version: 66.11
glider: 181
mission: 11
dive: 480
start: 8 1 113 23 48 25
data:
$ID,181
$MISSION,11
$DIVE,480
$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,-97610.445
$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,2725
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,30
$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
$GPS1,010813,191001,2147.328,12416.687,901,99.0,901,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-66.1
$GPS2,010813,234751,2145.404,12417.104,269,2.2,289,-2.9
$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,183.8,41017,-21.9,-10.312,-30.00,2689
$D_GRID,5766
$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,19,begin dive
$GC,22,-1.33,-189.9,218,2721,478,428,0.0,0.0,0,126,0.00,0.00,-101.53,0.000,16386,0.000,0.000,217,2721,3082,3117,3048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,133,-1.33,-189.9,218,2721,3117,3049,3.7,-11.2,17,160,9.18,2.28,-11.68,0.000,18948,0.369,0.058,2239,1321,3714,3775,3654,0,0,0,0,0,0,14.18,14.68,14.95
$GC,184,-1.33,-189.9,2239,1320,3775,3654,19.2,-23.8,25,191,0.00,2.30,0.00,0.000,1030,0.000,0.056,2232,2726,3715,3775,3655,0,0,0,0,0,0,28.83,14.64,28.83
$GC,390,-1.33,-189.9,2231,2726,3775,3654,68.7,-22.9,43,395,0.00,2.20,0.00,0.000,516,0.000,0.034,2231,1323,3714,3775,3654,0,0,0,0,0,0,28.83,14.67,28.83
$GC,488,-1.33,-189.9,2231,1322,3775,3654,85.1,-19.5,47,496,0.00,2.30,0.00,0.000,1030,0.000,0.054,2221,2736,3714,3775,3654,0,0,0,0,0,0,28.83,14.69,28.83
$GC,673,-1.33,-189.9,2221,2736,3775,3654,123.2,-19.3,57,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2221,2736,3714,3775,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,855,-1.33,-189.9,2221,2736,3775,3654,154.9,-17.3,66,860,0.00,1.70,0.00,0.000,260,0.000,0.070,2213,3785,3714,3775,3654,0,0,0,0,0,0,28.83,14.68,28.83
$GC,902,-1.33,-189.9,1360,3784,3773,3652,163.0,-17.8,68,908,0.15,1.62,0.00,0.000,3078,0.278,0.031,2245,2670,3714,3775,3654,0,0,0,0,0,0,14.37,14.78,28.83
$GC,1105,-1.33,-189.9,2245,2670,3775,3653,196.3,-17.1,78,1111,0.00,1.83,0.00,0.000,260,0.000,0.067,2239,3781,3715,3776,3654,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1184,-1.33,-189.9,2239,3782,3775,3654,208.6,-17.8,81,1190,0.00,1.62,0.00,0.000,1030,0.000,0.030,2239,2663,3714,3775,3654,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1370,-1.33,-189.9,2239,2663,3775,3654,244.4,-17.9,91,1375,0.00,1.85,0.00,0.000,260,0.000,0.068,2231,3786,3714,3775,3654,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1388,-1.33,-189.9,2230,3786,3775,3654,244.4,-17.9,91,1396,0.00,1.67,0.00,0.000,1030,0.000,0.031,2230,2672,3714,3775,3653,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1573,-1.33,-189.9,2230,2672,3775,3653,278.4,-16.9,101,1574,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2672,3714,3775,3653,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1754,-1.33,-189.9,2230,2671,3775,3652,310.3,-18.2,110,1759,0.00,1.83,0.00,0.000,260,0.000,0.070,2221,3778,3712,3774,3651,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1858,-1.33,-189.9,2221,3779,3775,3651,329.2,-18.1,115,1863,0.00,1.62,0.00,0.000,1030,0.000,0.031,2221,2678,3713,3775,3651,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2062,-1.33,-189.9,2222,2676,3775,3649,362.7,-16.6,125,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2676,3712,3775,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2242,-1.33,-189.9,2221,2676,3776,3646,390.4,-15.3,134,2247,0.00,1.83,0.00,0.000,260,0.000,0.070,2213,3779,3710,3775,3646,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2294,-1.33,-189.9,2213,3779,3774,3646,397.5,-15.8,136,2300,0.15,1.55,0.00,0.000,3078,0.279,0.032,2245,2721,3710,3774,3646,0,0,0,0,0,0,14.38,14.84,28.83
$GC,2493,-1.33,-189.9,2245,2721,3773,3644,426.2,-13.5,146,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2245,2722,3709,3774,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2669,-1.33,-189.9,2245,2721,3773,3643,449.8,-12.6,155,2674,0.00,1.77,0.00,0.000,260,0.000,0.073,2239,3787,3706,3770,3643,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2713,-1.33,-189.9,2238,3788,3772,3645,455.8,-13.0,157,2718,0.00,1.58,0.00,0.000,1030,0.000,0.034,2239,2721,3708,3773,3643,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2916,-1.33,-189.9,2238,2720,3772,3641,484.2,-14.0,167,2922,0.00,2.12,0.00,0.000,516,0.000,0.038,2239,1367,3706,3772,3641,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2985,-1.33,-189.9,1376,1361,3769,3638,493.5,-14.4,170,2990,0.00,2.25,0.00,0.000,1030,0.000,0.057,2229,2723,3705,3771,3639,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3185,-1.33,-189.9,2229,2723,3770,3637,523.5,-15.2,180,3190,0.00,1.75,0.00,0.000,260,0.000,0.076,2221,3779,3703,3769,3637,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3269,-1.33,-189.9,2221,3779,3767,3638,537.1,-15.9,184,3274,0.00,1.58,0.00,0.000,1030,0.000,0.034,2221,2724,3702,3767,3638,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3474,-1.33,-189.9,2221,2724,3767,3634,568.8,-16.0,194,3479,0.00,1.77,0.00,0.000,260,0.000,0.076,2213,3779,3700,3767,3634,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3501,-1.33,-189.9,2213,3779,3766,3634,572.9,-16.2,195,3507,0.15,1.58,0.00,0.000,3078,0.266,0.034,2246,2727,3701,3765,3638,0,0,0,0,0,0,14.39,14.83,28.83
$GC,3705,-1.33,-189.9,2246,2726,3765,3633,600.7,-13.6,205,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2246,2726,3699,3765,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3881,-1.33,-189.9,2246,2724,3760,3631,625.7,-14.0,211,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2247,2724,3696,3760,3632,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4061,-1.33,-189.9,2247,2724,3761,3628,651.7,-14.6,217,4066,0.00,1.80,0.00,0.000,260,0.000,0.081,2240,3781,3694,3760,3628,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4106,-1.33,-189.9,2240,3781,3760,3628,657.2,-15.2,218,4111,0.00,1.60,0.00,0.000,1030,0.000,0.038,2236,2726,3694,3760,3628,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4310,-1.33,-189.9,2240,2726,3760,3624,690.1,-14.9,225,4315,0.00,2.17,0.00,0.000,516,0.000,0.041,2240,1357,3691,3759,3624,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4333,-1.33,-189.9,2240,1356,3759,3624,690.1,-14.9,225,4339,0.00,2.28,0.00,0.000,1030,0.000,0.063,2230,2721,3691,3759,3624,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4529,-1.33,-189.9,2230,2721,3757,3621,722.3,-14.5,232,4534,0.00,1.80,0.00,0.000,260,0.000,0.086,2222,3784,3688,3756,3621,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4566,-1.33,-189.9,2222,3783,3756,3621,727.6,-14.4,233,4572,0.00,1.62,0.00,0.000,1030,0.000,0.038,2222,2720,3688,3756,3621,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4776,-1.33,-189.9,2222,2719,3754,3619,757.3,-13.5,240,4781,0.00,1.83,0.00,0.000,260,0.000,0.082,2213,3784,3686,3754,3619,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4811,-1.33,-189.9,2214,3783,3753,3619,762.1,-13.6,241,4817,0.15,1.62,0.00,0.000,3078,0.283,0.039,2245,2734,3686,3753,3619,0,0,0,0,0,0,14.29,14.79,28.83
$GC,5026,-1.33,-189.9,2245,2735,3753,3615,791.3,-13.7,248,5031,0.00,2.25,0.00,0.000,516,0.000,0.043,2245,1341,3684,3753,3616,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5086,-1.33,-189.9,2245,1339,3753,3615,796.1,-13.7,249,5094,0.00,2.35,0.00,0.000,1030,0.000,0.066,2238,2729,3683,3752,3614,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5271,-1.33,-189.9,2238,2728,3750,3612,826.7,-14.9,256,5276,0.00,1.80,0.00,0.000,260,0.000,0.088,2229,3780,3680,3749,3612,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5308,-1.33,-189.9,1408,3780,3746,3608,832.1,-15.2,257,5313,0.00,1.65,0.00,0.000,1030,0.000,0.041,2229,2716,3680,3748,3612,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5518,-1.33,-189.9,2229,2716,3747,3610,866.5,-16.4,264,5523,0.00,1.85,0.00,0.000,260,0.000,0.086,2221,3781,3678,3747,3610,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5541,-1.33,-189.9,2221,3782,3746,3610,866.5,-16.4,264,5546,0.00,1.65,0.00,0.000,1030,0.000,0.041,2221,2724,3678,3746,3610,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5735,-1.33,-189.9,2220,2723,3745,3608,903.6,-16.9,271,5740,0.00,1.85,0.00,0.000,260,0.000,0.088,2212,3785,3676,3745,3608,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5759,-1.33,-189.9,2213,3785,3744,3608,903.6,-16.9,271,5765,0.15,1.67,0.00,0.000,3078,0.288,0.041,2244,2716,3675,3743,3608,0,0,0,0,0,0,14.21,14.74,28.83
$GC,5954,-1.33,-189.9,2241,2715,3743,3605,936.8,-14.9,278,5959,0.00,2.22,0.00,0.000,516,0.000,0.046,2244,1341,3674,3743,3606,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5987,-1.33,-189.9,2244,1340,3743,3606,941.5,-14.7,279,5993,0.00,2.38,0.00,0.000,1030,0.000,0.069,2236,2724,3674,3743,3605,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6202,-1.33,-189.9,2237,2723,3742,3602,971.5,-13.8,286,6208,0.00,1.88,0.00,0.000,260,0.000,0.093,2228,3776,3671,3741,3602,0,0,0,0,0,0,28.83,14.40,28.83
$GC,6269,-1.33,-189.9,1408,3775,3736,3599,981.3,-14.7,288,6275,0.00,1.65,0.00,0.000,1030,0.000,0.041,2228,2723,3670,3739,3602,0,0,0,0,0,0,28.83,14.71,28.83
$STATE,6326,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6326,begin apogee
$GC,6335,-0.22,0.0,2228,2103,3739,3604,990.4,-14.9,290,6514,1.35,0.00,170.60,1.828,10246,0.230,0.000,2597,2102,2934,2967,2902,0,0,0,0,0,0,14.05,28.83,13.31
$STATE,6516,end apogee,CONTROL_FINISHED_OK
$STATE,6516,begin climb
$GC,6519,1.33,189.9,2597,2101,2964,2898,999.8,0.0,296,6704,1.45,2.40,175.02,1.807,10756,0.076,0.062,3114,719,2158,2179,2137,0,0,0,0,0,0,14.26,14.19,13.32
$GC,6780,1.33,189.9,3114,718,2181,2119,977.6,14.1,304,6787,0.00,2.35,0.00,0.000,1030,0.000,0.062,3114,2099,2149,2180,2118,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6963,1.33,189.9,3114,2099,2180,2112,945.0,15.3,311,6969,0.00,2.47,0.00,0.000,260,0.000,0.092,3113,3516,2146,2181,2112,0,0,0,0,0,0,28.83,14.55,28.83
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$STATE,14794,end climb,SURFACE_DEPTH_REACHED
$STATE,14794,begin surface coast
$FINISH,-0.0,1.021262
$STATE,14815,end surface coast,CONTROL_FINISHED_OK
$STATE,14815,begin surface
$SM_CCo,14838,116.28,0.138,0,0,439,612.76
$SM_GC,-0.05,8.23,1.08,116.28,0.053,0.066,0.138,229,2730,439,-7.54,-0.93,612.76,0,0,0,0,0,0,14.64,14.63,14.47
$IRIDIUM_FIX,2129.53,12448.89,010813,191905
$TT8_MAMPS,0.018725,0.018725
$HUMID,50.39
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,25.60
$XPDR_PINGS,3
$SC_FREEKB,3742240
$24V_AH,13.3,162.505
$10V_AH,12.7,0.000
$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,21.700,201.625,490.025,116.275,0.000,28.469,16.766,339.687,0.750,0.000,293.054,2572.773,9271.053,821.878,2694.734,565.468,0.000,1988.533,0.000,1893.902,0.000,0.543,0.000
$DEVICE_MAMPS,368.730,93.330,1828.350,137.700,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14886.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.052,0.000,0.000,0.000
$MEM,328596
$DATA_FILE_SIZE,26727,695
$CAP_FILE_SIZE,213277,0
$CFSIZE,260034560,205766656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.157,148.7,1
$GPS,020813,035906,2143.460,12417.592,37,1.4,37,-2.9