version: 66.11
glider: 181
mission: 11
dive: 438
start: 7 25 113 10 23 59
data:
$ID,181
$MISSION,11
$DIVE,438
$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,320
$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,-9
$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,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0028798201
$HD_B,0.025745301
$HD_C,2.4475299e-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,612.7594
$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,-96588.227
$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,2685
$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,77
$R_STBD_OVSHOOT,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2938
$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
$GPS1,250713,101224,2312.675,12334.129,39,1.2,40,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-67.9
$GPS2,250713,102330,2312.616,12334.346,10,1.2,10,-3.2
$SPEED_LIMITS,0.179,0.181
$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,210.9,195118,-21.5,-10.312,-29.71,2752
$D_GRID,5985
$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,-1.28,-194.6,227,2458,465,430,0.0,0.0,0,127,0.00,0.00,-102.80,0.000,16386,0.000,0.000,228,2459,3122,3171,3074,0,0,0,0,0,0,28.83,28.83,28.83
$GC,133,-1.28,-194.6,227,2459,3171,3075,4.0,-13.0,17,160,9.35,2.28,-11.07,0.000,19204,0.380,0.093,2255,3787,3734,3806,3662,0,0,0,0,0,0,14.20,14.57,14.88
$GC,179,-1.28,-194.6,2255,3787,3806,3664,19.2,-26.1,24,186,0.00,2.08,0.00,0.000,1030,0.000,0.034,2257,2449,3735,3807,3664,0,0,0,0,0,0,28.83,14.70,28.83
$GC,384,-1.28,-194.6,2254,2442,3813,3663,71.4,-24.0,42,390,0.00,2.25,0.00,0.000,260,0.000,0.071,2244,3788,3732,3802,3663,0,0,0,0,0,0,28.83,14.60,28.83
$GC,511,-1.28,-194.6,2244,3789,3806,3663,99.8,-22.7,48,516,0.00,2.08,0.00,0.000,1030,0.000,0.031,2245,2426,3734,3806,3663,0,0,0,0,0,0,28.83,14.76,28.83
$GC,714,-1.28,-194.6,2244,2419,3805,3664,140.0,-18.6,58,720,0.00,2.25,0.00,0.000,260,0.000,0.066,2234,3785,3734,3806,3663,0,0,0,0,0,0,28.83,14.66,28.83
$GC,753,-1.28,-194.6,2234,3785,3807,3663,144.2,-18.2,59,761,0.15,2.03,0.00,0.000,3078,0.282,0.031,2265,2446,3734,3806,3663,0,0,0,0,0,0,14.33,14.78,28.83
$GC,938,-1.28,-194.6,2265,2445,3807,3663,178.8,-17.3,69,943,0.00,2.22,0.00,0.000,260,0.000,0.068,2257,3792,3735,3806,3664,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1005,-1.28,-194.6,2257,3792,3806,3663,189.9,-17.1,72,1011,0.00,2.03,0.00,0.000,1030,0.000,0.031,2257,2438,3735,3806,3664,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1206,-1.28,-194.6,2257,2435,3806,3664,225.4,-17.5,82,1212,0.00,2.10,0.00,0.000,516,0.000,0.037,2257,1084,3735,3806,3664,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1279,-1.28,-194.6,2258,1083,3806,3664,236.6,-17.4,85,1284,0.00,2.22,0.00,0.000,1030,0.000,0.051,2247,2457,3735,3806,3664,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1473,-1.28,-194.6,2247,2457,3806,3664,271.4,-17.2,95,1479,0.00,2.15,0.00,0.000,516,0.000,0.038,2247,1089,3735,3806,3664,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1540,-1.28,-194.6,1408,1087,3804,3663,282.2,-16.9,98,1546,0.15,2.20,0.00,0.000,3078,0.269,0.051,2271,2453,3735,3806,3664,0,0,0,0,0,0,14.40,14.74,28.83
$GC,1742,-1.28,-194.6,2271,2454,3806,3664,314.0,-15.5,108,1747,0.00,2.15,0.00,0.000,516,0.000,0.038,2272,1091,3735,3807,3664,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1800,-1.28,-194.6,2271,1092,3806,3664,320.9,-14.9,110,1807,0.00,2.20,0.00,0.000,1030,0.000,0.053,2264,2449,3735,3806,3664,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1986,-1.28,-194.6,2261,2449,3806,3663,352.2,-15.8,120,1992,0.00,2.17,0.00,0.000,260,0.000,0.070,2254,3777,3734,3806,3663,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2101,-1.28,-194.6,2254,3778,3806,3662,369.4,-16.4,125,2107,0.00,2.00,0.00,0.000,1030,0.000,0.032,2253,2458,3734,3806,3662,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2296,-1.28,-194.6,2254,2452,3806,3661,399.7,-14.4,135,2302,0.00,2.20,0.00,0.000,260,0.000,0.071,2243,3776,3733,3806,3660,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2340,-1.28,-194.6,2243,3776,3806,3660,406.3,-14.3,137,2346,0.00,2.03,0.00,0.000,1030,0.000,0.032,2243,2428,3733,3806,3660,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2545,-1.28,-194.6,2243,2425,3806,3659,435.2,-14.0,147,2550,0.00,2.10,0.00,0.000,516,0.000,0.040,2243,1085,3732,3806,3658,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2620,-1.28,-194.6,2243,1085,3806,3658,444.1,-13.8,150,2625,0.15,2.22,0.00,0.000,3078,0.274,0.052,2267,2453,3732,3806,3658,0,0,0,0,0,0,14.38,14.73,28.83
$GC,2816,-1.28,-194.6,2267,2454,3806,3650,473.8,-15.3,160,2821,0.00,2.20,0.00,0.000,260,0.000,0.073,2259,3784,3730,3806,3655,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2909,-1.28,-194.6,2259,3784,3805,3655,488.6,-17.2,164,2916,0.00,2.03,0.00,0.000,1030,0.000,0.034,2260,2461,3730,3805,3655,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3104,-1.28,-194.6,2259,2459,3805,3654,521.9,-15.9,174,3109,0.00,2.22,0.00,0.000,260,0.000,0.075,2249,3775,3727,3805,3649,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3172,-1.28,-194.6,2248,3775,3803,3653,532.3,-16.2,177,3178,0.00,2.03,0.00,0.000,1030,0.000,0.033,2248,2449,3728,3803,3653,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3371,-1.28,-194.6,2248,2447,3803,3650,561.8,-14.0,187,3377,0.00,2.25,0.00,0.000,260,0.000,0.076,2238,3782,3726,3802,3651,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3451,-1.28,-194.6,2238,3782,3801,3651,571.3,-14.7,190,3458,0.15,2.05,0.00,0.000,3078,0.282,0.035,2270,2453,3725,3800,3651,0,0,0,0,0,0,14.33,14.81,28.83
$GC,3638,-1.28,-194.6,2270,2452,3800,3648,596.7,-12.1,200,3643,0.00,2.25,0.00,0.000,260,0.000,0.079,2262,3782,3724,3801,3647,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3758,-1.28,-194.6,2259,3782,3798,3649,608.9,-12.8,204,3766,0.00,2.05,0.00,0.000,1030,0.000,0.035,2262,2443,3723,3799,3647,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3942,-1.28,-194.6,2262,2443,3798,3644,635.1,-12.3,211,3947,0.00,2.28,0.00,0.000,260,0.000,0.079,2252,3782,3721,3799,3644,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3978,-1.28,-194.6,1416,3781,3795,3642,639.4,-12.4,212,3984,0.00,2.05,0.00,0.000,1030,0.000,0.036,2252,2462,3721,3798,3644,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4188,-1.28,-194.6,2250,2457,3792,3644,668.9,-14.0,219,4194,0.00,2.25,0.00,0.000,260,0.000,0.086,2242,3771,3717,3792,3643,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4252,-1.28,-194.6,2242,3771,3792,3643,678.9,-14.8,221,4258,0.12,2.08,0.00,0.000,3078,0.295,0.040,2266,2458,3717,3792,3643,0,0,0,0,0,0,14.33,14.80,28.83
$GC,4468,-1.28,-194.6,2266,2452,3792,3640,709.5,-14.1,228,4474,0.00,2.25,0.00,0.000,260,0.000,0.083,2258,3771,3715,3792,3639,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4551,-1.28,-194.6,2259,3771,3791,3639,719.1,-14.5,230,4557,0.00,2.10,0.00,0.000,1030,0.000,0.038,2259,2443,3715,3792,3639,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4745,-1.28,-194.6,2259,2437,3790,3636,750.2,-14.6,237,4751,0.00,2.30,0.00,0.000,260,0.000,0.084,2248,3776,3710,3790,3631,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4829,-1.28,-194.6,2248,3777,3789,3635,759.8,-14.8,239,4835,0.00,2.10,0.00,0.000,1030,0.000,0.038,2248,2449,3711,3788,3635,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5023,-1.28,-194.6,2248,2446,3788,3633,792.5,-15.3,246,5029,0.00,2.30,0.00,0.000,260,0.000,0.085,2238,3779,3710,3788,3633,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5077,-1.28,-194.6,2238,3779,3787,3633,798.7,-15.9,247,5083,0.12,2.12,0.00,0.000,3078,0.294,0.039,2264,2445,3710,3787,3633,0,0,0,0,0,0,14.26,14.74,28.83
$GC,5271,-1.28,-194.6,2264,2440,3787,3631,830.9,-14.7,254,5276,0.00,2.33,0.00,0.000,260,0.000,0.088,2256,3772,3709,3787,3631,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5401,-1.28,-194.6,1376,3773,3782,3633,849.5,-15.1,258,5407,0.00,2.12,0.00,0.000,1030,0.000,0.041,2256,2449,3707,3785,3630,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5610,-1.28,-194.6,2256,2446,3784,3627,879.0,-13.7,265,5616,0.00,2.33,0.00,0.000,260,0.000,0.090,2245,3775,3705,3784,3627,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5683,-1.28,-194.6,2246,3775,3781,3627,888.8,-14.7,267,5689,0.00,2.12,0.00,0.000,1030,0.000,0.041,2245,2454,3704,3781,3627,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5888,-1.28,-194.6,2245,2447,3780,3626,920.1,-14.1,274,5893,0.00,2.33,0.00,0.000,260,0.000,0.091,2235,3776,3702,3780,3624,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6013,-1.28,-194.6,2235,3776,3778,3624,938.8,-15.1,278,6019,0.15,2.15,0.00,0.000,3078,0.289,0.041,2266,2451,3701,3778,3624,0,0,0,0,0,0,14.16,14.69,28.83
$GC,6228,-1.28,-194.6,2266,2441,3778,3621,969.1,-13.8,285,6234,0.00,2.35,0.00,0.000,260,0.000,0.093,2258,3778,3699,3778,3621,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6377,-1.28,-194.6,2258,3778,3776,3620,986.9,-14.3,289,6385,0.00,2.15,0.00,0.000,1030,0.000,0.043,2258,2445,3698,3776,3620,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,6411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6411,begin apogee
$GC,6419,-0.21,0.0,2259,2326,3771,3620,995.6,-14.4,291,6602,1.27,0.00,175.80,1.837,10246,0.234,0.000,2607,2326,2934,2979,2890,0,0,0,0,0,0,14.12,28.83,13.35
$STATE,6604,end apogee,CONTROL_FINISHED_OK
$STATE,6604,begin climb
$GC,6608,1.28,194.6,2607,2326,2977,2886,1004.5,0.0,297,6797,1.40,2.33,179.88,1.817,10756,0.073,0.058,3108,976,2139,2169,2109,0,0,0,0,0,0,14.23,14.14,13.32
$GC,6858,1.28,194.6,3108,975,2164,2096,980.4,15.6,305,6863,0.00,2.38,0.00,0.000,1030,0.000,0.071,3108,2339,2130,2165,2096,0,0,0,0,0,0,28.83,14.35,28.83
$GC,7052,1.28,194.6,3108,2340,2164,2089,945.0,16.4,312,7057,0.00,2.30,0.00,0.000,516,0.000,0.060,3117,974,2127,2166,2089,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7136,1.28,194.6,3117,974,2164,2086,934.6,16.2,314,7141,0.00,2.35,0.00,0.000,1030,0.000,0.071,3117,2354,2125,2164,2086,0,0,0,0,0,0,28.83,14.58,28.83
$GC,7330,1.28,194.6,3117,2350,2164,2084,899.3,16.6,321,7335,0.00,2.33,0.00,0.000,516,0.000,0.057,3127,970,2127,2164,2090,0,0,0,0,0,0,28.83,14.66,28.83
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$STATE,14928,end climb,SURFACE_DEPTH_REACHED
$STATE,14929,begin surface coast
$FINISH,0.1,1.021300
$STATE,14957,end surface coast,CONTROL_FINISHED_OK
$STATE,14957,begin surface
$SM_CCo,14976,105.85,0.138,0,0,439,612.76
$SM_GC,-0.17,8.02,0.15,105.85,0.037,0.126,0.138,229,2473,439,-7.57,-0.88,612.76,0,0,0,0,0,0,14.67,14.65,14.48
$IRIDIUM_FIX,2312.13,12336.85,250713,060605
$TT8_MAMPS,0.018725,0.018725
$HUMID,49.80
$INTERNAL_PRESSURE,9.7367
$TCM_TEMP,25.80
$XPDR_PINGS,1
$SC_FREEKB,3759712
$24V_AH,13.3,149.302
$10V_AH,12.9,0.000
$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,21.800,224.750,485.875,105.850,0.000,31.226,19.016,324.730,0.250,0.000,12.970,2908.829,8722.249,826.639,2760.035,528.160,0.000,2138.282,0.000,2249.980,0.000,0.543,0.000
$DEVICE_MAMPS,380.205,126.225,1836.765,137.700,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15027.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.984,0.000,0.000,0.000
$MEM,328592
$DATA_FILE_SIZE,26759,700
$CAP_FILE_SIZE,222111,0
$CFSIZE,260034560,210767872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.273,128.1,1
$GPS,250713,143653,2311.035,12335.331,24,0.8,42,-3.2