version: 66.11
glider: 181
mission: 11
dive: 472
start: 7 31 113 12 43 26
data:
$ID,181
$MISSION,11
$DIVE,472
$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,320
$T_MISSION,350
$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,200
$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,0.0028798201
$HD_B,0.025745301
$HD_C,2.4475299e-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,612.7594
$N_FILEKB,4
$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,-96695.477
$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,2675
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$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,2650
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,45
$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,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
$GPS1,310713,123100,2155.204,12412.966,36,1.5,36,-3.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-68.7
$GPS2,310713,124255,2155.221,12413.069,15,1.4,15,-3.0
$SPEED_LIMITS,0.179,0.181
$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,253.7,51855,-21.5,-10.312,-29.71,2752
$D_GRID,5409
$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,-1.32,-194.6,219,2670,469,427,0.0,0.0,0,123,0.00,0.00,-98.60,0.000,16386,0.000,0.000,218,2674,2975,3006,2944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-1.32,-194.6,219,2671,3005,2946,3.3,-10.4,17,162,9.23,2.28,-14.12,0.000,18948,0.369,0.059,2241,1242,3735,3798,3672,0,0,0,0,0,0,14.16,14.58,14.88
$GC,219,-1.32,-194.6,2240,1242,3798,3671,28.4,-24.1,31,224,0.00,2.30,0.00,0.000,1030,0.000,0.053,2234,2638,3735,3798,3672,0,0,0,0,0,0,28.83,14.59,28.83
$GC,415,-1.32,-194.6,2234,2637,3798,3672,74.8,-22.6,45,421,0.00,2.20,0.00,0.000,516,0.000,0.037,2233,1245,3734,3797,3672,0,0,0,0,0,0,28.83,14.67,28.83
$GC,494,-1.32,-194.6,2234,1248,3798,3672,88.0,-20.3,48,501,0.00,2.30,0.00,0.000,1030,0.000,0.054,2223,2649,3735,3798,3672,0,0,0,0,0,0,28.83,14.63,28.83
$GC,680,-1.32,-194.6,2224,2649,3798,3672,128.3,-19.4,58,685,0.00,1.85,0.00,0.000,260,0.000,0.071,2215,3778,3735,3798,3673,0,0,0,0,0,0,28.83,14.64,28.83
$GC,760,-1.32,-194.6,2215,3778,3797,3672,140.8,-19.4,61,768,0.15,1.73,0.00,0.000,3078,0.285,0.031,2246,2625,3734,3797,3672,0,0,0,0,0,0,14.32,14.79,28.83
$GC,943,-1.32,-194.6,2246,2624,3799,3673,176.1,-18.0,71,948,0.00,1.92,0.00,0.000,260,0.000,0.069,2237,3784,3735,3798,3672,0,0,0,0,0,0,28.83,14.65,28.83
$GC,990,-1.32,-194.6,1384,3783,3796,3671,184.7,-19.0,73,995,0.00,1.70,0.00,0.000,1030,0.000,0.031,2239,2633,3734,3797,3672,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1190,-1.32,-194.6,2239,2631,3798,3672,221.3,-17.6,83,1195,0.00,1.90,0.00,0.000,260,0.000,0.069,2230,3779,3734,3796,3672,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1293,-1.32,-194.6,2230,3779,3797,3673,239.6,-17.6,88,1299,0.00,1.67,0.00,0.000,1030,0.000,0.031,2230,2645,3735,3798,3672,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1498,-1.32,-194.6,2230,2644,3798,3673,275.6,-18.2,98,1504,0.00,2.10,0.00,0.000,516,0.000,0.037,2230,1292,3735,3798,3673,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1547,-1.32,-194.6,2230,1292,3798,3673,283.7,-18.3,100,1552,0.00,2.22,0.00,0.000,1030,0.000,0.054,2220,2657,3735,3798,3672,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1747,-1.32,-194.6,2220,2658,3797,3672,318.0,-16.5,110,1752,0.00,1.85,0.00,0.000,260,0.000,0.070,2211,3788,3734,3797,3672,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1819,-1.32,-194.6,2211,3788,3805,3672,329.4,-17.3,113,1825,0.15,1.70,0.00,0.000,3078,0.278,0.031,2244,2633,3735,3798,3672,0,0,0,0,0,0,14.36,14.83,28.83
$GC,2016,-1.32,-194.6,2243,2633,3798,3672,358.6,-14.0,123,2017,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2632,3735,3798,3672,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2193,-1.32,-194.6,2244,2633,3804,3671,384.1,-14.1,132,2198,0.00,1.90,0.00,0.000,260,0.000,0.070,2237,3779,3733,3797,3670,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2226,-1.32,-194.6,2237,3779,3798,3670,387.8,-14.5,133,2231,0.00,1.67,0.00,0.000,1030,0.000,0.032,2237,2646,3734,3798,3670,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2421,-1.32,-194.6,2237,2646,3797,3668,420.6,-16.3,143,2427,0.00,1.90,0.00,0.000,260,0.000,0.073,2228,3784,3733,3798,3668,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2485,-1.32,-194.6,2228,3784,3797,3668,431.9,-17.3,146,2491,0.00,1.67,0.00,0.000,1030,0.000,0.032,2228,2646,3732,3797,3668,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2691,-1.32,-194.6,2228,2646,3798,3666,465.4,-15.7,156,2696,0.00,1.90,0.00,0.000,260,0.000,0.072,2219,3782,3731,3797,3665,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2715,-1.32,-194.6,2220,3782,3798,3665,469.3,-15.6,157,2720,0.00,1.73,0.00,0.000,1030,0.000,0.033,2219,2657,3732,3798,3666,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2920,-1.32,-194.6,2219,2651,3794,3665,500.3,-15.4,167,2925,0.12,1.90,0.00,0.000,2308,0.285,0.072,2244,3780,3729,3793,3665,0,0,0,0,0,0,14.42,14.64,28.83
$GC,2958,-1.32,-194.6,2244,3781,3794,3665,503.9,-15.2,168,2965,0.00,1.70,0.00,0.000,1030,0.000,0.033,2244,2635,3729,3794,3665,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3144,-1.32,-194.6,2244,2635,3793,3662,530.2,-13.1,178,3145,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2635,3728,3794,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3325,-1.32,-194.6,2244,2635,3794,3660,557.8,-16.1,187,3331,0.00,1.92,0.00,0.000,260,0.000,0.076,2235,3776,3727,3794,3660,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3403,-1.32,-194.6,2235,3774,3793,3660,568.7,-16.6,190,3410,0.00,1.70,0.00,0.000,1030,0.000,0.034,2235,2643,3726,3793,3660,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3591,-1.32,-194.6,2236,2644,3793,3656,601.1,-16.1,200,3596,0.00,1.92,0.00,0.000,260,0.000,0.076,2226,3784,3724,3793,3656,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3619,-1.32,-194.6,2227,3785,3792,3656,601.1,-16.1,200,3626,0.00,1.70,0.00,0.000,1030,0.000,0.035,2226,2657,3721,3787,3656,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3806,-1.32,-194.6,2226,2657,3790,3654,633.3,-14.1,207,3811,0.00,1.90,0.00,0.000,260,0.000,0.078,2217,3779,3721,3790,3653,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3834,-1.32,-194.6,2217,3779,3790,3654,633.3,-14.1,207,3842,0.12,1.73,0.00,0.000,3078,0.288,0.035,2242,2646,3722,3790,3654,0,0,0,0,0,0,14.34,14.81,28.83
$GC,4020,-1.32,-194.6,2243,2646,3789,3652,664.0,-14.4,214,4025,0.00,1.92,0.00,0.000,260,0.000,0.080,2236,3778,3720,3789,3652,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4124,-1.32,-194.6,2236,3778,3787,3652,678.3,-15.0,217,4129,0.00,1.73,0.00,0.000,1030,0.000,0.036,2242,2648,3719,3787,3652,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4327,-1.32,-194.6,2236,2642,3786,3648,711.1,-15.5,224,4333,0.00,1.95,0.00,0.000,260,0.000,0.082,2227,3782,3717,3787,3647,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4391,-1.32,-194.6,2227,3782,3786,3648,721.5,-16.1,226,4396,0.00,1.75,0.00,0.000,1030,0.000,0.037,2227,2654,3717,3786,3648,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4605,-1.32,-194.6,2227,2653,3786,3644,755.6,-15.8,233,4611,0.00,1.92,0.00,0.000,260,0.000,0.082,2218,3776,3715,3785,3645,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4623,-1.32,-194.6,2218,3776,3784,3645,755.6,-15.8,233,4628,0.00,1.75,0.00,0.000,1030,0.000,0.037,2218,2644,3714,3783,3645,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4821,-1.32,-194.6,2218,2636,3789,3643,789.9,-15.5,240,4828,0.12,2.00,0.00,0.000,2308,0.297,0.080,2242,3782,3712,3781,3643,0,0,0,0,0,0,14.33,14.52,28.83
$GC,4857,-1.32,-194.6,2242,3782,3780,3642,795.4,-15.6,241,4863,0.00,1.77,0.00,0.000,1030,0.000,0.038,2242,2646,3711,3780,3643,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5072,-1.32,-194.6,2242,2645,3780,3639,826.7,-14.2,248,5077,0.00,1.95,0.00,0.000,260,0.000,0.085,2234,3774,3709,3779,3640,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5089,-1.32,-194.6,2233,3774,3778,3639,826.7,-14.2,248,5095,0.00,1.75,0.00,0.000,1030,0.000,0.040,2233,2644,3709,3779,3639,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5290,-1.32,-194.6,2233,2643,3778,3637,857.0,-13.7,255,5296,0.00,1.98,0.00,0.000,260,0.000,0.086,2225,3778,3707,3777,3637,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5363,-1.32,-194.6,2225,3777,3777,3637,866.9,-14.6,257,5368,0.00,1.75,0.00,0.000,1030,0.000,0.038,2224,2653,3707,3777,3637,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5568,-1.32,-194.6,2224,2653,3782,3634,897.5,-14.3,264,5573,0.00,1.95,0.00,0.000,260,0.000,0.086,2216,3775,3704,3775,3634,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5602,-1.32,-194.6,2216,3774,3774,3634,902.9,-14.5,265,5608,0.15,1.77,0.00,0.000,3078,0.285,0.040,2247,2652,3704,3774,3634,0,0,0,0,0,0,14.20,14.71,28.83
$GC,5816,-1.32,-194.6,2247,2652,3774,3632,933.9,-14.4,272,5821,0.00,1.98,0.00,0.000,260,0.000,0.089,2240,3781,3702,3773,3632,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5900,-1.32,-194.6,2241,3780,3772,3632,943.6,-14.7,274,5905,0.00,1.77,0.00,0.000,1030,0.000,0.041,2240,2648,3701,3771,3632,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6093,-1.32,-194.6,2240,2648,3772,3629,975.7,-14.9,281,6099,0.00,1.98,0.00,0.000,260,0.000,0.090,2231,3776,3700,3772,3629,0,0,0,0,0,0,28.83,14.46,28.83
$GC,6142,-1.32,-194.6,2231,3776,3770,3629,981.1,-15.1,282,6148,0.00,1.77,0.00,0.000,1030,0.000,0.041,2231,2648,3699,3770,3629,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,6188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6188,begin apogee
$GC,6196,-0.22,0.0,2231,2144,3770,3628,991.5,-15.9,284,6379,1.33,0.00,176.43,1.825,10246,0.226,0.000,2596,2144,2938,2969,2908,0,0,0,0,0,0,14.08,28.83,13.31
$STATE,6381,end apogee,CONTROL_FINISHED_OK
$STATE,6381,begin climb
$GC,6384,1.32,194.6,2596,2144,2965,2904,1002.9,0.0,290,6573,1.48,2.38,180.30,1.812,10756,0.083,0.061,3112,780,2140,2164,2116,0,0,0,0,0,0,14.21,14.15,13.29
$GC,6722,1.32,194.6,3112,779,2162,2094,972.2,14.3,300,6730,0.00,2.33,0.00,0.000,1030,0.000,0.061,3112,2145,2127,2162,2093,0,0,0,0,0,0,28.83,14.49,28.83
$GC,6909,1.32,194.6,3112,2145,2162,2089,942.6,14.1,307,6914,0.00,2.45,0.00,0.000,260,0.000,0.090,3112,3556,2126,2162,2090,0,0,0,0,0,0,28.83,14.55,28.83
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$STATE,14606,end climb,SURFACE_DEPTH_REACHED
$STATE,14606,begin surface coast
$FINISH,0.3,1.021263
$STATE,14632,end surface coast,CONTROL_FINISHED_OK
$STATE,14632,begin surface
$SM_CCo,14653,108.45,0.138,0,0,437,612.76
$SM_GC,-0.30,8.38,0.85,108.45,0.065,0.062,0.138,220,2655,437,-7.53,-1.24,612.76,0,0,0,0,0,0,14.67,14.64,14.46
$IRIDIUM_FIX,2152.74,12428.48,310713,080838
$TT8_MAMPS,0.018725,0.018725
$HUMID,50.15
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,3745568
$24V_AH,13.3,159.927
$10V_AH,12.8,0.000
$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,22.400,217.900,489.275,108.450,0.000,30.998,22.497,355.926,0.000,0.000,17.993,2641.877,8946.375,806.016,2536.377,543.452,0.000,2022.415,0.000,1988.271,0.000,0.543,0.000
$DEVICE_MAMPS,369.495,90.270,1825.290,138.465,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14701.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.006,0.000,0.000,0.000
$MEM,328560
$DATA_FILE_SIZE,26754,680
$CAP_FILE_SIZE,217444,0
$CFSIZE,260034560,206761984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.259,134.5,1
$GPS,310713,165054,2153.831,12413.751,38,1.3,38,-3.0