version: 66.11
glider: 181
mission: 11
dive: 209
start: 6 13 113 19 5 52
data:
$ID,181
$MISSION,11
$DIVE,209
$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,-96006.344
$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,58
$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
$GPS1,130613,185630,2327.861,12450.573,47,1.4,47,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-71.2
$GPS2,130613,190525,2327.907,12450.752,15,1.5,15,-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,205.2,235225,-14.7,-11.379,-23.37,3050
$D_GRID,4686
$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,16,begin dive
$GC,19,-1.10,-243.3,205,2486,1164,1153,0.0,0.0,0,99,0.00,0.00,-77.35,0.000,16386,0.000,0.000,205,2485,3151,3202,3101,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.10,-243.3,204,2485,3203,3102,4.4,-15.7,14,133,9.45,2.25,-12.62,0.000,18948,0.376,0.061,2340,1046,3965,4004,3926,0,0,0,0,0,0,14.41,14.74,14.93
$GC,171,-1.10,-243.3,2340,1049,4002,3930,36.5,-38.8,23,176,0.00,2.28,0.00,0.000,1030,0.000,0.062,2332,2427,3966,4002,3930,0,0,0,0,0,0,28.83,14.68,28.83
$GC,494,-1.10,-243.3,2332,2428,4002,3932,157.5,-34.4,41,499,0.00,2.25,0.00,0.000,260,0.000,0.075,2321,3794,3967,4002,3932,0,0,0,0,0,0,28.83,14.71,28.83
$GC,566,-1.10,-243.3,2321,3795,3997,3935,180.3,-36.0,44,571,0.00,2.05,0.00,0.000,1030,0.000,0.033,2321,2447,3966,3998,3935,0,0,0,0,0,0,28.83,14.87,28.83
$GC,878,-1.10,-243.3,2321,2440,3998,3938,276.5,-29.5,60,883,0.00,2.22,0.00,0.000,260,0.000,0.073,2310,3795,3967,3997,3938,0,0,0,0,0,0,28.83,14.83,28.83
$GC,935,-1.10,-243.3,2310,3795,3998,3937,289.5,-30.4,62,942,0.15,2.05,0.00,0.000,3078,0.275,0.033,2343,2442,3967,3997,3937,0,0,0,0,0,0,14.62,14.91,28.83
$GC,1241,-1.10,-243.3,2343,2434,3997,3938,371.5,-25.1,78,1246,0.00,2.22,0.00,0.000,260,0.000,0.076,2335,3784,3967,3998,3937,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1283,-1.10,-243.3,2336,3784,3998,3938,382.2,-25.3,80,1289,0.00,2.03,0.00,0.000,1030,0.000,0.033,2335,2445,3967,3997,3938,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1606,-1.10,-243.3,2335,2438,3997,3936,457.7,-22.5,96,1612,0.00,2.22,0.00,0.000,260,0.000,0.076,2325,3785,3966,3996,3936,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1672,-1.10,-243.3,1472,3785,3996,3935,472.7,-23.7,99,1678,0.00,2.03,0.00,0.000,1030,0.000,0.034,2325,2441,3966,3997,3936,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1990,-1.10,-243.3,2325,2434,3997,3931,550.3,-24.2,115,1995,0.00,2.22,0.00,0.000,260,0.000,0.078,2314,3782,3964,3997,3931,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2033,-1.10,-243.3,2315,3788,3997,3930,561.1,-25.3,117,2038,0.12,2.03,0.00,0.000,3078,0.276,0.035,2341,2441,3963,3997,3930,0,0,0,0,0,0,14.67,14.93,28.83
$GC,2366,-1.10,-243.3,2341,2435,3997,3923,638.3,-23.0,131,2371,0.00,2.25,0.00,0.000,260,0.000,0.083,2333,3786,3960,3997,3923,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2447,-1.10,-243.3,2334,3787,3997,3921,653.0,-23.7,133,2453,0.00,2.03,0.00,0.000,1030,0.000,0.037,2333,2458,3959,3997,3921,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2761,-1.10,-243.3,2334,2452,3997,3914,727.7,-22.2,144,2766,0.00,2.22,0.00,0.000,260,0.000,0.084,2323,3780,3955,3997,3913,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2818,-1.10,-243.3,2324,3781,3997,3913,735.4,-22.3,145,2825,0.00,2.03,0.00,0.000,1030,0.000,0.038,2323,2464,3954,3996,3912,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3124,-1.10,-243.3,2323,2454,3994,3906,811.6,-22.9,156,3125,0.00,0.00,0.00,0.000,6,0.000,0.000,2323,2457,3952,3997,3907,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3424,-1.10,-243.3,2323,2457,3997,3900,877.9,-21.8,166,3429,0.00,2.22,0.00,0.000,260,0.000,0.088,2313,3778,3948,3997,3900,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3470,-1.10,-243.3,2313,3778,3997,3899,885.2,-21.9,167,3476,0.12,2.08,0.00,0.000,3078,0.287,0.040,2339,2436,3947,3997,3898,0,0,0,0,0,0,14.63,14.94,28.83
$GC,3791,-1.10,-243.3,2339,2431,3996,3893,948.2,-18.2,178,3796,0.00,2.30,0.00,0.000,260,0.000,0.090,2331,3787,3945,3997,3893,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3857,-1.10,-243.3,2331,3787,3995,3893,960.4,-18.7,180,3863,0.00,2.08,0.00,0.000,1030,0.000,0.042,2331,2460,3943,3995,3892,0,0,0,0,0,0,28.83,14.93,28.83
$STATE,4033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4033,begin apogee
$GC,4039,-0.21,0.0,2331,2331,3995,3890,995.8,-19.4,186,4229,1.02,0.00,183.55,1.875,10246,0.226,0.000,2625,2331,3089,3118,3061,0,0,0,0,0,0,14.62,28.83,13.52
$STATE,4230,end apogee,CONTROL_FINISHED_OK
$STATE,4231,begin climb
$GC,4233,1.10,243.3,2625,2331,3116,3058,1006.7,0.0,192,4486,1.23,0.00,245.45,1.685,11014,0.062,0.000,3061,2330,2098,2126,2070,0,0,0,0,0,0,14.24,28.83,13.54
$GC,4785,1.10,243.3,3062,2330,2123,2046,920.6,21.9,211,4786,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2330,2084,2123,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5085,1.10,243.3,3062,2329,2122,2041,856.3,21.2,221,5086,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2330,2082,2123,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5385,1.10,243.3,3062,2330,2121,2038,790.4,22.0,231,5387,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2330,2079,2121,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5685,1.10,243.3,3062,2330,2120,2035,727.2,21.1,241,5690,0.00,2.20,0.00,0.000,516,0.000,0.054,3072,976,2077,2120,2035,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5712,1.10,243.3,3072,975,2120,2035,727.2,21.1,241,5719,0.00,2.28,0.00,0.000,1030,0.000,0.061,3072,2356,2077,2120,2035,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6018,1.10,243.3,3072,2356,2119,2034,653.6,22.2,252,6023,0.00,2.38,0.00,0.000,260,0.000,0.090,3072,3758,2077,2121,2034,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6034,1.10,243.3,3072,3757,2119,2034,653.6,22.2,252,6040,0.00,2.17,0.00,0.000,1030,0.000,0.040,3083,2359,2076,2119,2034,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6344,1.10,243.3,3083,2354,2118,2032,577.4,23.5,264,6346,0.12,0.00,0.00,0.000,4102,0.349,0.000,3060,2354,2075,2118,2032,0,0,0,0,0,0,14.58,28.83,28.83
$GC,6642,1.10,243.3,3060,2354,2117,2030,514.0,20.5,279,6647,0.00,2.25,0.00,0.000,516,0.000,0.052,3068,959,2074,2118,2030,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6665,1.10,243.3,3068,959,2118,2030,509.8,20.1,280,6671,0.00,2.30,0.00,0.000,1030,0.000,0.057,3067,2358,2074,2118,2030,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6988,1.10,243.3,3068,2358,2117,2028,447.0,19.1,296,6989,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2357,2073,2118,2028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7290,1.10,243.3,3067,2357,2117,2027,390.9,18.0,311,7295,0.00,2.35,0.00,0.000,260,0.000,0.088,3067,3752,2072,2117,2027,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7347,1.10,243.3,3067,3752,2117,2027,382.6,18.6,313,7353,0.00,2.17,0.00,0.000,1030,0.000,0.040,3078,2351,2072,2118,2027,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7652,1.10,243.3,3078,2347,2117,2026,326.7,17.0,329,7654,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2347,2071,2117,2026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7954,1.10,243.3,3079,2347,2117,2026,277.3,16.5,344,7955,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2352,2071,2117,2026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8254,1.10,243.3,3078,2347,2118,2026,229.3,15.7,359,8259,0.00,2.22,0.00,0.000,516,0.000,0.049,3088,958,2072,2118,2026,0,0,0,0,0,0,28.83,14.86,28.83
$GC,8411,1.10,243.3,3089,958,2117,2026,208.4,14.0,366,8419,0.15,2.28,0.00,0.000,5126,0.296,0.055,3056,2357,2071,2117,2026,0,0,0,0,0,0,14.54,14.83,28.83
$GC,8717,1.10,243.3,3056,2357,2117,2026,167.2,13.0,382,8722,0.00,2.35,0.00,0.000,260,0.000,0.083,3056,3760,2071,2117,2026,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8801,1.10,243.3,3057,3761,2113,2028,156.2,13.3,386,8806,0.00,2.17,0.00,0.000,1030,0.000,0.037,3064,2341,2071,2115,2027,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9124,1.17,281.0,3065,2337,2117,2028,122.0,10.1,402,9148,0.00,2.22,16.40,0.476,8708,0.000,0.046,3075,965,1950,1988,1912,0,0,0,0,0,0,28.83,14.85,14.45
$GC,9376,1.21,299.9,3075,966,2003,1926,95.1,10.7,414,9396,0.00,2.25,12.10,0.383,9222,0.000,0.051,3075,2359,1871,1908,1834,0,0,0,0,0,0,28.83,14.81,14.45
$GC,9708,1.25,316.6,3075,2360,1923,1849,60.3,10.8,431,9728,0.00,2.28,10.60,0.288,8708,0.000,0.044,3085,966,1806,1840,1773,0,0,0,0,0,0,28.83,14.79,14.52
$GC,9793,1.26,325.1,3085,964,1850,1782,51.2,11.1,435,9807,0.00,2.25,6.50,0.253,9222,0.000,0.050,3085,2352,1766,1803,1729,0,0,0,0,0,0,28.83,14.77,14.52
$GC,10110,1.46,425.2,2064,2350,1778,1734,24.1,8.0,466,10168,0.22,2.20,48.53,0.196,10756,0.103,0.042,3188,967,1359,1395,1323,0,0,0,0,0,0,14.81,14.80,14.63
$STATE,10254,end climb,SURFACE_DEPTH_REACHED
$STATE,10255,begin surface coast
$FINISH,-0.6,1.021156
$STATE,10272,end surface coast,CONTROL_FINISHED_OK
$STATE,10272,begin surface
$SM_CCo,10291,23.70,0.142,0,0,1155,475.15
$SM_GC,0.27,8.10,2.45,23.70,0.057,0.044,0.142,239,2458,1155,-7.61,-0.96,475.15,0,0,0,0,0,0,14.78,14.78,14.68
$IRIDIUM_FIX,2328.57,12453.16,130613,151541
$TT8_MAMPS,0.019474,0.019474
$HUMID,46.37
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,25.80
$XPDR_PINGS,0
$SC_FREEKB,3855456
$24V_AH,13.5,76.330
$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,20.700,83.950,523.125,23.700,0.000,32.506,21.691,272.406,0.000,0.000,18.296,1457.725,6997.450,584.676,1617.472,202.755,0.000,1308.236,0.000,1181.941,0.000,0.541,0.000
$DEVICE_MAMPS,376.380,108.630,1875.015,141.525,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10320.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.077,0.000,0.000,0.000
$MEM,328320
$DATA_FILE_SIZE,16787,496
$CAP_FILE_SIZE,121521,0
$CFSIZE,260034560,236883968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130613,215928,2326.617,12451.891,36,3.1,55,-3.4