version: 66.11
glider: 181
mission: 11
dive: 234
start: 6 17 113 1 7 28
data:
$ID,181
$MISSION,11
$DIVE,234
$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,-96038.023
$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,63
$R_STBD_OVSHOOT,34
$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
$GPS1,170613,005829,2252.908,12508.327,35,1.4,35,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.17
$_SM_ANGLEo,-72.3
$GPS2,170613,010701,2252.883,12508.469,15,1.4,15,-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,220.8,193601,-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,-243.3,233,2456,1155,1161,0.0,0.0,0,99,0.00,0.00,-77.10,0.000,16386,0.000,0.000,233,2457,3099,3145,3053,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.10,-243.3,233,2457,3145,3055,3.4,-13.0,14,133,9.48,2.25,-14.00,0.000,18948,0.383,0.065,2334,1047,3963,4006,3921,0,0,0,0,0,0,14.38,14.72,14.92
$GC,230,-1.10,-243.3,2339,1046,4003,3925,49.9,-31.0,30,236,0.00,2.30,0.00,0.000,1030,0.000,0.057,2331,2450,3964,4004,3925,0,0,0,0,0,0,28.83,14.71,28.83
$GC,535,-1.10,-243.3,2331,2450,4002,3926,146.0,-29.5,46,540,0.00,2.17,0.00,0.000,260,0.000,0.073,2321,3781,3964,4002,3927,0,0,0,0,0,0,28.83,14.77,28.83
$GC,659,-1.10,-243.3,2320,3782,4002,3927,185.4,-32.4,52,665,0.00,2.03,0.00,0.000,1030,0.000,0.033,2321,2444,3964,4002,3927,0,0,0,0,0,0,28.83,14.83,28.83
$GC,982,-1.10,-243.3,2320,2438,4002,3928,282.5,-27.9,68,987,0.00,2.22,0.00,0.000,260,0.000,0.073,2310,3787,3964,4002,3927,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1019,-1.10,-243.3,2308,3788,3998,3929,288.4,-26.7,69,1027,0.15,2.05,0.00,0.000,3078,0.288,0.032,2342,2414,3963,3997,3930,0,0,0,0,0,0,14.59,14.90,28.83
$GC,1325,-1.10,-243.3,2342,2411,3998,3929,369.4,-25.5,85,1330,0.00,2.25,0.00,0.000,260,0.000,0.074,2334,3778,3963,3997,3930,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1422,-1.10,-243.3,2334,3779,3998,3929,389.7,-24.6,89,1429,0.00,1.98,0.00,0.000,1030,0.000,0.033,2334,2464,3966,4003,3929,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1728,-1.10,-243.3,2334,2456,3998,3928,459.9,-21.1,105,1733,0.00,2.20,0.00,0.000,260,0.000,0.076,2324,3788,3962,3997,3927,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1785,-1.10,-243.3,2324,3789,3997,3927,469.2,-21.8,107,1792,0.00,2.03,0.00,0.000,1030,0.000,0.033,2324,2440,3962,3998,3927,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2091,-1.10,-243.3,2324,2432,3997,3925,542.1,-24.2,123,2096,0.00,2.22,0.00,0.000,260,0.000,0.077,2313,3780,3960,3997,3924,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2154,-1.10,-243.3,2313,3781,3998,3924,556.9,-23.4,126,2160,0.12,2.03,0.00,0.000,3078,0.279,0.033,2339,2435,3960,3997,3924,0,0,0,0,0,0,14.65,14.94,28.83
$GC,2477,-1.10,-243.3,2339,2429,3998,3919,624.7,-20.0,140,2482,0.00,2.22,0.00,0.000,260,0.000,0.079,2331,3778,3958,3998,3919,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2529,-1.10,-243.3,2332,3783,3998,3918,631.5,-20.1,141,2535,0.00,2.00,0.00,0.000,1030,0.000,0.035,2332,2465,3957,3997,3917,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2842,-1.10,-243.3,2332,2458,3998,3912,705.1,-22.1,152,2847,0.00,2.20,0.00,0.000,260,0.000,0.080,2322,3781,3955,3998,3912,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2905,-1.10,-243.3,2322,3781,3997,3911,718.8,-21.8,154,2911,0.00,2.05,0.00,0.000,1030,0.000,0.036,2321,2454,3953,3997,3910,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3239,-1.10,-243.3,2322,2448,3998,3905,787.9,-20.5,165,3245,0.00,2.22,0.00,0.000,260,0.000,0.083,2311,3775,3951,3998,3904,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3286,-1.10,-243.3,2311,3776,3998,3903,795.0,-20.4,166,3292,0.15,2.05,0.00,0.000,3078,0.270,0.037,2345,2451,3950,3998,3903,0,0,0,0,0,0,14.63,14.94,28.83
$GC,3606,-1.10,-243.3,2344,2444,3998,3896,857.2,-18.7,177,3611,0.00,2.25,0.00,0.000,260,0.000,0.087,2337,3777,3947,3998,3896,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3633,-1.10,-243.3,2337,3778,3997,3896,857.2,-18.7,177,3639,0.00,2.08,0.00,0.000,1030,0.000,0.040,2337,2443,3946,3997,3896,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3939,-1.10,-243.3,2337,2440,3996,3891,922.4,-19.6,188,3945,0.00,2.28,0.00,0.000,260,0.000,0.090,2327,3772,3943,3996,3891,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3976,-1.10,-243.3,2327,3772,3995,3887,929.1,-19.5,189,3982,0.00,2.08,0.00,0.000,1030,0.000,0.041,2327,2449,3943,3995,3891,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,4304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4304,begin apogee
$GC,4310,-0.21,0.0,2327,2320,3993,3887,993.6,-18.9,200,4533,1.02,0.00,215.48,1.675,10246,0.223,0.000,2622,2319,3089,3115,3064,0,0,0,0,0,0,14.56,28.83,13.57
$STATE,4535,end apogee,CONTROL_FINISHED_OK
$STATE,4535,begin climb
$GC,4537,1.10,243.3,2622,2320,3113,3061,1005.9,0.0,207,4803,1.23,2.30,255.77,1.637,10756,0.056,0.056,3080,979,2096,2125,2067,0,0,0,0,0,0,14.27,14.16,13.52
$GC,5026,1.10,243.3,2152,978,2082,2038,934.6,22.2,224,5032,0.00,2.30,0.00,0.000,1030,0.000,0.064,3080,2346,2084,2122,2047,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5356,1.10,243.3,3080,2346,2121,2041,859.6,22.3,235,5357,0.00,0.00,0.00,0.000,6,0.000,0.000,3080,2346,2081,2121,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5654,1.10,243.3,3080,2346,2121,2038,792.4,22.4,245,5660,0.00,2.25,0.00,0.000,516,0.000,0.052,3090,973,2079,2121,2037,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5718,1.10,243.3,3090,973,2121,2037,777.5,23.2,247,5724,0.17,2.30,0.00,0.000,5126,0.318,0.060,3052,2360,2079,2121,2037,0,0,0,0,0,0,14.54,14.78,28.83
$GC,6051,1.10,243.3,3053,2360,2120,2035,708.5,20.7,258,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,3053,2360,2077,2120,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6352,1.10,243.3,3053,2360,2119,2033,646.4,20.6,268,6357,0.00,2.28,0.00,0.000,516,0.000,0.051,3060,966,2075,2119,2032,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6379,1.10,243.3,3060,966,2119,2033,646.4,20.6,268,6386,0.00,2.28,0.00,0.000,1030,0.000,0.060,3060,2347,2075,2119,2032,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6697,1.10,243.3,3060,2348,2118,2031,574.2,20.7,281,6702,0.00,2.25,0.00,0.000,516,0.000,0.051,3069,970,2074,2118,2031,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6733,1.10,243.3,3070,970,2118,2031,569.4,20.4,282,6740,0.00,2.28,0.00,0.000,1030,0.000,0.059,3069,2353,2074,2118,2031,0,0,0,0,0,0,28.83,14.82,28.83
$GC,7039,1.10,243.3,3070,2353,2117,2029,508.9,18.1,298,7045,0.00,2.38,0.00,0.000,260,0.000,0.088,3070,3755,2073,2117,2029,0,0,0,0,0,0,28.83,14.79,28.83
$GC,7077,1.10,243.3,3070,3754,2116,2029,504.5,18.4,299,7083,0.00,2.17,0.00,0.000,1030,0.000,0.039,3080,2359,2073,2117,2029,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7382,1.10,243.3,3081,2354,2111,2028,447.4,16.9,315,7383,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2354,2072,2116,2028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7684,1.10,243.3,3081,2354,2115,2028,395.4,17.6,330,7689,0.00,2.25,0.00,0.000,516,0.000,0.050,3091,961,2072,2116,2028,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7741,1.10,243.3,3091,960,2115,2028,387.4,18.0,332,7748,0.15,2.28,0.00,0.000,5126,0.299,0.057,3059,2352,2071,2115,2028,0,0,0,0,0,0,14.53,14.81,28.83
$GC,8047,1.10,243.3,3059,2352,2116,2027,333.4,16.5,348,8048,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2353,2071,2115,2027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8348,1.10,243.3,3059,2353,2116,2027,288.7,14.6,363,8354,0.00,2.25,0.00,0.000,516,0.000,0.049,3066,965,2071,2115,2027,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8412,1.10,243.3,3066,964,2116,2027,279.2,14.7,366,8417,0.00,2.28,0.00,0.000,1030,0.000,0.055,3066,2352,2071,2116,2027,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8735,1.12,252.8,3066,2351,2116,2028,240.1,11.1,382,8742,0.00,2.35,1.00,0.221,8452,0.000,0.082,3066,3756,2062,2105,2019,0,0,0,0,0,0,28.83,14.78,14.64
$GC,8874,1.12,252.8,3066,3756,2106,2031,222.8,13.9,388,8880,0.00,2.17,0.00,0.000,1030,0.000,0.036,3077,2345,2068,2106,2031,0,0,0,0,0,0,28.83,14.89,28.83
$GC,9180,1.12,252.8,3078,2341,2110,2032,181.1,12.4,404,9186,0.00,2.20,1.33,0.201,8708,0.000,0.044,3087,960,2061,2103,2019,0,0,0,0,0,0,28.83,14.76,14.64
$GC,9293,1.12,252.8,3088,959,2109,2032,168.5,12.1,409,9299,0.00,2.25,1.12,0.214,9222,0.000,0.051,3087,2353,2062,2105,2019,0,0,0,0,0,0,28.83,14.81,14.69
$GC,9606,1.12,252.8,3087,2353,2112,2033,128.5,12.6,425,9613,0.00,2.25,1.23,0.203,8708,0.000,0.041,3097,956,2062,2105,2020,0,0,0,0,0,0,28.83,14.85,14.64
$GC,9680,1.12,252.8,3097,960,2109,2032,120.5,12.6,428,9685,0.15,2.25,0.00,0.000,5126,0.291,0.050,3065,2350,2071,2109,2033,0,0,0,0,0,0,14.50,14.80,28.83
$GC,9993,1.21,300.9,3065,2350,2114,2034,89.1,9.8,444,10027,0.00,2.28,26.20,0.388,8708,0.000,0.044,3072,963,1869,1902,1836,0,0,0,0,0,0,28.83,14.78,14.50
$GC,10075,1.21,300.9,3073,963,1908,1844,79.5,11.8,448,10081,0.00,2.25,1.25,0.208,9222,0.000,0.050,3073,2357,1867,1903,1832,0,0,0,0,0,0,28.83,14.78,14.66
$GC,10389,1.21,300.9,3073,2358,1914,1845,42.4,11.4,466,10400,0.00,2.35,1.85,0.184,8452,0.000,0.077,3072,3751,1867,1903,1832,0,0,0,0,0,0,28.83,14.74,14.62
$GC,10427,1.21,300.9,3073,3752,1906,1842,38.1,12.3,469,10434,0.00,2.15,0.00,0.000,1030,0.000,0.033,3084,2337,1874,1907,1842,0,0,0,0,0,0,28.83,14.88,28.83
$GC,10735,1.55,466.6,3084,2334,1916,1845,9.5,5.8,517,10804,0.30,0.00,65.28,0.157,10498,0.090,0.000,3202,2333,1300,1327,1273,0,0,0,0,0,0,14.79,28.83,28.83
$STATE,10805,end climb,SURFACE_DEPTH_REACHED
$STATE,10807,begin surface coast
$FINISH,-1.2,1.020881
$STATE,10828,end surface coast,CONTROL_FINISHED_OK
$STATE,10828,begin surface
$SM_CCo,10846,16.27,0.144,0,0,1154,475.15
$SM_GC,-0.72,8.07,0.20,16.27,0.048,0.100,0.144,233,2471,1154,-7.62,-0.99,475.15,0,0,0,0,0,0,14.80,14.80,14.66
$IRIDIUM_FIX,2241.69,12508.33,160613,212148
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.16
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,25.20
$XPDR_PINGS,2
$SC_FREEKB,3845856
$24V_AH,13.5,83.902
$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,21.000,101.800,570.500,16.275,0.000,27.225,21.691,242.151,0.500,0.000,18.301,1619.382,7154.017,621.228,1747.775,239.444,0.000,1437.316,0.000,1337.495,0.000,0.542,0.000
$DEVICE_MAMPS,383.265,106.335,1674.585,143.820,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$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,0.000,0.000,0.000,0.000,0.000,0.000,6.072,0.000,0.000,0.000
$MEM,328328
$DATA_FILE_SIZE,20099,533
$CAP_FILE_SIZE,134445,0
$CFSIZE,260034560,234610688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170613,040954,2251.478,12508.845,36,1.8,36,-3.3