version: 66.11
glider: 181
mission: 11
dive: 230
start: 6 16 113 12 22 28
data:
$ID,181
$MISSION,11
$DIVE,230
$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,-96032.984
$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,59
$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
$GPS1,160613,121335,2258.259,12508.428,26,1.6,26,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-72.1
$GPS2,160613,122201,2258.245,12508.491,15,1.6,15,-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,219.1,201588,-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,19,-1.10,-243.3,219,2482,1149,1158,0.0,0.0,0,99,0.00,0.00,-77.00,0.000,16386,0.000,0.000,221,2482,3134,3182,3087,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.10,-243.3,221,2482,3182,3088,4.2,-14.9,14,132,9.45,2.28,-13.23,0.000,18948,0.378,0.063,2340,1053,3964,4006,3922,0,0,0,0,0,0,14.38,14.69,14.94
$GC,204,-1.10,-243.3,1472,1052,3998,3925,43.4,-29.1,27,211,0.00,2.25,0.00,0.000,1030,0.000,0.058,2333,2424,3964,4003,3926,0,0,0,0,0,0,28.83,14.71,28.83
$GC,511,-1.10,-243.3,2333,2424,4002,3928,138.8,-32.4,44,516,0.00,2.22,0.00,0.000,260,0.000,0.073,2322,3780,3965,4002,3928,0,0,0,0,0,0,28.83,14.80,28.83
$GC,614,-1.10,-243.3,2322,3780,4002,3929,173.0,-33.3,49,619,0.00,2.05,0.00,0.000,1030,0.000,0.034,2322,2429,3965,4002,3929,0,0,0,0,0,0,28.83,14.82,28.83
$GC,936,-1.10,-243.3,2322,2421,4002,3929,269.6,-27.7,65,941,0.00,2.25,0.00,0.000,260,0.000,0.073,2311,3789,3966,4002,3930,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1033,-1.10,-243.3,2313,3790,4002,3930,292.1,-27.2,69,1041,0.12,2.03,0.00,0.000,3078,0.282,0.032,2338,2436,3966,4002,3930,0,0,0,0,0,0,14.59,14.86,28.83
$GC,1339,-1.10,-243.3,2339,2430,4002,3925,369.8,-23.1,85,1344,0.00,2.22,0.00,0.000,260,0.000,0.074,2331,3783,3966,4002,3930,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1382,-1.10,-243.3,2331,3783,4001,3930,379.9,-23.6,87,1387,0.00,2.00,0.00,0.000,1030,0.000,0.033,2331,2450,3965,4001,3930,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1705,-1.10,-243.3,2330,2443,3997,3931,456.0,-22.7,103,1710,0.00,2.22,0.00,0.000,260,0.000,0.077,2321,3787,3963,3997,3930,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1748,-1.10,-243.3,2321,3788,3997,3930,466.0,-22.5,105,1753,0.00,2.03,0.00,0.000,1030,0.000,0.034,2321,2448,3964,3997,3931,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2070,-1.10,-243.3,2321,2441,3997,3926,540.9,-23.1,121,2076,0.00,2.20,0.00,0.000,260,0.000,0.078,2310,3778,3962,3997,3927,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2148,-1.10,-243.3,2311,3778,3997,3925,556.6,-24.5,124,2155,0.15,2.03,0.00,0.000,3078,0.262,0.035,2344,2441,3961,3997,3925,0,0,0,0,0,0,14.66,14.94,28.83
$GC,2473,-1.10,-243.3,2344,2431,3997,3921,627.9,-20.5,139,2478,0.00,2.22,0.00,0.000,260,0.000,0.080,2337,3777,3959,3997,3921,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2530,-1.10,-243.3,2338,3778,3997,3916,634.6,-20.5,140,2537,0.00,2.03,0.00,0.000,1030,0.000,0.036,2337,2450,3958,3997,3920,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2836,-1.10,-243.3,2337,2446,3999,3914,698.0,-19.4,151,2841,0.00,2.22,0.00,0.000,260,0.000,0.083,2327,3778,3955,3997,3913,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2933,-1.10,-243.3,1472,3778,3995,3911,717.5,-20.8,154,2938,0.00,2.05,0.00,0.000,1030,0.000,0.037,2327,2448,3954,3997,3912,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3262,-1.10,-243.3,2327,2441,3997,3906,790.6,-22.3,165,3267,0.00,2.25,0.00,0.000,260,0.000,0.086,2316,3777,3951,3997,3906,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3359,-1.10,-243.3,2316,3777,3997,3902,812.1,-22.7,168,3365,0.12,2.05,0.00,0.000,3078,0.272,0.039,2342,2453,3950,3997,3903,0,0,0,0,0,0,14.63,14.93,28.83
$GC,3687,-1.10,-243.3,2343,2447,3997,3896,879.3,-19.8,179,3692,0.00,2.25,0.00,0.000,260,0.000,0.089,2335,3777,3946,3997,3896,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3739,-1.10,-243.3,2335,3778,3997,3896,885.9,-20.0,180,3745,0.00,2.08,0.00,0.000,1030,0.000,0.041,2335,2450,3946,3997,3896,0,0,0,0,0,0,28.83,14.93,28.83
$GC,4052,-1.10,-243.3,2336,2442,3996,3890,951.5,-19.4,191,4057,0.00,2.28,0.00,0.000,260,0.000,0.091,2325,3779,3942,3995,3890,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4088,-1.10,-243.3,1488,3779,3994,3889,958.1,-19.5,192,4094,0.00,2.10,0.00,0.000,1030,0.000,0.042,2325,2446,3942,3995,3890,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,4264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4264,begin apogee
$GC,4270,-0.21,0.0,2326,2329,3994,3884,994.3,-19.8,198,4490,1.05,0.00,211.50,1.710,10246,0.226,0.000,2625,2329,3089,3116,3063,0,0,0,0,0,0,14.60,28.83,13.57
$STATE,4491,end apogee,CONTROL_FINISHED_OK
$STATE,4491,begin climb
$GC,4494,1.10,243.3,2625,2329,3114,3061,1007.4,0.0,205,4748,1.23,2.40,243.73,1.683,10756,0.057,0.058,3081,975,2096,2124,2068,0,0,0,0,0,0,14.26,14.13,13.51
$GC,4799,1.10,243.3,3081,975,2123,2057,977.5,21.5,215,4805,0.00,2.35,0.00,0.000,1030,0.000,0.065,3081,2344,2089,2122,2056,0,0,0,0,0,0,28.83,14.33,28.83
$GC,5113,1.10,243.3,3081,2345,2122,2047,898.2,23.9,226,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,3081,2345,2084,2122,2047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5413,1.10,243.3,3081,2345,2122,2042,827.6,23.6,236,5418,0.00,2.25,0.00,0.000,516,0.000,0.054,3090,975,2082,2123,2042,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5464,1.10,243.3,3091,974,2122,2042,819.7,23.7,237,5470,0.15,2.30,0.00,0.000,5126,0.321,0.062,3060,2364,2081,2122,2041,0,0,0,0,0,0,14.54,14.77,28.83
$GC,5781,1.10,243.3,3060,2365,2122,2037,744.3,22.2,248,5782,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2365,2080,2122,2038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6078,1.10,243.3,3060,2365,2121,2035,678.2,21.2,258,6083,0.00,2.28,0.00,0.000,516,0.000,0.054,3067,972,2078,2121,2035,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6135,1.10,243.3,3067,972,2120,2035,671.4,21.2,259,6142,0.00,2.28,0.00,0.000,1030,0.000,0.059,3068,2355,2078,2121,2035,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6441,1.10,243.3,3067,2356,2119,2034,605.0,20.9,270,6446,0.00,2.38,0.00,0.000,260,0.000,0.088,3067,3759,2077,2120,2034,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6504,1.10,243.3,3068,3759,2119,2034,590.6,22.1,273,6509,0.00,2.20,0.00,0.000,1030,0.000,0.040,3078,2355,2076,2119,2034,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6826,1.10,243.3,3078,2350,2118,2039,522.9,19.7,289,6832,0.00,2.25,0.00,0.000,516,0.000,0.054,3089,961,2075,2118,2033,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6890,1.10,243.3,3089,961,2117,2033,510.7,19.5,292,6896,0.15,2.30,0.00,0.000,5126,0.308,0.057,3057,2358,2075,2117,2033,0,0,0,0,0,0,14.54,14.82,28.83
$GC,7213,1.10,243.3,3057,2359,2117,2031,454.1,16.1,308,7219,0.00,2.25,0.00,0.000,516,0.000,0.050,3065,967,2074,2117,2031,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7236,1.10,243.3,3070,967,2117,2031,450.3,16.0,309,7242,0.00,2.28,0.00,0.000,1030,0.000,0.058,3064,2347,2074,2117,2031,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7559,1.10,243.3,3065,2348,2115,2030,402.2,14.2,325,7564,0.00,2.25,0.00,0.000,516,0.000,0.050,3074,966,2073,2116,2030,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7753,1.10,243.3,3074,965,2116,2030,372.7,15.9,334,7758,0.00,2.28,0.00,0.000,1030,0.000,0.056,3074,2357,2073,2116,2030,0,0,0,0,0,0,28.83,14.82,28.83
$GC,8066,1.10,243.3,3075,2358,2116,2030,323.6,15.1,350,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,3074,2358,2073,2116,2031,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8367,1.10,243.3,3074,2358,2116,2030,276.0,15.3,365,8373,0.00,2.35,0.00,0.000,260,0.000,0.084,3074,3759,2072,2115,2030,0,0,0,0,0,0,28.83,14.79,28.83
$GC,8384,1.10,243.3,3074,3759,2116,2031,276.0,15.3,365,8392,0.15,2.20,0.00,0.000,5126,0.319,0.037,3054,2335,2073,2116,2031,0,0,0,0,0,0,14.52,14.89,28.83
$GC,8690,1.10,243.3,3054,2331,2116,2030,234.5,11.8,381,8691,0.00,0.00,0.00,0.000,6,0.000,0.000,3054,2331,2073,2116,2030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8992,1.10,243.3,3058,2330,2116,2032,197.7,12.1,396,8997,0.00,2.17,0.00,0.000,516,0.000,0.047,3062,967,2074,2116,2032,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9106,1.10,243.3,3062,967,2116,2033,185.6,11.6,401,9111,0.00,2.25,0.00,0.000,1030,0.000,0.052,3062,2358,2074,2116,2033,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9419,1.14,261.8,3062,2359,2116,2035,151.5,10.8,417,9439,0.00,2.22,13.65,0.921,8708,0.000,0.044,3072,965,2018,2058,1979,0,0,0,0,0,0,28.83,14.85,14.39
$GC,9466,1.14,261.8,3072,966,2058,1976,146.4,11.4,419,9471,0.00,2.25,0.00,0.000,1030,0.000,0.051,3072,2357,2016,2058,1975,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9783,1.14,261.8,3072,2357,2057,1973,106.4,12.4,435,9789,0.00,2.22,0.00,0.000,516,0.000,0.044,3082,964,2014,2057,1972,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9930,1.14,261.8,2144,963,2014,1965,87.1,13.8,442,9935,0.00,2.22,0.00,0.000,1030,0.000,0.050,3082,2348,2015,2057,1973,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10248,1.27,327.6,3082,2349,2057,1974,50.4,9.2,458,10288,0.00,2.28,31.33,0.276,8708,0.000,0.044,3092,959,1757,1791,1723,0,0,0,0,0,0,28.83,14.76,14.58
$GC,10395,1.30,345.6,3092,959,1798,1731,35.6,10.8,471,10413,0.00,2.25,9.98,0.230,9222,0.000,0.050,3092,2354,1683,1719,1647,0,0,0,0,0,0,28.83,14.78,14.57
$GC,10713,1.42,402.4,3092,2354,1727,1657,3.2,9.5,525,10721,0.15,0.00,5.62,0.153,10754,0.122,0.000,3161,2353,1645,1684,1607,0,0,0,0,0,0,14.78,28.83,28.83
$STATE,10722,end climb,SURFACE_DEPTH_REACHED
$STATE,10722,begin surface coast
$FINISH,-1.2,1.021449
$STATE,10753,end surface coast,CONTROL_FINISHED_OK
$STATE,10753,begin surface
$SM_CCo,10773,54.83,0.142,0,0,1153,475.15
$SM_GC,-0.11,8.00,0.15,54.83,0.052,0.120,0.142,225,2481,1153,-7.63,-0.93,475.15,0,0,0,0,0,0,14.83,14.82,14.67
$IRIDIUM_FIX,2302.75,12510.47,160613,090909
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.04
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,25.30
$XPDR_PINGS,1
$SC_FREEKB,3847392
$24V_AH,13.5,82.701
$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,20.725,102.000,515.800,54.825,0.000,24.554,21.149,243.821,0.250,0.000,19.766,1654.275,7079.102,615.621,1760.218,232.027,0.000,1429.715,0.000,1355.906,0.000,0.541,0.000
$DEVICE_MAMPS,377.910,123.930,1709.775,141.525,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10801.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.130,0.000,0.000,0.000
$MEM,328416
$DATA_FILE_SIZE,20079,532
$CAP_FILE_SIZE,134369,0
$CFSIZE,260034560,234975232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160613,152406,2256.957,12508.479,25,1.8,25,-3.3