version: 66.11
glider: 181
mission: 11
dive: 213
start: 6 14 113 7 13 18
data:
$ID,181
$MISSION,11
$DIVE,213
$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,-96011.391
$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,57
$R_STBD_OVSHOOT,51
$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
$GPS1,140613,070345,2323.143,12456.267,10,2.5,29,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.07
$_SM_ANGLEo,-70.9
$GPS2,140613,071251,2323.211,12456.359,11,5.4,30,-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,208.3,231067,-14.7,-11.379,-23.37,3050
$D_GRID,5700
$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,19,-1.10,-243.3,208,2473,1161,1157,0.0,0.0,0,93,0.00,0.00,-71.72,0.000,16386,0.000,0.000,207,2472,2958,3004,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.10,-243.3,207,2473,3004,2914,3.2,-10.9,13,133,9.55,2.30,-16.67,0.000,18948,0.379,0.062,2340,1045,3965,4006,3924,0,0,0,0,0,0,14.41,14.71,14.92
$GC,220,-1.10,-243.3,2341,1044,4003,3926,51.6,-33.2,29,226,0.00,2.28,0.00,0.000,1030,0.000,0.057,2333,2431,3964,4003,3926,0,0,0,0,0,0,28.83,14.72,28.83
$GC,543,-1.10,-243.3,2333,2433,4002,3928,164.1,-32.3,45,548,0.00,2.22,0.00,0.000,260,0.000,0.075,2323,3789,3965,4002,3928,0,0,0,0,0,0,28.83,14.78,28.83
$GC,575,-1.10,-243.3,2322,3788,4003,3929,171.3,-32.2,46,580,0.00,2.08,0.00,0.000,1030,0.000,0.034,2322,2425,3965,4002,3929,0,0,0,0,0,0,28.83,14.88,28.83
$GC,887,-1.10,-243.3,2323,2418,4002,3932,269.0,-29.4,62,892,0.00,2.25,0.00,0.000,260,0.000,0.075,2311,3784,3967,4002,3932,0,0,0,0,0,0,28.83,14.82,28.83
$GC,950,-1.10,-243.3,2312,3784,4002,3932,287.5,-29.1,65,956,0.15,2.03,0.00,0.000,3078,0.287,0.034,2344,2444,3967,4002,3932,0,0,0,0,0,0,14.62,14.92,28.83
$GC,1274,-1.10,-243.3,2344,2436,3998,3933,368.6,-23.6,81,1279,0.00,2.22,0.00,0.000,260,0.000,0.076,2336,3785,3965,3998,3933,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1330,-1.10,-243.3,2336,3786,3998,3933,378.9,-24.1,83,1337,0.00,2.03,0.00,0.000,1030,0.000,0.035,2336,2442,3966,3998,3934,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1636,-1.10,-243.3,2336,2436,3998,3932,455.6,-23.9,99,1641,0.00,2.22,0.00,0.000,260,0.000,0.077,2325,3780,3964,3998,3931,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1682,-1.10,-243.3,1472,3780,3997,3930,465.8,-24.4,101,1688,0.00,2.00,0.00,0.000,1030,0.000,0.035,2326,2453,3964,3998,3931,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2000,-1.10,-243.3,2325,2446,3998,3926,539.5,-22.8,117,2005,0.00,2.20,0.00,0.000,260,0.000,0.079,2315,3779,3962,3998,3926,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2042,-1.10,-243.3,2315,3779,3998,3925,549.6,-22.7,119,2048,0.12,2.03,0.00,0.000,3078,0.280,0.037,2342,2453,3961,3998,3925,0,0,0,0,0,0,14.67,14.95,28.83
$GC,2376,-1.10,-243.3,2341,2447,3998,3920,620.3,-20.8,134,2381,0.00,2.22,0.00,0.000,260,0.000,0.081,2334,3786,3959,3998,3920,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2488,-1.10,-243.3,2334,3786,3998,3918,640.7,-21.6,137,2493,0.00,2.05,0.00,0.000,1030,0.000,0.039,2333,2448,3957,3998,3917,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2801,-1.10,-243.3,2333,2441,3998,3910,713.8,-22.1,148,2806,0.00,2.25,0.00,0.000,260,0.000,0.085,2323,3785,3954,3998,3910,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2842,-1.10,-243.3,2324,3785,3998,3909,721.1,-21.9,149,2848,0.00,2.05,0.00,0.000,1030,0.000,0.040,2323,2459,3953,3998,3909,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3167,-1.10,-243.3,2324,2453,3998,3902,794.9,-22.2,160,3172,0.00,2.22,0.00,0.000,260,0.000,0.087,2313,3775,3950,3998,3902,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3203,-1.10,-243.3,2313,3775,3998,3902,802.9,-22.6,161,3209,0.12,2.08,0.00,0.000,3078,0.285,0.041,2340,2442,3949,3998,3901,0,0,0,0,0,0,14.64,14.93,28.83
$GC,3532,-1.10,-243.3,2336,2435,3998,3896,872.4,-20.3,172,3537,0.00,2.28,0.00,0.000,260,0.000,0.090,2332,3780,3946,3998,3894,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3578,-1.10,-243.3,2332,3779,3997,3895,879.2,-20.1,173,3584,0.00,2.08,0.00,0.000,1030,0.000,0.043,2332,2454,3946,3997,3895,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3898,-1.10,-243.3,2332,2447,3996,3890,947.1,-20.3,184,3903,0.00,2.25,0.00,0.000,260,0.000,0.093,2321,3773,3942,3995,3890,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3939,-1.10,-243.3,2322,3774,3995,3890,954.2,-20.3,185,3945,0.00,2.08,0.00,0.000,1030,0.000,0.044,2322,2452,3942,3995,3890,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,4110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4110,begin apogee
$GC,4115,-0.21,0.0,2318,2329,3994,3888,993.4,-21.7,191,4383,1.08,0.00,255.27,1.570,10246,0.233,0.000,2627,2328,3094,3122,3067,0,0,0,0,1,0,14.61,28.83,13.32
$STATE,4384,end apogee,CONTROL_FINISHED_OK
$STATE,4386,begin climb
$GC,4387,1.10,243.3,2627,2328,3122,3071,1014.2,0.0,200,4645,1.20,2.60,247.57,1.719,11012,0.052,0.093,3074,3759,2097,2125,2069,0,0,0,0,0,0,14.23,14.09,13.50
$GC,4696,1.10,243.3,3074,3759,2121,2062,985.7,21.8,210,4701,0.15,2.28,0.00,0.000,5126,0.379,0.041,3058,2364,2093,2121,2065,0,0,0,0,0,0,14.16,14.38,28.83
$GC,5009,1.10,243.3,3058,2364,2121,2049,911.1,22.4,221,5014,0.00,2.33,0.00,0.000,516,0.000,0.058,3067,951,2084,2119,2049,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5051,1.10,243.3,3067,950,2120,2048,903.3,22.4,222,5056,0.00,2.33,0.00,0.000,1030,0.000,0.063,3067,2349,2084,2120,2048,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5376,1.10,243.3,3067,2348,2120,2044,826.7,23.0,233,5377,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2348,2082,2120,2044,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5674,1.10,243.3,3067,2348,2120,2040,758.0,22.7,243,5675,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2348,2080,2120,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5974,1.10,243.3,3068,2348,2120,2038,692.4,21.7,253,5976,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2348,2078,2119,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6274,1.10,243.3,3067,2348,2119,2036,627.3,21.8,263,6279,0.00,2.28,0.00,0.000,516,0.000,0.053,3077,952,2075,2118,2033,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6376,1.10,243.3,3077,951,2118,2035,608.1,20.9,266,6381,0.00,2.30,0.00,0.000,1030,0.000,0.060,3077,2351,2076,2118,2035,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6689,1.10,243.3,3077,2350,2118,2035,539.1,21.7,281,6694,0.00,2.35,0.00,0.000,260,0.000,0.087,3077,3755,2076,2118,2035,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6712,1.10,243.3,3077,3755,2118,2035,534.0,21.7,282,6718,0.15,2.20,0.00,0.000,5126,0.347,0.040,3057,2343,2076,2118,2035,0,0,0,0,0,0,14.55,14.88,28.83
$GC,7035,1.10,243.3,3058,2338,2117,2033,469.3,19.8,298,7040,0.00,2.22,0.00,0.000,516,0.000,0.052,3065,960,2075,2117,2033,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7078,1.10,243.3,3066,960,2117,2033,461.5,19.2,300,7084,0.00,2.30,0.00,0.000,1030,0.000,0.059,3066,2357,2075,2117,2033,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7401,1.10,243.3,3066,2357,2117,2032,403.9,17.8,316,7406,0.00,2.28,0.00,0.000,516,0.000,0.050,3076,957,2075,2117,2033,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7484,1.10,243.3,3076,957,2116,2033,390.2,16.5,320,7490,0.00,2.30,0.00,0.000,1030,0.000,0.057,3076,2360,2074,2116,2032,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7807,1.10,243.3,3076,2360,2118,2032,332.1,17.5,336,7808,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2360,2074,2116,2032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8109,1.10,243.3,3075,2360,2116,2032,280.7,16.7,351,8114,0.00,2.35,0.00,0.000,260,0.000,0.086,3075,3761,2073,2116,2031,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8131,1.10,243.3,3076,3761,2116,2032,276.2,17.2,352,8138,0.15,2.20,0.00,0.000,5126,0.335,0.039,3055,2341,2074,2117,2032,0,0,0,0,0,0,14.53,14.90,28.83
$GC,8455,1.10,243.3,3057,2336,2116,2032,228.9,13.8,368,8460,0.00,2.20,0.00,0.000,516,0.000,0.050,3064,964,2074,2116,2032,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8654,1.10,243.3,3064,963,2116,2032,203.9,13.4,377,8661,0.00,2.25,0.00,0.000,1030,0.000,0.056,3064,2349,2074,2116,2032,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8958,1.10,243.3,3064,2349,2117,2033,162.2,12.5,393,8963,0.00,2.22,0.00,0.000,516,0.000,0.047,3074,958,2075,2117,2033,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9045,1.10,243.3,2128,957,2077,2023,152.1,12.3,397,9050,0.00,2.28,0.00,0.000,1030,0.000,0.054,3074,2360,2073,2114,2033,0,0,0,0,0,0,28.83,14.79,28.83
$GC,9362,1.10,243.3,3074,2360,2117,2035,114.1,11.5,413,9368,0.00,2.33,0.00,0.000,260,0.000,0.082,3074,3753,2076,2117,2035,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9374,1.10,243.3,3074,3753,2117,2035,114.1,11.5,413,9380,0.12,2.17,0.00,0.000,5126,0.327,0.035,3059,2333,2076,2117,2035,0,0,0,0,0,0,14.54,14.90,28.83
$GC,9687,1.40,395.7,3060,2329,2117,2037,87.4,6.2,429,9768,0.25,2.17,72.40,0.393,10756,0.103,0.044,3169,970,1479,1512,1446,0,0,0,0,0,0,14.82,14.74,14.46
$GC,9900,1.40,395.7,3169,970,1522,1456,57.1,16.7,439,9906,0.00,2.25,1.25,0.202,9222,0.000,0.052,3168,2354,1479,1515,1443,0,0,0,0,0,0,28.83,14.67,14.64
$GC,10209,1.40,395.7,3168,2354,1525,1451,4.4,14.1,481,10216,0.00,2.22,0.00,0.000,516,0.000,0.047,3178,962,1488,1525,1451,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,10221,end climb,SURFACE_DEPTH_REACHED
$STATE,10222,begin surface coast
$FINISH,-0.4,1.021187
$STATE,10243,end surface coast,CONTROL_FINISHED_OK
$STATE,10243,begin surface
$SM_CCo,10263,37.33,0.143,0,0,1153,475.15
$SM_GC,-0.02,7.97,2.47,37.33,0.046,0.051,0.143,238,2448,1153,-7.61,-1.07,475.15,0,0,0,0,0,0,14.79,14.78,14.66
$IRIDIUM_FIX,2312.13,12638.58,140613,040441
$TT8_MAMPS,0.019474,0.019474
$HUMID,48.38
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,25.20
$XPDR_PINGS,4
$SC_FREEKB,3853920
$24V_AH,13.3,77.537
$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,21.025,102.400,576.500,37.325,0.000,30.222,36.005,256.664,1.000,0.000,33.748,1501.531,6796.388,640.792,1706.767,211.514,0.000,1416.760,0.000,1254.264,0.000,0.541,0.000
$DEVICE_MAMPS,379.440,109.395,1718.955,143.055,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10274.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.812,0.000,0.000,0.000
$MEM,328344
$DATA_FILE_SIZE,16780,487
$CAP_FILE_SIZE,126077,0
$CFSIZE,260034560,236523520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140613,100624,2321.615,12457.419,41,0.9,41,-3.4