version: 66.11
glider: 181
mission: 11
dive: 513
start: 8 8 113 4 15 23
data:
$ID,181
$MISSION,11
$DIVE,513
$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,0
$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,-97844.5
$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,30
$C_ROLL_DIVE,2725
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,86
$R_STBD_OVSHOOT,32
$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,11
$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
$GPS1,080813,040206,2115.211,12447.680,32,1.2,33,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.10
$_SM_ANGLEo,-69.7
$GPS2,080813,041455,2114.979,12447.941,13,1.2,13,-2.8
$SPEED_LIMITS,0.179,0.181
$TGT_NAME,ALT1
$TGT_LATLONG,2045.000,12345.000
$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,245.8,122331,-21.5,-10.312,-29.71,2752
$D_GRID,5693
$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,20,end surface,CONTROL_FINISHED_OK
$STATE,20,begin dive
$GC,23,-1.32,-194.6,248,2696,458,434,0.0,0.0,0,125,0.00,0.00,-98.60,0.000,16386,0.000,0.000,247,2699,2997,3041,2954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,131,-1.32,-194.6,247,2699,3042,2956,3.5,-11.9,18,161,9.18,1.55,-13.90,0.000,19204,0.373,0.062,2240,1691,3731,3805,3658,0,0,0,0,0,0,14.12,14.63,14.88
$GC,225,-1.32,-194.6,1392,1687,3803,3662,28.0,-23.0,33,232,0.00,1.70,0.00,0.000,1030,0.000,0.058,2235,2726,3734,3805,3664,0,0,0,0,0,0,28.83,14.53,28.83
$GC,412,-1.32,-194.6,2235,2726,3805,3664,73.4,-24.3,52,417,0.00,1.73,0.00,0.000,260,0.000,0.067,2226,3782,3734,3805,3664,0,0,0,0,0,0,28.83,14.60,28.83
$GC,495,-1.32,-194.6,2226,3782,3811,3663,91.1,-20.4,60,501,0.00,1.62,0.00,0.000,1030,0.000,0.031,2226,2721,3734,3804,3664,0,0,0,0,0,0,28.83,14.70,28.83
$GC,689,-1.32,-194.6,2227,2719,3805,3663,129.2,-19.1,79,694,0.00,1.75,0.00,0.000,260,0.000,0.067,2218,3782,3734,3805,3664,0,0,0,0,0,0,28.83,14.58,28.83
$GC,743,-1.32,-194.6,2218,3782,3805,3664,139.9,-19.9,84,749,0.12,1.60,0.00,0.000,3078,0.301,0.031,2242,2707,3734,3804,3664,0,0,0,0,0,0,14.32,14.77,28.83
$GC,937,-1.32,-194.6,2242,2706,3805,3664,175.9,-18.0,103,942,0.00,1.77,0.00,0.000,260,0.000,0.065,2236,3785,3734,3805,3664,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1011,-1.32,-194.6,2236,3785,3805,3664,189.0,-17.6,110,1016,0.00,1.62,0.00,0.000,1030,0.000,0.031,2236,2710,3734,3804,3664,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1204,-1.32,-194.6,2236,2709,3805,3664,220.5,-15.9,129,1206,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2709,3734,3804,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1384,-1.32,-194.6,2236,2709,3805,3664,248.6,-14.7,147,1386,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2709,3733,3804,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1565,-1.32,-194.6,2237,2709,3805,3664,276.4,-16.0,165,1570,0.00,1.50,0.00,0.000,516,0.000,0.034,2236,1704,3734,3804,3664,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1620,-1.32,-194.6,2236,1703,3804,3664,284.9,-15.4,170,1625,0.00,1.67,0.00,0.000,1030,0.000,0.054,2229,2740,3734,3805,3664,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1813,-1.32,-194.6,2229,2740,3804,3664,316.8,-17.5,189,1818,0.00,1.58,0.00,0.000,516,0.000,0.033,2229,1703,3736,3804,3668,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1839,-1.32,-194.6,2229,1700,3804,3664,320.6,-16.6,191,1844,0.00,1.65,0.00,0.000,1030,0.000,0.054,2221,2725,3733,3802,3664,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2033,-1.32,-194.6,2222,2725,3805,3663,352.3,-15.9,210,2038,0.00,1.73,0.00,0.000,260,0.000,0.068,2213,3783,3735,3804,3666,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2057,-1.32,-194.6,2213,3783,3805,3662,356.0,-15.4,212,2063,0.10,1.60,0.00,0.000,3078,0.259,0.032,2239,2723,3733,3805,3662,0,0,0,0,0,0,14.33,14.77,28.83
$GC,2252,-1.32,-194.6,2240,2722,3805,3661,384.6,-14.1,231,2257,0.00,1.52,0.00,0.000,516,0.000,0.034,2240,1704,3733,3805,3661,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2290,-1.32,-194.6,2240,1703,3805,3661,389.2,-13.7,234,2297,0.00,1.70,0.00,0.000,1030,0.000,0.055,2235,2726,3733,3805,3661,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2476,-1.32,-194.6,2235,2726,3804,3659,418.1,-15.0,253,2481,0.00,1.73,0.00,0.000,260,0.000,0.070,2226,3777,3731,3804,3659,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2554,-1.32,-194.6,1360,3780,3802,3657,430.3,-16.6,260,2561,0.00,1.55,0.00,0.000,1030,0.000,0.033,2227,2717,3731,3805,3658,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2741,-1.32,-194.6,2227,2717,3804,3656,460.2,-15.6,279,2746,0.00,1.50,0.00,0.000,516,0.000,0.034,2226,1718,3730,3805,3656,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2804,-1.32,-194.6,2226,1717,3804,3656,469.9,-14.7,285,2809,0.00,1.70,0.00,0.000,1030,0.000,0.055,2219,2731,3729,3803,3655,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2999,-1.32,-194.6,2219,2730,3804,3654,498.1,-14.2,304,3005,0.12,1.55,0.00,0.000,2564,0.301,0.029,2250,1714,3728,3803,3654,0,0,0,0,0,0,14.37,14.71,28.83
$GC,3093,-1.32,-194.6,2251,1713,3802,3654,510.8,-12.9,313,3098,0.00,1.70,0.00,0.000,1030,0.000,0.057,2245,2722,3728,3802,3654,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3287,-1.32,-194.6,2245,2722,3801,3652,537.6,-13.9,332,3292,0.00,1.75,0.00,0.000,260,0.000,0.073,2237,3781,3726,3801,3651,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3344,-1.32,-194.6,2237,3781,3799,3651,545.5,-15.0,337,3351,0.00,1.55,0.00,0.000,1030,0.000,0.036,2237,2741,3725,3799,3651,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3530,-1.32,-194.6,2237,2740,3799,3648,573.6,-14.9,356,3536,0.00,1.75,0.00,0.000,260,0.000,0.074,2229,3781,3724,3799,3649,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3550,-1.32,-194.6,2229,3781,3798,3649,575.5,-14.9,357,3556,0.00,1.60,0.00,0.000,1030,0.000,0.036,2229,2716,3723,3798,3649,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3745,-1.32,-194.6,2229,2716,3797,3646,606.3,-14.9,375,3750,0.00,1.80,0.00,0.000,260,0.000,0.076,2220,3778,3719,3793,3646,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3808,-1.32,-194.6,2221,3783,3796,3646,616.4,-15.5,378,3813,0.00,1.60,0.00,0.000,1030,0.000,0.036,2220,2716,3721,3796,3646,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4013,-1.32,-194.6,2221,2716,3794,3643,647.3,-15.2,388,4018,0.00,1.55,0.00,0.000,516,0.000,0.037,2221,1705,3718,3794,3643,0,0,0,0,0,0,28.83,14.70,28.83
$GC,4040,-1.32,-194.6,1384,1702,3791,3641,651.3,-15.4,389,4046,0.15,1.70,0.00,0.000,3078,0.271,0.060,2246,2731,3719,3794,3644,0,0,0,0,0,0,14.30,14.61,28.83
$GC,4243,-1.32,-194.6,2246,2732,3792,3641,679.6,-13.8,399,4248,0.00,1.77,0.00,0.000,260,0.000,0.080,2240,3788,3716,3792,3641,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4275,-1.32,-194.6,2241,3788,3790,3641,683.5,-14.0,400,4281,0.00,1.60,0.00,0.000,1030,0.000,0.039,2240,2744,3715,3790,3641,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4469,-1.32,-194.6,2241,2743,3790,3638,712.4,-14.5,410,4474,0.00,1.77,0.00,0.000,260,0.000,0.080,2233,3782,3716,3789,3644,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4508,-1.32,-194.6,2232,3782,3789,3638,716.2,-14.9,411,4514,0.00,1.62,0.00,0.000,1030,0.000,0.038,2233,2716,3713,3788,3638,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4693,-1.32,-194.6,2232,2716,3787,3635,744.6,-13.8,421,4698,0.00,1.58,0.00,0.000,516,0.000,0.039,2232,1703,3711,3788,3634,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4740,-1.32,-194.6,2232,1702,3787,3634,750.5,-13.7,423,4746,0.00,1.70,0.00,0.000,1030,0.000,0.064,2225,2723,3711,3788,3634,0,0,0,0,0,0,28.83,14.58,28.83
$GC,4940,-1.32,-194.6,2225,2723,3786,3633,777.5,-13.3,433,4945,0.00,1.80,0.00,0.000,260,0.000,0.084,2217,3779,3709,3786,3633,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5018,-1.32,-194.6,2217,3779,3784,3633,786.9,-14.4,436,5025,0.10,1.65,0.00,0.000,3078,0.261,0.038,2243,2748,3708,3784,3633,0,0,0,0,0,0,14.19,14.67,28.83
$GC,5207,-1.32,-194.6,2243,2748,3784,3629,814.5,-13.9,446,5208,0.00,0.00,0.00,0.000,6,0.000,0.000,2243,2748,3706,3783,3630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5384,-1.32,-194.6,2243,2746,3778,3629,840.6,-15.2,455,5389,0.00,1.80,0.00,0.000,260,0.000,0.092,2237,3776,3703,3778,3628,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5403,-1.32,-194.6,2237,3776,3778,3628,840.6,-15.2,455,5409,0.00,1.65,0.00,0.000,1030,0.000,0.044,2237,2713,3703,3778,3628,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5587,-1.32,-194.6,2237,2713,3778,3625,871.7,-15.2,465,5592,0.00,1.85,0.00,0.000,260,0.000,0.086,2228,3776,3701,3778,3625,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5651,-1.32,-194.6,2228,3776,3778,3624,882.0,-15.8,468,5656,0.00,1.65,0.00,0.000,1030,0.000,0.040,2233,2723,3702,3780,3624,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5856,-1.32,-194.6,2229,2722,3777,3621,912.9,-15.1,478,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,2228,2723,3699,3777,3621,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6034,-1.32,-194.6,2228,2723,3775,3620,940.0,-15.3,487,6040,0.00,1.85,0.00,0.000,260,0.000,0.089,2220,3779,3697,3775,3619,0,0,0,0,0,0,28.83,14.45,28.83
$GC,6073,-1.32,-194.6,2220,3779,3774,3620,943.8,-15.4,488,6080,0.00,1.65,0.00,0.000,1030,0.000,0.041,2220,2728,3696,3774,3619,0,0,0,0,0,0,28.83,14.68,28.83
$GC,6258,-1.32,-194.6,2220,2728,3773,3618,975.4,-15.9,498,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,2220,2728,3695,3773,3618,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6355,begin apogee
$GC,6364,-0.22,0.0,2220,2101,3772,3616,991.4,-15.9,503,6550,1.38,0.00,176.32,1.808,10246,0.235,0.000,2593,2100,2934,2978,2890,0,0,0,0,0,0,13.96,28.83,13.28
$STATE,6552,end apogee,CONTROL_FINISHED_OK
$STATE,6552,begin climb
$GC,6555,1.32,194.6,2593,2100,2976,2887,1003.8,0.0,512,6747,1.48,1.77,181.90,1.811,10756,0.080,0.060,3112,1064,2141,2167,2115,0,0,0,0,0,0,14.24,14.19,13.28
$GC,6832,1.32,194.6,3113,1064,2164,2098,979.9,14.9,526,6837,0.00,1.77,0.00,0.000,1030,0.000,0.067,3113,2101,2131,2164,2098,0,0,0,0,0,0,28.83,14.45,28.83
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$STATE,14997,end climb,SURFACE_DEPTH_REACHED
$STATE,14998,begin surface coast
$FINISH,0.3,1.020741
$STATE,15027,end surface coast,CONTROL_FINISHED_OK
$STATE,15027,begin surface
$SM_CCo,15048,105.85,0.136,0,0,438,612.76
$SM_GC,-0.01,8.25,1.08,105.85,0.049,0.067,0.136,238,2727,438,-7.54,-0.90,612.76,0,0,0,0,0,0,14.64,14.60,14.43
$IRIDIUM_FIX,2059.45,12432.65,070813,232318
$TT8_MAMPS,0.019474,0.019474
$HUMID,50.03
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,26.00
$XPDR_PINGS,0
$SC_FREEKB,3728352
$24V_AH,13.3,173.566
$10V_AH,12.6,0.000
$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,21.750,179.975,515.450,105.850,0.000,24.188,26.175,390.608,0.000,0.000,16.657,3393.948,7864.606,824.235,3127.084,698.923,0.000,2275.687,0.000,2588.420,0.000,0.542,0.000
$DEVICE_MAMPS,372.555,91.800,1810.755,136.170,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15115.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.006,0.000,0.000,0.000
$MEM,328364
$DATA_FILE_SIZE,46626,1214
$CAP_FILE_SIZE,266027,0
$CFSIZE,260034560,201388032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,080813,082923,2113.942,12448.537,36,1.9,37,-2.8