version: 66.11
glider: 181
mission: 11
dive: 232
start: 6 16 113 18 44 33
data:
$ID,181
$MISSION,11
$DIVE,232
$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,-96035.5
$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,68
$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
$GPS1,160613,183523,2255.483,12508.270,24,1.0,41,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.21
$_SM_ANGLEo,-73.1
$GPS2,160613,184407,2255.453,12508.290,13,1.5,13,-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,219.9,197213,-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,-243.3,234,2451,1155,1160,0.0,0.0,0,100,0.00,0.00,-77.43,0.000,16386,0.000,0.000,234,2451,3122,3168,3076,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-1.10,-243.3,234,2451,3171,3077,3.7,-14.5,14,134,9.40,2.20,-13.45,0.000,18948,0.379,0.056,2337,1044,3965,4006,3924,0,0,0,0,0,0,14.39,14.73,14.92
$GC,251,-1.10,-243.3,2336,1043,4004,3927,52.3,-26.9,32,256,0.00,2.30,0.00,0.000,1030,0.000,0.056,2330,2452,3965,4003,3927,0,0,0,0,0,0,28.83,14.71,28.83
$GC,568,-1.10,-243.3,2330,2452,4002,3929,150.3,-30.3,48,574,0.00,2.20,0.00,0.000,260,0.000,0.076,2319,3782,3966,4002,3930,0,0,0,0,0,0,28.83,14.77,28.83
$GC,660,-1.10,-243.3,2320,3784,4001,3931,176.3,-31.4,52,666,0.00,2.03,0.00,0.000,1030,0.000,0.033,2320,2451,3966,4001,3932,0,0,0,0,0,0,28.83,14.87,28.83
$GC,973,-1.10,-243.3,2320,2445,4000,3932,273.9,-28.3,68,974,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2445,3966,4001,3931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1275,-1.10,-243.3,2319,2443,3997,3932,354.1,-25.9,83,1280,0.00,2.20,0.00,0.000,260,0.000,0.073,2309,3780,3964,3997,3932,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1377,-1.10,-243.3,2309,3780,3997,3932,382.3,-27.0,88,1383,0.15,2.03,0.00,0.000,3078,0.277,0.032,2342,2430,3964,3997,3932,0,0,0,0,0,0,14.62,14.92,28.83
$GC,1701,-1.10,-243.3,2342,2424,3997,3932,459.9,-23.0,104,1706,0.00,2.25,0.00,0.000,260,0.000,0.076,2334,3783,3964,3997,3931,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1768,-1.10,-243.3,2334,3783,3998,3931,474.0,-22.6,107,1773,0.00,2.00,0.00,0.000,1030,0.000,0.034,2334,2461,3964,3997,3931,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2086,-1.10,-243.3,2334,2455,3997,3927,537.9,-17.9,123,2091,0.00,2.20,0.00,0.000,260,0.000,0.076,2324,3789,3962,3997,3927,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2128,-1.10,-243.3,2324,3788,3997,3927,545.7,-18.0,125,2134,0.00,2.03,0.00,0.000,1030,0.000,0.034,2324,2446,3962,3997,3927,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2441,-1.10,-243.3,2324,2439,3997,3923,609.3,-21.0,140,2446,0.00,2.22,0.00,0.000,260,0.000,0.080,2312,3778,3960,3998,3922,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2493,-1.10,-243.3,2313,3778,3997,3921,616.5,-21.4,141,2499,0.12,2.03,0.00,0.000,3078,0.274,0.035,2340,2441,3959,3997,3921,0,0,0,0,0,0,14.66,14.93,28.83
$GC,2808,-1.10,-243.3,2340,2435,3997,3915,691.0,-22.1,152,2813,0.00,2.25,0.00,0.000,260,0.000,0.084,2332,3779,3956,3997,3915,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2874,-1.10,-243.3,2332,3780,3997,3917,705.6,-22.7,154,2880,0.00,2.03,0.00,0.000,1030,0.000,0.036,2332,2462,3955,3997,3914,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3204,-1.10,-243.3,2332,2456,3997,3907,776.5,-20.5,165,3209,0.00,2.22,0.00,0.000,260,0.000,0.087,2322,3780,3952,3998,3907,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3256,-1.10,-243.3,2322,3779,3997,3906,784.2,-20.5,166,3261,0.00,2.05,0.00,0.000,1030,0.000,0.039,2322,2456,3951,3997,3906,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3569,-1.10,-243.3,2322,2450,3997,3899,854.0,-20.0,177,3574,0.00,2.25,0.00,0.000,260,0.000,0.088,2312,3783,3948,3997,3900,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3596,-1.10,-243.3,2311,3783,3997,3900,854.0,-20.0,177,3603,0.12,2.08,0.00,0.000,3078,0.280,0.040,2339,2452,3948,3997,3899,0,0,0,0,0,0,14.62,14.92,28.83
$GC,3903,-1.10,-243.3,2339,2445,3997,3893,917.8,-19.1,188,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2339,2445,3945,3997,3894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4202,-1.10,-243.3,2339,2445,3995,3889,975.7,-19.6,198,4207,0.00,2.28,0.00,0.000,260,0.000,0.091,2332,3781,3942,3995,3889,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4259,-1.10,-243.3,2332,3781,3994,3889,982.4,-19.9,199,4265,0.00,2.10,0.00,0.000,1030,0.000,0.042,2332,2441,3941,3994,3889,0,0,0,0,0,0,28.83,14.91,28.83
$STATE,4293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4293,begin apogee
$GC,4299,-0.21,0.0,2332,2331,3994,3888,995.0,-20.7,201,4528,1.00,0.00,219.85,1.671,10246,0.218,0.000,2621,2330,3090,3116,3064,0,0,0,0,0,0,14.61,28.83,13.61
$STATE,4530,end apogee,CONTROL_FINISHED_OK
$STATE,4530,begin climb
$GC,4533,1.10,243.3,2621,2330,3115,3061,1012.5,0.0,208,4808,1.23,2.58,265.90,1.616,11012,0.059,0.094,3066,3750,2097,2126,2069,0,0,0,0,0,0,14.27,14.11,13.52
$GC,4831,1.10,243.3,3066,3749,2121,2064,986.2,20.6,219,4836,0.00,2.28,0.00,0.000,1030,0.000,0.041,3077,2374,2092,2122,2063,0,0,0,0,0,0,28.83,14.28,28.83
$GC,5165,1.10,243.3,3076,2374,2120,2049,902.8,25.3,230,5170,0.00,2.35,0.00,0.000,516,0.000,0.059,3088,952,2085,2121,2049,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5222,1.10,243.3,3088,953,2120,2048,894.2,25.3,231,5230,0.15,2.33,0.00,0.000,5126,0.317,0.063,3057,2347,2084,2121,2048,0,0,0,0,0,0,14.47,14.68,28.83
$GC,5530,1.10,243.3,3057,2347,2121,2043,822.0,20.6,242,5531,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2348,2081,2120,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5828,1.10,243.3,3057,2348,2120,2040,766.8,18.1,252,5829,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2348,2080,2121,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6129,1.10,243.3,3057,2348,2120,2037,710.6,19.5,262,6134,0.00,2.30,0.00,0.000,516,0.000,0.054,3065,946,2078,2120,2037,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6205,1.10,243.3,3064,946,2119,2037,698.5,19.4,264,6211,0.00,2.33,0.00,0.000,1030,0.000,0.060,3064,2357,2078,2120,2037,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6525,1.10,243.3,3065,2357,2119,2034,630.2,21.0,275,6530,0.00,2.38,0.00,0.000,260,0.000,0.091,3065,3755,2076,2118,2035,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6558,1.10,243.3,3065,3755,2118,2035,622.3,21.6,276,6563,0.00,2.22,0.00,0.000,1030,0.000,0.041,3075,2343,2076,2118,2035,0,0,0,0,0,0,28.83,14.89,28.83
$GC,6880,1.10,243.3,3074,2338,2117,2035,553.5,20.3,290,6882,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2338,2076,2118,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7182,1.10,243.3,3076,2338,2117,2033,496.3,17.9,305,7187,0.00,2.22,0.00,0.000,516,0.000,0.051,3085,959,2074,2116,2033,0,0,0,0,0,0,28.83,14.84,28.83
$GC,7245,1.10,243.3,3086,959,2116,2033,485.0,17.7,308,7251,0.15,2.30,0.00,0.000,5126,0.304,0.057,3054,2352,2074,2116,2033,0,0,0,0,0,0,14.54,14.81,28.83
$GC,7569,1.10,243.3,3054,2355,2116,2032,433.1,15.3,324,7574,0.00,2.28,0.00,0.000,516,0.000,0.051,3062,959,2074,2116,2032,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7612,1.10,243.3,3062,960,2116,2032,426.3,15.6,326,7618,0.00,2.33,0.00,0.000,1030,0.000,0.057,3062,2361,2074,2116,2032,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7935,1.10,243.3,3061,2361,2116,2031,377.3,15.3,342,7940,0.00,2.30,0.00,0.000,516,0.000,0.050,3072,949,2073,2116,2031,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8007,1.10,243.3,3072,949,2116,2031,368.0,14.8,345,8013,0.00,2.30,0.00,0.000,1030,0.000,0.057,3072,2355,2073,2116,2031,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8320,1.10,243.3,3072,2355,2116,2031,319.9,15.1,361,8321,0.00,0.00,0.00,0.000,6,0.000,0.000,3072,2355,2073,2116,2031,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8622,1.10,243.3,3072,2355,2116,2032,275.2,14.2,376,8627,0.00,2.28,0.00,0.000,516,0.000,0.048,3082,951,2074,2116,2032,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8695,1.10,243.3,3082,951,2116,2032,266.5,13.7,379,8700,0.00,2.30,0.00,0.000,1030,0.000,0.054,3082,2357,2074,2116,2032,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9008,1.10,243.3,3082,2357,2116,2033,225.6,12.4,395,9013,0.00,2.28,0.00,0.000,516,0.000,0.047,3092,949,2074,2116,2033,0,0,0,0,0,0,28.83,14.84,28.83
$GC,9180,1.10,243.3,3092,950,2116,2034,204.0,13.3,403,9186,0.15,2.28,0.00,0.000,5126,0.289,0.053,3059,2352,2075,2116,2034,0,0,0,0,0,0,14.52,14.81,28.83
$GC,9495,1.10,243.3,3059,2352,2116,2035,162.8,12.8,419,9500,0.00,2.25,0.00,0.000,516,0.000,0.046,3066,955,2075,2116,2035,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9527,1.10,243.3,3067,955,2116,2035,159.7,12.9,420,9532,0.00,2.28,0.00,0.000,1030,0.000,0.052,3067,2358,2075,2116,2035,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9840,1.15,269.1,3067,2358,2116,2036,124.2,10.5,436,9852,0.00,0.00,10.85,0.454,8198,0.000,0.000,3066,2358,1996,2035,1957,0,0,0,0,0,0,28.83,28.83,14.40
$GC,10140,1.15,269.1,3067,2358,2052,1975,87.9,12.5,451,10150,0.00,2.35,2.17,0.190,8452,0.000,0.080,3067,3749,1998,2037,1960,0,0,0,0,0,0,28.83,14.76,14.58
$GC,10162,1.15,269.1,3067,3749,2041,1967,85.1,12.5,452,10168,0.00,2.17,1.23,0.239,9222,0.000,0.034,3077,2326,1995,2036,1955,0,0,0,0,0,0,28.83,14.89,14.59
$GC,10486,1.30,341.2,3078,2322,2053,1975,53.8,9.0,468,10531,0.12,2.15,37.95,0.283,10756,0.136,0.042,3145,959,1701,1733,1669,0,0,0,0,0,0,14.85,14.83,14.55
$GC,10760,1.31,349.5,3145,960,1743,1681,14.6,11.1,501,10774,0.00,2.25,5.43,0.182,9222,0.000,0.051,3145,2351,1666,1702,1631,0,0,0,0,0,0,28.83,14.78,14.59
$STATE,10860,end climb,SURFACE_DEPTH_REACHED
$STATE,10860,begin surface coast
$FINISH,-0.5,1.021385
$STATE,10886,end surface coast,CONTROL_FINISHED_OK
$STATE,10887,begin surface
$SM_CCo,10904,58.28,0.142,0,0,1154,475.15
$SM_GC,-0.08,7.97,0.15,58.28,0.055,0.120,0.142,238,2472,1154,-7.61,-1.02,475.15,0,0,0,0,0,0,14.82,14.80,14.66
$IRIDIUM_FIX,2258.07,12520.82,160613,151536
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.63
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,25.30
$XPDR_PINGS,1
$SC_FREEKB,3846624
$24V_AH,13.5,83.305
$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,20.575,98.225,543.375,58.275,0.000,30.141,38.157,244.743,0.250,0.000,17.340,1597.834,7307.629,662.754,1692.689,233.318,0.000,1425.227,0.000,1280.971,0.000,0.541,0.000
$DEVICE_MAMPS,378.675,124.695,1670.760,141.525,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10942.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.973,0.000,0.000,0.000
$MEM,328312
$DATA_FILE_SIZE,20106,525
$CAP_FILE_SIZE,131309,0
$CFSIZE,260034560,234795008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160613,214827,2254.018,12508.087,6,2.1,25,-3.3