version: 66.11
glider: 181
mission: 11
dive: 522
start: 8 9 113 20 12 0
data:
$ID,181
$MISSION,11
$DIVE,522
$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,300
$T_MISSION,330
$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,270
$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,200
$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,-97856.016
$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,85
$R_STBD_OVSHOOT,33
$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
$GPS1,090813,195300,2105.499,12505.049,39,1.3,40,-2.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-68.7
$GPS2,090813,201131,2105.428,12505.597,11,1.5,11,-2.8
$SPEED_LIMITS,0.191,0.212
$TGT_NAME,HEADING
$TGT_LATLONG,2055.280,12501.643
$TGT_RADIUS,1852.000
$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,202.8,20000,-18.8,-11.000,-27.44,3441
$D_GRID,1000
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.34,-262.8,220,2689,462,417,0.0,0.0,0,124,0.00,0.00,-98.05,0.000,16386,0.000,0.000,219,2690,2945,2995,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,131,-1.34,-262.8,220,2690,2988,2897,3.0,-10.0,18,167,9.10,2.12,-19.27,0.000,18948,0.363,0.054,2234,1341,3963,4003,3924,0,0,0,0,0,0,14.09,14.65,14.88
$GC,182,-1.34,-262.8,2235,1340,4002,3926,17.5,-23.0,26,188,0.00,2.28,0.00,0.000,1030,0.000,0.054,2227,2727,3963,4001,3926,0,0,0,0,0,0,28.83,14.59,28.83
$GC,372,-1.34,-262.8,2228,2727,4000,3926,65.4,-25.1,47,377,0.00,1.75,0.00,0.000,260,0.000,0.069,2219,3784,3963,4000,3926,0,0,0,0,0,0,28.83,14.59,28.83
$GC,416,-1.34,-262.8,2219,3789,4000,3926,76.2,-25.4,51,421,0.00,1.60,0.00,0.000,1030,0.000,0.031,2219,2708,3963,4000,3926,0,0,0,0,0,0,28.83,14.75,28.83
$GC,610,-1.34,-262.8,2219,2704,4000,3926,120.3,-20.9,70,615,0.00,1.80,0.00,0.000,260,0.000,0.067,2211,3785,3962,3999,3926,0,0,0,0,0,0,28.83,14.62,28.83
$GC,628,-1.34,-262.8,2211,3785,4000,3926,122.8,-20.3,71,636,0.12,1.58,0.00,0.000,3078,0.284,0.031,2236,2708,3963,4000,3926,0,0,0,0,0,0,14.31,14.77,28.83
$GC,814,-1.34,-262.8,2236,2709,4000,3927,159.3,-18.2,90,819,0.00,2.10,0.00,0.000,516,0.000,0.037,2236,1373,3962,4000,3925,0,0,0,0,0,0,28.83,14.71,28.83
$GC,883,-1.34,-262.8,2237,1372,3999,3926,170.5,-17.2,96,889,0.00,2.20,0.00,0.000,1030,0.000,0.054,2229,2725,3963,4000,3926,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1068,-1.34,-262.8,2229,2725,4000,3927,204.2,-17.6,115,1073,0.00,1.73,0.00,0.000,260,0.000,0.069,2220,3785,3963,4000,3927,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1152,-1.34,-262.8,2221,3785,3999,3927,218.7,-17.4,123,1157,0.00,1.55,0.00,0.000,1030,0.000,0.031,2221,2717,3963,4000,3927,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1347,-1.34,-262.8,2221,2716,3999,3926,252.0,-17.3,142,1352,0.00,1.77,0.00,0.000,260,0.000,0.069,2212,3784,3963,3999,3927,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1404,-1.34,-262.8,2212,3783,3999,3927,262.0,-19.0,147,1412,0.12,1.55,0.00,0.000,3078,0.281,0.031,2237,2715,3963,4000,3926,0,0,0,0,0,0,14.39,14.80,28.83
$GC,1592,-1.34,-262.8,2238,2715,4000,3926,293.9,-17.1,166,1597,0.00,2.10,0.00,0.000,516,0.000,0.036,2238,1376,3963,3999,3927,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1651,-1.34,-262.8,2238,1375,4000,3927,303.0,-16.2,171,1658,0.00,2.20,0.00,0.000,1030,0.000,0.054,2230,2734,3962,3998,3927,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1836,-1.34,-262.8,2230,2729,3999,3926,334.4,-16.8,190,1842,0.00,1.73,0.00,0.000,260,0.000,0.071,2222,3779,3962,3998,3926,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1903,-1.34,-262.8,1368,3778,3997,3925,345.3,-17.3,196,1910,0.00,1.52,0.00,0.000,1030,0.000,0.033,2222,2718,3962,3998,3926,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2090,-1.34,-262.8,2222,2717,3998,3925,377.2,-16.5,215,2095,0.00,1.77,0.00,0.000,260,0.000,0.070,2214,3779,3961,3998,3924,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2118,-1.34,-262.8,2214,3779,3998,3924,381.2,-16.4,217,2124,0.00,1.52,0.00,0.000,1030,0.000,0.031,2214,2727,3961,3998,3924,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2304,-1.34,-262.8,2214,2726,3998,3921,412.2,-16.2,236,2309,0.00,1.77,-0.05,0.000,16644,0.000,0.093,2205,3781,3972,3997,3947,0,0,0,0,0,0,28.83,14.59,13.33
$GC,2351,-1.34,-262.8,1368,3781,3996,3947,419.8,-17.2,240,2359,0.15,1.55,0.00,0.000,3078,0.267,0.032,2238,2723,3972,3998,3947,0,0,0,0,0,0,14.37,14.81,28.83
$GC,2538,-1.34,-262.8,2238,2722,3997,3946,449.1,-15.4,259,2543,0.00,2.12,0.00,0.000,516,0.000,0.037,2238,1372,3971,3997,3946,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2596,-1.34,-262.8,2238,1372,3997,3946,457.4,-15.2,264,2602,0.00,2.22,0.00,0.000,1030,0.000,0.056,2231,2728,3972,3998,3946,0,0,0,0,0,0,28.83,14.68,28.83
$GC,2781,-1.34,-262.8,2231,2728,3997,3943,487.5,-15.5,283,2787,0.00,1.75,0.00,0.000,260,0.000,0.076,2219,3780,3970,3997,3943,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2826,-1.34,-262.8,2223,3780,3997,3943,494.5,-16.4,287,2831,0.00,1.55,0.00,0.000,1030,0.000,0.034,2221,2719,3969,3997,3942,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3020,-1.34,-262.8,2223,2719,3998,3939,525.1,-15.4,306,3025,0.00,2.12,0.00,0.000,516,0.000,0.037,2223,1367,3968,3997,3939,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3054,-1.34,-262.8,2223,1366,3997,3939,530.3,-15.8,309,3060,0.12,2.25,0.00,0.000,3078,0.275,0.059,2240,2726,3967,3997,3938,0,0,0,0,0,0,14.38,14.66,28.83
$GC,3250,-1.34,-262.8,2240,2729,3997,3934,559.5,-15.0,328,3255,0.00,1.75,0.00,0.000,260,0.000,0.077,2234,3779,3965,3998,3933,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3341,-1.34,-262.8,2240,3779,3997,3933,573.2,-16.4,336,3347,0.00,1.55,0.00,0.000,1030,0.000,0.035,2234,2733,3965,3997,3933,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3526,-1.34,-262.8,2234,2732,3997,3928,603.2,-15.3,354,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2732,3963,3997,3929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3707,-1.34,-262.8,2234,2732,3998,3925,630.9,-15.1,363,3712,0.00,1.77,0.00,0.000,260,0.000,0.080,2226,3777,3961,3997,3925,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3764,-1.34,-262.8,2226,3778,3997,3923,637.9,-15.5,365,3771,0.00,1.58,0.00,0.000,1030,0.000,0.037,2226,2729,3960,3998,3923,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3951,-1.34,-262.8,2226,2729,3997,3919,667.7,-14.7,375,3957,0.00,2.17,0.00,0.000,516,0.000,0.039,2226,1365,3958,3998,3919,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3989,-1.34,-262.8,2226,1365,3997,3918,671.3,-14.5,376,3996,0.00,2.28,0.00,0.000,1030,0.000,0.062,2216,2725,3957,3997,3918,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4175,-1.34,-262.8,2216,2725,3997,3912,702.0,-15.5,386,4181,0.00,1.83,0.00,0.000,260,0.000,0.085,2208,3775,3954,3997,3912,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4240,-1.34,-262.8,2208,3775,3998,3911,712.6,-16.4,389,4246,0.15,1.60,0.00,0.000,3078,0.268,0.037,2240,2736,3954,3997,3911,0,0,0,0,0,0,14.31,14.76,28.83
$GC,4447,-1.34,-262.8,2241,2735,3997,3907,743.2,-14.5,399,4453,0.00,1.85,0.00,0.000,260,0.000,0.084,2235,3782,3952,3997,3907,0,0,0,0,0,0,28.83,14.49,28.83
$GC,4512,-1.34,-262.8,2234,3782,3998,3906,753.9,-16.1,402,4517,0.00,1.65,0.00,0.000,1030,0.000,0.039,2234,2719,3951,3997,3906,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4716,-1.34,-262.8,2235,2719,3997,3901,785.0,-15.4,412,4721,0.00,2.20,0.00,0.000,516,0.000,0.041,2235,1350,3949,3998,3901,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4745,-1.34,-262.8,2235,1349,3997,3900,788.7,-15.5,413,4750,0.00,2.33,0.00,0.000,1030,0.000,0.066,2221,2724,3949,3998,3900,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4944,-1.34,-262.8,2225,2724,3997,3896,821.7,-16.2,423,4949,0.00,1.83,0.00,0.000,260,0.000,0.090,2216,3786,3947,3998,3896,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5001,-1.34,-262.8,2216,3786,3996,3895,829.3,-16.8,425,5008,0.00,1.67,0.00,0.000,1030,0.000,0.039,2216,2709,3946,3997,3896,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5188,-1.34,-262.8,2216,2707,3997,3891,863.6,-16.7,435,5194,0.00,1.88,0.00,0.000,260,0.000,0.086,2208,3788,3944,3997,3891,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5221,-1.34,-262.8,2208,3788,3996,3891,868.0,-16.8,436,5227,0.15,1.65,0.00,0.000,3078,0.272,0.039,2240,2729,3943,3996,3891,0,0,0,0,0,0,14.23,14.73,28.83
$GC,5420,-1.34,-262.8,2240,2728,3996,3888,901.7,-16.2,446,5425,0.00,1.83,0.00,0.000,260,0.000,0.087,2234,3779,3942,3996,3888,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5458,-1.34,-262.8,2234,3779,3995,3888,906.5,-16.5,447,5465,0.00,1.70,0.00,0.000,1030,0.000,0.041,2234,2719,3941,3994,3888,0,0,0,0,0,0,28.83,14.65,28.83
$GC,5644,-1.34,-262.8,2234,2719,3994,3885,939.7,-15.8,457,5649,0.00,1.85,0.00,0.000,260,0.000,0.088,2226,3780,3939,3994,3884,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5698,-1.34,-262.8,2231,3779,3992,3884,946.9,-16.0,459,5703,0.00,1.65,0.00,0.000,1030,0.000,0.041,2226,2723,3939,3993,3885,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5891,-1.34,-262.8,2226,2722,3991,3882,980.5,-16.6,469,5897,0.00,1.88,0.00,0.000,260,0.000,0.090,2218,3782,3936,3991,3882,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5930,-1.34,-262.8,2218,3782,3990,3882,984.7,-16.7,470,5937,0.00,1.65,0.00,0.000,1030,0.000,0.042,2218,2730,3935,3989,3882,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,5952,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5953,begin apogee
$GC,5961,-0.22,0.0,2218,2098,3990,3882,991.4,-17.0,472,6199,1.38,0.00,229.18,1.841,10246,0.226,0.000,2595,2096,2935,2963,2907,0,0,0,0,0,0,14.00,28.83,13.26
$STATE,6200,end apogee,CONTROL_FINISHED_OK
$STATE,6200,begin climb
$GC,6204,1.34,262.8,2595,2096,2961,2904,1009.4,0.0,484,6455,1.48,0.00,241.75,1.813,10758,0.072,0.000,3112,2096,1862,1898,1827,0,0,0,0,0,0,14.25,28.83,13.28
$GC,6635,1.34,262.8,3112,2096,1895,1808,954.8,17.0,506,6641,0.00,2.47,0.00,0.000,260,0.000,0.090,3112,3507,1851,1895,1808,0,0,0,0,0,0,28.83,14.47,28.83
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$STATE,13782,end climb,SURFACE_DEPTH_REACHED
$STATE,13782,begin surface coast
$FINISH,-0.2,1.021094
$STATE,13808,end surface coast,CONTROL_FINISHED_OK
$STATE,13808,begin surface
$SM_CCo,13833,81.20,0.137,0,0,439,612.76
$SM_GC,-0.02,8.27,1.05,81.20,0.057,0.063,0.137,237,2722,439,-7.55,-1.22,612.76,0,0,0,0,0,0,14.61,14.59,14.43
$IRIDIUM_FIX,2050.21,12507.84,090813,202041
$TT8_MAMPS,0.018725,0.018725
$HUMID,52.24
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,25.80
$XPDR_PINGS,0
$SC_FREEKB,3724608
$24V_AH,13.2,176.710
$10V_AH,12.4,0.000
$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
$DEVICE_SECS,21.875,211.175,599.900,81.200,0.000,85.360,107.080,444.965,0.000,0.000,14.258,3104.210,7230.864,863.827,3139.562,676.340,0.000,2241.560,0.000,2375.167,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13888.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.054,0.000,0.000,0.000
$MEM,328716
$DATA_FILE_SIZE,43300,1118
$CAP_FILE_SIZE,252690,0
$CFSIZE,260034560,200151040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,100813,000524,2104.403,12507.878,39,1.6,39,-2.8