version: 66.11
glider: 181
mission: 11
dive: 231
start: 6 16 113 15 35 46
data:
$ID,181
$MISSION,11
$DIVE,231
$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,-96034.25
$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,67
$R_STBD_OVSHOOT,59
$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
$GPS1,160613,152406,2256.957,12508.479,25,1.8,25,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-72.3
$GPS2,160613,153519,2256.970,12508.544,13,1.8,13,-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,219.6,199732,-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,-243.3,224,2484,1154,1161,0.0,0.0,0,100,0.00,0.00,-77.43,0.000,16386,0.000,0.000,224,2485,3123,3170,3076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-1.10,-243.3,229,2485,3169,3077,3.7,-13.4,14,134,9.38,2.28,-13.62,0.000,18948,0.375,0.065,2337,1061,3963,4006,3920,0,0,0,0,0,0,14.40,14.71,14.92
$GC,203,-1.10,-243.3,2337,1060,4004,3923,39.1,-26.4,27,208,0.00,2.22,0.00,0.000,1030,0.000,0.054,2330,2423,3964,4004,3924,0,0,0,0,0,0,28.83,14.71,28.83
$GC,525,-1.10,-243.3,2330,2423,4003,3925,137.1,-30.4,45,530,0.00,2.22,0.00,0.000,260,0.000,0.073,2319,3780,3964,4003,3925,0,0,0,0,0,0,28.83,14.77,28.83
$GC,602,-1.10,-243.3,2319,3781,4003,3926,156.3,-30.6,48,609,0.00,2.03,0.00,0.000,1030,0.000,0.034,2319,2445,3964,4003,3926,0,0,0,0,0,0,28.83,14.86,28.83
$GC,908,-1.10,-243.3,2319,2439,4003,3926,257.1,-29.5,64,913,0.00,2.20,0.00,0.000,260,0.000,0.073,2309,3781,3964,4002,3926,0,0,0,0,0,0,28.83,14.82,28.83
$GC,991,-1.10,-243.3,2308,3781,4002,3926,281.0,-28.8,68,997,0.15,2.03,0.00,0.000,3078,0.279,0.033,2341,2431,3964,4002,3926,0,0,0,0,0,0,14.62,14.90,28.83
$GC,1315,-1.10,-243.3,2341,2425,4002,3926,357.2,-23.2,84,1320,0.00,2.22,0.00,0.000,260,0.000,0.074,2334,3780,3964,4002,3926,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1407,-1.10,-243.3,2334,3781,4001,3925,377.0,-23.9,88,1412,0.00,2.00,0.00,0.000,1030,0.000,0.033,2333,2446,3963,4001,3926,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1720,-1.10,-243.3,2333,2437,3999,3926,453.4,-23.2,104,1725,0.00,2.22,0.00,0.000,260,0.000,0.078,2323,3783,3962,3998,3926,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1772,-1.10,-243.3,2324,3783,3998,3925,464.1,-24.0,106,1777,0.00,2.00,0.00,0.000,1030,0.000,0.034,2323,2453,3962,3999,3925,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2085,-1.10,-243.3,2323,2447,3998,3922,539.4,-23.0,122,2090,0.00,2.20,0.00,0.000,260,0.000,0.078,2312,3780,3960,3998,3922,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2128,-1.10,-243.3,2312,3779,3998,3921,549.0,-22.8,124,2134,0.12,2.03,0.00,0.000,3078,0.279,0.034,2339,2434,3959,3998,3921,0,0,0,0,0,0,14.66,14.95,28.83
$GC,2452,-1.10,-243.3,2339,2429,3999,3915,615.2,-20.0,139,2457,0.00,2.25,0.00,0.000,260,0.000,0.081,2331,3784,3956,3998,3915,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2514,-1.10,-243.3,2331,3784,3999,3914,627.7,-19.9,141,2520,0.00,2.03,0.00,0.000,1030,0.000,0.036,2331,2452,3956,3998,3914,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2848,-1.10,-243.3,2331,2445,3998,3907,695.7,-20.5,152,2853,0.00,2.22,0.00,0.000,260,0.000,0.085,2321,3777,3952,3998,3906,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2950,-1.10,-243.3,2321,3777,3998,3906,716.0,-21.4,155,2956,0.00,2.03,0.00,0.000,1030,0.000,0.037,2321,2450,3952,3998,3906,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3274,-1.10,-243.3,2321,2444,3998,3899,788.7,-21.8,166,3279,0.00,2.25,0.00,0.000,260,0.000,0.088,2310,3779,3948,3998,3898,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3346,-1.10,-243.3,2310,3779,3997,3896,803.4,-22.3,168,3352,0.15,2.05,0.00,0.000,3078,0.272,0.039,2343,2459,3947,3997,3898,0,0,0,0,0,0,14.62,14.92,28.83
$GC,3671,-1.10,-243.3,2344,2453,3997,3891,870.3,-20.4,179,3672,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2453,3944,3997,3892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3970,-1.10,-243.3,2343,2453,3995,3888,933.3,-21.2,189,3975,0.00,2.25,0.00,0.000,260,0.000,0.090,2336,3778,3941,3995,3887,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4036,-1.10,-243.3,1492,3778,3992,3886,946.9,-21.3,191,4042,0.00,2.08,0.00,0.000,1030,0.000,0.041,2336,2453,3939,3993,3886,0,0,0,0,0,0,28.83,14.91,28.83
$STATE,4272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4272,begin apogee
$GC,4278,-0.21,0.0,2336,2325,3990,3883,995.8,-20.2,199,4484,1.00,0.00,197.55,1.789,10246,0.218,0.000,2625,2324,3091,3119,3064,0,0,0,0,0,0,14.61,28.83,13.54
$STATE,4486,end apogee,CONTROL_FINISHED_OK
$STATE,4486,begin climb
$GC,4489,1.10,243.3,2625,2324,3116,3063,1010.5,0.0,206,4732,1.23,2.65,233.27,1.770,11012,0.063,0.096,3065,3755,2096,2124,2068,0,0,0,0,0,0,14.26,14.08,13.50
$GC,4869,1.10,243.3,3065,3754,2119,2055,960.9,25.9,218,4875,0.00,2.25,0.00,0.000,1030,0.000,0.042,3075,2367,2087,2120,2055,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5175,1.10,243.3,3075,2366,2120,2046,879.9,24.7,229,5180,0.00,2.33,0.00,0.000,516,0.000,0.059,3086,954,2083,2120,2046,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5227,1.10,243.3,3086,954,2119,2046,871.8,24.6,230,5233,0.15,2.33,0.00,0.000,5126,0.314,0.063,3056,2347,2082,2119,2046,0,0,0,0,0,0,14.51,14.71,28.83
$GC,5542,1.10,243.3,3056,2348,2119,2042,796.2,22.0,241,5547,0.00,2.30,0.00,0.000,516,0.000,0.054,3063,949,2080,2119,2042,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5614,1.10,243.3,3063,949,2119,2041,783.0,21.0,243,5620,0.00,2.33,0.00,0.000,1030,0.000,0.061,3063,2352,2079,2119,2040,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5939,1.10,243.3,3063,2352,2118,2037,713.4,20.5,254,5940,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2353,2078,2119,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6238,1.10,243.3,3063,2352,2117,2035,651.5,20.9,264,6243,0.00,2.30,0.00,0.000,516,0.000,0.052,3073,947,2076,2118,2035,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6300,1.10,243.3,3073,946,2117,2035,639.3,20.1,266,6306,0.00,2.33,0.00,0.000,1030,0.000,0.060,3073,2351,2076,2117,2035,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6613,1.10,243.3,3073,2351,2116,2034,577.3,19.2,278,6618,0.00,2.38,0.00,0.000,260,0.000,0.089,3073,3755,2075,2116,2035,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6659,1.10,243.3,2144,3754,2077,2025,568.6,19.6,280,6665,0.00,2.22,0.00,0.000,1030,0.000,0.040,3084,2333,2075,2116,2035,0,0,0,0,0,0,28.83,14.89,28.83
$GC,6977,1.10,243.3,3084,2329,2115,2033,503.8,20.4,296,6983,0.12,2.20,0.00,0.000,4612,0.355,0.048,3064,960,2074,2115,2033,0,0,0,0,0,0,14.52,14.85,28.83
$GC,7065,1.10,243.3,3063,960,2115,2033,488.4,18.5,300,7070,0.00,2.30,0.00,0.000,1030,0.000,0.060,3064,2360,2074,2115,2033,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7382,1.10,243.3,3063,2360,2115,2032,432.9,16.3,316,7384,0.00,0.00,0.00,0.000,6,0.000,0.000,3063,2360,2073,2115,2032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7684,1.10,243.3,3064,2360,2114,2031,385.6,15.2,331,7689,0.00,2.28,0.00,0.000,516,0.000,0.050,3073,964,2072,2114,2031,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7817,1.10,243.3,3074,964,2114,2030,366.6,15.0,337,7822,0.00,2.28,0.00,0.000,1030,0.000,0.058,3074,2347,2070,2114,2027,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8130,1.10,243.3,3073,2347,2114,2031,314.9,16.6,353,8135,0.00,2.38,0.00,0.000,260,0.000,0.084,3073,3759,2072,2114,2031,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8157,1.10,243.3,3074,3759,2114,2031,310.6,17.1,354,8163,0.12,2.20,0.00,0.000,5126,0.336,0.037,3059,2340,2072,2114,2031,0,0,0,0,0,0,14.52,14.89,28.83
$GC,8476,1.10,243.3,3059,2335,2114,2031,263.5,14.0,370,8481,0.00,2.40,0.00,0.000,260,0.000,0.083,3060,3755,2072,2114,2031,0,0,0,0,0,0,28.83,14.75,28.83
$GC,8498,1.10,243.3,3060,3755,2114,2031,259.9,14.5,371,8504,0.00,2.17,0.00,0.000,1030,0.000,0.037,3068,2348,2073,2114,2032,0,0,0,0,0,0,28.83,14.89,28.83
$GC,8821,1.10,243.3,3068,2343,2114,2031,213.0,13.9,387,8826,0.00,2.20,0.00,0.000,516,0.000,0.047,3080,967,2073,2114,2032,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8979,1.10,243.3,3079,967,2114,2032,195.0,12.3,394,8986,0.00,2.25,0.00,0.000,1030,0.000,0.054,3078,2354,2073,2114,2033,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9285,1.10,243.3,3079,2354,2114,2033,158.6,11.7,410,9286,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,2355,2073,2114,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9587,1.10,243.3,3079,2354,2114,2035,121.2,13.1,425,9592,0.00,2.22,0.00,0.000,516,0.000,0.045,3088,965,2074,2114,2035,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9711,1.10,243.3,3089,965,2114,2035,105.4,12.6,431,9717,0.15,2.25,0.00,0.000,5126,0.281,0.050,3055,2350,2074,2114,2035,0,0,0,0,0,0,14.54,14.78,28.83
$GC,10035,1.22,304.0,3056,2351,2114,2036,73.5,9.3,447,10069,0.12,2.20,27.75,0.343,10756,0.138,0.041,3122,969,1855,1885,1825,0,0,0,0,0,0,14.81,14.85,14.51
$GC,10132,1.22,304.0,3123,964,1893,1834,63.6,11.9,451,10140,0.12,2.28,1.52,0.190,13318,0.297,0.052,3098,2355,1852,1884,1820,0,0,0,0,0,0,14.54,14.78,14.66
$GC,10439,1.36,375.6,3098,2355,1895,1836,22.7,9.0,480,10481,0.12,2.30,35.60,0.200,10756,0.143,0.044,3159,958,1559,1593,1526,0,0,0,0,0,0,14.76,14.81,14.59
$STATE,10604,end climb,SURFACE_DEPTH_REACHED
$STATE,10604,begin surface coast
$FINISH,-0.4,1.021477
$STATE,10625,end surface coast,CONTROL_FINISHED_OK
$STATE,10625,begin surface
$SM_CCo,10645,45.92,0.142,0,0,1155,475.15
$SM_GC,-0.58,8.02,2.47,45.92,0.054,0.050,0.142,234,2447,1155,-7.62,-1.13,475.15,0,0,0,0,0,0,14.81,14.77,14.65
$IRIDIUM_FIX,2255.72,12457.41,160613,151521
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.99
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,25.00
$XPDR_PINGS,3
$SC_FREEKB,3847008
$24V_AH,13.5,83.001
$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,20.975,102.700,495.700,45.925,0.000,59.323,83.166,256.374,0.750,0.000,16.327,1628.895,7069.107,593.204,1846.301,234.919,0.000,1385.213,0.000,1336.671,0.000,0.541,0.000
$DEVICE_MAMPS,374.850,107.865,1789.335,141.525,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10663.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.032,0.000,0.000,0.000
$MEM,328436
$DATA_FILE_SIZE,20094,515
$CAP_FILE_SIZE,132583,0
$CFSIZE,260034560,234885120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160613,183523,2255.483,12508.270,24,1.0,41,-3.3