version: 66.11
glider: 181
mission: 11
dive: 238
start: 6 17 113 13 53 15
data:
$ID,181
$MISSION,11
$DIVE,238
$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,-96043.07
$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,68
$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
$GPS1,170613,134405,2247.331,12508.665,33,0.9,43,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.13
$_SM_ANGLEo,-71.3
$GPS2,170613,135249,2247.326,12508.831,13,1.3,13,-3.2
$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,222.8,185945,-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,18,begin dive
$GC,20,-1.10,-243.3,228,2438,1023,992,0.0,0.0,0,102,0.00,0.00,-77.93,0.000,16386,0.000,0.000,228,2440,2948,2997,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-1.10,-243.3,228,2440,2996,2902,3.7,-14.8,16,139,9.35,2.17,-17.23,0.000,18948,0.375,0.057,2340,1057,3962,4007,3917,0,0,0,0,0,0,14.36,14.66,14.85
$GC,184,-1.10,-243.3,2341,1056,4005,3921,32.8,-31.8,29,189,0.00,2.30,0.00,0.000,1030,0.000,0.057,2333,2454,3963,4005,3922,0,0,0,0,0,0,28.83,14.69,28.83
$GC,505,-1.10,-243.3,2333,2455,4003,3924,126.0,-27.7,49,509,0.00,2.17,0.00,0.000,260,0.000,0.076,2323,3781,3963,4003,3924,0,0,0,0,0,0,28.83,14.76,28.83
$GC,624,-1.10,-243.3,2322,3781,4003,3925,160.0,-29.3,55,629,0.00,2.03,0.00,0.000,1030,0.000,0.034,2319,2447,3964,4003,3925,0,0,0,0,0,0,28.83,14.89,28.83
$GC,935,-1.10,-243.3,2322,2441,4003,3925,251.1,-29.8,71,939,0.00,2.22,0.00,0.000,260,0.000,0.073,2312,3790,3964,4003,3925,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1021,-1.10,-243.3,2311,3790,4003,3926,273.4,-29.9,75,1026,0.15,2.03,0.00,0.000,3078,0.282,0.033,2344,2434,3964,4003,3925,0,0,0,0,0,0,14.61,14.92,28.83
$GC,1325,-1.10,-243.3,2344,2428,4003,3925,351.7,-22.3,90,1329,0.00,2.25,0.00,0.000,260,0.000,0.075,2336,3789,3964,4003,3925,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1365,-1.10,-243.3,2336,3789,4002,3925,359.7,-22.3,92,1369,0.00,2.00,0.00,0.000,1030,0.000,0.032,2336,2460,3964,4003,3925,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1675,-1.10,-243.3,2337,2452,4002,3925,433.2,-21.5,108,1679,0.00,2.20,0.00,0.000,260,0.000,0.076,2326,3784,3963,4002,3925,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1771,-1.10,-243.3,2326,3784,4002,3924,453.7,-21.4,113,1775,0.00,2.03,0.00,0.000,1030,0.000,0.033,2326,2438,3961,3998,3925,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2086,-1.10,-243.3,2326,2432,4002,3921,520.5,-21.3,129,2090,0.00,2.22,0.00,0.000,260,0.000,0.077,2316,3781,3961,4002,3921,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2161,-1.10,-243.3,2316,3782,4002,3920,537.6,-23.0,133,2166,0.12,2.00,0.00,0.000,3078,0.276,0.033,2337,2450,3959,3998,3921,0,0,0,0,0,0,14.66,14.95,28.83
$GC,2477,-1.10,-243.3,2342,2442,3998,3916,599.4,-19.8,149,2481,0.00,2.22,0.00,0.000,260,0.000,0.082,2334,3783,3956,3997,3916,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2522,-1.10,-243.3,2334,3782,3998,3915,604.7,-20.3,151,2526,0.00,2.03,0.00,0.000,1030,0.000,0.035,2334,2454,3956,3998,3915,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2827,-1.10,-243.3,2334,2448,3998,3910,674.0,-22.0,161,2831,0.00,2.22,0.00,0.000,260,0.000,0.082,2324,3783,3953,3998,3909,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2882,-1.10,-243.3,2324,3782,3997,3908,686.4,-22.2,163,2886,0.00,2.05,0.00,0.000,1030,0.000,0.037,2324,2455,3952,3997,3908,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3208,-1.10,-243.3,2324,2448,3998,3902,758.2,-21.3,174,3212,0.00,2.25,0.00,0.000,260,0.000,0.085,2313,3782,3950,3998,3902,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3278,-1.10,-243.3,2313,3783,3998,3901,770.9,-21.7,176,3283,0.12,2.08,0.00,0.000,3078,0.275,0.038,2340,2448,3949,3998,3901,0,0,0,0,0,0,14.64,14.93,28.83
$GC,3590,-1.10,-243.3,2340,2442,3998,3894,830.1,-17.4,187,3596,0.00,2.25,0.00,0.000,260,0.000,0.087,2333,3777,3945,3997,3894,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3623,-1.10,-243.3,2333,3777,3998,3894,835.7,-17.6,188,3627,0.00,2.08,0.00,0.000,1030,0.000,0.039,2333,2444,3945,3997,3894,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3945,-1.10,-243.3,2333,2440,3997,3888,897.7,-19.7,199,3951,0.00,2.28,0.00,0.000,260,0.000,0.090,2322,3781,3942,3996,3888,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4038,-1.10,-243.3,2322,3781,3995,3888,917.2,-21.3,202,4042,0.00,2.10,0.00,0.000,1030,0.000,0.041,2322,2456,3941,3995,3887,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4365,-1.10,-243.3,2322,2449,3994,3882,987.8,-22.1,213,4366,0.00,0.00,0.00,0.000,6,0.000,0.000,2321,2448,3938,3994,3883,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4391,begin apogee
$GC,4397,-0.21,0.0,2322,2325,3993,3882,994.4,-22.0,214,4627,1.05,0.00,222.75,1.655,10246,0.230,0.000,2622,2325,3089,3118,3061,0,0,0,0,0,0,14.60,28.83,13.59
$STATE,4629,end apogee,CONTROL_FINISHED_OK
$STATE,4629,begin climb
$GC,4631,1.10,243.3,2622,2325,3116,3059,1010.7,0.0,221,4908,1.23,0.00,269.33,1.601,10758,0.060,0.000,3064,2325,2098,2127,2069,0,0,0,0,0,0,14.26,28.83,13.57
$GC,5205,1.10,243.3,3064,2325,2123,2046,923.5,21.8,241,5210,0.00,2.25,0.00,0.000,516,0.000,0.057,3073,971,2084,2123,2046,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5342,1.10,243.3,3074,971,2123,2043,897.1,21.4,245,5347,0.00,2.30,0.00,0.000,1030,0.000,0.063,3074,2348,2082,2122,2043,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5661,1.10,243.3,3073,2350,2122,2038,826.3,22.2,256,5666,0.00,2.40,0.00,0.000,260,0.000,0.090,3074,3756,2080,2122,2039,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5683,1.10,243.3,3074,3762,2122,2039,826.3,22.2,256,5689,0.15,2.20,0.00,0.000,5126,0.350,0.039,3055,2356,2082,2126,2039,0,0,0,0,0,0,14.52,14.83,28.83
$GC,5998,1.10,243.3,3055,2351,2121,2035,754.9,20.5,267,6004,0.00,2.25,0.00,0.000,516,0.000,0.053,3064,967,2078,2121,2035,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6096,1.10,243.3,3063,967,2120,2035,735.9,20.3,270,6101,0.00,2.30,0.00,0.000,1030,0.000,0.060,3063,2360,2077,2120,2035,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6425,1.10,243.3,3064,2360,2120,2034,667.0,20.7,281,6430,0.00,2.28,0.00,0.000,516,0.000,0.051,3073,967,2077,2120,2034,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6461,1.10,243.3,3073,966,2119,2033,660.1,20.5,282,6467,0.00,2.28,0.00,0.000,1030,0.000,0.059,3074,2350,2077,2120,2034,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6781,1.10,243.3,3073,2350,2118,2032,594.9,19.8,293,6786,0.00,2.25,0.00,0.000,516,0.000,0.050,3083,965,2075,2118,2032,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6813,1.10,243.3,3083,964,2118,2032,590.1,19.7,294,6818,0.00,2.28,0.00,0.000,1030,0.000,0.058,3083,2349,2075,2118,2032,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7125,1.10,243.3,3083,2350,2117,2031,524.7,20.2,310,7131,0.12,2.25,0.00,0.000,4612,0.321,0.047,3062,964,2073,2115,2031,0,0,0,0,0,0,14.53,14.85,28.83
$GC,7158,1.10,243.3,3062,964,2116,2030,520.3,19.9,311,7163,0.00,2.28,0.00,0.000,1030,0.000,0.057,3062,2351,2073,2116,2030,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7470,1.10,243.3,3062,2351,2116,2028,459.9,19.4,327,7472,0.00,0.00,0.00,0.000,6,0.000,0.000,3062,2353,2072,2117,2027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7772,1.10,243.3,3062,2351,2117,2027,407.3,16.7,342,7777,0.00,2.25,0.00,0.000,516,0.000,0.050,3071,965,2071,2116,2027,0,0,0,0,0,0,28.83,14.84,28.83
$GC,7915,1.10,243.3,3072,964,2116,2027,386.1,14.6,349,7921,0.00,2.28,0.00,0.000,1030,0.000,0.056,3071,2352,2071,2116,2027,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8239,1.10,243.3,3071,2352,2116,2027,335.5,16.5,365,8244,0.00,2.38,0.00,0.000,260,0.000,0.085,3071,3759,2071,2116,2027,0,0,0,0,0,0,28.83,14.77,28.83
$GC,8296,1.10,243.3,3071,3759,2116,2027,327.6,17.2,367,8302,0.00,2.20,0.00,0.000,1030,0.000,0.037,3082,2341,2071,2116,2027,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8602,1.10,243.3,3083,2336,2116,2027,272.8,15.3,383,8607,0.00,2.20,0.00,0.000,516,0.000,0.047,3093,966,2071,2116,2027,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8729,1.10,243.3,3093,966,2116,2027,254.6,14.9,389,8735,0.15,2.28,0.00,0.000,5126,0.290,0.054,3058,2364,2071,2116,2027,0,0,0,0,0,0,14.51,14.81,28.83
$GC,9047,1.10,243.3,3059,2364,2116,2027,217.6,11.6,405,9053,0.00,2.28,0.00,0.000,516,0.000,0.047,3066,966,2071,2116,2027,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9064,1.10,243.3,3067,964,2116,2027,217.6,11.6,405,9071,0.00,2.25,0.00,0.000,1030,0.000,0.053,3066,2347,2072,2116,2028,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9370,1.10,243.3,3066,2347,2118,2028,179.8,11.6,421,9376,0.00,2.22,0.00,0.000,516,0.000,0.047,3076,966,2072,2117,2028,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9603,1.11,248.9,3076,966,2117,2032,154.7,11.2,432,9609,0.00,2.25,0.00,0.000,1030,0.000,0.050,3076,2357,2074,2116,2032,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9916,1.11,248.9,3076,2357,2116,2033,117.9,11.4,448,9921,0.00,2.22,0.00,0.000,516,0.000,0.044,3086,965,2074,2116,2033,0,0,0,0,0,0,28.83,14.84,28.83
$GC,9979,1.11,248.9,3087,965,2116,2034,110.4,11.8,451,9985,0.00,2.22,0.00,0.000,1030,0.000,0.050,3086,2349,2075,2117,2034,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10303,1.17,277.1,3086,2349,2117,2035,71.0,10.4,467,10323,0.00,2.30,14.27,0.319,8708,0.000,0.044,3096,953,1966,2003,1929,0,0,0,0,0,0,28.83,14.85,14.46
$GC,10467,1.30,344.1,3096,954,2017,1940,54.7,9.1,475,10507,0.00,2.25,34.92,0.286,9222,0.000,0.047,3096,2352,1690,1725,1656,0,0,0,0,0,0,28.83,14.76,14.54
$GC,10808,1.48,432.5,3096,2352,1736,1669,12.3,8.4,518,10860,0.20,2.28,42.75,0.171,10756,0.107,0.045,3191,968,1327,1360,1294,0,0,0,0,0,0,14.77,14.71,14.60
$STATE,10887,end climb,SURFACE_DEPTH_REACHED
$STATE,10887,begin surface coast
$FINISH,0.2,1.021291
$STATE,10903,end surface coast,CONTROL_FINISHED_OK
$STATE,10903,begin surface
$SM_CCo,10922,19.85,0.145,0,0,1156,475.15
$SM_GC,-0.76,8.02,2.45,19.85,0.044,0.047,0.145,232,2443,1156,-7.62,-1.24,475.15,0,0,0,0,0,0,14.79,14.74,14.65
$IRIDIUM_FIX,2248.70,12504.51,170613,101022
$TT8_MAMPS,0.019474,0.019474
$HUMID,48.74
$INTERNAL_PRESSURE,9.75623
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,3844448
$24V_AH,13.6,85.114
$10V_AH,12.8,0.000
$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,20.675,110.900,584.025,19.850,0.000,28.994,40.410,242.372,0.000,0.000,16.176,1243.441,7532.333,611.746,1837.615,248.889,0.000,1470.014,0.000,1413.343,0.000,0.544,0.000
$DEVICE_MAMPS,374.850,104.805,1655.460,144.585,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10960.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.979,0.000,0.000,0.000
$MEM,328312
$DATA_FILE_SIZE,20082,535
$CAP_FILE_SIZE,140099,0
$CFSIZE,260034560,234237952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170613,165724,2246.146,12508.346,62,1.0,62,-3.2