version: 66.11
glider: 181
mission: 11
dive: 599
start: 8 21 113 18 3 50
data:
$ID,181
$MISSION,11
$DIVE,599
$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,220
$T_MISSION,270
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$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,240
$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,475
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$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,-99186.82
$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,2670
$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,2825
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,73
$R_STBD_OVSHOOT,35
$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,10
$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
$GPS1,210813,174432,2008.518,12625.554,6,3.7,25,-2.6
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-66.4
$GPS2,210813,180319,2008.799,12625.868,11,1.3,11,-2.6
$SPEED_LIMITS,0.126,0.224
$TGT_NAME,HEADING
$TGT_LATLONG,2003.399,12615.912
$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,242.6,20000,-27.9,-15.000,-33.75,2427
$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,20,begin dive
$GC,23,-1.89,-243.3,214,2834,1022,992,0.0,0.0,0,108,0.00,0.00,-81.88,0.000,16386,0.000,0.000,213,2834,3078,3128,3028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-1.89,-243.3,213,2834,3128,3029,3.7,-11.8,15,144,8.50,1.70,-15.52,0.000,18948,0.369,0.064,2054,1777,3931,3988,3874,0,0,0,0,0,0,14.00,14.65,14.88
$GC,184,-1.89,-243.3,2054,1775,3987,3875,25.2,-29.8,26,191,0.00,1.73,0.00,0.000,1030,0.000,0.059,2048,2825,3930,3988,3873,0,0,0,0,0,0,28.83,14.55,28.83
$GC,371,-1.89,-243.3,2049,2828,3988,3875,83.0,-29.6,45,376,0.00,1.62,0.00,0.000,516,0.000,0.033,2048,1782,3931,3988,3875,0,0,0,0,0,0,28.83,14.66,28.83
$GC,404,-1.89,-243.3,2048,1782,3988,3875,92.4,-28.0,48,410,0.00,1.73,0.00,0.000,1030,0.000,0.059,2040,2830,3932,3987,3877,0,0,0,0,0,0,28.83,14.60,28.83
$GC,598,-1.89,-243.3,2040,2831,3988,3875,143.8,-25.7,67,600,0.00,0.00,0.00,0.000,6,0.000,0.000,2040,2831,3931,3987,3876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,778,-1.89,-243.3,2040,2831,3988,3876,186.8,-22.8,85,783,0.00,1.62,0.00,0.000,516,0.000,0.031,2040,1770,3931,3988,3875,0,0,0,0,0,0,28.83,14.72,28.83
$GC,854,-1.89,-243.3,2040,1770,3987,3876,203.6,-23.1,92,860,0.12,1.73,0.00,0.000,3078,0.315,0.056,2056,2828,3932,3988,3876,0,0,0,0,0,0,14.25,14.66,28.83
$GC,1048,-1.89,-243.3,2055,2828,3987,3876,244.2,-20.4,111,1054,0.00,1.60,0.00,0.000,516,0.000,0.031,2056,1778,3931,3987,3876,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1083,-1.89,-243.3,2056,1777,3987,3876,251.1,-20.2,114,1088,0.00,1.70,0.00,0.000,1030,0.000,0.053,2051,2831,3931,3987,3876,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1277,-1.89,-243.3,2051,2831,3987,3877,292.6,-21.1,133,1282,0.00,1.52,0.00,0.000,260,0.000,0.065,2043,3779,3931,3987,3876,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1312,-1.89,-243.3,2043,3778,3987,3876,300.0,-21.5,136,1317,0.00,1.50,0.00,0.000,1030,0.000,0.031,2043,2779,3931,3987,3876,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1506,-1.89,-243.3,2043,2778,3987,3876,342.1,-21.4,155,1511,0.00,1.48,0.00,0.000,516,0.000,0.031,2043,1807,3932,3988,3877,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1541,-1.89,-243.3,2043,1807,3988,3877,349.1,-20.8,158,1546,0.00,1.65,0.00,0.000,1030,0.000,0.056,2036,2826,3932,3988,3876,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1735,-1.89,-243.3,2036,2825,3988,3877,390.1,-21.4,177,1740,0.00,1.55,0.00,0.000,260,0.000,0.067,2028,3782,3932,3987,3877,0,0,0,0,0,0,28.83,14.55,28.83
$GC,1814,-1.89,-243.3,2028,3783,3988,3876,406.9,-22.9,184,1821,0.10,1.42,0.00,0.000,3078,0.298,0.032,2052,2837,3932,3988,3876,0,0,0,0,0,0,14.19,14.72,28.83
$GC,2001,-1.89,-243.3,2049,2836,3988,3876,446.9,-20.4,203,2006,0.00,1.55,0.00,0.000,516,0.000,0.031,2052,1800,3931,3987,3876,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2048,-1.89,-243.3,1280,1798,3987,3875,455.9,-19.9,207,2055,0.00,1.67,0.00,0.000,1030,0.000,0.057,2047,2832,3931,3987,3876,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2235,-1.89,-243.3,2047,2832,3988,3875,495.3,-20.4,226,2236,0.00,0.00,0.00,0.000,6,0.000,0.000,2047,2832,3931,3988,3875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2415,-1.89,-243.3,2047,2832,3988,3872,532.8,-21.0,244,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2046,2832,3931,3987,3875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2595,-1.89,-243.3,2047,2832,3988,3871,570.1,-21.1,262,2600,0.00,1.58,0.00,0.000,516,0.000,0.035,2047,1809,3929,3988,3870,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2643,-1.89,-243.3,2047,1808,3988,3870,579.3,-21.4,266,2650,0.00,1.67,0.00,0.000,1030,0.000,0.060,2040,2829,3928,3988,3869,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2839,-1.89,-243.3,2040,2829,3987,3866,620.9,-20.6,281,2844,0.00,1.58,0.00,0.000,260,0.000,0.074,2032,3781,3927,3988,3866,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2897,-1.89,-243.3,2032,3782,3987,3866,630.3,-21.3,283,2904,0.08,1.45,0.00,0.000,3078,0.308,0.034,2056,2842,3927,3988,3866,0,0,0,0,0,0,14.18,14.70,28.83
$GC,3086,-1.89,-243.3,2056,2842,3987,3863,671.0,-20.3,293,3092,0.00,1.65,0.00,0.000,516,0.000,0.035,2056,1796,3925,3987,3863,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3131,-1.89,-243.3,2056,1796,3987,3863,680.7,-20.5,295,3136,0.00,1.70,0.00,0.000,1030,0.000,0.060,2047,2824,3924,3987,3862,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3336,-1.89,-243.3,2051,2824,3979,3860,723.8,-21.7,305,3341,0.00,1.60,0.00,0.000,260,0.000,0.078,2043,3781,3921,3983,3860,0,0,0,0,0,0,28.83,14.56,28.83
$GC,3385,-1.89,-243.3,2043,3781,3983,3860,734.8,-23.1,307,3390,0.00,1.50,0.00,0.000,1030,0.000,0.037,2043,2792,3922,3985,3860,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3584,-1.89,-243.3,2043,2791,3983,3857,780.5,-22.6,317,3589,0.00,1.73,0.00,0.000,260,0.000,0.077,2036,3778,3919,3982,3857,0,0,0,0,0,0,28.83,14.51,28.83
$GC,3609,-1.89,-243.3,2033,3778,3981,3857,785.6,-22.2,318,3614,0.00,1.50,0.00,0.000,1030,0.000,0.037,2036,2830,3918,3981,3856,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3814,-1.89,-243.3,2036,2830,3980,3854,832.7,-23.1,328,3819,0.00,1.62,0.00,0.000,516,0.000,0.039,2037,1793,3917,3980,3854,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3859,-1.89,-243.3,2035,1792,3979,3853,843.0,-23.4,330,3865,0.10,1.77,0.00,0.000,3078,0.295,0.065,2053,2816,3916,3980,3853,0,0,0,0,0,0,14.06,14.50,28.83
$GC,4066,-1.89,-243.3,2053,2816,3977,3849,890.2,-22.9,340,4067,0.00,0.00,0.00,0.000,6,0.000,0.000,2052,2816,3913,3977,3849,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4244,-1.89,-243.3,2052,2816,3974,3846,932.0,-23.3,349,4249,0.00,1.67,0.00,0.000,260,0.000,0.083,2048,3775,3909,3973,3846,0,0,0,0,0,0,28.83,14.43,28.83
$GC,4273,-1.89,-243.3,2048,3775,3973,3846,936.9,-22.2,350,4278,0.00,1.50,0.00,0.000,1030,0.000,0.039,2047,2810,3909,3973,3846,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4473,-1.89,-243.3,2048,2810,3971,3844,985.2,-23.2,360,4478,0.00,1.67,0.00,0.000,260,0.000,0.083,2040,3780,3907,3971,3843,0,0,0,0,0,0,28.83,14.47,28.83
$STATE,4493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4493,begin apogee
$GC,4505,-0.25,0.0,2040,2104,3970,3843,991.2,-23.6,361,4736,2.12,0.00,221.70,1.831,10246,0.278,0.000,2581,2099,2935,2971,2900,0,0,0,0,0,0,13.90,28.83,13.23
$STATE,4738,end apogee,CONTROL_FINISHED_OK
$STATE,4738,begin climb
$GC,4742,1.89,243.3,2581,2099,2969,2896,1011.3,0.0,373,4977,1.98,1.90,224.80,1.802,10756,0.070,0.060,3302,1019,1943,1971,1915,0,0,0,0,0,0,14.33,14.26,13.29
$GC,5057,1.89,243.3,3302,1019,1967,1898,969.7,21.7,388,5064,0.00,1.80,0.00,0.000,1030,0.000,0.067,3302,2076,1930,1967,1893,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5243,1.89,243.3,3302,2076,1967,1892,926.3,21.9,398,5248,0.00,1.80,0.00,0.000,260,0.000,0.083,3302,3133,1929,1967,1892,0,0,0,0,0,0,28.83,14.58,28.83
$GC,5262,1.89,243.3,3302,3133,1967,1893,926.3,21.9,398,5269,0.15,1.73,0.00,0.000,5126,0.388,0.043,3284,2062,1929,1967,1892,0,0,0,0,0,0,14.20,14.66,28.83
$GC,5449,1.89,243.3,3284,2064,1967,1889,882.4,21.4,408,5455,0.00,1.70,0.00,0.000,516,0.000,0.060,3289,1024,1928,1968,1888,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5561,1.89,243.3,3289,1024,1967,1887,859.6,21.5,413,5566,0.00,1.77,0.00,0.000,1030,0.000,0.063,3285,2084,1926,1967,1886,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5760,1.89,243.3,3285,2084,1967,1883,816.1,20.7,423,5765,0.00,1.75,0.00,0.000,516,0.000,0.054,3289,1021,1925,1967,1883,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5788,1.89,243.3,3290,1020,1968,1883,811.0,21.0,424,5793,0.00,1.80,0.00,0.000,1030,0.000,0.063,3285,2070,1925,1967,1883,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5988,1.89,243.3,3285,2070,1967,1881,769.1,20.4,434,5993,0.00,1.80,0.00,0.000,260,0.000,0.080,3285,3132,1924,1967,1882,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6000,1.89,243.3,3285,3132,1969,1882,769.1,20.4,434,6006,0.00,1.73,0.00,0.000,1030,0.000,0.037,3291,2076,1924,1967,1882,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6196,1.89,243.3,3290,2076,1967,1880,726.9,20.2,444,6201,0.00,1.73,0.00,0.000,516,0.000,0.052,3298,1010,1923,1966,1880,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6273,1.89,243.3,3298,1010,1966,1880,713.5,20.5,447,6280,0.00,1.77,0.00,0.000,1030,0.000,0.056,3297,2084,1923,1966,1880,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6461,1.89,243.3,3297,2084,1966,1879,674.7,19.2,457,6466,0.00,1.80,0.00,0.000,260,0.000,0.076,3296,3123,1922,1966,1879,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6494,1.89,243.3,3296,3123,1965,1879,669.7,19.2,458,6499,0.00,1.67,0.00,0.000,1030,0.000,0.035,3301,2062,1922,1965,1879,0,0,0,0,0,0,28.83,14.70,28.83
$GC,6688,1.89,243.3,3302,2062,1965,1878,629.5,19.8,468,6693,0.00,1.67,0.00,0.000,516,0.000,0.051,3309,1026,1921,1965,1878,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6767,1.89,243.3,3309,1025,1964,1878,616.7,20.1,471,6775,0.15,1.75,0.00,0.000,5126,0.349,0.055,3283,2085,1920,1964,1877,0,0,0,0,0,0,14.08,14.59,28.83
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$STATE,10590,end climb,SURFACE_DEPTH_REACHED
$STATE,10590,begin surface coast
$FINISH,0.8,1.021376
$STATE,10601,end surface coast,CONTROL_FINISHED_OK
$STATE,10601,begin surface
$SM_CCo,10688,0.00,0.000,0,0,932,492.07
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$TT8_MAMPS,0.019474,0.019474
$HUMID,58.78
$INTERNAL_PRESSURE,9.75623
$TCM_TEMP,24.90
$XPDR_PINGS,1
$SC_FREEKB,3694080
$24V_AH,13.2,203.019
$10V_AH,13.0,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.650,127.050,602.150,0.000,0.000,159.421,115.186,299.284,0.250,0.000,14.400,2334.872,5687.849,684.578,2496.644,603.434,0.000,1772.008,0.000,1834.815,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.616,0.000,0.000,0.000
$MEM,328832
$DATA_FILE_SIZE,33385,853
$CAP_FILE_SIZE,191242,0
$CFSIZE,260034560,190832640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210813,210324,2008.655,12625.884,39,1.3,39,-2.6