version: 66.11
glider: 181
mission: 11
dive: 521
start: 8 9 113 16 0 56
data:
$ID,181
$MISSION,11
$DIVE,521
$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,300
$T_MISSION,330
$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,270
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52184
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0028798201
$HD_B,0.025745301
$HD_C,2.4475299e-05
$HEADING,200
$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,-97854.766
$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,2725
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$R_STBD_OVSHOOT,30
$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,11
$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
$GPS1,090813,154730,2106.225,12502.606,38,1.3,39,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-67.4
$GPS2,090813,160025,2106.197,12503.021,10,1.4,10,-2.8
$SPEED_LIMITS,0.191,0.212
$TGT_NAME,HEADING
$TGT_LATLONG,2056.049,12459.065
$TGT_RADIUS,1852.000
$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,202.8,20000,-18.8,-11.000,-27.44,3441
$D_GRID,1000
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.34,-262.8,230,2726,463,424,0.0,0.0,0,123,0.00,0.00,-97.72,0.000,16386,0.000,0.000,229,2727,2957,3003,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-1.34,-262.8,229,2727,3003,2913,3.3,-10.6,18,166,9.15,2.25,-18.60,0.000,18948,0.367,0.057,2234,1315,3964,4003,3926,0,0,0,0,0,0,14.11,14.61,14.88
$GC,197,-1.34,-262.8,2234,1315,4001,3929,21.8,-22.6,29,204,0.00,2.33,0.00,0.000,1030,0.000,0.054,2227,2730,3964,4001,3928,0,0,0,0,0,0,28.83,14.56,28.83
$GC,393,-1.34,-262.8,2227,2730,4000,3929,71.7,-25.5,49,399,0.00,1.77,0.00,0.000,260,0.000,0.073,2218,3772,3964,4000,3929,0,0,0,0,0,0,28.83,14.54,28.83
$GC,452,-1.34,-262.8,2218,3772,4000,3929,85.2,-24.8,54,458,0.00,1.62,0.00,0.000,1030,0.000,0.031,2218,2701,3964,4000,3929,0,0,0,0,0,0,28.83,14.72,28.83
$GC,637,-1.34,-262.8,2218,2698,3999,3929,128.4,-21.0,73,642,0.00,1.83,0.00,0.000,260,0.000,0.069,2210,3791,3964,4000,3929,0,0,0,0,0,0,28.83,14.62,28.83
$GC,661,-1.34,-262.8,2210,3792,4000,3929,133.5,-21.2,75,667,0.10,1.65,0.00,0.000,3078,0.257,0.030,2236,2711,3964,4000,3929,0,0,0,0,0,0,14.29,14.70,28.83
$GC,857,-1.34,-262.8,2236,2708,4000,3930,171.2,-18.4,94,862,0.00,2.12,0.00,0.000,516,0.000,0.036,2236,1348,3965,4000,3930,0,0,0,0,0,0,28.83,14.73,28.83
$GC,910,-1.34,-262.8,2236,1347,4000,3930,180.9,-17.9,99,916,0.00,2.25,0.00,0.000,1030,0.000,0.054,2228,2732,3965,4000,3930,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1104,-1.34,-262.8,2229,2731,3999,3931,216.2,-18.4,118,1109,0.00,1.73,0.00,0.000,260,0.000,0.070,2220,3782,3965,4000,3931,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1138,-1.34,-262.8,2220,3784,3999,3931,222.7,-19.5,121,1143,0.00,1.58,0.00,0.000,1030,0.000,0.031,2220,2705,3965,4000,3931,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1331,-1.34,-262.8,2220,2705,4000,3932,259.2,-17.9,140,1336,0.00,1.80,0.00,0.000,260,0.000,0.068,2212,3788,3965,3998,3932,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1365,-1.34,-262.8,2212,3789,4000,3931,265.3,-17.7,143,1371,0.12,1.58,0.00,0.000,3078,0.282,0.029,2237,2704,3966,4000,3932,0,0,0,0,0,0,14.40,14.81,28.83
$GC,1559,-1.34,-262.8,2237,2704,4000,3931,297.9,-16.3,162,1564,0.00,2.08,0.00,0.000,516,0.000,0.035,2237,1368,3965,3999,3932,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1596,-1.34,-262.8,1392,1368,3999,3931,303.3,-16.0,165,1603,0.00,2.20,0.00,0.000,1030,0.000,0.053,2230,2726,3965,4000,3931,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1783,-1.34,-262.8,2230,2726,3999,3931,333.7,-16.3,184,1788,0.00,1.73,0.00,0.000,260,0.000,0.070,2222,3777,3968,3999,3937,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1816,-1.34,-262.8,2222,3777,3999,3931,339.3,-16.6,187,1822,0.00,1.52,0.00,0.000,1030,0.000,0.031,2222,2729,3964,3998,3931,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2010,-1.34,-262.8,2223,2729,3999,3931,371.6,-17.0,206,2015,0.00,2.12,0.00,0.000,516,0.000,0.035,2218,1368,3964,3998,3931,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2029,-1.34,-262.8,2222,1368,3999,3931,373.7,-16.8,207,2037,0.12,2.22,0.00,0.000,3078,0.271,0.055,2239,2733,3964,3998,3931,0,0,0,0,0,0,14.41,14.69,28.83
$GC,2215,-1.34,-262.8,2239,2734,3998,3928,403.1,-14.9,226,2220,0.00,1.73,0.00,0.000,260,0.000,0.073,2233,3779,3963,3998,3928,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2269,-1.34,-262.8,2233,3779,3998,3928,411.6,-16.4,231,2274,0.00,1.55,0.00,0.000,1030,0.000,0.032,2233,2712,3962,3998,3927,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2462,-1.34,-262.8,2233,2711,3998,3925,441.9,-15.9,250,2467,0.00,1.80,0.00,0.000,260,0.000,0.072,2225,3782,3961,3998,3925,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2480,-1.34,-262.8,2225,3783,3998,3925,444.0,-15.8,251,2487,0.00,1.52,0.00,0.000,1030,0.000,0.033,2225,2733,3961,3998,3925,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2666,-1.34,-262.8,2225,2734,3999,3922,472.4,-14.6,270,2671,0.00,2.15,0.00,0.000,516,0.000,0.037,2221,1369,3960,3998,3922,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2720,-1.34,-262.8,2225,1369,3998,3921,480.1,-14.4,275,2725,0.00,2.25,0.00,0.000,1030,0.000,0.057,2215,2733,3959,3998,3921,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2913,-1.34,-262.8,2216,2733,3999,3917,509.0,-15.1,294,2918,0.00,1.77,0.00,0.000,260,0.000,0.076,2207,3776,3957,3998,3917,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2950,-1.34,-262.8,1364,3774,3997,3916,514.2,-15.3,297,2958,0.15,1.55,0.00,0.000,3078,0.272,0.034,2239,2732,3957,3998,3917,0,0,0,0,0,0,14.29,14.73,28.83
$GC,3137,-1.34,-262.8,2239,2733,3998,3912,541.5,-14.2,316,3142,0.00,2.15,0.00,0.000,516,0.000,0.037,2239,1366,3955,3998,3912,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3174,-1.34,-262.8,1392,1365,3997,3911,546.3,-14.1,319,3181,0.00,2.25,0.00,0.000,1030,0.000,0.058,2232,2725,3954,3998,3911,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3361,-1.34,-262.8,2232,2726,3998,3908,574.1,-14.6,338,3366,0.00,1.77,0.00,0.000,260,0.000,0.078,2224,3788,3953,3998,3908,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3405,-1.34,-262.8,2223,3787,3998,3907,581.0,-15.8,342,3410,0.00,1.60,0.00,0.000,1030,0.000,0.035,2224,2713,3952,3998,3907,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3608,-1.34,-262.8,2223,2712,3998,3902,612.5,-15.4,358,3610,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2712,3950,3998,3902,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3788,-1.34,-262.8,2223,2712,3998,3899,640.8,-15.7,367,3794,0.00,1.85,0.00,0.000,260,0.000,0.077,2215,3797,3948,3998,3899,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3827,-1.34,-262.8,2215,3798,3998,3898,644.8,-16.0,368,3834,0.00,1.60,0.00,0.000,1030,0.000,0.036,2215,2729,3948,3998,3898,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4012,-1.34,-262.8,2215,2728,3998,3895,676.2,-15.3,378,4018,0.00,2.17,0.00,0.000,516,0.000,0.039,2214,1369,3948,3997,3900,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4051,-1.34,-262.8,2215,1369,3998,3894,679.8,-15.3,379,4058,0.15,2.28,0.00,0.000,3078,0.275,0.062,2237,2731,3946,3998,3894,0,0,0,0,0,0,14.30,14.62,28.83
$GC,4238,-1.34,-262.8,2237,2732,3998,3889,709.4,-14.6,389,4243,0.00,1.83,0.00,0.000,260,0.000,0.086,2231,3804,3943,3998,3889,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4326,-1.34,-262.8,2230,3803,3996,3889,722.3,-15.2,393,4331,0.00,1.62,0.00,0.000,1030,0.000,0.039,2232,2734,3942,3995,3889,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4526,-1.34,-262.8,2231,2732,3995,3885,753.3,-15.3,403,4527,0.00,0.00,0.00,0.000,6,0.000,0.000,2232,2732,3940,3995,3885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4704,-1.34,-262.8,2232,2733,3994,3883,781.2,-15.6,412,4709,0.00,1.80,0.00,0.000,260,0.000,0.083,2224,3779,3938,3994,3883,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4769,-1.34,-262.8,2230,3778,3993,3882,792.0,-16.9,415,4774,0.00,1.62,0.00,0.000,1030,0.000,0.039,2223,2726,3937,3992,3883,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4973,-1.34,-262.8,2222,2723,3988,3879,823.9,-15.8,425,4974,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2723,3934,3988,3880,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5154,-1.34,-262.8,2221,2723,3988,3877,853.2,-16.1,434,5159,0.00,1.85,0.00,0.000,260,0.000,0.092,2215,3779,3932,3988,3877,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5217,-1.34,-262.8,2215,3779,3987,3876,863.9,-16.4,437,5222,0.00,1.65,0.00,0.000,1030,0.000,0.043,2215,2728,3932,3988,3876,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5421,-1.34,-262.8,2215,2726,3988,3873,896.9,-16.2,447,5426,0.00,1.83,0.00,0.000,260,0.000,0.087,2207,3777,3930,3988,3872,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5475,-1.34,-262.8,2207,3777,3987,3872,904.3,-16.6,449,5481,0.15,1.65,0.00,0.000,3078,0.273,0.041,2239,2727,3930,3987,3873,0,0,0,0,0,0,14.19,14.70,28.83
$GC,5671,-1.34,-262.8,2239,2726,3987,3869,935.6,-14.8,459,5677,0.00,1.88,0.00,0.000,260,0.000,0.090,2233,3789,3927,3986,3869,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5705,-1.34,-262.8,2233,3789,3985,3869,939.6,-14.9,460,5710,0.00,1.67,0.00,0.000,1030,0.000,0.043,2233,2730,3927,3985,3869,0,0,0,0,0,0,28.83,14.69,28.83
$GC,5899,-1.34,-262.8,2233,2728,3984,3866,970.7,-15.2,470,5904,0.00,1.85,0.00,0.000,260,0.000,0.091,2225,3782,3925,3984,3866,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5967,-1.34,-262.8,1376,3781,3982,3865,980.6,-15.5,473,5973,0.00,1.67,0.00,0.000,1030,0.000,0.043,2225,2722,3924,3983,3866,0,0,0,0,0,0,28.83,14.70,28.83
$STATE,6023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6023,begin apogee
$GC,6031,-0.22,0.0,2225,2111,3982,3865,990.2,-15.2,476,6265,1.35,0.00,225.35,1.799,10246,0.226,0.000,2597,2105,2935,2964,2906,0,0,0,0,0,0,13.99,28.83,13.28
$STATE,6267,end apogee,CONTROL_FINISHED_OK
$STATE,6267,begin climb
$GC,6270,1.34,262.8,2596,2105,2962,2904,1004.8,0.0,488,6526,1.45,2.42,242.88,1.807,10756,0.067,0.065,3122,720,1859,1894,1825,0,0,0,0,0,0,14.26,14.18,13.28
$GC,6615,1.34,262.8,2192,719,1856,1803,963.0,17.6,505,6621,0.00,2.35,0.00,0.000,1030,0.000,0.063,3122,2094,1852,1893,1812,0,0,0,0,0,0,28.83,14.46,28.83
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$STATE,13711,end climb,SURFACE_DEPTH_REACHED
$STATE,13715,begin surface coast
$FINISH,-0.4,1.021085
$STATE,13736,end surface coast,CONTROL_FINISHED_OK
$STATE,13736,begin surface
$SM_CCo,13758,75.97,0.138,0,0,437,612.76
$SM_GC,-0.10,8.27,1.27,75.97,0.055,0.034,0.138,227,2695,437,-7.55,1.72,612.76,0,0,0,0,0,0,14.64,14.70,14.42
$IRIDIUM_FIX,2106.38,12446.83,090813,111136
$TT8_MAMPS,0.019474,0.019474
$HUMID,52.20
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,25.80
$XPDR_PINGS,0
$SC_FREEKB,3725024
$24V_AH,13.3,176.323
$10V_AH,12.6,0.000
$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,22.050,207.925,611.275,75.975,0.000,32.640,25.712,389.787,0.000,0.000,13.079,3056.026,7127.326,850.908,2900.666,662.437,0.000,2214.579,0.000,2356.027,0.000,0.543,0.000
$DEVICE_MAMPS,367.200,95.625,1806.930,138.465,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13814.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.028,0.000,0.000,0.000
$MEM,328764
$DATA_FILE_SIZE,43351,1109
$CAP_FILE_SIZE,245890,0
$CFSIZE,260034560,200290304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,090813,195300,2105.499,12505.049,39,1.3,40,-2.8