version: 66.11
glider: 181
mission: 11
dive: 398
start: 7 17 113 16 35 29
data:
$ID,181
$MISSION,11
$DIVE,398
$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,330
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,220
$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,1
$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,-96277.703
$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,2660
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,209
$ROLL_MAX,3785
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,55
$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,3093
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$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
$GPS1,170713,161654,2304.877,12232.744,41,1.1,41,-3.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.15
$_SM_ANGLEo,-71.5
$GPS2,170713,163501,2305.159,12232.841,13,1.7,13,-3.1
$SPEED_LIMITS,0.173,0.227
$TGT_NAME,HEADING
$TGT_LATLONG,2256.887,12225.303
$TGT_RADIUS,1852.000
$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,223.1,20000,-14.5,-10.000,-23.75,2762
$D_GRID,5530
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.15,-194.6,217,2703,694,637,0.0,0.0,0,123,0.00,0.00,-99.05,0.000,16386,0.000,0.000,217,2704,3254,3300,3208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,129,-1.15,-194.6,217,2704,3300,3209,4.4,-16.9,18,154,9.45,1.85,-10.68,0.000,18692,0.374,0.098,2280,3781,3890,3954,3826,0,0,0,0,0,0,14.19,14.60,14.87
$GC,229,-1.05,-194.6,2280,3781,3955,3827,36.8,-27.4,32,235,0.17,1.70,0.00,0.000,3078,0.274,0.032,2319,2663,3890,3954,3827,0,0,0,0,0,0,14.29,14.70,28.83
$GC,553,-0.98,-194.6,2319,2662,3954,3827,104.0,-20.2,51,558,0.00,1.85,0.00,0.000,260,0.000,0.070,2313,3779,3890,3954,3826,0,0,0,0,0,0,28.83,14.64,28.83
$GC,586,-0.90,-194.6,2313,3780,3954,3826,108.2,-19.0,52,592,0.22,1.62,0.00,0.000,3078,0.258,0.032,2366,2676,3890,3954,3827,0,0,0,0,0,0,14.32,14.75,28.83
$GC,900,-0.86,-194.6,2366,2676,3954,3827,154.5,-13.8,68,905,0.00,1.83,0.00,0.000,260,0.000,0.071,2360,3776,3890,3954,3827,0,0,0,0,0,0,28.83,14.67,28.83
$GC,993,-0.81,-194.6,2360,3776,3954,3827,167.2,-15.1,72,999,0.15,1.60,0.00,0.000,3078,0.245,0.033,2395,2684,3890,3954,3827,0,0,0,0,0,0,14.42,14.83,28.83
$GC,1308,-0.78,-194.6,2395,2683,3954,3827,207.4,-11.3,88,1313,0.00,2.08,0.00,0.000,516,0.000,0.037,2395,1347,3890,3954,3827,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1361,-0.75,-194.6,2395,1352,3955,3827,212.3,-11.2,90,1366,0.00,2.20,0.00,0.000,1030,0.000,0.052,2389,2706,3890,3954,3827,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1675,-0.72,-194.6,2389,2706,3954,3826,248.0,-11.6,106,1681,0.12,2.15,0.00,0.000,2564,0.252,0.034,2423,1341,3889,3954,3825,0,0,0,0,0,0,14.53,14.78,28.83
$GC,1740,-0.70,-194.6,2423,1342,3954,3825,255.1,-11.1,109,1745,0.00,2.22,0.00,0.000,1030,0.000,0.053,2417,2709,3889,3954,3825,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2063,-0.70,-194.6,2417,2709,3954,3823,288.9,-10.1,125,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2710,3888,3954,3823,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2366,-0.70,-194.6,2417,2713,3954,3820,320.3,-10.7,140,2371,0.00,2.17,0.00,0.000,516,0.000,0.037,2417,1335,3886,3954,3819,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2413,-0.70,-194.6,2417,1335,3954,3819,325.5,-11.2,142,2418,0.00,2.22,0.00,0.000,1030,0.000,0.054,2408,2704,3886,3954,3818,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2732,-0.70,-194.6,2409,2704,3954,3821,358.0,-9.7,158,2733,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2704,3884,3954,3815,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3034,-0.70,-194.6,2409,2704,3954,3813,387.0,-9.9,173,3040,0.00,2.15,0.00,0.000,516,0.000,0.038,2409,1337,3883,3954,3812,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3087,-0.70,-194.6,2409,1336,3954,3813,391.8,-10.2,175,3093,0.12,2.22,0.00,0.000,3078,0.228,0.054,2430,2703,3883,3954,3812,0,0,0,0,0,0,14.54,14.73,28.83
$GC,3402,-0.72,-194.6,2430,2703,3952,3809,422.2,-9.2,191,3407,0.00,1.80,0.00,0.000,260,0.000,0.082,2425,3783,3880,3952,3809,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3455,-0.74,-194.6,2426,3782,3951,3809,426.4,-9.2,193,3460,0.00,1.60,0.00,0.000,1030,0.000,0.039,2425,2724,3880,3951,3809,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3769,-0.75,-194.6,2425,2725,3949,3807,455.9,-9.0,209,3775,0.00,2.22,-0.08,0.000,16900,0.000,0.057,2425,1321,3902,3970,3834,0,0,0,0,0,0,28.83,14.76,14.16
$GC,3846,-0.76,-194.6,2425,1320,3970,3835,461.9,-9.2,212,3852,0.00,2.28,0.00,0.000,1030,0.000,0.057,2421,2704,3902,3970,3834,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4161,-0.78,-194.6,2421,2704,3970,3830,490.9,-8.7,228,4166,0.00,1.83,0.00,0.000,260,0.000,0.085,2413,3783,3899,3970,3829,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4190,-0.80,-194.6,2413,3782,3970,3828,493.0,-8.7,229,4195,0.00,1.65,0.00,0.000,1030,0.000,0.041,2413,2703,3899,3970,3829,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4509,-0.81,-194.6,2418,2702,3970,3825,520.8,-8.6,245,4514,0.00,2.20,0.00,0.000,516,0.000,0.040,2413,1312,3897,3970,3825,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4582,-0.82,-194.6,2413,1312,3970,3825,526.6,-9.0,248,4588,0.00,2.30,0.00,0.000,1030,0.000,0.060,2410,2698,3897,3970,3825,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4897,-0.84,-194.6,2410,2698,3970,3821,556.4,-9.3,264,4902,0.00,1.83,0.00,0.000,260,0.000,0.089,2409,3777,3895,3969,3821,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4940,-0.85,-194.6,2409,3776,3968,3821,560.6,-9.4,266,4946,0.00,1.67,0.00,0.000,1030,0.000,0.041,2410,2684,3894,3968,3821,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5265,-0.86,-194.6,2408,2682,3964,3818,590.9,-9.2,282,5271,0.00,2.17,0.00,0.000,516,0.000,0.041,2413,1316,3890,3963,3818,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5330,-0.87,-194.6,2407,1315,3964,3818,597.0,-9.5,285,5336,0.00,2.33,0.00,0.000,1030,0.000,0.062,2408,2698,3892,3967,3818,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5646,-0.88,-194.6,2408,2698,3964,3813,627.4,-9.9,296,5652,0.00,1.90,0.00,0.000,260,0.000,0.091,2407,3782,3888,3964,3813,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5676,-0.90,-194.6,2406,3782,3964,3813,627.4,-9.9,296,5683,0.12,1.67,0.00,0.000,5126,0.126,0.043,2340,2703,3888,3964,3813,0,0,0,0,0,0,14.71,14.81,28.83
$GC,5982,-0.86,-194.6,2339,2703,3960,3812,669.7,-13.0,307,5988,0.12,2.22,0.00,0.000,2564,0.274,0.041,2372,1317,3886,3960,3812,0,0,0,0,0,0,14.41,14.71,28.83
$GC,6052,-0.83,-194.6,2372,1316,3960,3812,677.5,-12.4,309,6057,0.00,2.33,0.00,0.000,1030,0.000,0.064,2362,2700,3886,3960,3812,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6382,-0.81,-194.6,2366,2700,3958,3808,714.6,-11.1,320,6384,0.12,0.00,0.00,0.000,2054,0.265,0.000,2394,2700,3883,3958,3808,0,0,0,0,0,0,14.42,28.83,28.83
$GC,6683,-0.82,-194.6,2393,2700,3958,3806,741.8,-8.5,330,6684,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2700,3882,3958,3806,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6981,-0.83,-194.6,2393,2700,3955,3803,765.7,-7.8,340,6986,0.00,2.25,0.00,0.000,516,0.000,0.045,2394,1318,3879,3956,3802,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7045,-0.83,-194.6,2394,1314,3954,3802,770.6,-7.7,342,7050,0.00,2.35,0.00,0.000,1030,0.000,0.065,2387,2703,3878,3954,3802,0,0,0,0,0,0,28.83,14.59,28.83
$GC,7381,-0.84,-194.6,2387,2703,3953,3800,797.0,-8.0,353,7386,0.00,1.88,0.00,0.000,260,0.000,0.095,2379,3782,3876,3952,3801,0,0,0,0,0,0,28.83,14.48,28.83
$GC,7415,-0.84,-194.6,2379,3782,3951,3800,800.1,-8.3,354,7420,0.00,1.73,0.00,0.000,1030,0.000,0.046,2379,2700,3876,3952,3800,0,0,0,0,0,0,28.83,14.73,28.83
$GC,7751,-0.84,-194.6,2379,2699,3955,3799,832.6,-10.4,365,7756,0.00,2.25,0.00,0.000,516,0.000,0.046,2378,1312,3874,3950,3798,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7788,-0.84,-194.6,2379,1312,3949,3797,836.6,-10.6,366,7793,0.00,2.38,0.00,0.000,1030,0.000,0.069,2369,2704,3873,3949,3798,0,0,0,0,0,0,28.83,14.54,28.83
$GC,8119,-0.82,-194.6,2370,2704,3947,3796,876.2,-12.6,377,8124,0.00,1.90,0.00,0.000,260,0.000,0.097,2362,3789,3871,3947,3796,0,0,0,0,0,0,28.83,14.44,28.83
$GC,8156,-0.80,-194.6,1488,3789,3945,3794,881.3,-13.0,378,8162,0.15,1.75,0.00,0.000,3078,0.233,0.045,2397,2687,3870,3946,3794,0,0,0,0,0,0,14.31,14.72,28.83
$GC,8486,-0.81,-194.6,2397,2689,3946,3793,916.7,-10.2,389,8491,0.00,1.95,0.00,0.000,260,0.000,0.096,2391,3787,3869,3946,3793,0,0,0,0,0,0,28.83,14.45,28.83
$GC,8538,-0.81,-194.6,2391,3786,3945,3792,920.3,-10.3,390,8543,0.00,1.73,0.00,0.000,1030,0.000,0.047,2391,2706,3869,3945,3793,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8854,-0.80,-194.6,2391,2705,3944,3791,957.4,-10.9,401,8859,0.00,2.30,0.00,0.000,516,0.000,0.047,2391,1309,3867,3944,3791,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8887,-0.80,-194.6,2391,1309,3944,3791,960.4,-10.3,402,8893,0.00,2.40,0.00,0.000,1030,0.000,0.070,2384,2703,3867,3944,3790,0,0,0,0,0,0,28.83,14.52,28.83
$STATE,9188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9188,begin apogee
$GC,9198,-0.23,0.0,2383,2093,3943,3790,992.4,-10.3,412,9388,0.68,0.00,181.05,1.799,10246,0.177,0.000,2582,2091,3088,3130,3046,0,0,0,0,0,0,14.25,28.83,13.33
$STATE,9390,end apogee,CONTROL_FINISHED_OK
$STATE,9390,begin climb
$GC,9392,1.15,194.6,2583,2091,3128,3042,1004.4,0.0,418,9584,1.30,2.42,182.45,1.816,10756,0.072,0.064,3044,719,2295,2318,2273,0,0,0,0,0,0,14.16,14.00,13.22
$GC,9693,1.07,194.6,3044,721,2312,2257,987.5,13.4,428,9700,0.17,2.40,0.00,0.000,5126,0.298,0.064,3008,2106,2288,2320,2256,0,0,0,0,0,0,14.11,14.33,28.83
$GC,10001,1.01,194.6,3009,2106,2312,2248,948.2,11.6,439,10006,0.00,2.45,0.00,0.000,260,0.000,0.093,3009,3507,2280,2313,2248,0,0,0,0,0,0,28.83,14.52,28.83
$GC,10074,0.93,194.6,3009,3508,2312,2248,939.8,12.1,441,10080,0.22,2.28,0.00,0.000,5126,0.311,0.043,2967,2116,2280,2313,2248,0,0,0,0,0,0,14.26,14.63,28.83
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$STATE,19021,end climb,SURFACE_DEPTH_REACHED
$STATE,19023,begin surface coast
$FINISH,0.4,1.021392
$STATE,19049,end surface coast,CONTROL_FINISHED_OK
$STATE,19049,begin surface
$SM_CCo,19130,0.00,0.000,0,0,781,567.13
$SM_GC,-0.31,8.02,1.02,0.00,0.071,0.067,0.000,237,2701,781,-7.50,-1.07,567.13,0,0,0,0,0,0,14.64,14.62,28.83
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$TT8_MAMPS,0.019474,0.019474
$HUMID,51.14
$INTERNAL_PRESSURE,9.72694
$TCM_TEMP,25.00
$XPDR_PINGS,1
$SC_FREEKB,3776768
$24V_AH,13.2,135.149
$10V_AH,12.7,0.000
$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
$DEVICE_SECS,23.025,200.625,701.825,0.000,0.000,52.059,86.613,538.655,0.250,0.000,15.983,2733.830,13103.191,802.499,2994.320,569.393,0.000,2096.708,0.000,2168.959,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.805,0.000,0.000,0.000
$MEM,323168
$DATA_FILE_SIZE,36772,876
$CAP_FILE_SIZE,243419,0
$CFSIZE,260034560,215592960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170713,215536,2307.070,12233.398,32,1.0,32,-3.1