version: 66.11
glider: 181
mission: 11
dive: 225
start: 6 15 113 20 32 47
data:
$ID,181
$MISSION,11
$DIVE,225
$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,-96026.594
$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,73
$R_STBD_OVSHOOT,73
$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
$GPS1,150613,201905,2305.509,12505.699,37,1.0,37,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-72.9
$GPS2,150613,203219,2305.404,12505.693,12,1.1,12,-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,215.9,209840,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.10,-243.3,218,2500,1168,1139,0.0,0.0,0,99,0.00,0.00,-77.43,0.000,16386,0.000,0.000,217,2500,3110,3159,3062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.10,-243.3,217,2500,3159,3062,3.5,-12.0,14,133,9.50,2.28,-14.02,0.000,18948,0.379,0.058,2345,1057,3964,4005,3924,0,0,0,0,0,0,14.40,14.73,14.93
$GC,201,-1.10,-243.3,2345,1056,4002,3927,46.1,-34.2,27,206,0.00,2.22,0.00,0.000,1030,0.000,0.057,2338,2414,3964,4002,3927,0,0,0,0,0,0,28.83,14.69,28.83
$GC,514,-1.10,-243.3,2338,2415,4002,3929,146.7,-29.7,43,519,0.00,2.25,0.00,0.000,260,0.000,0.073,2328,3784,3965,4002,3929,0,0,0,0,0,0,28.83,14.71,28.83
$GC,610,-1.10,-243.3,2327,3784,4001,3931,171.8,-30.4,47,617,0.00,2.03,0.00,0.000,1030,0.000,0.033,2328,2450,3966,4001,3931,0,0,0,0,0,0,28.83,14.86,28.83
$GC,917,-1.10,-243.3,2328,2445,4001,3931,265.3,-27.9,63,922,0.00,2.20,0.00,0.000,260,0.000,0.073,2317,3782,3966,4001,3931,0,0,0,0,0,0,28.83,14.83,28.83
$GC,948,-1.10,-243.3,2317,3783,4001,3931,271.6,-27.3,64,954,0.00,2.03,0.00,0.000,1030,0.000,0.033,2317,2446,3966,4002,3931,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1261,-1.10,-243.3,2316,2438,3997,3932,358.8,-26.6,80,1267,0.12,2.20,0.00,0.000,2308,0.293,0.072,2340,3780,3964,3997,3932,0,0,0,0,0,0,14.65,14.85,28.83
$GC,1366,-1.10,-243.3,2338,3781,3997,3932,384.1,-23.5,85,1371,0.00,2.00,0.00,0.000,1030,0.000,0.033,2340,2442,3964,3997,3932,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1688,-1.10,-243.3,2341,2435,3997,3929,457.3,-21.4,101,1694,0.00,2.22,0.00,0.000,260,0.000,0.075,2331,3785,3962,3997,3928,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1745,-1.10,-243.3,2331,3786,3997,3928,466.6,-20.9,103,1752,0.00,2.03,0.00,0.000,1030,0.000,0.034,2331,2432,3962,3997,3927,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2051,-1.10,-243.3,2331,2425,3997,3924,537.0,-21.4,119,2056,0.00,2.22,0.00,0.000,260,0.000,0.077,2320,3781,3960,3997,3924,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2128,-1.10,-243.3,2320,3782,3997,3923,551.7,-23.3,122,2135,0.00,2.00,0.00,0.000,1030,0.000,0.034,2320,2449,3960,3997,3923,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2454,-1.10,-243.3,2320,2442,3997,3917,632.2,-24.5,137,2459,0.00,2.22,0.00,0.000,260,0.000,0.082,2309,3782,3957,3998,3917,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2536,-1.10,-243.3,2310,3782,3997,3915,646.9,-23.8,139,2542,0.15,2.00,0.00,0.000,3078,0.264,0.034,2343,2471,3956,3997,3915,0,0,0,0,0,0,14.66,14.95,28.83
$GC,2851,-1.10,-243.3,2343,2465,3997,3908,714.3,-19.6,150,2856,0.00,2.20,0.00,0.000,260,0.000,0.083,2336,3786,3952,3997,3908,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2923,-1.10,-243.3,2336,3786,3997,3907,727.4,-20.1,152,2928,0.00,2.08,0.00,0.000,1030,0.000,0.038,2336,2450,3952,3997,3907,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3247,-1.10,-243.3,2336,2444,3997,3900,796.8,-20.6,163,3253,0.00,2.25,0.00,0.000,260,0.000,0.086,2326,3782,3949,3997,3901,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3280,-1.10,-243.3,2326,3784,3997,3900,804.0,-20.5,164,3285,0.00,2.08,0.00,0.000,1030,0.000,0.039,2326,2453,3948,3997,3900,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3615,-1.10,-243.3,2326,2447,3996,3894,873.0,-20.9,175,3620,0.00,2.25,0.00,0.000,260,0.000,0.088,2316,3780,3944,3996,3893,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3661,-1.10,-243.3,2315,3781,3994,3894,880.6,-21.0,176,3667,0.12,2.08,0.00,0.000,3078,0.277,0.040,2342,2446,3944,3995,3894,0,0,0,0,0,0,14.63,14.93,28.83
$GC,3982,-1.10,-243.3,2342,2440,3994,3888,946.7,-19.7,187,3987,0.00,2.28,0.00,0.000,260,0.000,0.090,2335,3781,3941,3994,3888,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4088,-1.10,-243.3,2335,3783,3991,3887,966.4,-20.5,190,4094,0.00,2.08,0.00,0.000,1030,0.000,0.041,2334,2456,3939,3991,3887,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,4194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4194,begin apogee
$GC,4200,-0.21,0.0,2334,2325,3991,3885,991.5,-20.5,194,4415,1.00,0.00,205.55,1.727,10246,0.217,0.000,2625,2324,3088,3117,3060,0,0,0,0,0,0,14.62,28.83,13.57
$STATE,4416,end apogee,CONTROL_FINISHED_OK
$STATE,4417,begin climb
$GC,4419,1.10,243.3,2624,2325,3114,3058,1007.4,0.0,201,4669,1.23,2.33,240.43,1.709,10756,0.056,0.059,3081,977,2096,2125,2068,0,0,0,0,0,0,14.26,14.14,13.52
$GC,4751,1.10,243.3,3080,977,2129,2053,974.2,21.5,212,4756,0.00,2.35,0.00,0.000,1030,0.000,0.064,3080,2353,2086,2121,2052,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5070,1.10,243.3,3081,2352,2129,2045,898.8,22.5,223,5071,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2353,2082,2121,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5369,1.10,243.3,3081,2352,2128,2039,830.9,22.5,233,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2352,2079,2121,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5669,1.10,243.3,3081,2353,2120,2035,764.3,21.5,243,5674,0.00,2.25,0.00,0.000,516,0.000,0.054,3090,976,2077,2120,2035,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5720,1.10,243.3,3091,976,2119,2035,757.6,20.9,244,5726,0.15,2.28,0.00,0.000,5126,0.322,0.060,3060,2356,2077,2119,2035,0,0,0,0,0,0,14.57,14.81,28.83
$GC,6036,1.10,243.3,3060,2357,2119,2033,691.3,19.7,255,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2357,2076,2119,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6334,1.10,243.3,3060,2357,2118,2032,628.6,20.8,265,6335,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2357,2075,2118,2032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6644,1.10,243.3,3060,2357,2116,2029,568.5,19.1,278,6650,0.00,2.25,0.00,0.000,516,0.000,0.052,3067,972,2072,2116,2029,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6711,1.10,243.3,3068,972,2116,2029,556.9,18.4,281,6716,0.00,2.28,0.00,0.000,1030,0.000,0.058,3067,2360,2072,2116,2029,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7029,1.10,243.3,3067,2360,2117,2028,495.6,19.1,297,7030,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2360,2071,2115,2028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7330,1.10,243.3,3067,2360,2115,2026,440.5,17.9,312,7335,0.00,2.25,0.00,0.000,516,0.000,0.051,3077,975,2070,2115,2026,0,0,0,0,0,0,28.83,14.86,28.83
$GC,7362,1.10,243.3,3077,974,2115,2026,436.4,17.8,313,7367,0.00,2.25,0.00,0.000,1030,0.000,0.058,3077,2350,2070,2115,2026,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7675,1.10,243.3,3077,2350,2115,2024,381.1,16.9,329,7680,0.00,2.22,0.00,0.000,516,0.000,0.050,3087,971,2070,2115,2025,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7698,1.10,243.3,3087,970,2115,2025,377.4,16.7,330,7704,0.15,2.28,0.00,0.000,5126,0.294,0.055,3055,2362,2070,2116,2025,0,0,0,0,0,0,14.54,14.82,28.83
$GC,8021,1.10,243.3,3055,2362,2115,2025,331.6,14.3,346,8026,0.00,2.25,0.00,0.000,516,0.000,0.049,3062,969,2070,2115,2025,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8038,1.10,243.3,3063,968,2115,2025,331.6,14.3,346,8045,0.00,2.25,0.00,0.000,1030,0.000,0.055,3063,2351,2070,2116,2025,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8344,1.10,243.3,3062,2351,2115,2025,284.9,15.1,362,8349,0.00,2.22,0.00,0.000,516,0.000,0.048,3072,974,2070,2115,2025,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8531,1.10,243.3,2144,972,2076,2017,258.5,13.6,371,8536,0.00,2.25,0.00,0.000,1030,0.000,0.054,3072,2361,2070,2115,2026,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8849,1.10,243.3,3072,2361,2118,2026,218.1,12.0,387,8855,0.00,2.25,0.00,0.000,516,0.000,0.047,3082,965,2070,2115,2026,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8987,1.10,243.3,3083,965,2116,2027,203.0,12.2,393,8993,0.00,2.25,0.00,0.000,1030,0.000,0.053,3082,2354,2071,2115,2027,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9292,1.10,243.3,3082,2354,2116,2028,166.6,11.6,409,9298,0.00,2.22,0.00,0.000,516,0.000,0.047,3092,967,2072,2116,2029,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9401,1.10,243.3,3093,966,2116,2030,154.8,11.6,414,9407,0.15,2.22,0.00,0.000,5126,0.280,0.051,3059,2349,2073,2116,2030,0,0,0,0,0,0,14.56,14.83,28.83
$GC,9720,1.18,282.6,3059,2349,2111,2032,121.1,10.1,430,9744,0.00,2.25,17.40,0.467,8708,0.000,0.044,3066,972,1945,1983,1907,0,0,0,0,0,0,28.83,14.84,14.45
$GC,9823,1.18,283.6,3067,972,1999,1918,109.8,11.3,435,9833,0.00,2.22,2.97,0.223,9222,0.000,0.049,3066,2350,1942,1983,1902,0,0,0,0,0,0,28.83,14.78,14.33
$GC,10145,1.18,285.5,3066,2350,2003,1918,70.8,11.3,451,10155,0.00,2.20,4.20,0.238,8708,0.000,0.042,3076,968,1929,1972,1887,0,0,0,0,0,0,28.83,14.85,14.45
$GC,10263,1.21,297.9,3076,968,1988,1903,59.3,11.0,456,10279,0.00,2.22,8.73,0.273,9222,0.000,0.050,3076,2350,1877,1918,1837,0,0,0,0,0,0,28.83,14.78,14.52
$GC,10582,1.56,475.9,3077,2350,1935,1855,31.8,5.4,484,10676,0.32,2.28,85.07,0.214,10756,0.086,0.043,3217,967,1151,1178,1124,0,0,0,0,0,0,14.81,14.78,14.60
$STATE,10763,end climb,SURFACE_DEPTH_REACHED
$STATE,10764,begin surface coast
$FINISH,-0.4,1.021487
$STATE,10774,end surface coast,CONTROL_FINISHED_OK
$STATE,10775,begin surface
$SM_CCo,10795,0.73,0.233,0,0,1153,475.15
$SM_GC,0.80,8.07,2.45,0.73,0.044,0.047,0.233,230,2453,1153,-7.62,-1.16,475.15,0,0,0,0,0,0,14.79,14.76,14.68
$IRIDIUM_FIX,2251.04,12507.77,150613,202019
$TT8_MAMPS,0.019474,0.019474
$HUMID,48.46
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,25.40
$XPDR_PINGS,2
$SC_FREEKB,3849312
$24V_AH,13.5,81.146
$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,20.975,101.575,564.350,0.725,0.000,61.118,83.722,345.430,0.500,0.000,15.407,1598.955,7208.204,591.331,1962.753,239.457,0.000,1404.905,0.000,1332.398,0.000,0.542,0.000
$DEVICE_MAMPS,378.675,105.570,1727.370,233.325,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10820.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.987,0.000,0.000,0.000
$MEM,328388
$DATA_FILE_SIZE,20126,514
$CAP_FILE_SIZE,134847,0
$CFSIZE,260034560,235429888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150613,233357,2303.964,12505.919,9,2.4,28,-3.3