version: 66.11
glider: 181
mission: 11
dive: 544
start: 8 13 113 21 48 6
data:
$ID,181
$MISSION,11
$DIVE,544
$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,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,-97886.555
$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,2483
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.9
$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,74
$R_STBD_OVSHOOT,29
$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
$GPS1,130813,213435,2042.038,12550.164,31,1.0,31,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.13
$_SM_ANGLEo,-68.3
$GPS2,130813,214736,2041.988,12550.588,14,0.9,14,-2.7
$SPEED_LIMITS,0.179,0.181
$TGT_NAME,HEADING
$TGT_LATLONG,2031.840,12546.644
$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,202.7,20000,-21.5,-10.312,-29.71,2752
$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,-1.47,-194.6,228,2721,466,428,0.0,0.0,0,123,0.00,0.00,-97.88,0.000,16386,0.000,0.000,227,2722,2953,2997,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-1.47,-194.6,227,2722,2997,2912,3.1,-9.8,18,161,8.10,1.75,-15.25,0.000,18692,0.366,0.086,1995,3788,3734,3793,3675,0,0,0,0,0,0,14.04,14.60,14.88
$GC,175,-1.47,-194.6,1995,3788,3792,3675,17.7,-29.4,25,182,0.00,1.65,0.00,0.000,1030,0.000,0.031,1994,2711,3734,3793,3676,0,0,0,0,0,0,28.83,14.69,28.83
$GC,371,-1.47,-194.6,1995,2710,3797,3675,80.7,-31.9,46,376,0.00,1.80,0.00,0.000,260,0.000,0.063,1986,3794,3734,3793,3675,0,0,0,0,0,0,28.83,14.60,28.83
$GC,484,-1.47,-194.6,1192,3793,3790,3674,116.1,-30.9,57,489,0.00,1.62,0.00,0.000,1030,0.000,0.030,1986,2720,3734,3793,3675,0,0,0,0,0,0,28.83,14.68,28.83
$GC,678,-1.47,-194.6,1986,2716,3793,3675,168.5,-25.9,76,683,0.00,1.77,0.00,0.000,260,0.000,0.057,1978,3785,3734,3793,3675,0,0,0,0,0,0,28.83,14.62,28.83
$GC,774,-1.47,-194.6,1978,3785,3792,3675,193.0,-26.8,85,780,0.15,1.62,0.00,0.000,3078,0.323,0.031,2006,2709,3734,3793,3675,0,0,0,0,0,0,14.16,14.69,28.83
$GC,969,-1.47,-194.6,2006,2706,3793,3676,240.1,-22.4,104,974,0.00,1.80,0.00,0.000,260,0.000,0.062,2000,3779,3734,3793,3676,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1047,-1.47,-194.6,2000,3780,3793,3676,257.6,-23.7,111,1054,0.00,1.58,0.00,0.000,1030,0.000,0.030,2000,2710,3734,3792,3676,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1233,-1.47,-194.6,2001,2709,3793,3677,298.7,-21.6,130,1238,0.00,1.50,0.00,0.000,516,0.000,0.032,2000,1706,3734,3793,3676,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1257,-1.47,-194.6,2000,1705,3793,3676,303.8,-22.0,132,1262,0.00,1.65,0.00,0.000,1030,0.000,0.049,1993,2738,3735,3793,3677,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1451,-1.47,-194.6,1994,2738,3793,3677,346.6,-22.7,151,1456,0.00,1.67,0.00,0.000,260,0.000,0.063,1985,3779,3734,3793,3676,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1519,-1.47,-194.6,1985,3780,3793,3677,361.1,-23.0,157,1526,0.00,1.58,0.00,0.000,1030,0.000,0.031,1985,2737,3734,3793,3676,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1705,-1.47,-194.6,1985,2735,3793,3676,404.4,-22.8,176,1710,0.00,1.75,0.00,0.000,260,0.000,0.064,1977,3772,3734,3793,3676,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1770,-1.47,-194.6,1977,3773,3793,3676,419.3,-23.4,182,1776,0.15,1.58,0.00,0.000,3078,0.327,0.031,2005,2710,3734,3793,3676,0,0,0,0,0,0,14.23,14.79,28.83
$GC,1965,-1.47,-194.6,2005,2709,3792,3675,460.7,-21.3,201,1971,0.00,0.00,0.00,0.000,6,0.000,0.000,2005,2709,3734,3793,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2154,-1.47,-194.6,2005,2709,3793,3673,499.0,-20.1,220,2159,0.00,1.77,0.00,0.000,260,0.000,0.067,1999,3782,3733,3793,3673,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2188,-1.47,-194.6,1999,3782,3792,3673,506.2,-20.8,223,2193,0.00,1.58,0.00,0.000,1030,0.000,0.033,1999,2716,3732,3792,3673,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2381,-1.47,-194.6,2000,2716,3793,3672,547.0,-21.5,242,2386,0.00,1.75,0.00,0.000,260,0.000,0.066,1991,3773,3734,3797,3671,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2439,-1.47,-194.6,1216,3774,3790,3669,558.8,-22.0,247,2446,0.00,1.58,0.00,0.000,1030,0.000,0.031,1991,2728,3731,3792,3671,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2625,-1.47,-194.6,1991,2727,3792,3668,599.9,-21.7,266,2630,0.00,1.55,0.00,0.000,516,0.000,0.033,1991,1699,3730,3792,3668,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2643,-1.47,-194.6,1991,1698,3798,3668,602.8,-21.9,267,2649,0.00,1.67,0.00,0.000,1030,0.000,0.056,1984,2729,3729,3791,3668,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2830,-1.47,-194.6,1984,2729,3790,3666,644.2,-21.6,277,2835,0.00,1.73,0.00,0.000,260,0.000,0.070,1975,3778,3727,3789,3666,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2914,-1.47,-194.6,1982,3778,3788,3666,663.9,-23.3,281,2920,0.15,1.60,0.00,0.000,3078,0.325,0.032,2004,2727,3727,3788,3666,0,0,0,0,0,0,14.19,14.76,28.83
$GC,3122,-1.47,-194.6,2004,2727,3788,3665,708.9,-22.0,291,3127,0.00,1.80,0.00,0.000,260,0.000,0.075,1998,3769,3725,3788,3662,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3166,-1.47,-194.6,1998,3769,3786,3662,719.6,-22.5,293,3171,0.00,1.60,0.00,0.000,1030,0.000,0.034,1998,2725,3724,3787,3662,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3370,-1.47,-194.6,1998,2725,3787,3658,765.3,-22.3,303,3375,0.00,1.77,0.00,0.000,260,0.000,0.074,1990,3779,3722,3786,3658,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3578,-1.47,-194.6,1990,3779,3781,3656,815.2,-24.5,313,3583,0.00,1.65,0.00,0.000,1030,0.000,0.036,1990,2735,3718,3781,3656,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3782,-1.47,-194.6,1989,2735,3780,3655,863.6,-23.5,323,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,1990,2735,3716,3780,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3962,-1.47,-194.6,1990,2735,3778,3650,905.9,-24.0,332,3967,0.00,1.77,0.00,0.000,260,0.000,0.078,1981,3773,3714,3778,3650,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4089,-1.47,-194.6,1982,3774,3776,3650,938.0,-25.5,338,4094,0.00,1.67,0.00,0.000,1030,0.000,0.037,1982,2729,3712,3775,3650,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4294,-1.47,-194.6,1979,2726,3771,3647,989.6,-25.0,348,4300,0.12,1.80,0.00,0.000,2308,0.357,0.074,2001,3775,3709,3771,3647,0,0,0,0,0,0,14.15,14.48,28.83
$STATE,4315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4315,begin apogee
$GC,4325,-0.25,0.0,2001,2186,3771,3646,995.4,-24.8,349,4517,1.58,0.00,181.07,1.777,10246,0.308,0.000,2391,2184,2934,2972,2897,0,0,0,0,0,0,13.88,28.83,13.27
$STATE,4519,end apogee,CONTROL_FINISHED_OK
$STATE,4519,begin climb
$GC,4523,1.47,194.6,2391,2184,2971,2895,1014.9,0.0,359,4712,1.88,1.90,179.12,1.804,10500,0.183,0.080,2949,3225,2140,2177,2103,0,0,0,0,0,0,14.19,14.22,13.31
$GC,4789,1.47,194.6,2948,3226,2174,2093,998.0,10.4,371,4793,0.00,1.70,0.00,0.000,1030,0.000,0.040,2956,2175,2133,2174,2093,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4977,1.48,201.5,2957,2175,2174,2085,978.0,10.1,381,4983,0.00,1.88,1.70,0.204,8452,0.000,0.081,2955,3225,2118,2160,2077,0,0,0,0,0,0,28.83,14.53,14.38
$GC,5026,1.48,201.5,2955,3225,2165,2084,973.1,10.5,383,5032,0.00,1.67,1.23,0.217,9222,0.000,0.038,2963,2172,2115,2158,2073,0,0,0,0,0,0,28.83,14.69,14.45
$GC,5228,1.48,201.5,2963,2172,2164,2080,951.9,10.4,393,5233,0.00,1.70,0.00,0.000,516,0.000,0.055,2971,1127,2122,2164,2080,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5277,1.48,201.5,1984,1127,2121,2070,947.0,10.5,395,5282,0.00,1.75,0.00,0.000,1030,0.000,0.063,2971,2173,2122,2164,2081,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5475,1.48,201.5,2971,2172,2163,2080,925.8,10.4,405,5481,0.00,1.75,0.00,0.000,516,0.000,0.054,2977,1135,2122,2164,2080,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5569,1.48,201.5,2977,1135,2164,2079,917.1,10.3,409,5574,0.00,1.75,0.00,0.000,1030,0.000,0.061,2978,2182,2121,2163,2079,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5763,1.50,212.3,2977,2181,2164,2077,896.5,9.9,419,5786,0.00,1.77,15.50,1.702,8964,0.000,0.052,2984,1130,2067,2112,2023,0,0,0,0,0,0,28.83,14.70,13.71
$GC,5902,1.50,212.3,2984,1130,2109,2015,883.6,10.4,425,5908,0.00,1.75,0.00,0.000,1030,0.000,0.060,2984,2176,2062,2109,2015,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6088,1.51,214.2,2984,2176,2116,2012,863.1,10.2,435,6093,0.00,1.75,0.00,0.000,516,0.000,0.053,2991,1136,2060,2109,2012,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6182,1.51,214.2,2991,1141,2109,2011,854.3,10.4,439,6187,0.00,1.75,0.00,0.000,1030,0.000,0.060,2991,2180,2060,2110,2010,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6376,1.51,214.2,2991,2181,2109,2008,832.4,10.8,449,6381,0.00,1.83,0.00,0.000,260,0.000,0.083,2991,3229,2058,2109,2008,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6487,1.51,214.2,2992,3229,2106,2008,820.7,11.3,454,6493,0.10,1.73,0.00,0.000,5126,0.264,0.038,2973,2175,2057,2107,2008,0,0,0,0,0,0,14.26,14.66,28.83
$GC,6689,1.52,218.6,2973,2175,2107,2006,799.6,10.1,464,6695,0.00,1.83,1.35,0.216,8452,0.000,0.077,2974,3232,2046,2097,1996,0,0,0,0,0,0,28.83,14.54,14.21
$GC,6791,1.52,218.6,2974,3232,2099,2005,790.0,10.9,468,6798,0.00,1.70,0.00,0.000,1030,0.000,0.038,2979,2163,2052,2099,2006,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6974,1.54,228.8,2979,2163,2099,2006,770.1,9.9,478,6993,0.00,0.00,15.90,1.606,8198,0.000,0.000,2979,2163,2002,2050,1955,0,0,0,0,0,0,28.83,28.83,13.72
$GC,7175,1.55,234.3,2979,2163,2047,1946,749.8,10.1,488,7182,0.00,1.90,1.80,0.216,8452,0.000,0.079,2979,3228,1982,2032,1933,0,0,0,0,0,0,28.83,14.57,14.20
$GC,7266,1.55,234.3,2979,3228,2037,1946,740.2,11.2,492,7273,0.00,1.73,1.38,0.175,9222,0.000,0.038,2987,2169,1981,2029,1933,0,0,0,0,0,0,28.83,14.64,14.31
$GC,7469,1.55,234.3,2991,2169,2036,1945,717.5,10.9,502,7475,0.00,1.83,0.00,0.000,260,0.000,0.079,2987,3229,1991,2036,1946,0,0,0,0,0,0,28.83,14.52,28.83
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$STATE,13942,end climb,SURFACE_DEPTH_REACHED
$STATE,13942,begin surface coast
$FINISH,-0.8,1.021384
$STATE,13964,end surface coast,CONTROL_FINISHED_OK
$STATE,13964,begin surface
$SM_CCo,13982,33.10,0.134,0,0,437,612.76
$SM_GC,-0.75,0.15,2.65,33.10,0.139,0.054,0.134,3127,2715,437,2.10,-1.24,612.76,0,1,0,0,0,0,14.61,14.61,14.44
$IRIDIUM_FIX,2024.87,12542.69,130813,171723
$TT8_MAMPS,0.019474,0.019474
$HUMID,53.03
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,26.40
$XPDR_PINGS,0
$SC_FREEKB,3715264
$24V_AH,13.3,185.302
$10V_AH,13.0,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14037.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.882,0.000,0.000,0.000
$MEM,328676
$DATA_FILE_SIZE,43248,1097
$CAP_FILE_SIZE,250703,11
$CFSIZE,260034560,196976640
$ERRORS,0,0,0,0,0,0,0,0,1,0,1,0,0,0,0,0
$GPS,130813,214736,2041.988,12550.588,901,99.0,901,-2.7