version: 66.11
glider: 181
mission: 11
dive: 243
start: 6 18 113 6 2 21
data:
$ID,181
$MISSION,11
$DIVE,243
$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,-96049.352
$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,65
$R_STBD_OVSHOOT,31
$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
$GPS1,180613,055248,2241.433,12507.963,14,2.0,31,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-69.4
$GPS2,180613,060154,2241.401,12508.104,43,1.1,43,-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,224.8,176798,-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,-243.3,205,2459,1156,1157,0.0,0.0,0,94,0.00,0.00,-72.10,0.000,16386,0.000,0.000,205,2460,2956,3003,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.10,-243.3,204,2459,3003,2912,3.1,-10.9,13,134,9.60,2.25,-17.10,0.000,18948,0.378,0.062,2339,1055,3965,4005,3926,0,0,0,0,0,0,14.38,14.70,14.93
$GC,197,-1.10,-243.3,2339,1054,4008,3929,38.5,-30.6,26,204,0.00,2.30,0.00,0.000,1030,0.000,0.057,2331,2460,3966,4003,3930,0,0,0,0,0,0,28.83,14.68,28.83
$GC,511,-1.10,-243.3,2331,2460,4001,3932,139.9,-28.6,44,516,0.00,2.17,0.00,0.000,260,0.000,0.074,2321,3784,3966,4002,3931,0,0,0,0,0,0,28.83,14.76,28.83
$GC,625,-1.10,-243.3,2321,3784,4001,3933,171.7,-30.8,49,630,0.00,2.05,0.00,0.000,1030,0.000,0.034,2321,2429,3967,4001,3933,0,0,0,0,0,0,28.83,14.86,28.83
$GC,937,-1.10,-243.3,2321,2422,4001,3933,265.7,-30.0,65,943,0.00,2.22,0.00,0.000,260,0.000,0.071,2310,3781,3967,4001,3933,0,0,0,0,0,0,28.83,14.82,28.83
$GC,974,-1.10,-243.3,2310,3785,4001,3933,272.4,-29.8,66,982,0.15,2.03,0.00,0.000,3078,0.277,0.032,2342,2431,3967,4001,3933,0,0,0,0,0,0,14.56,14.85,28.83
$GC,1280,-1.10,-243.3,2343,2424,4001,3933,348.5,-22.7,82,1286,0.00,2.25,0.00,0.000,260,0.000,0.075,2335,3786,3967,4001,3933,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1424,-1.10,-243.3,2335,3785,4000,3933,380.4,-21.3,89,1429,0.00,2.00,0.00,0.000,1030,0.000,0.034,2335,2459,3966,4000,3933,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1747,-1.10,-243.3,2334,2451,3996,3933,452.3,-22.0,105,1752,0.00,2.22,0.00,0.000,260,0.000,0.080,2324,3787,3964,3996,3933,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1810,-1.10,-243.3,2324,3788,3996,3932,467.4,-23.9,108,1815,0.00,2.03,0.00,0.000,1030,0.000,0.034,2324,2457,3964,3997,3932,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2133,-1.10,-243.3,2324,2451,3996,3928,543.7,-23.9,124,2138,0.00,2.20,0.00,0.000,260,0.000,0.076,2314,3782,3962,3997,3928,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2206,-1.10,-243.3,2314,3783,3996,3927,559.3,-24.5,127,2212,0.12,2.05,0.00,0.000,3078,0.280,0.035,2340,2430,3961,3996,3927,0,0,0,0,0,0,14.63,14.92,28.83
$GC,2520,-1.10,-243.3,2340,2424,3996,3922,628.3,-20.4,141,2526,0.00,2.25,0.00,0.000,260,0.000,0.082,2333,3775,3959,3996,3922,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2627,-1.10,-243.3,2333,3777,3996,3921,647.3,-20.1,144,2633,0.00,2.03,0.00,0.000,1030,0.000,0.036,2333,2458,3959,3997,3921,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2947,-1.10,-243.3,2333,2451,3996,3913,719.4,-22.1,155,2952,0.00,2.22,0.00,0.000,260,0.000,0.086,2322,3777,3954,3996,3913,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3013,-1.10,-243.3,1472,3777,3995,3911,734.7,-23.2,157,3019,0.00,2.05,0.00,0.000,1030,0.000,0.037,2322,2455,3954,3997,3912,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3343,-1.10,-243.3,2322,2448,4000,3906,808.8,-21.2,168,3348,0.00,2.25,0.00,0.000,260,0.000,0.086,2312,3780,3951,3996,3906,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3390,-1.10,-243.3,2312,3779,3997,3904,816.1,-21.1,169,3397,0.15,2.08,0.00,0.000,3078,0.276,0.040,2345,2447,3950,3997,3904,0,0,0,0,0,0,14.60,14.93,28.83
$GC,3710,-1.10,-243.3,2345,2442,3997,3897,880.2,-18.8,180,3716,0.00,2.25,0.00,0.000,260,0.000,0.087,2337,3770,3946,3996,3897,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3748,-1.10,-243.3,2337,3774,3997,3897,886.9,-18.9,181,3753,0.00,2.08,0.00,0.000,1030,0.000,0.041,2337,2443,3946,3996,3897,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4077,-1.10,-243.3,2337,2437,3998,3891,952.0,-19.3,192,4082,0.00,2.28,0.00,0.000,260,0.000,0.092,2327,3772,3943,3996,3891,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4170,-1.10,-243.3,2327,3772,3994,3890,970.7,-19.8,195,4176,0.00,2.10,0.00,0.000,1030,0.000,0.043,2327,2445,3941,3993,3890,0,0,0,0,0,0,28.83,14.90,28.83
$STATE,4291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4291,begin apogee
$GC,4297,-0.21,0.0,2327,2332,3994,3889,995.3,-19.9,199,4527,1.05,0.00,223.20,1.645,10246,0.226,0.000,2625,2332,3092,3119,3065,0,0,0,0,0,0,14.58,28.83,13.58
$STATE,4529,end apogee,CONTROL_FINISHED_OK
$STATE,4529,begin climb
$GC,4531,1.10,243.3,2625,2332,3116,3062,1010.1,0.0,206,4792,1.23,2.35,251.12,1.662,10756,0.056,0.060,3083,973,2097,2125,2069,0,0,0,0,0,0,14.27,14.17,13.54
$GC,4915,1.10,243.3,3083,973,2123,2052,964.9,23.3,219,4922,0.12,2.35,0.00,0.000,5126,0.312,0.067,3060,2347,2087,2123,2052,0,0,0,0,0,0,14.29,14.45,28.83
$GC,5223,1.10,243.3,3059,2346,2123,2044,892.9,21.0,230,5228,0.00,2.45,0.00,0.000,260,0.000,0.096,3059,3764,2083,2122,2045,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5270,1.10,243.3,3059,3764,2122,2044,885.0,21.3,231,5275,0.00,2.22,0.00,0.000,1030,0.000,0.041,3067,2365,2083,2122,2045,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5590,1.10,243.3,3067,2365,2122,2040,814.5,20.8,242,5595,0.00,2.30,0.00,0.000,516,0.000,0.057,3078,956,2081,2122,2040,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5702,1.10,243.3,3078,956,2121,2039,794.8,20.9,245,5707,0.00,2.33,0.00,0.000,1030,0.000,0.063,3078,2359,2080,2121,2039,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6015,1.10,243.3,3079,2359,2120,2035,724.6,20.8,256,6020,0.00,2.30,0.00,0.000,516,0.000,0.051,3089,954,2078,2120,2036,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6053,1.10,243.3,2120,953,2078,2025,717.6,20.8,257,6059,0.15,2.30,0.00,0.000,5126,0.316,0.060,3057,2350,2077,2120,2035,0,0,0,0,0,0,14.54,14.80,28.83
$GC,6383,1.10,243.3,3058,2350,2119,2034,650.5,19.9,268,6388,0.00,2.28,0.00,0.000,516,0.000,0.051,3066,952,2076,2119,2034,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6425,1.10,243.3,3064,951,2119,2034,643.8,19.9,269,6430,0.00,2.30,0.00,0.000,1030,0.000,0.060,3065,2350,2076,2119,2034,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6740,1.10,243.3,3065,2350,2118,2033,581.1,19.3,281,6745,0.00,2.38,0.00,0.000,260,0.000,0.090,3065,3753,2075,2118,2033,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6771,1.10,243.3,3065,3753,2117,2033,576.3,19.2,282,6777,0.00,2.22,0.00,0.000,1030,0.000,0.039,3076,2342,2079,2120,2039,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7084,1.10,243.3,3076,2337,2117,2032,511.9,19.9,298,7090,0.00,2.22,0.00,0.000,516,0.000,0.050,3086,963,2074,2117,2032,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7193,1.10,243.3,3086,963,2116,2032,492.2,18.9,303,7199,0.15,2.28,0.00,0.000,5126,0.305,0.058,3055,2351,2073,2115,2031,0,0,0,0,0,0,14.52,14.80,28.83
$GC,7512,1.10,243.3,3054,2352,2116,2029,441.1,14.8,319,7517,0.00,2.28,0.00,0.000,516,0.000,0.050,3062,955,2072,2116,2029,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7539,1.10,243.3,3062,955,2116,2029,437.8,14.7,320,7544,0.00,2.30,0.00,0.000,1030,0.000,0.058,3062,2353,2072,2116,2029,0,0,0,0,0,0,28.83,14.79,28.83
$GC,7857,1.10,243.3,3062,2353,2116,2028,388.7,14.8,336,7862,0.00,2.28,0.00,0.000,516,0.000,0.048,3072,954,2072,2116,2028,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7894,1.10,243.3,3073,954,2116,2028,385.3,14.8,337,7901,0.00,2.30,0.00,0.000,1030,0.000,0.058,3072,2353,2072,2116,2028,0,0,0,0,0,0,28.83,14.79,28.83
$GC,8200,1.10,243.3,3072,2353,2116,2024,334.0,16.0,353,8205,0.00,2.28,0.00,0.000,516,0.000,0.049,3086,953,2071,2115,2028,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8257,1.10,243.3,3083,953,2116,2028,327.4,15.5,355,8264,0.00,2.30,0.00,0.000,1030,0.000,0.056,3082,2359,2071,2115,2028,0,0,0,0,0,0,28.83,14.79,28.83
$GC,8562,1.10,243.3,3082,2358,2116,2028,276.4,15.4,371,8564,0.00,0.00,0.00,0.000,6,0.000,0.000,3083,2359,2072,2116,2029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8865,1.16,273.5,3082,2359,2116,2029,240.7,10.4,386,8896,0.00,2.28,25.48,0.962,8708,0.000,0.049,3092,955,1972,2012,1933,0,0,0,0,0,0,28.83,14.81,14.33
$GC,9074,1.16,273.5,3092,955,2009,1927,214.0,14.1,396,9080,0.00,2.30,0.00,0.000,1030,0.000,0.056,3092,2359,1967,2009,1926,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9387,1.16,273.5,3092,2359,2009,1926,168.2,13.4,412,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,3092,2359,1967,2009,1926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9689,1.16,273.5,3093,2358,2010,1926,126.7,13.3,427,9694,0.00,2.25,0.00,0.000,516,0.000,0.045,3102,951,1967,2009,1926,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9732,1.16,273.5,3102,951,2009,1926,120.5,13.7,429,9737,0.00,2.28,0.00,0.000,1030,0.000,0.051,3102,2350,1968,2010,1926,0,0,0,0,0,0,28.83,14.80,28.83
$GC,10054,1.16,273.5,3105,2350,2010,1927,74.0,12.9,445,10060,0.00,2.22,0.00,0.000,516,0.000,0.044,3113,954,1969,2010,1928,0,0,0,0,0,0,28.83,14.83,28.83
$GC,10077,1.16,273.5,3112,954,2010,1929,71.7,11.8,446,10083,0.17,2.28,0.00,0.000,5126,0.288,0.051,3073,2359,1969,2010,1928,0,0,0,0,0,0,14.53,14.81,28.83
$GC,10391,1.31,348.1,3073,2359,2011,1930,43.2,8.9,465,10431,0.12,0.00,35.67,0.256,10758,0.135,0.000,3129,2358,1671,1706,1636,0,0,0,0,0,0,14.83,28.83,14.59
$GC,10733,1.36,373.4,3130,2358,1717,1647,7.2,10.5,515,10751,0.00,0.00,13.23,0.159,8198,0.000,0.000,3130,2358,1567,1607,1528,0,0,0,0,0,0,28.83,28.83,14.62
$STATE,10771,end climb,SURFACE_DEPTH_REACHED
$STATE,10772,begin surface coast
$FINISH,-0.1,1.021248
$STATE,10799,end surface coast,CONTROL_FINISHED_OK
$STATE,10799,begin surface
$SM_CCo,10817,46.55,0.141,0,0,1153,475.15
$SM_GC,-0.43,7.88,0.12,46.55,0.047,0.134,0.141,230,2464,1153,-7.63,-1.27,475.15,0,0,0,0,0,0,14.81,14.78,14.66
$IRIDIUM_FIX,2225.34,12519.78,180613,020231
$TT8_MAMPS,0.019474,0.019474
$HUMID,48.30
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,25.40
$XPDR_PINGS,0
$SC_FREEKB,3842528
$24V_AH,13.5,86.656
$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,20.900,107.175,548.700,46.550,0.000,26.385,22.691,252.024,0.000,0.000,45.750,1667.265,7047.873,632.557,1819.676,250.446,0.000,1466.971,0.000,1379.702,0.000,0.541,0.000
$DEVICE_MAMPS,377.910,133.875,1661.580,140.760,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10858.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.996,0.000,0.000,0.000
$MEM,328360
$DATA_FILE_SIZE,20103,527
$CAP_FILE_SIZE,135773,0
$CFSIZE,260034560,233787392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180613,090442,2240.052,12507.639,26,1.6,32,-3.2