version: 66.11
glider: 181
mission: 11
dive: 476
start: 8 1 113 5 59 12
data:
$ID,181
$MISSION,11
$DIVE,476
$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,-96700.492
$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,38
$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
$GPS1,010813,054206,2150.007,12414.582,27,1.2,28,-2.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-67.1
$GPS2,010813,055842,2149.902,12414.566,8,1.1,13,-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,262.2,44593,-21.5,-10.312,-29.71,2752
$D_GRID,5356
$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,-194.6,214,2650,470,420,0.0,0.0,0,123,0.00,0.00,-98.55,0.000,16386,0.000,0.000,214,2648,2938,2974,2902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-1.32,-194.6,213,2651,2974,2905,3.1,-9.2,16,162,9.20,2.22,-15.18,0.000,18948,0.367,0.056,2243,1254,3732,3795,3669,0,0,0,0,0,0,14.16,14.66,14.89
$GC,211,-1.32,-194.6,2244,1254,3795,3671,25.1,-21.8,30,217,0.00,2.30,0.00,0.000,1030,0.000,0.056,2236,2645,3733,3795,3671,0,0,0,0,0,0,28.83,14.53,28.83
$GC,409,-1.32,-194.6,2236,2645,3795,3670,69.6,-21.8,45,414,0.00,2.20,0.00,0.000,516,0.000,0.038,2236,1262,3733,3795,3671,0,0,0,0,0,0,28.83,14.67,28.83
$GC,483,-1.32,-194.6,2236,1262,3795,3670,83.3,-20.4,48,488,0.00,2.28,0.00,0.000,1030,0.000,0.053,2226,2654,3732,3795,3670,0,0,0,0,0,0,28.83,14.66,28.83
$GC,677,-1.32,-194.6,2226,2654,3795,3670,124.6,-19.9,58,682,0.00,1.85,0.00,0.000,260,0.000,0.071,2217,3782,3732,3795,3670,0,0,0,0,0,0,28.83,14.66,28.83
$GC,725,-1.32,-194.6,2218,3782,3795,3670,133.4,-20.2,60,731,0.12,1.73,0.00,0.000,3078,0.291,0.031,2242,2622,3733,3795,3671,0,0,0,0,0,0,14.37,14.81,28.83
$GC,927,-1.32,-194.6,2242,2619,3795,3671,170.6,-17.8,70,932,0.00,1.92,0.00,0.000,260,0.000,0.067,2235,3783,3733,3795,3671,0,0,0,0,0,0,28.83,14.66,28.83
$GC,954,-1.32,-194.6,2238,3783,3795,3667,175.5,-18.1,71,960,0.00,1.73,0.00,0.000,1030,0.000,0.030,2235,2662,3733,3795,3671,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1154,-1.32,-194.6,2235,2662,3795,3670,212.8,-18.5,81,1159,0.00,1.85,0.00,0.000,260,0.000,0.067,2226,3783,3733,3795,3671,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1213,-1.32,-194.6,2226,3783,3795,3671,220.7,-18.0,83,1219,0.00,1.70,0.00,0.000,1030,0.000,0.030,2227,2631,3733,3795,3671,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1399,-1.32,-194.6,2226,2630,3795,3671,256.1,-17.6,93,1400,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2630,3732,3795,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1579,-1.32,-194.6,2227,2630,3795,3670,287.6,-17.4,102,1584,0.00,1.90,0.00,0.000,260,0.000,0.069,2218,3779,3732,3795,3670,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1637,-1.32,-194.6,2218,3779,3795,3670,295.7,-17.9,104,1644,0.12,1.67,0.00,0.000,3078,0.289,0.030,2242,2633,3732,3795,3670,0,0,0,0,0,0,14.40,14.85,28.83
$GC,1825,-1.32,-194.6,2242,2632,3795,3669,325.5,-13.6,114,1826,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2633,3732,3795,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2003,-1.32,-194.6,2243,2632,3795,3670,351.8,-15.5,123,2009,0.00,1.90,0.00,0.000,260,0.000,0.070,2236,3777,3731,3795,3668,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2107,-1.32,-194.6,2241,3778,3795,3667,370.1,-17.5,128,2114,0.00,1.65,0.00,0.000,1030,0.000,0.032,2236,2652,3731,3795,3667,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2313,-1.32,-194.6,2237,2651,3795,3666,405.2,-16.4,138,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2652,3730,3795,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2492,-1.32,-194.6,2236,2652,3795,3664,433.0,-15.2,147,2497,0.00,1.88,0.00,0.000,260,0.000,0.069,2227,3779,3729,3795,3664,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2510,-1.32,-194.6,2228,3779,3795,3663,433.0,-15.2,147,2517,0.00,1.67,0.00,0.000,1030,0.000,0.032,2227,2654,3729,3795,3663,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2697,-1.32,-194.6,2227,2654,3795,3662,464.4,-15.4,157,2702,0.00,2.15,0.00,0.000,516,0.000,0.037,2227,1280,3729,3794,3665,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2724,-1.32,-194.6,1376,1280,3798,3660,468.2,-15.4,158,2731,0.12,2.25,0.00,0.000,3078,0.278,0.056,2244,2653,3728,3794,3662,0,0,0,0,0,0,14.41,14.70,28.83
$GC,2927,-1.32,-194.6,2244,2653,3794,3659,497.0,-14.2,168,2933,0.00,2.17,0.00,0.000,516,0.000,0.037,2244,1278,3726,3794,3659,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2996,-1.32,-194.6,1392,1278,3791,3657,506.2,-14.0,171,3001,0.00,2.25,0.00,0.000,1030,0.000,0.056,2236,2649,3726,3794,3658,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3196,-1.32,-194.6,2236,2650,3792,3656,535.4,-14.2,181,3201,0.00,1.88,0.00,0.000,260,0.000,0.076,2228,3777,3723,3791,3656,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3305,-1.32,-194.6,2227,3778,3789,3656,551.1,-15.0,186,3310,0.00,1.70,0.00,0.000,1030,0.000,0.034,2228,2651,3722,3789,3656,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3505,-1.32,-194.6,2226,2649,3787,3654,581.4,-14.8,196,3510,0.00,1.92,0.00,0.000,260,0.000,0.081,2219,3786,3720,3787,3654,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3557,-1.32,-194.6,2219,3781,3787,3654,588.1,-14.7,198,3564,0.12,1.73,0.00,0.000,3078,0.285,0.037,2244,2645,3720,3786,3654,0,0,0,0,0,0,14.38,14.82,28.83
$GC,3774,-1.32,-194.6,2245,2644,3787,3652,619.2,-13.9,207,3779,0.00,1.92,0.00,0.000,260,0.000,0.077,2238,3782,3718,3787,3650,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3847,-1.32,-194.6,2238,3782,3786,3651,628.9,-14.7,209,3854,0.00,1.73,0.00,0.000,1030,0.000,0.035,2238,2649,3717,3783,3651,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4052,-1.32,-194.6,2238,2649,3786,3647,662.0,-15.7,216,4057,0.00,1.92,0.00,0.000,260,0.000,0.078,2229,3776,3717,3787,3647,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4081,-1.32,-194.6,2229,3777,3784,3647,662.0,-15.7,216,4087,0.00,1.73,0.00,0.000,1030,0.000,0.036,2229,2642,3716,3785,3647,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4266,-1.32,-194.6,2229,2642,3783,3645,697.0,-16.5,223,4271,0.00,2.17,0.00,0.000,516,0.000,0.043,2229,1285,3714,3783,3645,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4289,-1.32,-194.6,2229,1285,3783,3645,697.0,-16.5,223,4295,0.12,2.28,0.00,0.000,3078,0.285,0.062,2245,2647,3713,3783,3644,0,0,0,0,0,0,14.34,14.64,28.83
$GC,4484,-1.32,-194.6,2245,2648,3780,3643,729.5,-14.4,230,4489,0.00,1.92,0.00,0.000,260,0.000,0.085,2239,3782,3711,3780,3643,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4592,-1.32,-194.6,2239,3782,3774,3643,743.0,-14.2,233,4597,0.00,1.75,0.00,0.000,1030,0.000,0.037,2239,2645,3710,3779,3642,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4791,-1.32,-194.6,2238,2645,3778,3639,771.4,-13.0,240,4798,0.00,1.95,0.00,0.000,260,0.000,0.082,2230,3779,3708,3778,3639,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4856,-1.32,-194.6,2230,3779,3777,3639,780.6,-13.8,242,4862,0.00,1.75,0.00,0.000,1030,0.000,0.037,2230,2653,3708,3777,3639,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5070,-1.32,-194.6,2234,2652,3776,3635,809.9,-13.7,249,5077,0.00,1.95,0.00,0.000,260,0.000,0.084,2225,3782,3705,3775,3635,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5110,-1.32,-194.6,2221,3782,3774,3635,815.1,-14.0,250,5115,0.00,1.77,0.00,0.000,1030,0.000,0.038,2220,2642,3704,3773,3635,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5319,-1.32,-194.6,2221,2641,3773,3635,849.5,-16.4,257,5324,0.00,2.00,0.00,0.000,260,0.000,0.085,2212,3783,3703,3773,3633,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5342,-1.32,-194.6,2212,3783,3770,3633,849.5,-16.4,257,5348,0.15,1.77,0.00,0.000,3078,0.285,0.039,2244,2650,3702,3771,3634,0,0,0,0,0,0,14.23,14.75,28.83
$GC,5537,-1.32,-194.6,2243,2650,3772,3631,884.1,-15.6,264,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2650,3700,3771,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5716,-1.32,-194.6,2244,2650,3770,3628,910.4,-14.4,270,5722,0.00,1.98,0.00,0.000,260,0.000,0.089,2237,3784,3698,3769,3628,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5792,-1.32,-194.6,2237,3783,3767,3628,920.4,-15.0,272,5797,0.00,1.80,0.00,0.000,1030,0.000,0.040,2237,2634,3697,3767,3628,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5996,-1.32,-194.6,2237,2634,3767,3626,952.2,-14.7,279,6002,0.00,2.00,0.00,0.000,260,0.000,0.089,2228,3778,3696,3766,3626,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6034,-1.32,-194.6,2228,3779,3765,3626,957.7,-15.0,280,6040,0.00,1.77,0.00,0.000,1030,0.000,0.040,2228,2652,3696,3766,3626,0,0,0,0,0,0,28.83,14.72,28.83
$STATE,6240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6240,begin apogee
$GC,6249,-0.22,0.0,2228,2144,3765,3623,991.8,-15.9,287,6429,1.35,0.00,174.38,1.840,10246,0.231,0.000,2596,2143,2938,2969,2908,0,0,0,0,0,0,14.02,28.83,13.31
$STATE,6431,end apogee,CONTROL_FINISHED_OK
$STATE,6431,begin climb
$GC,6435,1.32,194.6,2596,2143,2964,2903,1002.1,0.0,293,6626,1.48,2.42,179.98,1.814,10756,0.084,0.062,3112,780,2139,2164,2115,0,0,0,0,0,0,14.22,14.15,13.31
$GC,6675,1.32,194.6,3113,778,2163,2101,980.2,14.4,301,6680,0.00,2.35,0.00,0.000,1030,0.000,0.062,3113,2146,2132,2163,2101,0,0,0,0,0,0,28.83,14.38,28.83
$GC,6879,1.32,194.6,3114,2147,2163,2093,946.9,15.5,308,6884,0.00,2.30,0.00,0.000,516,0.000,0.059,3122,781,2128,2163,2093,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6958,1.32,194.6,3122,781,2163,2091,938.0,14.4,310,6964,0.00,2.33,0.00,0.000,1030,0.000,0.064,3119,2155,2126,2163,2090,0,0,0,0,0,0,28.83,14.62,28.83
$GC,7158,1.32,194.6,3123,2155,2163,2088,904.7,15.5,317,7163,0.00,2.30,0.00,0.000,516,0.000,0.055,3132,775,2126,2163,2089,0,0,0,0,0,0,28.83,14.65,28.83
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$STATE,14796,end climb,SURFACE_DEPTH_REACHED
$STATE,14796,begin surface coast
$FINISH,-0.9,0.999759
$STATE,14828,end surface coast,CONTROL_FINISHED_OK
$STATE,14831,begin surface
$SM_CCo,14851,96.78,0.137,0,0,438,612.76
$SM_GC,-0.12,8.12,0.43,96.78,0.047,0.044,0.137,232,2645,438,-7.53,2.01,612.76,0,0,0,0,0,0,14.67,14.76,14.47
$IRIDIUM_FIX,2148.09,12157.61,010813,050501
$TT8_MAMPS,0.019474,0.019474
$HUMID,49.44
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,25.80
$XPDR_PINGS,1
$SC_FREEKB,3743904
$24V_AH,13.3,161.217
$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,21.825,217.450,502.725,96.775,0.000,87.680,134.710,343.006,0.250,0.000,16.211,2692.229,9117.948,814.759,2736.238,578.545,0.000,2049.022,0.000,2031.578,0.000,0.544,0.000
$DEVICE_MAMPS,367.200,90.270,1839.825,136.935,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14899.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.033,0.000,0.000,0.000
$MEM,328572
$DATA_FILE_SIZE,26688,698
$CAP_FILE_SIZE,220268,0
$CFSIZE,260034560,206266368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127,144.4,1
$GPS,010813,100936,2149.173,12414.406,27,1.3,28,-2.9