version: 66.11
glider: 181
mission: 11
dive: 220
start: 6 15 113 4 46 29
data:
$ID,181
$MISSION,11
$DIVE,220
$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,-96020.219
$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,35
$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
$GPS1,150613,043506,2313.400,12502.310,35,0.9,35,-3.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-70.6
$GPS2,150613,044601,2313.385,12502.526,14,0.9,14,-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,212.8,219701,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.10,-243.3,205,2468,1155,1161,0.0,0.0,0,99,0.00,0.00,-77.20,0.000,16386,0.000,0.000,205,2467,3118,3167,3070,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.10,-243.3,211,2466,3167,3070,3.6,-12.6,14,133,9.50,2.20,-13.90,0.000,18948,0.376,0.057,2338,1056,3963,4005,3921,0,0,0,0,0,0,14.39,14.73,14.92
$GC,171,-1.10,-243.3,2338,1056,4003,3925,30.7,-32.1,24,177,0.00,2.28,0.00,0.000,1030,0.000,0.059,2330,2444,3964,4003,3925,0,0,0,0,0,0,28.83,14.68,28.83
$GC,485,-1.10,-243.3,2330,2444,4003,3927,139.0,-30.6,43,491,0.00,2.20,0.00,0.000,260,0.000,0.076,2319,3788,3964,4002,3927,0,0,0,0,0,0,28.83,14.77,28.83
$GC,517,-1.10,-243.3,2319,3789,4002,3927,146.5,-30.9,44,523,0.00,2.05,0.00,0.000,1030,0.000,0.034,2320,2435,3965,4003,3927,0,0,0,0,0,0,28.83,14.86,28.83
$GC,830,-1.10,-243.3,2319,2429,4003,3928,249.8,-32.3,60,835,0.00,2.22,0.00,0.000,260,0.000,0.073,2308,3783,3965,4002,3928,0,0,0,0,0,0,28.83,14.83,28.83
$GC,913,-1.10,-243.3,2309,3782,4002,3928,275.6,-31.7,64,919,0.15,2.03,0.00,0.000,3078,0.282,0.034,2341,2438,3963,4002,3925,0,0,0,0,0,0,14.57,14.86,28.83
$GC,1236,-1.10,-243.3,2341,2432,4002,3928,360.7,-24.8,80,1242,0.00,2.22,0.00,0.000,260,0.000,0.075,2333,3783,3965,4002,3928,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1300,-1.10,-243.3,2333,3784,4002,3928,376.5,-25.2,83,1305,0.00,2.03,0.00,0.000,1030,0.000,0.034,2333,2447,3964,4001,3928,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1623,-1.10,-243.3,2333,2440,4001,3927,450.4,-22.3,99,1628,0.00,2.22,0.00,0.000,260,0.000,0.076,2323,3789,3963,4001,3926,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1695,-1.10,-243.3,2323,3789,4001,3926,465.4,-23.5,102,1700,0.00,2.03,0.00,0.000,1030,0.000,0.035,2323,2440,3963,4000,3926,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2007,-1.10,-243.3,2321,2431,3999,3923,542.4,-25.1,118,2012,0.00,2.25,0.00,0.000,260,0.000,0.083,2312,3788,3960,3998,3923,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2131,-1.10,-243.3,2312,3789,3999,3921,571.9,-23.8,124,2137,0.12,2.03,0.00,0.000,3078,0.282,0.037,2339,2461,3959,3998,3921,0,0,0,0,0,0,14.66,14.94,28.83
$GC,2455,-1.10,-243.3,2340,2455,3999,3914,643.3,-21.7,137,2460,0.00,2.20,0.00,0.000,260,0.000,0.083,2332,3778,3956,3998,3914,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2548,-1.10,-243.3,2332,3780,3998,3912,663.6,-21.7,140,2553,0.00,2.05,0.00,0.000,1030,0.000,0.038,2332,2445,3958,3999,3918,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2882,-1.10,-243.3,2332,2439,3999,3906,738.1,-21.8,151,2887,0.00,2.25,0.00,0.000,260,0.000,0.084,2321,3784,3952,3998,3906,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2939,-1.10,-243.3,2321,3784,3998,3905,745.5,-21.6,152,2945,0.00,2.05,0.00,0.000,1030,0.000,0.040,2322,2457,3951,3998,3904,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3244,-1.10,-243.3,2317,2450,3999,3898,819.0,-22.4,163,3249,0.00,2.22,0.00,0.000,260,0.000,0.086,2311,3776,3947,3998,3897,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3277,-1.10,-243.3,2311,3777,3998,3897,826.8,-22.9,164,3283,0.15,2.08,0.00,0.000,3078,0.271,0.040,2344,2444,3951,4005,3897,0,0,0,0,0,0,14.64,14.92,28.83
$GC,3612,-1.10,-243.3,2344,2438,3997,3890,894.4,-19.2,175,3617,0.00,2.28,0.00,0.000,260,0.000,0.089,2337,3784,3946,4003,3890,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3669,-1.10,-243.3,2337,3784,3996,3890,901.1,-19.3,176,3676,0.00,2.08,0.00,0.000,1030,0.000,0.042,2337,2455,3943,3996,3890,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3975,-1.10,-243.3,2337,2452,3996,3886,966.3,-20.2,187,3980,0.00,2.25,0.00,0.000,260,0.000,0.091,2327,3775,3940,3995,3886,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4011,-1.10,-243.3,2327,3777,3993,3886,973.1,-20.5,188,4016,0.00,2.08,0.00,0.000,1030,0.000,0.042,2327,2451,3939,3993,3886,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,4097,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4097,begin apogee
$GC,4103,-0.21,0.0,2327,2322,3991,3884,992.2,-20.9,191,4323,1.02,0.00,210.32,1.695,10246,0.225,0.000,2621,2322,3088,3117,3060,0,0,0,0,0,0,14.61,28.83,13.58
$STATE,4324,end apogee,CONTROL_FINISHED_OK
$STATE,4324,begin climb
$GC,4327,1.10,243.3,2621,2322,3116,3059,1006.3,0.0,198,4585,1.23,2.58,248.25,1.667,11012,0.064,0.092,3058,3752,2095,2125,2066,0,0,0,0,0,0,14.27,14.12,13.54
$GC,4613,1.10,243.3,3058,3752,2120,2061,978.6,20.5,208,4618,0.00,2.28,0.00,0.000,1030,0.000,0.041,3068,2373,2090,2120,2061,0,0,0,0,0,0,28.83,14.33,28.83
$GC,4947,1.10,243.3,3068,2372,2120,2046,901.1,22.9,219,4952,0.00,2.35,0.00,0.000,516,0.000,0.060,3079,950,2083,2120,2046,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5080,1.10,243.3,3079,950,2120,2044,874.2,21.7,223,5086,0.00,2.35,0.00,0.000,1030,0.000,0.065,3079,2357,2081,2119,2044,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5404,1.10,243.3,3080,2357,2120,2039,798.8,22.6,234,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2357,2079,2120,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5704,1.10,243.3,3079,2357,2119,2036,730.5,22.7,244,5709,0.00,2.30,0.00,0.000,516,0.000,0.054,3089,951,2078,2120,2036,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5806,1.10,243.3,3089,951,2118,2035,710.2,22.1,247,5812,0.15,2.30,0.00,0.000,5126,0.317,0.060,3058,2354,2076,2117,2035,0,0,0,0,0,0,14.57,14.82,28.83
$GC,6131,1.10,243.3,3059,2355,2117,2033,641.0,21.1,258,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2354,2076,2118,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6439,1.10,243.3,3059,2354,2116,2029,577.3,19.6,270,6445,0.00,2.40,0.00,0.000,260,0.000,0.090,3058,3762,2074,2116,2032,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6537,1.10,243.3,3058,3762,2116,2033,559.4,21.6,274,6544,0.00,2.22,0.00,0.000,1030,0.000,0.041,3066,2340,2074,2116,2033,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6842,1.10,243.3,3067,2335,2116,2031,498.1,19.5,290,6848,0.00,2.22,0.00,0.000,516,0.000,0.051,3077,954,2073,2115,2031,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6961,1.10,243.3,3077,954,2115,2031,478.4,19.1,295,6967,0.00,2.30,0.00,0.000,1030,0.000,0.060,3077,2351,2072,2115,2029,0,0,0,0,0,0,28.83,14.82,28.83
$GC,7265,1.10,243.3,3077,2351,2113,2028,417.9,18.1,311,7271,0.00,2.28,0.00,0.000,516,0.000,0.051,3087,953,2071,2115,2028,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7312,1.10,243.3,3087,952,2115,2028,410.4,18.1,313,7318,0.15,2.30,0.00,0.000,5126,0.301,0.058,3055,2354,2071,2115,2028,0,0,0,0,0,0,14.55,14.82,28.83
$GC,7631,1.10,243.3,3055,2355,2115,2028,360.9,15.4,329,7636,0.00,2.38,0.00,0.000,260,0.000,0.088,3054,3759,2071,2114,2028,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7657,1.10,243.3,2144,3759,2076,2018,357.2,15.5,330,7663,0.00,2.20,0.00,0.000,1030,0.000,0.039,3063,2343,2071,2115,2028,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7975,1.10,243.3,3063,2338,2115,2028,305.4,15.9,346,7981,0.00,2.22,0.00,0.000,516,0.000,0.049,3074,961,2071,2114,2028,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8103,1.10,243.3,3074,961,2115,2028,286.2,15.4,352,8108,0.00,2.28,0.00,0.000,1030,0.000,0.057,3074,2354,2072,2115,2029,0,0,0,0,0,0,28.83,14.82,28.83
$GC,8421,1.10,243.3,3074,2355,2115,2028,239.9,13.0,368,8426,0.00,2.35,0.00,0.000,260,0.000,0.086,3074,3755,2071,2114,2028,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8457,1.10,243.3,3073,3755,2115,2028,236.8,13.3,369,8465,0.12,2.17,0.00,0.000,5126,0.331,0.037,3060,2344,2071,2115,2028,0,0,0,0,0,0,14.54,14.90,28.83
$GC,8764,1.10,243.3,3060,2340,2115,2027,195.5,12.8,385,8769,0.00,2.20,0.00,0.000,516,0.000,0.048,3068,961,2071,2115,2028,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8978,1.10,243.3,3068,961,2115,2030,168.9,12.9,395,8983,0.00,2.28,0.00,0.000,1030,0.000,0.055,3068,2360,2072,2115,2030,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9290,1.10,243.3,3068,2360,2115,2032,129.1,11.4,411,9296,0.00,2.25,0.00,0.000,516,0.000,0.046,3078,959,2074,2115,2033,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9475,1.11,246.5,3078,959,2114,2033,108.0,11.3,420,9480,0.00,2.25,0.00,0.000,1030,0.000,0.052,3077,2353,2074,2115,2033,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9798,1.19,289.7,3078,2354,2115,2034,75.7,9.9,436,9826,0.00,2.28,20.33,0.345,8708,0.000,0.044,3088,961,1914,1949,1879,0,0,0,0,0,0,28.83,14.84,14.53
$GC,9938,1.19,289.7,3086,961,1961,1888,60.0,11.4,443,9948,0.00,2.25,1.58,0.194,9222,0.000,0.051,3088,2350,1912,1951,1873,0,0,0,0,0,0,28.83,14.77,14.66
$GC,10251,1.40,393.9,3088,2350,1963,1885,30.2,7.9,469,10311,0.15,2.25,51.12,0.216,10756,0.126,0.044,3163,945,1486,1520,1452,0,0,0,0,0,0,14.79,14.77,14.59
$GC,10330,1.40,393.9,3163,945,1520,1455,21.1,14.2,478,10336,0.00,2.28,0.00,0.000,1030,0.000,0.051,3162,2349,1488,1520,1456,0,0,0,0,0,0,28.83,14.76,28.83
$STATE,10442,end climb,SURFACE_DEPTH_REACHED
$STATE,10442,begin surface coast
$FINISH,-0.0,1.021426
$STATE,10459,end surface coast,CONTROL_FINISHED_OK
$STATE,10459,begin surface
$SM_CCo,10477,37.80,0.142,0,0,1154,475.15
$SM_GC,-0.19,7.90,0.15,37.80,0.042,0.120,0.142,233,2469,1154,-7.62,-1.07,475.15,0,0,0,0,0,0,14.80,14.78,14.66
$IRIDIUM_FIX,2314.48,12452.40,150613,040418
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.40
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,25.20
$XPDR_PINGS,1
$SC_FREEKB,3851232
$24V_AH,13.5,79.639
$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,20.650,107.050,531.600,37.800,0.000,53.651,81.251,244.959,0.250,0.000,17.133,1645.579,6810.162,630.024,1868.068,227.049,0.000,1446.488,0.000,1372.456,0.000,0.542,0.000
$DEVICE_MAMPS,376.380,120.105,1695.240,141.525,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10507.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.011,0.000,0.000,0.000
$MEM,328428
$DATA_FILE_SIZE,20144,503
$CAP_FILE_SIZE,133093,0
$CFSIZE,260034560,235888640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150613,074257,2311.718,12503.530,8,4.0,27,-3.3