version: 66.11
glider: 181
mission: 11
dive: 227
start: 6 16 113 2 52 3
data:
$ID,181
$MISSION,11
$DIVE,227
$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,-96029.102
$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,30
$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
$GPS1,160613,024306,2302.952,12506.618,29,1.0,29,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.06
$_SM_ANGLEo,-71.9
$GPS2,160613,025137,2303.000,12506.771,14,1.1,14,-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,217.0,207132,-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,20,-1.10,-243.3,231,2455,1171,1160,0.0,0.0,0,100,0.00,0.00,-77.80,0.000,16386,0.000,0.000,231,2456,3182,3230,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-1.10,-243.3,231,2455,3230,3134,4.5,-16.2,14,134,9.48,2.25,-12.10,0.000,18948,0.383,0.064,2340,1061,3965,4004,3926,0,0,0,0,0,0,14.40,14.69,14.93
$GC,212,-1.10,-243.3,2340,1061,4002,3930,48.3,-29.6,27,217,0.00,2.28,0.00,0.000,1030,0.000,0.059,2333,2450,3966,4002,3930,0,0,0,0,0,0,28.83,14.68,28.83
$GC,524,-1.10,-243.3,2333,2451,4001,3932,146.4,-30.3,43,529,0.00,2.20,0.00,0.000,260,0.000,0.076,2322,3790,3966,4001,3932,0,0,0,0,0,0,28.83,14.77,28.83
$GC,621,-1.10,-243.3,2322,3791,4001,3933,172.5,-31.5,47,628,0.00,2.05,0.00,0.000,1030,0.000,0.033,2322,2439,3967,4001,3933,0,0,0,0,0,0,28.83,14.87,28.83
$GC,928,-1.10,-243.3,2322,2433,4001,3933,268.9,-29.6,63,933,0.00,2.22,0.00,0.000,260,0.000,0.072,2312,3789,3967,4001,3933,0,0,0,0,0,0,28.83,14.82,28.83
$GC,995,-1.10,-243.3,2310,3789,3997,3936,287.4,-29.7,66,1001,0.12,2.03,0.00,0.000,3078,0.287,0.032,2339,2444,3966,3997,3936,0,0,0,0,0,0,14.62,14.86,28.83
$GC,1313,-1.10,-243.3,2339,2438,3997,3936,369.2,-25.4,82,1319,0.00,2.22,0.00,0.000,260,0.000,0.073,2331,3790,3964,3997,3932,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1391,-1.10,-243.3,2331,3790,3997,3936,385.6,-26.0,85,1397,0.00,2.03,0.00,0.000,1030,0.000,0.033,2331,2438,3966,3997,3936,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1696,-1.10,-243.3,2331,2432,3997,3934,462.1,-22.4,101,1701,0.00,2.22,0.00,0.000,260,0.000,0.076,2321,3781,3965,3997,3934,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1781,-1.10,-243.3,2321,3782,3997,3933,480.5,-22.2,105,1786,0.00,2.00,0.00,0.000,1030,0.000,0.034,2320,2452,3965,3997,3933,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2104,-1.10,-243.3,2320,2445,3993,3931,555.5,-23.6,121,2109,0.00,2.20,0.00,0.000,260,0.000,0.079,2310,3775,3962,3995,3930,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2222,-1.10,-243.3,2311,3780,3997,3928,580.2,-24.2,126,2229,0.15,2.00,0.00,0.000,3078,0.274,0.035,2343,2441,3962,3996,3928,0,0,0,0,0,0,14.65,14.95,28.83
$GC,2546,-1.10,-243.3,2343,2436,3996,3923,652.3,-20.7,139,2551,0.00,2.22,0.00,0.000,260,0.000,0.081,2335,3778,3959,3997,3922,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2598,-1.10,-243.3,2335,3778,3997,3922,658.9,-20.5,140,2604,0.00,2.00,0.00,0.000,1030,0.000,0.037,2335,2458,3959,3997,3921,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2911,-1.10,-243.3,2335,2452,3997,3914,728.7,-21.4,151,2916,0.00,2.22,0.00,0.000,260,0.000,0.084,2325,3784,3954,3994,3914,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3005,-1.10,-243.3,2325,3785,3997,3912,749.6,-22.3,154,3010,0.00,2.05,0.00,0.000,1030,0.000,0.037,2325,2461,3954,3997,3912,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3338,-1.10,-243.3,2325,2456,3997,3907,822.4,-21.2,165,3344,0.00,2.22,0.00,0.000,260,0.000,0.086,2315,3780,3951,3997,3906,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3402,-1.10,-243.3,2315,3780,3997,3905,836.7,-21.8,167,3407,0.12,2.08,0.00,0.000,3078,0.279,0.039,2341,2448,3950,3997,3904,0,0,0,0,0,0,14.63,14.93,28.83
$GC,3736,-1.10,-243.3,2341,2443,3997,3897,901.7,-19.1,178,3741,0.00,2.25,0.00,0.000,260,0.000,0.089,2334,3776,3946,3997,3896,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3793,-1.10,-243.3,2334,3775,3997,3897,908.3,-19.0,179,3800,0.00,2.08,0.00,0.000,1030,0.000,0.041,2334,2442,3946,3996,3896,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4099,-1.10,-243.3,2338,2438,3995,3891,971.0,-19.1,190,4104,0.00,2.28,0.00,0.000,260,0.000,0.092,2324,3775,3943,3995,3891,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4122,-1.10,-243.3,2324,3776,3995,3891,971.0,-19.1,190,4127,0.00,2.08,0.00,0.000,1030,0.000,0.042,2324,2444,3943,3995,3891,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,4223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4223,begin apogee
$GC,4229,-0.21,0.0,2324,2337,3994,3889,995.9,-19.8,194,4489,1.05,0.00,245.48,1.767,10246,0.228,0.000,2623,2332,3094,3120,3068,0,0,0,0,1,0,14.60,28.83,13.26
$STATE,4490,end apogee,CONTROL_FINISHED_OK
$STATE,4490,begin climb
$GC,4493,1.10,243.3,2624,2332,3121,3073,1012.5,0.0,202,4758,1.23,2.38,254.20,1.682,10756,0.055,0.060,3081,985,2096,2125,2068,0,0,0,0,0,0,14.20,14.12,13.52
$GC,4786,1.10,243.3,3082,985,2124,2060,989.3,19.8,212,4791,0.00,2.35,0.00,0.000,1030,0.000,0.067,3080,2342,2089,2123,2056,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5099,1.10,243.3,3081,2343,2123,2047,910.3,23.5,223,5105,0.00,2.28,0.00,0.000,516,0.000,0.057,3091,972,2085,2123,2047,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5212,1.10,243.3,3091,972,2123,2046,889.4,22.6,226,5218,0.15,2.33,0.00,0.000,5126,0.320,0.065,3060,2364,2084,2123,2046,0,0,0,0,0,0,14.49,14.70,28.83
$GC,5527,1.10,243.3,3060,2365,2123,2041,818.2,21.5,237,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2364,2082,2123,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5825,1.10,243.3,3060,2365,2122,2038,753.0,21.9,247,5826,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2364,2080,2122,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6125,1.10,243.3,3060,2365,2122,2035,688.0,21.6,257,6126,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2365,2078,2121,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6426,1.10,243.3,3060,2365,2120,2034,621.0,22.1,267,6427,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2365,2077,2120,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6725,1.10,243.3,3060,2365,2119,2034,560.9,19.6,280,6730,0.00,2.28,0.00,0.000,516,0.000,0.054,3067,966,2076,2119,2034,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6792,1.10,243.3,2128,968,2079,2024,549.4,18.4,283,6797,0.00,2.28,0.00,0.000,1030,0.000,0.060,3068,2357,2076,2119,2034,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7110,1.10,243.3,3068,2357,2119,2028,489.0,19.9,299,7111,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2357,2075,2118,2032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7411,1.10,243.3,3067,2357,2118,2031,433.9,17.1,314,7417,0.00,2.25,0.00,0.000,516,0.000,0.050,3078,967,2074,2118,2031,0,0,0,0,0,0,28.83,14.86,28.83
$GC,7448,1.10,243.3,3078,967,2118,2031,429.7,17.1,315,7455,0.00,2.28,0.00,0.000,1030,0.000,0.058,3078,2355,2074,2118,2031,0,0,0,0,0,0,28.83,14.82,28.83
$GC,7754,1.10,243.3,3078,2356,2118,2030,376.8,16.6,331,7759,0.00,2.35,0.00,0.000,260,0.000,0.087,3078,3753,2074,2118,2030,0,0,0,0,0,0,28.83,14.79,28.83
$GC,7777,1.10,243.3,3077,3753,2118,2030,372.8,16.6,332,7783,0.15,2.17,0.00,0.000,5126,0.334,0.038,3058,2355,2074,2118,2030,0,0,0,0,0,0,14.52,14.90,28.83
$GC,8100,1.10,243.3,3058,2351,2118,2029,325.6,13.9,348,8106,0.00,2.22,0.00,0.000,516,0.000,0.050,3066,965,2073,2117,2029,0,0,0,0,0,0,28.83,14.84,28.83
$GC,8224,1.10,243.3,3066,965,2118,2029,308.6,13.7,354,8230,0.00,2.28,0.00,0.000,1030,0.000,0.057,3066,2361,2073,2117,2030,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8547,1.10,243.3,3066,2361,2118,2030,261.0,14.2,370,8553,0.00,2.25,0.00,0.000,516,0.000,0.048,3076,967,2073,2118,2029,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8639,1.10,243.3,3076,966,2117,2030,249.4,14.0,374,8644,0.00,2.25,0.00,0.000,1030,0.000,0.056,3076,2349,2074,2118,2030,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8952,1.10,243.3,3076,2349,2118,2031,205.4,13.6,390,8957,0.00,2.35,0.00,0.000,260,0.000,0.083,3076,3762,2075,2118,2032,0,0,0,0,0,0,28.83,14.79,28.83
$GC,9070,1.10,243.3,3076,3762,2118,2033,190.8,14.3,395,9078,0.15,2.17,0.00,0.000,5126,0.319,0.036,3055,2342,2075,2118,2033,0,0,0,0,0,0,14.51,14.89,28.83
$GC,9375,1.12,253.4,3052,2341,2118,2033,154.9,11.0,411,9384,0.00,2.25,1.70,0.195,8708,0.000,0.046,3063,965,2064,2105,2023,0,0,0,0,0,0,28.83,14.81,14.63
$GC,9502,1.12,253.4,3063,965,2114,2035,140.2,12.0,417,9512,0.00,2.25,1.92,0.199,9222,0.000,0.052,3063,2355,2061,2101,2022,0,0,0,0,0,0,28.83,14.78,14.57
$GC,9820,1.12,253.4,3063,2355,2116,2035,102.1,11.8,433,9830,0.00,2.28,2.08,0.203,8708,0.000,0.044,3073,967,2062,2102,2023,0,0,0,0,0,0,28.83,14.82,14.45
$GC,9963,1.12,253.4,3073,967,2116,2035,84.1,12.7,440,9972,0.00,2.25,2.08,0.203,9222,0.000,0.051,3073,2354,2063,2103,2023,0,0,0,0,0,0,28.83,14.81,14.50
$GC,10275,1.17,277.2,3073,2354,2125,2036,48.4,10.6,456,10296,0.00,2.20,14.75,0.266,8708,0.000,0.041,3083,965,1960,1998,1923,0,0,0,0,0,0,28.83,14.83,14.52
$GC,10414,1.21,299.5,3083,965,2007,1931,34.4,10.6,469,10432,0.00,2.25,12.07,0.226,9222,0.000,0.050,3083,2358,1870,1908,1833,0,0,0,0,0,0,28.83,14.80,14.58
$GC,10732,1.60,495.3,3083,2358,1915,1846,11.1,4.8,523,10806,0.35,0.00,70.68,0.161,10754,0.085,0.000,3216,2358,1251,1277,1225,0,0,0,0,0,0,14.78,28.83,28.83
$STATE,10809,end climb,SURFACE_DEPTH_REACHED
$STATE,10809,begin surface coast
$FINISH,-1.2,1.021140
$STATE,10826,end surface coast,CONTROL_FINISHED_OK
$STATE,10826,begin surface
$SM_CCo,10843,10.62,0.148,0,0,1155,475.15
$SM_GC,0.07,8.12,0.12,10.62,0.049,0.137,0.148,242,2455,1155,-7.61,-1.30,475.15,0,0,0,0,0,0,14.78,14.75,14.64
$IRIDIUM_FIX,2248.70,12449.55,150613,232313
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.36
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,25.20
$XPDR_PINGS,3
$SC_FREEKB,3848544
$24V_AH,13.3,81.765
$10V_AH,13.5,0.000
$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,21.075,97.325,604.950,10.625,0.000,32.750,24.213,242.297,0.750,0.000,16.761,1653.465,7052.442,637.685,1796.106,233.433,0.000,1478.482,0.000,1382.471,0.000,0.541,0.000
$DEVICE_MAMPS,383.265,136.935,1767.150,147.645,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10883.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.093,0.000,0.000,0.000
$MEM,328376
$DATA_FILE_SIZE,20101,539
$CAP_FILE_SIZE,134907,0
$CFSIZE,260034560,235249664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,160613,055413,2301.473,12507.452,31,1.5,31,-3.3