version: 66.11
glider: 181
mission: 11
dive: 244
start: 6 18 113 9 13 33
data:
$ID,181
$MISSION,11
$DIVE,244
$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,-96050.602
$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,60
$R_STBD_OVSHOOT,52
$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
$GPS1,180613,090442,2240.052,12507.639,26,1.6,32,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.11
$_SM_ANGLEo,-70.1
$GPS2,180613,091307,2239.993,12507.752,9,1.6,9,-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,225.2,174449,-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,-243.3,207,2472,1156,1158,0.0,0.0,0,94,0.00,0.00,-72.03,0.000,16386,0.000,0.000,205,2472,2975,3021,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,97,-1.10,-243.3,205,2472,3021,2930,3.4,-12.4,13,134,9.65,2.30,-16.42,0.000,18948,0.383,0.063,2337,1046,3964,4004,3925,0,0,0,0,0,0,14.38,14.67,14.91
$GC,241,-1.10,-243.3,2337,1045,4002,3928,55.3,-27.9,31,247,0.00,2.28,0.00,0.000,1030,0.000,0.057,2330,2434,3965,4002,3928,0,0,0,0,0,0,28.83,14.69,28.83
$GC,564,-1.10,-243.3,2329,2435,4002,3932,147.5,-28.4,47,570,0.00,2.22,0.00,0.000,260,0.000,0.075,2319,3786,3967,4002,3932,0,0,0,0,0,0,28.83,14.76,28.83
$GC,707,-1.10,-243.3,2319,3785,4001,3933,190.5,-30.1,54,712,0.00,2.05,0.00,0.000,1030,0.000,0.034,2319,2435,3966,4001,3932,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1030,-1.10,-243.3,2319,2428,4000,3932,279.5,-27.0,70,1036,0.12,2.22,0.00,0.000,2308,0.288,0.069,2343,3786,3967,4001,3933,0,0,0,0,0,0,14.59,14.82,28.83
$GC,1088,-1.10,-243.3,2342,3786,4001,3933,290.9,-26.9,72,1094,0.00,2.03,0.00,0.000,1030,0.000,0.033,2342,2443,3967,4001,3933,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1394,-1.10,-243.3,2342,2435,3997,3934,371.4,-25.4,88,1399,0.00,2.22,0.00,0.000,260,0.000,0.075,2332,3782,3965,3997,3934,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1476,-1.10,-243.3,2333,3783,3997,3935,390.8,-23.2,92,1482,0.00,2.03,0.00,0.000,1030,0.000,0.033,2333,2444,3966,3997,3935,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1799,-1.10,-243.3,2332,2438,3997,3933,463.7,-22.6,108,1805,0.00,2.22,0.00,0.000,260,0.000,0.076,2322,3780,3965,3997,3933,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1871,-1.10,-243.3,2322,3781,3997,3932,478.8,-23.8,111,1876,0.00,2.00,0.00,0.000,1030,0.000,0.034,2322,2457,3964,3998,3931,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2184,-1.10,-243.3,2322,2450,3997,3929,556.1,-22.4,127,2189,0.00,2.20,0.00,0.000,260,0.000,0.077,2312,3782,3962,3997,3928,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2226,-1.10,-243.3,2308,3783,3996,3928,565.8,-22.7,129,2232,0.12,2.03,0.00,0.000,3078,0.280,0.034,2339,2450,3962,3997,3928,0,0,0,0,0,0,14.64,14.92,28.83
$GC,2560,-1.10,-243.3,2340,2444,3997,3924,629.0,-18.9,143,2566,0.00,2.22,0.00,0.000,260,0.000,0.080,2332,3781,3960,3997,3923,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2672,-1.10,-243.3,2332,3781,3997,3921,648.5,-20.7,146,2677,0.00,2.05,0.00,0.000,1030,0.000,0.037,2332,2431,3959,3997,3921,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2985,-1.10,-243.3,2332,2425,3997,3915,721.3,-21.5,157,2991,0.00,2.28,0.00,0.000,260,0.000,0.084,2321,3782,3956,3997,3915,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3027,-1.10,-243.3,2322,3782,3997,3914,728.9,-21.9,158,3033,0.00,2.03,0.00,0.000,1030,0.000,0.037,2321,2467,3955,3997,3914,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3351,-1.10,-243.3,2321,2461,3997,3907,805.3,-22.9,169,3356,0.00,2.22,0.00,0.000,260,0.000,0.085,2311,3783,3952,3997,3907,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3393,-1.10,-243.3,2311,3783,3997,3907,813.4,-23.1,170,3400,0.15,2.08,0.00,0.000,3078,0.275,0.038,2344,2447,3950,3994,3907,0,0,0,0,0,0,14.60,14.92,28.83
$GC,3718,-1.10,-243.3,2344,2441,3997,3900,882.2,-20.1,181,3723,0.00,2.28,0.00,0.000,260,0.000,0.089,2337,3783,3948,3997,3900,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3752,-1.10,-243.3,2337,3783,3997,3900,889.0,-20.1,182,3757,0.00,2.10,0.00,0.000,1030,0.000,0.041,2337,2446,3947,3994,3900,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4086,-1.10,-243.3,2337,2440,3996,3893,951.6,-18.1,193,4091,0.00,2.28,0.00,0.000,260,0.000,0.091,2327,3774,3944,3996,3893,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4183,-1.10,-243.3,1472,3777,3994,3891,969.3,-18.7,196,4189,0.00,2.08,0.00,0.000,1030,0.000,0.041,2327,2448,3943,3995,3892,0,0,0,0,0,0,28.83,14.90,28.83
$STATE,4299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4299,begin apogee
$GC,4305,-0.21,0.0,2326,2330,3994,3890,991.7,-18.4,200,4535,1.05,0.00,222.27,1.642,10246,0.226,0.000,2625,2330,3090,3116,3064,0,0,0,0,0,0,14.59,28.83,13.59
$STATE,4536,end apogee,CONTROL_FINISHED_OK
$STATE,4537,begin climb
$GC,4539,1.10,243.3,2626,2330,3113,3061,1002.7,0.0,207,4805,1.23,2.40,252.65,1.644,10756,0.062,0.060,3073,978,2097,2127,2067,0,0,0,0,0,0,14.26,14.15,13.57
$GC,4867,1.10,243.3,3073,977,2125,2057,972.1,20.8,218,4874,0.00,2.35,0.00,0.000,1030,0.000,0.067,3073,2346,2090,2124,2056,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5174,1.10,243.3,3073,2346,2124,2047,901.2,21.7,229,5179,0.00,2.45,0.00,0.000,260,0.000,0.096,3073,3756,2085,2124,2047,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5191,1.10,243.3,3073,3756,2125,2047,901.2,21.7,229,5197,0.00,2.20,0.00,0.000,1030,0.000,0.040,3083,2371,2086,2124,2048,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5511,1.10,243.3,3084,2370,2124,2043,827.0,21.6,240,5517,0.12,2.30,0.00,0.000,4612,0.353,0.054,3064,951,2083,2124,2043,0,0,0,0,0,0,14.51,14.78,28.83
$GC,5620,1.10,243.3,3064,954,2124,2041,808.0,20.4,243,5626,0.00,2.33,0.00,0.000,1030,0.000,0.063,3064,2354,2082,2124,2041,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5940,1.10,243.3,3064,2355,2123,2038,742.9,19.3,254,5945,0.00,2.30,0.00,0.000,516,0.000,0.054,3074,953,2081,2124,2038,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5997,1.10,243.3,3074,953,2123,2038,736.1,19.1,255,6004,0.00,2.33,0.00,0.000,1030,0.000,0.060,3073,2360,2081,2124,2038,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6303,1.10,243.3,3074,2360,2122,2035,668.0,21.0,266,6309,0.00,2.30,0.00,0.000,516,0.000,0.050,3084,955,2078,2122,2035,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6371,1.10,243.3,3084,954,2121,2035,654.7,21.1,268,6377,0.12,2.30,0.00,0.000,5126,0.317,0.060,3059,2349,2078,2121,2035,0,0,0,0,0,0,14.54,14.81,28.83
$GC,6690,1.10,243.3,3059,2349,2120,2034,591.7,19.4,279,6696,0.00,2.38,0.00,0.000,260,0.000,0.091,3059,3752,2077,2121,2034,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6734,1.10,243.3,3059,3752,2120,2035,582.7,19.8,281,6739,0.00,2.20,0.00,0.000,1030,0.000,0.040,3067,2345,2077,2120,2035,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7056,1.10,243.3,3068,2338,2119,2033,520.9,18.5,297,7062,0.00,2.22,0.00,0.000,516,0.000,0.050,3078,963,2076,2119,2033,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7229,1.10,243.3,3075,962,2118,2033,494.4,15.7,305,7235,0.00,2.30,0.00,0.000,1030,0.000,0.058,3078,2361,2075,2118,2033,0,0,0,0,0,0,28.83,14.79,28.83
$GC,7542,1.10,243.3,3078,2362,2118,2032,442.7,15.9,321,7547,0.00,2.28,0.00,0.000,516,0.000,0.050,3088,961,2075,2118,2032,0,0,0,0,0,0,28.83,14.84,28.83
$GC,7674,1.10,243.3,3088,961,2118,2032,422.8,16.1,327,7681,0.15,2.30,0.00,0.000,5126,0.301,0.057,3056,2357,2075,2118,2032,0,0,0,0,0,0,14.50,14.80,28.83
$GC,7988,1.10,243.3,3056,2357,2118,2031,374.1,15.3,343,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,2357,2074,2118,2031,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8290,1.10,243.3,3056,2358,2118,2031,332.5,14.1,358,8291,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2357,2074,2118,2031,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8591,1.10,243.3,3057,2357,2118,2030,290.7,12.6,373,8597,0.00,2.28,0.00,0.000,516,0.000,0.047,3064,951,2074,2118,2031,0,0,0,0,0,0,28.83,14.84,28.83
$GC,8735,1.10,243.3,3064,951,2118,2033,272.4,12.5,380,8740,0.00,2.30,0.00,0.000,1030,0.000,0.055,3064,2354,2075,2118,2032,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9058,1.10,243.3,3064,2354,2118,2032,228.9,14.2,396,9063,0.00,2.25,0.00,0.000,516,0.000,0.047,3079,958,2075,2118,2033,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9291,1.10,243.3,3074,958,2118,2035,198.2,12.7,407,9296,0.00,2.28,0.00,0.000,1030,0.000,0.053,3074,2361,2076,2118,2035,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9604,1.10,243.3,3074,2361,2118,2035,161.8,11.7,423,9609,0.00,2.28,0.00,0.000,516,0.000,0.046,3084,951,2076,2118,2035,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9660,1.10,243.3,3084,951,2118,2036,156.2,12.5,425,9668,0.12,2.28,0.00,0.000,5126,0.289,0.053,3058,2356,2076,2118,2035,0,0,0,0,0,0,14.53,14.80,28.83
$GC,9967,1.25,320.9,3058,2355,2119,2037,120.0,8.8,441,10011,0.12,2.22,38.17,0.496,10756,0.137,0.041,3125,957,1784,1814,1754,0,0,0,0,0,0,14.83,14.81,14.42
$GC,10040,1.29,340.5,3125,956,1819,1764,112.8,10.7,444,10059,0.00,2.28,11.55,0.449,9222,0.000,0.053,3125,2355,1703,1735,1672,0,0,0,0,0,0,28.83,14.76,14.40
$GC,10371,1.29,340.5,3125,2355,1751,1686,57.4,15.1,461,10381,0.00,2.38,1.75,0.185,8452,0.000,0.078,3125,3756,1704,1739,1670,0,0,0,0,0,0,28.83,14.73,14.62
$GC,10435,1.29,340.5,3130,3756,1742,1681,48.2,14.5,464,10440,0.00,2.20,0.00,0.000,1030,0.000,0.033,3135,2330,1712,1743,1682,0,0,0,0,0,0,28.83,14.84,28.83
$GC,10743,1.36,375.8,3136,2325,1752,1684,14.1,10.2,505,10768,0.00,2.22,18.58,0.179,8708,0.000,0.046,3145,968,1559,1596,1523,0,0,0,0,0,0,28.83,14.76,14.61
$STATE,10864,end climb,SURFACE_DEPTH_REACHED
$STATE,10864,begin surface coast
$FINISH,-0.4,1.021267
$STATE,10897,end surface coast,CONTROL_FINISHED_OK
$STATE,10897,begin surface
$SM_CCo,10917,46.35,0.140,0,0,1154,475.15
$SM_GC,-0.44,7.97,2.45,46.35,0.054,0.047,0.140,231,2456,1154,-7.63,-1.13,475.15,0,0,0,0,0,0,14.81,14.80,14.66
$IRIDIUM_FIX,2239.35,12501.82,180613,050505
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.08
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,3842144
$24V_AH,13.6,86.959
$10V_AH,13.5,0.000
$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,20.950,111.825,544.975,46.350,0.000,32.628,19.476,241.366,0.000,0.000,12.400,1738.929,7000.581,630.877,1857.716,247.339,0.000,1498.278,0.000,1456.407,0.000,0.542,0.000
$DEVICE_MAMPS,382.500,123.165,1643.985,139.995,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10955.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.908,0.000,0.000,0.000
$MEM,328356
$DATA_FILE_SIZE,20091,534
$CAP_FILE_SIZE,138392,0
$CFSIZE,260034560,233693184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180613,121736,2238.895,12506.840,35,1.1,35,-3.2