version: 66.11
glider: 181
mission: 11
dive: 178
start: 6 8 113 15 56 11
data:
$ID,181
$MISSION,11
$DIVE,178
$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,390
$T_MISSION,420
$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,165
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52184
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0033
$HD_B,0.0082
$HD_C,1.5e-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,450
$N_FILEKB,8
$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,-95920.406
$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,20
$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,102
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2753
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,49
$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
$GPS1,080613,154324,2348.312,12408.506,40,1.2,41,-3.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-71.6
$GPS2,080613,155543,2348.428,12408.957,10,1.3,10,-3.4
$SPEED_LIMITS,0.147,0.278
$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,231.8,256833,-13.6,-8.462,-16.94,2871
$D_GRID,2967
$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,-0.84,-160.6,205,2414,912,912,0.0,0.0,0,104,0.00,0.00,-81.75,0.000,16386,0.000,0.000,205,2414,2988,3040,2937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.84,-160.6,205,2414,3041,2938,3.5,-11.5,14,133,9.90,2.10,-7.32,0.000,18948,0.380,0.060,2421,1080,3413,3503,3323,0,0,0,0,0,0,14.40,14.73,14.95
$GC,146,-0.84,-160.6,2422,1079,3503,3317,21.6,-42.2,20,153,0.00,2.22,0.00,0.000,1030,0.000,0.057,2413,2446,3410,3503,3317,0,0,0,0,0,0,28.83,14.72,28.83
$GC,460,-0.84,-160.6,2414,2448,3503,3318,109.8,-23.8,41,461,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2448,3410,3503,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,762,-0.84,-160.6,2414,2448,3503,3319,172.0,-19.0,56,767,0.00,2.15,0.00,0.000,260,0.000,0.072,2404,3781,3411,3503,3319,0,0,0,0,0,0,28.83,14.83,28.83
$GC,788,-0.84,-160.6,1536,3781,3496,3316,176.8,-19.3,57,793,0.00,1.95,0.00,0.000,1030,0.000,0.033,2404,2479,3411,3503,3319,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1105,-0.84,-160.6,2403,2475,3503,3320,233.9,-17.5,73,1112,0.00,2.12,0.00,0.000,260,0.000,0.072,2394,3783,3411,3503,3320,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1138,-0.84,-160.6,2394,3783,3503,3320,238.0,-17.4,74,1144,0.15,2.00,0.00,0.000,3078,0.262,0.032,2428,2445,3411,3503,3320,0,0,0,0,0,0,14.70,14.95,28.83
$GC,1451,-0.84,-160.6,2428,2440,3504,3320,287.5,-14.7,90,1456,0.00,2.12,0.00,0.000,516,0.000,0.042,2428,1068,3411,3503,3320,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1488,-0.84,-160.6,2428,1067,3503,3320,290.6,-14.6,91,1494,0.00,2.22,0.00,0.000,1030,0.000,0.056,2421,2456,3411,3503,3320,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1794,-0.84,-160.6,2421,2456,3503,3316,336.2,-14.2,107,1799,0.00,2.15,0.00,0.000,260,0.000,0.077,2411,3779,3410,3503,3317,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1845,-0.84,-160.6,2411,3781,3503,3317,342.7,-14.5,109,1851,0.00,2.00,0.00,0.000,1030,0.000,0.034,2411,2451,3409,3503,3316,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2159,-0.84,-160.6,2410,2444,3503,3316,389.1,-14.0,125,2160,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2444,3409,3502,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2460,-0.84,-160.6,2410,2444,3503,3311,430.9,-14.2,140,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2444,3407,3503,3311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2760,-0.84,-160.6,2410,2444,3500,3308,469.9,-13.1,155,2761,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2444,3404,3501,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3060,-0.84,-160.6,2410,2444,3499,3307,510.1,-13.4,170,3065,0.00,2.15,0.00,0.000,516,0.000,0.047,2410,1072,3402,3498,3307,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3106,-0.84,-160.6,1544,1071,3490,3303,516.0,-13.5,172,3111,0.00,2.22,0.00,0.000,1030,0.000,0.059,2401,2446,3402,3498,3307,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3424,-0.84,-160.6,2401,2446,3496,3303,559.6,-14.3,188,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2446,3399,3496,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3725,-0.84,-160.6,2400,2447,3493,3299,602.7,-14.3,203,3731,0.00,2.20,0.00,0.000,260,0.000,0.086,2391,3776,3396,3492,3300,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3767,-0.84,-160.6,2391,3776,3491,3299,607.7,-14.3,204,3774,0.15,2.03,0.00,0.000,3078,0.252,0.041,2426,2456,3395,3492,3299,0,0,0,0,0,0,14.71,14.97,28.83
$GC,4093,-0.84,-160.6,2423,2453,3490,3295,649.3,-12.1,215,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2453,3392,3490,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4392,-0.84,-160.6,2427,2453,3487,3292,685.2,-12.1,225,4398,0.00,2.20,0.00,0.000,516,0.000,0.051,2426,1067,3389,3488,3291,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4460,-0.84,-160.6,2426,1067,3488,3291,692.6,-11.7,227,4465,0.00,2.28,0.00,0.000,1030,0.000,0.063,2419,2451,3389,3487,3291,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4789,-0.84,-160.6,2419,2451,3484,3287,730.5,-11.1,238,4795,0.00,2.22,0.00,0.000,260,0.000,0.091,2409,3780,3386,3484,3288,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4882,-0.84,-160.6,2409,3780,3482,3287,741.7,-11.8,241,4888,0.00,2.08,0.00,0.000,1030,0.000,0.044,2409,2454,3384,3481,3287,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5216,-0.84,-160.6,2410,2449,3481,3284,778.9,-11.1,252,5221,0.00,2.25,0.00,0.000,260,0.000,0.090,2395,3781,3382,3481,3284,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5263,-0.84,-160.6,2399,3782,3479,3283,782.8,-11.4,253,5268,0.00,2.08,0.00,0.000,1030,0.000,0.044,2399,2451,3381,3480,3283,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5580,-0.84,-160.6,2400,2446,3479,3280,819.4,-10.8,264,5586,0.00,2.22,0.00,0.000,516,0.000,0.055,2399,1061,3379,3478,3280,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5603,-0.84,-160.6,2399,1060,3478,3280,819.4,-10.8,264,5610,0.15,2.30,0.00,0.000,3078,0.246,0.067,2425,2450,3379,3478,3280,0,0,0,0,0,0,14.68,14.84,28.83
$GC,5918,-0.84,-160.6,2425,2451,3476,3279,850.0,-9.2,275,5924,0.00,2.25,0.00,0.000,260,0.000,0.096,2417,3778,3376,3475,3278,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5976,-0.84,-160.6,2423,3778,3474,3278,853.8,-9.8,276,5982,0.00,2.08,0.00,0.000,1030,0.000,0.045,2417,2449,3376,3474,3278,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6282,-0.84,-160.6,2417,2447,3474,3275,887.6,-10.3,287,6288,0.00,2.25,0.00,0.000,516,0.000,0.057,2417,1053,3374,3474,3275,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6406,-0.84,-160.6,2417,1053,3473,3274,901.1,-11.0,291,6411,0.00,2.35,0.00,0.000,1030,0.000,0.068,2407,2458,3373,3472,3274,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6740,-0.84,-160.6,2408,2457,3469,3273,940.1,-11.8,302,6745,0.00,2.25,0.00,0.000,260,0.000,0.099,2398,3775,3371,3469,3273,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6813,-0.84,-160.6,2398,3775,3468,3272,948.2,-12.4,304,6820,0.12,2.10,0.00,0.000,3078,0.256,0.048,2424,2444,3370,3468,3273,0,0,0,0,0,0,14.58,14.93,28.83
$GC,7139,-0.84,-160.6,2424,2443,3467,3270,986.1,-11.1,315,7144,0.00,2.25,0.00,0.000,516,0.000,0.058,2425,1056,3368,3467,3270,0,0,0,0,0,0,28.83,14.82,28.83
$GC,7166,-0.84,-160.6,2423,1057,3467,3270,986.1,-11.1,315,7172,0.00,2.33,0.00,0.000,1030,0.000,0.071,2418,2448,3368,3467,3270,0,0,0,0,0,0,28.83,14.80,28.83
$STATE,7201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7201,begin apogee
$GC,7206,-0.25,0.0,2418,2348,3467,3270,993.9,-11.8,317,7377,0.65,0.00,163.60,1.717,10246,0.209,0.000,2609,2348,2752,2801,2704,0,0,0,0,0,0,14.62,28.83,13.59
$STATE,7379,end apogee,CONTROL_FINISHED_OK
$STATE,7379,begin climb
$GC,7381,0.84,160.6,2609,2348,2799,2703,999.3,0.0,322,7546,1.10,0.00,153.07,2.390,10758,0.117,0.000,2966,2347,2099,2118,2080,0,0,0,0,1,0,14.20,28.83,13.18
$GC,7832,0.84,160.6,2966,2347,2116,2065,929.9,18.0,338,7833,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2348,2090,2116,2065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8132,0.84,160.6,2966,2348,2116,2061,876.7,17.8,348,8138,0.00,2.30,0.00,0.000,516,0.000,0.061,2976,961,2088,2116,2061,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8234,0.84,160.6,2975,961,2115,2059,859.6,18.2,351,8240,0.00,2.33,0.00,0.000,1030,0.000,0.067,2975,2352,2087,2116,2059,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8559,0.84,160.6,2976,2353,2116,2056,794.8,19.6,362,8564,0.00,2.42,0.00,0.000,260,0.000,0.094,2976,3760,2085,2115,2056,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8622,0.84,160.6,2976,3761,2116,2056,781.1,20.5,364,8627,0.00,2.25,0.00,0.000,1030,0.000,0.043,2986,2345,2086,2116,2056,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8956,0.84,160.6,2986,2340,2116,2054,717.1,18.7,375,8961,0.00,2.45,0.00,0.000,260,0.000,0.094,2986,3759,2085,2116,2054,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9033,0.84,160.6,2987,3759,2116,2055,703.6,20.0,377,9038,0.00,2.22,0.00,0.000,1030,0.000,0.043,2997,2348,2085,2115,2055,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9352,0.84,160.6,2997,2343,2116,2052,637.7,19.6,388,9357,0.00,2.28,0.00,0.000,516,0.000,0.057,3007,959,2084,2116,2052,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9399,0.84,160.6,3007,959,2115,2055,631.2,19.4,389,9405,0.15,2.30,0.00,0.000,5126,0.288,0.062,2976,2351,2083,2115,2052,0,0,0,0,0,0,14.56,14.78,28.83
$GC,9707,0.84,160.6,2976,2351,2115,2050,576.7,15.7,402,9713,0.00,2.40,0.00,0.000,260,0.000,0.094,2975,3758,2082,2115,2050,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9739,0.84,160.6,2976,3758,2114,2050,573.0,15.9,403,9745,0.00,2.22,0.00,0.000,1030,0.000,0.042,2983,2343,2083,2116,2050,0,0,0,0,0,0,28.83,14.88,28.83
$GC,10053,0.84,160.6,2983,2339,2115,2049,520.1,16.3,419,10058,0.00,2.42,0.00,0.000,260,0.000,0.092,2983,3755,2082,2115,2049,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10097,0.84,160.6,2984,3755,2115,2049,512.1,17.6,421,10102,0.00,2.22,0.00,0.000,1030,0.000,0.042,2994,2342,2082,2116,2049,0,0,0,0,0,0,28.83,14.88,28.83
$GC,10419,0.84,160.6,2995,2337,2115,2048,457.6,16.5,437,10425,0.00,2.28,0.00,0.000,516,0.000,0.055,3004,949,2081,2115,2048,0,0,0,0,0,0,28.83,14.83,28.83
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$STATE,14516,end climb,SURFACE_DEPTH_REACHED
$STATE,14516,begin surface coast
$FINISH,0.6,1.020844
$STATE,14543,end surface coast,CONTROL_FINISHED_OK
$STATE,14543,begin surface
$SM_CCo,14561,69.40,0.138,0,0,917,450.13
$SM_GC,-0.05,8.00,0.20,69.40,0.091,0.099,0.138,226,2473,917,-7.63,-0.82,450.13,0,0,0,0,0,0,14.84,14.84,14.69
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$TT8_MAMPS,0.019474,0.019474
$HUMID,43.14
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,26.30
$XPDR_PINGS,7
$SC_FREEKB,3868096
$24V_AH,13.2,67.158
$10V_AH,13.1,0.000
$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,20.650,138.875,385.000,69.400,0.000,112.855,79.868,174.856,1.750,0.000,12.923,2279.579,10116.592,609.043,2138.385,228.840,0.000,1555.262,0.000,1649.015,0.000,0.544,0.000
$DEVICE_MAMPS,380.205,110.925,2389.860,138.465,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14582.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.884,0.000,0.000,0.000
$MEM,328596
$DATA_FILE_SIZE,26748,693
$CAP_FILE_SIZE,168793,0
$CFSIZE,260034560,240074752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.342, 77.0,1
$GPS,080613,200124,2347.736,12410.185,37,1.5,38,-3.4