version: 66.11
glider: 181
mission: 11
dive: 610
start: 8 23 113 5 16 59
data:
$ID,181
$MISSION,11
$DIVE,610
$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,180
$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,-99200.742
$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,65
$R_STBD_OVSHOOT,28
$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
$GPS1,230813,050553,2004.010,12635.177,25,1.0,43,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-71.5
$GPS2,230813,051630,2004.072,12635.489,10,1.8,10,-2.5
$SPEED_LIMITS,0.126,0.224
$TGT_NAME,HEADING
$TGT_LATLONG,1953.273,12635.489
$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,182.5,20000,-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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.89,-243.3,216,2819,1018,1000,0.0,0.0,0,107,0.00,0.00,-82.12,0.000,16386,0.000,0.000,217,2820,3099,3143,3056,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-1.89,-243.3,216,2820,3143,3058,3.6,-12.5,15,143,8.43,1.65,-15.65,0.000,18692,0.365,0.095,2050,3789,3931,3989,3874,0,0,0,0,0,0,13.97,14.57,14.87
$GC,199,-1.89,-243.3,2050,3790,3989,3876,31.3,-30.8,29,204,0.00,1.55,0.00,0.000,1030,0.000,0.030,2050,2791,3933,3989,3877,0,0,0,0,0,0,28.83,14.56,28.83
$GC,393,-1.89,-243.3,2050,2787,3989,3876,87.2,-28.2,48,394,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2787,3932,3989,3876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,573,-1.89,-243.3,2051,2787,3989,3876,136.9,-27.1,66,578,0.00,1.65,0.00,0.000,260,0.000,0.066,2042,3785,3932,3989,3876,0,0,0,0,0,0,28.83,14.59,28.83
$GC,621,-1.89,-243.3,1248,3784,3988,3876,148.6,-27.1,70,627,0.00,1.48,0.00,0.000,1030,0.000,0.029,2042,2804,3932,3989,3876,0,0,0,0,0,0,28.83,14.68,28.83
$GC,807,-1.89,-243.3,2042,2802,3989,3878,196.2,-25.0,89,808,0.00,0.00,0.00,0.000,6,0.000,0.000,2042,2802,3933,3989,3878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,987,-1.89,-243.3,2043,2802,3989,3879,240.8,-24.9,107,992,0.00,1.62,0.00,0.000,260,0.000,0.062,2035,3795,3934,3989,3879,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1042,-1.89,-243.3,2035,3794,3989,3878,253.7,-24.5,112,1047,0.00,1.48,0.00,0.000,1030,0.000,0.029,2032,2812,3934,3989,3879,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1236,-1.89,-243.3,2035,2809,3989,3880,297.7,-21.9,131,1241,0.00,1.50,0.00,0.000,516,0.000,0.029,2034,1782,3934,3988,3881,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1255,-1.89,-243.3,2035,1781,3989,3881,300.7,-22.2,132,1262,0.15,1.70,0.00,0.000,3078,0.308,0.055,2057,2833,3935,3989,3881,0,0,0,0,0,0,14.23,14.65,28.83
$GC,1441,-1.89,-243.3,2057,2834,3989,3881,340.9,-20.7,151,1446,0.00,1.52,0.00,0.000,260,0.000,0.064,2052,3781,3935,3989,3881,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1558,-1.89,-243.3,2052,3782,3989,3881,365.7,-21.0,162,1563,0.00,1.42,0.00,0.000,1030,0.000,0.032,2052,2834,3935,3989,3881,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1752,-1.89,-243.3,2052,2832,3989,3881,406.9,-21.5,181,1757,0.00,1.60,0.00,0.000,260,0.000,0.067,2045,3774,3935,3989,3881,0,0,0,0,0,0,28.83,14.57,28.83
$GC,1836,-1.89,-243.3,2044,3776,3989,3881,425.8,-21.8,189,1841,0.00,1.45,0.00,0.000,1030,0.000,0.030,2045,2803,3935,3989,3881,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2030,-1.89,-243.3,2045,2801,3989,3881,467.6,-21.6,208,2035,0.00,1.62,0.00,0.000,260,0.000,0.067,2037,3781,3935,3989,3881,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2064,-1.89,-243.3,2037,3781,3989,3881,475.1,-22.1,211,2069,0.00,1.42,0.00,0.000,1030,0.000,0.031,2037,2830,3934,3988,3881,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2257,-1.89,-243.3,2037,2830,3989,3879,516.9,-21.4,230,2262,0.00,1.52,0.00,0.000,516,0.000,0.031,2036,1814,3934,3989,3879,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2291,-1.89,-243.3,2037,1813,3984,3878,523.8,-20.8,233,2297,0.15,1.67,0.00,0.000,3078,0.303,0.057,2059,2833,3934,3990,3878,0,0,0,0,0,0,14.21,14.64,28.83
$GC,2486,-1.89,-243.3,2059,2833,3989,3874,562.1,-19.5,252,2487,0.00,0.00,0.00,0.000,6,0.000,0.000,2059,2833,3932,3989,3876,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2667,-1.89,-243.3,2059,2833,3989,3874,597.0,-20.3,270,2672,0.00,1.58,0.00,0.000,260,0.000,0.072,2054,3789,3931,3989,3874,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2725,-1.89,-243.3,2055,3789,3989,3874,606.8,-21.5,273,2732,0.00,1.45,0.00,0.000,1030,0.000,0.034,2055,2848,3931,3988,3874,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2911,-1.89,-243.3,2055,2845,3988,3872,649.3,-21.4,283,2917,0.00,1.65,0.00,0.000,516,0.000,0.033,2055,1792,3930,3989,3872,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2941,-1.89,-243.3,2055,1791,3989,3872,654.6,-21.4,284,2946,0.00,1.70,0.00,0.000,1030,0.000,0.060,2047,2825,3930,3989,3872,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3140,-1.89,-243.3,2047,2825,3989,3867,700.4,-22.7,294,3145,0.00,1.58,0.00,0.000,260,0.000,0.076,2039,3778,3928,3989,3867,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3209,-1.89,-243.3,2039,3778,3989,3867,715.6,-23.6,297,3214,0.00,1.48,0.00,0.000,1030,0.000,0.034,2039,2823,3930,3994,3867,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3407,-1.89,-243.3,2039,2821,3987,3865,763.9,-23.7,307,3413,0.00,1.65,0.00,0.000,260,0.000,0.074,2031,3770,3926,3987,3865,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3447,-1.89,-243.3,2032,3770,3987,3861,769.9,-23.8,308,3454,0.12,1.48,0.00,0.000,3078,0.328,0.035,2055,2829,3926,3987,3865,0,0,0,0,0,0,14.16,14.66,28.83
$GC,3636,-1.89,-243.3,2054,2831,3987,3862,813.9,-21.7,318,3638,0.00,0.00,0.00,0.000,6,0.000,0.000,2054,2830,3924,3987,3862,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3813,-1.89,-243.3,2054,2830,3984,3859,852.4,-21.8,327,3818,0.00,1.65,0.00,0.000,260,0.000,0.076,2049,3772,3921,3984,3858,0,0,0,0,0,0,28.83,14.47,28.83
$GC,3838,-1.89,-243.3,2050,3772,3984,3858,857.8,-22.1,328,3843,0.00,1.50,0.00,0.000,1030,0.000,0.037,2050,2825,3920,3982,3859,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4042,-1.89,-243.3,2050,2825,3982,3856,905.6,-23.6,338,4043,0.00,0.00,0.00,0.000,6,0.000,0.000,2050,2825,3919,3982,3856,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4222,-1.89,-243.3,2050,2825,3980,3854,948.5,-23.9,347,4227,0.00,1.65,0.00,0.000,260,0.000,0.079,2042,3783,3917,3980,3854,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4241,-1.89,-243.3,2042,3783,3979,3854,948.5,-23.9,347,4248,0.00,1.52,0.00,0.000,1030,0.000,0.037,2042,2831,3917,3980,3854,0,0,0,0,0,0,28.83,14.62,28.83
$STATE,4403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4403,begin apogee
$GC,4411,-0.25,0.0,2042,2077,3978,3852,992.4,-24.1,356,4665,2.10,0.00,241.62,1.691,10246,0.278,0.000,2581,2073,2932,2966,2899,0,0,0,0,0,0,13.93,28.83,13.22
$STATE,4669,end apogee,CONTROL_FINISHED_OK
$STATE,4670,begin climb
$GC,4673,1.89,243.3,2581,2073,2964,2896,1013.7,0.0,369,4910,1.98,1.85,224.77,1.801,10756,0.076,0.057,3295,1010,1941,1970,1913,0,0,0,0,0,0,14.33,14.24,13.29
$GC,5006,1.89,243.3,3295,1010,1968,1896,968.1,22.0,385,5013,0.00,1.80,0.00,0.000,1030,0.000,0.063,3294,2073,1933,1971,1896,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5191,1.89,243.3,3295,2072,1968,1891,925.2,21.4,395,5196,0.00,1.80,0.00,0.000,516,0.000,0.054,3302,988,1929,1968,1891,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5244,1.89,243.3,3302,988,1969,1890,915.7,21.4,397,5250,0.00,1.83,0.00,0.000,1030,0.000,0.061,3302,2076,1929,1969,1890,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5439,1.89,243.3,3302,2076,1968,1886,872.0,21.5,407,5441,0.00,0.00,0.00,0.000,6,0.000,0.000,3302,2076,1927,1968,1887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5618,1.89,243.3,3302,2076,1968,1885,832.6,22.2,416,5624,0.00,1.75,0.00,0.000,516,0.000,0.054,3309,1008,1926,1968,1885,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5698,1.89,243.3,3309,1008,1967,1884,818.6,21.8,419,5705,0.15,1.77,0.00,0.000,5126,0.344,0.060,3280,2077,1925,1967,1884,0,0,0,0,0,0,14.18,14.61,28.83
$GC,5885,1.89,243.3,3281,2077,1968,1882,776.0,21.4,429,5890,0.00,1.80,0.00,0.000,260,0.000,0.080,3281,3137,1925,1968,1882,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5950,1.89,243.3,3281,3137,1967,1882,761.6,21.7,432,5955,0.00,1.77,0.00,0.000,1030,0.000,0.036,3286,2058,1924,1967,1882,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6154,1.89,243.3,3286,2058,1967,1881,719.0,20.5,442,6159,0.00,1.67,0.00,0.000,516,0.000,0.049,3293,1019,1924,1967,1881,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6207,1.89,243.3,3293,1020,1967,1881,710.2,20.3,444,6212,0.00,1.75,0.00,0.000,1030,0.000,0.056,3294,2076,1923,1966,1880,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6402,1.89,243.3,3293,2076,1966,1879,670.0,19.7,454,6408,0.00,1.77,0.00,0.000,260,0.000,0.074,3294,3133,1923,1967,1879,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6435,1.89,243.3,3293,3133,1965,1879,664.8,19.8,455,6441,0.00,1.73,0.00,0.000,1030,0.000,0.034,3301,2068,1922,1965,1879,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6631,1.89,243.3,3301,2067,1965,1878,624.4,19.6,465,6636,0.00,1.67,0.00,0.000,516,0.000,0.046,3309,1023,1921,1964,1878,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6746,1.89,243.3,3309,1023,1964,1878,603.8,19.6,470,6752,0.15,1.75,0.00,0.000,5126,0.341,0.052,3282,2085,1920,1963,1878,0,0,0,0,0,0,14.07,14.57,28.83
$GC,6941,1.89,243.3,3282,2085,1963,1875,565.1,18.9,489,6946,0.00,1.77,0.00,0.000,260,0.000,0.073,3282,3137,1919,1963,1876,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6994,1.89,243.3,3282,3137,1963,1876,554.6,19.4,494,7000,0.00,1.67,0.00,0.000,1030,0.000,0.033,3287,2072,1919,1963,1876,0,0,0,0,0,0,28.83,14.68,28.83
$GC,7188,1.89,243.3,3287,2072,1963,1875,519.7,17.4,513,7194,0.00,1.73,0.00,0.000,516,0.000,0.045,3294,1028,1918,1962,1875,0,0,0,0,0,0,28.83,14.56,28.83
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$STATE,10583,end climb,SURFACE_DEPTH_REACHED
$STATE,10583,begin surface coast
$FINISH,-1.1,1.021388
$STATE,10599,end surface coast,CONTROL_FINISHED_OK
$STATE,10599,begin surface
$SM_CCo,10622,22.80,0.142,0,0,998,475.15
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$TT8_MAMPS,0.019474,0.019474
$HUMID,57.48
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,25.10
$XPDR_PINGS,0
$SC_FREEKB,3689856
$24V_AH,13.2,206.764
$10V_AH,10.8,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.300,119.275,611.750,22.800,0.000,27.343,20.638,289.037,0.000,0.000,12.948,2317.381,5434.506,705.316,2225.469,593.841,0.000,1788.162,0.000,1832.730,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.722,0.000,0.000,0.000
$MEM,328808
$DATA_FILE_SIZE,33352,855
$CAP_FILE_SIZE,188046,0
$CFSIZE,260034560,189657088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,230813,081554,2003.282,12637.080,39,1.3,39,-2.5