version: 66.11
glider: 181
mission: 11
dive: 210
start: 6 13 113 22 9 2
data:
$ID,181
$MISSION,11
$DIVE,210
$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,-96007.609
$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,71
$R_STBD_OVSHOOT,37
$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
$GPS1,130613,215928,2326.617,12451.891,36,3.1,55,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-71.4
$GPS2,130613,220835,2326.641,12452.047,29,1.3,29,-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,205.9,233896,-14.7,-11.379,-23.37,3050
$D_GRID,5053
$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,-243.3,203,2465,1167,1153,0.0,0.0,0,93,0.00,0.00,-72.05,0.000,16386,0.000,0.000,203,2465,2992,3037,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-1.10,-243.3,203,2465,3037,2949,3.6,-11.7,13,128,9.50,2.28,-16.00,0.000,18948,0.378,0.064,2338,1064,3965,4006,3925,0,0,0,0,0,0,14.41,14.73,14.93
$GC,145,-1.10,-243.3,2339,1067,4003,3928,25.7,-39.8,21,152,0.00,2.28,0.00,0.000,1030,0.000,0.057,2331,2446,3965,4003,3928,0,0,0,0,0,0,28.83,14.69,28.83
$GC,450,-1.10,-243.3,2331,2447,4002,3932,146.1,-36.5,40,455,0.00,2.17,0.00,0.000,260,0.000,0.071,2321,3783,3967,4002,3932,0,0,0,0,0,0,28.83,14.76,28.83
$GC,568,-1.10,-243.3,2321,3783,4001,3933,181.1,-33.8,45,575,0.00,2.03,0.00,0.000,1030,0.000,0.033,2321,2447,3967,4001,3933,0,0,0,0,0,0,28.83,14.86,28.83
$GC,873,-1.10,-243.3,2321,2441,4001,3933,278.6,-30.1,61,878,0.00,2.20,0.00,0.000,260,0.000,0.070,2310,3784,3967,4001,3933,0,0,0,0,0,0,28.83,14.79,28.83
$GC,950,-1.10,-243.3,2310,3784,4001,3930,297.9,-30.7,64,957,0.15,2.03,0.00,0.000,3078,0.272,0.032,2343,2440,3967,4001,3934,0,0,0,0,0,0,14.62,14.88,28.83
$GC,1255,-1.10,-243.3,2343,2434,3999,3934,380.8,-25.0,80,1261,0.00,2.22,0.00,0.000,260,0.000,0.073,2335,3789,3967,4001,3933,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1318,-1.10,-243.3,2335,3788,4001,3933,395.2,-23.0,83,1324,0.00,2.03,0.00,0.000,1030,0.000,0.033,2335,2454,3967,4001,3934,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1641,-1.10,-243.3,2334,2446,3997,3933,472.5,-23.3,99,1646,0.00,2.20,0.00,0.000,260,0.000,0.079,2325,3783,3965,3997,3933,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1718,-1.10,-243.3,2325,3782,3997,3933,486.7,-23.0,102,1725,0.00,2.03,0.00,0.000,1030,0.000,0.035,2325,2448,3964,3996,3933,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2024,-1.10,-243.3,2325,2442,3997,3927,560.1,-22.3,118,2029,0.00,2.20,0.00,0.000,260,0.000,0.077,2315,3780,3962,3997,3927,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2067,-1.10,-243.3,2312,3780,3997,3927,570.1,-22.6,120,2073,0.12,2.03,0.00,0.000,3078,0.280,0.035,2341,2443,3962,3997,3927,0,0,0,0,0,0,14.67,14.95,28.83
$GC,2390,-1.10,-243.3,2341,2437,3997,3921,638.0,-20.3,133,2395,0.00,2.22,0.00,0.000,260,0.000,0.080,2334,3780,3959,3997,3921,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2462,-1.10,-243.3,2334,3781,3997,3919,651.4,-20.9,135,2468,0.00,2.03,0.00,0.000,1030,0.000,0.037,2333,2447,3958,3997,3919,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2786,-1.10,-243.3,2333,2440,3997,3911,720.2,-20.4,146,2791,0.00,2.25,0.00,0.000,260,0.000,0.084,2323,3786,3954,3997,3911,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2853,-1.10,-243.3,2323,3785,3997,3910,733.4,-20.6,148,2858,0.00,2.05,0.00,0.000,1030,0.000,0.038,2324,2453,3953,3997,3909,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3182,-1.10,-243.3,2323,2447,3997,3902,804.2,-21.5,159,3183,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2447,3950,3997,3903,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3480,-1.10,-243.3,2323,2447,3997,3896,872.4,-23.0,169,3485,0.00,2.25,0.00,0.000,260,0.000,0.086,2313,3783,3946,3997,3896,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3537,-1.10,-243.3,2313,3782,3996,3894,880.3,-23.3,170,3545,0.12,2.08,0.00,0.000,3078,0.287,0.041,2339,2451,3945,3995,3896,0,0,0,0,0,0,14.63,14.92,28.83
$GC,3844,-1.10,-243.3,2339,2446,3995,3890,950.6,-20.8,181,3849,0.00,2.25,0.00,0.000,260,0.000,0.089,2332,3775,3943,3996,3890,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3896,-1.10,-243.3,2332,3775,3996,3890,957.8,-20.8,182,3901,0.00,2.08,0.00,0.000,1030,0.000,0.041,2331,2449,3942,3994,3890,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,4057,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4057,begin apogee
$GC,4062,-0.21,0.0,2332,2328,3994,3888,995.8,-20.7,188,4274,1.02,0.00,205.48,1.724,10246,0.224,0.000,2626,2328,3097,3129,3065,0,0,0,0,0,0,14.62,28.83,13.57
$STATE,4275,end apogee,CONTROL_FINISHED_OK
$STATE,4275,begin climb
$GC,4277,1.10,243.3,2626,2328,3116,3059,1009.8,0.0,195,4527,1.23,2.33,240.10,1.711,10756,0.063,0.060,3072,982,2096,2125,2068,0,0,0,0,0,0,14.25,14.14,13.50
$GC,4688,1.10,243.3,2144,981,2089,2040,954.7,22.1,209,4694,0.00,2.33,0.00,0.000,1030,0.000,0.066,3072,2349,2085,2121,2049,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5018,1.10,243.3,3073,2350,2121,2042,877.1,23.5,220,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,3069,2350,2081,2121,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5316,1.10,243.3,3072,2350,2121,2038,807.5,23.4,230,5322,0.00,2.22,0.00,0.000,516,0.000,0.054,3082,980,2082,2120,2045,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5339,1.10,243.3,3083,980,2121,2038,807.5,23.4,230,5344,0.00,2.28,0.00,0.000,1030,0.000,0.063,3082,2354,2079,2121,2038,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5651,1.10,243.3,3083,2354,2120,2035,728.1,23.5,241,5657,0.00,2.25,0.00,0.000,516,0.000,0.052,3092,974,2077,2120,2035,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5715,1.10,243.3,3092,973,2119,2035,713.3,23.7,243,5721,0.17,2.28,0.00,0.000,5126,0.315,0.060,3055,2352,2077,2119,2035,0,0,0,0,0,0,14.57,14.82,28.83
$GC,6048,1.10,243.3,3056,2353,2119,2033,641.5,21.5,254,6049,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2352,2076,2119,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6359,1.10,243.3,3055,2353,2118,2032,580.2,18.6,266,6364,0.00,2.38,0.00,0.000,260,0.000,0.091,3055,3752,2075,2118,2032,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6467,1.10,243.3,3055,3752,2112,2028,558.5,21.4,271,6472,0.00,2.17,0.00,0.000,1030,0.000,0.041,3060,2361,2075,2118,2032,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6784,1.10,243.3,3063,2357,2113,2029,494.4,20.0,287,6789,0.00,2.25,0.00,0.000,516,0.000,0.053,3073,964,2073,2117,2029,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6891,1.10,243.3,2128,963,2076,2019,475.0,18.8,292,6897,0.00,2.28,0.00,0.000,1030,0.000,0.057,3074,2354,2072,2116,2029,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7209,1.10,243.3,3073,2354,2116,2028,414.2,18.4,308,7214,0.00,2.38,0.00,0.000,260,0.000,0.089,3074,3758,2072,2116,2028,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7220,1.10,243.3,3074,3758,2116,2027,414.2,18.4,308,7226,0.00,2.20,0.00,0.000,1030,0.000,0.039,3084,2347,2072,2116,2028,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7533,1.10,243.3,3084,2342,2115,2027,354.9,18.4,324,7535,0.12,0.00,0.00,0.000,4102,0.344,0.000,3059,2342,2071,2115,2027,0,0,0,0,0,0,14.56,28.83,28.83
$GC,7833,1.10,243.3,3059,2342,2115,2027,306.5,16.4,339,7838,0.00,2.22,0.00,0.000,516,0.000,0.050,3066,955,2071,2116,2027,0,0,0,0,0,0,28.83,14.86,28.83
$GC,7905,1.10,243.3,3067,955,2116,2026,296.5,16.3,342,7910,0.00,2.28,0.00,0.000,1030,0.000,0.056,3066,2350,2071,2115,2027,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8218,1.10,243.3,3067,2351,2116,2027,249.3,13.3,358,8223,0.00,2.35,0.00,0.000,260,0.000,0.085,3067,3753,2071,2116,2027,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8295,1.10,243.3,3067,3754,2116,2027,239.9,14.6,361,8302,0.00,2.17,0.00,0.000,1030,0.000,0.037,3077,2343,2071,2116,2027,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8600,1.10,243.3,3078,2338,2116,2027,197.1,13.4,377,8605,0.00,2.20,0.00,0.000,516,0.000,0.048,3088,960,2071,2116,2027,0,0,0,0,0,0,28.83,14.87,28.83
$GC,8714,1.10,243.3,3088,961,2113,2028,183.8,12.8,382,8720,0.15,2.28,0.00,0.000,5126,0.295,0.054,3056,2364,2072,2116,2028,0,0,0,0,0,0,14.55,14.83,28.83
$GC,9028,1.12,251.6,3056,2365,2116,2029,147.0,11.1,398,9033,0.00,2.25,0.00,0.000,516,0.000,0.047,3063,956,2073,2116,2030,0,0,0,0,0,0,28.83,14.86,28.83
$GC,9176,1.19,287.9,2080,954,2074,2022,132.3,10.2,405,9205,0.00,2.25,20.40,0.518,9222,0.000,0.051,3063,2347,1921,1959,1883,0,0,0,0,0,0,28.83,14.81,14.45
$GC,9512,1.19,287.9,3063,2347,1976,1896,95.5,11.7,422,9522,0.00,2.25,2.10,0.187,8708,0.000,0.045,3073,970,1920,1960,1881,0,0,0,0,0,0,28.83,14.82,14.66
$GC,9689,1.33,359.6,3073,970,1976,1894,80.4,9.0,430,9736,0.15,2.22,37.85,0.365,11270,0.128,0.051,3131,2353,1625,1661,1589,0,0,0,0,0,0,14.78,14.77,14.51
$GC,10036,1.33,359.6,3132,2353,1676,1603,35.1,11.9,454,10047,0.00,2.28,1.77,0.184,8708,0.000,0.044,3141,962,1627,1665,1590,0,0,0,0,0,0,28.83,14.79,14.66
$GC,10130,1.33,359.6,3141,968,1677,1599,22.6,12.2,464,10138,0.00,2.25,1.35,0.195,9222,0.000,0.051,3142,2354,1627,1667,1588,0,0,0,0,0,0,28.83,14.78,14.69
$STATE,10289,end climb,SURFACE_DEPTH_REACHED
$STATE,10289,begin surface coast
$FINISH,-0.2,1.021139
$STATE,10312,end surface coast,CONTROL_FINISHED_OK
$STATE,10312,begin surface
$SM_CCo,10329,53.83,0.140,0,0,1156,475.15
$SM_GC,0.15,7.82,0.15,53.83,0.041,0.125,0.140,222,2469,1156,-7.63,-0.96,475.15,0,0,0,0,0,0,14.85,14.81,14.69
$IRIDIUM_FIX,2309.79,12456.25,130613,181842
$TT8_MAMPS,0.019474,0.019474
$HUMID,46.29
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,25.80
$XPDR_PINGS,1
$SC_FREEKB,3855072
$24V_AH,13.5,76.627
$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,20.575,97.450,509.050,53.825,0.000,24.959,33.929,264.759,0.250,0.000,32.961,1588.883,6757.625,603.599,1775.498,215.847,0.000,1396.230,0.000,1324.929,0.000,0.542,0.000
$DEVICE_MAMPS,377.910,124.695,1723.545,139.995,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10354.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.914,0.000,0.000,0.000
$MEM,328392
$DATA_FILE_SIZE,16816,499
$CAP_FILE_SIZE,129042,0
$CFSIZE,260034560,236785664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140613,010321,2325.753,12453.294,11,2.9,30,-3.4