version: 66.11
glider: 181
mission: 11
dive: 471
start: 7 31 113 8 25 26
data:
$ID,181
$MISSION,11
$DIVE,471
$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,-96694.219
$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,78
$R_STBD_OVSHOOT,40
$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
$GPS1,310713,081253,2156.381,12412.591,39,0.9,40,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.06
$_SM_ANGLEo,-67.9
$GPS2,310713,082455,2156.292,12412.612,16,0.9,16,-3.0
$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,252.1,53323,-21.5,-10.312,-29.71,2752
$D_GRID,5431
$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,19,begin dive
$GC,23,-1.32,-194.6,239,2662,470,426,0.0,0.0,0,123,0.00,0.00,-98.03,0.000,16386,0.000,0.000,238,2664,2946,2980,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-1.32,-194.6,238,2663,2980,2914,3.2,-9.8,17,162,9.12,2.22,-14.95,0.000,18948,0.370,0.056,2241,1268,3734,3798,3671,0,0,0,0,0,0,14.18,14.64,14.89
$GC,198,-1.32,-194.6,2241,1267,3798,3672,21.7,-22.8,28,205,0.00,2.28,0.00,0.000,1030,0.000,0.056,2234,2645,3735,3798,3672,0,0,0,0,0,0,28.83,14.55,28.83
$GC,393,-1.32,-194.6,2233,2646,3798,3672,69.3,-23.5,44,398,0.00,2.20,0.00,0.000,516,0.000,0.038,2234,1260,3735,3798,3672,0,0,0,0,0,0,28.83,14.69,28.83
$GC,461,-1.32,-194.6,2233,1259,3798,3672,82.5,-21.3,47,466,0.00,2.30,0.00,0.000,1030,0.000,0.054,2223,2662,3734,3798,3671,0,0,0,0,0,0,28.83,14.64,28.83
$GC,660,-1.32,-194.6,2223,2662,3798,3671,123.9,-19.6,57,665,0.00,1.83,0.00,0.000,260,0.000,0.069,2214,3781,3735,3798,3672,0,0,0,0,0,0,28.83,14.66,28.83
$GC,734,-1.32,-194.6,2215,3781,3798,3668,136.7,-19.9,60,740,0.08,1.75,0.00,0.000,3078,0.264,0.031,2246,2629,3734,3797,3672,0,0,0,0,0,0,14.33,14.76,28.83
$GC,930,-1.32,-194.6,2246,2628,3798,3672,173.1,-17.7,70,936,0.00,2.08,0.00,0.000,516,0.000,0.035,2246,1288,3735,3798,3672,0,0,0,0,0,0,28.83,14.69,28.83
$GC,948,-1.32,-194.6,2246,1287,3798,3672,173.1,-17.7,70,955,0.00,2.22,0.00,0.000,1030,0.000,0.053,2235,2651,3734,3797,3672,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1136,-1.32,-194.6,2238,2651,3798,3672,210.3,-18.0,80,1141,0.00,1.85,0.00,0.000,260,0.000,0.071,2230,3782,3734,3797,3672,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1209,-1.32,-194.6,2230,3782,3798,3672,222.4,-18.4,83,1214,0.00,1.67,0.00,0.000,1030,0.000,0.031,2229,2642,3735,3798,3672,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1403,-1.32,-194.6,2229,2640,3797,3672,258.1,-17.8,93,1408,0.00,1.90,0.00,0.000,260,0.000,0.069,2220,3789,3735,3798,3672,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1528,-1.32,-194.6,2221,3789,3798,3672,281.4,-18.9,99,1534,0.00,1.67,0.00,0.000,1030,0.000,0.031,2221,2640,3735,3798,3672,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1733,-1.32,-194.6,2220,2639,3797,3673,313.9,-14.6,109,1738,0.00,1.90,0.00,0.000,260,0.000,0.070,2212,3789,3736,3801,3671,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1756,-1.32,-194.6,2212,3789,3798,3672,317.4,-14.5,110,1762,0.15,1.67,0.00,0.000,3078,0.280,0.031,2244,2651,3734,3797,3671,0,0,0,0,0,0,14.37,14.83,28.83
$GC,1963,-1.32,-194.6,2243,2651,3794,3671,348.6,-15.4,120,1965,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2651,3735,3798,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2141,-1.32,-194.6,2243,2651,3797,3670,379.0,-16.9,129,2142,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2651,3733,3797,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2321,-1.32,-194.6,2244,2651,3797,3668,409.3,-16.4,138,2326,0.00,2.10,0.00,0.000,516,0.000,0.037,2243,1299,3732,3797,3668,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2349,-1.32,-194.6,2244,1300,3799,3668,413.0,-16.0,139,2354,0.00,2.22,0.00,0.000,1030,0.000,0.056,2236,2662,3733,3799,3668,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2547,-1.32,-194.6,2236,2662,3798,3666,441.7,-13.4,149,2553,0.00,1.88,0.00,0.000,260,0.000,0.073,2228,3775,3732,3798,3666,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2581,-1.32,-194.6,2228,3775,3797,3662,444.8,-13.2,150,2586,0.00,1.65,0.00,0.000,1030,0.000,0.033,2228,2663,3732,3798,3666,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2775,-1.32,-194.6,2228,2663,3798,3664,472.3,-14.0,160,2781,0.00,2.17,0.00,0.000,516,0.000,0.038,2228,1284,3731,3798,3664,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2794,-1.32,-194.6,2228,1283,3798,3664,472.3,-14.0,160,2801,0.12,2.25,0.00,0.000,3078,0.278,0.056,2244,2655,3731,3798,3664,0,0,0,0,0,0,14.40,14.69,28.83
$GC,2982,-1.32,-194.6,2244,2656,3795,3663,502.3,-14.9,170,2987,0.00,1.88,0.00,0.000,260,0.000,0.076,2238,3784,3729,3795,3663,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3049,-1.32,-194.6,1408,3784,3792,3661,512.8,-16.1,173,3054,0.00,1.70,0.00,0.000,1030,0.000,0.034,2238,2633,3728,3795,3662,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3249,-1.32,-194.6,2237,2632,3795,3660,544.0,-15.2,183,3254,0.00,2.10,0.00,0.000,516,0.000,0.038,2238,1296,3727,3795,3660,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3272,-1.32,-194.6,2238,1295,3795,3660,547.7,-15.1,184,3278,0.00,2.25,0.00,0.000,1030,0.000,0.058,2228,2652,3727,3795,3660,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3476,-1.32,-194.6,2228,2652,3795,3655,579.4,-15.4,194,3481,0.00,1.90,0.00,0.000,260,0.000,0.079,2219,3786,3725,3795,3655,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3561,-1.32,-194.6,2219,3788,3792,3655,593.1,-16.3,198,3567,0.00,1.75,0.00,0.000,1030,0.000,0.035,2220,2663,3724,3792,3656,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3756,-1.32,-194.6,2219,2663,3792,3654,624.1,-15.7,205,3758,0.12,0.00,0.00,0.000,2054,0.294,0.000,2245,2663,3725,3797,3654,0,0,0,0,0,0,14.45,28.83,28.83
$GC,3936,-1.32,-194.6,2245,2663,3790,3652,649.6,-14.0,211,3941,0.00,1.90,0.00,0.000,260,0.000,0.078,2239,3784,3720,3789,3652,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4030,-1.32,-194.6,2239,3783,3788,3652,663.4,-14.5,214,4035,0.00,1.73,0.00,0.000,1030,0.000,0.037,2239,2645,3720,3788,3652,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4245,-1.32,-194.6,2239,2645,3788,3647,691.9,-13.0,221,4251,0.00,1.95,0.00,0.000,260,0.000,0.080,2230,3789,3718,3788,3648,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4288,-1.32,-194.6,2230,3790,3787,3648,696.7,-13.3,222,4294,0.00,1.73,0.00,0.000,1030,0.000,0.037,2229,2654,3717,3787,3648,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4492,-1.32,-194.6,2230,2653,3787,3645,726.7,-14.0,229,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2653,3716,3787,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4673,-1.32,-194.6,2230,2653,3785,3643,751.2,-13.7,235,4679,0.00,1.95,0.00,0.000,260,0.000,0.081,2221,3789,3713,3784,3643,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4711,-1.32,-194.6,2220,3789,3781,3643,756.6,-14.2,236,4717,0.00,1.75,0.00,0.000,1030,0.000,0.038,2220,2651,3712,3781,3643,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4920,-1.32,-194.6,2221,2651,3780,3642,787.9,-14.8,243,4926,0.00,1.95,0.00,0.000,260,0.000,0.085,2212,3781,3709,3780,3639,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4985,-1.32,-194.6,2212,3781,3779,3642,798.4,-15.9,245,4991,0.15,1.75,0.00,0.000,3078,0.284,0.038,2244,2661,3709,3778,3641,0,0,0,0,0,0,14.24,14.75,28.83
$GC,5200,-1.32,-194.6,2244,2659,3779,3637,830.0,-14.5,252,5205,0.00,1.95,0.00,0.000,260,0.000,0.085,2237,3786,3708,3779,3637,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5222,-1.32,-194.6,2237,3786,3773,3637,830.0,-14.5,252,5227,0.00,1.77,0.00,0.000,1030,0.000,0.039,2237,2641,3707,3778,3637,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5417,-1.32,-194.6,2237,2641,3777,3634,863.8,-15.9,259,5422,0.00,1.98,0.00,0.000,260,0.000,0.086,2228,3779,3705,3777,3634,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5484,-1.32,-194.6,2228,3779,3775,3634,874.8,-16.5,261,5490,0.00,1.75,0.00,0.000,1030,0.000,0.039,2228,2656,3704,3775,3634,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5695,-1.32,-194.6,2228,2655,3774,3631,909.4,-16.0,268,5700,0.00,2.22,0.00,0.000,516,0.000,0.045,2228,1283,3703,3774,3633,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5712,-1.32,-194.6,2230,1283,3774,3633,909.4,-16.0,268,5718,0.12,2.33,0.00,0.000,3078,0.291,0.067,2244,2651,3703,3774,3633,0,0,0,0,0,0,14.23,14.54,28.83
$GC,5912,-1.32,-194.6,2243,2651,3773,3629,943.7,-15.5,275,5917,0.00,1.98,0.00,0.000,260,0.000,0.094,2237,3784,3701,3773,3629,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6007,-1.32,-194.6,2237,3784,3771,3630,959.3,-16.3,278,6012,0.00,1.80,0.00,0.000,1030,0.000,0.041,2237,2647,3700,3771,3630,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,6219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6219,begin apogee
$GC,6226,-0.22,0.0,2237,2141,3770,3627,993.5,-15.9,285,6412,1.30,0.00,176.62,1.828,10246,0.226,0.000,2595,2140,2933,2964,2903,0,0,0,0,0,0,14.06,28.83,13.31
$STATE,6414,end apogee,CONTROL_FINISHED_OK
$STATE,6414,begin climb
$GC,6417,1.32,194.6,2595,2140,2963,2899,1004.7,0.0,291,6606,1.48,2.38,179.68,1.811,10756,0.077,0.063,3118,777,2141,2165,2118,0,0,0,0,0,0,14.23,14.16,13.29
$GC,6688,1.32,194.6,3118,777,2163,2098,977.6,16.0,300,6694,0.00,2.38,0.00,0.000,1030,0.000,0.066,3118,2155,2130,2163,2097,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6888,1.32,194.6,3118,2156,2163,2096,942.2,16.6,307,6893,0.00,2.33,0.00,0.000,516,0.000,0.065,3127,783,2127,2163,2091,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6931,1.32,194.6,3127,783,2162,2091,936.4,16.7,308,6936,0.00,2.33,0.00,0.000,1030,0.000,0.066,3128,2152,2126,2163,2090,0,0,0,0,0,0,28.83,14.61,28.83
$GC,7135,1.32,194.6,3128,2152,2163,2087,900.0,16.9,315,7140,0.00,2.33,0.00,0.000,516,0.000,0.061,3138,775,2125,2163,2088,0,0,0,0,0,0,28.83,14.65,28.83
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$STATE,14490,end climb,SURFACE_DEPTH_REACHED
$STATE,14490,begin surface coast
$FINISH,-0.2,1.021206
$STATE,14516,end surface coast,CONTROL_FINISHED_OK
$STATE,14516,begin surface
$SM_CCo,14538,110.12,0.138,0,0,436,612.76
$SM_GC,-0.18,8.20,0.82,110.12,0.051,0.066,0.138,229,2669,436,-7.53,-0.85,612.76,0,0,0,0,0,0,14.67,14.63,14.47
$IRIDIUM_FIX,2152.74,12418.78,310713,030322
$TT8_MAMPS,0.019474,0.019474
$HUMID,49.84
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,25.50
$XPDR_PINGS,3
$SC_FREEKB,3745984
$24V_AH,13.3,159.611
$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,21.625,208.500,492.925,110.125,0.000,28.977,43.655,339.882,0.750,0.000,18.820,2577.573,8973.439,799.688,2476.215,540.352,0.000,1977.910,0.000,1919.875,0.000,0.542,0.000
$DEVICE_MAMPS,370.260,94.095,1828.350,138.465,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14588.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.031,0.000,0.000,0.000
$MEM,328572
$DATA_FILE_SIZE,26757,683
$CAP_FILE_SIZE,211441,0
$CFSIZE,260034560,206893056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.210,134.9,1
$GPS,310713,123100,2155.204,12412.966,36,1.5,36,-3.0