version: 66.11
glider: 181
mission: 11
dive: 239
start: 6 17 113 17 5 16
data:
$ID,181
$MISSION,11
$DIVE,239
$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,-96044.32
$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,67
$R_STBD_OVSHOOT,30
$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
$GPS1,170613,165724,2246.146,12508.346,62,1.0,62,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.19
$_SM_ANGLEo,-72.1
$GPS2,170613,170449,2246.120,12508.422,12,2.0,12,-3.2
$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,223.1,183777,-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,-243.3,215,2451,1164,1158,0.0,0.0,0,100,0.00,0.00,-77.72,0.000,16386,0.000,0.000,214,2450,3183,3230,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-1.10,-243.3,214,2450,3230,3138,4.6,-17.1,14,133,9.45,2.25,-12.00,0.000,18948,0.376,0.064,2338,1062,3965,4006,3925,0,0,0,0,0,0,14.38,14.69,14.92
$GC,171,-1.10,-243.3,1440,1060,4002,3927,34.5,-40.5,23,177,0.00,2.28,0.00,0.000,1030,0.000,0.056,2330,2451,3965,4003,3928,0,0,0,0,0,0,28.83,14.69,28.83
$GC,486,-1.10,-243.3,2330,2452,4002,3932,133.5,-30.8,42,491,0.00,2.20,0.00,0.000,260,0.000,0.073,2320,3788,3966,4002,3931,0,0,0,0,0,0,28.83,14.75,28.83
$GC,594,-1.10,-243.3,1424,3788,4001,3931,166.7,-32.2,47,599,0.00,2.05,0.00,0.000,1030,0.000,0.034,2319,2442,3966,4001,3932,0,0,0,0,0,0,28.83,14.81,28.83
$GC,911,-1.10,-243.3,2319,2435,4001,3933,262.7,-28.9,63,916,0.00,2.22,0.00,0.000,260,0.000,0.072,2309,3786,3967,4001,3933,0,0,0,0,0,0,28.83,14.81,28.83
$GC,994,-1.10,-243.3,2309,3786,4001,3932,285.3,-27.1,67,1000,0.15,2.05,0.00,0.000,3078,0.275,0.032,2342,2445,3967,4001,3933,0,0,0,0,0,0,14.55,14.85,28.83
$GC,1318,-1.10,-243.3,2342,2439,4001,3933,358.9,-22.2,83,1323,0.00,2.22,0.00,0.000,260,0.000,0.075,2338,3784,3967,4001,3933,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1426,-1.10,-243.3,2334,3785,4001,3933,383.5,-24.2,88,1431,0.00,2.03,0.00,0.000,1030,0.000,0.034,2333,2441,3967,4001,3933,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1743,-1.10,-243.3,2334,2435,4000,3928,456.3,-22.5,104,1749,0.00,2.22,0.00,0.000,260,0.000,0.076,2324,3780,3966,4001,3932,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1770,-1.10,-243.3,1472,3779,4000,3931,461.4,-22.7,105,1775,0.00,2.00,0.00,0.000,1030,0.000,0.033,2323,2457,3966,4000,3932,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2087,-1.10,-243.3,2321,2448,3997,3930,531.0,-22.3,121,2092,0.00,2.20,0.00,0.000,260,0.000,0.080,2313,3777,3963,3997,3930,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2184,-1.10,-243.3,2313,3778,3997,3932,550.2,-23.1,125,2192,0.12,2.03,0.00,0.000,3078,0.280,0.036,2339,2440,3963,3997,3929,0,0,0,0,0,0,14.64,14.96,28.83
$GC,2500,-1.10,-243.3,2339,2437,3997,3925,620.7,-21.5,140,2505,0.00,2.22,0.00,0.000,260,0.000,0.078,2331,3781,3960,3997,3924,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2567,-1.10,-243.3,2332,3781,3997,3923,634.7,-22.0,142,2572,0.00,2.03,0.00,0.000,1030,0.000,0.036,2332,2456,3960,3997,3923,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2896,-1.10,-243.3,2332,2450,3997,3916,707.6,-21.6,153,2901,0.00,2.22,0.00,0.000,260,0.000,0.083,2321,3780,3956,3997,3916,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2953,-1.10,-243.3,2321,3781,3997,3915,715.2,-21.7,154,2960,0.00,2.05,0.00,0.000,1030,0.000,0.037,2321,2448,3956,3997,3915,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3259,-1.10,-243.3,2317,2446,3996,3908,785.3,-20.7,165,3265,0.00,2.22,0.00,0.000,260,0.000,0.083,2311,3775,3952,3997,3908,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3322,-1.10,-243.3,2311,3775,3992,3907,798.6,-20.6,167,3328,0.15,2.05,0.00,0.000,3078,0.268,0.038,2345,2457,3952,3997,3907,0,0,0,0,0,0,14.61,14.93,28.83
$GC,3656,-1.10,-243.3,2344,2451,3997,3901,859.5,-17.9,178,3661,0.00,2.25,0.00,0.000,260,0.000,0.087,2337,3781,3950,3999,3901,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3748,-1.10,-243.3,2337,3779,3997,3899,877.3,-19.0,181,3754,0.00,2.10,0.00,0.000,1030,0.000,0.041,2337,2446,3948,3997,3899,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4083,-1.10,-243.3,2337,2440,3997,3892,938.3,-17.6,192,4084,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2440,3945,3997,3893,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4379,begin apogee
$GC,4385,-0.21,0.0,2337,2333,3995,3888,992.0,-17.9,202,4605,1.00,0.00,211.35,1.707,10246,0.216,0.000,2625,2333,3088,3115,3061,0,0,0,0,0,0,14.59,28.83,13.57
$STATE,4607,end apogee,CONTROL_FINISHED_OK
$STATE,4607,begin climb
$GC,4609,1.10,243.3,2625,2333,3112,3059,1004.3,0.0,209,4867,1.23,2.38,245.15,1.692,10756,0.058,0.057,3079,980,2094,2123,2066,0,0,0,0,0,0,14.25,14.12,13.50
$GC,4985,1.10,243.3,3079,980,2121,2051,960.2,20.6,222,4990,0.00,2.33,0.00,0.000,1030,0.000,0.063,3079,2347,2086,2121,2051,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5319,1.10,243.3,3079,2348,2121,2044,892.5,19.8,233,5324,0.00,2.28,0.00,0.000,516,0.000,0.053,3092,971,2082,2121,2043,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5452,1.10,243.3,3089,971,2121,2042,868.8,19.1,237,5458,0.15,2.30,0.00,0.000,5126,0.310,0.062,3059,2353,2081,2121,2041,0,0,0,0,0,0,14.50,14.72,28.83
$GC,5779,1.10,243.3,3055,2353,2121,2037,804.7,19.1,248,5784,0.00,2.40,0.00,0.000,260,0.000,0.090,3058,3759,2078,2120,2037,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5833,1.10,243.3,3058,3760,2114,2038,797.3,19.4,249,5838,0.00,2.20,0.00,0.000,1030,0.000,0.040,3065,2357,2079,2120,2038,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6145,1.10,243.3,3067,2352,2119,2035,727.8,21.1,260,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2353,2077,2119,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6446,1.10,243.3,3066,2347,2118,2034,662.7,21.9,270,6451,0.00,2.25,0.00,0.000,516,0.000,0.053,3077,964,2076,2118,2034,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6493,1.10,243.3,3077,964,2119,2034,655.6,21.7,271,6498,0.00,2.28,0.00,0.000,1030,0.000,0.057,3077,2353,2075,2117,2034,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6812,1.10,243.3,3077,2353,2117,2033,585.0,21.2,283,6817,0.00,2.28,0.00,0.000,516,0.000,0.052,3087,955,2074,2117,2032,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6849,1.10,243.3,3086,954,2117,2032,580.3,20.6,284,6856,0.15,2.30,0.00,0.000,5126,0.300,0.057,3055,2355,2074,2117,2032,0,0,0,0,0,0,14.54,14.81,28.83
$GC,7155,1.10,243.3,3055,2355,2116,2029,520.9,17.7,300,7160,0.00,2.28,0.00,0.000,516,0.000,0.050,3062,958,2072,2116,2029,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7207,1.10,243.3,3062,958,2116,2029,514.1,16.6,302,7212,0.00,2.30,0.00,0.000,1030,0.000,0.057,3063,2359,2072,2116,2029,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7519,1.10,243.3,3062,2359,2116,2028,459.6,17.0,318,7525,0.00,2.28,0.00,0.000,516,0.000,0.050,3073,957,2071,2115,2028,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7617,1.10,243.3,3073,956,2115,2027,447.3,14.8,322,7623,0.00,2.30,0.00,0.000,1030,0.000,0.057,3073,2357,2071,2115,2028,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7922,1.10,243.3,3073,2357,2116,2027,396.5,15.5,338,7927,0.00,2.28,0.00,0.000,516,0.000,0.050,3082,959,2071,2116,2027,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8041,1.10,243.3,3083,959,2115,2027,380.3,15.6,343,8047,0.00,2.28,0.00,0.000,1030,0.000,0.055,3083,2351,2071,2115,2027,0,0,0,0,0,0,28.83,14.79,28.83
$GC,8345,1.10,243.3,3083,2351,2116,2028,326.8,16.5,359,8351,0.00,2.38,0.00,0.000,260,0.000,0.084,3087,3761,2069,2111,2027,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8477,1.10,243.3,3083,3757,2115,2027,305.4,17.6,365,8484,0.17,2.22,0.00,0.000,5126,0.316,0.037,3055,2335,2071,2115,2027,0,0,0,0,0,0,14.47,14.87,28.83
$GC,8791,1.10,243.3,3055,2331,2119,2027,267.4,11.5,381,8797,0.00,2.20,0.00,0.000,516,0.000,0.047,3064,960,2071,2116,2027,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8929,1.10,243.3,3064,959,2116,2029,250.9,13.6,387,8935,0.00,2.28,0.00,0.000,1030,0.000,0.053,3064,2360,2072,2116,2028,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9235,1.10,243.3,3063,2361,2116,2028,206.1,13.3,403,9240,0.00,2.25,0.00,0.000,516,0.000,0.047,3074,965,2072,2116,2029,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9266,1.10,243.3,3074,965,2116,2030,203.2,13.0,404,9272,0.00,2.25,0.00,0.000,1030,0.000,0.052,3074,2353,2073,2116,2030,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9579,1.11,247.2,3074,2349,2116,2031,164.4,11.2,420,9585,0.00,2.22,0.00,0.000,516,0.000,0.045,3083,964,2074,2116,2032,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9812,1.11,247.2,3084,964,2116,2034,139.2,11.7,431,9818,0.00,2.25,0.00,0.000,1030,0.000,0.050,3084,2356,2073,2112,2034,0,0,0,0,0,0,28.83,14.80,28.83
$GC,10125,1.11,250.3,3084,2356,2116,2035,100.4,11.3,447,10131,0.00,2.22,0.00,0.000,516,0.000,0.045,3093,962,2075,2116,2035,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10250,1.21,297.9,3093,962,2117,2035,87.9,9.8,453,10282,0.00,2.25,24.90,0.383,9222,0.000,0.049,3093,2361,1878,1913,1844,0,0,0,0,0,0,28.83,14.81,14.48
$GC,10590,1.21,297.9,3094,2361,1923,1858,48.0,12.1,470,10601,0.00,2.28,1.80,0.185,8708,0.000,0.044,3103,969,1880,1916,1845,0,0,0,0,0,0,28.83,14.79,14.62
$GC,10709,1.25,320.7,3103,969,1924,1855,34.9,10.6,481,10730,0.00,2.22,13.18,0.228,9222,0.000,0.050,3103,2348,1784,1820,1749,0,0,0,0,0,0,28.83,14.76,14.55
$GC,11034,1.47,428.4,3103,2348,1832,1763,7.6,7.8,535,11081,0.17,0.00,43.90,0.154,10754,0.116,0.000,3180,2349,1412,1441,1384,0,0,0,0,0,0,14.78,28.83,28.83
$STATE,11082,end climb,SURFACE_DEPTH_REACHED
$STATE,11083,begin surface coast
$FINISH,-1.3,1.008999
$STATE,11110,end surface coast,CONTROL_FINISHED_OK
$STATE,11110,begin surface
$SM_CCo,11127,28.62,0.141,0,0,1152,475.15
$SM_GC,-0.04,8.00,0.15,28.62,0.047,0.116,0.141,236,2473,1152,-7.61,-1.10,475.15,0,0,0,0,0,0,14.76,14.78,14.64
$IRIDIUM_FIX,2248.70,12553.21,170613,131324
$TT8_MAMPS,0.019474,0.019474
$HUMID,48.14
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,25.40
$XPDR_PINGS,1
$SC_FREEKB,3844064
$24V_AH,13.5,85.411
$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,20.750,106.850,540.275,28.625,0.000,28.343,40.347,188.196,0.250,0.000,16.173,1775.641,7139.517,615.046,1842.034,236.966,0.000,1493.405,0.000,1490.240,0.000,0.544,0.000
$DEVICE_MAMPS,376.380,124.695,1706.715,140.760,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11135.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.005,0.000,0.000,0.000
$MEM,328384
$DATA_FILE_SIZE,20065,548
$CAP_FILE_SIZE,138137,0
$CFSIZE,260034560,234160128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170613,201236,2244.806,12507.900,39,1.6,39,-3.2