version: 66.11
glider: 181
mission: 11
dive: 215
start: 6 14 113 13 21 41
data:
$ID,181
$MISSION,11
$DIVE,215
$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,-96013.914
$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,48
$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
$GPS1,140613,131143,2320.267,12458.292,12,2.0,12,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.05
$_SM_ANGLEo,-71.2
$GPS2,140613,132115,2320.210,12458.324,12,2.1,31,-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,209.6,227510,-14.7,-11.379,-23.37,3050
$D_GRID,6035
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-1.10,-243.3,207,2473,1159,1154,0.0,0.0,0,94,0.00,0.00,-71.75,0.000,16386,0.000,0.000,206,2472,2984,3030,2938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.10,-243.3,206,2472,3030,2939,3.3,-10.8,13,129,9.55,2.30,-16.12,0.000,18948,0.379,0.063,2340,1059,3964,4006,3923,0,0,0,0,0,0,14.42,14.71,14.93
$GC,181,-1.10,-243.3,2340,1058,4003,3927,39.2,-36.5,25,187,0.00,2.28,0.00,0.000,1030,0.000,0.065,2332,2431,3963,4000,3927,0,0,0,0,0,0,28.83,14.70,28.83
$GC,494,-1.10,-243.3,2332,2431,4002,3929,154.9,-33.6,42,500,0.00,2.25,0.00,0.000,260,0.000,0.075,2322,3792,3965,4002,3929,0,0,0,0,0,0,28.83,14.73,28.83
$GC,521,-1.10,-243.3,2322,3793,4002,3929,162.6,-33.6,43,526,0.00,2.05,0.00,0.000,1030,0.000,0.033,2322,2435,3965,4002,3929,0,0,0,0,0,0,28.83,14.87,28.83
$GC,839,-1.10,-243.3,2322,2429,4002,3932,260.3,-27.8,59,844,0.00,2.22,0.00,0.000,260,0.000,0.070,2311,3792,3966,4001,3932,0,0,0,0,0,0,28.83,14.83,28.83
$GC,890,-1.10,-243.3,2311,3793,4002,3932,272.0,-27.7,61,896,0.15,2.03,0.00,0.000,3078,0.282,0.031,2343,2434,3966,4002,3931,0,0,0,0,0,0,14.62,14.91,28.83
$GC,1204,-1.10,-243.3,2344,2426,3998,3933,356.4,-26.0,77,1209,0.00,2.25,0.00,0.000,260,0.000,0.075,2335,3793,3966,3998,3934,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1295,-1.10,-243.3,2336,3794,3998,3934,379.1,-27.6,81,1301,0.00,2.00,0.00,0.000,1030,0.000,0.032,2335,2448,3966,3998,3934,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1608,-1.10,-243.3,2336,2441,3998,3932,457.1,-21.8,97,1613,0.00,2.20,0.00,0.000,260,0.000,0.072,2325,3783,3965,3998,3932,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1634,-1.10,-243.3,1480,3782,3997,3931,462.4,-22.1,98,1640,0.00,2.00,0.00,0.000,1030,0.000,0.034,2326,2457,3963,3998,3928,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1952,-1.10,-243.3,2325,2450,3998,3928,535.9,-22.6,114,1957,0.00,2.20,0.00,0.000,260,0.000,0.075,2315,3788,3963,3998,3928,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2004,-1.10,-243.3,2315,3788,3998,3927,545.7,-22.5,116,2009,0.12,2.03,0.00,0.000,3078,0.278,0.035,2341,2450,3962,3998,3927,0,0,0,0,0,0,14.68,14.95,28.83
$GC,2317,-1.10,-243.3,2341,2444,3998,3922,617.4,-22.0,131,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2341,2444,3960,3998,3922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2617,-1.10,-243.3,2341,2444,3998,3914,678.1,-19.8,141,2622,0.00,2.22,0.00,0.000,260,0.000,0.080,2333,3781,3956,3998,3914,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2661,-1.10,-243.3,2334,3783,3997,3914,685.3,-20.5,142,2666,0.00,2.03,0.00,0.000,1030,0.000,0.037,2334,2461,3956,3998,3914,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2985,-1.10,-243.3,2334,2456,3998,3907,757.6,-21.7,153,2990,0.00,2.22,0.00,0.000,260,0.000,0.083,2324,3787,3952,3998,3906,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3037,-1.10,-243.3,2324,3787,3998,3906,765.9,-22.5,154,3042,0.00,2.08,0.00,0.000,1030,0.000,0.039,2324,2448,3952,3998,3906,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3350,-1.10,-243.3,2323,2441,3998,3899,842.7,-23.2,165,3355,0.00,2.25,0.00,0.000,260,0.000,0.086,2313,3780,3948,3998,3899,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3397,-1.10,-243.3,2313,3780,3997,3898,850.4,-23.1,166,3403,0.12,2.08,0.00,0.000,3078,0.285,0.040,2339,2447,3947,3997,3898,0,0,0,0,0,0,14.64,14.93,28.83
$GC,3718,-1.10,-243.3,2339,2441,3996,3892,921.8,-20.7,177,3723,0.00,2.28,0.00,0.000,260,0.000,0.087,2332,3786,3944,3996,3892,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3764,-1.10,-243.3,2331,3787,3995,3892,929.1,-20.9,178,3770,0.00,2.10,0.00,0.000,1030,0.000,0.042,2331,2449,3943,3995,3892,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,4050,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4050,begin apogee
$GC,4056,-0.21,0.0,2332,2319,3994,3888,990.3,-19.9,188,4267,1.02,0.00,202.77,1.736,10246,0.222,0.000,2626,2318,3089,3117,3062,0,0,0,0,0,0,14.62,28.83,13.56
$STATE,4268,end apogee,CONTROL_FINISHED_OK
$STATE,4268,begin climb
$GC,4271,1.10,243.3,2626,2318,3115,3059,1001.1,0.0,195,4526,1.20,2.35,242.98,1.691,10756,0.057,0.057,3072,976,2095,2124,2067,0,0,0,0,0,0,14.27,14.13,13.53
$GC,4627,1.10,243.3,2144,975,2083,2043,950.4,24.6,207,4633,0.00,2.35,0.00,0.000,1030,0.000,0.062,3072,2359,2088,2123,2053,0,0,0,0,0,0,28.83,14.45,28.83
$GC,4957,1.10,243.3,3072,2359,2123,2044,869.0,24.4,218,4958,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,2360,2084,2123,2045,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5255,1.10,243.3,3072,2360,2123,2040,798.1,23.3,228,5260,0.00,2.28,0.00,0.000,516,0.000,0.053,3082,972,2081,2123,2040,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5293,1.10,243.3,3082,973,2125,2040,790.4,23.2,229,5299,0.00,2.28,0.00,0.000,1030,0.000,0.060,3082,2350,2081,2123,2040,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5623,1.10,243.3,3081,2350,2122,2042,713.8,23.0,240,5628,0.00,2.38,0.00,0.000,260,0.000,0.086,3082,3763,2079,2122,2037,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5640,1.10,243.3,3082,3763,2122,2037,713.8,23.0,240,5646,0.17,2.20,0.00,0.000,5126,0.350,0.040,3056,2352,2079,2122,2037,0,0,0,0,0,0,14.55,14.88,28.83
$GC,5959,1.10,243.3,3056,2348,2121,2035,640.6,21.5,251,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,2353,2078,2121,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6268,1.10,243.3,3057,2347,2120,2033,579.1,19.5,263,6273,0.00,2.22,0.00,0.000,516,0.000,0.052,3064,967,2075,2114,2037,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6340,1.10,243.3,3065,967,2119,2033,567.2,18.9,266,6346,0.00,2.28,0.00,0.000,1030,0.000,0.058,3065,2355,2076,2119,2033,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6653,1.10,243.3,3065,2356,2118,2032,503.8,19.1,282,6658,0.00,2.35,0.00,0.000,260,0.000,0.086,3065,3752,2075,2119,2032,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6727,1.10,243.3,3065,3752,2118,2029,490.4,20.9,285,6732,0.00,2.20,0.00,0.000,1030,0.000,0.040,3075,2345,2075,2118,2032,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7039,1.10,243.3,3076,2340,2118,2030,425.4,19.4,301,7045,0.00,2.22,0.00,0.000,516,0.000,0.050,3085,957,2074,2118,2030,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7153,1.10,243.3,3086,957,2117,2030,406.8,18.1,306,7159,0.15,2.28,0.00,0.000,5126,0.301,0.057,3054,2349,2073,2117,2029,0,0,0,0,0,0,14.56,14.83,28.83
$GC,7466,1.10,243.3,3054,2350,2117,2028,351.6,16.7,322,7467,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2350,2072,2117,2028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7768,1.10,243.3,3054,2350,2118,2028,304.5,15.7,337,7773,0.00,2.25,0.00,0.000,516,0.000,0.050,3062,954,2072,2117,2028,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7800,1.10,243.3,3062,953,2117,2028,300.6,15.8,338,7805,0.00,2.28,0.00,0.000,1030,0.000,0.056,3061,2349,2072,2117,2028,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8112,1.10,243.3,3062,2349,2118,2028,251.5,14.9,354,8118,0.00,2.22,0.00,0.000,516,0.000,0.048,3071,960,2072,2117,2028,0,0,0,0,0,0,28.83,14.86,28.83
$GC,8139,1.10,243.3,3071,960,2117,2028,248.0,15.0,355,8144,0.00,2.28,0.00,0.000,1030,0.000,0.055,3071,2358,2072,2117,2028,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8457,1.10,243.3,3072,2358,2118,2028,202.5,13.1,371,8462,0.00,2.33,0.00,0.000,260,0.000,0.082,3072,3753,2073,2118,2029,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8494,1.10,243.3,3071,3753,2118,2030,199.5,12.9,372,8501,0.00,2.17,0.00,0.000,1030,0.000,0.036,3082,2342,2074,2118,2031,0,0,0,0,0,0,28.83,14.87,28.83
$GC,8800,1.10,243.3,3083,2338,2118,2031,158.9,12.1,388,8805,0.00,2.20,0.00,0.000,516,0.000,0.047,3092,955,2075,2118,2032,0,0,0,0,0,0,28.83,14.87,28.83
$GC,8913,1.10,243.3,3093,955,2118,2033,145.8,12.8,393,8919,0.15,2.28,0.00,0.000,5126,0.285,0.053,3060,2362,2075,2118,2033,0,0,0,0,0,0,14.57,14.83,28.83
$GC,9226,1.10,243.3,3060,2359,2118,2031,109.6,11.5,409,9231,0.00,2.25,0.00,0.000,516,0.000,0.045,3065,961,2076,2118,2034,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9459,1.23,310.6,3067,961,2117,2036,88.4,9.1,420,9498,0.00,2.25,31.27,0.388,9222,0.000,0.050,3067,2359,1827,1860,1795,0,0,0,0,0,0,28.83,14.81,14.49
$GC,9802,1.27,328.8,3066,2358,1870,1805,46.7,10.8,439,9818,0.12,2.30,10.60,0.254,10756,0.137,0.044,3136,959,1751,1786,1717,0,0,0,0,0,0,14.83,14.81,14.53
$GC,9936,1.30,344.8,3136,959,1799,1731,32.3,10.8,452,9952,0.00,2.25,9.70,0.220,9222,0.000,0.050,3136,2357,1686,1723,1650,0,0,0,0,0,0,28.83,14.77,14.59
$STATE,10228,end climb,SURFACE_DEPTH_REACHED
$STATE,10230,begin surface coast
$FINISH,-0.7,1.021317
$STATE,10262,end surface coast,CONTROL_FINISHED_OK
$STATE,10262,begin surface
$SM_CCo,10279,60.70,0.142,0,0,1153,475.15
$SM_GC,-0.03,7.85,0.15,60.70,0.047,0.126,0.142,234,2468,1153,-7.61,-0.88,475.15,0,0,0,0,0,0,14.84,14.81,14.68
$IRIDIUM_FIX,2316.83,12457.60,140613,101041
$TT8_MAMPS,0.019474,0.019474
$HUMID,46.53
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,25.60
$XPDR_PINGS,0
$SC_FREEKB,3853152
$24V_AH,13.5,78.128
$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,20.625,97.750,497.325,60.700,0.000,31.473,28.082,277.078,0.000,0.000,34.745,1559.868,6813.419,590.889,1737.150,220.103,0.000,1356.013,0.000,1262.419,0.000,0.542,0.000
$DEVICE_MAMPS,379.440,126.225,1735.785,141.525,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10303.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.089,0.000,0.000,0.000
$MEM,328304
$DATA_FILE_SIZE,20080,509
$CAP_FILE_SIZE,127119,0
$CFSIZE,260034560,236343296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140613,161529,2318.709,12459.075,38,1.3,43,-3.4