version: 66.11
glider: 181
mission: 11
dive: 229
start: 6 16 113 9 14 13
data:
$ID,181
$MISSION,11
$DIVE,229
$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,-96031.719
$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,73
$R_STBD_OVSHOOT,36
$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
$GPS1,160613,090224,2259.716,12507.977,12,1.3,30,-3.3
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-72.2
$GPS2,160613,091345,2259.661,12508.115,14,5.0,33,-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,218.6,203345,-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,-243.3,227,2463,1158,1159,0.0,0.0,0,100,0.00,0.00,-77.32,0.000,16386,0.000,0.000,226,2464,3163,3211,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-1.10,-243.3,225,2464,3211,3116,4.4,-16.2,14,133,9.45,2.22,-12.55,0.000,18948,0.382,0.065,2337,1061,3965,4005,3925,0,0,0,0,0,0,14.39,14.73,14.93
$GC,206,-1.10,-243.3,2337,1060,4003,3929,46.9,-30.1,27,212,0.00,2.28,0.00,0.000,1030,0.000,0.059,2329,2443,3965,4002,3929,0,0,0,0,0,0,28.83,14.71,28.83
$GC,519,-1.10,-243.3,2330,2444,4001,3932,145.3,-29.6,43,524,0.00,2.20,0.00,0.000,260,0.000,0.074,2319,3784,3966,4001,3932,0,0,0,0,0,0,28.83,14.77,28.83
$GC,643,-1.10,-243.3,2319,3784,4000,3932,183.7,-30.4,49,649,0.00,2.03,0.00,0.000,1030,0.000,0.033,2319,2440,3966,4001,3932,0,0,0,0,0,0,28.83,14.83,28.83
$GC,966,-1.10,-243.3,2318,2433,3998,3934,280.4,-27.9,65,972,0.00,2.22,0.00,0.000,260,0.000,0.072,2308,3787,3966,3998,3934,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1049,-1.10,-243.3,2308,3788,3998,3934,303.2,-27.1,69,1055,0.15,2.03,0.00,0.000,3078,0.269,0.033,2342,2449,3966,3998,3934,0,0,0,0,0,0,14.62,14.91,28.83
$GC,1373,-1.10,-243.3,2342,2443,3998,3934,383.6,-24.1,85,1378,0.00,2.20,0.00,0.000,260,0.000,0.075,2334,3781,3966,3998,3934,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1396,-1.10,-243.3,2334,3781,3998,3934,389.1,-24.1,86,1401,0.00,2.00,0.00,0.000,1030,0.000,0.033,2334,2449,3965,3997,3934,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1718,-1.10,-243.3,2334,2442,3998,3932,468.6,-23.5,102,1724,0.00,2.22,0.00,0.000,260,0.000,0.075,2324,3791,3965,3998,3932,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1805,-1.10,-243.3,2324,3791,3998,3931,489.7,-25.5,106,1811,0.00,2.03,0.00,0.000,1030,0.000,0.034,2323,2441,3965,3998,3932,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2123,-1.10,-243.3,2324,2435,3998,3926,564.8,-23.4,122,2128,0.00,2.22,0.00,0.000,260,0.000,0.079,2313,3783,3962,3998,3926,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2220,-1.10,-243.3,2313,3782,3998,3924,585.4,-25.0,126,2227,0.12,2.00,0.00,0.000,3078,0.274,0.034,2339,2452,3961,3998,3924,0,0,0,0,0,0,14.66,14.94,28.83
$GC,2527,-1.10,-243.3,2340,2445,3998,3920,655.6,-22.1,138,2533,0.00,2.22,0.00,0.000,260,0.000,0.083,2333,3777,3958,3998,3919,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2590,-1.10,-243.3,2332,3778,3998,3918,670.1,-22.1,140,2596,0.00,2.03,0.00,0.000,1030,0.000,0.037,2332,2463,3958,3998,3918,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2925,-1.10,-243.3,2332,2457,3998,3911,740.5,-21.2,151,2930,0.00,2.20,0.00,0.000,260,0.000,0.083,2322,3778,3954,3998,3911,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3036,-1.10,-243.3,2322,3779,3998,3906,759.8,-20.4,154,3042,0.00,2.05,0.00,0.000,1030,0.000,0.037,2321,2450,3953,3998,3908,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3351,-1.10,-243.3,2322,2444,3998,3902,828.0,-21.0,165,3356,0.00,2.25,0.00,0.000,260,0.000,0.086,2312,3780,3951,3998,3905,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3437,-1.10,-243.3,2312,3781,3997,3901,842.0,-21.3,167,3445,0.15,2.08,0.00,0.000,3078,0.273,0.039,2344,2445,3948,3996,3901,0,0,0,0,0,0,14.62,14.94,28.83
$GC,3745,-1.10,-243.3,2345,2438,3994,3896,905.2,-18.8,178,3750,0.00,2.28,0.00,0.000,260,0.000,0.089,2337,3783,3945,3995,3895,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3777,-1.10,-243.3,2337,3783,3995,3895,911.6,-18.6,179,3783,0.00,2.10,0.00,0.000,1030,0.000,0.041,2337,2449,3945,3995,3895,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4111,-1.10,-243.3,2337,2442,3994,3889,975.0,-19.2,190,4116,0.00,2.28,0.00,0.000,260,0.000,0.090,2329,3781,3940,3993,3888,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4153,-1.10,-243.3,2328,3781,3993,3889,982.0,-19.7,191,4158,0.00,2.10,0.00,0.000,1030,0.000,0.041,2327,2444,3941,3993,3889,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,4204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4204,begin apogee
$GC,4209,-0.21,0.0,2327,2331,3993,3888,994.8,-20.5,193,4420,1.02,0.00,197.80,2.379,10246,0.224,0.000,2621,2331,3097,3121,3073,0,0,0,0,1,0,14.61,28.83,13.24
$STATE,4422,end apogee,CONTROL_FINISHED_OK
$STATE,4422,begin climb
$GC,4424,1.10,243.3,2622,2330,3122,3075,1010.3,0.0,200,4709,1.23,2.62,273.62,1.600,11012,0.057,0.090,3067,3756,2097,2126,2068,0,0,0,0,0,0,14.17,14.10,13.56
$GC,4792,1.10,243.3,3067,3756,2123,2061,969.3,24.5,212,4797,0.00,2.25,0.00,0.000,1030,0.000,0.041,3077,2369,2092,2123,2061,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5111,1.10,243.3,3077,2369,2123,2050,886.2,24.5,223,5117,0.00,2.33,0.00,0.000,516,0.000,0.057,3088,953,2087,2123,2051,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5214,1.10,243.3,3093,954,2122,2048,864.6,23.0,226,5220,0.15,2.35,0.00,0.000,5126,0.317,0.061,3058,2356,2085,2122,2048,0,0,0,0,0,0,14.52,14.72,28.83
$GC,5539,1.10,243.3,3058,2358,2122,2044,792.5,21.6,237,5545,0.00,2.38,0.00,0.000,260,0.000,0.090,3058,3752,2083,2122,2044,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5572,1.10,243.3,3058,3752,2122,2044,784.5,21.9,238,5578,0.00,2.22,0.00,0.000,1030,0.000,0.040,3066,2343,2083,2122,2044,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5906,1.10,243.3,3067,2337,2121,2041,713.5,20.5,249,5912,0.00,2.25,0.00,0.000,516,0.000,0.053,3076,955,2081,2121,2041,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5948,1.10,243.3,3076,949,2121,2041,706.6,20.4,250,5953,0.00,2.30,0.00,0.000,1030,0.000,0.058,3076,2350,2080,2121,2040,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6273,1.10,243.3,3076,2351,2120,2038,639.7,20.4,261,6278,0.00,2.38,0.00,0.000,260,0.000,0.086,3076,3758,2079,2120,2038,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6329,1.10,243.3,3076,3758,2119,2039,632.2,20.6,262,6337,0.15,2.22,0.00,0.000,5126,0.340,0.040,3057,2334,2079,2119,2039,0,0,0,0,0,0,14.55,14.89,28.83
$GC,6646,1.10,243.3,3056,2329,2119,2036,562.2,20.4,276,6651,0.00,2.20,0.00,0.000,516,0.000,0.051,3065,964,2077,2119,2036,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6724,1.10,243.3,3065,963,2118,2036,549.2,20.7,279,6731,0.00,2.28,0.00,0.000,1030,0.000,0.058,3065,2350,2077,2118,2036,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7029,1.10,243.3,3065,2351,2118,2035,486.8,17.8,295,7034,0.00,2.38,0.00,0.000,260,0.000,0.086,3065,3757,2076,2118,2034,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7055,1.10,243.3,2144,3757,2079,2025,482.7,17.7,296,7061,0.00,2.22,0.00,0.000,1030,0.000,0.039,3076,2339,2076,2118,2035,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7373,1.10,243.3,3077,2334,2117,2035,426.7,17.7,312,7379,0.00,2.22,0.00,0.000,516,0.000,0.050,3087,953,2076,2117,2035,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7430,1.10,243.3,3086,954,2117,2034,419.3,17.9,314,7438,0.15,2.30,0.00,0.000,5126,0.303,0.056,3054,2362,2075,2116,2035,0,0,0,0,0,0,14.55,14.83,28.83
$GC,7736,1.10,243.3,3054,2362,2117,2034,368.3,15.1,330,7741,0.00,2.28,0.00,0.000,516,0.000,0.050,3062,963,2075,2116,2034,0,0,0,0,0,0,28.83,14.84,28.83
$GC,7969,1.10,243.3,3062,962,2117,2034,333.1,16.0,341,7974,0.00,2.28,0.00,0.000,1030,0.000,0.056,3062,2356,2075,2117,2034,0,0,0,0,0,0,28.83,14.82,28.83
$GC,8281,1.10,243.3,3062,2356,2118,2034,284.3,15.5,357,8287,0.00,2.25,0.00,0.000,516,0.000,0.048,3072,961,2076,2117,2035,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8409,1.10,243.3,3072,962,2117,2034,266.6,14.1,363,8414,0.00,2.28,0.00,0.000,1030,0.000,0.054,3072,2356,2075,2117,2034,0,0,0,0,0,0,28.83,14.82,28.83
$GC,8726,1.10,243.3,3072,2355,2117,2035,221.9,13.4,379,8727,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2356,2075,2117,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9028,1.10,243.3,3072,2355,2117,2035,181.8,13.5,394,9029,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2355,2075,2116,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9327,1.10,243.3,3072,2356,2118,2036,142.7,12.5,409,9333,0.00,2.25,0.00,0.000,516,0.000,0.046,3082,955,2077,2117,2037,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9395,1.10,243.3,3082,955,2117,2038,134.9,12.1,412,9400,0.00,2.28,0.00,0.000,1030,0.000,0.052,3082,2360,2077,2117,2038,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9712,1.10,243.3,3082,2360,2118,2039,95.6,12.4,428,9718,0.00,2.25,0.00,0.000,516,0.000,0.045,3092,958,2079,2118,2040,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9866,1.13,260.2,3092,958,2118,2041,79.0,10.8,435,9877,0.00,2.25,6.28,0.327,9222,0.000,0.051,3092,2353,2033,2070,1996,0,0,0,0,0,0,28.83,14.83,14.45
$GC,10177,1.23,309.4,3092,2353,2082,2006,45.0,9.7,453,10212,0.00,2.30,25.75,0.262,8708,0.000,0.044,3102,955,1831,1864,1799,0,0,0,0,0,0,28.83,14.84,14.58
$GC,10255,1.31,346.1,3102,955,1868,1805,37.8,10.1,460,10281,0.00,2.25,18.40,0.241,9222,0.000,0.052,3102,2348,1682,1716,1649,0,0,0,0,0,0,28.83,14.72,14.58
$GC,10581,1.44,414.9,3102,2349,1720,1656,4.7,9.1,514,10600,0.15,0.00,16.40,0.151,10754,0.129,0.000,3166,2348,1544,1579,1509,0,0,0,0,0,0,14.74,28.83,28.83
$STATE,10601,end climb,SURFACE_DEPTH_REACHED
$STATE,10602,begin surface coast
$FINISH,-1.2,1.021377
$STATE,10628,end surface coast,CONTROL_FINISHED_OK
$STATE,10629,begin surface
$SM_CCo,10647,43.20,0.142,0,0,1152,475.15
$SM_GC,-0.43,8.05,0.15,43.20,0.056,0.118,0.142,224,2475,1152,-7.63,-1.07,475.15,0,0,0,0,0,0,14.82,14.81,14.66
$IRIDIUM_FIX,2302.75,12436.67,160613,050538
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.63
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,25.30
$XPDR_PINGS,4
$SC_FREEKB,3847776
$24V_AH,13.2,82.403
$10V_AH,13.4,0.000
$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,20.775,107.025,538.250,43.200,0.000,57.840,78.321,249.977,1.000,0.000,36.925,1686.016,6898.898,632.310,1926.051,240.835,0.000,1471.888,0.000,1406.227,0.000,0.542,0.000
$DEVICE_MAMPS,381.735,123.930,2379.150,142.290,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10670.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.055,0.000,0.000,0.000
$MEM,328360
$DATA_FILE_SIZE,20094,522
$CAP_FILE_SIZE,136332,0
$CFSIZE,260034560,235065344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,160613,121335,2258.259,12508.428,26,1.6,26,-3.3