version: 66.11
glider: 181
mission: 11
dive: 228
start: 6 16 113 6 4 3
data:
$ID,181
$MISSION,11
$DIVE,228
$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,-96030.359
$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,43
$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
$GPS1,160613,055413,2301.473,12507.452,31,1.5,31,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.06
$_SM_ANGLEo,-72.4
$GPS2,160613,060336,2301.444,12507.570,34,1.1,34,-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,217.8,205518,-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,-243.3,235,2462,1163,1156,0.0,0.0,0,99,0.00,0.00,-77.05,0.000,16386,0.000,0.000,235,2463,3157,3204,3111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.10,-243.3,235,2462,3204,3113,4.4,-15.7,14,132,9.45,2.25,-12.57,0.000,18948,0.383,0.070,2339,1061,3965,4004,3927,0,0,0,0,0,0,14.38,14.72,14.92
$GC,196,-1.10,-243.3,2339,1060,4002,3932,40.8,-32.0,26,203,0.00,2.25,0.00,0.000,1030,0.000,0.056,2332,2437,3967,4002,3932,0,0,0,0,0,0,28.83,14.71,28.83
$GC,510,-1.10,-243.3,2331,2437,4002,3933,145.2,-31.5,44,516,0.00,2.22,0.00,0.000,260,0.000,0.075,2321,3790,3967,4001,3933,0,0,0,0,0,0,28.83,14.76,28.83
$GC,593,-1.10,-243.3,2321,3791,4000,3935,170.7,-30.7,48,599,0.00,2.03,0.00,0.000,1030,0.000,0.033,2321,2448,3968,4001,3935,0,0,0,0,0,0,28.83,14.83,28.83
$GC,916,-1.10,-243.3,2321,2442,4001,3935,265.7,-27.8,64,921,0.00,2.20,0.00,0.000,260,0.000,0.073,2310,3782,3967,4000,3935,0,0,0,0,0,0,28.83,14.82,28.83
$GC,988,-1.10,-243.3,2311,3788,4005,3935,283.1,-27.4,67,994,0.15,2.03,0.00,0.000,3078,0.281,0.032,2343,2423,3968,4001,3935,0,0,0,0,0,0,14.61,14.90,28.83
$GC,1302,-1.10,-243.3,2343,2416,3992,3938,362.6,-24.1,83,1307,0.00,2.25,0.00,0.000,260,0.000,0.076,2335,3781,3967,3997,3938,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1348,-1.10,-243.3,1472,3781,3996,3937,373.6,-25.1,85,1354,0.00,2.00,0.00,0.000,1030,0.000,0.034,2336,2455,3967,3997,3937,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1666,-1.10,-243.3,2335,2448,3997,3935,450.6,-22.7,101,1671,0.00,2.20,0.00,0.000,260,0.000,0.076,2325,3781,3965,3997,3934,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1749,-1.10,-243.3,2325,3781,3996,3934,469.8,-23.2,105,1755,0.00,2.03,0.00,0.000,1030,0.000,0.034,2325,2443,3965,3996,3934,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2072,-1.10,-243.3,2325,2436,3997,3931,542.5,-23.5,121,2077,0.00,2.22,0.00,0.000,260,0.000,0.078,2312,3784,3964,3997,3931,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2185,-1.10,-243.3,2314,3784,3997,3928,568.3,-25.4,126,2191,0.12,2.03,0.00,0.000,3078,0.275,0.035,2341,2440,3962,3997,3928,0,0,0,0,0,0,14.66,14.93,28.83
$GC,2519,-1.10,-243.3,2341,2433,3997,3923,641.5,-20.5,140,2524,0.00,2.25,0.00,0.000,260,0.000,0.082,2333,3785,3960,3997,3923,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2586,-1.10,-243.3,2334,3786,3997,3921,654.4,-20.3,142,2591,0.00,2.05,0.00,0.000,1030,0.000,0.037,2333,2461,3959,3996,3922,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2915,-1.10,-243.3,2333,2455,3997,3914,726.0,-22.3,153,2921,0.00,2.22,0.00,0.000,260,0.000,0.085,2323,3779,3955,3997,3914,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3023,-1.10,-243.3,2323,3780,3997,3912,746.8,-21.9,156,3028,0.00,2.05,0.00,0.000,1030,0.000,0.037,2323,2449,3954,3997,3912,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3341,-1.10,-243.3,2323,2443,3996,3906,819.4,-21.7,167,3347,0.00,2.25,0.00,0.000,260,0.000,0.087,2312,3779,3951,3997,3906,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3435,-1.10,-243.3,2312,3780,3996,3904,840.6,-22.4,170,3440,0.12,2.08,0.00,0.000,3078,0.278,0.040,2339,2448,3949,3997,3902,0,0,0,0,0,0,14.63,14.92,28.83
$GC,3769,-1.10,-243.3,2339,2443,3996,3896,907.5,-19.7,181,3770,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2443,3946,3997,3896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4068,-1.10,-243.3,2339,2443,3995,3892,964.8,-19.1,191,4074,0.00,2.28,0.00,0.000,260,0.000,0.091,2331,3775,3943,3995,3892,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4090,-1.10,-243.3,2332,3775,3994,3892,964.8,-19.1,191,4096,0.00,2.08,0.00,0.000,1030,0.000,0.042,2331,2447,3943,3995,3892,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,4221,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4221,begin apogee
$GC,4227,-0.21,0.0,2331,2332,3993,3890,995.4,-19.7,196,4447,1.02,0.00,210.07,1.714,10246,0.219,0.000,2627,2331,3088,3115,3061,0,0,0,0,0,0,14.60,28.83,13.59
$STATE,4448,end apogee,CONTROL_FINISHED_OK
$STATE,4448,begin climb
$GC,4451,1.10,243.3,2628,2331,3114,3059,1008.7,0.0,203,4709,1.23,2.62,244.98,1.683,11012,0.067,0.093,3060,3753,2096,2125,2067,0,0,0,0,0,0,14.25,14.09,13.52
$GC,4776,1.10,243.3,3060,3753,2121,2060,969.7,24.3,214,4781,0.00,2.25,0.00,0.000,1030,0.000,0.041,3071,2375,2090,2121,2060,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5100,1.10,243.3,3071,2374,2121,2048,888.3,23.8,225,5105,0.00,2.35,0.00,0.000,516,0.000,0.059,3082,951,2084,2120,2048,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5224,1.10,243.3,3082,950,2120,2046,860.1,22.8,229,5230,0.00,2.35,0.00,0.000,1030,0.000,0.062,3082,2355,2083,2120,2046,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5559,1.10,243.3,3082,2354,2120,2042,783.3,22.5,240,5560,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2355,2081,2120,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5858,1.10,243.3,3082,2354,2120,2039,715.7,22.3,250,5863,0.00,2.30,0.00,0.000,516,0.000,0.053,3092,949,2079,2119,2039,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5875,1.10,243.3,3092,949,2120,2039,715.7,22.3,250,5881,0.17,2.33,0.00,0.000,5126,0.313,0.060,3054,2360,2079,2119,2039,0,0,0,0,0,0,14.57,14.81,28.83
$GC,6195,1.10,243.3,3054,2360,2119,2036,649.8,19.8,261,6200,0.00,2.38,0.00,0.000,260,0.000,0.090,3054,3762,2077,2118,2036,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6217,1.10,243.3,3054,3761,2118,2036,649.8,19.8,261,6222,0.00,2.22,0.00,0.000,1030,0.000,0.041,3062,2338,2077,2119,2036,0,0,0,0,0,0,28.83,14.89,28.83
$GC,6541,1.10,243.3,3067,2333,2117,2035,580.1,19.6,274,6546,0.00,2.22,0.00,0.000,516,0.000,0.052,3072,957,2076,2117,2035,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6580,1.10,243.3,3073,957,2117,2035,575.4,19.8,275,6586,0.00,2.30,0.00,0.000,1030,0.000,0.060,3073,2357,2075,2117,2034,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6884,1.10,243.3,3073,2357,2116,2034,516.5,18.3,291,6889,0.00,2.28,0.00,0.000,516,0.000,0.052,3083,961,2075,2116,2034,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6936,1.10,243.3,3082,961,2115,2034,508.6,18.5,293,6941,0.00,2.28,0.00,0.000,1030,0.000,0.058,3083,2352,2075,2116,2034,0,0,0,0,0,0,28.83,14.82,28.83
$GC,7249,1.10,243.3,3083,2351,2115,2033,446.9,18.9,309,7250,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2352,2074,2115,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7551,1.10,243.3,3083,2351,2115,2032,392.7,17.4,324,7552,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2352,2074,2115,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7850,1.10,243.3,3083,2352,2115,2032,342.9,15.3,339,7855,0.00,2.28,0.00,0.000,516,0.000,0.050,3092,952,2074,2115,2033,0,0,0,0,0,0,28.83,14.84,28.83
$GC,8028,1.10,243.3,3093,951,2115,2032,318.1,14.8,347,8035,0.17,2.30,0.00,0.000,5126,0.295,0.056,3054,2361,2073,2115,2032,0,0,0,0,0,0,14.53,14.81,28.83
$GC,8334,1.10,243.3,3054,2361,2115,2032,269.5,15.1,363,8339,0.00,2.28,0.00,0.000,516,0.000,0.049,3062,955,2073,2115,2032,0,0,0,0,0,0,28.83,14.84,28.83
$GC,8436,1.10,243.3,3062,955,2116,2032,254.6,14.4,368,8442,0.00,2.28,0.00,0.000,1030,0.000,0.056,3061,2347,2073,2115,2032,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8759,1.10,243.3,3061,2348,2115,2033,213.7,12.6,384,8765,0.00,2.35,0.00,0.000,260,0.000,0.083,3062,3755,2074,2115,2033,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8811,1.10,243.3,3062,3754,2115,2034,207.9,13.0,386,8816,0.00,2.17,0.00,0.000,1030,0.000,0.035,3072,2335,2074,2115,2033,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9124,1.10,243.3,3072,2330,2115,2035,165.4,13.1,402,9129,0.00,2.17,0.00,0.000,516,0.000,0.046,3082,963,2075,2115,2035,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9290,1.10,243.3,2144,963,2075,2026,146.0,11.5,410,9296,0.00,2.25,0.00,0.000,1030,0.000,0.051,3082,2355,2075,2115,2035,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9608,1.10,243.3,3083,2355,2115,2036,106.3,13.2,426,9614,0.00,2.22,0.00,0.000,516,0.000,0.045,3092,969,2075,2115,2036,0,0,0,0,0,0,28.83,14.84,28.83
$GC,9727,1.10,243.3,3092,970,2115,2038,92.9,12.9,431,9735,0.15,2.25,0.00,0.000,5126,0.283,0.051,3059,2363,2076,2115,2038,0,0,0,0,0,0,14.51,14.76,28.83
$GC,10032,1.30,343.3,3059,2363,2116,2038,65.0,8.0,447,10086,0.15,2.25,46.47,0.319,10756,0.123,0.046,3134,961,1696,1726,1667,0,0,0,0,0,0,14.83,14.80,14.52
$GC,10184,1.30,343.3,3134,961,1735,1676,44.3,15.6,456,10196,0.00,2.25,1.67,0.187,9222,0.000,0.051,3134,2354,1693,1726,1661,0,0,0,0,0,0,28.83,14.77,14.62
$GC,10495,1.30,343.3,2144,2352,1703,1663,5.2,12.4,504,10503,0.00,2.28,1.50,0.188,8708,0.000,0.045,3143,971,1692,1728,1657,0,0,0,0,0,0,28.83,14.77,14.64
$STATE,10518,end climb,SURFACE_DEPTH_REACHED
$STATE,10518,begin surface coast
$FINISH,0.1,1.021140
$STATE,10546,end surface coast,CONTROL_FINISHED_OK
$STATE,10546,begin surface
$SM_CCo,10565,60.80,0.142,0,0,1155,475.15
$SM_GC,-0.28,7.90,2.45,60.80,0.049,0.048,0.142,232,2457,1155,-7.62,-0.93,475.15,0,0,0,0,0,0,14.83,14.79,14.66
$IRIDIUM_FIX,2244.02,12508.33,160613,020228
$TT8_MAMPS,0.019474,0.019474
$HUMID,46.81
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,25.20
$XPDR_PINGS,1
$SC_FREEKB,3848160
$24V_AH,13.5,82.063
$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,20.650,102.700,504.700,60.800,0.000,32.478,45.027,252.258,0.250,0.000,37.261,1640.762,6891.400,612.231,1819.528,233.649,0.000,1423.518,0.000,1356.582,0.000,0.542,0.000
$DEVICE_MAMPS,383.265,124.695,1713.600,142.290,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,6.000,0.000,0.000,0.000
$MEM,328328
$DATA_FILE_SIZE,20050,513
$CAP_FILE_SIZE,131499,0
$CFSIZE,260034560,235159552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160613,090224,2259.716,12507.977,12,1.3,30,-3.3