version: 66.11
glider: 181
mission: 11
dive: 182
start: 6 9 113 9 3 4
data:
$ID,181
$MISSION,11
$DIVE,182
$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,390
$T_MISSION,420
$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,165
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52184
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0033
$HD_B,0.0082
$HD_C,1.5e-05
$HEADING,-1
$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,450
$N_FILEKB,8
$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,-95925.438
$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,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,74
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2753
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,12
$MINV_10V,12
$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,49
$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
$GPS1,090613,085324,2347.082,12413.419,38,1.6,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-72.1
$GPS2,090613,090236,2347.144,12413.546,11,2.0,11,-3.4
$SPEED_LIMITS,0.147,0.278
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$TGT_RADIUS,2000.000
$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,233.7,255060,-13.6,-8.462,-16.94,2871
$D_GRID,2686
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.84,-160.6,220,2462,912,912,0.0,0.0,0,99,0.00,0.00,-77.53,0.000,16386,0.000,0.000,219,2462,2871,2930,2813,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.84,-160.6,219,2463,2930,2815,3.2,-10.6,14,128,9.88,2.20,-9.82,0.000,18948,0.380,0.060,2422,1069,3409,3502,3317,0,0,0,0,0,0,14.40,14.73,14.91
$GC,222,-0.84,-160.6,2422,1068,3502,3318,43.2,-26.8,30,227,0.00,2.22,0.00,0.000,1030,0.000,0.054,2414,2445,3410,3502,3318,0,0,0,0,0,0,28.83,14.71,28.83
$GC,534,-0.84,-160.6,2414,2445,3502,3318,128.8,-26.4,47,539,0.00,2.17,0.00,0.000,260,0.000,0.073,2404,3781,3409,3501,3318,0,0,0,0,0,0,28.83,14.72,28.83
$GC,626,-0.84,-160.6,2404,3782,3502,3318,147.8,-22.9,51,631,0.00,2.00,0.00,0.000,1030,0.000,0.033,2404,2456,3410,3502,3319,0,0,0,0,0,0,28.83,14.88,28.83
$GC,938,-0.84,-160.6,2404,2450,3502,3320,216.9,-19.3,67,944,0.00,2.17,0.00,0.000,260,0.000,0.072,2394,3786,3411,3502,3320,0,0,0,0,0,0,28.83,14.84,28.83
$GC,976,-0.84,-160.6,2394,3786,3502,3320,221.6,-19.7,68,983,0.15,2.03,0.00,0.000,3078,0.262,0.033,2428,2428,3411,3502,3321,0,0,0,0,0,0,14.68,14.92,28.83
$GC,1281,-0.84,-160.6,2428,2422,3502,3321,274.5,-15.5,84,1283,0.00,0.00,0.00,0.000,6,0.000,0.000,2428,2422,3411,3502,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1582,-0.84,-160.6,2428,2422,3502,3320,319.5,-15.1,99,1588,0.00,2.22,0.00,0.000,260,0.000,0.075,2420,3784,3412,3503,3321,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1626,-0.84,-160.6,2420,3784,3502,3323,326.2,-14.8,101,1632,0.00,1.98,0.00,0.000,1030,0.000,0.033,2420,2465,3411,3502,3320,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1949,-0.84,-160.6,2420,2460,3502,3318,370.7,-14.6,117,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2460,3409,3502,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2250,-0.84,-160.6,2420,2460,3501,3316,411.4,-14.0,132,2256,0.00,2.17,0.00,0.000,516,0.000,0.044,2420,1062,3408,3502,3315,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2287,-0.84,-160.6,2420,1061,3501,3316,414.8,-14.0,133,2294,0.00,2.25,0.00,0.000,1030,0.000,0.057,2410,2459,3409,3502,3316,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2593,-0.84,-160.6,2409,2464,3501,3313,464.7,-14.8,149,2599,0.00,2.15,0.00,0.000,260,0.000,0.080,2400,3775,3406,3500,3312,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2625,-0.84,-160.6,2400,3776,3501,3312,468.2,-14.9,150,2630,0.00,2.00,0.00,0.000,1030,0.000,0.037,2400,2453,3406,3500,3312,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2937,-0.84,-160.6,2400,2447,3499,3308,516.4,-15.1,166,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2448,3403,3499,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3239,-0.84,-160.6,2400,2448,3497,3307,557.7,-13.6,181,3244,0.00,2.20,0.00,0.000,260,0.000,0.082,2391,3775,3402,3497,3307,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3286,-0.84,-160.6,2391,3775,3496,3307,564.1,-14.1,183,3293,0.15,2.03,0.00,0.000,3078,0.256,0.038,2426,2444,3401,3496,3307,0,0,0,0,0,0,14.71,14.98,28.83
$GC,3595,-0.84,-160.6,2425,2442,3495,3303,604.0,-12.7,198,3601,0.00,2.17,0.00,0.000,516,0.000,0.048,2426,1060,3398,3495,3302,0,0,0,0,0,0,28.83,14.91,28.83
$GC,3659,-0.84,-160.6,2426,1061,3494,3302,611.8,-12.6,200,3664,0.00,2.28,0.00,0.000,1030,0.000,0.062,2418,2448,3398,3494,3302,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3993,-0.84,-160.6,2419,2449,3490,3298,651.5,-11.8,211,3998,0.00,2.20,0.00,0.000,260,0.000,0.088,2408,3777,3394,3490,3298,0,0,0,0,0,0,28.83,14.84,28.83
$GC,4016,-0.84,-160.6,2408,3777,3489,3298,651.5,-11.8,211,4021,0.00,2.03,0.00,0.000,1030,0.000,0.041,2408,2458,3394,3490,3298,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4329,-0.84,-160.6,2408,2452,3488,3295,694.9,-12.9,222,4334,0.00,2.22,0.00,0.000,260,0.000,0.086,2399,3783,3391,3488,3295,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4356,-0.84,-160.6,2399,3783,3487,3295,694.9,-12.9,222,4363,0.12,2.05,0.00,0.000,3078,0.259,0.042,2426,2446,3391,3487,3295,0,0,0,0,0,0,14.70,14.96,28.83
$GC,4664,-0.84,-160.6,2427,2444,3486,3291,735.0,-11.6,233,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2444,3388,3486,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4962,-0.84,-160.6,2426,2444,3483,3288,769.6,-11.6,243,4967,0.00,2.20,0.00,0.000,516,0.000,0.052,2425,1064,3385,3483,3288,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5009,-0.84,-160.6,2426,1063,3483,3287,772.9,-11.2,244,5015,0.00,2.30,0.00,0.000,1030,0.000,0.065,2419,2460,3385,3483,3288,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5328,-0.84,-160.6,2419,2460,3481,3285,810.3,-11.2,255,5329,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2460,3383,3481,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5627,-0.84,-160.6,2419,2460,3479,3282,843.6,-10.8,265,5633,0.00,2.22,0.00,0.000,260,0.000,0.096,2409,3775,3380,3479,3281,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5654,-0.84,-160.6,2409,3775,3477,3282,843.6,-10.8,265,5662,0.00,2.05,0.00,0.000,1030,0.000,0.045,2409,2454,3379,3477,3282,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5960,-0.84,-160.6,2409,2453,3476,3280,880.3,-10.5,276,5962,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2454,3378,3476,3280,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6261,-0.84,-160.6,2409,2454,3474,3278,911.3,-10.3,286,6267,0.00,2.25,0.00,0.000,260,0.000,0.094,2399,3777,3376,3474,3278,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6294,-0.84,-160.6,2399,3777,3473,3274,915.0,-10.4,287,6300,0.12,2.08,0.00,0.000,3078,0.259,0.045,2426,2452,3375,3473,3278,0,0,0,0,0,0,14.64,14.92,28.83
$GC,6628,-0.84,-160.6,2427,2447,3473,3274,943.4,-8.3,298,6633,0.00,2.28,0.00,0.000,260,0.000,0.096,2419,3777,3373,3472,3274,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6685,-0.84,-160.6,2419,3777,3470,3274,947.2,-9.0,299,6692,0.00,2.08,0.00,0.000,1030,0.000,0.046,2419,2453,3372,3470,3274,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6991,-0.84,-160.6,2419,2452,3468,3273,978.3,-9.7,310,6992,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2452,3371,3469,3273,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7139,begin apogee
$GC,7145,-0.25,0.0,2419,2333,3468,3273,992.8,-9.7,315,7317,0.65,0.00,155.90,2.082,10246,0.211,0.000,2610,2333,2754,2804,2705,0,0,0,0,1,0,14.61,28.83,13.24
$STATE,7318,end apogee,CONTROL_FINISHED_OK
$STATE,7318,begin climb
$GC,7321,0.84,160.6,2610,2333,2804,2705,996.3,0.0,320,7487,1.10,0.00,157.23,2.498,10502,0.112,0.000,2968,2334,2098,2118,2078,0,0,0,0,1,0,14.16,28.83,13.12
$GC,7771,0.84,160.6,2968,2334,2116,2061,929.2,17.3,336,7776,0.00,2.50,0.00,0.000,260,0.000,0.098,2968,3752,2088,2116,2061,0,0,0,0,0,0,28.83,14.53,28.83
$GC,7848,0.84,160.6,2968,3752,2116,2061,917.5,17.8,338,7854,0.00,2.22,0.00,0.000,1030,0.000,0.044,2978,2367,2088,2116,2061,0,0,0,0,0,0,28.83,14.65,28.83
$GC,8167,0.84,160.6,2979,2366,2116,2056,858.5,17.7,349,8172,0.00,2.33,0.00,0.000,516,0.000,0.060,2989,953,2086,2116,2056,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8189,0.84,160.6,2988,953,2116,2056,858.5,17.7,349,8195,0.00,2.33,0.00,0.000,1030,0.000,0.065,2989,2349,2085,2116,2055,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8502,0.84,160.6,2989,2349,2115,2052,798.9,17.4,360,8507,0.00,2.28,0.00,0.000,516,0.000,0.057,2998,958,2084,2116,2053,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8523,0.84,160.6,2998,958,2116,2053,798.9,17.4,360,8529,0.00,2.33,0.00,0.000,1030,0.000,0.063,2999,2359,2084,2116,2053,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8836,0.84,160.6,2999,2359,2116,2050,737.2,19.2,371,8842,0.00,2.30,0.00,0.000,516,0.000,0.056,3008,958,2083,2116,2050,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8883,0.84,160.6,3008,957,2115,2050,730.9,19.3,372,8889,0.15,2.30,0.00,0.000,5126,0.285,0.063,2976,2351,2082,2115,2050,0,0,0,0,0,0,14.58,14.80,28.83
$GC,9204,0.84,160.6,2977,2351,2115,2053,674.8,17.0,383,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2351,2081,2115,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9502,0.84,160.6,2977,2351,2115,2052,625.5,16.1,393,9507,0.00,2.30,0.00,0.000,516,0.000,0.055,2980,950,2081,2115,2047,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9528,0.84,160.6,2983,949,2115,2047,625.5,16.1,393,9535,0.00,2.33,0.00,0.000,1030,0.000,0.063,2983,2355,2081,2115,2047,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9846,0.84,160.6,2983,2355,2116,2046,571.4,16.1,407,9848,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2355,2080,2115,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10145,0.84,160.6,2984,2355,2115,2044,522.8,16.0,422,10151,0.00,2.40,0.00,0.000,260,0.000,0.093,2983,3764,2080,2115,2045,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10183,0.84,160.6,2983,3764,2115,2045,518.7,16.3,423,10190,0.00,2.22,0.00,0.000,1030,0.000,0.043,2994,2345,2080,2115,2045,0,0,0,0,0,0,28.83,14.88,28.83
$GC,10489,0.84,160.6,2994,2340,2115,2044,466.2,15.8,439,10490,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2340,2079,2115,2044,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,14698,end climb,SURFACE_DEPTH_REACHED
$STATE,14698,begin surface coast
$FINISH,0.3,1.020795
$STATE,14735,end surface coast,CONTROL_FINISHED_OK
$STATE,14735,begin surface
$SM_CCo,14752,61.95,0.137,0,0,918,450.13
$SM_GC,0.03,7.82,0.20,61.95,0.080,0.097,0.137,228,2475,918,-7.63,-0.90,450.13,0,0,0,0,0,0,14.83,14.84,14.69
$IRIDIUM_FIX,2335.63,12406.87,090613,040404
$TT8_MAMPS,0.020223,0.020223
$HUMID,43.18
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,26.50
$XPDR_PINGS,7
$SC_FREEKB,3866400
$24V_AH,13.1,68.364
$10V_AH,13.4,0.000
$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,20.425,124.725,410.725,61.950,0.000,29.130,49.184,252.301,1.750,0.000,13.874,2177.747,10329.505,642.416,1987.019,234.571,0.000,1507.909,0.000,1519.744,0.000,0.544,0.000
$DEVICE_MAMPS,380.205,109.395,2498.490,136.935,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14811.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.916,0.000,0.000,0.000
$MEM,328580
$DATA_FILE_SIZE,26709,710
$CAP_FILE_SIZE,163609,0
$CFSIZE,260034560,239636480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.302, 57.9,1
$GPS,090613,131106,2347.126,12413.990,23,1.4,24,-3.4