version: 66.11
glider: 181
mission: 11
dive: 221
start: 6 15 113 7 54 25
data:
$ID,181
$MISSION,11
$DIVE,221
$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,-96021.469
$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,53
$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
$GPS1,150613,074257,2311.718,12503.530,8,4.0,27,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-71.7
$GPS2,150613,075357,2311.682,12503.688,10,3.0,29,-3.3
$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,213.5,217959,-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,-243.3,210,2478,1161,1157,0.0,0.0,0,93,0.00,0.00,-71.82,0.000,16386,0.000,0.000,208,2474,2973,3018,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.10,-243.3,208,2478,3018,2930,3.1,-9.8,13,133,9.50,2.28,-17.23,0.000,18948,0.379,0.063,2337,1062,3965,4005,3925,0,0,0,0,0,0,14.40,14.70,14.93
$GC,146,-1.10,-243.3,2337,1062,4003,3927,23.1,-37.5,21,152,0.00,2.25,0.00,0.000,1030,0.000,0.063,2329,2424,3964,4004,3924,0,0,0,0,0,0,28.83,14.70,28.83
$GC,460,-1.10,-243.3,2330,2425,4002,3931,133.8,-32.7,41,465,0.00,2.22,0.00,0.000,260,0.000,0.074,2319,3783,3966,4002,3931,0,0,0,0,0,0,28.83,14.76,28.83
$GC,523,-1.10,-243.3,2319,3783,4002,3932,154.6,-33.4,44,529,0.00,2.03,0.00,0.000,1030,0.000,0.033,2319,2440,3967,4002,3932,0,0,0,0,0,0,28.83,14.86,28.83
$GC,846,-1.10,-243.3,2315,2433,4002,3932,260.3,-31.6,60,851,0.00,2.22,0.00,0.000,260,0.000,0.075,2308,3783,3967,4002,3932,0,0,0,0,0,0,28.83,14.82,28.83
$GC,918,-1.10,-243.3,2308,3783,4001,3932,279.5,-30.7,63,924,0.15,2.00,0.00,0.000,3078,0.281,0.032,2341,2443,3966,4001,3932,0,0,0,0,0,0,14.62,14.92,28.83
$GC,1232,-1.10,-243.3,2341,2438,4001,3932,361.5,-23.7,79,1237,0.00,2.22,0.00,0.000,260,0.000,0.073,2333,3790,3966,4001,3932,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1275,-1.10,-243.3,2333,3790,4001,3932,372.1,-24.6,81,1280,0.00,2.03,0.00,0.000,1030,0.000,0.033,2333,2448,3966,4001,3932,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1597,-1.10,-243.3,2332,2440,3997,3932,449.8,-23.8,97,1602,0.00,2.22,0.00,0.000,260,0.000,0.079,2323,3784,3964,3996,3932,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1694,-1.10,-243.3,2323,3784,3997,3932,469.8,-24.4,101,1701,0.00,2.00,0.00,0.000,1030,0.000,0.034,2322,2456,3964,3997,3931,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2000,-1.10,-243.3,2323,2448,3997,3928,546.2,-24.5,117,2005,0.00,2.20,0.00,0.000,260,0.000,0.079,2312,3783,3962,3997,3927,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2092,-1.10,-243.3,2312,3783,3997,3926,567.0,-25.2,121,2098,0.12,2.03,0.00,0.000,3078,0.276,0.034,2341,2443,3961,3997,3926,0,0,0,0,0,0,14.67,14.94,28.83
$GC,2425,-1.10,-243.3,2339,2436,3997,3921,640.2,-20.8,135,2431,0.00,2.22,0.00,0.000,260,0.000,0.079,2331,3782,3958,3997,3920,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2522,-1.10,-243.3,1480,3781,3996,3917,661.1,-22.2,138,2527,0.00,2.03,0.00,0.000,1030,0.000,0.037,2331,2451,3957,3997,3917,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2851,-1.10,-243.3,2331,2446,3997,3910,734.1,-21.8,149,2856,0.00,2.22,0.00,0.000,260,0.000,0.083,2321,3780,3953,3997,3910,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2914,-1.10,-243.3,2321,3780,3997,3909,748.1,-22.0,151,2919,0.00,2.05,0.00,0.000,1030,0.000,0.037,2321,2456,3953,3997,3909,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3248,-1.10,-243.3,2321,2449,3997,3902,820.3,-21.8,162,3253,0.00,2.25,0.00,0.000,260,0.000,0.086,2311,3787,3949,3997,3902,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3300,-1.10,-243.3,2311,3787,3997,3901,828.2,-22.3,163,3306,0.15,2.08,0.00,0.000,3078,0.268,0.041,2344,2449,3949,3997,3901,0,0,0,0,0,0,14.64,14.92,28.83
$GC,3614,-1.10,-243.3,2344,2443,3997,3895,892.8,-18.7,174,3619,0.00,2.25,0.00,0.000,260,0.000,0.088,2336,3777,3946,3997,3895,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3666,-1.10,-243.3,2337,3773,3996,3895,899.4,-18.7,175,3672,0.00,2.08,0.00,0.000,1030,0.000,0.041,2336,2447,3945,3996,3895,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3979,-1.10,-243.3,2337,2441,3995,3889,963.7,-19.7,186,3984,0.00,2.28,0.00,0.000,260,0.000,0.090,2326,3783,3941,3994,3889,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4042,-1.10,-243.3,2327,3783,3994,3890,977.0,-20.7,188,4047,0.00,2.10,0.00,0.000,1030,0.000,0.043,2327,2450,3941,3994,3889,0,0,0,0,0,0,28.83,14.91,28.83
$STATE,4132,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4133,begin apogee
$GC,4138,-0.21,0.0,2326,2321,3993,3888,995.7,-20.1,191,4368,1.05,0.00,221.43,1.650,10246,0.226,0.000,2627,2321,3089,3117,3062,0,0,0,0,0,0,14.62,28.83,13.59
$STATE,4370,end apogee,CONTROL_FINISHED_OK
$STATE,4370,begin climb
$GC,4372,1.10,243.3,2627,2321,3115,3060,1010.3,0.0,198,4644,1.23,2.30,261.50,1.613,10756,0.063,0.055,3075,980,2096,2125,2067,0,0,0,0,0,0,14.26,14.15,13.57
$GC,4687,1.10,243.3,3075,980,2122,2056,982.9,20.4,209,4692,0.00,2.35,0.00,0.000,1030,0.000,0.064,3075,2349,2088,2122,2055,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5005,1.10,243.3,3075,2349,2122,2045,907.2,23.5,220,5006,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2349,2083,2122,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5305,1.10,243.3,3074,2349,2122,2040,837.0,23.4,230,5310,0.00,2.25,0.00,0.000,516,0.000,0.054,3085,976,2081,2122,2040,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5332,1.10,243.3,3084,976,2122,2040,837.0,23.4,230,5339,0.12,2.28,0.00,0.000,5126,0.319,0.062,3060,2352,2080,2122,2039,0,0,0,0,0,0,14.55,14.76,28.83
$GC,5640,1.10,243.3,3060,2354,2122,2035,761.6,22.3,241,5645,0.00,2.25,0.00,0.000,516,0.000,0.052,3067,972,2078,2121,2036,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5691,1.10,243.3,3067,973,2121,2035,754.0,22.0,242,5697,0.00,2.28,0.00,0.000,1030,0.000,0.060,3068,2354,2078,2121,2035,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6005,1.10,243.3,3067,2354,2120,2035,681.7,21.7,253,6010,0.00,2.25,0.00,0.000,516,0.000,0.052,3077,972,2077,2120,2035,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6071,1.10,243.3,3077,971,2119,2035,668.1,21.6,255,6077,0.00,2.28,0.00,0.000,1030,0.000,0.060,3077,2354,2076,2119,2034,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6401,1.10,243.3,3077,2354,2118,2032,597.8,20.6,266,6406,0.00,2.38,0.00,0.000,260,0.000,0.090,3077,3758,2075,2118,2033,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6483,1.10,243.3,3077,3758,2117,2032,579.0,22.2,270,6489,0.15,2.20,0.00,0.000,5126,0.339,0.041,3057,2353,2075,2117,2033,0,0,0,0,0,0,14.55,14.90,28.83
$GC,6807,1.10,243.3,3057,2348,2117,2030,515.3,19.6,286,6812,0.00,2.22,0.00,0.000,516,0.000,0.052,3065,967,2073,2117,2030,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6959,1.10,243.3,3066,967,2116,2030,487.2,19.0,293,6965,0.00,2.28,0.00,0.000,1030,0.000,0.060,3066,2352,2072,2116,2029,0,0,0,0,0,0,28.83,14.82,28.83
$GC,7272,1.10,243.3,3066,2352,2116,2028,429.1,17.0,309,7277,0.00,2.25,0.00,0.000,516,0.000,0.051,3075,966,2072,2116,2028,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7344,1.10,243.3,3075,965,2116,2028,418.0,17.7,312,7349,0.00,2.28,0.00,0.000,1030,0.000,0.057,3075,2355,2071,2116,2027,0,0,0,0,0,0,28.83,14.82,28.83
$GC,7656,1.10,243.3,3075,2355,2116,2027,365.1,16.7,328,7662,0.00,2.35,0.00,0.000,260,0.000,0.087,3076,3752,2072,2116,2028,0,0,0,0,0,0,28.83,14.79,28.83
$GC,7719,1.10,243.3,3076,3752,2116,2028,353.7,17.8,331,7725,0.15,2.20,0.00,0.000,5126,0.325,0.039,3055,2342,2071,2115,2027,0,0,0,0,0,0,14.53,14.89,28.83
$GC,8043,1.10,243.3,3055,2336,2115,2027,303.3,15.6,347,8048,0.00,2.20,0.00,0.000,516,0.000,0.050,3063,966,2072,2116,2028,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8276,1.10,243.3,3063,967,2115,2027,271.9,13.7,358,8281,0.00,2.28,0.00,0.000,1030,0.000,0.055,3063,2353,2071,2115,2027,0,0,0,0,0,0,28.83,14.82,28.83
$GC,8589,1.10,243.3,3063,2353,2116,2028,231.1,12.9,374,8590,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2353,2071,2116,2027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8892,1.10,243.3,3063,2353,2116,2028,193.7,12.1,389,8897,0.00,2.35,0.00,0.000,260,0.000,0.083,3063,3759,2072,2116,2029,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8924,1.10,243.3,3063,3759,2116,2030,190.2,12.3,390,8929,0.00,2.17,0.00,0.000,1030,0.000,0.036,3074,2343,2073,2116,2030,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9236,1.10,243.3,3074,2339,2116,2032,148.3,12.9,406,9242,0.00,2.17,0.00,0.000,516,0.000,0.046,3084,969,2074,2116,2032,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9328,1.10,243.3,3084,970,2116,2033,138.4,12.0,410,9334,0.12,2.22,0.00,0.000,5126,0.286,0.051,3058,2354,2074,2116,2033,0,0,0,0,0,0,14.57,14.83,28.83
$GC,9642,1.15,269.0,3058,2354,2115,2033,102.1,10.5,426,9662,0.00,2.28,10.02,0.387,8708,0.000,0.044,3066,968,2000,2039,1961,0,0,0,0,0,0,28.83,14.86,14.45
$GC,9674,1.19,289.0,3066,968,2040,1965,100.0,10.7,427,9693,0.00,2.22,11.70,0.423,9222,0.000,0.051,3066,2353,1914,1952,1876,0,0,0,0,0,0,28.83,14.83,14.46
$GC,10006,1.25,321.0,3065,2352,1969,1890,57.4,10.3,444,10031,0.12,2.22,18.05,0.288,10756,0.138,0.043,3136,958,1787,1818,1756,0,0,0,0,0,0,14.83,14.83,14.54
$GC,10260,1.25,321.0,3135,958,1828,1766,26.1,11.4,466,10272,0.15,2.25,1.75,0.181,13318,0.292,0.051,3104,2351,1784,1818,1750,0,0,0,0,0,0,14.50,14.75,14.64
$STATE,10531,end climb,SURFACE_DEPTH_REACHED
$STATE,10531,begin surface coast
$FINISH,-0.1,1.021446
$STATE,10562,end surface coast,CONTROL_FINISHED_OK
$STATE,10563,begin surface
$SM_CCo,10580,71.43,0.140,0,0,1153,475.15
$SM_GC,-0.05,7.80,0.15,71.43,0.052,0.120,0.140,240,2478,1153,-7.61,-1.02,475.15,0,0,0,0,0,0,14.83,14.83,14.67
$IRIDIUM_FIX,2307.44,12441.26,150613,070712
$TT8_MAMPS,0.019474,0.019474
$HUMID,46.49
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,3850848
$24V_AH,13.6,79.944
$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,20.825,106.275,524.450,71.425,0.000,56.499,59.139,253.046,0.000,0.000,33.383,1676.051,6883.474,639.526,1896.111,227.672,0.000,1473.759,0.000,1397.883,0.000,0.542,0.000
$DEVICE_MAMPS,378.675,120.105,1650.105,139.995,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10619.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.038,0.000,0.000,0.000
$MEM,328312
$DATA_FILE_SIZE,20098,524
$CAP_FILE_SIZE,135878,0
$CFSIZE,260034560,235794432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150613,105305,2310.107,12504.369,23,1.9,23,-3.3