version: 66.11
glider: 181
mission: 11
dive: 532
start: 8 11 113 13 26 9
data:
$ID,181
$MISSION,11
$DIVE,532
$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,-97871.18
$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,73
$R_STBD_OVSHOOT,33
$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
$GPS1,110813,131230,2052.665,12527.323,40,1.7,41,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.09
$_SM_ANGLEo,-65.9
$GPS2,110813,132537,2052.588,12527.562,10,1.5,10,-2.8
$SPEED_LIMITS,0.191,0.212
$TGT_NAME,HEADING
$TGT_LATLONG,2042.440,12523.613
$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,-262.8,215,2728,472,427,0.0,0.0,0,126,0.00,0.00,-98.80,0.000,16386,0.000,0.000,218,2729,2973,3020,2926,0,0,0,0,0,0,28.83,28.83,28.83
$GC,131,-1.34,-262.8,219,2729,3021,2928,3.1,-9.0,18,167,9.18,1.67,-18.70,0.000,18948,0.365,0.067,2236,1674,3964,4006,3922,0,0,0,0,0,0,14.07,14.64,14.88
$GC,208,-1.34,-262.8,2238,1673,4004,3924,23.9,-22.3,31,215,0.00,1.73,0.00,0.000,1030,0.000,0.059,2231,2723,3964,4004,3924,0,0,0,0,0,0,28.83,14.52,28.83
$GC,394,-1.34,-262.8,2231,2725,4003,3924,68.0,-23.0,50,399,0.00,1.75,0.00,0.000,260,0.000,0.072,2222,3783,3963,4003,3924,0,0,0,0,0,0,28.83,14.57,28.83
$GC,512,-1.34,-262.8,2223,3785,4003,3924,94.8,-22.2,61,519,0.00,1.60,0.00,0.000,1030,0.000,0.031,2223,2733,3963,4003,3924,0,0,0,0,0,0,28.83,14.70,28.83
$GC,698,-1.34,-262.8,2223,2735,4003,3924,136.4,-19.6,80,703,0.00,1.75,0.00,0.000,260,0.000,0.066,2215,3785,3963,4003,3924,0,0,0,0,0,0,28.83,14.62,28.83
$GC,755,-1.34,-262.8,1352,3781,4002,3923,147.9,-21.6,85,762,0.00,1.48,0.00,0.000,1030,0.000,0.032,2215,2793,3963,4003,3924,0,0,0,0,0,0,28.83,14.71,28.83
$GC,942,-1.34,-262.8,2215,2793,4003,3924,186.9,-20.6,104,947,0.00,1.65,0.00,0.000,260,0.000,0.067,2207,3788,3964,4003,3925,0,0,0,0,0,0,28.83,14.63,28.83
$GC,960,-1.34,-262.8,2207,3789,4002,3925,189.7,-21.0,105,967,0.15,1.48,0.00,0.000,3078,0.273,0.031,2240,2799,3964,4003,3925,0,0,0,0,0,0,14.33,14.72,28.83
$GC,1146,-1.34,-262.8,2240,2800,4002,3925,225.3,-17.7,124,1151,0.00,1.62,0.00,0.000,260,0.000,0.067,2234,3783,3961,4003,3920,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1159,-1.34,-262.8,2235,3784,4002,3926,227.6,-17.7,125,1164,0.00,1.50,0.00,0.000,1030,0.000,0.031,2234,2782,3964,4002,3926,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1352,-1.34,-262.8,2234,2782,4002,3926,260.1,-15.8,144,1358,0.00,1.67,0.00,0.000,516,0.000,0.033,2234,1709,3964,4002,3926,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1406,-1.34,-262.8,2234,1709,4001,3926,268.7,-16.1,149,1412,0.00,1.75,0.00,0.000,1030,0.000,0.054,2227,2760,3964,4003,3926,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1600,-1.34,-262.8,2227,2761,4002,3926,301.6,-17.3,168,1605,0.00,1.67,0.00,0.000,260,0.000,0.071,2219,3782,3964,4002,3926,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1634,-1.34,-262.8,2219,3782,4002,3926,307.8,-18.0,171,1639,0.00,1.60,0.00,0.000,1030,0.000,0.031,2218,2725,3964,4002,3926,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1828,-1.34,-262.8,2219,2723,4002,3926,342.5,-17.9,190,1833,0.00,1.52,0.00,0.000,516,0.000,0.033,2218,1712,3964,4002,3926,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1862,-1.34,-262.8,2219,1712,4002,3923,348.5,-17.7,193,1868,0.10,1.67,0.00,0.000,3078,0.241,0.054,2239,2717,3964,4002,3926,0,0,0,0,0,0,14.32,14.64,28.83
$GC,2056,-1.34,-262.8,2239,2718,4001,3925,379.5,-15.4,212,2061,0.00,1.77,0.00,0.000,260,0.000,0.072,2233,3790,3963,4001,3925,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2163,-1.34,-262.8,2233,3791,4000,3923,396.4,-16.2,222,2168,0.00,1.52,0.00,0.000,1030,0.000,0.033,2233,2742,3962,4000,3924,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2357,-1.34,-262.8,2233,2741,4000,3921,426.8,-15.2,241,2362,0.00,1.55,0.00,0.000,516,0.000,0.034,2233,1723,3960,4000,3921,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2385,-1.34,-262.8,1368,1721,3999,3920,430.5,-15.4,243,2392,0.00,1.70,0.00,0.000,1030,0.000,0.057,2226,2767,3960,4000,3921,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2571,-1.34,-262.8,2226,2767,4000,3918,459.5,-14.6,262,2573,0.00,0.00,-0.05,0.000,16390,0.000,0.000,2226,2767,3974,4000,3948,0,0,0,0,0,0,28.83,28.83,13.30
$GC,2751,-1.34,-262.8,2226,2768,4000,3946,486.8,-15.7,280,2756,0.00,1.62,0.00,0.000,516,0.000,0.034,2226,1723,3972,3999,3946,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2785,-1.34,-262.8,2226,1722,4000,3946,492.1,-15.6,283,2790,0.00,1.65,0.00,0.000,1030,0.000,0.057,2218,2727,3973,4000,3946,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2978,-1.34,-262.8,2219,2729,4000,3942,522.6,-15.3,302,2983,0.00,1.75,0.00,0.000,260,0.000,0.075,2210,3784,3971,4000,3943,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3063,-1.34,-262.8,2210,3784,4000,3942,536.1,-16.0,310,3069,0.12,1.52,0.00,0.000,3078,0.271,0.034,2237,2766,3970,4000,3941,0,0,0,0,0,0,14.38,14.77,28.83
$GC,3258,-1.34,-262.8,2237,2765,4000,3939,564.3,-14.2,329,3263,0.00,1.62,0.00,0.000,516,0.000,0.035,2237,1703,3969,4000,3938,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3297,-1.34,-262.8,2236,1703,3998,3937,569.2,-14.6,332,3304,0.00,1.75,0.00,0.000,1030,0.000,0.059,2232,2764,3968,4000,3937,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3483,-1.34,-262.8,2231,2765,4000,3933,597.1,-14.8,351,3488,0.00,1.70,0.00,0.000,260,0.000,0.077,2223,3785,3966,3999,3933,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3541,-1.34,-262.8,2224,3785,4000,3932,604.0,-16.0,354,3548,0.00,1.55,0.00,0.000,1030,0.000,0.035,2223,2753,3966,4000,3932,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3727,-1.34,-262.8,2223,2752,4000,3927,634.8,-15.2,364,3732,0.00,1.65,0.00,0.000,516,0.000,0.037,2223,1711,3963,3999,3927,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3760,-1.34,-262.8,2224,1710,4000,3927,638.5,-15.0,365,3765,0.00,1.73,0.00,0.000,1030,0.000,0.061,2216,2750,3963,4000,3927,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3955,-1.34,-262.8,2215,2751,4000,3922,669.6,-15.4,375,3960,0.00,1.73,0.00,0.000,260,0.000,0.080,2208,3782,3961,4000,3922,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4007,-1.34,-262.8,2208,3782,4000,3921,677.0,-15.9,377,4013,0.15,1.52,0.00,0.000,3078,0.265,0.037,2241,2774,3960,4000,3921,0,0,0,0,0,0,14.31,14.76,28.83
$GC,4205,-1.34,-262.8,2242,2773,4000,3915,707.3,-14.6,387,4211,0.00,1.70,0.00,0.000,516,0.000,0.037,2241,1708,3957,4000,3915,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4263,-1.34,-262.8,2240,1707,4000,3913,714.2,-14.6,389,4270,0.00,1.80,0.00,0.000,1030,0.000,0.064,2235,2754,3956,4000,3913,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4451,-1.34,-262.8,2236,2755,4000,3909,744.9,-15.4,399,4456,0.00,1.67,0.00,0.000,516,0.000,0.037,2236,1696,3954,3999,3909,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4474,-1.34,-262.8,2236,1695,4000,3909,749.0,-15.6,400,4480,0.00,1.80,0.00,0.000,1030,0.000,0.065,2228,2733,3954,4000,3909,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4678,-1.34,-262.8,2228,2733,4000,3906,781.7,-16.4,410,4684,0.00,1.80,0.00,0.000,260,0.000,0.086,2220,3786,3952,4000,3905,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4743,-1.34,-262.8,2220,3787,4000,3904,792.7,-17.1,413,4748,0.00,1.62,0.00,0.000,1030,0.000,0.040,2220,2739,3951,4000,3903,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4949,-1.34,-262.8,2220,2737,4000,3900,826.5,-16.2,423,4954,0.00,1.62,0.00,0.000,516,0.000,0.040,2220,1701,3949,3999,3900,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5008,-1.34,-262.8,2220,1700,4000,3899,834.1,-16.4,425,5015,0.12,1.75,0.00,0.000,3078,0.284,0.068,2238,2732,3948,3999,3898,0,0,0,0,0,0,14.23,14.53,28.83
$GC,5197,-1.34,-262.8,2238,2732,4000,3895,865.3,-15.6,435,5202,0.00,1.80,0.00,0.000,260,0.000,0.090,2233,3779,3947,3999,3895,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5265,-1.34,-262.8,2233,3779,3998,3895,876.3,-16.0,438,5271,0.00,1.62,0.00,0.000,1030,0.000,0.042,2233,2743,3946,3997,3895,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5465,-1.34,-262.8,2233,2743,3997,3890,908.9,-16.4,448,5470,0.00,1.70,0.00,0.000,516,0.000,0.041,2233,1695,3943,3997,3890,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5477,-1.34,-262.8,2232,1696,3997,3890,908.9,-16.4,448,5482,0.00,1.80,0.00,0.000,1030,0.000,0.072,2225,2745,3941,3996,3886,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5672,-1.34,-262.8,2225,2745,3995,3888,943.8,-16.7,458,5677,0.00,1.80,0.00,0.000,260,0.000,0.093,2217,3782,3942,3995,3889,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5765,-1.34,-262.8,2217,3782,3994,3888,958.6,-17.5,462,5770,0.00,1.58,0.00,0.000,1030,0.000,0.044,2217,2786,3941,3994,3888,0,0,0,0,0,0,28.83,14.65,28.83
$STATE,5935,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5935,begin apogee
$GC,5944,-0.22,0.0,2217,2174,3994,3885,990.4,-17.5,471,6182,1.38,0.00,230.20,1.818,10244,0.226,0.000,2593,2172,2937,2967,2907,0,0,0,0,0,0,13.97,28.83,13.26
$STATE,6183,end apogee,CONTROL_FINISHED_OK
$STATE,6183,begin climb
$GC,6187,1.34,262.8,2592,2172,2962,2903,1008.7,0.0,483,6442,1.45,1.77,243.20,1.795,10756,0.076,0.050,3111,1145,1861,1896,1826,0,0,0,0,0,0,14.27,14.26,13.28
$GC,6467,1.34,262.8,2176,1145,1852,1804,981.8,15.7,497,6472,0.00,1.80,0.00,0.000,1030,0.000,0.067,3111,2184,1853,1893,1813,0,0,0,0,0,0,28.83,14.33,28.83
$GC,6667,1.34,262.8,3110,2184,1893,1804,948.9,16.3,507,6672,0.00,1.85,0.00,0.000,260,0.000,0.089,3111,3229,1848,1893,1804,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6734,1.34,262.8,2176,3228,1856,1795,937.7,17.1,510,6740,0.00,1.75,0.00,0.000,1030,0.000,0.041,3118,2141,1848,1892,1804,0,0,0,0,0,0,28.83,14.66,28.83
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$STATE,13853,end climb,SURFACE_DEPTH_REACHED
$STATE,13853,begin surface coast
$FINISH,-0.7,1.021288
$STATE,13879,end surface coast,CONTROL_FINISHED_OK
$STATE,13879,begin surface
$SM_CCo,13901,82.00,0.688,1,0,438,612.76
$SM_GC,-0.01,8.18,0.73,82.00,0.050,0.066,0.688,234,2717,438,-7.53,-1.19,612.76,0,0,0,0,1,0,14.64,14.59,13.95
$IRIDIUM_FIX,2052.52,12519.38,110813,090916
$TT8_MAMPS,0.019474,0.019474
$HUMID,50.27
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,26.40
$XPDR_PINGS,0
$SC_FREEKB,3720448
$24V_AH,13.3,180.556
$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
$DEVICE_SECS,21.675,167.875,615.850,82.000,0.000,27.436,18.905,411.720,0.000,0.000,13.733,3106.634,7156.060,860.203,2951.129,693.711,0.000,2233.264,0.000,2389.659,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13955.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.029,0.000,0.000,0.000
$MEM,328676
$DATA_FILE_SIZE,43318,1123
$CAP_FILE_SIZE,250631,0
$CFSIZE,260034560,198799360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,110813,172037,2051.580,12528.465,28,1.3,29,-2.7