version: 66.11
glider: 181
mission: 11
dive: 235
start: 6 17 113 4 18 57
data:
$ID,181
$MISSION,11
$DIVE,235
$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,-96039.289
$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,81
$R_STBD_OVSHOOT,52
$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
$GPS1,170613,040954,2251.478,12508.845,36,1.8,36,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.19
$_SM_ANGLEo,-72.5
$GPS2,170613,041831,2251.445,12508.988,13,1.4,13,-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,221.5,192050,-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,18,begin dive
$GC,20,-1.10,-243.3,233,2473,1162,1158,0.0,0.0,0,100,0.00,0.00,-77.30,0.000,16386,0.000,0.000,233,2472,3118,3166,3071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-1.10,-243.3,233,2472,3166,3077,3.6,-13.4,14,134,9.52,2.20,-13.60,0.000,18948,0.384,0.054,2340,1061,3964,4004,3925,0,0,0,0,0,0,14.38,14.74,14.92
$GC,216,-1.10,-243.3,1472,1060,4001,3928,45.6,-31.1,28,222,0.00,2.25,0.00,0.000,1030,0.000,0.057,2333,2431,3965,4002,3928,0,0,0,0,0,0,28.83,14.68,28.83
$GC,532,-1.10,-243.3,2333,2431,4001,3931,148.0,-32.2,45,537,0.00,2.20,0.00,0.000,260,0.000,0.073,2322,3778,3966,4001,3931,0,0,0,0,0,0,28.83,14.78,28.83
$GC,660,-1.10,-243.3,2322,3779,4001,3932,189.0,-33.2,51,665,0.00,2.00,0.00,0.000,1030,0.000,0.034,2321,2461,3966,4001,3932,0,0,0,0,0,0,28.83,14.87,28.83
$GC,978,-1.10,-243.3,2322,2454,4001,3932,278.8,-25.8,67,983,0.00,2.17,0.00,0.000,260,0.000,0.072,2317,3781,3966,4000,3932,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1061,-1.10,-243.3,2311,3781,3997,3934,303.7,-30.0,71,1067,0.15,2.03,0.00,0.000,3078,0.282,0.032,2344,2428,3965,3996,3934,0,0,0,0,0,0,14.61,14.91,28.83
$GC,1384,-1.10,-243.3,2344,2422,3996,3934,379.4,-21.2,87,1390,0.00,2.25,0.00,0.000,260,0.000,0.076,2336,3783,3965,3997,3934,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1452,-1.10,-243.3,2336,3784,3997,3934,393.4,-21.9,90,1457,0.00,2.00,0.00,0.000,1030,0.000,0.033,2336,2462,3965,3997,3934,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1770,-1.10,-243.3,2336,2456,3996,3932,468.6,-23.9,106,1775,0.00,2.20,0.00,0.000,260,0.000,0.076,2326,3787,3964,3996,3932,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1836,-1.10,-243.3,1472,3786,3996,3931,484.6,-25.1,109,1841,0.00,2.03,0.00,0.000,1030,0.000,0.034,2326,2438,3964,3997,3932,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2154,-1.10,-243.3,2326,2432,3997,3927,555.9,-20.4,125,2159,0.00,2.22,0.00,0.000,260,0.000,0.077,2316,3780,3961,3996,3927,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2246,-1.10,-243.3,2316,3780,3997,3925,574.0,-21.9,129,2252,0.12,2.00,0.00,0.000,3078,0.271,0.034,2342,2449,3961,3997,3925,0,0,0,0,0,0,14.62,14.90,28.83
$GC,2559,-1.10,-243.3,2342,2442,3996,3921,641.1,-20.6,142,2564,0.00,2.22,0.00,0.000,260,0.000,0.082,2334,3781,3959,3997,3921,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2616,-1.10,-243.3,2334,3781,3997,3920,648.0,-20.6,143,2623,0.00,2.00,0.00,0.000,1030,0.000,0.035,2334,2468,3958,3997,3920,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2922,-1.10,-243.3,2334,2465,3997,3915,716.8,-20.6,154,2927,0.00,2.20,0.00,0.000,260,0.000,0.082,2324,3783,3955,3996,3914,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2944,-1.10,-243.3,2325,3783,3997,3914,716.8,-20.6,154,2949,0.00,2.05,0.00,0.000,1030,0.000,0.037,2324,2453,3954,3997,3912,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3257,-1.10,-243.3,2324,2446,3997,3907,790.8,-22.4,165,3262,0.00,2.22,0.00,0.000,260,0.000,0.084,2314,3775,3952,3997,3907,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3309,-1.10,-243.3,2314,3775,3996,3907,798.6,-23.1,166,3315,0.12,2.05,0.00,0.000,3078,0.275,0.039,2340,2451,3952,3997,3907,0,0,0,0,0,0,14.64,14.94,28.83
$GC,3624,-1.10,-243.3,2340,2444,3997,3900,869.5,-21.0,177,3629,0.00,2.25,0.00,0.000,260,0.000,0.086,2334,3779,3948,3997,3899,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3660,-1.10,-243.3,2333,3778,3997,3899,876.1,-20.6,178,3666,0.00,2.08,0.00,0.000,1030,0.000,0.040,2333,2446,3948,3997,3899,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3990,-1.10,-243.3,2333,2439,3996,3893,944.2,-20.3,189,3995,0.00,2.28,0.00,0.000,260,0.000,0.091,2323,3782,3944,3996,3892,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4091,-1.10,-243.3,2323,3777,3994,3892,964.5,-21.4,192,4097,0.00,2.08,0.00,0.000,1030,0.000,0.041,2323,2451,3943,3994,3892,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,4232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4232,begin apogee
$GC,4238,-0.21,0.0,2323,2322,3994,3889,995.8,-20.7,197,4468,1.05,0.00,222.40,1.648,10246,0.226,0.000,2623,2321,3089,3116,3063,0,0,0,0,0,0,14.60,28.83,13.59
$STATE,4470,end apogee,CONTROL_FINISHED_OK
$STATE,4470,begin climb
$GC,4472,1.10,243.3,2623,2321,3113,3059,1011.6,0.0,204,4751,1.23,2.58,267.05,1.594,11012,0.060,0.090,3065,3752,2098,2125,2071,0,0,0,0,0,0,14.26,14.13,13.57
$GC,4758,1.10,243.3,3065,3752,2124,2066,993.2,17.4,214,4765,0.00,2.28,0.00,0.000,1030,0.000,0.040,3075,2371,2093,2123,2064,0,0,0,0,0,0,28.83,14.26,28.83
$GC,5076,1.10,243.3,3075,2371,2122,2048,917.4,23.2,225,5077,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2371,2085,2122,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5375,1.10,243.3,3076,2365,2122,2044,845.9,23.5,235,5380,0.00,2.33,0.00,0.000,516,0.000,0.054,3086,947,2083,2122,2044,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5422,1.10,243.3,3086,947,2121,2043,837.6,23.9,236,5428,0.15,2.33,0.00,0.000,5126,0.317,0.060,3056,2348,2082,2121,2043,0,0,0,0,0,0,14.53,14.75,28.83
$GC,5742,1.10,243.3,3056,2349,2121,2039,767.7,20.4,247,5747,0.00,2.28,0.00,0.000,516,0.000,0.052,3061,955,2080,2121,2039,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5814,1.10,243.3,3063,955,2118,2038,754.7,20.3,249,5819,0.00,2.30,0.00,0.000,1030,0.000,0.060,3063,2352,2079,2121,2038,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6138,1.10,243.3,3063,2349,2119,2035,683.8,22.0,260,6144,0.00,2.30,0.00,0.000,516,0.000,0.052,3074,948,2077,2119,2035,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6180,1.10,243.3,3073,947,2118,2031,676.4,21.8,261,6185,0.00,2.33,0.00,0.000,1030,0.000,0.059,3073,2359,2074,2117,2031,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6504,1.10,243.3,3073,2358,2118,2034,607.7,20.2,272,6509,0.00,2.30,0.00,0.000,516,0.000,0.051,3084,950,2076,2118,2035,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6547,1.10,243.3,3083,950,2118,2035,600.7,20.3,273,6552,0.00,2.30,0.00,0.000,1030,0.000,0.058,3083,2348,2076,2118,2035,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6869,1.10,243.3,3083,2349,2117,2033,531.3,20.8,289,6875,0.00,2.38,0.00,0.000,260,0.000,0.087,3083,3754,2075,2117,2033,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6907,1.10,243.3,3083,3754,2117,2033,526.6,20.8,290,6914,0.17,2.22,0.00,0.000,5126,0.335,0.039,3057,2328,2074,2116,2033,0,0,0,0,0,0,14.51,14.89,28.83
$GC,7212,1.10,243.3,3057,2323,2116,2032,469.7,17.5,306,7217,0.00,2.20,0.00,0.000,516,0.000,0.052,3065,964,2074,2116,2032,0,0,0,0,0,0,28.83,14.87,28.83
$GC,7390,1.10,243.3,3064,962,2115,2031,442.9,16.2,314,7397,0.00,2.28,0.00,0.000,1030,0.000,0.058,3065,2352,2073,2116,2031,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7696,1.10,243.3,3065,2351,2116,2029,386.2,17.8,330,7697,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2352,2073,2116,2030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7997,1.10,243.3,3065,2352,2116,2029,337.5,16.6,345,8002,0.00,2.38,0.00,0.000,260,0.000,0.087,3065,3758,2073,2116,2030,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8029,1.10,243.3,3065,3758,2116,2030,333.2,17.0,346,8034,0.00,2.20,0.00,0.000,1030,0.000,0.038,3082,2341,2072,2115,2030,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8342,1.10,243.3,3076,2337,2116,2029,283.4,14.1,362,8347,0.00,2.20,0.00,0.000,516,0.000,0.047,3086,962,2073,2116,2030,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8546,1.10,243.3,3087,962,2116,2030,256.4,13.7,372,8552,0.15,2.30,0.00,0.000,5126,0.291,0.056,3054,2358,2073,2116,2030,0,0,0,0,0,0,14.48,14.80,28.83
$GC,8870,1.10,243.3,3054,2358,2116,2030,213.0,12.1,388,8875,0.00,2.35,0.00,0.000,260,0.000,0.084,3054,3759,2073,2116,2030,0,0,0,0,0,0,28.83,14.77,28.83
$GC,8988,1.10,243.3,3054,3759,2116,2032,199.0,13.7,393,8995,0.00,2.17,0.00,0.000,1030,0.000,0.037,3062,2347,2074,2116,2032,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9293,1.10,243.3,3062,2343,2116,2032,159.0,12.2,409,9298,0.00,2.20,0.00,0.000,516,0.000,0.047,3073,965,2074,2116,2032,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9437,1.10,243.3,3078,965,2116,2034,142.0,11.5,416,9442,0.00,2.25,0.00,0.000,1030,0.000,0.052,3072,2350,2078,2116,2040,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9760,1.11,247.1,3073,2355,2116,2035,105.9,11.3,432,9765,0.00,2.22,0.00,0.000,516,0.000,0.045,3083,955,2075,2116,2034,0,0,0,0,0,0,28.83,14.84,28.83
$GC,9874,1.11,247.1,3083,955,2116,2035,93.9,11.6,437,9879,0.00,2.25,0.00,0.000,1030,0.000,0.050,3083,2352,2075,2116,2035,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10187,1.22,304.0,3083,2353,2116,2036,58.9,9.5,453,10216,0.00,0.00,27.55,0.297,8454,0.000,0.000,3083,2353,1854,1886,1822,0,0,0,0,0,0,28.83,28.83,14.54
$GC,10507,1.31,347.2,3083,2352,1899,1838,23.8,9.9,481,10537,0.12,2.22,22.77,0.198,10756,0.136,0.042,3150,964,1676,1709,1644,0,0,0,0,0,0,14.81,14.81,14.59
$GC,10641,1.34,362.5,3150,964,1717,1654,6.7,10.9,506,10654,0.00,2.25,8.68,0.162,9222,0.000,0.050,3150,2359,1613,1648,1578,0,0,0,0,0,0,28.83,14.77,14.62
$STATE,10675,end climb,SURFACE_DEPTH_REACHED
$STATE,10675,begin surface coast
$FINISH,0.1,1.021356
$STATE,10701,end surface coast,CONTROL_FINISHED_OK
$STATE,10701,begin surface
$SM_CCo,10719,51.67,0.143,0,0,1155,475.15
$SM_GC,-0.58,8.15,0.12,51.67,0.071,0.132,0.143,240,2479,1155,-7.61,-1.24,475.15,0,0,0,0,0,0,14.80,14.79,14.65
$IRIDIUM_FIX,2234.68,12517.32,170613,010150
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.71
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,25.00
$XPDR_PINGS,2
$SC_FREEKB,3845472
$24V_AH,13.6,84.204
$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,20.950,106.600,548.450,51.675,0.000,28.048,25.688,248.825,0.500,0.000,15.928,1647.107,6984.806,653.889,1770.896,238.022,0.000,1466.717,0.000,1350.696,0.000,0.541,0.000
$DEVICE_MAMPS,384.030,132.345,1647.810,143.055,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10759.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.017,0.000,0.000,0.000
$MEM,328360
$DATA_FILE_SIZE,20082,517
$CAP_FILE_SIZE,133867,0
$CFSIZE,260034560,234520576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170613,071945,2249.948,12509.078,12,2.5,31,-3.3