version: 66.11
glider: 181
mission: 11
dive: 473
start: 7 31 113 17 7 3
data:
$ID,181
$MISSION,11
$DIVE,473
$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,-96696.734
$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,73
$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
$GPS1,310713,165054,2153.831,12413.751,38,1.3,38,-3.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-67.4
$GPS2,310713,170631,2153.841,12413.960,13,1.2,13,-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,256.6,50280,-21.5,-10.312,-29.71,2752
$D_GRID,5195
$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,22,-1.32,-194.6,216,2661,475,424,0.0,0.0,0,128,0.00,0.00,-104.00,0.000,16386,0.000,0.000,216,2662,3144,3184,3104,0,0,0,0,0,0,28.83,28.83,28.83
$GC,136,-1.32,-194.6,216,2662,3185,3106,4.1,-15.0,18,162,9.23,2.22,-10.27,0.000,18948,0.370,0.054,2240,1250,3734,3796,3672,0,0,0,0,0,0,14.16,14.62,14.88
$GC,217,-1.32,-194.6,2240,1250,3796,3673,28.2,-22.7,31,223,0.00,2.30,0.00,0.000,1030,0.000,0.052,2232,2652,3734,3796,3673,0,0,0,0,0,0,28.83,14.60,28.83
$GC,414,-1.32,-194.6,2233,2657,3796,3673,72.9,-22.0,45,420,0.00,2.20,0.00,0.000,516,0.000,0.034,2232,1254,3734,3796,3673,0,0,0,0,0,0,28.83,14.65,28.83
$GC,472,-1.32,-194.6,2233,1254,3796,3673,81.6,-20.2,47,479,0.00,2.30,0.00,0.000,1030,0.000,0.053,2223,2662,3734,3796,3673,0,0,0,0,0,0,28.83,14.64,28.83
$GC,660,-1.32,-194.6,2222,2662,3794,3673,120.3,-20.5,57,665,0.00,1.83,0.00,0.000,260,0.000,0.070,2214,3778,3732,3796,3669,0,0,0,0,0,0,28.83,14.63,28.83
$GC,747,-1.32,-194.6,1376,3777,3794,3671,138.9,-21.8,61,753,0.15,1.73,0.00,0.000,3078,0.281,0.030,2245,2609,3734,3796,3673,0,0,0,0,0,0,14.30,14.75,28.83
$GC,949,-1.32,-194.6,2251,2608,3796,3673,176.8,-17.7,71,954,0.00,1.92,0.00,0.000,260,0.000,0.068,2239,3778,3734,3796,3672,0,0,0,0,0,0,28.83,14.68,28.83
$GC,972,-1.32,-194.6,2239,3778,3796,3673,181.3,-17.3,72,978,0.00,1.73,0.00,0.000,1030,0.000,0.031,2239,2647,3734,3796,3673,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1177,-1.32,-194.6,2239,2647,3796,3673,216.5,-17.3,82,1182,0.00,2.10,0.00,0.000,516,0.000,0.035,2239,1292,3734,3796,3673,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1195,-1.32,-194.6,2238,1292,3796,3673,216.5,-17.3,82,1202,0.00,2.22,0.00,0.000,1030,0.000,0.054,2229,2659,3734,3796,3673,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1381,-1.32,-194.6,2229,2660,3796,3673,253.1,-18.2,92,1386,0.00,1.85,0.00,0.000,260,0.000,0.070,2220,3794,3734,3796,3673,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1446,-1.32,-194.6,2220,3795,3798,3673,264.7,-18.0,95,1452,0.00,1.70,0.00,0.000,1030,0.000,0.031,2220,2656,3735,3797,3673,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1651,-1.32,-194.6,2220,2655,3796,3673,300.9,-18.3,105,1656,0.00,2.12,0.00,0.000,516,0.000,0.037,2220,1287,3734,3796,3673,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1684,-1.32,-194.6,2220,1286,3796,3673,305.2,-18.0,106,1690,0.12,2.22,0.00,0.000,3078,0.285,0.054,2242,2657,3734,3796,3673,0,0,0,0,0,0,14.40,14.71,28.83
$GC,1881,-1.32,-194.6,2242,2657,3796,3671,338.5,-15.7,116,1886,0.00,1.85,0.00,0.000,260,0.000,0.071,2236,3783,3735,3800,3671,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1979,-1.32,-194.6,2233,3783,3796,3671,353.0,-16.9,120,1986,0.00,1.70,0.00,0.000,1030,0.000,0.031,2236,2645,3733,3796,3671,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2166,-1.32,-194.6,2236,2644,3796,3670,381.6,-13.5,130,2167,0.00,0.00,0.00,0.000,6,0.000,0.000,2235,2644,3733,3796,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2345,-1.32,-194.6,2236,2644,3796,3668,405.8,-13.9,139,2351,0.00,1.90,0.00,0.000,260,0.000,0.070,2227,3785,3732,3796,3668,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2410,-1.32,-194.6,2227,3785,3796,3668,416.4,-15.9,142,2416,0.00,1.70,0.00,0.000,1030,0.000,0.031,2227,2642,3732,3796,3668,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2616,-1.32,-194.6,2226,2642,3799,3666,452.4,-18.2,152,2621,0.00,2.12,0.00,0.000,516,0.000,0.037,2226,1289,3731,3796,3666,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2664,-1.32,-194.6,1360,1288,3794,3664,460.3,-17.7,154,2670,0.12,2.22,0.00,0.000,3078,0.285,0.054,2243,2649,3731,3796,3666,0,0,0,0,0,0,14.40,14.71,28.83
$GC,2865,-1.32,-194.6,2243,2649,3796,3663,492.4,-14.7,164,2871,0.00,1.88,0.00,0.000,260,0.000,0.076,2236,3778,3729,3796,3663,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2909,-1.32,-194.6,2237,3778,3795,3662,498.8,-14.3,166,2914,0.00,1.70,0.00,0.000,1030,0.000,0.033,2236,2645,3728,3794,3663,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3113,-1.32,-194.6,2235,2643,3791,3663,526.1,-13.5,176,3119,0.00,2.12,0.00,0.000,516,0.000,0.038,2235,1293,3726,3791,3662,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3141,-1.32,-194.6,2235,1293,3791,3662,529.3,-13.4,177,3148,0.00,2.25,0.00,0.000,1030,0.000,0.057,2227,2658,3726,3790,3662,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3342,-1.32,-194.6,2227,2658,3790,3659,556.7,-13.7,187,3348,0.00,1.88,0.00,0.000,260,0.000,0.076,2217,3785,3724,3790,3659,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3380,-1.32,-194.6,2218,3786,3790,3658,560.4,-14.0,188,3388,0.12,1.70,0.00,0.000,3078,0.288,0.034,2243,2652,3724,3790,3658,0,0,0,0,0,0,14.38,14.84,28.83
$GC,3569,-1.32,-194.6,2243,2652,3792,3655,589.7,-14.8,198,3575,0.00,2.17,0.00,0.000,516,0.000,0.040,2243,1285,3722,3790,3655,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3597,-1.32,-194.6,1392,1284,3787,3653,593.6,-14.7,199,3602,0.00,2.28,0.00,0.000,1030,0.000,0.057,2236,2659,3723,3791,3655,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3806,-1.32,-194.6,2236,2659,3790,3653,625.0,-14.6,207,3812,0.00,1.90,0.00,0.000,260,0.000,0.080,2227,3779,3721,3789,3653,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3890,-1.32,-194.6,2227,3779,3789,3653,634.8,-14.8,209,3896,0.00,1.70,0.00,0.000,1030,0.000,0.036,2226,2650,3721,3788,3654,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4084,-1.32,-194.6,2227,2650,3787,3650,666.1,-14.8,216,4091,0.00,1.92,0.00,0.000,260,0.000,0.077,2218,3785,3718,3787,3650,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4128,-1.32,-194.6,2218,3785,3787,3650,671.5,-15.2,217,4135,0.12,1.73,0.00,0.000,3078,0.287,0.036,2243,2656,3718,3787,3650,0,0,0,0,0,0,14.34,14.80,28.83
$GC,4334,-1.32,-194.6,2243,2657,3787,3647,704.4,-15.3,224,4340,0.00,1.92,0.00,0.000,260,0.000,0.080,2237,3779,3716,3787,3646,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4382,-1.32,-194.6,2237,3779,3785,3647,710.0,-15.7,225,4387,0.00,1.77,0.00,0.000,1030,0.000,0.036,2237,2653,3716,3785,3647,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4582,-1.32,-194.6,2237,2652,3784,3644,743.8,-15.7,232,4588,0.00,1.92,0.00,0.000,260,0.000,0.083,2228,3776,3712,3782,3643,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4616,-1.32,-194.6,2228,3776,3781,3644,749.7,-16.0,233,4622,0.00,1.75,0.00,0.000,1030,0.000,0.037,2229,2643,3712,3781,3644,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4830,-1.32,-194.6,2228,2642,3780,3642,781.2,-14.5,240,4835,0.00,1.95,0.00,0.000,260,0.000,0.082,2219,3778,3710,3779,3642,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4853,-1.32,-194.6,2219,3779,3779,3642,781.2,-14.5,240,4859,0.12,1.75,0.00,0.000,3078,0.287,0.037,2245,2650,3710,3779,3642,0,0,0,0,0,0,14.31,14.78,28.83
$GC,5048,-1.32,-194.6,2244,2650,3779,3639,811.0,-13.4,247,5053,0.00,1.95,0.00,0.000,260,0.000,0.083,2238,3781,3709,3779,3639,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5066,-1.32,-194.6,2238,3781,3778,3638,811.0,-13.4,247,5071,0.00,1.75,0.00,0.000,1030,0.000,0.038,2238,2651,3708,3777,3639,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5265,-1.32,-194.6,2238,2650,3777,3637,841.0,-14.0,254,5270,0.00,1.95,0.00,0.000,260,0.000,0.084,2229,3779,3706,3777,3636,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5293,-1.32,-194.6,2229,3778,3776,3636,841.0,-14.0,254,5300,0.00,1.75,0.00,0.000,1030,0.000,0.039,2229,2649,3706,3776,3637,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5479,-1.32,-194.6,2230,2648,3775,3634,872.8,-14.9,261,5484,0.00,1.95,0.00,0.000,260,0.000,0.086,2220,3776,3704,3775,3634,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5543,-1.32,-194.6,2221,3776,3773,3634,882.8,-15.5,263,5548,0.00,1.77,0.00,0.000,1030,0.000,0.038,2220,2646,3703,3773,3634,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5757,-1.32,-194.6,2220,2645,3773,3633,917.5,-16.5,270,5762,0.00,1.98,0.00,0.000,260,0.000,0.087,2211,3779,3702,3772,3633,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5790,-1.32,-194.6,2212,3779,3771,3632,923.5,-16.8,271,5798,0.10,1.83,0.00,0.000,3078,0.264,0.039,2247,2654,3702,3771,3633,0,0,0,0,0,0,14.16,14.69,28.83
$GC,6007,-1.32,-194.6,2247,2654,3771,3629,956.7,-15.1,278,6013,0.00,1.95,0.00,0.000,260,0.000,0.089,2240,3775,3699,3770,3628,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6051,-1.32,-194.6,2240,3775,3769,3629,962.7,-15.6,279,6057,0.00,1.77,0.00,0.000,1030,0.000,0.040,2240,2645,3698,3768,3628,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,6223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6223,begin apogee
$GC,6231,-0.22,0.0,2240,2133,3768,3627,992.6,-16.0,285,6419,1.30,0.00,179.60,1.804,10246,0.225,0.000,2599,2133,2935,2966,2905,0,0,0,0,0,0,14.07,28.83,13.29
$STATE,6420,end apogee,CONTROL_FINISHED_OK
$STATE,6420,begin climb
$GC,6424,1.32,194.6,2599,2133,2963,2900,1005.1,0.0,291,6615,1.48,2.35,179.65,1.813,10756,0.076,0.061,3121,781,2138,2163,2114,0,0,0,0,0,0,14.24,14.16,13.31
$GC,6746,1.32,194.6,3121,781,2161,2094,970.4,16.0,302,6753,0.00,2.33,0.00,0.000,1030,0.000,0.063,3121,2147,2127,2161,2094,0,0,0,0,0,0,28.83,14.51,28.83
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$STATE,14416,end climb,SURFACE_DEPTH_REACHED
$STATE,14416,begin surface coast
$FINISH,0.7,1.021340
$STATE,14440,end surface coast,CONTROL_FINISHED_OK
$STATE,14440,begin surface
$SM_CCo,14461,103.70,0.138,0,0,435,612.76
$SM_GC,-0.16,8.57,0.80,103.70,0.080,0.057,0.138,227,2656,435,-7.55,-1.07,612.76,0,0,0,0,0,0,14.66,14.64,14.47
$IRIDIUM_FIX,2131.85,12413.56,310713,161637
$TT8_MAMPS,0.019474,0.019474
$HUMID,49.68
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,25.80
$XPDR_PINGS,1
$SC_FREEKB,3745152
$24V_AH,13.3,160.252
$10V_AH,12.8,0.000
$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
$DEVICE_SECS,22.800,224.375,496.425,103.700,0.000,52.767,39.300,438.411,0.250,0.000,16.945,2567.252,8909.110,825.582,2626.720,571.337,0.000,2024.390,0.000,1928.305,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14516.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.950,0.000,0.000,0.000
$MEM,328512
$DATA_FILE_SIZE,26792,671
$CAP_FILE_SIZE,216695,0
$CFSIZE,260034560,206643200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.233,146.9,1
$GPS,310713,211106,2152.398,12414.227,30,1.2,30,-2.9