version: 66.11
glider: 181
mission: 11
dive: 208
start: 6 13 113 16 5 22
data:
$ID,181
$MISSION,11
$DIVE,208
$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,-96005.086
$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,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
$GPS1,130613,155159,2329.051,12449.111,36,1.2,41,-3.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-66.7
$GPS2,130613,160455,2329.137,12449.361,12,1.2,12,-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,204.5,236468,-14.7,-11.379,-23.37,3050
$D_GRID,4534
$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,-243.3,205,2438,468,434,0.0,0.0,0,122,0.00,0.00,-99.05,0.000,16386,0.000,0.000,204,2439,2997,3044,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-1.10,-243.3,204,2439,3044,2951,3.4,-11.1,18,157,9.40,2.25,-15.75,0.000,18948,0.371,0.061,2337,1043,3965,4005,3925,0,0,0,0,0,0,14.38,14.72,14.94
$GC,185,-1.10,-243.3,1440,1042,4002,3927,28.8,-42.9,27,191,0.00,2.30,0.00,0.000,1030,0.000,0.058,2329,2449,3965,4002,3929,0,0,0,0,0,0,28.83,14.71,28.83
$GC,500,-1.10,-243.3,2329,2450,4002,3930,146.9,-33.7,46,505,0.00,2.17,0.00,0.000,260,0.000,0.073,2319,3789,3966,4002,3930,0,0,0,0,0,0,28.83,14.78,28.83
$GC,607,-1.10,-243.3,2319,3789,4002,3931,178.6,-30.6,51,612,0.00,2.03,0.00,0.000,1030,0.000,0.033,2319,2451,3966,4002,3931,0,0,0,0,0,0,28.83,14.88,28.83
$GC,925,-1.10,-243.3,2318,2444,3997,3934,276.2,-30.0,67,930,0.00,2.20,0.00,0.000,260,0.000,0.073,2308,3783,3965,3998,3933,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1011,-1.10,-243.3,2308,3782,3998,3932,302.8,-32.2,71,1017,0.15,2.03,0.00,0.000,3078,0.278,0.032,2341,2430,3965,3998,3933,0,0,0,0,0,0,14.64,14.92,28.83
$GC,1330,-1.10,-243.3,2341,2423,3998,3932,385.5,-23.5,87,1335,0.00,2.22,0.00,0.000,260,0.000,0.073,2333,3782,3965,3998,3932,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1382,-1.10,-243.3,2333,3783,3999,3932,395.1,-22.6,89,1387,0.00,2.00,0.00,0.000,1030,0.000,0.033,2333,2446,3965,3998,3932,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1694,-1.10,-243.3,2333,2440,3998,3926,465.2,-21.8,105,1700,0.00,2.22,0.00,0.000,260,0.000,0.076,2323,3790,3962,3998,3926,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1767,-1.10,-243.3,2323,3791,3998,3925,480.1,-23.1,108,1773,0.00,2.03,0.00,0.000,1030,0.000,0.034,2323,2447,3961,3998,3925,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2080,-1.10,-243.3,2322,2441,3998,3920,561.8,-25.8,124,2085,0.00,2.22,0.00,0.000,260,0.000,0.077,2312,3790,3958,3998,3919,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2143,-1.10,-243.3,2312,3795,3998,3918,578.1,-25.6,127,2149,0.12,2.05,0.00,0.000,3078,0.279,0.035,2339,2443,3957,3998,3917,0,0,0,0,0,0,14.68,14.96,28.83
$GC,2456,-1.10,-243.3,2339,2436,3997,3910,653.3,-24.0,139,2461,0.00,2.25,0.00,0.000,260,0.000,0.083,2331,3790,3953,3998,3909,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2498,-1.10,-243.3,2333,3787,3998,3904,661.3,-24.3,140,2503,0.00,2.05,0.00,0.000,1030,0.000,0.037,2331,2450,3953,3998,3909,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2821,-1.10,-243.3,2331,2444,3998,3897,734.9,-21.4,151,2827,0.00,2.22,0.00,0.000,260,0.000,0.085,2321,3778,3949,3998,3901,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2894,-1.10,-243.3,2321,3778,3998,3900,749.0,-21.8,153,2899,0.00,2.05,0.00,0.000,1030,0.000,0.039,2321,2449,3949,3997,3901,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3217,-1.10,-243.3,2321,2443,3997,3893,821.5,-22.1,164,3223,0.00,2.25,0.00,0.000,260,0.000,0.087,2310,3781,3944,3997,3892,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3264,-1.10,-243.3,2310,3782,3995,3892,829.3,-22.4,165,3271,0.15,2.08,0.00,0.000,3078,0.278,0.040,2344,2447,3943,3995,3891,0,0,0,0,0,0,14.64,14.94,28.83
$GC,3584,-1.10,-243.3,2344,2441,3994,3889,896.2,-19.5,176,3589,0.00,2.25,0.00,0.000,260,0.000,0.090,2336,3777,3940,3994,3886,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3641,-1.10,-243.3,2337,3777,3992,3886,903.1,-19.6,177,3648,0.00,2.08,0.00,0.000,1030,0.000,0.041,2336,2445,3939,3992,3886,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3947,-1.10,-243.3,2335,2440,3988,3882,970.1,-20.3,188,3952,0.00,2.28,0.00,0.000,260,0.000,0.096,2326,3774,3935,3988,3882,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3989,-1.10,-243.3,2326,3774,3987,3882,976.6,-20.2,189,3994,0.00,2.08,0.00,0.000,1030,0.000,0.044,2326,2453,3934,3987,3882,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,4070,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4070,begin apogee
$GC,4076,-0.21,0.0,2326,2326,3987,3880,995.9,-20.8,192,4281,1.05,0.00,194.52,1.789,10246,0.228,0.000,2627,2325,3087,3115,3059,0,0,0,0,0,0,14.62,28.83,13.57
$STATE,4283,end apogee,CONTROL_FINISHED_OK
$STATE,4283,begin climb
$GC,4285,1.10,243.3,2627,2325,3115,3058,1008.5,0.0,199,4525,1.20,2.58,229.88,1.769,10500,0.055,0.093,3069,3753,2096,2124,2068,0,0,0,0,0,0,14.29,14.12,13.51
$GC,4542,1.10,243.3,3068,3753,2119,2065,988.3,17.6,207,4549,0.00,2.28,0.00,0.000,1030,0.000,0.041,3079,2372,2091,2119,2063,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4848,1.10,243.3,3079,2371,2119,2048,908.9,24.2,218,4853,0.00,2.33,0.00,0.000,516,0.000,0.058,3090,957,2083,2119,2048,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4905,1.10,243.3,3090,956,2119,2047,900.8,24.2,219,4913,0.15,2.33,0.00,0.000,5126,0.325,0.063,3060,2350,2083,2119,2047,0,0,0,0,0,0,14.47,14.69,28.83
$GC,5212,1.10,243.3,3064,2351,2119,2041,826.0,22.7,230,5217,0.00,2.38,0.00,0.000,260,0.000,0.092,3059,3753,2080,2119,2041,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5238,1.10,243.3,3060,3753,2119,2042,826.0,22.7,230,5245,0.00,2.22,0.00,0.000,1030,0.000,0.040,3068,2340,2080,2119,2041,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5545,1.10,243.3,3068,2339,2118,2037,748.7,22.6,241,5546,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2339,2079,2120,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5844,1.10,243.3,3068,2335,2118,2035,680.3,22.8,251,5850,0.00,2.42,0.00,0.000,260,0.000,0.088,3068,3757,2076,2118,2035,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5882,1.10,243.3,3068,3758,2117,2035,672.5,23.0,252,5887,0.00,2.22,0.00,0.000,1030,0.000,0.040,3079,2337,2076,2117,2035,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6211,1.10,243.3,3078,2332,2116,2034,598.9,21.9,263,6216,0.00,2.22,0.00,0.000,516,0.000,0.054,3090,953,2075,2117,2034,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6294,1.10,243.3,3090,952,2116,2033,581.3,20.9,267,6300,0.15,2.30,0.00,0.000,5126,0.319,0.058,3059,2354,2074,2116,2033,0,0,0,0,0,0,14.57,14.83,28.83
$GC,6618,1.10,243.3,3059,2354,2116,2030,520.0,18.5,283,6623,0.00,2.38,0.00,0.000,260,0.000,0.089,3059,3761,2073,2116,2030,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6655,1.10,243.3,3058,3761,2116,2031,515.4,18.9,284,6662,0.00,2.22,0.00,0.000,1030,0.000,0.041,3066,2339,2073,2115,2031,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6961,1.10,243.3,3067,2334,2115,2028,453.6,19.2,300,6966,0.00,2.42,0.00,0.000,260,0.000,0.086,3067,3761,2071,2115,2028,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6998,1.10,243.3,3067,3761,2115,2029,448.9,19.5,301,7005,0.00,2.22,0.00,0.000,1030,0.000,0.039,3077,2339,2071,2115,2028,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7304,1.10,243.3,3078,2334,2115,2028,389.6,17.2,317,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2334,2071,2114,2028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7605,1.10,243.3,3078,2330,2115,2027,336.4,17.8,332,7606,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2334,2071,2115,2027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7904,1.10,243.3,3078,2334,2112,2027,284.6,16.3,347,7910,0.00,2.20,0.00,0.000,516,0.000,0.051,3088,964,2070,2114,2027,0,0,0,0,0,0,28.83,14.86,28.83
$GC,8052,1.10,243.3,3088,964,2114,2027,262.1,15.3,354,8058,0.15,2.25,0.00,0.000,5126,0.303,0.056,3056,2350,2070,2114,2027,0,0,0,0,0,0,14.55,14.84,28.83
$GC,8371,1.10,243.3,3056,2350,2114,2027,213.1,15.2,370,8372,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2350,2070,2114,2027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8671,1.10,243.3,3056,2350,2113,2027,173.0,11.8,385,8677,0.00,2.22,0.00,0.000,516,0.000,0.048,3064,961,2070,2113,2027,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8734,1.11,247.4,3063,961,2113,2027,165.9,11.2,388,8740,0.00,2.28,0.00,0.000,1030,0.000,0.055,3063,2360,2070,2114,2027,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9057,1.11,250.4,3063,2360,2113,2030,131.7,11.3,404,9062,0.00,2.25,0.00,0.000,516,0.000,0.047,3073,955,2071,2113,2029,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9210,1.12,255.1,3074,955,2113,2030,115.5,11.2,411,9221,0.00,2.28,2.45,0.192,9222,0.000,0.054,3073,2360,2055,2095,2016,0,0,0,0,0,0,28.83,14.83,14.52
$GC,9521,1.36,372.0,3074,2360,2108,2032,83.8,7.4,427,9590,0.15,2.30,60.25,0.383,10756,0.124,0.046,3148,958,1578,1611,1545,0,0,0,0,0,0,14.84,14.78,14.50
$GC,9643,1.36,372.0,3148,957,1618,1551,68.2,14.5,433,9648,0.00,2.28,0.00,0.000,1030,0.000,0.053,3149,2349,1584,1618,1550,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9955,1.36,372.0,3148,2349,1624,1550,23.6,13.5,458,9963,0.00,2.40,1.50,0.190,8452,0.000,0.080,3148,3754,1575,1616,1535,0,0,0,0,0,0,28.83,14.71,14.65
$GC,9986,1.36,372.0,3148,3755,1616,1543,19.3,15.0,463,9992,0.00,2.17,0.00,0.000,1030,0.000,0.034,3159,2340,1580,1618,1543,0,0,0,0,0,0,28.83,14.85,28.83
$STATE,10093,end climb,SURFACE_DEPTH_REACHED
$STATE,10093,begin surface coast
$FINISH,0.5,1.021146
$STATE,10110,end surface coast,CONTROL_FINISHED_OK
$STATE,10110,begin surface
$SM_CCo,10127,48.15,0.142,0,0,1153,475.15
$SM_GC,-0.00,8.10,0.20,48.15,0.066,0.094,0.142,233,2481,1153,-7.61,-0.90,475.15,0,0,0,0,0,0,14.83,14.84,14.67
$IRIDIUM_FIX,2330.93,12504.92,130613,151529
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.20
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,3855840
$24V_AH,13.5,76.038
$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,20.775,102.775,488.600,48.150,0.000,88.110,100.565,251.511,0.000,0.000,15.144,1487.838,6865.309,612.393,1779.864,215.484,0.000,1368.770,0.000,1219.654,0.000,0.542,0.000
$DEVICE_MAMPS,371.025,107.100,1788.570,142.290,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10150.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.982,0.000,0.000,0.000
$MEM,328372
$DATA_FILE_SIZE,16777,487
$CAP_FILE_SIZE,127751,0
$CFSIZE,260034560,236965888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130613,185630,2327.861,12450.573,47,1.4,47,-3.4