version: 66.11
glider: 181
mission: 11
dive: 223
start: 6 15 113 14 10 39
data:
$ID,181
$MISSION,11
$DIVE,223
$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,-96023.992
$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,64
$R_STBD_OVSHOOT,59
$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
$GPS1,150613,140154,2308.791,12505.048,42,0.9,42,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-72.8
$GPS2,150613,141013,2308.778,12505.141,11,1.1,11,-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,214.8,214628,-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,18,begin dive
$GC,20,-1.10,-243.3,222,2488,1134,1108,0.0,0.0,0,100,0.00,0.00,-77.43,0.000,16386,0.000,0.000,220,2488,3080,3128,3032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-1.10,-243.3,220,2488,3128,3033,3.5,-12.2,14,134,9.45,2.33,-14.60,0.000,18948,0.379,0.060,2336,1048,3965,4005,3926,0,0,0,0,0,0,14.39,14.71,14.92
$GC,203,-1.10,-243.3,2336,1044,4002,3931,45.5,-35.1,27,208,0.00,2.28,0.00,0.000,1030,0.000,0.061,2328,2430,3966,4002,3931,0,0,0,0,0,0,28.83,14.71,28.83
$GC,525,-1.10,-243.3,2328,2431,4001,3933,151.4,-31.9,44,530,0.00,2.20,0.00,0.000,260,0.000,0.073,2318,3780,3967,4001,3933,0,0,0,0,0,0,28.83,14.77,28.83
$GC,622,-1.10,-243.3,2317,3780,4001,3933,179.4,-33.8,48,629,0.00,2.03,0.00,0.000,1030,0.000,0.034,2317,2443,3967,4001,3933,0,0,0,0,0,0,28.83,14.87,28.83
$GC,928,-1.10,-243.3,2317,2432,4001,3933,282.2,-32.8,64,933,0.00,2.22,0.00,0.000,260,0.000,0.076,2306,3780,3967,4001,3934,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1011,-1.10,-243.3,2306,3780,4001,3933,306.9,-29.9,68,1017,0.15,2.03,0.00,0.000,3078,0.278,0.032,2340,2431,3967,4001,3934,0,0,0,0,0,0,14.61,14.91,28.83
$GC,1335,-1.10,-243.3,2340,2423,3997,3936,388.1,-24.1,84,1340,0.00,2.25,0.00,0.000,260,0.000,0.076,2332,3785,3966,3997,3936,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1422,-1.10,-243.3,2332,3786,3997,3936,408.6,-24.6,88,1427,0.00,2.00,0.00,0.000,1030,0.000,0.034,2332,2453,3966,3996,3936,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1739,-1.10,-243.3,2332,2447,3997,3934,481.8,-22.0,104,1745,0.00,2.22,0.00,0.000,260,0.000,0.078,2321,3790,3965,3997,3933,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1772,-1.10,-243.3,2322,3790,3997,3933,487.3,-22.4,105,1777,0.00,2.03,0.00,0.000,1030,0.000,0.034,2321,2450,3965,3997,3933,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2084,-1.10,-243.3,2321,2443,3997,3931,563.1,-23.4,121,2090,0.00,2.20,0.00,0.000,260,0.000,0.078,2311,3779,3963,3997,3930,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2167,-1.10,-243.3,2311,3780,3997,3928,583.2,-24.3,125,2173,0.15,2.03,0.00,0.000,3078,0.273,0.034,2344,2451,3963,3997,3929,0,0,0,0,0,0,14.65,14.95,28.83
$GC,2491,-1.10,-243.3,2344,2444,3998,3923,653.2,-21.3,137,2496,0.00,2.22,0.00,0.000,260,0.000,0.081,2337,3779,3960,3997,3923,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2563,-1.10,-243.3,2337,3782,3997,3921,666.6,-21.4,139,2568,0.00,2.03,0.00,0.000,1030,0.000,0.037,2337,2460,3959,3997,3921,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2886,-1.10,-243.3,2337,2454,3997,3914,737.4,-21.1,150,2892,0.00,2.22,0.00,0.000,260,0.000,0.083,2327,3784,3955,3997,3914,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2929,-1.10,-243.3,2327,3785,3997,3913,744.7,-21.0,151,2934,0.00,2.08,0.00,0.000,1030,0.000,0.039,2327,2441,3955,3997,3913,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3252,-1.10,-243.3,2327,2434,3997,3907,815.6,-21.2,162,3257,0.00,2.25,0.00,0.000,260,0.000,0.085,2316,3774,3951,3997,3906,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3299,-1.10,-243.3,2316,3775,3997,3906,823.0,-21.4,163,3305,0.12,2.05,0.00,0.000,3078,0.273,0.040,2343,2461,3951,3997,3905,0,0,0,0,0,0,14.64,14.92,28.83
$GC,3619,-1.10,-243.3,2343,2450,3997,3898,886.9,-19.0,174,3624,0.00,2.25,0.00,0.000,260,0.000,0.087,2335,3783,3947,3997,3898,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3686,-1.10,-243.3,2336,3783,3996,3898,900.1,-19.7,176,3691,0.00,2.10,0.00,0.000,1030,0.000,0.041,2335,2442,3946,3996,3897,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4015,-1.10,-243.3,2335,2435,3995,3891,963.2,-19.2,187,4020,0.00,2.28,0.00,0.000,260,0.000,0.090,2326,3775,3943,3995,3891,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4086,-1.10,-243.3,2325,3775,3994,3891,976.1,-19.7,189,4092,0.00,2.10,0.00,0.000,1030,0.000,0.042,2323,2441,3942,3994,3891,0,0,0,0,0,0,28.83,14.91,28.83
$STATE,4167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4167,begin apogee
$GC,4173,-0.21,0.0,2325,2330,3994,3885,993.8,-19.4,192,4380,1.05,0.00,197.93,1.783,10246,0.226,0.000,2626,2329,3088,3115,3062,0,0,0,0,0,0,14.60,28.83,13.55
$STATE,4381,end apogee,CONTROL_FINISHED_OK
$STATE,4381,begin climb
$GC,4384,1.10,243.3,2625,2330,3113,3059,1006.4,0.0,199,4629,1.20,2.62,231.80,1.765,11012,0.060,0.091,3062,3752,2094,2122,2066,0,0,0,0,0,0,14.26,14.09,13.50
$GC,4635,1.10,243.3,3062,3752,2119,2063,987.4,16.6,207,4641,0.00,2.28,0.00,0.000,1030,0.000,0.041,3072,2372,2090,2119,2062,0,0,0,0,0,0,28.83,14.24,28.83
$GC,4954,1.10,243.3,3072,2372,2119,2045,911.3,22.2,218,4960,0.00,2.33,0.00,0.000,516,0.000,0.057,3083,956,2082,2119,2045,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5012,1.10,243.3,3083,956,2118,2044,903.5,22.4,219,5019,0.00,2.33,0.00,0.000,1030,0.000,0.063,3083,2347,2080,2118,2043,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5318,1.10,243.3,3083,2348,2118,2039,828.6,22.7,230,5319,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2348,2078,2118,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5618,1.10,243.3,3083,2348,2118,2035,761.5,22.3,240,5623,0.00,2.28,0.00,0.000,516,0.000,0.051,3093,954,2076,2118,2035,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5670,1.10,243.3,3093,953,2117,2035,754.1,22.2,241,5676,0.17,2.33,0.00,0.000,5126,0.319,0.060,3056,2364,2076,2118,2035,0,0,0,0,0,0,14.55,14.81,28.83
$GC,5984,1.10,243.3,3056,2364,2114,2030,683.1,21.8,252,5990,0.00,2.30,0.00,0.000,516,0.000,0.053,3063,953,2074,2116,2033,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6022,1.10,243.3,3064,952,2116,2033,675.5,21.9,253,6027,0.00,2.30,0.00,0.000,1030,0.000,0.059,3063,2349,2074,2116,2033,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6350,1.10,243.3,3063,2349,2115,2032,603.9,20.8,264,6356,0.00,2.28,0.00,0.000,516,0.000,0.051,3073,951,2074,2116,2032,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6433,1.10,243.3,3074,950,2115,2032,586.9,20.1,268,6438,0.00,2.33,0.00,0.000,1030,0.000,0.059,3074,2358,2073,2115,2032,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6756,1.10,243.3,3074,2363,2115,2029,521.6,20.0,284,6761,0.00,2.35,0.00,0.000,260,0.000,0.087,3076,3757,2071,2114,2029,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6819,1.10,243.3,3073,3752,2114,2029,507.6,22.0,287,6825,0.12,2.22,0.00,0.000,5126,0.343,0.040,3060,2334,2071,2114,2029,0,0,0,0,0,0,14.54,14.89,28.83
$GC,7143,1.10,243.3,3060,2329,2114,2027,451.5,16.5,303,7148,0.00,2.20,0.00,0.000,516,0.000,0.051,3068,965,2070,2114,2027,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7306,1.10,243.3,3068,965,2113,2026,425.1,16.2,311,7312,0.00,2.28,0.00,0.000,1030,0.000,0.057,3068,2349,2069,2113,2026,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7630,1.10,243.3,3068,2349,2113,2026,372.1,16.2,327,7631,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2349,2069,2113,2025,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7930,1.10,243.3,3068,2349,2113,2025,323.8,15.7,342,7936,0.00,2.35,0.00,0.000,260,0.000,0.085,3068,3753,2070,2114,2026,0,0,0,0,0,0,28.83,14.79,28.83
$GC,7973,1.10,243.3,3068,3753,2114,2025,315.8,16.8,344,7978,0.00,2.20,0.00,0.000,1030,0.000,0.038,3079,2341,2070,2114,2026,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8296,1.10,243.3,3079,2336,2114,2026,263.0,16.1,360,8301,0.00,2.20,0.00,0.000,516,0.000,0.047,3089,960,2069,2113,2026,0,0,0,0,0,0,28.83,14.86,28.83
$GC,8473,1.10,243.3,3089,960,2114,2026,238.4,14.8,368,8481,0.15,2.28,0.00,0.000,5126,0.289,0.054,3057,2364,2070,2114,2026,0,0,0,0,0,0,14.54,14.83,28.83
$GC,8780,1.10,243.3,3056,2361,2113,2026,196.4,12.5,384,8785,0.00,2.33,0.00,0.000,260,0.000,0.083,3056,3755,2070,2114,2027,0,0,0,0,0,0,28.83,14.79,28.83
$GC,8803,1.10,243.3,3062,3755,2113,2027,193.4,12.5,385,8808,0.00,2.20,0.00,0.000,1030,0.000,0.037,3064,2334,2070,2113,2027,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9125,1.10,243.3,3065,2332,2114,2028,154.3,11.6,401,9131,0.00,2.17,0.00,0.000,516,0.000,0.047,3075,967,2071,2114,2028,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9278,1.11,249.5,3075,967,2114,2030,138.1,11.2,408,9284,0.00,2.25,0.00,0.000,1030,0.000,0.052,3074,2357,2072,2114,2030,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9592,1.18,282.5,3075,2357,2114,2032,103.4,10.3,424,9616,0.00,2.28,16.92,0.417,8708,0.000,0.045,3084,960,1944,1981,1907,0,0,0,0,0,0,28.83,14.80,14.47
$GC,9653,1.18,282.5,3085,960,1989,1916,96.1,11.4,427,9663,0.00,2.25,1.65,0.208,9222,0.000,0.050,3085,2357,1942,1980,1905,0,0,0,0,0,0,28.83,14.82,14.62
$GC,9976,1.18,282.5,3085,2357,1997,1918,56.0,12.4,443,9986,0.00,2.28,2.25,0.184,8708,0.000,0.044,3094,961,1942,1983,1902,0,0,0,0,0,0,28.83,14.82,14.61
$GC,10042,1.18,282.5,3095,962,1993,1913,48.0,12.9,446,10050,0.00,2.25,1.67,0.203,9222,0.000,0.050,3095,2357,1940,1983,1898,0,0,0,0,0,0,28.83,14.81,14.63
$GC,10348,1.57,479.7,2112,2356,1959,1907,22.5,4.7,481,10453,0.28,2.25,93.22,0.194,10756,0.097,0.046,3215,962,1135,1162,1108,0,0,0,0,0,0,14.79,14.77,14.62
$STATE,10488,end climb,SURFACE_DEPTH_REACHED
$STATE,10488,begin surface coast
$FINISH,0.6,1.021499
$STATE,10501,end surface coast,CONTROL_FINISHED_OK
$STATE,10501,begin surface
$SM_CCo,10581,0.00,0.000,0,0,1144,478.09
$SM_GC,-0.13,8.15,2.47,0.00,0.052,0.052,0.000,239,2447,1144,-7.61,-1.22,478.09,0,0,0,0,0,0,14.78,14.75,28.83
$IRIDIUM_FIX,2314.48,12454.33,150613,101023
$TT8_MAMPS,0.019474,0.019474
$HUMID,46.77
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,25.20
$XPDR_PINGS,2
$SC_FREEKB,3850080
$24V_AH,13.5,80.540
$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,21.000,111.625,545.450,0.000,0.000,30.364,21.332,239.200,0.500,0.000,13.617,1594.307,6940.110,598.725,1724.485,227.018,0.000,1405.389,0.000,1323.884,0.000,0.542,0.000
$DEVICE_MAMPS,379.440,125.460,1783.215,0.000,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10538.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.005,0.000,0.000,0.000
$MEM,328328
$DATA_FILE_SIZE,20086,508
$CAP_FILE_SIZE,131921,0
$CFSIZE,260034560,235610112
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150613,170808,2307.233,12505.498,6,3.0,25,-3.3