version: 66.11
glider: 181
mission: 11
dive: 233
start: 6 16 113 21 57 36
data:
$ID,181
$MISSION,11
$DIVE,233
$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,-96036.758
$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,72
$R_STBD_OVSHOOT,54
$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
$GPS1,160613,214827,2254.018,12508.087,6,2.1,25,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.13
$_SM_ANGLEo,-72.0
$GPS2,160613,215709,2254.055,12508.236,11,2.4,30,-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,220.4,195085,-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,-243.3,235,2479,1156,1160,0.0,0.0,0,100,0.00,0.00,-77.93,0.000,16386,0.000,0.000,235,2480,3149,3195,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-1.10,-243.3,235,2479,3194,3104,4.0,-15.3,14,134,9.50,2.25,-12.73,0.000,18948,0.386,0.060,2338,1045,3965,4005,3926,0,0,0,0,0,0,14.38,14.74,14.92
$GC,195,-1.10,-243.3,1476,1043,4001,3929,40.0,-29.5,26,202,0.00,2.28,0.00,0.000,1030,0.000,0.060,2331,2426,3966,4002,3930,0,0,0,0,0,0,28.83,14.67,28.83
$GC,512,-1.10,-243.3,2331,2426,4001,3932,142.8,-31.2,44,517,0.00,2.22,0.00,0.000,260,0.000,0.075,2320,3781,3967,4002,3932,0,0,0,0,0,0,28.83,14.76,28.83
$GC,625,-1.10,-243.3,2320,3781,4000,3933,175.8,-32.3,49,630,0.00,2.03,0.00,0.000,1030,0.000,0.033,2320,2447,3967,4000,3934,0,0,0,0,0,0,28.83,14.83,28.83
$GC,938,-1.10,-243.3,2321,2441,4001,3933,276.8,-28.8,65,943,0.00,2.22,0.00,0.000,260,0.000,0.073,2310,3790,3966,4000,3933,0,0,0,0,0,0,28.83,14.81,28.83
$GC,981,-1.10,-243.3,2310,3791,4000,3933,288.5,-27.0,67,987,0.15,2.05,0.00,0.000,3078,0.285,0.032,2342,2424,3966,3999,3933,0,0,0,0,0,0,14.60,14.91,28.83
$GC,1304,-1.10,-243.3,2342,2417,3997,3936,366.2,-24.2,83,1309,0.00,2.25,0.00,0.000,260,0.000,0.075,2334,3780,3966,3997,3936,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1407,-1.10,-243.3,2334,3780,3997,3935,391.7,-25.1,88,1413,0.00,1.98,0.00,0.000,1030,0.000,0.033,2334,2461,3966,3997,3935,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1730,-1.10,-243.3,2334,2455,3997,3934,471.5,-24.3,104,1735,0.00,2.20,0.00,0.000,260,0.000,0.076,2324,3784,3965,3997,3933,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1793,-1.10,-243.3,2325,3784,3997,3939,487.2,-25.3,107,1798,0.00,2.00,0.00,0.000,1030,0.000,0.034,2324,2454,3964,3997,3932,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2116,-1.10,-243.3,2324,2447,3998,3931,561.2,-22.1,123,2121,0.00,2.20,0.00,0.000,260,0.000,0.077,2313,3781,3963,3997,3930,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2168,-1.10,-243.3,2313,3781,3997,3930,570.7,-21.9,125,2174,0.12,2.03,0.00,0.000,3078,0.274,0.034,2340,2443,3962,3996,3929,0,0,0,0,0,0,14.65,14.92,28.83
$GC,2482,-1.10,-243.3,2340,2436,3997,3925,636.2,-19.4,138,2487,0.00,2.22,0.00,0.000,260,0.000,0.080,2332,3778,3961,3997,3925,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2549,-1.10,-243.3,1472,3778,3996,3923,649.2,-20.0,140,2554,0.00,2.03,0.00,0.000,1030,0.000,0.036,2333,2447,3960,3997,3924,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2877,-1.10,-243.3,2333,2442,3997,3917,721.8,-22.2,151,2883,0.00,2.25,0.00,0.000,260,0.000,0.083,2322,3787,3957,3997,3917,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2941,-1.10,-243.3,2322,3787,3997,3916,736.3,-22.7,153,2946,0.00,2.05,0.00,0.000,1030,0.000,0.037,2322,2464,3956,3997,3916,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3275,-1.10,-243.3,2322,2458,3998,3908,812.0,-23.0,164,3280,0.00,2.22,0.00,0.000,260,0.000,0.084,2312,3785,3952,3997,3908,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3327,-1.10,-243.3,2312,3783,3997,3907,819.9,-23.1,165,3333,0.12,2.08,0.00,0.000,3078,0.276,0.039,2340,2449,3952,3997,3907,0,0,0,0,0,0,14.62,14.91,28.83
$GC,3642,-1.10,-243.3,2339,2444,3996,3901,890.4,-20.2,176,3647,0.00,2.25,0.00,0.000,260,0.000,0.087,2332,3776,3949,3997,3901,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3689,-1.10,-243.3,2332,3773,3996,3901,896.7,-19.7,177,3694,0.00,2.08,0.00,0.000,1030,0.000,0.041,2332,2448,3948,3996,3901,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4008,-1.10,-243.3,2332,2437,3996,3895,963.9,-20.6,188,4013,0.00,2.25,0.00,0.000,260,0.000,0.087,2322,3775,3945,3996,3895,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4055,-1.10,-243.3,2322,3775,3995,3895,971.7,-21.0,189,4060,0.00,2.08,0.00,0.000,1030,0.000,0.041,2322,2451,3945,3995,3895,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,4131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4131,begin apogee
$GC,4137,-0.21,0.0,2322,2321,3995,3893,991.6,-22.0,192,4367,1.05,0.00,220.77,1.651,10246,0.226,0.000,2623,2321,3089,3115,3064,0,0,0,0,0,0,14.61,28.83,13.60
$STATE,4368,end apogee,CONTROL_FINISHED_OK
$STATE,4368,begin climb
$GC,4371,1.10,243.3,2623,2321,3113,3061,1009.4,0.0,199,4616,1.23,2.62,233.45,1.751,11012,0.067,0.092,3056,3748,2095,2124,2066,0,0,0,0,0,0,14.26,14.10,13.50
$GC,4688,1.10,243.3,3056,3748,2120,2057,980.8,21.4,210,4693,0.00,2.25,0.00,0.000,1030,0.000,0.041,3067,2369,2088,2120,2057,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5007,1.10,243.3,3067,2369,2120,2047,905.7,22.4,221,5012,0.00,2.35,0.00,0.000,516,0.000,0.058,3077,951,2083,2120,2047,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5085,1.10,243.3,3078,951,2119,2045,891.3,22.2,223,5090,0.00,2.35,0.00,0.000,1030,0.000,0.063,3077,2357,2082,2119,2045,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5403,1.10,243.3,3078,2357,2119,2040,816.3,22.8,234,5408,0.00,2.30,0.00,0.000,516,0.000,0.054,3088,957,2079,2119,2040,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5439,1.10,243.3,2176,956,2079,2030,808.2,23.1,235,5445,0.15,2.33,0.00,0.000,5126,0.319,0.062,3057,2359,2079,2119,2040,0,0,0,0,0,0,14.54,14.77,28.83
$GC,5769,1.10,243.3,3057,2360,2119,2036,738.2,20.9,246,5775,0.00,2.30,0.00,0.000,516,0.000,0.053,3065,955,2077,2119,2036,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5806,1.10,243.3,3064,955,2118,2036,731.1,20.7,247,5811,0.00,2.30,0.00,0.000,1030,0.000,0.060,3064,2350,2077,2118,2036,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6135,1.10,243.3,3065,2350,2117,2034,660.8,20.6,258,6141,0.00,2.28,0.00,0.000,516,0.000,0.051,3074,950,2074,2113,2035,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6172,1.10,243.3,3075,950,2117,2035,654.0,20.2,259,6177,0.00,2.30,0.00,0.000,1030,0.000,0.060,3074,2350,2076,2117,2035,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6482,1.10,243.3,3074,2350,2116,2033,591.4,19.7,270,6487,0.00,2.38,0.00,0.000,260,0.000,0.089,3074,3759,2074,2115,2033,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6508,1.10,243.3,2176,3758,2077,2024,586.2,19.8,271,6514,0.15,2.22,0.00,0.000,5126,0.340,0.039,3054,2334,2074,2115,2033,0,0,0,0,0,0,14.53,14.90,28.83
$GC,6827,1.10,243.3,3053,2330,2115,2032,526.4,17.6,287,6832,0.00,2.20,0.00,0.000,516,0.000,0.050,3063,965,2073,2115,2032,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7020,1.10,243.3,3063,965,2115,2030,493.4,18.2,296,7025,0.00,2.28,0.00,0.000,1030,0.000,0.060,3063,2351,2072,2115,2030,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7332,1.10,243.3,3063,2350,2115,2028,439.8,16.9,312,7337,0.00,2.25,0.00,0.000,516,0.000,0.050,3073,962,2071,2114,2028,0,0,0,0,0,0,28.83,14.84,28.83
$GC,7409,1.10,243.3,3073,962,2115,2028,429.3,16.9,315,7416,0.00,2.28,0.00,0.000,1030,0.000,0.058,3073,2350,2071,2114,2028,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7715,1.10,243.3,3073,2350,2114,2027,376.8,15.7,331,7720,0.00,2.35,0.00,0.000,260,0.000,0.086,3073,3755,2070,2114,2027,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7742,1.10,243.3,3073,3755,2115,2028,373.2,15.7,332,7747,0.00,2.20,0.00,0.000,1030,0.000,0.037,3084,2338,2070,2114,2027,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8060,1.10,243.3,3084,2333,2115,2027,327.8,14.0,348,8066,0.12,2.20,0.00,0.000,4612,0.353,0.046,3063,958,2071,2114,2028,0,0,0,0,0,0,14.48,14.84,28.83
$GC,8137,1.10,243.3,3064,958,2115,2027,319.3,13.4,351,8144,0.00,2.28,0.00,0.000,1030,0.000,0.056,3064,2352,2071,2115,2028,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8443,1.10,243.3,3064,2351,2114,2028,271.6,15.9,367,8449,0.00,2.35,0.00,0.000,260,0.000,0.086,3063,3752,2071,2115,2027,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8530,1.10,243.3,3064,3752,2111,2028,257.4,17.1,371,8536,0.00,2.17,0.00,0.000,1030,0.000,0.036,3074,2348,2071,2114,2028,0,0,0,0,0,0,28.83,14.89,28.83
$GC,8848,1.10,243.3,3075,2344,2115,2029,210.4,13.0,387,8853,0.00,2.20,0.00,0.000,516,0.000,0.047,3085,962,2072,2115,2029,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9081,1.10,244.4,3085,963,2115,2032,183.8,11.3,398,9087,0.12,2.25,0.00,0.000,5126,0.291,0.053,3063,2352,2073,2115,2032,0,0,0,0,0,0,14.54,14.81,28.83
$GC,9395,1.10,244.4,3059,2352,2115,2033,147.5,11.4,414,9400,0.00,2.25,0.00,0.000,516,0.000,0.046,3066,953,2073,2114,2033,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9462,1.10,244.4,3066,953,2115,2034,140.2,11.5,417,9467,0.00,2.28,0.00,0.000,1030,0.000,0.053,3067,2354,2074,2115,2034,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9780,1.16,271.4,3067,2354,2115,2035,105.9,10.5,433,9798,0.00,0.00,11.77,0.409,8198,0.000,0.000,3066,2354,1988,2025,1952,0,0,0,0,0,0,28.83,28.83,14.42
$GC,10100,1.21,296.8,3067,2354,2041,1963,72.6,10.5,449,10121,0.00,2.30,15.27,0.330,8708,0.000,0.044,3077,955,1882,1918,1846,0,0,0,0,0,0,28.83,14.85,14.52
$GC,10173,1.31,346.3,3077,954,1931,1857,66.5,9.7,452,10208,0.12,2.25,25.90,0.322,11270,0.138,0.050,3126,2352,1683,1713,1654,0,0,0,0,0,0,14.81,14.81,14.52
$GC,10511,1.31,346.3,2176,2350,1693,1657,19.4,13.3,483,10519,0.00,2.30,1.60,0.186,8708,0.000,0.044,3135,960,1680,1714,1646,0,0,0,0,0,0,28.83,14.78,14.62
$STATE,10666,end climb,SURFACE_DEPTH_REACHED
$STATE,10666,begin surface coast
$FINISH,-0.4,1.021394
$STATE,10693,end surface coast,CONTROL_FINISHED_OK
$STATE,10693,begin surface
$SM_CCo,10713,59.80,0.141,0,0,1155,475.15
$SM_GC,-0.18,7.95,2.47,59.80,0.055,0.050,0.141,234,2452,1155,-7.61,-1.05,475.15,0,0,0,0,0,0,14.83,14.79,14.66
$IRIDIUM_FIX,2237.01,12506.99,160613,181839
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.48
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,3846240
$24V_AH,13.5,83.603
$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,20.800,116.150,508.775,59.800,0.000,30.214,21.690,238.556,0.000,0.000,34.361,1675.363,6938.551,635.871,1803.244,251.165,0.000,1461.720,0.000,1379.235,0.000,0.541,0.000
$DEVICE_MAMPS,385.560,104.805,1751.085,140.760,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10750.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.980,0.000,0.000,0.000
$MEM,328376
$DATA_FILE_SIZE,20073,518
$CAP_FILE_SIZE,135883,0
$CFSIZE,260034560,234700800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170613,005829,2252.908,12508.327,35,1.4,35,-3.3