version: 66.11
glider: 181
mission: 11
dive: 475
start: 8 1 113 1 35 43
data:
$ID,181
$MISSION,11
$DIVE,475
$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,-96699.242
$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,89
$R_STBD_OVSHOOT,37
$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
$GPS1,010813,012336,2150.967,12414.397,35,1.1,36,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-66.7
$GPS2,010813,013512,2150.858,12414.614,13,1.8,18,-2.9
$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,261.0,46112,-21.5,-10.312,-29.71,2752
$D_GRID,5337
$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,-194.6,210,2625,471,426,0.0,0.0,0,129,0.00,0.00,-103.45,0.000,16386,0.000,0.000,211,2626,3083,3126,3040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,135,-1.32,-194.6,211,2626,3126,3041,3.1,-11.1,18,162,9.27,2.20,-12.52,0.000,18948,0.371,0.058,2242,1273,3734,3797,3671,0,0,0,0,0,0,14.16,14.66,14.88
$GC,213,-1.32,-194.6,2241,1273,3797,3673,24.5,-23.3,31,220,0.00,2.28,0.00,0.000,1030,0.000,0.055,2234,2645,3734,3797,3672,0,0,0,0,0,0,28.83,14.54,28.83
$GC,401,-1.32,-194.6,2234,2646,3797,3673,68.6,-22.6,46,407,0.00,1.88,0.00,0.000,260,0.000,0.071,2225,3782,3734,3797,3672,0,0,0,0,0,0,28.83,14.59,28.83
$GC,480,-1.32,-194.6,2225,3782,3797,3672,82.1,-20.6,49,487,0.00,1.70,0.00,0.000,1030,0.000,0.032,2225,2637,3734,3797,3672,0,0,0,0,0,0,28.83,14.77,28.83
$GC,666,-1.32,-194.6,2225,2636,3796,3672,120.7,-19.0,59,667,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2636,3735,3797,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,846,-1.32,-194.6,2225,2637,3797,3673,155.4,-18.9,68,851,0.00,1.90,0.00,0.000,260,0.000,0.067,2216,3786,3735,3797,3673,0,0,0,0,0,0,28.83,14.66,28.83
$GC,909,-1.32,-194.6,2216,3788,3797,3673,168.1,-19.6,71,915,0.12,1.70,0.00,0.000,3078,0.289,0.030,2242,2661,3735,3797,3673,0,0,0,0,0,0,14.35,14.80,28.83
$GC,1117,-1.32,-194.6,2244,2660,3797,3673,204.8,-17.2,81,1122,0.00,1.85,0.00,0.000,260,0.000,0.066,2236,3779,3735,3797,3673,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1154,-1.32,-194.6,2236,3783,3796,3673,209.4,-17.4,82,1161,0.00,1.70,0.00,0.000,1030,0.000,0.031,2236,2643,3734,3797,3672,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1340,-1.32,-194.6,2236,2643,3797,3673,243.5,-16.4,92,1341,0.00,0.00,0.00,0.000,6,0.000,0.000,2233,2642,3735,3797,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1521,-1.32,-194.6,2236,2643,3796,3673,272.8,-16.0,101,1527,0.00,2.15,0.00,0.000,516,0.000,0.037,2236,1278,3735,3797,3673,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1554,-1.32,-194.6,2236,1277,3797,3673,276.9,-16.0,102,1560,0.00,2.25,0.00,0.000,1030,0.000,0.053,2226,2662,3735,3797,3673,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1748,-1.32,-194.6,2226,2662,3797,3673,312.1,-17.6,112,1753,0.00,2.17,0.00,0.000,516,0.000,0.037,2226,1282,3735,3797,3673,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1827,-1.32,-194.6,2226,1282,3796,3673,322.6,-16.8,115,1834,0.12,2.25,0.00,0.000,3078,0.289,0.054,2242,2661,3735,3797,3673,0,0,0,0,0,0,14.38,14.70,28.83
$GC,2012,-1.32,-194.6,2242,2661,3797,3672,353.0,-14.7,125,2017,0.00,1.85,0.00,0.000,260,0.000,0.072,2236,3786,3734,3797,3672,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2106,-1.32,-194.6,2236,3786,3797,3671,366.0,-15.4,129,2111,0.00,1.75,0.00,0.000,1030,0.000,0.032,2236,2640,3734,3797,3671,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2300,-1.32,-194.6,2236,2640,3797,3670,397.5,-15.2,139,2306,0.00,1.90,0.00,0.000,260,0.000,0.070,2227,3780,3732,3795,3670,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2339,-1.32,-194.6,2227,3781,3797,3669,401.2,-15.2,140,2346,0.00,1.67,0.00,0.000,1030,0.000,0.031,2227,2658,3733,3797,3669,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2525,-1.32,-194.6,2227,2657,3797,3668,434.1,-16.8,150,2530,0.00,2.15,0.00,0.000,516,0.000,0.037,2227,1281,3732,3796,3668,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2537,-1.32,-194.6,2227,1281,3797,3668,434.1,-16.8,150,2543,0.12,2.28,0.00,0.000,3078,0.279,0.056,2243,2658,3732,3797,3667,0,0,0,0,0,0,14.39,14.69,28.83
$GC,2734,-1.32,-194.6,2244,2658,3797,3666,466.6,-15.6,160,2739,0.00,1.85,0.00,0.000,260,0.000,0.075,2237,3776,3731,3797,3665,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2798,-1.32,-194.6,2237,3776,3797,3665,477.3,-15.9,163,2803,0.00,1.70,0.00,0.000,1030,0.000,0.032,2237,2647,3731,3797,3665,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3003,-1.32,-194.6,2237,2647,3794,3663,507.6,-14.7,173,3008,0.00,2.15,0.00,0.000,516,0.000,0.038,2237,1285,3729,3796,3662,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3036,-1.32,-194.6,2237,1284,3797,3662,511.3,-15.0,174,3041,0.00,2.25,0.00,0.000,1030,0.000,0.057,2227,2648,3729,3797,3662,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3231,-1.32,-194.6,2228,2648,3797,3659,541.8,-14.8,184,3237,0.00,1.90,0.00,0.000,260,0.000,0.078,2218,3788,3727,3796,3659,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3335,-1.32,-194.6,2217,3789,3791,3661,559.0,-16.3,189,3342,0.12,1.75,0.00,0.000,3078,0.292,0.035,2244,2638,3726,3791,3661,0,0,0,0,0,0,14.35,14.81,28.83
$GC,3544,-1.32,-194.6,2244,2638,3790,3657,588.7,-14.4,199,3545,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2638,3723,3790,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3741,-1.32,-194.6,2244,2639,3787,3654,618.5,-15.1,207,3746,0.00,1.95,0.00,0.000,260,0.000,0.076,2237,3787,3722,3791,3654,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3794,-1.32,-194.6,2237,3787,3789,3654,624.0,-15.4,208,3799,0.00,1.73,0.00,0.000,1030,0.000,0.035,2237,2649,3721,3789,3654,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3988,-1.32,-194.6,2237,2648,3784,3652,658.1,-16.0,215,3989,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2649,3720,3789,3652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4168,-1.32,-194.6,2237,2649,3788,3650,686.5,-15.8,221,4173,0.00,1.92,0.00,0.000,260,0.000,0.080,2228,3777,3719,3788,3650,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4232,-1.32,-194.6,2229,3776,3787,3650,696.4,-15.4,223,4237,0.00,1.73,0.00,0.000,1030,0.000,0.037,2228,2651,3718,3787,3650,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4446,-1.32,-194.6,2228,2651,3787,3646,725.8,-13.3,230,4452,0.00,1.92,0.00,0.000,260,0.000,0.080,2220,3776,3716,3787,3646,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4494,-1.32,-194.6,2220,3776,3785,3647,730.6,-13.5,231,4499,0.00,1.73,0.00,0.000,1030,0.000,0.037,2219,2654,3716,3785,3647,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4693,-1.32,-194.6,2219,2653,3783,3643,760.9,-14.5,238,4699,0.12,1.92,0.00,0.000,2308,0.295,0.077,2244,3776,3713,3783,3643,0,0,0,0,0,0,14.35,14.56,28.83
$GC,4752,-1.32,-194.6,2244,3776,3780,3643,766.0,-14.4,239,4758,0.00,1.75,0.00,0.000,1030,0.000,0.037,2244,2645,3712,3781,3643,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4938,-1.32,-194.6,2244,2645,3781,3642,796.1,-14.2,246,4939,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2645,3708,3780,3637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5119,-1.32,-194.6,2244,2645,3779,3639,823.7,-15.7,252,5124,0.00,1.95,0.00,0.000,260,0.000,0.086,2235,3775,3709,3779,3639,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5201,-1.32,-194.6,2235,3775,3778,3639,835.1,-17.0,254,5206,0.00,1.75,0.00,0.000,1030,0.000,0.039,2235,2649,3708,3777,3639,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5396,-1.32,-194.6,2235,2649,3778,3635,871.5,-17.2,261,5401,0.00,1.98,0.00,0.000,260,0.000,0.088,2226,3781,3706,3777,3635,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5453,-1.32,-194.6,2226,3781,3776,3635,877.8,-17.6,262,5460,0.00,1.77,0.00,0.000,1030,0.000,0.040,2226,2652,3705,3775,3635,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5640,-1.32,-194.6,2226,2652,3775,3634,914.7,-17.6,269,5645,0.00,1.95,0.00,0.000,260,0.000,0.088,2218,3773,3704,3775,3633,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5693,-1.32,-194.6,2217,3774,3773,3634,920.9,-17.8,270,5699,0.12,1.77,0.00,0.000,3078,0.295,0.040,2242,2648,3703,3773,3634,0,0,0,0,0,0,14.21,14.71,28.83
$GC,5888,-1.32,-194.6,2242,2647,3773,3632,957.6,-16.7,277,5893,0.00,2.00,0.00,0.000,260,0.000,0.090,2235,3778,3702,3773,3632,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5955,-1.32,-194.6,2235,3779,3772,3632,968.9,-17.3,279,5962,0.00,1.77,0.00,0.000,1030,0.000,0.041,2235,2647,3701,3771,3632,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,6072,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6072,begin apogee
$GC,6081,-0.22,0.0,2235,2154,3771,3629,991.1,-17.9,283,6265,1.30,0.00,176.18,1.825,10246,0.226,0.000,2594,2153,2936,2967,2906,0,0,0,0,0,0,14.06,28.83,13.31
$STATE,6266,end apogee,CONTROL_FINISHED_OK
$STATE,6267,begin climb
$GC,6270,1.32,194.6,2593,2153,2965,2903,1006.8,0.0,289,6462,1.48,2.47,180.40,1.816,10756,0.077,0.063,3115,772,2139,2163,2115,0,0,0,0,0,0,14.23,14.16,13.29
$GC,6578,1.32,194.6,3115,772,2161,2096,982.4,14.3,299,6583,0.00,2.35,0.00,0.000,1030,0.000,0.064,3115,2145,2128,2161,2095,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6772,1.32,194.6,3115,2144,2161,2090,951.0,15.0,306,6777,0.00,2.50,0.00,0.000,260,0.000,0.093,3115,3562,2125,2161,2090,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6816,1.32,194.6,3115,3562,2161,2090,945.5,15.2,307,6822,0.00,2.25,0.00,0.000,1030,0.000,0.039,3130,2170,2125,2161,2090,0,0,0,0,0,0,28.83,14.65,28.83
$GC,7020,1.32,194.6,3125,2170,2161,2086,911.5,15.8,314,7025,0.00,2.35,0.00,0.000,516,0.000,0.061,3136,754,2123,2161,2085,0,0,0,0,0,0,28.83,14.66,28.83
$GC,7093,1.32,194.6,3136,753,2161,2085,901.6,15.6,316,7099,0.15,2.35,0.00,0.000,5126,0.305,0.062,3106,2151,2122,2161,2084,0,0,0,0,0,0,14.33,14.64,28.83
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$STATE,14546,end climb,SURFACE_DEPTH_REACHED
$STATE,14546,begin surface coast
$FINISH,0.3,1.021484
$STATE,14575,end surface coast,CONTROL_FINISHED_OK
$STATE,14575,begin surface
$SM_CCo,14595,110.30,0.138,0,0,437,612.76
$SM_GC,-0.19,8.27,0.85,110.30,0.060,0.063,0.138,229,2649,437,-7.55,-1.22,612.76,0,0,0,0,0,0,14.65,14.65,14.47
$IRIDIUM_FIX,2138.81,12418.08,310713,212148
$TT8_MAMPS,0.019474,0.019474
$HUMID,49.84
$INTERNAL_PRESSURE,9.75623
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,3744320
$24V_AH,13.3,160.890
$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
$DEVICE_SECS,21.975,213.475,516.525,110.300,0.000,29.543,20.702,332.782,0.000,0.000,20.673,2635.113,8834.584,838.967,2526.537,563.928,0.000,2059.135,0.000,2006.035,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14645.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.055,0.000,0.000,0.000
$MEM,328596
$DATA_FILE_SIZE,26720,689
$CAP_FILE_SIZE,216108,0
$CFSIZE,260034560,206397440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.162,145.0,1
$GPS,010813,054206,2150.007,12414.582,27,1.2,28,-2.9