version: 66.11
glider: 181
mission: 11
dive: 368
start: 7 11 113 11 48 31
data:
$ID,181
$MISSION,11
$DIVE,368
$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,410
$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,175
$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,0.00189915
$HD_B,0.015333
$HD_C,1.4612e-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,475
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$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,-96235.664
$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,25
$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,2675
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,77
$R_STBD_OVSHOOT,38
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3093
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0024999999
$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,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,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
$GPS1,110713,113623,2154.019,12307.058,51,0.9,51,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-69.5
$GPS2,110713,114800,2154.040,12307.016,14,1.0,23,-2.9
$SPEED_LIMITS,0.147,0.200
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,328.3,215220,-12.3,-8.462,-22.97,2777
$D_GRID,4966
$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,21,-0.92,-170.3,213,2680,1163,1157,0.0,0.0,0,99,0.00,0.00,-75.85,0.000,16386,0.000,0.000,213,2680,3109,3157,3062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.92,-170.3,213,2680,3157,3062,4.1,-14.0,13,130,9.52,2.28,-11.55,0.000,18948,0.365,0.060,2368,1294,3790,3865,3716,0,0,0,0,0,0,14.26,14.63,14.88
$GC,143,-0.92,-170.3,2368,1293,3865,3718,19.9,-32.1,19,151,0.00,2.28,0.00,0.000,1030,0.000,0.055,2361,2675,3791,3864,3718,0,0,0,0,0,0,28.83,14.56,28.83
$GC,454,-0.92,-170.3,2361,2675,3864,3717,87.1,-19.2,42,460,0.00,1.88,0.00,0.000,260,0.000,0.073,2352,3783,3791,3865,3717,0,0,0,0,0,0,28.83,14.58,28.83
$GC,528,-0.92,-170.3,2353,3783,3864,3718,99.7,-19.8,45,533,0.00,1.67,0.00,0.000,1030,0.000,0.034,2352,2653,3791,3864,3718,0,0,0,0,0,0,28.83,14.80,28.83
$GC,841,-0.92,-170.3,2351,2653,3864,3719,162.4,-18.3,61,846,0.00,2.08,0.00,0.000,516,0.000,0.036,2352,1312,3791,3865,3718,0,0,0,0,0,0,28.83,14.76,28.83
$GC,894,-0.92,-170.3,2352,1312,3865,3719,169.6,-17.4,63,900,0.12,2.22,0.00,0.000,3078,0.265,0.054,2369,2679,3791,3864,3719,0,0,0,0,0,0,14.44,14.69,28.83
$GC,1209,-0.92,-170.3,2370,2680,3865,3720,213.3,-14.3,79,1214,0.00,1.85,0.00,0.000,260,0.000,0.073,2363,3804,3792,3864,3720,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1233,-0.92,-170.3,2364,3804,3864,3719,217.2,-14.9,80,1239,0.00,1.67,0.00,0.000,1030,0.000,0.032,2363,2670,3792,3864,3720,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1557,-0.92,-170.3,2363,2669,3864,3719,272.7,-16.5,96,1563,0.00,1.88,0.00,0.000,260,0.000,0.073,2355,3788,3792,3864,3720,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1595,-0.92,-170.3,2356,3788,3864,3720,276.8,-16.6,97,1602,0.00,1.60,0.00,0.000,1030,0.000,0.033,2355,2679,3793,3865,3721,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1901,-0.92,-170.3,2355,2679,3864,3719,325.5,-14.6,113,1906,0.00,1.83,0.00,0.000,260,0.000,0.073,2347,3782,3791,3864,3719,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2040,-0.92,-170.3,2352,3782,3864,3719,343.0,-14.1,119,2047,0.00,1.50,0.00,0.000,1030,0.000,0.034,2350,2741,3791,3864,3719,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2346,-0.92,-170.3,2346,2741,3864,3718,379.7,-12.9,135,2352,0.00,1.73,0.00,0.000,260,0.000,0.074,2339,3780,3790,3864,3717,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2373,-0.92,-170.3,1472,3778,3862,3715,383.2,-13.6,136,2379,0.10,1.52,0.00,0.000,3078,0.230,0.034,2367,2772,3791,3865,3717,0,0,0,0,0,0,14.42,14.81,28.83
$GC,2693,-0.92,-170.3,2367,2772,3865,3715,427.7,-11.5,152,2698,0.00,1.67,0.00,0.000,260,0.000,0.075,2362,3781,3789,3864,3715,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2822,-0.92,-170.3,2363,3781,3864,3714,442.3,-12.0,158,2827,0.00,1.50,0.00,0.000,1030,0.000,0.035,2362,2757,3789,3864,3715,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3140,-0.92,-170.3,2368,2757,3865,3711,480.3,-13.1,174,3146,0.00,2.22,0.00,0.000,516,0.000,0.038,2361,1335,3787,3863,3711,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3198,-0.92,-170.3,2362,1335,3864,3711,486.7,-14.0,176,3204,0.00,2.33,0.00,0.000,1030,0.000,0.057,2353,2752,3788,3865,3711,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3504,-0.92,-170.3,2351,2754,3861,3710,538.1,-16.0,192,3509,0.00,2.25,0.00,0.000,516,0.000,0.039,2350,1335,3785,3860,3710,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3557,-0.92,-170.3,2350,1335,3861,3709,544.5,-14.9,194,3563,0.12,2.30,0.00,0.000,3078,0.265,0.059,2370,2731,3785,3861,3709,0,0,0,0,0,0,14.45,14.71,28.83
$GC,3871,-0.92,-170.3,2370,2732,3861,3705,577.6,-7.9,210,3877,0.00,2.22,0.00,0.000,516,0.000,0.041,2370,1338,3782,3861,3704,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3904,-0.92,-170.3,2370,1338,3861,3704,579.8,-8.4,211,3910,0.00,2.28,0.00,0.000,1030,0.000,0.059,2363,2721,3782,3861,3704,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4221,-0.92,-170.3,2363,2721,3859,3704,617.1,-12.5,225,4226,0.00,1.77,0.00,0.000,260,0.000,0.083,2352,3777,3780,3859,3702,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4268,-0.92,-170.3,2355,3778,3858,3703,621.8,-12.7,226,4274,0.00,1.52,0.00,0.000,1030,0.000,0.040,2355,2769,3780,3858,3703,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4589,-0.92,-170.3,2355,2769,3856,3700,659.3,-9.7,237,4594,0.00,2.28,0.00,0.000,516,0.000,0.041,2355,1333,3778,3856,3700,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4674,-0.92,-170.3,2355,1333,3854,3700,665.0,-8.9,239,4679,0.00,2.30,0.00,0.000,1030,0.000,0.062,2345,2715,3775,3854,3697,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4990,-0.92,-170.3,2345,2715,3853,3696,692.2,-8.5,250,4996,0.00,1.85,0.00,0.000,260,0.000,0.086,2337,3781,3774,3852,3696,0,0,0,0,0,0,28.83,14.56,28.83
$GC,5014,-0.92,-170.3,2337,3781,3851,3696,692.2,-8.5,250,5020,0.15,1.58,0.00,0.000,3078,0.252,0.041,2370,2757,3773,3851,3696,0,0,0,0,0,0,14.40,14.81,28.83
$GC,5330,-0.92,-170.3,2371,2758,3850,3693,729.2,-12.8,261,5335,0.00,2.28,0.00,0.000,516,0.000,0.043,2371,1332,3772,3851,3693,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5403,-0.92,-170.3,2371,1331,3850,3693,738.7,-14.0,263,5408,0.00,2.30,0.00,0.000,1030,0.000,0.063,2365,2706,3771,3850,3693,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5728,-0.92,-170.3,2365,2706,3848,3690,790.2,-15.3,274,5734,0.00,1.83,0.00,0.000,260,0.000,0.089,2357,3777,3769,3848,3690,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5816,-0.92,-170.3,2357,3776,3846,3689,800.7,-15.7,276,5823,0.00,1.60,0.00,0.000,1030,0.000,0.043,2357,2742,3767,3846,3689,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6122,-0.92,-170.3,2357,2742,3845,3686,846.0,-12.4,287,6128,0.00,2.28,0.00,0.000,516,0.000,0.046,2357,1341,3765,3845,3685,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6156,-0.92,-170.3,2357,1341,3844,3685,850.1,-12.1,288,6161,0.00,2.33,0.00,0.000,1030,0.000,0.067,2348,2710,3765,3844,3686,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6492,-0.92,-170.3,2348,2710,3841,3682,887.2,-10.8,299,6493,0.00,0.00,0.00,0.000,6,0.000,0.000,2348,2711,3763,3841,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6790,-0.92,-170.3,2348,2711,3839,3679,918.6,-10.5,309,6795,0.00,1.85,0.00,0.000,260,0.000,0.096,2339,3778,3759,3839,3679,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6854,-0.92,-170.3,2340,3778,3838,3679,926.7,-11.8,311,6860,0.15,1.60,0.00,0.000,3078,0.259,0.046,2373,2775,3758,3838,3679,0,0,0,0,0,0,14.31,14.73,28.83
$GC,7190,-0.92,-170.3,2373,2774,3837,3676,962.4,-11.3,322,7196,0.00,2.33,0.00,0.000,516,0.000,0.047,2373,1347,3756,3837,3675,0,0,0,0,0,0,28.83,14.63,28.83
$GC,7234,-0.92,-170.3,2373,1347,3836,3675,966.7,-11.6,323,7239,0.00,2.33,0.00,0.000,1030,0.000,0.070,2367,2708,3755,3836,3675,0,0,0,0,0,0,28.83,14.57,28.83
$STATE,7405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7405,begin apogee
$GC,7411,-0.20,0.0,2367,2253,3834,3673,990.6,-13.2,329,7640,0.77,0.00,219.43,1.437,10244,0.191,0.000,2595,2252,3089,3139,3039,0,0,0,0,0,0,14.34,28.83,13.60
$STATE,7642,end apogee,CONTROL_FINISHED_OK
$STATE,7642,begin climb
$GC,7644,0.92,170.3,2595,2253,3136,3039,1007.4,0.0,336,7824,1.10,2.38,169.30,1.748,10756,0.082,0.055,2972,874,2394,2420,2368,0,0,0,0,0,0,14.27,14.26,13.38
$GC,7992,0.92,170.3,2973,874,2414,2347,989.9,11.3,348,7998,0.00,2.28,0.00,0.000,1030,0.000,0.066,2972,2200,2380,2414,2347,0,0,0,0,0,0,28.83,14.47,28.83
$GC,8312,0.92,170.3,2973,2200,2414,2340,949.9,11.9,359,8317,0.00,2.22,0.00,0.000,516,0.000,0.060,2981,871,2376,2413,2340,0,0,0,0,0,0,28.83,14.62,28.83
$GC,8440,0.92,170.3,1992,870,2369,2327,935.6,11.5,363,8446,0.00,2.25,0.00,0.000,1030,0.000,0.064,2981,2201,2376,2414,2338,0,0,0,0,0,0,28.83,14.61,28.83
$GC,8772,0.92,172.7,2981,2201,2413,2336,904.9,8.4,374,8777,0.00,2.47,0.00,0.000,260,0.000,0.096,2982,3614,2375,2414,2336,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8855,0.92,172.7,2980,3614,2413,2336,898.3,9.2,376,8860,0.00,2.15,0.00,0.000,1030,0.000,0.041,2992,2282,2374,2413,2336,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9169,0.92,172.7,2991,2282,2413,2333,869.0,9.5,387,9175,0.00,2.35,0.00,0.000,516,0.000,0.060,3002,873,2373,2413,2333,0,0,0,0,0,0,28.83,14.62,28.83
$GC,9247,0.92,172.7,3002,873,2412,2333,862.0,10.3,389,9254,0.15,2.22,0.00,0.000,5126,0.284,0.063,2967,2194,2372,2412,2333,0,0,0,0,0,0,14.28,14.62,28.83
$GC,9570,0.92,172.7,2972,2190,2412,2330,825.5,10.4,400,9575,0.00,2.47,0.00,0.000,260,0.000,0.094,2971,3608,2370,2411,2330,0,0,0,0,0,0,28.83,14.52,28.83
$GC,9688,0.92,172.7,2971,3608,2410,2331,814.6,11.1,403,9696,0.00,2.15,0.00,0.000,1030,0.000,0.041,2978,2271,2370,2410,2331,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9994,0.92,172.7,2979,2268,2410,2329,784.5,8.6,414,9999,0.00,2.38,0.00,0.000,260,0.000,0.092,2978,3614,2369,2410,2329,0,0,0,0,0,0,28.83,14.53,28.83
$GC,10030,0.92,172.7,2048,3613,2368,2317,781.2,8.8,415,10036,0.00,2.12,0.00,0.000,1030,0.000,0.040,2988,2285,2369,2409,2329,0,0,0,0,0,0,28.83,14.73,28.83
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$STATE,17545,end climb,SURFACE_DEPTH_REACHED
$STATE,17545,begin surface coast
$FINISH,-0.2,1.021275
$STATE,17572,end surface coast,CONTROL_FINISHED_OK
$STATE,17572,begin surface
$SM_CCo,17593,55.22,0.135,0,0,1153,475.15
$SM_GC,-0.12,7.95,0.70,55.22,0.055,0.069,0.135,244,2670,1153,-7.52,-1.22,475.15,0,0,0,0,0,0,14.65,14.63,14.56
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$TT8_MAMPS,0.019474,0.019474
$HUMID,48.66
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,25.50
$XPDR_PINGS,1
$SC_FREEKB,3789792
$24V_AH,13.4,124.867
$10V_AH,12.5,0.000
$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
$DEVICE_SECS,21.225,185.525,557.025,55.225,0.000,29.188,20.789,361.200,0.250,0.000,25.708,2819.711,11603.597,757.879,2694.430,474.384,0.000,1993.757,0.000,2149.005,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17654.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.877,0.000,0.000,0.000
$MEM,328588
$DATA_FILE_SIZE,30060,813
$CAP_FILE_SIZE,213249,0
$CFSIZE,260034560,219463680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.200,299.7,1
$GPS,110713,164435,2155.735,12304.844,67,1.1,68,-2.9