version: 66.11
glider: 181
mission: 11
dive: 444
start: 7 26 113 12 26 54
data:
$ID,181
$MISSION,11
$DIVE,444
$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,-96652.734
$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,2675
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$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,2650
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,97
$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,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,11
$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
$GPS1,260713,122255,2259.128,12341.493,9,1.3,9,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-69.2
$GPS2,260713,122625,2259.086,12341.561,14,1.3,14,-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,217.3,168019,-21.5,-10.312,-29.71,2752
$D_GRID,5510
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.32,-194.6,244,2620,463,429,0.0,0.0,0,126,0.00,0.00,-100.68,0.000,16386,0.000,0.000,244,2621,3026,3068,2985,0,0,0,0,0,0,28.83,28.83,28.83
$GC,133,-1.32,-194.6,244,2621,3068,2986,3.3,-10.1,17,165,9.10,1.98,-13.30,0.000,18692,0.373,0.097,2236,3776,3735,3804,3666,0,0,0,0,0,0,14.22,14.62,14.95
$GC,204,-1.32,-194.6,2236,3776,3805,3667,25.2,-27.2,29,209,0.00,1.70,0.00,0.000,1030,0.000,0.032,2242,2653,3736,3805,3667,0,0,0,0,0,0,28.83,14.76,28.83
$GC,409,-1.32,-194.6,2236,2650,3804,3667,77.7,-25.0,44,411,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2650,3735,3804,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,588,-1.32,-194.6,2236,2650,3805,3667,113.6,-18.8,53,594,0.00,1.88,0.00,0.000,260,0.000,0.067,2227,3782,3736,3805,3667,0,0,0,0,0,0,28.83,14.67,28.83
$GC,657,-1.32,-194.6,1368,3784,3802,3662,125.5,-18.2,56,662,0.00,1.75,0.00,0.000,1030,0.000,0.031,2227,2647,3736,3805,3667,0,0,0,0,0,0,28.83,14.80,28.83
$GC,856,-1.32,-194.6,2227,2645,3805,3667,163.0,-19.2,66,857,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2646,3735,3805,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1036,-1.32,-194.6,2227,2646,3810,3666,197.7,-19.1,75,1041,0.00,1.88,0.00,0.000,260,0.000,0.067,2218,3784,3735,3805,3666,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1083,-1.32,-194.6,2218,3784,3805,3666,206.6,-19.6,77,1089,0.12,1.70,0.00,0.000,3078,0.290,0.030,2244,2619,3735,3804,3667,0,0,0,0,0,0,14.42,14.85,28.83
$GC,1285,-1.32,-194.6,2244,2619,3804,3666,241.6,-16.4,87,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2619,3735,3804,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1463,-1.32,-194.6,2244,2619,3805,3666,269.1,-15.2,96,1469,0.00,1.92,0.00,0.000,260,0.000,0.070,2237,3783,3735,3805,3665,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1501,-1.32,-194.6,2237,3784,3805,3665,272.8,-15.3,97,1508,0.00,1.65,0.00,0.000,1030,0.000,0.031,2237,2654,3735,3804,3666,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1688,-1.32,-194.6,2236,2653,3805,3664,305.6,-16.2,107,1693,0.00,2.10,0.00,0.000,516,0.000,0.037,2237,1297,3734,3805,3664,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1772,-1.32,-194.6,2237,1297,3805,3664,319.0,-15.7,111,1777,0.00,2.20,0.00,0.000,1030,0.000,0.056,2228,2652,3734,3805,3664,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1976,-1.32,-194.6,2227,2652,3804,3662,353.5,-17.0,121,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2652,3733,3804,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2156,-1.32,-194.6,2227,2652,3805,3661,384.8,-16.9,130,2161,0.00,1.85,0.00,0.000,260,0.000,0.073,2218,3779,3732,3805,3660,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2189,-1.32,-194.6,2218,3779,3804,3660,388.9,-16.9,131,2195,0.12,1.67,0.00,0.000,3078,0.286,0.032,2244,2645,3732,3805,3660,0,0,0,0,0,0,14.42,14.86,28.83
$GC,2385,-1.32,-194.6,2244,2645,3805,3658,419.5,-13.9,141,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2645,3731,3805,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2564,-1.32,-194.6,2244,2645,3804,3655,445.8,-14.7,150,2569,0.00,1.90,0.00,0.000,260,0.000,0.073,2238,3782,3729,3804,3655,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2663,-1.32,-194.6,2238,3784,3801,3655,458.5,-15.2,154,2670,0.00,1.67,0.00,0.000,1030,0.000,0.034,2238,2657,3728,3801,3656,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2849,-1.32,-194.6,2238,2658,3801,3654,487.4,-14.5,164,2854,0.00,2.15,0.00,0.000,516,0.000,0.038,2238,1287,3727,3801,3654,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2877,-1.32,-194.6,2237,1286,3799,3654,490.9,-14.4,165,2882,0.00,2.25,0.00,0.000,1030,0.000,0.057,2228,2656,3727,3801,3654,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3076,-1.32,-194.6,2228,2657,3799,3652,521.4,-15.4,175,3081,0.00,1.88,0.00,0.000,260,0.000,0.076,2219,3779,3725,3799,3652,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3120,-1.32,-194.6,2219,3779,3798,3651,528.5,-16.1,177,3126,0.12,1.70,0.00,0.000,3078,0.288,0.034,2244,2648,3725,3799,3652,0,0,0,0,0,0,14.39,14.84,28.83
$GC,3326,-1.32,-194.6,2245,2641,3795,3650,559.2,-15.0,187,3332,0.00,1.92,0.00,0.000,260,0.000,0.077,2238,3788,3723,3795,3651,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3339,-1.32,-194.6,2238,3787,3795,3651,559.2,-15.0,187,3344,0.00,1.73,0.00,0.000,1030,0.000,0.035,2239,2644,3722,3795,3650,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3534,-1.32,-194.6,2238,2648,3795,3647,590.1,-14.6,197,3539,0.00,2.15,0.00,0.000,516,0.000,0.040,2238,1285,3721,3795,3647,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3551,-1.32,-194.6,2238,1290,3795,3647,590.1,-14.6,197,3559,0.00,2.25,0.00,0.000,1030,0.000,0.060,2228,2649,3720,3794,3647,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3737,-1.32,-194.6,2228,2649,3794,3644,620.6,-14.8,205,3743,0.00,1.90,0.00,0.000,260,0.000,0.083,2219,3783,3716,3789,3643,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3869,-1.32,-194.6,2220,3784,3791,3643,640.8,-16.3,209,3874,0.00,1.77,0.00,0.000,1030,0.000,0.037,2223,2648,3717,3791,3643,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4078,-1.32,-194.6,2219,2647,3790,3641,676.8,-16.6,216,4085,0.12,1.92,0.00,0.000,2308,0.291,0.076,2243,3780,3715,3790,3640,0,0,0,0,0,0,14.40,14.64,28.83
$GC,4108,-1.32,-194.6,2243,3780,3789,3640,676.8,-16.6,216,4115,0.00,1.73,0.00,0.000,1030,0.000,0.037,2244,2650,3714,3789,3640,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4293,-1.32,-194.6,2244,2649,3789,3638,711.1,-15.8,223,4299,0.00,2.20,0.00,0.000,516,0.000,0.044,2244,1275,3713,3789,3637,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4336,-1.32,-194.6,2244,1275,3789,3637,716.6,-15.9,224,4343,0.00,2.30,0.00,0.000,1030,0.000,0.061,2234,2653,3712,3788,3637,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4542,-1.32,-194.6,2234,2653,3787,3634,750.7,-16.1,231,4547,0.00,1.92,0.00,0.000,260,0.000,0.086,2225,3786,3710,3787,3633,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4589,-1.32,-194.6,2225,3787,3784,3634,756.2,-16.1,232,4594,0.00,1.75,0.00,0.000,1030,0.000,0.038,2225,2657,3709,3787,3632,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4788,-1.32,-194.6,2225,2656,3786,3633,791.1,-16.2,239,4790,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2656,3709,3785,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4968,-1.32,-194.6,2225,2657,3782,3630,820.7,-16.6,245,4973,0.00,2.22,0.00,0.000,516,0.000,0.044,2225,1275,3706,3782,3630,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4990,-1.32,-194.6,2225,1275,3781,3630,820.7,-16.6,245,4996,0.15,2.33,0.00,0.000,3078,0.282,0.063,2247,2657,3705,3781,3630,0,0,0,0,0,0,14.30,14.62,28.83
$GC,5185,-1.32,-194.6,2247,2657,3780,3626,857.4,-17.0,252,5190,0.00,1.92,0.00,0.000,260,0.000,0.090,2241,3778,3703,3780,3627,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5243,-1.32,-194.6,2241,3779,3779,3627,863.6,-17.2,253,5250,0.00,1.77,0.00,0.000,1030,0.000,0.040,2241,2640,3703,3779,3627,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5429,-1.32,-194.6,2241,2640,3778,3624,901.8,-18.1,260,5435,0.00,2.22,0.00,0.000,516,0.000,0.046,2241,1268,3701,3778,3624,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5448,-1.32,-194.6,2240,1269,3778,3624,901.8,-18.1,260,5453,0.00,2.35,0.00,0.000,1030,0.000,0.067,2231,2654,3701,3778,3624,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5646,-1.32,-194.6,2231,2654,3776,3619,941.6,-18.1,267,5652,0.00,1.95,0.00,0.000,260,0.000,0.092,2222,3782,3702,3776,3628,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5710,-1.32,-194.6,2222,3782,3774,3622,953.9,-18.5,269,5717,0.00,1.77,0.00,0.000,1030,0.000,0.041,2222,2655,3697,3772,3622,0,0,0,0,0,0,28.83,14.74,28.83
$STATE,5922,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5922,begin apogee
$GC,5931,-0.22,0.0,2222,2145,3773,3619,991.7,-17.2,276,6111,1.38,0.00,173.40,1.833,10246,0.240,0.000,2594,2149,2939,2983,2895,0,0,0,0,0,0,14.11,28.83,13.35
$STATE,6112,end apogee,CONTROL_FINISHED_OK
$STATE,6113,begin climb
$GC,6116,1.32,194.6,2594,2144,2980,2891,1002.5,0.0,282,6305,1.48,2.45,178.52,1.818,10756,0.083,0.063,3112,776,2140,2169,2112,0,0,0,0,0,0,14.23,14.16,13.35
$GC,6420,1.32,194.6,3113,776,2165,2096,966.9,17.4,292,6425,0.00,2.35,0.00,0.000,1030,0.000,0.064,3112,2151,2130,2165,2096,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6624,1.32,194.6,3113,2151,2165,2090,930.4,17.2,299,6629,0.00,2.45,0.00,0.000,260,0.000,0.095,3112,3557,2127,2165,2090,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6663,1.32,194.6,2120,3556,2121,2079,924.1,17.4,300,6669,0.00,2.22,0.00,0.000,1030,0.000,0.040,3122,2178,2127,2165,2090,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6873,1.32,194.6,3122,2178,2165,2086,887.3,16.6,307,6878,0.00,2.38,0.00,0.000,516,0.000,0.060,3133,747,2125,2165,2086,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6993,1.32,194.6,3133,743,2165,2085,871.7,16.7,310,7000,0.15,2.38,0.00,0.000,5126,0.311,0.063,3104,2160,2125,2165,2085,0,0,0,0,0,0,14.34,14.66,28.83
$GC,7177,1.32,194.6,3104,2160,2165,2082,838.5,15.5,317,7182,0.00,2.42,0.00,0.000,260,0.000,0.092,3103,3555,2124,2165,2083,0,0,0,0,0,0,28.83,14.60,28.83
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$STATE,14083,end climb,SURFACE_DEPTH_REACHED
$STATE,14083,begin surface coast
$FINISH,0.1,1.021338
$STATE,14110,end surface coast,CONTROL_FINISHED_OK
$STATE,14110,begin surface
$SM_CCo,14131,120.32,0.136,0,0,439,612.76
$SM_GC,-0.14,8.20,0.88,120.32,0.053,0.067,0.136,221,2656,439,-7.55,-0.96,612.76,0,0,0,0,0,0,14.69,14.64,14.49
$IRIDIUM_FIX,2255.72,12329.71,260713,121242
$TT8_MAMPS,0.019474,0.019474
$HUMID,49.64
$INTERNAL_PRESSURE,9.75623
$TCM_TEMP,25.60
$XPDR_PINGS,0
$SC_FREEKB,3757216
$24V_AH,13.4,151.178
$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,22.025,201.100,464.875,120.325,0.000,0.000,0.000,0.000,0.000,0.000,16.663,2454.079,8807.873,803.759,1900.384,371.917,0.000,1920.538,0.000,1819.826,0.000,0.543,0.000
$DEVICE_MAMPS,373.320,97.155,1832.940,136.170,0.000,0.000,0.000,0.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14076.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.064,0.000,0.000,0.000
$MEM,328640
$DATA_FILE_SIZE,26851,670
$CAP_FILE_SIZE,213014,1
$CFSIZE,260034560,210026496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.297,128.1,1
$GPS,260713,162554,2257.131,12342.842,40,1.3,40,-3.2