version: 66.11
glider: 181
mission: 11
dive: 242
start: 6 18 113 2 48 41
data:
$ID,181
$MISSION,11
$DIVE,242
$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,-96048.102
$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,74
$R_STBD_OVSHOOT,37
$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
$GPS1,180613,023659,2242.694,12507.777,36,0.9,41,-3.2
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.10
$_SM_ANGLEo,-71.8
$GPS2,180613,024813,2242.643,12507.958,14,1.2,14,-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,224.2,178360,-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,-243.3,212,2464,1160,1154,0.0,0.0,0,100,0.00,0.00,-77.50,0.000,16386,0.000,0.000,212,2464,3133,3180,3086,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-1.10,-243.3,212,2465,3179,3088,4.0,-14.7,14,133,9.50,2.20,-13.10,0.000,18948,0.376,0.054,2339,1054,3964,4005,3923,0,0,0,0,0,0,14.38,14.71,14.93
$GC,245,-1.10,-243.3,2340,1052,4002,3927,53.9,-28.0,30,251,0.00,2.28,0.00,0.000,1030,0.000,0.057,2332,2441,3964,4003,3926,0,0,0,0,0,0,28.83,14.69,28.83
$GC,558,-1.10,-243.3,2332,2443,4006,3929,145.3,-28.0,46,563,0.00,2.20,0.00,0.000,260,0.000,0.076,2321,3783,3965,4002,3929,0,0,0,0,0,0,28.83,14.74,28.83
$GC,665,-1.10,-243.3,1448,3782,4001,3929,176.4,-30.4,51,670,0.00,2.03,0.00,0.000,1030,0.000,0.033,2321,2440,3965,4001,3930,0,0,0,0,0,0,28.83,14.87,28.83
$GC,983,-1.10,-243.3,2321,2434,4001,3930,271.8,-30.1,67,988,0.00,2.22,0.00,0.000,260,0.000,0.072,2311,3784,3966,4002,3930,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1050,-1.10,-243.3,2308,3784,4001,3930,290.6,-29.8,70,1056,0.15,2.03,0.00,0.000,3078,0.273,0.032,2344,2442,3965,4001,3930,0,0,0,0,0,0,14.62,14.91,28.83
$GC,1369,-1.10,-243.3,2343,2435,4001,3930,358.5,-19.0,86,1374,0.00,2.22,0.00,0.000,260,0.000,0.073,2336,3785,3965,4001,3930,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1501,-1.10,-243.3,2336,3786,4001,3930,386.2,-22.8,92,1506,0.00,2.00,0.00,0.000,1030,0.000,0.033,2336,2456,3965,4000,3930,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1814,-1.10,-243.3,2336,2448,3997,3928,463.0,-24.9,108,1819,0.00,2.20,0.00,0.000,260,0.000,0.080,2326,3781,3960,3997,3923,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1897,-1.10,-243.3,2326,3782,4004,3928,484.7,-26.3,112,1902,0.00,2.03,0.00,0.000,1030,0.000,0.034,2326,2444,3962,3997,3927,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2219,-1.10,-243.3,2326,2436,3997,3924,558.6,-22.1,128,2224,0.00,2.22,0.00,0.000,260,0.000,0.076,2316,3785,3960,3997,3924,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2305,-1.10,-243.3,1472,3785,3996,3922,576.0,-21.3,132,2311,0.12,2.03,0.00,0.000,3078,0.272,0.035,2342,2450,3959,3997,3922,0,0,0,0,0,0,14.66,14.93,28.83
$GC,2624,-1.10,-243.3,2343,2442,3997,3917,635.7,-19.3,145,2629,0.00,2.22,0.00,0.000,260,0.000,0.081,2335,3780,3957,3997,3917,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2716,-1.10,-243.3,2335,3779,3997,3915,655.2,-20.7,148,2722,0.00,2.05,0.00,0.000,1030,0.000,0.036,2334,2451,3956,3997,3915,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3051,-1.10,-243.3,2335,2444,3997,3908,727.3,-21.5,159,3057,0.00,2.25,0.00,0.000,260,0.000,0.083,2324,3781,3952,3997,3908,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3118,-1.10,-243.3,1476,3782,3996,3906,740.7,-21.2,161,3123,0.00,2.05,0.00,0.000,1030,0.000,0.038,2324,2455,3952,3997,3907,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3447,-1.10,-243.3,2324,2449,3997,3901,810.9,-21.3,172,3452,0.00,2.25,0.00,0.000,260,0.000,0.086,2314,3783,3949,3997,3901,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3499,-1.10,-243.3,2314,3784,3997,3901,818.5,-21.5,173,3505,0.12,2.08,0.00,0.000,3078,0.279,0.039,2340,2450,3948,3997,3900,0,0,0,0,0,0,14.62,14.92,28.83
$GC,3814,-1.10,-243.3,2340,2444,3997,3895,884.2,-19.3,184,3819,0.00,2.25,0.00,0.000,260,0.000,0.088,2333,3777,3945,3997,3894,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3871,-1.10,-243.3,2333,3778,3996,3893,890.9,-19.3,185,3878,0.00,2.08,0.00,0.000,1030,0.000,0.040,2332,2443,3944,3996,3893,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4177,-1.10,-243.3,2333,2438,3995,3888,956.5,-20.4,196,4183,0.00,2.28,0.00,0.000,260,0.000,0.091,2322,3777,3941,3995,3888,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4244,-1.10,-243.3,2322,3777,3993,3889,969.3,-20.3,198,4249,0.00,2.08,0.00,0.000,1030,0.000,0.041,2322,2451,3940,3993,3888,0,0,0,0,0,0,28.83,14.93,28.83
$STATE,4360,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4360,begin apogee
$GC,4366,-0.21,0.0,2322,2332,3993,3886,994.8,-21.0,202,4577,1.05,0.00,203.77,1.740,10246,0.227,0.000,2622,2332,3091,3117,3065,0,0,0,0,0,0,14.59,28.83,13.57
$STATE,4578,end apogee,CONTROL_FINISHED_OK
$STATE,4578,begin climb
$GC,4580,1.10,243.3,2622,2332,3115,3061,1009.0,0.0,209,4831,1.23,2.33,240.77,1.707,10756,0.058,0.059,3073,983,2098,2127,2069,0,0,0,0,0,0,14.26,14.14,13.52
$GC,4913,1.10,243.3,3074,982,2124,2055,970.2,23.5,220,4919,0.00,2.35,0.00,0.000,1030,0.000,0.067,3074,2353,2089,2124,2055,0,0,0,0,0,0,28.83,14.41,28.83
$GC,5232,1.10,243.3,3074,2353,2124,2046,892.0,23.6,231,5238,0.00,2.28,0.00,0.000,516,0.000,0.056,3084,979,2085,2124,2047,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5260,1.10,243.3,3084,979,2124,2046,892.0,23.6,231,5267,0.00,2.30,0.00,0.000,1030,0.000,0.066,3083,2352,2085,2124,2046,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5566,1.10,243.3,3084,2349,2124,2041,814.8,22.7,242,5572,0.12,2.25,0.00,0.000,4612,0.329,0.053,3063,978,2083,2124,2042,0,0,0,0,0,0,14.52,14.79,28.83
$GC,5639,1.10,243.3,3062,978,2123,2040,801.4,22.1,244,5644,0.00,2.30,0.00,0.000,1030,0.000,0.063,3062,2352,2081,2123,2040,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5964,1.10,243.3,3063,2353,2123,2037,735.9,19.7,255,5969,0.00,2.25,0.00,0.000,516,0.000,0.052,3072,976,2080,2123,2037,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6046,1.10,243.3,3072,976,2123,2037,722.7,19.7,257,6051,0.00,2.28,0.00,0.000,1030,0.000,0.060,3073,2354,2079,2123,2036,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6359,1.10,243.3,3073,2354,2118,2030,652.9,21.3,268,6364,0.00,2.25,0.00,0.000,516,0.000,0.053,3082,976,2078,2122,2035,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6411,1.10,243.3,3083,975,2121,2034,645.9,21.3,269,6416,0.00,2.28,0.00,0.000,1030,0.000,0.060,3083,2356,2078,2121,2035,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6735,1.10,243.3,3083,2356,2120,2034,579.1,18.1,282,6741,0.00,2.38,0.00,0.000,260,0.000,0.090,3082,3756,2078,2121,2036,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6792,1.10,243.3,3083,3756,2119,2034,570.4,18.9,284,6800,0.17,2.20,0.00,0.000,5126,0.334,0.039,3056,2353,2076,2119,2034,0,0,0,0,0,0,14.51,14.89,28.83
$GC,7098,1.10,243.3,3057,2348,2118,2032,514.7,16.8,300,7103,0.00,2.25,0.00,0.000,516,0.000,0.052,3065,959,2075,2118,2032,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7225,1.10,243.3,3065,959,2118,2032,493.4,17.1,306,7230,0.00,2.30,0.00,0.000,1030,0.000,0.060,3064,2353,2075,2118,2032,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7542,1.10,243.3,3065,2354,2118,2031,435.7,18.5,322,7548,0.00,2.40,0.00,0.000,260,0.000,0.090,3065,3761,2074,2118,2031,0,0,0,0,0,0,28.83,14.77,28.83
$GC,7565,1.10,243.3,3064,3761,2118,2031,431.2,18.8,323,7571,0.00,2.22,0.00,0.000,1030,0.000,0.038,3075,2347,2074,2118,2031,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7888,1.10,243.3,3076,2342,2116,2031,375.8,15.3,339,7894,0.00,2.25,0.00,0.000,516,0.000,0.051,3086,957,2074,2117,2031,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8122,1.10,243.3,3086,957,2117,2031,346.2,13.3,350,8128,0.15,2.28,0.00,0.000,5126,0.295,0.055,3054,2352,2073,2117,2030,0,0,0,0,0,0,14.51,14.81,28.83
$GC,8435,1.10,243.3,3054,2352,2117,2030,298.0,15.6,366,8440,0.00,2.38,0.00,0.000,260,0.000,0.085,3054,3762,2074,2118,2030,0,0,0,0,0,0,28.83,14.77,28.83
$GC,8447,1.10,243.3,3054,3762,2117,2030,298.0,15.6,366,8452,0.00,2.20,0.00,0.000,1030,0.000,0.037,3062,2344,2073,2117,2030,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8760,1.10,243.3,3062,2340,2118,2030,247.1,14.6,382,8765,0.00,2.20,0.00,0.000,516,0.000,0.048,3072,965,2074,2118,2031,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8933,1.10,243.3,3072,965,2118,2032,224.1,13.8,390,8938,0.00,2.25,0.00,0.000,1030,0.000,0.054,3073,2350,2074,2117,2032,0,0,0,0,0,0,28.83,14.80,28.83
$GC,9245,1.10,243.3,3072,2351,2118,2032,183.3,12.1,406,9251,0.00,2.22,0.00,0.000,516,0.000,0.047,3082,962,2075,2118,2033,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9273,1.10,243.3,3082,962,2118,2033,180.6,11.8,407,9278,0.00,2.28,0.00,0.000,1030,0.000,0.053,3082,2361,2075,2118,2033,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9591,1.10,243.3,3083,2361,2118,2035,141.8,12.7,423,9592,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2362,2076,2118,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9893,1.13,256.7,3083,2361,2117,2035,105.1,10.9,438,9899,0.00,0.00,4.22,0.317,8198,0.000,0.000,3083,2361,2046,2087,2006,0,0,0,0,0,0,28.83,28.83,14.33
$GC,10191,1.19,289.5,3083,2360,2105,2022,73.7,10.3,453,10215,0.00,2.33,18.98,0.342,8708,0.000,0.045,3092,953,1912,1950,1875,0,0,0,0,0,0,28.83,14.83,14.47
$GC,10285,1.31,346.7,3093,954,1959,1886,66.0,9.5,457,10322,0.00,2.28,29.67,0.320,9222,0.000,0.050,3093,2357,1679,1712,1646,0,0,0,0,0,0,28.83,14.76,14.52
$GC,10626,1.31,347.2,3093,2357,1721,1656,24.0,11.4,485,10634,0.00,2.30,1.50,0.191,8708,0.000,0.044,3102,963,1677,1713,1641,0,0,0,0,0,0,28.83,14.81,14.62
$STATE,10861,end climb,SURFACE_DEPTH_REACHED
$STATE,10861,begin surface coast
$FINISH,-0.1,1.021243
$STATE,10892,end surface coast,CONTROL_FINISHED_OK
$STATE,10892,begin surface
$SM_CCo,10911,59.62,0.140,0,0,1154,475.15
$SM_GC,-0.06,7.80,2.47,59.62,0.050,0.050,0.140,239,2451,1154,-7.61,-0.96,475.15,0,0,0,0,0,0,14.82,14.76,14.66
$IRIDIUM_FIX,2225.34,12511.37,180613,020218
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.12
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,25.50
$XPDR_PINGS,3
$SC_FREEKB,3842912
$24V_AH,13.5,86.350
$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,20.425,111.350,498.925,59.625,0.000,59.943,80.654,254.991,0.750,0.000,17.642,1741.466,7112.849,607.946,1947.782,244.885,0.000,1456.297,0.000,1441.270,0.000,0.543,0.000
$DEVICE_MAMPS,376.380,125.460,1739.610,139.995,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10934.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.023,0.000,0.000,0.000
$MEM,328348
$DATA_FILE_SIZE,20071,537
$CAP_FILE_SIZE,138349,0
$CFSIZE,260034560,233881600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180613,055248,2241.433,12507.963,14,2.0,31,-3.2