223,0.00,2.28,0.00,0.000,1030,0.000,0.059,2331,2424,3965,4003,3928,0,0,0,0,0,0,28.83,14.71,28.83
$GC,532,-1.10,-243.3,2331,2424,4002,3932,152.6,-31.6,45,537,0.00,2.22,0.00,0.000,260,0.000,0.074,2321,3781,3967,4002,3932,0,0,0,0,0,0,28.83,14.78,28.83
$GC,559,-1.10,-243.3,2321,3781,4002,3932,159.8,-31.2,46,564,0.00,2.05,0.00,0.000,1030,0.000,0.034,2320,2432,3966,4002,3931,0,0,0,0,0,0,28.83,14.87,28.83
$GC,876,-1.10,-243.3,2321,2425,4008,3933,260.4,-29.8,62,881,0.00,2.22,0.00,0.000,260,0.000,0.070,2310,3784,3967,4002,3932,0,0,0,0,0,0,28.83,14.83,28.83
$GC,893,-1.10,-243.3,2310,3784,4002,3933,260.4,-29.8,62,901,0.15,2.03,0.00,0.000,3078,0.277,0.033,2343,2437,3967,4001,3933,0,0,0,0,0,0,14.61,14.90,28.83
$GC,1199,-1.10,-243.3,2342,2431,4001,3938,343.6,-24.8,78,1204,0.00,2.22,0.00,0.000,260,0.000,0.075,2335,3781,3967,4001,3933,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1302,-1.10,-243.3,2335,3781,4001,3933,370.8,-26.4,83,1308,0.00,2.00,0.00,0.000,1030,0.000,0.033,2335,2460,3967,4001,3933,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1625,-1.10,-243.3,2335,2453,4001,3932,450.0,-24.9,99,1630,0.00,2.20,0.00,0.000,260,0.000,0.076,2325,3783,3967,4001,3933,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1691,-1.10,-243.3,1472,3783,4000,3932,465.3,-24.3,102,1697,0.00,2.03,0.00,0.000,1030,0.000,0.034,2325,2449,3966,4001,3932,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2009,-1.10,-243.3,2323,2441,3997,3931,543.4,-25.0,118,2014,0.00,2.22,0.00,0.000,260,0.000,0.079,2314,3789,3964,3997,3931,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2106,-1.10,-243.3,2314,3789,3996,3929,563.7,-24.8,122,2113,0.12,2.05,0.00,0.000,3078,0.279,0.034,2340,2436,3963,3997,3929,0,0,0,0,0,0,14.66,14.95,28.83
$GC,2421,-1.10,-243.3,2340,2429,3997,3925,636.7,-21.8,136,2423,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2429,3961,3997,3925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2722,-1.10,-243.3,2340,2429,3997,3918,697.9,-20.2,146,2727,0.00,2.25,0.00,0.000,260,0.000,0.081,2333,3779,3957,3997,3918,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2818,-1.10,-243.3,1488,3778,3996,3915,717.5,-20.7,149,2824,0.00,2.03,0.00,0.000,1030,0.000,0.038,2333,2459,3956,3997,3916,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3147,-1.10,-243.3,2333,2453,3997,3909,784.8,-20.0,160,3153,0.00,2.22,0.00,0.000,260,0.000,0.084,2322,3783,3952,3997,3908,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3234,-1.10,-243.3,2323,3783,3997,3907,798.7,-21.3,162,3241,0.00,2.08,0.00,0.000,1030,0.000,0.039,2322,2440,3952,3997,3907,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3540,-1.10,-243.3,2322,2434,3997,3901,869.3,-21.4,173,3546,0.00,2.28,0.00,0.000,260,0.000,0.087,2312,3779,3949,3997,3901,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3603,-1.10,-243.3,2312,3780,3997,3901,883.5,-22.0,175,3609,0.12,2.08,0.00,0.000,3078,0.281,0.041,2339,2453,3949,3997,3901,0,0,0,0,0,0,14.63,14.91,28.83
$GC,3937,-1.10,-243.3,2339,2446,3997,3895,949.0,-19.8,186,3942,0.00,2.25,0.00,0.000,260,0.000,0.089,2331,3776,3945,3996,3895,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3989,-1.10,-243.3,2331,3777,3996,3895,955.8,-20.1,187,3994,0.00,2.08,0.00,0.000,1030,0.000,0.042,2331,2450,3945,3996,3894,0,0,0,0,0,0,28.83,14.90,28.83
$STATE,4149,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4149,begin apogee
$GC,4155,-0.21,0.0,2331,2321,3996,3891,992.8,-20.1,193,4366,1.02,0.00,204.77,1.728,10246,0.224,0.000,2625,2321,3093,3120,3067,0,0,0,0,0,0,14.62,28.83,13.59
$STATE,4368,end apogee,CONTROL_FINISHED_OK
$STATE,4368,begin climb
$GC,4370,1.10,243.3,2626,2321,3117,3062,1004.5,0.0,200,4621,1.23,2.30,240.82,1.700,10756,0.060,0.058,3077,980,2095,2124,2067,0,0,0,0,0,0,14.26,14.13,13.52
$GC,4848,1.10,243.3,3077,980,2122,2048,931.6,22.6,216,4853,0.00,2.33,0.00,0.000,1030,0.000,0.067,3076,2354,2085,2122,2048,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5177,1.10,243.3,3077,2354,2122,2041,853.6,23.0,227,5178,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2354,2082,2122,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5476,1.10,243.3,3077,2354,2121,2038,784.2,23.0,237,5481,0.00,2.28,0.00,0.000,516,0.000,0.054,3087,968,2080,2122,2038,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5553,1.10,243.3,3087,968,2121,2037,769.9,22.5,239,5559,0.15,2.30,0.00,0.000,5126,0.318,0.062,3056,2359,2079,2121,2037,0,0,0,0,0,0,14.57,14.79,28.83
$GC,5873,1.10,243.3,3056,2359,2121,2030,699.0,21.1,250,5879,0.00,2.38,0.00,0.000,260,0.000,0.090,3056,3759,2077,2121,2034,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5909,1.10,243.3,2144,3759,2081,2025,691.4,21.4,251,5915,0.00,2.20,0.00,0.000,1030,0.000,0.041,3064,2353,2077,2120,2035,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6239,1.10,243.3,3064,2348,2119,2033,619.8,21.5,262,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2348,2076,2119,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6537,1.10,243.3,3064,2348,2118,2032,557.0,20.8,275,6543,0.00,2.25,0.00,0.000,516,0.000,0.052,3075,954,2075,2118,2032,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6614,1.10,243.3,3075,954,2118,2032,544.7,19.7,278,6621,0.00,2.30,0.00,0.000,1030,0.000,0.060,3074,2352,2075,2118,2032,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6920,1.10,243.3,3075,2353,2118,2030,482.3,19.3,294,6925,0.00,2.38,0.00,0.000,260,0.000,0.089,3075,3757,2073,2117,2030,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6952,1.10,243.3,3074,3757,2117,2030,477.6,19.4,295,6958,0.15,2.20,0.00,0.000,5126,0.332,0.040,3054,2345,2073,2116,2030,0,0,0,0,0,0,14.55,14.90,28.83
$GC,7265,1.10,243.3,3055,2340,2117,2028,422.1,16.2,311,7270,0.00,2.22,0.00,0.000,516,0.000,0.050,3063,959,2072,2117,2028,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7288,1.10,243.3,3064,958,2117,2023,418.5,16.1,312,7293,0.00,2.30,0.00,0.000,1030,0.000,0.058,3063,2357,2072,2116,2028,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7610,1.10,243.3,3063,2358,2116,2027,363.9,16.8,328,7616,0.00,2.25,0.00,0.000,516,0.000,0.049,3073,960,2072,2116,2028,0,0,0,0,0,0,28.83,14.86,28.83
$GC,7729,1.10,243.3,3073,960,2116,2027,346.3,17.4,333,7736,0.00,2.28,0.00,0.000,1030,0.000,0.057,3073,2354,2072,2116,2028,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8033,1.10,243.3,3073,2353,2116,2028,290.5,17.1,349,8038,0.00,2.25,0.00,0.000,516,0.000,0.048,3083,960,2072,2116,2028,0,0,0,0,0,0,28.83,14.87,28.83
$GC,8065,1.10,243.3,3083,958,2117,2027,286.7,17.1,350,8070,0.00,2.28,0.00,0.000,1030,0.000,0.057,3083,2352,2072,2116,2028,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8378,1.10,243.3,3080,2353,2116,2028,237.8,13.6,366,8379,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2353,2072,2116,2028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8679,1.10,243.3,3083,2353,2116,2027,197.9,13.9,381,8684,0.00,2.25,0.00,0.000,516,0.000,0.047,3093,954,2072,2117,2028,0,0,0,0,0,0,28.83,14.86,28.83
$GC,8792,1.10,243.3,3093,953,2117,2030,184.2,13.2,386,8798,0.17,2.28,0.00,0.000,5126,0.283,0.055,3053,2353,2073,2117,2030,0,0,0,0,0,0,14.57,14.83,28.83
$GC,9106,1.10,243.3,3053,2353,2116,2030,144.2,12.2,402,9107,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2354,2074,2117,2031,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9407,1.20,293.5,3053,2354,2116,2033,111.8,9.7,417,9439,0.00,2.30,22.98,0.462,8708,0.000,0.045,3061,957,1898,1934,1862,0,0,0,0,0,0,28.83,14.85,14.47
$GC,9597,1.26,323.2,3062,957,1942,1871,93.0,10.4,426,9622,0.12,2.25,17.00,0.393,11270,0.138,0.052,3115,2349,1778,1809,1747,0,0,0,0,0,0,14.81,14.81,14.46
$GC,9929,1.26,323.2,3115,2349,1818,1755,47.9,11.8,443,9935,0.00,2.30,1.60,0.194,8708,0.000,0.044,3125,954,1774,1809,1740,0,0,0,0,0,0,28.83,14.81,14.64
$GC,9973,1.38,383.9,3125,950,1815,1750,43.8,9.3,447,10013,0.00,2.28,30.62,0.260,9222,0.000,0.050,3125,2362,1528,1561,1496,0,0,0,0,0,0,28.83,14.78,14.56
$STATE,10290,end climb,SURFACE_DEPTH_REACHED
$STATE,10291,begin surface coast
$FINISH,-0.4,1.021506
$STATE,10313,end surface coast,CONTROL_FINISHED_OK
$STATE,10313,begin surface
$SM_CCo,10330,42.40,0.142,0,0,1154,475.15
$SM_GC,-0.27,7.88,0.12,42.40,0.051,0.135,0.142,234,2472,1154,-7.62,-1.13,475.15,0,0,0,0,0,0,14.83,14.80,14.68
$IRIDIUM_FIX,2302.75,12510.47,140613,191935
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.36
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,25.50
$XPDR_PINGS,1
$SC_FREEKB,3852000
$24V_AH,13.5,79.045
$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,20.700,93.400,517.800,42.400,0.000,24.784,17.565,241.478,0.250,0.000,13.758,1565.750,6805.785,594.242,1685.715,216.371,0.000,1376.654,0.000,1297.729,0.000,0.542,0.000
$DEVICE_MAMPS,379.440,134.640,1728.135,141.525,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10354.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.012,0.000,0.000,0.000
$MEM,328348
$DATA_FILE_SIZE,16763,500
$CAP_FILE_SIZE,126846,0
$CFSIZE,260034560,236077056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150613,012745,2314.646,12501.061,9,2.9,28,-3.4