version: 66.11
glider: 181
mission: 11
dive: 240
start: 6 17 113 20 21 45
data:
$ID,181
$MISSION,11
$DIVE,240
$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,-96045.578
$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,66
$R_STBD_OVSHOOT,57
$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
$GPS1,170613,201236,2244.806,12507.900,39,1.6,39,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.10
$_SM_ANGLEo,-69.1
$GPS2,170613,202119,2244.802,12508.011,13,1.8,13,-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,223.4,181453,-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,-243.3,208,2479,1159,1158,0.0,0.0,0,100,0.00,0.00,-77.30,0.000,16386,0.000,0.000,206,2480,3151,3199,3104,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-1.10,-243.3,207,2480,3200,3104,4.3,-15.6,14,133,9.50,2.25,-12.80,0.000,18948,0.376,0.061,2339,1050,3966,4005,3927,0,0,0,0,0,0,14.36,14.72,14.92
$GC,172,-1.10,-243.3,2338,1049,4003,3931,34.2,-35.2,24,177,0.00,2.25,0.00,0.000,1030,0.000,0.054,2331,2425,3967,4003,3931,0,0,0,0,0,0,28.83,14.68,28.83
$GC,485,-1.10,-243.3,2331,2426,4001,3933,127.4,-29.6,42,490,0.00,2.22,0.00,0.000,260,0.000,0.073,2320,3781,3967,4001,3933,0,0,0,0,0,0,28.83,14.76,28.83
$GC,609,-1.10,-243.3,2320,3781,4001,3933,165.1,-30.0,48,615,0.00,2.03,0.00,0.000,1030,0.000,0.033,2319,2445,3967,4001,3934,0,0,0,0,0,0,28.83,14.85,28.83
$GC,932,-1.10,-243.3,2320,2438,4001,3934,263.4,-31.2,64,937,0.00,2.22,0.00,0.000,260,0.000,0.074,2309,3783,3967,4001,3934,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1029,-1.10,-243.3,2309,3783,4001,3935,289.3,-31.2,68,1037,0.15,2.03,0.00,0.000,3078,0.273,0.032,2342,2431,3968,4001,3935,0,0,0,0,0,0,14.57,14.89,28.83
$GC,1335,-1.10,-243.3,2342,2425,4001,3934,364.5,-22.3,84,1340,0.00,2.25,0.00,0.000,260,0.000,0.073,2334,3788,3967,4000,3935,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1438,-1.10,-243.3,2334,3789,4000,3934,389.8,-25.0,89,1443,0.00,2.00,0.00,0.000,1030,0.000,0.033,2335,2457,3967,4000,3935,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1761,-1.10,-243.3,2333,2448,3997,3935,465.2,-22.7,105,1766,0.00,2.20,0.00,0.000,260,0.000,0.076,2324,3786,3966,3997,3936,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1793,-1.10,-243.3,2324,3786,3996,3935,470.7,-23.1,106,1798,0.00,2.03,0.00,0.000,1030,0.000,0.034,2324,2440,3966,3997,3935,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2105,-1.10,-243.3,2324,2435,3997,3932,538.9,-22.1,122,2111,0.00,2.22,0.00,0.000,260,0.000,0.077,2314,3782,3964,3996,3932,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2190,-1.10,-243.3,2313,3782,3995,3931,557.7,-22.6,126,2196,0.12,2.03,0.00,0.000,3078,0.278,0.034,2339,2451,3963,3997,3930,0,0,0,0,0,0,14.64,14.94,28.83
$GC,2514,-1.10,-243.3,2340,2446,3997,3926,626.1,-20.5,140,2519,0.00,2.22,0.00,0.000,260,0.000,0.080,2333,3782,3961,3997,3925,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2565,-1.10,-243.3,2332,3782,3997,3925,632.8,-20.5,141,2571,0.00,2.03,0.00,0.000,1030,0.000,0.036,2332,2445,3960,3997,3924,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2879,-1.10,-243.3,2333,2439,3997,3918,700.3,-20.3,152,2884,0.00,2.25,0.00,0.000,260,0.000,0.082,2322,3787,3957,3997,3918,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2956,-1.10,-243.3,2322,3787,3997,3916,713.9,-21.0,154,2961,0.00,2.03,0.00,0.000,1030,0.000,0.037,2322,2469,3957,3998,3916,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3275,-1.10,-243.3,2322,2463,3997,3909,785.2,-21.3,165,3280,0.00,2.20,0.00,0.000,260,0.000,0.084,2312,3777,3953,3997,3909,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3312,-1.10,-243.3,2312,3777,3997,3908,792.8,-21.4,166,3318,0.15,2.05,0.00,0.000,3078,0.278,0.037,2346,2448,3952,3996,3908,0,0,0,0,0,0,14.60,14.93,28.83
$GC,3641,-1.10,-243.3,2345,2442,3996,3902,855.7,-18.7,177,3646,0.00,2.25,0.00,0.000,260,0.000,0.087,2337,3776,3949,3997,3901,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3718,-1.10,-243.3,2337,3776,3997,3901,868.1,-19.2,179,3723,0.00,2.08,0.00,0.000,1030,0.000,0.039,2337,2446,3948,3997,3900,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4037,-1.10,-243.3,2337,2440,3996,3895,936.7,-20.4,190,4042,0.00,2.22,0.00,0.000,516,0.000,0.050,2341,1051,3948,4002,3895,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4064,-1.10,-243.3,2337,1051,3996,3895,936.7,-20.4,190,4071,0.00,2.33,0.00,0.000,1030,0.000,0.069,2328,2447,3945,3996,3895,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,4308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4308,begin apogee
$GC,4314,-0.21,0.0,2328,2336,3995,3890,990.9,-20.2,199,4539,1.05,0.00,218.32,1.666,10246,0.226,0.000,2626,2335,3091,3117,3065,0,0,0,0,0,0,14.58,28.83,13.62
$STATE,4540,end apogee,CONTROL_FINISHED_OK
$STATE,4541,begin climb
$GC,4543,1.10,243.3,2627,2336,3114,3061,1004.1,0.0,206,4799,1.23,2.33,245.65,1.680,10756,0.062,0.056,3075,977,2095,2124,2067,0,0,0,0,0,0,14.26,14.14,13.51
$GC,4912,1.10,243.3,3074,977,2122,2050,957.5,21.7,219,4917,0.00,2.35,0.00,0.000,1030,0.000,0.066,3075,2350,2085,2121,2050,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5247,1.10,243.3,3075,2351,2122,2042,883.6,21.9,230,5252,0.00,2.28,0.00,0.000,516,0.000,0.054,3085,973,2082,2122,2042,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5334,1.10,243.3,3085,973,2122,2041,869.7,21.7,232,5342,0.12,2.30,0.00,0.000,5126,0.313,0.064,3060,2353,2080,2121,2040,0,0,0,0,0,0,14.52,14.72,28.83
$GC,5642,1.10,243.3,3060,2352,2121,2037,803.3,19.6,243,5647,0.00,2.40,0.00,0.000,260,0.000,0.092,3059,3753,2079,2121,2037,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5680,1.10,243.3,2096,3753,2079,2027,795.7,20.0,244,5685,0.00,2.20,0.00,0.000,1030,0.000,0.039,3068,2354,2078,2120,2037,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6010,1.10,243.3,3068,2353,2119,2034,730.7,20.1,255,6015,0.00,2.25,0.00,0.000,516,0.000,0.053,3078,961,2077,2120,2035,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6073,1.10,243.3,3078,961,2119,2035,717.6,20.0,257,6079,0.10,2.30,0.00,0.000,5126,0.324,0.059,3059,2352,2077,2119,2035,0,0,0,0,0,0,14.57,14.81,28.83
$GC,6407,1.10,243.3,3059,2353,2118,2032,652.7,18.8,268,6412,0.00,2.38,0.00,0.000,260,0.000,0.090,3059,3752,2075,2118,2033,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6434,1.10,243.3,3059,3751,2118,2033,652.7,18.8,268,6441,0.00,2.20,0.00,0.000,1030,0.000,0.039,3066,2344,2075,2118,2033,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6751,1.10,243.3,3068,2340,2116,2031,586.6,19.9,280,6756,0.00,2.22,0.00,0.000,516,0.000,0.051,3080,964,2074,2117,2031,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6878,1.10,243.3,3078,965,2116,2031,562.2,19.5,286,6884,0.00,2.28,0.00,0.000,1030,0.000,0.057,3078,2352,2073,2116,2030,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7196,1.10,243.3,3078,2351,2115,2028,504.0,17.4,302,7201,0.00,2.28,0.00,0.000,516,0.000,0.050,3088,955,2072,2116,2028,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7310,1.10,243.3,3088,954,2115,2028,486.1,17.6,307,7316,0.15,2.30,0.00,0.000,5126,0.300,0.058,3056,2352,2071,2115,2028,0,0,0,0,0,0,14.52,14.80,28.83
$GC,7623,1.10,243.3,3056,2352,2115,2027,430.3,17.4,323,7628,0.00,2.28,0.00,0.000,516,0.000,0.050,3064,954,2071,2115,2027,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7709,1.10,243.3,2128,953,2076,2017,416.5,16.7,327,7715,0.00,2.30,0.00,0.000,1030,0.000,0.057,3064,2353,2071,2115,2027,0,0,0,0,0,0,28.83,14.79,28.83
$GC,8027,1.10,243.3,3064,2353,2115,2027,368.5,13.7,343,8032,0.00,2.25,0.00,0.000,516,0.000,0.048,3074,963,2071,2115,2027,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8053,1.10,243.3,2144,963,2076,2017,365.2,14.0,344,8058,0.00,2.28,0.00,0.000,1030,0.000,0.057,3074,2351,2071,2115,2027,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8371,1.10,243.3,3074,2352,2115,2027,314.3,15.6,360,8376,0.00,2.38,0.00,0.000,260,0.000,0.085,3074,3762,2071,2115,2027,0,0,0,0,0,0,28.83,14.77,28.83
$GC,8503,1.10,243.3,3074,3762,2115,2028,293.2,17.5,366,8509,0.12,2.20,0.00,0.000,5126,0.333,0.037,3061,2341,2071,2115,2028,0,0,0,0,0,0,14.49,14.88,28.83
$GC,8817,1.10,243.3,3059,2336,2115,2027,253.4,12.7,382,8822,0.00,2.20,0.00,0.000,516,0.000,0.047,3067,961,2071,2115,2028,0,0,0,0,0,0,28.83,14.84,28.83
$GC,8941,1.10,243.3,3067,961,2115,2028,237.2,13.3,388,8946,0.00,2.28,0.00,0.000,1030,0.000,0.054,3067,2361,2071,2115,2028,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9264,1.10,243.3,3073,2361,2115,2030,196.4,12.1,404,9269,0.00,2.33,0.00,0.000,260,0.000,0.081,3067,3754,2072,2115,2030,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9287,1.10,243.3,3067,3754,2115,2032,193.3,12.5,405,9292,0.00,2.17,0.00,0.000,1030,0.000,0.035,3078,2341,2073,2115,2032,0,0,0,0,0,0,28.83,14.79,28.83
$GC,9610,1.10,243.3,3084,2336,2115,2033,153.7,12.0,421,9615,0.00,2.17,0.00,0.000,516,0.000,0.045,3088,967,2074,2116,2033,0,0,0,0,0,0,28.83,14.84,28.83
$GC,9777,1.10,243.3,2152,967,2075,2025,133.5,12.4,429,9784,0.15,2.25,0.00,0.000,5126,0.281,0.052,3055,2357,2075,2115,2035,0,0,0,0,0,0,14.53,14.81,28.83
$GC,10097,1.33,358.3,3055,2357,2116,2035,103.1,7.5,445,10162,0.17,2.40,55.50,0.441,10500,0.112,0.079,3131,3761,1635,1664,1606,0,0,0,0,0,0,14.83,14.75,14.45
$GC,10189,1.33,358.3,3131,3761,1666,1617,93.2,11.8,449,10196,0.00,2.17,1.27,0.220,9222,0.000,0.034,3141,2350,1632,1664,1600,0,0,0,0,0,0,28.83,14.81,14.59
$GC,10504,1.33,358.3,3141,2345,1679,1615,38.0,15.7,468,10516,0.00,2.25,1.90,0.180,8708,0.000,0.044,3147,962,1633,1667,1599,0,0,0,0,0,0,28.83,14.73,14.62
$GC,10532,1.33,358.3,3151,962,1667,1604,34.5,14.8,470,10539,0.00,2.25,0.00,0.000,1030,0.000,0.053,3151,2347,1638,1672,1605,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,10783,end climb,SURFACE_DEPTH_REACHED
$STATE,10783,begin surface coast
$FINISH,-0.2,1.021289
$STATE,10810,end surface coast,CONTROL_FINISHED_OK
$STATE,10810,begin surface
$SM_CCo,10828,54.83,0.141,0,0,1153,475.15
$SM_GC,-0.26,7.95,0.15,54.83,0.050,0.121,0.141,234,2473,1153,-7.62,-1.16,475.15,0,0,0,0,0,0,14.79,14.80,14.66
$IRIDIUM_FIX,2230.01,12519.23,170613,171712
$TT8_MAMPS,0.019474,0.019474
$HUMID,48.42
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,3843680
$24V_AH,13.5,85.713
$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,20.975,115.850,522.650,54.825,0.000,32.893,22.894,248.261,0.000,0.000,15.663,1698.783,6996.220,628.428,1835.919,252.601,0.000,1478.347,0.000,1420.442,0.000,0.544,0.000
$DEVICE_MAMPS,376.380,120.870,1679.940,140.760,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10866.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.829,0.000,0.000,0.000
$MEM,328360
$DATA_FILE_SIZE,20131,518
$CAP_FILE_SIZE,137469,0
$CFSIZE,260034560,234065920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170613,232421,2243.822,12507.458,9,2.2,28,-3.2