version: 66.11
glider: 181
mission: 11
dive: 477
start: 8 1 113 10 21 56
data:
$ID,181
$MISSION,11
$DIVE,477
$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,-96701.758
$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,72
$R_STBD_OVSHOOT,42
$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
$GPS1,010813,100936,2149.173,12414.406,27,1.3,28,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-67.1
$GPS2,010813,102125,2149.233,12414.573,11,1.6,11,-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,259.6,43581,-21.5,-10.312,-29.71,2752
$D_GRID,5386
$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,-194.6,217,2639,467,424,0.0,0.0,0,125,0.00,0.00,-100.00,0.000,16386,0.000,0.000,217,2640,3015,3043,2987,0,0,0,0,0,0,28.83,28.83,28.83
$GC,131,-1.32,-194.6,217,2640,3044,2989,3.6,-11.9,17,164,9.20,2.22,-13.00,0.000,18948,0.369,0.057,2242,1259,3736,3799,3673,0,0,0,0,0,0,14.16,14.59,14.88
$GC,213,-1.32,-194.6,2242,1259,3799,3673,27.2,-25.8,30,220,0.00,2.30,0.00,0.000,1030,0.000,0.053,2234,2650,3736,3800,3673,0,0,0,0,0,0,28.83,14.59,28.83
$GC,411,-1.32,-194.6,2235,2649,3800,3673,73.9,-21.8,45,412,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2650,3736,3799,3673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,590,-1.32,-194.6,2234,2650,3799,3673,110.5,-19.3,54,595,0.00,1.85,0.00,0.000,260,0.000,0.067,2225,3782,3734,3796,3673,0,0,0,0,0,0,28.83,14.64,28.83
$GC,643,-1.32,-194.6,2225,3782,3799,3673,118.7,-18.6,56,648,0.00,1.73,0.00,0.000,1030,0.000,0.031,2225,2642,3736,3800,3673,0,0,0,0,0,0,28.83,14.78,28.83
$GC,837,-1.32,-194.6,2225,2638,3799,3673,155.8,-19.1,66,842,0.00,1.90,0.00,0.000,260,0.000,0.066,2216,3788,3736,3800,3673,0,0,0,0,0,0,28.83,14.61,28.83
$GC,870,-1.32,-194.6,2217,3789,3800,3673,160.7,-19.5,67,876,0.12,1.73,0.00,0.000,3078,0.288,0.029,2241,2609,3736,3800,3673,0,0,0,0,0,0,14.38,14.82,28.83
$GC,1067,-1.32,-194.6,2242,2608,3800,3673,199.4,-18.3,77,1072,0.00,2.03,0.00,0.000,516,0.000,0.034,2241,1297,3736,3799,3674,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1085,-1.32,-194.6,2242,1297,3800,3673,199.4,-18.3,77,1092,0.00,2.20,0.00,0.000,1030,0.000,0.052,2234,2653,3736,3799,3674,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1271,-1.32,-194.6,2234,2653,3799,3674,234.1,-16.3,87,1276,0.00,1.85,0.00,0.000,260,0.000,0.069,2225,3786,3736,3799,3673,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1349,-1.32,-194.6,2226,3787,3800,3674,244.5,-16.1,90,1356,0.00,1.65,0.00,0.000,1030,0.000,0.030,2225,2657,3740,3807,3674,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1536,-1.32,-194.6,2225,2656,3806,3674,276.7,-16.5,100,1541,0.00,1.85,0.00,0.000,260,0.000,0.067,2216,3779,3736,3799,3674,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1600,-1.32,-194.6,2216,3779,3799,3673,288.8,-18.2,103,1606,0.12,1.65,0.00,0.000,3078,0.286,0.030,2242,2639,3736,3799,3673,0,0,0,0,0,0,14.40,14.84,28.83
$GC,1807,-1.32,-194.6,2242,2638,3800,3673,323.8,-16.8,113,1813,0.00,1.90,0.00,0.000,260,0.000,0.068,2236,3784,3736,3800,3673,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1840,-1.32,-194.6,2235,3785,3800,3673,328.2,-16.6,114,1846,0.00,1.65,0.00,0.000,1030,0.000,0.031,2235,2653,3736,3800,3673,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2035,-1.32,-194.6,2235,2653,3800,3673,360.8,-15.3,124,2040,0.00,2.10,0.00,0.000,516,0.000,0.035,2236,1300,3736,3800,3672,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2062,-1.32,-194.6,1384,1299,3797,3670,364.7,-15.3,125,2069,0.00,2.20,0.00,0.000,1030,0.000,0.054,2226,2653,3736,3800,3672,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2262,-1.32,-194.6,2226,2653,3800,3671,396.1,-15.2,135,2269,0.00,1.90,0.00,0.000,260,0.000,0.071,2217,3780,3735,3800,3671,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2282,-1.32,-194.6,2217,3780,3800,3670,396.1,-15.2,135,2289,0.12,1.65,0.00,0.000,3078,0.282,0.031,2243,2654,3734,3799,3670,0,0,0,0,0,0,14.42,14.85,28.83
$GC,2470,-1.32,-194.6,2243,2654,3797,3669,428.6,-15.6,145,2475,0.00,1.90,0.00,0.000,260,0.000,0.068,2236,3773,3734,3800,3668,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2523,-1.32,-194.6,2236,3773,3799,3668,435.9,-15.7,147,2529,0.00,1.70,0.00,0.000,1030,0.000,0.031,2237,2656,3734,3800,3668,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2717,-1.32,-194.6,2236,2655,3799,3666,467.1,-15.5,157,2722,0.00,1.88,0.00,0.000,260,0.000,0.071,2227,3779,3732,3799,3666,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2746,-1.32,-194.6,1352,3778,3797,3664,470.7,-15.4,158,2751,0.00,1.67,0.00,0.000,1030,0.000,0.031,2228,2651,3732,3799,3666,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2945,-1.32,-194.6,2228,2650,3799,3660,500.5,-14.1,168,2950,0.00,1.88,0.00,0.000,260,0.000,0.070,2219,3778,3731,3799,3664,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2969,-1.32,-194.6,2219,3775,3798,3664,504.1,-14.2,169,2975,0.12,1.70,0.00,0.000,3078,0.281,0.031,2244,2635,3734,3799,3669,0,0,0,0,0,0,14.38,14.83,28.83
$GC,3177,-1.32,-194.6,2245,2634,3798,3661,532.7,-14.0,179,3183,0.00,2.10,0.00,0.000,516,0.000,0.036,2245,1294,3729,3798,3661,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3203,-1.32,-194.6,2244,1294,3798,3661,537.0,-14.2,180,3209,0.00,2.25,0.00,0.000,1030,0.000,0.055,2237,2659,3729,3798,3661,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3408,-1.32,-194.6,2237,2659,3798,3658,567.8,-15.0,190,3413,0.00,1.88,0.00,0.000,260,0.000,0.076,2228,3784,3728,3798,3658,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3506,-1.32,-194.6,2227,3786,3787,3660,581.5,-16.4,194,3514,0.00,1.70,0.00,0.000,1030,0.000,0.034,2227,2651,3726,3792,3660,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3692,-1.32,-194.6,2227,2651,3793,3657,611.4,-14.8,203,3697,0.00,1.90,0.00,0.000,260,0.000,0.075,2219,3776,3724,3792,3657,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3750,-1.32,-194.6,2219,3777,3792,3656,616.6,-15.0,204,3758,0.12,1.70,0.00,0.000,3078,0.282,0.031,2245,2641,3724,3792,3656,0,0,0,0,0,0,14.37,14.83,28.83
$GC,3935,-1.32,-194.6,2245,2641,3792,3654,645.5,-13.2,211,3941,0.00,1.92,0.00,0.000,260,0.000,0.076,2239,3779,3722,3792,3653,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3969,-1.32,-194.6,2239,3779,3790,3654,650.1,-13.3,212,3975,0.00,1.70,0.00,0.000,1030,0.000,0.033,2238,2650,3722,3790,3654,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4184,-1.32,-194.6,2238,2650,3789,3650,678.7,-13.2,219,4190,0.00,1.92,0.00,0.000,260,0.000,0.078,2230,3779,3719,3789,3650,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4212,-1.32,-194.6,2230,3779,3789,3650,678.7,-13.2,219,4219,0.00,1.70,0.00,0.000,1030,0.000,0.034,2230,2656,3719,3789,3650,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4399,-1.32,-194.6,2230,2656,3788,3648,710.4,-15.0,226,4404,0.00,1.90,0.00,0.000,260,0.000,0.077,2221,3775,3716,3785,3648,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4457,-1.32,-194.6,2220,3774,3787,3648,716.1,-15.4,227,4465,0.00,1.70,0.00,0.000,1030,0.000,0.034,2221,2655,3718,3788,3648,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4643,-1.32,-194.6,2221,2655,3787,3645,750.7,-16.5,234,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2654,3716,3787,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4824,-1.32,-194.6,2221,2654,3786,3643,780.1,-15.9,240,4829,0.00,1.92,0.00,0.000,260,0.000,0.081,2212,3776,3714,3786,3643,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4898,-1.32,-194.6,2212,3776,3782,3643,791.1,-16.4,242,4904,0.15,1.73,0.00,0.000,3078,0.282,0.036,2244,2652,3712,3782,3643,0,0,0,0,0,0,14.25,14.77,28.83
$GC,5103,-1.32,-194.6,2244,2651,3782,3640,823.7,-14.9,249,5108,0.00,1.92,0.00,0.000,260,0.000,0.082,2238,3772,3710,3781,3640,0,0,0,0,0,0,28.83,14.55,28.83
$GC,5127,-1.32,-194.6,2238,3772,3780,3640,823.7,-14.9,249,5133,0.00,1.73,0.00,0.000,1030,0.000,0.037,2238,2644,3710,3780,3641,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5321,-1.32,-194.6,2238,2643,3779,3638,857.4,-15.3,256,5327,0.00,1.95,0.00,0.000,260,0.000,0.084,2229,3772,3708,3779,3638,0,0,0,0,0,0,28.83,14.53,28.83
$GC,5394,-1.32,-194.6,2229,3772,3778,3638,867.8,-15.8,258,5399,0.00,1.73,0.00,0.000,1030,0.000,0.037,2229,2656,3708,3778,3638,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5600,-1.32,-194.6,2229,2656,3778,3634,902.4,-15.7,265,5601,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2655,3706,3778,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5778,-1.32,-194.6,2229,2655,3776,3633,931.0,-15.8,271,5779,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2655,3704,3776,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5959,-1.32,-194.6,2229,2655,3775,3632,957.9,-14.7,277,5961,0.00,0.00,0.00,0.000,6,0.000,0.000,2229,2655,3703,3775,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6138,-1.32,-194.6,2229,2654,3773,3629,984.8,-14.9,283,6143,0.00,1.95,0.00,0.000,260,0.000,0.086,2220,3777,3701,3773,3629,0,0,0,0,0,0,28.83,14.48,28.83
$GC,6196,-1.32,-194.6,2220,3772,3772,3629,989.8,-14.9,284,6202,0.00,1.75,0.00,0.000,1030,0.000,0.039,2220,2651,3700,3771,3629,0,0,0,0,0,0,28.83,14.73,28.83
$STATE,6229,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6229,begin apogee
$GC,6238,-0.22,0.0,2220,2148,3771,3629,999.4,-15.5,286,6422,1.38,0.00,177.25,1.841,10246,0.232,0.000,2596,2147,2938,2969,2908,0,0,0,0,0,0,14.05,28.83,13.29
$STATE,6423,end apogee,CONTROL_FINISHED_OK
$STATE,6423,begin climb
$GC,6426,1.32,194.6,2596,2147,2965,2904,1010.7,0.0,292,6618,1.45,2.42,180.85,1.821,10756,0.076,0.062,3113,789,2140,2164,2116,0,0,0,0,0,0,14.23,14.16,13.29
$GC,6728,1.32,194.6,3113,789,2162,2096,981.9,15.2,302,6734,0.00,2.30,0.00,0.000,1030,0.000,0.061,3113,2140,2129,2162,2097,0,0,0,0,0,0,28.83,14.48,28.83
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$STATE,14809,end climb,SURFACE_DEPTH_REACHED
$STATE,14809,begin surface coast
$FINISH,-0.9,1.021320
$STATE,14841,end surface coast,CONTROL_FINISHED_OK
$STATE,14841,begin surface
$SM_CCo,14864,101.93,0.138,0,0,439,612.76
$SM_GC,-0.12,8.35,3.20,101.93,0.062,0.055,0.138,231,2654,439,-7.53,-0.82,612.76,0,0,0,0,0,0,14.66,14.57,14.46
$IRIDIUM_FIX,2150.42,12311.76,010813,050530
$TT8_MAMPS,0.019474,0.019474
$HUMID,49.76
$INTERNAL_PRESSURE,9.75623
$TCM_TEMP,25.70
$XPDR_PINGS,4
$SC_FREEKB,3743488
$24V_AH,13.3,161.538
$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,22.350,217.775,501.025,101.925,0.000,31.019,21.195,349.404,1.000,0.000,14.494,2638.156,9126.620,824.135,2521.830,560.511,0.000,2041.652,0.000,1981.422,0.000,0.542,0.000
$DEVICE_MAMPS,368.730,91.035,1840.590,137.700,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14914.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.014,0.000,0.000,0.000
$MEM,328560
$DATA_FILE_SIZE,26732,696
$CAP_FILE_SIZE,218097,0
$CFSIZE,260034560,206139392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.195,119.3,1
$GPS,010813,143253,2148.573,12415.183,25,1.5,42,-2.9