version: 66.11
glider: 181
mission: 11
dive: 212
start: 6 14 113 4 13 39
data:
$ID,181
$MISSION,11
$DIVE,212
$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,-96010.133
$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,67
$R_STBD_OVSHOOT,56
$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
$GPS1,140613,040430,2324.540,12454.849,39,1.5,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-71.1
$GPS2,140613,041313,2324.627,12454.912,13,0.9,13,-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,207.4,232421,-14.7,-11.379,-23.37,3050
$D_GRID,5695
$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,-243.3,215,2486,1165,1157,0.0,0.0,0,94,0.00,0.00,-72.28,0.000,16386,0.000,0.000,215,2486,2988,3036,2940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.10,-243.3,215,2486,3032,2942,3.3,-11.6,13,129,9.48,2.33,-16.25,0.000,18948,0.379,0.059,2339,1043,3966,4006,3926,0,0,0,0,0,0,14.40,14.72,14.92
$GC,157,-1.10,-243.3,2339,1041,4002,3932,27.5,-41.2,22,163,0.00,2.30,0.00,0.000,1030,0.000,0.061,2331,2433,3967,4003,3932,0,0,0,0,0,0,28.83,14.69,28.83
$GC,472,-1.10,-243.3,2331,2434,4001,3933,146.2,-32.6,41,477,0.00,2.22,0.00,0.000,260,0.000,0.074,2321,3785,3967,4001,3933,0,0,0,0,0,0,28.83,14.77,28.83
$GC,494,-1.10,-243.3,2321,3782,4000,3934,154.4,-33.5,42,500,0.00,2.05,0.00,0.000,1030,0.000,0.034,2321,2444,3967,4001,3933,0,0,0,0,0,0,28.83,14.81,28.83
$GC,817,-1.10,-243.3,2321,2438,4001,3936,257.4,-31.5,58,822,0.00,2.22,0.00,0.000,260,0.000,0.073,2310,3791,3968,4001,3936,0,0,0,0,0,0,28.83,14.82,28.83
$GC,860,-1.10,-243.3,2310,3793,4000,3937,270.7,-30.6,60,866,0.15,2.05,0.00,0.000,3078,0.282,0.032,2342,2428,3968,4000,3937,0,0,0,0,0,0,14.62,14.91,28.83
$GC,1183,-1.10,-243.3,2342,2423,3999,3937,353.6,-24.9,76,1188,0.00,2.25,0.00,0.000,260,0.000,0.073,2334,3783,3969,4001,3937,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1246,-1.10,-243.3,2334,3783,4000,3937,369.3,-24.9,79,1251,0.00,2.00,0.00,0.000,1030,0.000,0.033,2335,2464,3968,4000,3937,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1568,-1.10,-243.3,2334,2457,3997,3937,449.0,-23.7,95,1574,0.00,2.20,0.00,0.000,260,0.000,0.077,2324,3789,3967,3997,3937,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1655,-1.10,-243.3,2324,3789,3997,3937,469.8,-25.2,99,1660,0.00,2.03,0.00,0.000,1030,0.000,0.034,2324,2448,3967,3997,3937,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1973,-1.10,-243.3,2324,2441,3997,3933,550.2,-25.3,115,1978,0.00,2.22,0.00,0.000,260,0.000,0.078,2314,3783,3964,3997,3932,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2016,-1.10,-243.3,2314,3782,3997,3931,560.9,-24.9,117,2022,0.12,2.03,0.00,0.000,3078,0.277,0.036,2340,2453,3964,3997,3931,0,0,0,0,0,0,14.68,14.95,28.83
$GC,2349,-1.10,-243.3,2341,2447,3997,3925,635.4,-21.6,131,2354,0.00,2.22,0.00,0.000,260,0.000,0.083,2333,3783,3961,3997,3925,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2456,-1.10,-243.3,2333,3784,3997,3924,655.0,-21.0,134,2461,0.00,2.05,0.00,0.000,1030,0.000,0.037,2333,2442,3959,3996,3923,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2775,-1.10,-243.3,2333,2435,3997,3916,725.0,-20.9,145,2780,0.00,2.25,0.00,0.000,260,0.000,0.083,2322,3783,3956,3997,3916,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2822,-1.10,-243.3,2323,3784,4001,3915,732.5,-21.0,146,2827,0.00,2.05,0.00,0.000,1030,0.000,0.038,2323,2457,3955,3997,3914,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3141,-1.10,-243.3,2322,2451,3997,3908,805.9,-22.6,157,3146,0.00,2.22,0.00,0.000,260,0.000,0.085,2312,3778,3952,3997,3907,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3204,-1.10,-243.3,2312,3782,3997,3907,820.7,-22.6,159,3210,0.12,2.08,0.00,0.000,3078,0.282,0.039,2339,2441,3952,3997,3907,0,0,0,0,0,0,14.64,14.92,28.83
$GC,3537,-1.10,-243.3,2339,2435,3997,3900,888.3,-19.9,170,3542,0.00,2.28,0.00,0.000,260,0.000,0.088,2329,3782,3948,3997,3899,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3603,-1.10,-243.3,1492,3782,3996,3898,901.1,-20.1,172,3609,0.00,2.08,0.00,0.000,1030,0.000,0.042,2331,2452,3948,3997,3900,0,0,0,0,0,0,28.83,14.91,28.83
$GC,3933,-1.10,-243.3,2331,2446,3996,3893,971.5,-21.4,183,3938,0.00,2.28,0.00,0.000,260,0.000,0.092,2322,3775,3944,3996,3893,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3965,-1.10,-243.3,2322,3775,3995,3893,979.0,-21.6,184,3971,0.00,2.10,0.00,0.000,1030,0.000,0.042,2322,2443,3944,3995,3893,0,0,0,0,0,0,28.83,14.91,28.83
$STATE,4026,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4026,begin apogee
$GC,4032,-0.21,0.0,2321,2330,3995,3892,992.9,-22.0,186,4252,1.05,0.00,210.95,1.693,10246,0.231,0.000,2617,2330,3088,3117,3059,0,0,0,0,0,0,14.62,28.83,13.57
$STATE,4254,end apogee,CONTROL_FINISHED_OK
$STATE,4254,begin climb
$GC,4256,1.10,243.3,2621,2329,3115,3058,1008.5,0.0,193,4506,1.25,2.60,240.75,1.707,11012,0.069,0.094,3061,3762,2095,2124,2067,0,0,0,0,0,0,14.26,14.10,13.52
$GC,4573,1.10,243.3,2128,3762,2079,2048,972.4,23.4,204,4578,0.00,2.28,0.00,0.000,1030,0.000,0.042,3071,2370,2088,2120,2057,0,0,0,0,0,0,28.83,14.42,28.83
$GC,4902,1.10,243.3,3071,2370,2119,2047,891.7,23.9,215,4907,0.00,2.33,0.00,0.000,516,0.000,0.059,3082,957,2083,2120,2046,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4959,1.10,243.3,3082,956,2119,2045,883.5,24.0,216,4966,0.00,2.33,0.00,0.000,1030,0.000,0.063,3082,2349,2082,2119,2045,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5265,1.10,243.3,3082,2349,2119,2041,804.5,23.7,227,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2349,2079,2118,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5565,1.10,243.3,3082,2350,2118,2037,733.0,24.3,237,5570,0.00,2.28,0.00,0.000,516,0.000,0.054,3092,950,2078,2118,2038,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5628,1.10,243.3,3092,950,2117,2037,717.7,24.3,239,5634,0.17,2.33,0.00,0.000,5126,0.314,0.060,3054,2353,2077,2117,2037,0,0,0,0,0,0,14.57,14.81,28.83
$GC,5962,1.10,243.3,3054,2354,2117,2035,645.2,21.0,250,5967,0.00,2.30,0.00,0.000,516,0.000,0.053,3062,946,2076,2117,2035,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5995,1.10,243.3,3061,946,2117,2035,638.1,21.1,251,6000,0.00,2.33,0.00,0.000,1030,0.000,0.060,3062,2349,2076,2117,2035,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6318,1.10,243.3,3062,2349,2116,2029,571.2,20.4,264,6323,0.00,2.38,0.00,0.000,260,0.000,0.090,3062,3758,2074,2116,2033,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6385,1.10,243.3,2128,3757,2076,2023,556.8,22.1,267,6390,0.00,2.22,0.00,0.000,1030,0.000,0.040,3071,2341,2074,2115,2033,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6703,1.10,243.3,3073,2337,2115,2032,488.9,21.3,283,6708,0.00,2.22,0.00,0.000,516,0.000,0.052,3083,958,2073,2115,2032,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6827,1.10,243.3,3083,957,2115,2032,465.9,18.5,289,6832,0.00,2.30,0.00,0.000,1030,0.000,0.060,3083,2357,2073,2115,2032,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7150,1.10,243.3,3083,2357,2115,2030,406.5,18.2,305,7155,0.00,2.28,0.00,0.000,516,0.000,0.050,3093,957,2072,2115,2030,0,0,0,0,0,0,28.83,14.86,28.83
$GC,7167,1.10,243.3,3093,957,2115,2030,406.5,18.2,305,7174,0.17,2.28,0.00,0.000,5126,0.302,0.057,3055,2347,2072,2115,2029,0,0,0,0,0,0,14.56,14.83,28.83
$GC,7472,1.10,243.3,3054,2350,2115,2028,351.9,17.6,321,7477,0.00,2.25,0.00,0.000,516,0.000,0.051,3062,957,2071,2115,2028,0,0,0,0,0,0,28.83,14.86,28.83
$GC,7515,1.10,243.3,3062,956,2115,2028,344.6,17.4,323,7521,0.00,2.30,0.00,0.000,1030,0.000,0.058,3062,2354,2071,2115,2028,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7838,1.10,243.3,3063,2354,2115,2028,289.6,17.1,339,7843,0.00,2.25,0.00,0.000,516,0.000,0.049,3072,958,2071,2115,2028,0,0,0,0,0,0,28.83,14.86,28.83
$GC,7875,1.10,243.3,3072,958,2115,2028,286.0,16.8,340,7882,0.00,2.28,0.00,0.000,1030,0.000,0.057,3072,2349,2071,2115,2028,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8180,1.10,243.3,3072,2349,2115,2028,239.4,14.1,356,8182,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2349,2071,2115,2028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8482,1.10,243.3,3072,2349,2115,2028,198.0,13.7,371,8487,0.00,2.25,0.00,0.000,516,0.000,0.048,3082,953,2071,2115,2028,0,0,0,0,0,0,28.83,14.86,28.83
$GC,8679,1.10,243.3,3082,954,2115,2029,173.0,13.5,380,8686,0.00,2.30,0.00,0.000,1030,0.000,0.054,3083,2360,2072,2115,2030,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8985,1.10,243.3,3082,2364,2115,2031,129.7,11.9,396,8991,0.00,2.28,0.00,0.000,516,0.000,0.047,3092,946,2073,2115,2032,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9048,1.10,243.3,3093,946,2115,2032,122.3,11.7,399,9054,0.15,2.28,0.00,0.000,5126,0.289,0.053,3059,2353,2073,2115,2032,0,0,0,0,0,0,14.57,14.83,28.83
$GC,9372,1.29,338.9,3059,2353,2115,2033,93.1,8.2,415,9426,0.15,2.33,44.75,0.410,10756,0.129,0.047,3133,947,1713,1743,1684,0,0,0,0,0,0,14.83,14.82,14.49
$GC,9450,1.34,365.7,3133,946,1749,1690,86.1,10.5,418,9475,0.00,2.28,14.60,0.376,9222,0.000,0.051,3134,2347,1605,1635,1575,0,0,0,0,0,0,28.83,14.75,14.45
$GC,9774,1.34,365.7,3133,2347,1648,1582,33.8,12.0,441,9786,0.00,2.30,1.62,0.188,8708,0.000,0.044,3145,955,1602,1639,1566,0,0,0,0,0,0,28.83,14.78,14.62
$GC,9949,1.35,370.7,3142,955,1651,1576,14.9,11.2,466,9962,0.00,2.28,4.00,0.184,9222,0.000,0.052,3142,2362,1580,1618,1543,0,0,0,0,0,0,28.83,14.78,14.56
$STATE,10043,end climb,SURFACE_DEPTH_REACHED
$STATE,10043,begin surface coast
$FINISH,0.3,1.021097
$STATE,10064,end surface coast,CONTROL_FINISHED_OK
$STATE,10064,begin surface
$SM_CCo,10082,48.80,0.142,0,0,1153,475.15
$SM_GC,-0.34,7.97,0.12,48.80,0.057,0.135,0.142,233,2466,1153,-7.61,-1.13,475.15,0,0,0,0,0,0,14.82,14.79,14.68
$IRIDIUM_FIX,2309.79,12449.72,140613,010132
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.67
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,25.40
$XPDR_PINGS,0
$SC_FREEKB,3854304
$24V_AH,13.5,77.224
$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,20.800,107.500,516.675,48.800,0.000,29.566,22.051,263.595,0.000,0.000,16.620,1534.112,6594.308,622.422,1698.170,213.895,0.000,1400.458,0.000,1272.746,0.000,0.542,0.000
$DEVICE_MAMPS,379.440,135.405,1706.715,141.525,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10112.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.905,0.000,0.000,0.000
$MEM,328324
$DATA_FILE_SIZE,16727,488
$CAP_FILE_SIZE,128442,0
$CFSIZE,260034560,236605440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140613,070345,2323.143,12456.267,10,2.5,29,-3.4