version: 66.11
glider: 181
mission: 11
dive: 245
start: 6 18 113 12 27 11
data:
$ID,181
$MISSION,11
$DIVE,245
$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,-96051.859
$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,69
$R_STBD_OVSHOOT,40
$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
$GPS1,180613,121736,2238.895,12506.840,35,1.1,35,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-69.3
$GPS2,180613,122643,2238.817,12506.940,16,1.1,16,-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,225.3,171897,-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,-243.3,202,2462,1163,1153,0.0,0.0,0,100,0.00,0.00,-77.35,0.000,16386,0.000,0.000,203,2462,3088,3137,3039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-1.10,-243.3,203,2462,3137,3040,3.5,-12.6,14,134,9.43,2.30,-14.55,0.000,18948,0.372,0.063,2333,1049,3964,4005,3924,0,0,0,0,0,0,14.38,14.69,14.92
$GC,216,-1.10,-243.3,2337,1048,4002,3928,47.5,-31.2,29,222,0.00,2.28,0.00,0.000,1030,0.000,0.055,2330,2441,3965,4002,3928,0,0,0,0,0,0,28.83,14.71,28.83
$GC,529,-1.10,-243.3,2328,2443,4001,3932,149.6,-29.9,45,534,0.00,2.20,0.00,0.000,260,0.000,0.074,2317,3782,3966,4001,3932,0,0,0,0,0,0,28.83,14.76,28.83
$GC,648,-1.10,-243.3,2319,3782,4001,3932,178.9,-27.9,50,654,0.00,2.03,0.00,0.000,1030,0.000,0.033,2319,2449,3966,4001,3932,0,0,0,0,0,0,28.83,14.86,28.83
$GC,953,-1.10,-243.3,2318,2443,4001,3932,269.6,-27.0,66,958,0.00,2.20,0.00,0.000,260,0.000,0.071,2308,3782,3966,4000,3932,0,0,0,0,0,0,28.83,14.77,28.83
$GC,996,-1.10,-243.3,2308,3783,4001,3933,282.6,-28.0,68,1002,0.15,2.03,0.00,0.000,3078,0.285,0.031,2336,2437,3966,4001,3932,0,0,0,0,0,0,14.59,14.92,28.83
$GC,1320,-1.10,-243.3,2340,2433,4001,3932,359.0,-24.5,84,1325,0.00,2.25,0.00,0.000,260,0.000,0.074,2332,3791,3966,4001,3932,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1423,-1.10,-243.3,2332,3793,3997,3934,385.5,-25.6,89,1428,0.00,2.03,0.00,0.000,1030,0.000,0.033,2332,2453,3965,3996,3934,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1746,-1.10,-243.3,2332,2446,3997,3933,458.8,-20.5,105,1751,0.00,2.20,0.00,0.000,260,0.000,0.075,2322,3781,3964,3996,3932,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1823,-1.10,-243.3,2322,3781,3996,3932,472.6,-21.5,108,1830,0.00,2.00,0.00,0.000,1030,0.000,0.033,2322,2453,3964,3996,3932,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2129,-1.10,-243.3,2323,2446,3997,3929,542.4,-21.2,124,2134,0.00,2.20,0.00,0.000,260,0.000,0.077,2312,3780,3962,3996,3929,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2175,-1.10,-243.3,1472,3779,3996,3927,552.1,-21.9,126,2181,0.12,2.03,0.00,0.000,3078,0.277,0.034,2338,2433,3962,3996,3928,0,0,0,0,0,0,14.65,14.94,28.83
$GC,2504,-1.10,-243.3,2339,2427,3996,3923,619.0,-19.2,141,2509,0.00,2.25,0.00,0.000,260,0.000,0.080,2331,3783,3959,3995,3923,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2637,-1.10,-243.3,2331,3782,3996,3921,644.6,-20.9,145,2643,0.00,2.03,0.00,0.000,1030,0.000,0.035,2332,2462,3958,3996,3921,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2962,-1.10,-243.3,2331,2456,3996,3914,712.4,-19.7,156,2967,0.00,2.22,0.00,0.000,260,0.000,0.083,2321,3787,3954,3996,3913,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3025,-1.10,-243.3,2321,3789,3996,3912,726.0,-20.5,158,3030,0.00,2.08,0.00,0.000,1030,0.000,0.037,2321,2453,3954,3997,3912,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3359,-1.10,-243.3,2321,2447,3996,3906,794.7,-20.3,169,3364,0.00,2.25,0.00,0.000,260,0.000,0.084,2310,3784,3952,3998,3906,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3392,-1.10,-243.3,2310,3784,3996,3905,802.0,-20.5,170,3398,0.15,2.08,0.00,0.000,3078,0.273,0.039,2344,2450,3950,3996,3904,0,0,0,0,0,0,14.60,14.92,28.83
$GC,3726,-1.10,-243.3,2344,2444,3997,3897,860.5,-16.7,181,3732,0.00,2.25,0.00,0.000,260,0.000,0.088,2337,3777,3947,3997,3897,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3774,-1.10,-243.3,2336,3777,3996,3897,866.4,-16.9,182,3779,0.00,2.08,0.00,0.000,1030,0.000,0.041,2336,2449,3946,3996,3897,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4093,-1.10,-243.3,2336,2443,3995,3891,923.5,-17.5,193,4098,0.00,2.28,0.00,0.000,260,0.000,0.091,2325,3780,3943,3995,3891,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4170,-1.10,-243.3,2326,3780,3993,3891,935.7,-18.5,195,4176,0.00,2.10,0.00,0.000,1030,0.000,0.042,2326,2452,3942,3994,3891,0,0,0,0,0,0,28.83,14.90,28.83
$STATE,4426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4426,begin apogee
$GC,4432,-0.21,0.0,2325,2325,3993,3887,990.9,-20.5,204,4668,1.05,0.00,228.82,1.615,10246,0.225,0.000,2626,2323,3091,3117,3066,0,0,0,0,0,0,14.57,28.83,13.63
$STATE,4670,end apogee,CONTROL_FINISHED_OK
$STATE,4670,begin climb
$GC,4672,1.10,243.3,2626,2324,3115,3062,1009.0,0.0,212,4936,1.23,2.38,252.38,1.665,10756,0.059,0.060,3078,980,2096,2125,2067,0,0,0,0,0,0,14.26,14.14,13.52
$GC,5070,1.10,243.3,3077,980,2122,2051,966.8,20.0,225,5075,0.00,2.35,0.00,0.000,1030,0.000,0.068,3078,2353,2086,2122,2051,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5394,1.10,243.3,3078,2353,2122,2044,896.0,22.1,236,5400,0.00,2.45,0.00,0.000,260,0.000,0.097,3078,3761,2083,2122,2044,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5422,1.10,243.3,3078,3761,2122,2044,896.0,22.1,236,5429,0.15,2.22,0.00,0.000,5126,0.368,0.041,3060,2358,2083,2122,2045,0,0,0,0,0,0,14.46,14.76,28.83
$GC,5729,1.10,243.3,3063,2358,2122,2039,821.9,21.8,247,5734,0.00,2.30,0.00,0.000,516,0.000,0.057,3069,952,2080,2122,2039,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5871,1.10,243.3,3069,952,2121,2038,795.3,21.4,251,5877,0.00,2.33,0.00,0.000,1030,0.000,0.063,3069,2353,2079,2121,2037,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6184,1.10,243.3,3068,2353,2120,2035,729.5,19.0,262,6189,0.00,2.30,0.00,0.000,516,0.000,0.053,3078,952,2078,2120,2036,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6247,1.10,243.3,3079,951,2120,2035,717.7,18.8,264,6252,0.00,2.33,0.00,0.000,1030,0.000,0.060,3079,2354,2077,2120,2035,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6582,1.10,243.3,3079,2354,2118,2034,647.5,21.6,275,6583,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,2354,2076,2119,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6890,1.10,243.3,3079,2354,2118,2033,578.6,21.1,287,6895,0.00,2.30,0.00,0.000,516,0.000,0.051,3089,949,2075,2118,2033,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6933,1.10,243.3,3089,948,2118,2032,569.8,20.6,289,6939,0.15,2.33,0.00,0.000,5126,0.304,0.059,3057,2353,2075,2118,2032,0,0,0,0,0,0,14.53,14.81,28.83
$GC,7257,1.10,243.3,3057,2353,2117,2029,515.9,15.7,305,7262,0.00,2.40,0.00,0.000,260,0.000,0.091,3057,3761,2073,2118,2029,0,0,0,0,0,0,28.83,14.77,28.83
$GC,7340,1.10,243.3,3057,3761,2116,2030,501.1,17.8,309,7345,0.00,2.22,0.00,0.000,1030,0.000,0.040,3065,2344,2073,2116,2030,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7663,1.10,243.3,3066,2340,2117,2028,450.9,15.1,325,7668,0.00,2.22,0.00,0.000,516,0.000,0.051,3075,961,2072,2116,2028,0,0,0,0,0,0,28.83,14.84,28.83
$GC,7847,1.10,243.3,3076,961,2116,2028,422.3,14.9,334,7852,0.00,2.30,0.00,0.000,1030,0.000,0.058,3075,2356,2072,2116,2028,0,0,0,0,0,0,28.83,14.79,28.83
$GC,8170,1.10,243.3,3076,2356,2116,2028,371.6,16.7,350,8175,0.00,2.28,0.00,0.000,516,0.000,0.050,3086,960,2072,2116,2028,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8295,1.10,243.3,3085,960,2116,2030,352.0,16.0,356,8301,0.15,2.30,0.00,0.000,5126,0.294,0.056,3054,2361,2071,2115,2028,0,0,0,0,0,0,14.50,14.79,28.83
$GC,8619,1.10,243.3,3054,2361,2116,2027,305.2,13.8,372,8624,0.00,2.35,0.00,0.000,260,0.000,0.086,3054,3757,2071,2116,2027,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8716,1.10,243.3,3053,3757,2116,2028,292.5,15.3,376,8723,0.00,2.20,0.00,0.000,1030,0.000,0.037,3062,2342,2072,2116,2028,0,0,0,0,0,0,28.83,14.87,28.83
$GC,9022,1.10,243.3,3062,2337,2116,2028,245.8,14.6,392,9027,0.00,2.20,0.00,0.000,516,0.000,0.047,3072,963,2072,2116,2028,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9054,1.10,243.3,3072,963,2123,2029,242.9,14.1,393,9059,0.00,2.25,0.00,0.000,1030,0.000,0.054,3072,2350,2072,2116,2029,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9367,1.12,251.8,3072,2350,2116,2030,207.2,11.1,409,9372,0.00,2.22,0.00,0.000,516,0.000,0.046,3082,962,2073,2116,2031,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9500,1.12,251.8,3082,967,2116,2032,192.7,12.0,415,9505,0.00,2.25,0.00,0.000,1030,0.000,0.052,3082,2351,2074,2116,2032,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9813,1.16,272.7,3082,2351,2116,2033,158.0,10.7,431,9842,0.00,2.30,23.95,0.853,8708,0.000,0.046,3092,962,1977,2018,1937,0,0,0,0,0,0,28.83,14.83,14.34
$GC,10016,1.16,272.7,3092,962,2014,1929,128.9,15.0,441,10022,0.00,2.28,0.00,0.000,1030,0.000,0.050,3092,2356,1971,2014,1929,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10339,1.16,272.7,3092,2356,2015,1928,88.9,13.2,457,10345,0.00,2.25,0.00,0.000,516,0.000,0.044,3101,957,1971,2014,1929,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10402,1.16,272.7,3102,956,2015,1929,81.3,12.2,460,10408,0.00,2.28,0.00,0.000,1030,0.000,0.051,3102,2361,1972,2015,1929,0,0,0,0,0,0,28.83,14.79,28.83
$GC,10725,1.31,351.0,3102,2361,2015,1929,49.1,8.7,476,10769,0.00,2.30,37.25,0.272,8452,0.000,0.077,3102,3755,1661,1697,1625,0,0,0,0,0,0,28.83,14.75,14.57
$GC,10852,1.40,391.5,2144,3753,1670,1635,36.7,10.0,488,10879,0.10,2.17,20.92,0.236,11270,0.158,0.033,3154,2336,1495,1530,1460,0,0,0,0,0,0,14.72,14.83,14.56
$STATE,11106,end climb,SURFACE_DEPTH_REACHED
$STATE,11106,begin surface coast
$FINISH,-0.3,1.021199
$STATE,11129,end surface coast,CONTROL_FINISHED_OK
$STATE,11129,begin surface
$SM_CCo,11146,39.30,0.140,0,0,1155,475.15
$SM_GC,0.12,7.90,0.20,39.30,0.044,0.104,0.140,237,2464,1155,-7.61,-1.05,475.15,0,0,0,0,0,0,14.81,14.78,14.66
$IRIDIUM_FIX,2239.35,12513.50,180613,090905
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.55
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,25.70
$XPDR_PINGS,0
$SC_FREEKB,3841760
$24V_AH,13.5,87.270
$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,20.575,111.700,563.325,39.300,0.000,31.320,43.470,247.600,0.000,0.000,19.361,1770.965,7141.501,633.272,1946.096,249.745,0.000,1524.132,0.000,1500.152,0.000,0.541,0.000
$DEVICE_MAMPS,371.790,107.865,1664.640,139.995,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11170.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.919,0.000,0.000,0.000
$MEM,328380
$DATA_FILE_SIZE,20107,534
$CAP_FILE_SIZE,139876,0
$CFSIZE,260034560,233594880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180613,153451,2237.765,12506.289,9,2.3,28,-3.2