version: 66.11
glider: 181
mission: 11
dive: 529
start: 8 11 113 1 1 39
data:
$ID,181
$MISSION,11
$DIVE,529
$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,-97867.227
$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,30
$C_ROLL_DIVE,2725
$C_ROLL_CLIMB,2175
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,85
$R_STBD_OVSHOOT,37
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,110813,004806,2056.222,12520.904,47,0.8,47,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-66.4
$GPS2,110813,010107,2056.150,12521.146,15,1.1,15,-2.8
$SPEED_LIMITS,0.191,0.212
$TGT_NAME,HEADING
$TGT_LATLONG,2046.002,12517.195
$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,23,-1.34,-262.8,219,2736,462,432,0.0,0.0,0,124,0.00,0.00,-98.32,0.000,16386,0.000,0.000,219,2736,2959,3006,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,131,-1.34,-262.8,218,2736,3006,2916,3.2,-10.1,18,167,9.07,1.67,-18.62,0.000,18948,0.360,0.063,2234,1689,3964,4004,3925,0,0,0,0,0,0,14.07,14.57,14.88
$GC,208,-1.34,-262.8,2235,1689,4002,3927,24.6,-22.9,31,215,0.00,1.70,0.00,0.000,1030,0.000,0.055,2229,2728,3965,4003,3927,0,0,0,0,0,0,28.83,14.58,28.83
$GC,393,-1.34,-262.8,2227,2728,4002,3927,68.9,-24.2,50,398,0.00,1.75,0.00,0.000,260,0.000,0.069,2221,3785,3964,4002,3926,0,0,0,0,0,0,28.83,14.58,28.83
$GC,421,-1.34,-262.8,2221,3787,4002,3927,74.3,-23.2,52,427,0.00,1.58,0.00,0.000,1030,0.000,0.031,2221,2735,3964,4002,3927,0,0,0,0,0,0,28.83,14.69,28.83
$GC,608,-1.34,-262.8,2221,2735,4001,3927,116.5,-21.2,71,613,0.00,1.75,0.00,0.000,260,0.000,0.064,2213,3789,3964,4001,3927,0,0,0,0,0,0,28.83,14.62,28.83
$GC,651,-1.34,-262.8,2213,3790,4002,3932,126.0,-21.2,75,657,0.12,1.52,0.00,0.000,3078,0.290,0.030,2238,2751,3964,4002,3927,0,0,0,0,0,0,14.32,14.73,28.83
$GC,847,-1.34,-262.8,2237,2750,4001,3927,162.5,-17.8,94,852,0.00,1.58,0.00,0.000,516,0.000,0.033,2237,1714,3964,4002,3927,0,0,0,0,0,0,28.83,14.73,28.83
$GC,874,-1.34,-262.8,2238,1714,4001,3927,166.8,-17.0,96,881,0.00,1.75,0.00,0.000,1030,0.000,0.054,2232,2792,3964,4001,3928,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1060,-1.34,-262.8,2232,2792,4001,3928,199.3,-17.1,115,1066,0.00,1.62,0.00,0.000,260,0.000,0.068,2225,3785,3964,4001,3928,0,0,0,0,0,0,28.83,14.59,28.83
$GC,1139,-1.34,-262.8,2225,3785,4001,3929,212.4,-17.8,122,1146,0.00,1.45,0.00,0.000,1030,0.000,0.031,2225,2798,3964,4001,3928,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1324,-1.34,-262.8,2225,2797,4001,3929,246.7,-17.7,141,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2225,2797,3965,4001,3929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1504,-1.34,-262.8,2225,2797,4001,3929,279.0,-17.8,159,1509,0.00,1.62,0.00,0.000,260,0.000,0.067,2217,3779,3965,4001,3929,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1518,-1.34,-262.8,2217,3779,4001,3929,281.2,-17.4,160,1523,0.00,1.35,0.00,0.000,1030,0.000,0.031,2217,2861,3964,4000,3929,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1712,-1.34,-262.8,2217,2860,4001,3929,315.3,-17.9,179,1717,0.00,1.77,0.00,0.000,516,0.000,0.033,2217,1729,3965,4001,3929,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1797,-1.34,-262.8,2217,1729,4001,3929,330.1,-17.6,187,1802,0.15,1.77,0.00,0.000,3078,0.273,0.054,2242,2823,3964,4000,3929,0,0,0,0,0,0,14.38,14.69,28.83
$GC,1992,-1.34,-262.8,2242,2824,3999,3928,363.4,-17.3,206,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2824,3964,4000,3928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2181,-1.34,-262.8,2242,2824,4000,3925,394.6,-16.6,225,2186,0.00,1.58,0.00,0.000,260,0.000,0.072,2237,3782,3962,3999,3926,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2199,-1.34,-262.8,2237,3782,4000,3925,396.7,-16.7,226,2206,0.00,1.45,0.00,0.000,1030,0.000,0.034,2237,2807,3962,3999,3926,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2385,-1.34,-262.8,2237,2807,4000,3924,428.1,-16.6,245,2390,0.00,1.67,0.00,0.000,516,0.000,0.034,2237,1715,3962,4000,3924,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2433,-1.34,-262.8,2237,1714,3999,3923,435.1,-15.9,249,2440,0.00,1.77,0.00,0.000,1030,0.000,0.055,2229,2804,3961,4000,3923,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2618,-1.34,-262.8,2229,2804,3999,3921,465.3,-15.9,268,2623,0.00,1.62,0.00,0.000,260,0.000,0.073,2222,3786,3960,4000,3921,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2693,-1.34,-262.8,2222,3793,3999,3919,477.6,-16.6,275,2698,0.00,1.45,0.00,0.000,1030,0.000,0.034,2222,2826,3960,4000,3920,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2887,-1.34,-262.8,2222,2824,4000,3916,507.9,-15.9,294,2892,0.00,1.60,0.00,0.000,260,0.000,0.072,2214,3782,3957,4000,3915,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2972,-1.34,-262.8,2214,3782,4000,3913,521.6,-16.4,302,2977,0.00,1.52,0.00,0.000,1030,0.000,0.034,2213,2756,3956,4000,3913,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3166,-1.34,-262.8,2214,2756,4000,3910,553.2,-16.1,321,3172,0.00,1.62,0.00,0.000,516,0.000,0.035,2214,1718,3955,4000,3910,0,0,0,0,0,0,28.83,14.70,28.83
$GC,3194,-1.34,-262.8,2214,1718,4000,3910,557.2,-15.9,323,3202,0.15,1.73,0.00,0.000,3078,0.267,0.057,2240,2774,3954,4000,3909,0,0,0,0,0,0,14.35,14.65,28.83
$GC,3382,-1.34,-262.8,2240,2774,4000,3907,586.5,-15.1,342,3387,0.00,1.67,0.00,0.000,260,0.000,0.076,2235,3784,3953,4000,3906,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3405,-1.34,-262.8,2234,3785,3999,3907,590.3,-15.5,344,3410,0.00,1.52,0.00,0.000,1030,0.000,0.034,2234,2763,3952,3999,3906,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3613,-1.34,-262.8,2234,2762,4000,3902,621.5,-15.2,357,3618,0.00,1.60,0.00,0.000,516,0.000,0.036,2234,1715,3950,4000,3901,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3651,-1.34,-262.8,2234,1714,4000,3901,625.6,-15.3,358,3658,0.00,1.77,0.00,0.000,1030,0.000,0.060,2227,2761,3950,4000,3901,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3837,-1.34,-262.8,2227,2760,4000,3894,656.2,-15.2,368,3842,0.00,1.70,0.00,0.000,260,0.000,0.078,2219,3777,3948,4000,3897,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3871,-1.34,-262.8,2219,3778,3999,3897,660.0,-15.4,369,3876,0.00,1.50,0.00,0.000,1030,0.000,0.036,2219,2772,3948,3999,3898,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4064,-1.34,-262.8,2219,2772,3999,3894,691.7,-15.4,379,4070,0.00,1.65,0.00,0.000,516,0.000,0.037,2222,1705,3946,3999,3894,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4097,-1.34,-262.8,2218,1705,3998,3893,695.4,-15.3,380,4103,0.12,1.83,0.00,0.000,3078,0.287,0.063,2236,2799,3945,3998,3893,0,0,0,0,0,0,14.31,14.60,28.83
$GC,4295,-1.34,-262.8,2236,2799,3997,3889,725.7,-14.8,390,4300,0.00,1.70,0.00,0.000,260,0.000,0.082,2231,3779,3943,3997,3890,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4339,-1.34,-262.8,2231,3779,3996,3889,733.0,-15.0,392,4344,0.00,1.52,0.00,0.000,1030,0.000,0.039,2228,2791,3942,3995,3889,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4544,-1.34,-262.8,2232,2791,3995,3886,765.1,-15.9,402,4549,0.00,1.67,0.00,0.000,516,0.000,0.037,2231,1715,3940,3995,3886,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4571,-1.34,-262.8,2231,1715,3995,3886,769.0,-15.8,403,4577,0.00,1.83,0.00,0.000,1030,0.000,0.064,2224,2797,3940,3995,3886,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4770,-1.34,-262.8,2224,2797,3994,3883,800.9,-15.7,413,4775,0.00,1.67,0.00,0.000,260,0.000,0.084,2215,3785,3938,3993,3883,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4798,-1.34,-262.8,1360,3781,3991,3882,804.9,-15.9,414,4803,0.00,1.50,0.00,0.000,1030,0.000,0.040,2216,2813,3937,3992,3883,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4997,-1.34,-262.8,2216,2811,3991,3880,837.8,-16.1,424,5002,0.00,1.73,0.00,0.000,516,0.000,0.038,2215,1713,3935,3990,3880,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5031,-1.34,-262.8,2216,1713,3990,3879,841.6,-16.0,425,5036,0.15,1.85,0.00,0.000,3078,0.277,0.067,2240,2809,3934,3990,3879,0,0,0,0,0,0,14.22,14.54,28.83
$GC,5229,-1.34,-262.8,2240,2811,3988,3873,872.6,-15.5,435,5234,0.00,1.65,0.00,0.000,260,0.000,0.087,2235,3776,3932,3988,3877,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5281,-1.34,-262.8,2235,3776,3988,3876,880.4,-16.1,437,5287,0.00,1.48,0.00,0.000,1030,0.000,0.041,2235,2868,3932,3988,3877,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5476,-1.34,-262.8,2235,2867,3987,3874,913.1,-15.9,447,5481,0.00,1.83,0.00,0.000,516,0.000,0.038,2235,1713,3930,3987,3874,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5520,-1.34,-262.8,2235,1713,3986,3873,920.2,-15.8,449,5525,0.00,1.88,0.00,0.000,1030,0.000,0.068,2227,2811,3930,3987,3873,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5725,-1.34,-262.8,2227,2811,3984,3871,954.2,-16.9,459,5730,0.00,1.65,0.00,0.000,260,0.000,0.089,2219,3774,3927,3984,3871,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5753,-1.34,-262.8,2219,3774,3983,3871,959.3,-17.7,460,5758,0.00,1.50,0.00,0.000,1030,0.000,0.042,2219,2821,3927,3984,3871,0,0,0,0,0,0,28.83,14.64,28.83
$STATE,5929,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5929,begin apogee
$GC,5938,-0.22,0.0,2219,2199,3983,3868,990.7,-17.2,469,6171,1.35,0.00,226.45,1.790,10244,0.220,0.000,2593,2197,2937,2966,2908,0,0,0,0,0,0,13.99,28.83,13.28
$STATE,6173,end apogee,CONTROL_FINISHED_OK
$STATE,6173,begin climb
$GC,6177,1.34,262.8,2593,2198,2962,2901,1009.3,0.0,481,6431,1.45,1.80,242.85,1.805,10756,0.070,0.050,3117,1156,1862,1898,1826,0,0,0,0,0,0,14.28,14.27,13.28
$GC,6447,1.34,262.8,3117,1156,1894,1817,985.9,15.3,494,6452,0.00,1.75,0.00,0.000,1030,0.000,0.066,3117,2170,1855,1894,1816,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6641,1.34,262.8,3117,2170,1893,1806,950.3,16.8,504,6646,0.00,1.70,0.00,0.000,516,0.000,0.053,3124,1143,1849,1893,1806,0,0,0,0,0,0,28.83,14.59,28.83
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$STATE,13937,end climb,SURFACE_DEPTH_REACHED
$STATE,13937,begin surface coast
$FINISH,-0.8,1.021218
$STATE,13974,end surface coast,CONTROL_FINISHED_OK
$STATE,13974,begin surface
$SM_CCo,13998,83.75,0.135,0,0,438,612.76
$SM_GC,0.08,8.25,0.75,83.75,0.054,0.069,0.135,236,2723,438,-7.53,-1.13,612.76,0,0,0,0,0,0,14.64,14.63,14.45
$IRIDIUM_FIX,2043.29,12415.31,100813,202041
$TT8_MAMPS,0.019474,0.019474
$HUMID,50.55
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,26.30
$XPDR_PINGS,0
$SC_FREEKB,3721696
$24V_AH,13.3,179.399
$10V_AH,12.5,0.000
$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
$DEVICE_SECS,21.500,173.800,597.225,83.750,0.000,28.948,43.226,385.043,0.000,0.000,17.742,3128.145,7234.494,849.360,2952.043,692.535,0.000,2228.902,0.000,2386.205,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14045.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.077,0.000,0.000,0.000
$MEM,328764
$DATA_FILE_SIZE,43304,1128
$CAP_FILE_SIZE,252510,0
$CFSIZE,260034560,199208960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110813,045753,2055.054,12523.057,25,0.8,43,-2.8