version: 66.11
glider: 181
mission: 11
dive: 184
start: 6 9 113 17 38 23
data:
$ID,181
$MISSION,11
$DIVE,184
$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,-95929.039
$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,70
$R_STBD_OVSHOOT,55
$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
$GPS1,090613,172829,2347.041,12414.910,37,1.6,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.04
$_SM_ANGLEo,-70.8
$GPS2,090613,173754,2347.115,12415.032,10,1.7,10,-3.4
$SPEED_LIMITS,0.147,0.278
$TGT_NAME,OFFSHORE
$TGT_LATLONG,2316.000,12430.000
$TGT_RADIUS,5000.000
$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,204.6,63001,-13.6,-8.462,-16.94,2871
$D_GRID,2600
$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,-160.6,227,2472,911,914,0.0,0.0,0,103,0.00,0.00,-81.03,0.000,16386,0.000,0.000,233,2473,2956,3013,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.84,-160.6,227,2473,3014,2902,3.5,-12.4,14,132,9.98,2.25,-7.97,0.000,18948,0.389,0.064,2419,1057,3410,3504,3317,0,0,0,0,0,0,14.35,14.72,14.91
$GC,249,-0.84,-160.6,1512,1056,3496,3316,46.3,-25.4,32,256,0.00,2.25,0.00,0.000,1030,0.000,0.058,2412,2429,3411,3504,3319,0,0,0,0,0,0,28.83,14.69,28.83
$GC,565,-0.84,-160.6,2412,2429,3504,3320,130.7,-24.3,49,570,0.00,2.20,0.00,0.000,260,0.000,0.072,2401,3785,3412,3504,3320,0,0,0,0,0,0,28.83,14.78,28.83
$GC,608,-0.84,-160.6,2401,3785,3503,3320,141.2,-23.9,51,613,0.00,2.05,0.00,0.000,1030,0.000,0.034,2401,2441,3411,3503,3320,0,0,0,0,0,0,28.83,14.86,28.83
$GC,931,-0.84,-160.6,2402,2435,3504,3322,204.4,-17.9,67,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2435,3412,3503,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1232,-0.84,-160.6,2402,2435,3504,3322,257.7,-16.5,82,1238,0.00,2.20,0.00,0.000,260,0.000,0.073,2391,3784,3413,3504,3322,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1284,-0.84,-160.6,2392,3785,3505,3322,265.8,-17.7,84,1290,0.15,2.03,0.00,0.000,3078,0.256,0.033,2426,2436,3412,3503,3322,0,0,0,0,0,0,14.70,14.94,28.83
$GC,1598,-0.84,-160.6,2426,2431,3503,3322,316.0,-14.5,100,1603,0.00,2.12,0.00,0.000,516,0.000,0.043,2426,1059,3412,3503,3322,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1650,-0.84,-160.6,2426,1059,3504,3322,322.0,-14.3,102,1655,0.00,2.22,0.00,0.000,1030,0.000,0.054,2418,2453,3413,3504,3322,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1963,-0.84,-160.6,2418,2454,3504,3320,366.4,-14.0,118,1968,0.00,2.15,0.00,0.000,260,0.000,0.078,2408,3777,3411,3503,3320,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2065,-0.84,-160.6,2409,3777,3504,3318,381.0,-14.1,123,2070,0.00,2.03,0.00,0.000,1030,0.000,0.034,2408,2441,3410,3503,3318,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2388,-0.84,-160.6,2407,2434,3503,3316,426.1,-14.0,139,2389,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2434,3410,3503,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2689,-0.84,-160.6,2408,2434,3504,3313,470.8,-15.0,154,2695,0.00,2.22,0.00,0.000,260,0.000,0.080,2399,3782,3408,3503,3313,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2747,-0.84,-160.6,2398,3782,3502,3313,477.9,-15.3,156,2754,0.12,2.03,0.00,0.000,3078,0.266,0.036,2426,2446,3407,3502,3313,0,0,0,0,0,0,14.75,14.97,28.83
$GC,3052,-0.84,-160.6,2426,2444,3501,3308,521.2,-13.4,172,3057,0.00,2.15,0.00,0.000,516,0.000,0.046,2426,1073,3404,3501,3308,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3089,-0.84,-160.6,2426,1074,3501,3308,524.1,-13.3,173,3096,0.00,2.25,0.00,0.000,1030,0.000,0.060,2419,2458,3404,3501,3308,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3395,-0.84,-160.6,2419,2457,3498,3307,565.8,-13.0,189,3400,0.00,2.17,0.00,0.000,260,0.000,0.086,2409,3774,3402,3498,3306,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3442,-0.84,-160.6,2409,3775,3497,3307,571.7,-13.3,191,3447,0.00,2.03,0.00,0.000,1030,0.000,0.039,2408,2456,3402,3497,3307,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3749,-0.84,-160.6,2409,2450,3496,3303,613.0,-13.1,205,3750,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2450,3399,3496,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4050,-0.84,-160.6,2409,2450,3493,3300,650.2,-12.2,215,4055,0.00,2.22,0.00,0.000,260,0.000,0.086,2395,3778,3396,3493,3299,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4092,-0.84,-160.6,2399,3782,3490,3299,654.6,-12.4,216,4098,0.12,2.05,0.00,0.000,3078,0.256,0.041,2426,2449,3395,3491,3300,0,0,0,0,0,0,14.70,14.95,28.83
$GC,4417,-0.84,-160.6,2426,2443,3490,3296,691.0,-10.6,227,4422,0.00,2.25,0.00,0.000,260,0.000,0.088,2419,3780,3392,3490,3295,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4444,-0.84,-160.6,2419,3781,3489,3296,691.0,-10.6,227,4451,0.00,2.08,0.00,0.000,1030,0.000,0.042,2419,2447,3392,3489,3296,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4749,-0.84,-160.6,2419,2446,3488,3293,728.1,-11.1,238,4754,0.00,2.25,0.00,0.000,260,0.000,0.090,2408,3777,3390,3488,3293,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4802,-0.84,-160.6,2409,3777,3486,3292,731.9,-11.3,239,4807,0.00,2.08,0.00,0.000,1030,0.000,0.043,2408,2446,3390,3487,3293,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5115,-0.84,-160.6,2409,2442,3485,3290,771.3,-11.7,250,5120,0.00,2.22,0.00,0.000,516,0.000,0.054,2409,1055,3387,3485,3289,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5131,-0.84,-160.6,2409,1055,3485,3289,771.3,-11.7,250,5138,0.12,2.33,0.00,0.000,3078,0.250,0.068,2424,2450,3387,3485,3290,0,0,0,0,0,0,14.71,14.85,28.83
$GC,5453,-0.84,-160.6,2427,2450,3482,3286,807.0,-10.5,261,5458,0.00,2.28,0.00,0.000,260,0.000,0.096,2419,3787,3383,3481,3286,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5489,-0.84,-160.6,2420,3787,3481,3286,811.1,-10.8,262,5496,0.00,2.10,0.00,0.000,1030,0.000,0.046,2419,2449,3385,3481,3289,0,0,0,0,0,0,28.83,14.93,28.83
$GC,5819,-0.84,-160.6,2419,2446,3480,3283,848.7,-11.1,273,5825,0.00,2.25,0.00,0.000,516,0.000,0.056,2418,1052,3381,3480,3283,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5846,-0.84,-160.6,2419,1052,3479,3279,848.7,-11.1,273,5853,0.00,2.33,0.00,0.000,1030,0.000,0.068,2410,2450,3381,3480,3283,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6152,-0.84,-160.6,2410,2450,3478,3281,883.6,-10.4,284,6158,0.00,2.25,0.00,0.000,260,0.000,0.098,2400,3777,3379,3477,3281,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6195,-0.84,-160.6,2400,3777,3476,3281,887.3,-10.6,285,6200,0.00,2.10,0.00,0.000,1030,0.000,0.047,2400,2448,3374,3473,3276,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6519,-0.84,-160.6,2399,2443,3474,3279,922.5,-10.3,296,6524,0.00,2.25,0.00,0.000,516,0.000,0.057,2400,1051,3377,3475,3279,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6542,-0.84,-160.6,2400,1051,3475,3279,922.5,-10.3,296,6548,0.12,2.35,0.00,0.000,3078,0.258,0.069,2422,2459,3377,3475,3279,0,0,0,0,0,0,14.64,14.81,28.83
$GC,6857,-0.84,-160.6,2422,2459,3474,3277,956.1,-9.8,307,6862,0.00,2.25,0.00,0.000,260,0.000,0.099,2414,3777,3375,3473,3277,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6920,-0.84,-160.6,2415,3777,3472,3277,962.8,-10.0,309,6925,0.00,2.12,0.00,0.000,1030,0.000,0.048,2414,2442,3374,3472,3277,0,0,0,0,0,0,28.83,14.89,28.83
$STATE,7190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7190,begin apogee
$GC,7197,-0.25,0.0,2414,2340,3471,3274,990.5,-10.3,318,7345,0.68,0.00,139.95,1.917,10246,0.211,0.000,2611,2340,2750,2800,2700,0,0,0,0,0,0,14.61,28.83,13.50
$STATE,7347,end apogee,CONTROL_FINISHED_OK
$STATE,7347,begin climb
$GC,7349,0.84,160.6,2612,2340,2798,2704,995.0,0.0,323,7524,1.08,2.67,156.18,2.494,11012,0.114,0.099,2964,3752,2098,2118,2079,0,0,0,0,1,0,14.19,13.94,13.12
$GC,7531,0.84,160.6,2964,3752,2118,2078,975.9,13.6,329,7536,0.00,2.33,0.00,0.000,1030,0.000,0.042,2974,2364,2098,2118,2078,0,0,0,0,0,0,28.83,14.12,28.83
$GC,7860,0.84,160.6,2975,2359,2117,2063,913.1,18.5,340,7861,0.00,0.00,0.00,0.000,6,0.000,0.000,2974,2359,2090,2117,2063,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8159,0.84,160.6,2974,2359,2117,2060,858.2,17.7,350,8164,0.00,2.33,0.00,0.000,516,0.000,0.058,2984,951,2088,2116,2060,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8181,0.84,160.6,2984,950,2116,2060,858.2,17.7,350,8186,0.00,2.35,0.00,0.000,1030,0.000,0.064,2985,2354,2087,2116,2059,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8494,0.84,160.6,2985,2354,2117,2056,798.1,17.7,361,8499,0.00,2.33,0.00,0.000,516,0.000,0.057,2995,948,2086,2117,2056,0,0,0,0,0,0,28.83,14.77,28.83
$GC,8526,0.84,160.6,2994,948,2116,2056,792.4,17.5,362,8532,0.00,2.35,0.00,0.000,1030,0.000,0.065,2994,2350,2085,2116,2055,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8861,0.84,160.6,2994,2350,2116,2054,733.1,17.9,373,8867,0.00,2.40,0.00,0.000,260,0.000,0.094,2994,3758,2085,2116,2054,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8903,0.84,160.6,2994,3758,2116,2054,726.4,18.2,374,8910,0.15,2.25,0.00,0.000,5126,0.304,0.042,2973,2330,2085,2116,2054,0,0,0,0,0,0,14.55,14.84,28.83
$GC,9229,0.84,160.6,2973,2326,2116,2051,668.3,17.4,385,9234,0.00,2.22,0.00,0.000,516,0.000,0.055,2981,959,2085,2120,2051,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9256,0.84,160.6,2981,958,2116,2051,668.3,17.4,385,9262,0.00,2.30,0.00,0.000,1030,0.000,0.063,2981,2351,2083,2116,2051,0,0,0,0,0,0,28.83,14.79,28.83
$GC,9563,0.84,160.6,2981,2351,2116,2050,608.7,17.8,396,9568,0.00,2.40,0.00,0.000,260,0.000,0.095,2981,3753,2083,2116,2050,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9600,0.84,160.6,2981,3753,2116,2050,602.4,18.0,397,9605,0.00,2.22,0.00,0.000,1030,0.000,0.042,2991,2345,2083,2116,2050,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9908,0.84,160.6,2992,2340,2116,2049,548.5,16.9,412,9914,0.00,2.25,0.00,0.000,516,0.000,0.054,3002,951,2082,2116,2049,0,0,0,0,0,0,28.83,14.83,28.83
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$STATE,14813,end climb,SURFACE_DEPTH_REACHED
$STATE,14813,begin surface coast
$FINISH,-0.8,1.020545
$STATE,14860,end surface coast,CONTROL_FINISHED_OK
$STATE,14860,begin surface
$SM_CCo,14877,43.42,0.136,0,0,915,450.13
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$IRIDIUM_FIX,2354.48,12415.44,090613,131313
$TT8_MAMPS,0.019474,0.019474
$HUMID,42.47
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,26.60
$XPDR_PINGS,3
$SC_FREEKB,3865536
$24V_AH,13.1,68.938
$10V_AH,13.3,0.000
$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,20.550,157.050,405.150,43.425,0.000,25.905,45.562,269.877,0.750,0.000,14.170,2289.994,10206.178,622.151,2111.590,262.070,0.000,1576.191,0.000,1633.622,0.000,0.543,0.000
$DEVICE_MAMPS,388.620,126.990,2493.900,136.170,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14916.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.991,0.000,0.000,0.000
$MEM,328752
$DATA_FILE_SIZE,26786,722
$CAP_FILE_SIZE,176156,0
$CFSIZE,260034560,239398912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.294, 71.3,1
$GPS,090613,214829,2346.084,12416.471,35,1.5,41,-3.4