version: 66.11
glider: 181
mission: 11
dive: 188
start: 6 10 113 11 2 23
data:
$ID,181
$MISSION,11
$DIVE,188
$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,-95936.648
$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,75
$R_STBD_OVSHOOT,51
$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
$GPS1,100613,105253,2343.596,12420.365,38,1.3,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-70.9
$GPS2,100613,110155,2343.646,12420.296,9,1.4,9,-3.4
$SPEED_LIMITS,0.147,0.278
$TGT_NAME,OFFSHORE
$TGT_LATLONG,2316.000,12430.000
$TGT_RADIUS,5000.000
$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,210.5,53796,-13.6,-8.462,-16.94,2871
$D_GRID,2577
$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,-160.6,218,2472,917,912,0.0,0.0,0,108,0.00,0.00,-85.53,0.000,16386,0.000,0.000,218,2473,3074,3138,3010,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.84,-160.6,218,2473,3138,3011,3.5,-12.2,15,132,9.95,2.28,-5.90,0.000,18948,0.384,0.059,2420,1059,3411,3502,3320,0,0,0,0,0,0,14.40,14.73,14.91
$GC,264,-0.84,-160.6,2420,1058,3503,3322,52.7,-28.0,34,270,0.00,2.22,0.00,0.000,1030,0.000,0.054,2413,2430,3412,3503,3322,0,0,0,0,0,0,28.83,14.73,28.83
$GC,587,-0.84,-160.6,2412,2431,3503,3323,136.4,-22.1,50,592,0.00,2.20,0.00,0.000,260,0.000,0.074,2402,3778,3413,3503,3323,0,0,0,0,0,0,28.83,14.77,28.83
$GC,649,-0.84,-160.6,2402,3779,3503,3324,149.9,-21.3,53,654,0.00,2.00,0.00,0.000,1030,0.000,0.033,2402,2452,3413,3503,3323,0,0,0,0,0,0,28.83,14.88,28.83
$GC,972,-0.84,-160.6,2402,2446,3503,3326,217.0,-19.3,69,978,0.00,2.15,0.00,0.000,516,0.000,0.041,2402,1060,3414,3503,3325,0,0,0,0,0,0,28.83,14.88,28.83
$GC,999,-0.84,-160.6,2402,1059,3503,3326,221.6,-19.3,70,1005,0.15,2.25,0.00,0.000,3078,0.249,0.055,2427,2456,3417,3503,3331,0,0,0,0,0,0,14.69,14.85,28.83
$GC,1317,-0.84,-160.6,2427,2456,3503,3325,272.7,-15.1,86,1324,0.00,2.15,0.00,0.000,260,0.000,0.076,2419,3778,3414,3503,3325,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1381,-0.84,-160.6,2419,3778,3503,3325,282.1,-14.8,89,1387,0.00,2.03,0.00,0.000,1030,0.000,0.033,2419,2429,3414,3503,3325,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1704,-0.84,-160.6,2419,2423,3503,3325,331.6,-15.5,105,1709,0.00,2.22,0.00,0.000,260,0.000,0.074,2408,3784,3413,3503,3324,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1736,-0.84,-160.6,2409,3784,3503,3323,335.1,-15.3,106,1742,0.00,2.00,0.00,0.000,1030,0.000,0.034,2409,2454,3413,3503,3323,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2049,-0.84,-160.6,2409,2448,3503,3321,382.9,-14.7,122,2054,0.00,2.17,0.00,0.000,260,0.000,0.075,2399,3777,3412,3503,3321,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2091,-0.84,-160.6,2400,3777,3503,3320,389.7,-15.4,124,2097,0.00,2.03,0.00,0.000,1030,0.000,0.034,2400,2437,3411,3502,3320,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2414,-0.84,-160.6,2399,2430,3503,3318,440.0,-15.6,140,2416,0.12,0.00,0.00,0.000,2054,0.280,0.000,2426,2430,3410,3502,3318,0,0,0,0,0,0,14.72,28.83,28.83
$GC,2714,-0.84,-160.6,2427,2429,3502,3316,479.5,-12.5,155,2720,0.00,2.22,0.00,0.000,260,0.000,0.081,2419,3775,3410,3504,3316,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2802,-0.84,-160.6,2419,3775,3502,3316,490.3,-12.9,159,2807,0.00,2.00,0.00,0.000,1030,0.000,0.036,2419,2462,3409,3502,3316,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3120,-0.84,-160.6,2419,2457,3502,3310,530.4,-11.9,175,3125,0.00,2.20,0.00,0.000,516,0.000,0.046,2419,1055,3406,3501,3311,0,0,0,0,0,0,28.83,14.91,28.83
$GC,3152,-0.84,-160.6,2419,1054,3499,3310,533.0,-11.9,176,3157,0.00,2.28,0.00,0.000,1030,0.000,0.060,2410,2453,3405,3501,3310,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3465,-0.84,-160.6,2410,2453,3498,3308,573.8,-12.8,192,3470,0.00,2.20,0.00,0.000,260,0.000,0.085,2400,3784,3403,3498,3308,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3551,-0.84,-160.6,2400,3784,3497,3307,584.9,-13.4,196,3556,0.00,2.05,0.00,0.000,1030,0.000,0.041,2399,2452,3402,3497,3307,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3880,-0.84,-160.6,2399,2446,3496,3305,629.6,-13.2,209,3886,0.12,2.22,0.00,0.000,2308,0.282,0.081,2425,3777,3400,3496,3304,0,0,0,0,0,0,14.67,14.85,28.83
$GC,3948,-0.84,-160.6,2425,3778,3493,3304,637.5,-12.7,211,3953,0.00,2.05,0.00,0.000,1030,0.000,0.040,2425,2446,3399,3494,3304,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4277,-0.84,-160.6,2425,2441,3492,3299,674.9,-11.5,222,4282,0.00,2.25,0.00,0.000,260,0.000,0.086,2415,3784,3395,3491,3299,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4303,-0.84,-160.6,2415,3784,3492,3299,674.9,-11.5,222,4310,0.00,2.08,0.00,0.000,1030,0.000,0.041,2415,2444,3395,3491,3299,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4609,-0.84,-160.6,2415,2443,3489,3296,714.9,-11.9,233,4611,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2443,3393,3489,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4910,-0.84,-160.6,2415,2443,3487,3294,751.0,-12.0,243,4915,0.00,2.25,0.00,0.000,260,0.000,0.088,2405,3777,3390,3487,3294,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4937,-0.84,-160.6,2405,3777,3486,3294,751.0,-12.0,243,4944,0.00,2.08,0.00,0.000,1030,0.000,0.043,2405,2440,3390,3486,3294,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5243,-0.84,-160.6,2405,2440,3487,3291,790.7,-11.8,254,5249,0.00,2.28,0.00,0.000,260,0.000,0.089,2395,3784,3387,3484,3291,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5266,-0.84,-160.6,2395,3784,3483,3291,790.7,-11.8,254,5272,0.12,2.08,0.00,0.000,3078,0.269,0.043,2423,2451,3387,3483,3291,0,0,0,0,0,0,14.66,14.93,28.83
$GC,5581,-0.84,-160.6,2423,2448,3487,3288,825.0,-9.9,265,5582,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2449,3385,3482,3288,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5880,-0.84,-160.6,2423,2449,3481,3285,856.0,-10.1,275,5886,0.00,2.22,0.00,0.000,516,0.000,0.054,2423,1065,3382,3480,3285,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5907,-0.84,-160.6,2424,1064,3481,3284,856.0,-10.1,275,5914,0.00,2.30,0.00,0.000,1030,0.000,0.067,2417,2451,3380,3476,3285,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6213,-0.84,-160.6,2418,2451,3479,3282,890.9,-10.6,286,6218,0.00,2.25,0.00,0.000,260,0.000,0.096,2407,3773,3380,3479,3282,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6256,-0.84,-160.6,2408,3778,3477,3282,894.7,-10.8,287,6261,0.00,2.08,0.00,0.000,1030,0.000,0.047,2407,2454,3379,3477,3282,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6579,-0.84,-160.6,2407,2450,3476,3280,932.0,-11.5,298,6586,0.00,2.28,0.00,0.000,260,0.000,0.095,2398,3780,3377,3475,3280,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6623,-0.84,-160.6,2398,3778,3475,3280,936.3,-11.7,299,6630,0.12,2.10,0.00,0.000,3078,0.256,0.046,2425,2444,3377,3475,3279,0,0,0,0,0,0,14.66,14.90,28.83
$GC,6948,-0.84,-160.6,2425,2443,3474,3278,972.7,-10.7,310,6953,0.00,2.25,0.00,0.000,516,0.000,0.057,2425,1053,3376,3474,3278,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6996,-0.84,-160.6,2425,1053,3474,3278,975.8,-10.4,311,7001,0.00,2.33,0.00,0.000,1030,0.000,0.070,2418,2449,3376,3474,3278,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,7131,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7131,begin apogee
$GC,7136,-0.25,0.0,2419,2346,3473,3277,991.9,-10.7,316,7309,0.65,0.00,163.57,1.721,10246,0.207,0.000,2610,2346,2749,2800,2699,0,0,0,0,0,0,14.62,28.83,13.57
$STATE,7311,end apogee,CONTROL_FINISHED_OK
$STATE,7311,begin climb
$GC,7313,0.84,160.6,2610,2346,2798,2702,996.7,0.0,321,7494,1.10,2.62,170.60,1.643,10500,0.116,0.101,2967,3749,2093,2116,2071,0,0,0,0,0,0,14.21,14.09,13.52
$GC,7502,0.84,160.6,2967,3749,2115,2068,975.9,14.1,328,7507,0.00,2.30,0.00,0.000,1030,0.000,0.044,2977,2365,2091,2115,2067,0,0,0,0,0,0,28.83,14.23,28.83
$GC,7831,0.84,160.6,2977,2365,2113,2053,912.2,18.7,339,7832,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2365,2083,2113,2053,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8129,0.84,160.6,2977,2365,2112,2048,856.9,18.3,349,8130,0.00,0.00,0.00,0.000,6,0.000,0.000,2977,2365,2080,2112,2048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8430,0.84,160.6,2977,2360,2112,2047,802.0,18.5,359,8435,0.00,2.42,0.00,0.000,260,0.000,0.095,2978,3759,2079,2112,2046,0,0,0,0,0,0,28.83,14.72,28.83
$GC,8456,0.84,160.6,2977,3759,2112,2046,802.0,18.5,359,8463,0.00,2.25,0.00,0.000,1030,0.000,0.042,2988,2338,2079,2112,2046,0,0,0,0,0,0,28.83,14.82,28.83
$GC,8762,0.84,160.6,2988,2334,2112,2043,741.3,17.6,370,8768,0.00,2.25,0.00,0.000,516,0.000,0.057,2998,957,2077,2112,2043,0,0,0,0,0,0,28.83,14.79,28.83
$GC,8820,0.84,160.6,2998,957,2111,2043,735.7,17.6,371,8827,0.00,2.33,0.00,0.000,1030,0.000,0.063,2998,2357,2077,2112,2042,0,0,0,0,0,0,28.83,14.77,28.83
$GC,9125,0.84,160.6,2998,2357,2111,2041,675.5,18.7,382,9131,0.00,2.40,0.00,0.000,260,0.000,0.093,2998,3762,2076,2112,2041,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9143,0.84,160.6,2998,3762,2111,2040,675.5,18.7,382,9149,0.15,2.22,0.00,0.000,5126,0.304,0.042,2976,2346,2075,2109,2041,0,0,0,0,0,0,14.54,14.86,28.83
$GC,9462,0.84,160.6,2976,2342,2112,2039,619.4,15.8,393,9468,0.00,2.42,0.00,0.000,260,0.000,0.093,2976,3753,2075,2111,2039,0,0,0,0,0,0,28.83,14.75,28.83
$GC,9495,0.84,160.6,2976,3753,2111,2039,613.8,15.9,394,9501,0.00,2.22,0.00,0.000,1030,0.000,0.042,2984,2346,2075,2112,2039,0,0,0,0,0,0,28.83,14.86,28.83
$GC,9808,0.84,160.6,2984,2342,2111,2037,564.4,15.7,408,9810,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2342,2076,2112,2041,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10110,0.84,160.6,2983,2342,2111,2036,513.7,18.0,423,10116,0.00,2.42,0.00,0.000,260,0.000,0.092,2984,3754,2074,2111,2037,0,0,0,0,0,0,28.83,14.76,28.83
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$STATE,14549,end climb,SURFACE_DEPTH_REACHED
$STATE,14549,begin surface coast
$FINISH,-0.2,1.021377
$STATE,14582,end surface coast,CONTROL_FINISHED_OK
$STATE,14582,begin surface
$SM_CCo,14599,73.03,0.138,0,0,916,450.13
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$TT8_MAMPS,0.019474,0.019474
$HUMID,43.26
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,26.20
$XPDR_PINGS,0
$SC_FREEKB,3863808
$24V_AH,13.5,70.064
$10V_AH,13.6,0.000
$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,20.350,142.925,396.625,73.025,0.000,30.608,37.895,249.336,0.000,0.000,12.131,2220.306,10089.367,644.617,2025.698,239.306,0.000,1541.487,0.000,1567.620,0.000,0.543,0.000
$DEVICE_MAMPS,384.030,119.340,1721.250,138.465,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14656.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.932,0.000,0.000,0.000
$MEM,328396
$DATA_FILE_SIZE,26676,700
$CAP_FILE_SIZE,167339,0
$CFSIZE,260034560,238956544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.243, 59.3,1
$GPS,100613,150806,2342.959,12420.836,25,1.3,26,-3.4