version: 66.11
glider: 181
mission: 11
dive: 224
start: 6 15 113 17 20 31
data:
$ID,181
$MISSION,11
$DIVE,224
$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,-96025.242
$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,69
$R_STBD_OVSHOOT,33
$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
$GPS1,150613,170808,2307.233,12505.498,6,3.0,25,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-71.5
$GPS2,150613,172003,2307.110,12505.625,11,3.3,30,-3.3
$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,215.5,212444,-14.7,-11.379,-23.37,3050
$D_GRID,1000
$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,-243.3,217,2454,1163,1132,0.0,0.0,0,99,0.00,0.00,-77.03,0.000,16386,0.000,0.000,217,2456,3076,3126,3027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.10,-243.3,216,2456,3126,3028,3.2,-10.9,14,133,9.48,2.25,-14.80,0.000,18948,0.380,0.060,2336,1058,3965,4005,3925,0,0,0,0,0,0,14.40,14.71,14.92
$GC,216,-1.10,-243.3,2337,1057,4002,3928,49.0,-30.3,29,221,0.00,2.28,0.00,0.000,1030,0.000,0.058,2329,2446,3964,4002,3927,0,0,0,0,0,0,28.83,14.71,28.83
$GC,528,-1.10,-243.3,2329,2446,4002,3931,148.2,-29.9,45,533,0.00,2.20,0.00,0.000,260,0.000,0.072,2318,3791,3966,4002,3931,0,0,0,0,0,0,28.83,14.76,28.83
$GC,646,-1.10,-243.3,2319,3790,4001,3931,179.7,-30.7,50,653,0.00,2.05,0.00,0.000,1030,0.000,0.033,2318,2442,3966,4001,3932,0,0,0,0,0,0,28.83,14.87,28.83
$GC,952,-1.10,-243.3,2318,2435,4003,3932,274.4,-28.0,66,957,0.00,2.22,0.00,0.000,260,0.000,0.072,2308,3793,3966,4001,3932,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1025,-1.10,-243.3,2308,3793,4001,3932,291.8,-27.2,69,1031,0.15,2.03,0.00,0.000,3078,0.272,0.032,2341,2430,3966,4001,3932,0,0,0,0,0,0,14.64,14.92,28.83
$GC,1339,-1.10,-243.3,2341,2423,3997,3932,367.0,-23.4,85,1345,0.00,2.25,0.00,0.000,260,0.000,0.076,2333,3786,3964,3997,3932,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1457,-1.10,-243.3,2333,3787,3997,3932,392.1,-24.1,90,1464,0.00,2.00,0.00,0.000,1030,0.000,0.034,2334,2457,3964,3997,3932,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1762,-1.10,-243.3,2333,2450,3997,3929,467.9,-22.7,106,1767,0.00,2.20,0.00,0.000,260,0.000,0.077,2323,3787,3963,3997,3929,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1794,-1.10,-243.3,2323,3787,3997,3929,473.1,-22.9,107,1799,0.00,2.03,0.00,0.000,1030,0.000,0.034,2323,2446,3962,3997,3928,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2107,-1.10,-243.3,2323,2439,3997,3924,546.3,-22.2,123,2112,0.00,2.22,0.00,0.000,260,0.000,0.076,2312,3789,3961,3997,3925,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2158,-1.10,-243.3,2312,3790,3997,3924,556.1,-22.7,125,2164,0.12,2.03,0.00,0.000,3078,0.275,0.034,2339,2454,3960,3997,3924,0,0,0,0,0,0,14.68,14.96,28.83
$GC,2472,-1.10,-243.3,2339,2448,3997,3919,627.0,-22.3,139,2477,0.00,2.22,0.00,0.000,260,0.000,0.083,2332,3786,3957,3997,3918,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2559,-1.10,-243.3,2331,3785,3997,3916,641.4,-22.8,141,2565,0.00,2.05,0.00,0.000,1030,0.000,0.036,2332,2444,3956,3997,3916,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2865,-1.10,-243.3,2332,2441,3997,3909,714.1,-22.0,152,2870,0.00,2.22,0.00,0.000,260,0.000,0.083,2321,3778,3953,3997,3909,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2932,-1.10,-243.3,2321,3778,3997,3908,727.8,-21.6,154,2938,0.00,2.05,0.00,0.000,1030,0.000,0.038,2321,2448,3952,3997,3908,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3261,-1.10,-243.3,2321,2446,3997,3901,800.3,-21.3,165,3267,0.00,2.25,0.00,0.000,260,0.000,0.086,2311,3777,3950,3997,3903,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3298,-1.10,-243.3,2311,3777,3997,3901,807.9,-21.4,166,3304,0.15,2.05,0.00,0.000,3078,0.266,0.039,2344,2453,3949,3997,3901,0,0,0,0,0,0,14.64,14.94,28.83
$GC,3626,-1.10,-243.3,2345,2446,3997,3894,871.9,-18.9,177,3631,0.00,2.25,0.00,0.000,260,0.000,0.089,2338,3776,3945,3997,3893,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3683,-1.10,-243.3,2338,3776,3996,3894,878.2,-19.1,178,3690,0.00,2.08,0.00,0.000,1030,0.000,0.041,2338,2444,3944,3996,3893,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3989,-1.10,-243.3,2338,2439,3995,3888,941.8,-19.2,189,3994,0.00,2.28,0.00,0.000,260,0.000,0.091,2327,3778,3941,3995,3888,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4066,-1.10,-243.3,2327,3778,3993,3888,954.9,-19.9,191,4071,0.00,2.08,0.00,0.000,1030,0.000,0.042,2328,2453,3940,3992,3888,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,4232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4232,begin apogee
$GC,4237,-0.21,0.0,2328,2325,3991,3885,991.4,-20.0,197,4444,1.02,0.00,197.10,1.777,10246,0.223,0.000,2622,2325,3086,3115,3058,0,0,0,0,0,0,14.60,28.83,13.56
$STATE,4446,end apogee,CONTROL_FINISHED_OK
$STATE,4446,begin climb
$GC,4448,1.10,243.3,2622,2325,3112,3058,1004.4,0.0,204,4689,1.23,2.33,230.32,1.763,10756,0.063,0.058,3070,977,2095,2124,2066,0,0,0,0,0,0,14.26,14.12,13.49
$GC,4838,1.10,243.3,3070,977,2121,2048,950.3,21.9,217,4843,0.00,2.35,0.00,0.000,1030,0.000,0.063,3070,2357,2084,2121,2047,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5172,1.10,243.3,3070,2358,2121,2039,875.3,22.3,228,5177,0.00,2.40,0.00,0.000,260,0.000,0.091,3070,3760,2080,2121,2040,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5209,1.10,243.3,3070,3761,2121,2040,867.0,22.6,229,5215,0.00,2.22,0.00,0.000,1030,0.000,0.040,3081,2354,2080,2121,2040,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5539,1.10,243.3,3082,2351,2120,2035,789.3,23.4,240,5544,0.00,2.28,0.00,0.000,516,0.000,0.055,3092,952,2077,2120,2035,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5675,1.10,243.3,2180,951,2081,2025,760.6,23.1,244,5681,0.17,2.33,0.00,0.000,5126,0.318,0.059,3055,2354,2077,2119,2035,0,0,0,0,0,0,14.54,14.79,28.83
$GC,5996,1.10,243.3,3055,2355,2119,2032,688.6,21.3,255,5997,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2355,2075,2119,2032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6294,1.10,243.3,3055,2356,2118,2030,628.0,19.9,265,6299,0.00,2.30,0.00,0.000,516,0.000,0.054,3062,950,2074,2118,2030,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6366,1.10,243.3,3062,949,2118,2030,615.7,19.8,267,6371,0.00,2.30,0.00,0.000,1030,0.000,0.060,3062,2347,2073,2116,2030,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6689,1.10,243.3,3062,2347,2117,2028,549.1,20.9,282,6694,0.00,2.40,0.00,0.000,260,0.000,0.088,3062,3765,2072,2117,2027,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6706,1.10,243.3,3062,3765,2116,2028,549.1,20.9,282,6713,0.00,2.22,0.00,0.000,1030,0.000,0.040,3073,2340,2072,2116,2028,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7012,1.10,243.3,3073,2335,2116,2027,484.4,18.6,298,7017,0.00,2.22,0.00,0.000,516,0.000,0.051,3084,958,2071,2116,2027,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7034,1.10,243.3,3083,958,2115,2027,480.4,18.2,299,7041,0.12,2.30,0.00,0.000,5126,0.311,0.057,3058,2358,2070,2115,2026,0,0,0,0,0,0,14.56,14.83,28.83
$GC,7358,1.10,243.3,3059,2359,2114,2025,423.6,16.7,315,7363,0.00,2.28,0.00,0.000,516,0.000,0.050,3066,957,2070,2115,2025,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7441,1.10,243.3,3066,956,2115,2025,410.3,16.1,319,7446,0.00,2.28,0.00,0.000,1030,0.000,0.056,3066,2349,2070,2115,2025,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7764,1.10,243.3,3066,2350,2115,2024,358.5,15.6,335,7769,0.00,2.25,0.00,0.000,516,0.000,0.050,3076,956,2069,2115,2024,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7780,1.10,243.3,3076,954,2115,2023,358.5,15.6,335,7788,0.00,2.30,0.00,0.000,1030,0.000,0.055,3075,2357,2069,2115,2024,0,0,0,0,0,0,28.83,14.82,28.83
$GC,8087,1.10,243.3,3076,2358,2115,2024,309.1,16.2,351,8088,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2358,2069,2115,2024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8388,1.10,243.3,3076,2361,2115,2024,260.5,15.6,366,8390,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,2358,2069,2115,2024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8688,1.10,243.3,3076,2358,2116,2025,217.1,13.6,381,8693,0.00,2.25,0.00,0.000,516,0.000,0.047,3086,960,2070,2115,2025,0,0,0,0,0,0,28.83,14.86,28.83
$GC,8751,1.10,243.3,3086,959,2115,2026,208.2,13.8,384,8757,0.12,2.25,0.00,0.000,5126,0.291,0.053,3059,2349,2070,2115,2026,0,0,0,0,0,0,14.56,14.83,28.83
$GC,9074,1.10,243.3,3059,2349,2116,2027,167.2,12.0,400,9080,0.00,2.25,0.00,0.000,516,0.000,0.047,3066,952,2071,2115,2027,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9178,1.10,243.3,3066,952,2115,2027,155.5,11.5,405,9183,0.00,2.28,0.00,0.000,1030,0.000,0.052,3066,2349,2071,2115,2028,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9501,1.10,243.3,3066,2350,2115,2030,119.2,11.5,421,9506,0.00,2.33,0.00,0.000,260,0.000,0.080,3066,3754,2072,2115,2030,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9524,1.10,243.3,3066,3753,2116,2031,116.2,11.9,422,9529,0.00,2.17,0.00,0.000,1030,0.000,0.035,3077,2330,2073,2115,2031,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9847,1.24,312.6,3077,2325,2116,2032,80.8,9.0,438,9887,0.00,2.15,31.62,0.366,8708,0.000,0.047,3087,971,1823,1855,1791,0,0,0,0,0,0,28.83,14.81,14.51
$GC,9979,1.24,312.6,3087,970,1864,1801,67.3,11.5,444,9991,0.00,2.22,1.98,0.184,9222,0.000,0.050,3087,2350,1819,1853,1785,0,0,0,0,0,0,28.83,14.71,14.61
$GC,10291,1.24,316.0,3087,2350,1868,1798,30.3,11.3,469,10303,0.00,2.20,3.78,0.197,8708,0.000,0.045,3097,968,1804,1840,1769,0,0,0,0,0,0,28.83,14.79,14.58
$GC,10427,1.57,477.9,3103,968,1857,1782,20.8,5.9,489,10514,0.30,2.22,76.57,0.188,11270,0.096,0.047,3209,2355,1141,1168,1114,0,0,0,0,0,0,14.77,14.81,14.62
$STATE,10544,end climb,SURFACE_DEPTH_REACHED
$STATE,10545,begin surface coast
$FINISH,0.0,1.021521
$STATE,10556,end surface coast,CONTROL_FINISHED_OK
$STATE,10556,begin surface
$SM_CCo,10635,0.00,0.000,0,0,1149,476.86
$SM_GC,-0.15,8.10,0.15,0.00,0.047,0.117,0.000,234,2495,1149,-7.61,-0.93,476.86,0,0,0,0,0,0,14.78,14.76,28.83
$IRIDIUM_FIX,2251.04,12524.64,150613,171724
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.71
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,25.20
$XPDR_PINGS,2
$SC_FREEKB,3849696
$24V_AH,13.5,80.838
$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,20.975,106.625,541.375,0.000,0.000,59.520,95.633,261.428,0.500,0.000,34.648,1592.280,7065.514,590.523,1879.911,228.782,0.000,1399.281,0.000,1322.902,0.000,0.542,0.000
$DEVICE_MAMPS,380.205,117.045,1777.095,0.000,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10596.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.041,0.000,0.000,0.000
$MEM,328360
$DATA_FILE_SIZE,20094,512
$CAP_FILE_SIZE,132651,0
$CFSIZE,260034560,235520000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150613,201905,2305.509,12505.699,37,1.0,37,-3.3