version: 66.11
glider: 181
mission: 11
dive: 524
start: 8 10 113 4 30 41
data:
$ID,181
$MISSION,11
$DIVE,524
$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,-97860.641
$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,60
$R_STBD_OVSHOOT,34
$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
$GPS1,100813,041253,2102.815,12510.711,26,1.0,43,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-69.4
$GPS2,100813,043012,2102.598,12511.224,13,1.3,13,-2.8
$SPEED_LIMITS,0.191,0.212
$TGT_NAME,HEADING
$TGT_LATLONG,2052.451,12507.271
$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,22,-1.34,-262.8,238,2725,463,431,0.0,0.0,0,123,0.00,0.00,-98.15,0.000,16386,0.000,0.000,237,2725,2960,3005,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,131,-1.34,-262.8,238,2725,3005,2917,3.2,-9.5,18,168,9.12,2.30,-21.67,0.000,18948,0.367,0.060,2235,1323,4012,4065,3959,0,0,0,0,0,0,14.09,14.65,14.88
$GC,203,-1.34,-262.8,2235,1322,4065,4075,23.2,-23.0,30,210,0.00,2.33,0.00,0.000,1030,0.000,0.057,2227,2734,4070,4065,4075,0,0,0,0,0,0,28.83,14.59,28.83
$GC,398,-1.34,-262.8,2227,2735,4065,4075,73.0,-24.5,50,404,0.00,2.25,0.00,0.000,516,0.000,0.035,2227,1318,4070,4065,4075,0,0,0,0,0,0,28.83,14.70,28.83
$GC,443,-1.34,-262.8,2227,1316,4064,4075,83.1,-23.4,54,449,0.00,2.33,0.00,0.000,1030,0.000,0.056,2217,2732,4072,4065,4079,0,0,0,0,0,0,28.83,14.65,28.83
$GC,637,-1.34,-262.8,2217,2732,4065,4075,127.9,-22.8,73,642,0.00,2.25,0.00,0.000,516,0.000,0.036,2217,1316,4070,4065,4075,0,0,0,0,0,0,28.83,14.71,28.83
$GC,715,-1.34,-262.8,1344,1314,4064,4075,144.3,-21.6,80,723,0.15,2.30,0.00,0.000,3078,0.279,0.056,2239,2725,4069,4065,4074,0,0,0,0,0,0,14.35,14.68,28.83
$GC,901,-1.34,-262.8,2239,2724,4065,4075,179.9,-18.4,99,907,0.00,1.75,0.00,0.000,260,0.000,0.069,2233,3792,4070,4065,4075,0,0,0,0,0,0,28.83,14.62,28.83
$GC,926,-1.34,-262.8,2233,3792,4065,4075,184.4,-18.6,101,931,0.00,1.65,0.00,0.000,1030,0.000,0.030,2233,2682,4070,4065,4075,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1120,-1.34,-262.8,2233,2679,4065,4075,219.9,-17.2,120,1125,0.00,1.83,0.00,0.000,260,0.000,0.068,2224,3782,4070,4065,4075,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1148,-1.34,-262.8,2225,3782,4065,4075,224.3,-18.1,122,1155,0.00,1.55,0.00,0.000,1030,0.000,0.031,2224,2724,4070,4065,4075,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1333,-1.34,-262.8,2224,2723,4065,4075,258.8,-17.9,141,1338,0.00,2.12,0.00,0.000,516,0.000,0.036,2224,1359,4070,4065,4075,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1347,-1.34,-262.8,2224,1359,4065,4075,261.1,-17.8,142,1353,0.00,2.22,0.00,0.000,1030,0.000,0.052,2214,2728,4070,4065,4075,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1541,-1.34,-262.8,2215,2728,4065,4075,296.8,-18.9,161,1546,0.00,2.17,0.00,0.000,516,0.000,0.037,2214,1362,4070,4065,4075,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1566,-1.34,-262.8,2214,1362,4065,4075,301.2,-18.8,163,1572,0.15,2.22,0.00,0.000,3078,0.264,0.054,2238,2724,4070,4065,4075,0,0,0,0,0,0,14.36,14.66,28.83
$GC,1760,-1.34,-262.8,2238,2724,4065,4075,334.0,-16.1,182,1765,0.00,2.15,0.00,0.000,516,0.000,0.036,2238,1361,4070,4065,4075,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1828,-1.34,-262.8,1360,1360,4064,4075,344.0,-15.7,188,1836,0.00,2.22,0.00,0.000,1030,0.000,0.054,2230,2723,4070,4065,4075,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2014,-1.34,-262.8,2231,2723,4065,4075,374.9,-16.0,207,2019,0.00,1.75,0.00,0.000,260,0.000,0.073,2223,3781,4069,4064,4075,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2083,-1.34,-262.8,2222,3783,4065,4075,386.0,-17.4,213,2089,0.00,1.58,0.00,0.000,1030,0.000,0.031,2222,2707,4070,4065,4075,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2269,-1.34,-262.8,2222,2707,4065,4074,418.3,-16.8,232,2274,0.00,1.80,0.00,0.000,260,0.000,0.071,2214,3782,4069,4065,4074,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2302,-1.34,-262.8,2214,3782,4066,4074,424.4,-17.8,235,2308,0.00,1.58,0.00,0.000,1030,0.000,0.031,2214,2719,4069,4065,4074,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2496,-1.34,-262.8,2214,2719,4065,4074,458.4,-17.3,254,2501,0.00,1.77,0.00,0.000,260,0.000,0.071,2206,3779,4069,4065,4074,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2520,-1.34,-262.8,2206,3779,4065,4074,462.6,-17.4,256,2526,0.15,1.55,0.00,0.000,3078,0.262,0.032,2235,2721,4069,4065,4073,0,0,0,0,0,0,14.41,14.82,28.83
$GC,2715,-1.34,-262.8,2239,2720,4064,4073,492.4,-15.3,275,2720,0.00,1.80,0.00,0.000,260,0.000,0.075,2233,3787,4068,4064,4072,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2752,-1.34,-262.8,1384,3787,4063,4072,497.9,-15.7,278,2759,0.00,1.58,0.00,0.000,1030,0.000,0.034,2233,2708,4068,4064,4072,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2940,-1.34,-262.8,2233,2708,4064,4071,528.0,-15.9,297,2945,0.00,1.80,0.00,0.000,260,0.000,0.073,2225,3779,4067,4063,4071,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2958,-1.34,-262.8,2225,3780,4064,4071,530.2,-15.9,298,2964,0.00,1.55,0.00,0.000,1030,0.000,0.033,2225,2721,4067,4064,4071,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3145,-1.34,-262.8,2225,2721,4063,4070,561.5,-16.4,317,3150,0.00,2.12,0.00,0.000,516,0.000,0.037,2225,1366,4066,4063,4070,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3163,-1.34,-262.8,2225,1366,4063,4070,563.9,-16.6,318,3169,0.00,2.25,0.00,0.000,1030,0.000,0.058,2216,2728,4066,4063,4070,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3349,-1.34,-262.8,2215,2728,4062,4070,595.5,-16.5,337,3355,0.00,1.75,0.00,0.000,260,0.000,0.079,2207,3779,4065,4062,4069,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3448,-1.34,-262.8,2207,3779,4062,4069,610.1,-17.2,343,3455,0.15,1.55,0.00,0.000,3078,0.256,0.036,2241,2744,4065,4062,4069,0,0,0,0,0,0,14.37,14.79,28.83
$GC,3637,-1.34,-262.8,2241,2744,4061,4069,640.1,-14.4,353,3643,0.00,2.22,0.00,0.000,516,0.000,0.040,2241,1352,4067,4061,4074,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3661,-1.34,-262.8,2241,1351,4061,4068,644.1,-14.6,354,3666,0.00,2.30,0.00,0.000,1030,0.000,0.060,2234,2727,4065,4061,4069,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3865,-1.34,-262.8,2234,2727,4060,4068,674.0,-14.8,364,3870,0.00,1.77,0.00,0.000,260,0.000,0.084,2225,3779,4064,4060,4068,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3944,-1.34,-262.8,2225,3778,4060,4062,684.4,-15.8,367,3951,0.00,1.60,0.00,0.000,1030,0.000,0.038,2225,2714,4064,4060,4068,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4129,-1.34,-262.8,2225,2713,4059,4067,716.3,-15.9,377,4134,0.00,1.88,0.00,0.000,260,0.000,0.082,2217,3780,4063,4059,4067,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4167,-1.34,-262.8,2215,3781,4060,4067,720.2,-16.0,378,4174,0.00,1.60,0.00,0.000,1030,0.000,0.037,2217,2724,4063,4059,4067,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4354,-1.34,-262.8,2217,2724,4059,4067,753.3,-16.3,388,4359,0.00,1.85,0.00,0.000,260,0.000,0.081,2208,3775,4063,4059,4067,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4378,-1.34,-262.8,2209,3774,4059,4067,757.8,-16.8,389,4384,0.15,1.60,0.00,0.000,3078,0.265,0.038,2242,2735,4063,4059,4067,0,0,0,0,0,0,14.30,14.76,28.83
$GC,4586,-1.34,-262.8,2242,2734,4058,4066,788.8,-15.5,399,4587,0.00,0.00,0.00,0.000,6,0.000,0.000,2242,2734,4062,4058,4067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4762,-1.34,-262.8,2242,2734,4058,4066,817.3,-16.1,408,4768,0.00,1.80,0.00,0.000,260,0.000,0.086,2236,3776,4062,4058,4066,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4831,-1.34,-262.8,2236,3775,4058,4066,828.5,-17.2,411,4837,0.00,1.62,0.00,0.000,1030,0.000,0.040,2236,2719,4060,4058,4062,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5030,-1.34,-262.8,2236,2719,4058,4066,864.3,-17.4,421,5035,0.00,1.85,0.00,0.000,260,0.000,0.088,2227,3781,4061,4058,4065,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5089,-1.34,-262.8,2228,3782,4058,4065,872.4,-17.8,423,5095,0.00,1.65,0.00,0.000,1030,0.000,0.041,2227,2719,4061,4058,4065,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5276,-1.34,-262.8,2228,2718,4057,4065,909.1,-18.4,433,5281,0.00,1.88,0.00,0.000,260,0.000,0.088,2219,3788,4061,4057,4065,0,0,0,0,0,0,28.83,14.44,28.83
$GC,5323,-1.34,-262.8,1384,3787,4056,4065,917.6,-18.6,435,5329,0.00,1.70,0.00,0.000,1030,0.000,0.040,2219,2733,4061,4057,4065,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5523,-1.34,-262.8,2219,2732,4057,4065,954.8,-18.2,445,5529,0.00,1.83,0.00,0.000,260,0.000,0.089,2211,3775,4060,4056,4065,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5571,-1.34,-262.8,2211,3776,4056,4065,963.2,-18.5,447,5577,0.12,1.65,0.00,0.000,3078,0.276,0.040,2236,2725,4060,4056,4064,0,0,0,0,0,0,14.25,14.70,28.83
$STATE,5727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5727,begin apogee
$GC,5737,-0.22,0.0,2237,2105,4056,4064,990.6,-16.6,455,6004,1.27,0.00,258.83,1.834,10246,0.210,0.000,2597,2103,2936,2964,2908,0,0,0,0,0,0,14.00,28.83,13.27
$STATE,6008,end apogee,CONTROL_FINISHED_OK
$STATE,6009,begin climb
$GC,6012,1.34,262.8,2597,2104,2961,2904,1011.9,0.0,468,6264,1.45,2.40,241.38,1.814,10756,0.066,0.061,3124,720,1861,1895,1827,0,0,0,0,0,0,14.26,14.20,13.29
$GC,6290,1.34,262.8,3124,719,1892,1819,987.9,15.5,482,6297,0.00,2.38,0.00,0.000,1030,0.000,0.062,3124,2096,1855,1892,1819,0,0,0,0,0,0,28.83,14.34,28.83
$GC,6476,1.34,262.8,3125,2096,1892,1809,954.3,17.2,492,6481,0.00,2.47,0.00,0.000,260,0.000,0.091,3124,3510,1850,1892,1809,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6505,1.34,262.8,3125,3510,1892,1809,950.0,17.6,493,6510,0.00,2.28,0.00,0.000,1030,0.000,0.041,3134,2121,1849,1890,1809,0,0,0,0,0,0,28.83,14.65,28.83
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$STATE,13520,end climb,SURFACE_DEPTH_REACHED
$STATE,13520,begin surface coast
$FINISH,-0.5,1.020939
$STATE,13541,end surface coast,CONTROL_FINISHED_OK
$STATE,13541,begin surface
$SM_CCo,13563,94.80,0.136,0,0,438,612.76
$SM_GC,-0.07,8.27,1.25,94.80,0.051,0.032,0.136,227,2672,438,-7.54,1.61,612.76,0,0,0,0,0,0,14.63,14.77,14.44
$IRIDIUM_FIX,2101.76,12458.95,100813,040458
$TT8_MAMPS,0.019474,0.019474
$HUMID,51.73
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,25.90
$XPDR_PINGS,0
$SC_FREEKB,3723776
$24V_AH,12.4,177.501
$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
$DEVICE_SECS,22.025,204.325,615.875,94.800,0.000,56.223,82.662,488.707,0.000,0.000,15.857,3000.739,7061.921,883.087,3047.296,692.354,0.000,2225.386,0.000,2310.604,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13625.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.003,0.000,0.000,0.000
$MEM,328724
$DATA_FILE_SIZE,43352,1094
$CAP_FILE_SIZE,245024,0
$CFSIZE,260034560,199888896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100813,081936,2101.215,12513.112,26,1.9,27,-2.8