version: 66.11
glider: 181
mission: 11
dive: 226
start: 6 15 113 23 43 30
data:
$ID,181
$MISSION,11
$DIVE,226
$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,-96027.852
$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,74
$R_STBD_OVSHOOT,38
$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
$GPS1,150613,233357,2303.964,12505.919,9,2.4,28,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.00
$_SM_ANGLEo,-72.4
$GPS2,150613,234303,2304.025,12505.966,10,2.2,29,-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,216.4,207950,-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,17,begin dive
$GC,19,-1.10,-243.3,225,2458,1179,1150,0.0,0.0,0,99,0.00,0.00,-77.10,0.000,16386,0.000,0.000,224,2460,3120,3167,3074,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.10,-243.3,225,2460,3166,3075,3.7,-12.9,14,133,9.48,2.15,-13.80,0.000,18692,0.383,0.087,2331,3774,3963,4006,3921,0,0,0,0,0,0,14.39,14.70,14.93
$GC,145,-1.10,-243.3,2332,3775,4005,3924,25.3,-45.7,21,150,0.00,2.03,0.00,0.000,1030,0.000,0.033,2331,2460,3964,4004,3924,0,0,0,0,0,0,28.83,14.73,28.83
$GC,458,-1.10,-243.3,2332,2454,4003,3927,130.1,-31.8,40,463,0.00,2.20,0.00,0.000,516,0.000,0.039,2331,1046,3964,4002,3927,0,0,0,0,0,0,28.83,14.78,28.83
$GC,500,-1.10,-243.3,2332,1045,4002,3927,142.7,-30.5,42,506,0.00,2.28,0.00,0.000,1030,0.000,0.057,2321,2447,3964,4002,3927,0,0,0,0,0,0,28.83,14.78,28.83
$GC,823,-1.10,-243.3,2321,2448,4002,3928,240.5,-28.9,58,828,0.00,2.17,0.00,0.000,260,0.000,0.073,2311,3783,3964,4002,3927,0,0,0,0,0,0,28.83,14.82,28.83
$GC,896,-1.10,-243.3,2310,3783,4002,3927,259.5,-30.5,61,902,0.15,2.03,0.00,0.000,3078,0.282,0.032,2343,2425,3962,4002,3923,0,0,0,0,0,0,14.61,14.91,28.83
$GC,1210,-1.10,-243.3,2343,2418,3998,3930,340.2,-23.9,77,1215,0.00,2.25,0.00,0.000,260,0.000,0.074,2335,3785,3964,3998,3930,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1272,-1.10,-243.3,2335,3786,3998,3930,355.9,-24.4,80,1278,0.00,2.00,0.00,0.000,1030,0.000,0.033,2335,2454,3963,3997,3930,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1595,-1.10,-243.3,2335,2447,3997,3930,435.3,-23.5,96,1600,0.00,2.20,0.00,0.000,260,0.000,0.075,2325,3781,3963,3997,3929,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1647,-1.10,-243.3,2325,3781,3998,3929,445.7,-23.3,98,1652,0.00,2.00,0.00,0.000,1030,0.000,0.033,2322,2450,3965,3998,3933,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1960,-1.10,-243.3,2325,2443,3997,3926,517.6,-22.0,114,1965,0.00,2.20,0.00,0.000,260,0.000,0.077,2315,3780,3962,3998,3926,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2037,-1.10,-243.3,2315,3780,3998,3925,532.4,-23.2,117,2044,0.12,2.00,0.00,0.000,3078,0.275,0.034,2341,2449,3961,3998,3925,0,0,0,0,0,0,14.66,14.94,28.83
$GC,2343,-1.10,-243.3,2341,2443,3998,3921,599.9,-20.4,133,2348,0.00,2.22,0.00,0.000,260,0.000,0.079,2334,3788,3959,3998,3921,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2436,-1.10,-243.3,2334,3788,3998,3919,620.6,-22.3,137,2441,0.00,2.05,0.00,0.000,1030,0.000,0.035,2333,2443,3958,3997,3920,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2770,-1.10,-243.3,2334,2436,3997,3913,693.4,-21.4,148,2775,0.00,2.25,0.00,0.000,260,0.000,0.082,2323,3787,3955,3998,3913,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2811,-1.10,-243.3,2323,3787,3998,3912,700.8,-21.4,149,2817,0.00,2.03,0.00,0.000,1030,0.000,0.037,2323,2467,3955,3998,3912,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3136,-1.10,-243.3,2323,2461,3998,3906,773.8,-22.0,160,3141,0.00,2.20,0.00,0.000,260,0.000,0.084,2313,3777,3952,3998,3906,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3212,-1.10,-243.3,2313,3777,3998,3904,789.5,-23.3,162,3218,0.12,2.05,0.00,0.000,3078,0.284,0.038,2339,2443,3951,3998,3904,0,0,0,0,0,0,14.64,14.95,28.83
$GC,3533,-1.10,-243.3,2339,2436,3999,3897,859.9,-20.9,173,3538,0.00,2.25,0.00,0.000,260,0.000,0.086,2331,3775,3947,3998,3897,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3599,-1.10,-243.3,2331,3777,3997,3897,874.0,-21.3,175,3605,0.00,2.05,0.00,0.000,1030,0.000,0.040,2331,2457,3946,3997,3896,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3929,-1.10,-243.3,2331,2452,3996,3890,943.5,-20.7,186,3934,0.00,2.25,0.00,0.000,260,0.000,0.090,2321,3782,3943,3996,3890,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4015,-1.10,-243.3,2321,3780,3995,3890,957.2,-20.9,188,4022,0.00,2.08,0.00,0.000,1030,0.000,0.041,2321,2452,3942,3995,3890,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,4169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4169,begin apogee
$GC,4175,-0.21,0.0,2321,2322,3994,3888,994.4,-20.3,194,4400,1.08,0.00,216.05,1.672,10246,0.227,0.000,2628,2322,3087,3116,3059,0,0,0,0,0,0,14.61,28.83,13.57
$STATE,4402,end apogee,CONTROL_FINISHED_OK
$STATE,4402,begin climb
$GC,4404,1.10,243.3,2628,2322,3114,3057,1007.2,0.0,201,4661,1.23,2.30,246.00,1.671,10756,0.061,0.058,3077,982,2096,2125,2067,0,0,0,0,0,0,14.26,14.14,13.52
$GC,4793,1.10,243.3,3077,981,2121,2049,957.0,23.4,214,4798,0.00,2.33,0.00,0.000,1030,0.000,0.067,3077,2350,2086,2122,2050,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5106,1.10,243.3,3077,2350,2121,2041,877.5,24.2,225,5107,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2350,2081,2121,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5406,1.10,243.3,3077,2349,2121,2037,805.7,23.8,235,5411,0.00,2.25,0.00,0.000,516,0.000,0.053,3087,970,2079,2121,2037,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5452,1.10,243.3,3087,970,2120,2037,798.4,23.4,236,5458,0.15,2.30,0.00,0.000,5126,0.321,0.063,3057,2361,2078,2120,2036,0,0,0,0,0,0,14.56,14.78,28.83
$GC,5773,1.10,243.3,3057,2361,2120,2034,731.1,19.8,247,5778,0.00,2.25,0.00,0.000,516,0.000,0.052,3064,977,2077,2120,2034,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5845,1.10,243.3,3064,977,2119,2034,718.8,19.7,249,5850,0.00,2.28,0.00,0.000,1030,0.000,0.063,3064,2357,2076,2119,2034,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6169,1.10,243.3,3064,2354,2118,2032,651.1,21.0,260,6174,0.00,2.38,0.00,0.000,260,0.000,0.092,3064,3752,2074,2117,2032,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6191,1.10,243.3,3064,3752,2118,2031,651.1,21.0,260,6196,0.00,2.17,0.00,0.000,1030,0.000,0.040,3074,2355,2074,2117,2032,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6515,1.10,243.3,3075,2350,2116,2030,576.4,23.3,273,6521,0.00,2.22,0.00,0.000,516,0.000,0.051,3084,963,2072,2116,2029,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6642,1.10,243.3,3085,964,2115,2029,549.3,21.5,279,6648,0.12,2.28,0.00,0.000,5126,0.309,0.060,3060,2350,2072,2115,2029,0,0,0,0,0,0,14.57,14.82,28.83
$GC,6960,1.10,243.3,3060,2350,2115,2027,487.2,18.2,295,6961,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2350,2071,2115,2027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7261,1.10,243.3,3060,2350,2115,2026,437.5,16.2,310,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2350,2070,2115,2026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7562,1.10,243.3,3059,2350,2115,2026,391.8,14.8,325,7567,0.00,2.25,0.00,0.000,516,0.000,0.050,3067,955,2070,2114,2026,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7599,1.10,243.3,3067,955,2114,2026,388.1,15.1,326,7605,0.00,2.28,0.00,0.000,1030,0.000,0.057,3067,2352,2070,2115,2026,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7905,1.10,243.3,3066,2352,2114,2026,340.0,15.1,342,7910,0.00,2.25,0.00,0.000,516,0.000,0.048,3077,959,2070,2115,2026,0,0,0,0,0,0,28.83,14.86,28.83
$GC,8018,1.10,243.3,3077,959,2114,2026,323.7,15.9,347,8023,0.00,2.28,0.00,0.000,1030,0.000,0.057,3077,2352,2070,2115,2026,0,0,0,0,0,0,28.83,14.82,28.83
$GC,8330,1.10,243.3,3077,2355,2115,2026,274.6,14.7,363,8335,0.00,2.25,0.00,0.000,516,0.000,0.048,3087,959,2070,2115,2026,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8563,1.10,243.3,3087,959,2115,2026,242.9,13.6,374,8569,0.15,2.28,0.00,0.000,5126,0.288,0.054,3055,2361,2071,2115,2027,0,0,0,0,0,0,14.51,14.82,28.83
$GC,8877,1.10,244.7,3053,2361,2115,2027,205.6,11.3,390,8882,0.00,2.33,0.00,0.000,260,0.000,0.083,3054,3753,2073,2119,2028,0,0,0,0,0,0,28.83,14.79,28.83
$GC,8920,1.10,244.7,3055,3753,2115,2028,200.4,11.5,392,8925,0.00,2.17,0.00,0.000,1030,0.000,0.036,3062,2337,2071,2115,2028,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9243,1.10,244.7,3063,2332,2115,2029,162.5,12.0,408,9248,0.00,2.17,0.00,0.000,516,0.000,0.046,3073,964,2072,2115,2030,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9306,1.10,244.7,3073,963,2115,2031,154.8,12.1,411,9311,0.00,2.25,0.00,0.000,1030,0.000,0.053,3073,2352,2073,2115,2031,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9629,1.10,244.7,3073,2353,2115,2032,115.7,11.6,427,9634,0.00,2.22,0.00,0.000,516,0.000,0.045,3083,961,2074,2115,2033,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9666,1.10,244.7,3083,961,2115,2034,113.1,11.5,428,9673,0.00,2.25,0.00,0.000,1030,0.000,0.050,3083,2349,2074,2115,2033,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9972,1.11,250.5,3083,2350,2115,2035,75.3,11.2,444,9977,0.00,2.20,0.00,0.000,516,0.000,0.044,3098,961,2075,2116,2035,0,0,0,0,0,0,28.83,14.86,28.83
$GC,10185,1.23,310.0,3093,961,2116,2035,55.7,9.4,454,10221,0.00,2.25,30.08,0.285,9222,0.000,0.048,3093,2361,1829,1863,1796,0,0,0,0,0,0,28.83,14.83,14.54
$GC,10524,1.51,448.2,3093,2361,1879,1812,21.2,6.7,491,10600,0.22,2.22,66.07,0.185,10756,0.103,0.041,3196,965,1263,1294,1232,0,0,0,0,0,0,14.78,14.78,14.61
$STATE,10651,end climb,SURFACE_DEPTH_REACHED
$STATE,10651,begin surface coast
$FINISH,0.4,1.021311
$STATE,10668,end surface coast,CONTROL_FINISHED_OK
$STATE,10668,begin surface
$SM_CCo,10688,13.27,0.145,0,0,1155,475.15
$SM_GC,0.16,8.10,2.47,13.27,0.052,0.052,0.145,240,2447,1155,-7.61,-1.05,475.15,0,0,0,0,0,0,14.78,14.75,14.65
$IRIDIUM_FIX,2246.36,12457.99,150613,202037
$TT8_MAMPS,0.019474,0.019474
$HUMID,48.11
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,25.30
$XPDR_PINGS,0
$SC_FREEKB,3848928
$24V_AH,13.5,81.444
$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,20.925,105.925,558.200,13.275,0.000,30.948,46.889,241.465,0.000,0.000,33.152,1643.147,6952.374,604.243,1826.032,230.379,0.000,1434.424,0.000,1378.272,0.000,0.541,0.000
$DEVICE_MAMPS,382.500,104.040,1671.525,145.350,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10721.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.067,0.000,0.000,0.000
$MEM,328312
$DATA_FILE_SIZE,20104,517
$CAP_FILE_SIZE,133175,0
$CFSIZE,260034560,235339776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160613,024306,2302.952,12506.618,29,1.0,29,-3.3