version: 66.11
glider: 181
mission: 11
dive: 526
start: 8 10 113 12 39 15
data:
$ID,181
$MISSION,11
$DIVE,526
$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,-97863.258
$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,58
$R_STBD_OVSHOOT,25
$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
$GPS1,100813,122236,2059.713,12514.826,39,0.9,40,-2.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.15
$_SM_ANGLEo,-68.9
$GPS2,100813,123843,2059.495,12515.153,8,1.5,8,-2.8
$SPEED_LIMITS,0.191,0.212
$TGT_NAME,HEADING
$TGT_LATLONG,2049.347,12511.202
$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,-262.8,221,2727,466,433,0.0,0.0,0,124,0.00,0.00,-98.72,0.000,16386,0.000,0.000,220,2727,2972,3015,2930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,132,-1.34,-262.8,220,2728,3015,2933,3.4,-10.9,18,168,9.10,2.30,-18.02,0.000,18948,0.361,0.060,2238,1298,3965,4006,3924,0,0,0,0,0,0,14.11,14.56,14.88
$GC,198,-1.34,-262.8,1344,1297,4004,3924,22.3,-22.7,29,205,0.00,2.38,0.00,0.000,1030,0.000,0.058,2230,2735,3965,4005,3925,0,0,0,0,0,0,28.83,14.57,28.83
$GC,393,-1.34,-262.8,2230,2735,4003,3925,69.4,-22.8,49,399,0.00,2.25,0.00,0.000,516,0.000,0.036,2230,1316,3964,4003,3925,0,0,0,0,0,0,28.83,14.62,28.83
$GC,448,-1.34,-262.8,2229,1316,4003,3925,80.9,-21.5,54,453,0.00,2.30,0.00,0.000,1030,0.000,0.054,2219,2726,3964,4003,3925,0,0,0,0,0,0,28.83,14.62,28.83
$GC,642,-1.34,-262.8,2220,2726,4003,3925,123.6,-20.8,73,647,0.00,1.77,0.00,0.000,260,0.000,0.067,2212,3779,3963,4003,3924,0,0,0,0,0,0,28.83,14.59,28.83
$GC,686,-1.34,-262.8,2212,3779,4003,3925,133.1,-21.5,77,692,0.12,1.62,0.00,0.000,3078,0.283,0.030,2237,2694,3964,4003,3925,0,0,0,0,0,0,14.36,14.75,28.83
$GC,881,-1.34,-262.8,2237,2694,4003,3925,171.1,-18.2,96,886,0.00,1.85,0.00,0.000,260,0.000,0.067,2231,3776,3963,4003,3924,0,0,0,0,0,0,28.83,14.60,28.83
$GC,970,-1.34,-262.8,2231,3776,3999,3925,185.5,-16.8,104,976,0.00,1.58,0.00,0.000,1030,0.000,0.030,2231,2695,3964,4003,3925,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1155,-1.34,-262.8,2231,2694,4003,3925,216.4,-15.6,123,1160,0.00,1.80,0.00,0.000,260,0.000,0.067,2223,3782,3964,4003,3926,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1233,-1.34,-262.8,2222,3782,4003,3926,228.7,-16.7,130,1240,0.00,1.55,0.00,0.000,1030,0.000,0.030,2222,2720,3964,4003,3926,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1419,-1.34,-262.8,2222,2720,4002,3926,260.2,-17.3,149,1425,0.00,2.10,0.00,0.000,516,0.000,0.035,2223,1369,3964,4003,3926,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1483,-1.34,-262.8,2224,1369,4003,3926,271.4,-17.1,155,1489,0.12,2.20,0.00,0.000,3078,0.282,0.052,2239,2730,3964,4002,3926,0,0,0,0,0,0,14.40,14.70,28.83
$GC,1678,-1.34,-262.8,2239,2730,4003,3926,303.0,-16.3,174,1684,0.00,1.77,0.00,0.000,260,0.000,0.070,2233,3782,3964,4002,3926,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1712,-1.34,-262.8,2233,3782,4002,3926,309.1,-17.1,177,1718,0.00,1.55,0.00,0.000,1030,0.000,0.031,2233,2704,3964,4003,3926,0,0,0,0,0,0,28.83,14.82,28.83
$GC,1906,-1.34,-262.8,2233,2704,4002,3926,341.9,-17.3,196,1911,0.00,2.08,0.00,0.000,516,0.000,0.037,2233,1375,3964,4002,3926,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1930,-1.34,-262.8,2233,1374,4002,3926,346.0,-17.1,198,1935,0.00,2.20,0.00,0.000,1030,0.000,0.052,2223,2723,3964,4002,3926,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2124,-1.34,-262.8,2224,2723,4001,3924,379.9,-17.0,217,2129,0.00,1.75,0.00,0.000,260,0.000,0.071,2215,3785,3963,4002,3924,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2191,-1.34,-262.8,2215,3786,4001,3924,391.2,-17.9,223,2198,0.00,1.58,0.00,0.000,1030,0.000,0.031,2215,2729,3962,4001,3924,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2378,-1.34,-262.8,2215,2729,4000,3921,423.6,-16.8,242,2383,0.00,2.12,-0.03,0.000,16900,0.000,0.054,2215,1376,3968,3999,3937,0,0,0,0,0,0,28.83,14.75,14.38
$GC,2405,-1.34,-262.8,1376,1375,3998,3937,427.8,-16.9,244,2413,0.15,2.20,0.00,0.000,3078,0.264,0.054,2239,2724,3968,3999,3937,0,0,0,0,0,0,14.40,14.70,28.83
$GC,2592,-1.34,-262.8,2239,2724,3999,3935,456.5,-14.4,263,2597,0.00,1.75,0.00,0.000,260,0.000,0.074,2233,3777,3966,3999,3934,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2639,-1.34,-262.8,2234,3779,3999,3934,463.1,-15.0,267,2646,0.00,1.52,0.00,0.000,1030,0.000,0.034,2233,2723,3966,3999,3934,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2825,-1.34,-262.8,2233,2723,3999,3931,492.0,-15.0,286,2831,0.00,2.10,0.00,0.000,516,0.000,0.037,2233,1380,3965,3999,3931,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2853,-1.34,-262.8,2233,1380,3999,3931,495.6,-15.3,288,2860,0.00,2.20,0.00,0.000,1030,0.000,0.055,2223,2723,3964,3999,3930,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3039,-1.34,-262.8,2224,2723,3999,3926,524.0,-14.7,307,3044,0.00,1.75,0.00,0.000,260,0.000,0.076,2215,3777,3962,3999,3925,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3107,-1.34,-262.8,2215,3779,3999,3925,534.2,-16.3,313,3113,0.00,1.52,0.00,0.000,1030,0.000,0.033,2215,2745,3962,3999,3925,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3293,-1.34,-262.8,2215,2745,3995,3921,565.4,-17.0,332,3294,0.00,0.00,0.00,0.000,6,0.000,0.000,2215,2745,3960,3999,3921,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3473,-1.34,-262.8,2215,2744,3999,3916,596.9,-17.8,350,3479,0.12,1.75,0.00,0.000,2308,0.282,0.073,2244,3781,3958,3999,3917,0,0,0,0,0,0,14.41,14.62,28.83
$GC,3506,-1.34,-262.8,2241,3781,3998,3915,601.2,-17.8,352,3511,0.00,1.58,0.00,0.000,1030,0.000,0.035,2241,2721,3957,3999,3915,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3701,-1.34,-262.8,2242,2721,3999,3911,634.0,-15.9,362,3707,0.00,2.15,0.00,0.000,516,0.000,0.037,2241,1363,3955,3999,3911,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3713,-1.34,-262.8,2241,1362,3999,3912,634.0,-15.9,362,3719,0.00,2.28,0.00,0.000,1030,0.000,0.060,2231,2729,3955,3999,3911,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3907,-1.34,-262.8,2231,2730,3999,3907,666.9,-16.0,372,3912,0.00,1.77,0.00,0.000,260,0.000,0.082,2223,3784,3953,3999,3907,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3983,-1.34,-262.8,2223,3784,3999,3906,677.3,-16.2,375,3988,0.00,1.60,0.00,0.000,1030,0.000,0.039,2223,2730,3956,4007,3905,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4176,-1.34,-262.8,2223,2730,4000,3901,710.4,-15.9,385,4182,0.00,2.17,0.00,0.000,516,0.000,0.039,2223,1355,3950,3999,3901,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4214,-1.34,-262.8,2223,1356,4000,3900,714.4,-16.2,386,4222,0.12,2.30,0.00,0.000,3078,0.282,0.061,2239,2730,3949,3999,3900,0,0,0,0,0,0,14.31,14.60,28.83
$GC,4403,-1.34,-262.8,2239,2729,3999,3896,745.1,-15.1,396,4409,0.00,2.22,0.00,0.000,516,0.000,0.041,2239,1353,3947,3999,3896,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4428,-1.34,-262.8,2239,1353,3999,3895,749.2,-15.0,397,4433,0.00,2.33,0.00,0.000,1030,0.000,0.063,2231,2729,3947,3999,3895,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4633,-1.34,-262.8,2231,2729,3998,3891,780.4,-15.3,407,4638,0.00,1.80,0.00,0.000,260,0.000,0.087,2223,3782,3944,3998,3891,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4686,-1.34,-262.8,2223,3782,3996,3890,787.6,-15.4,409,4691,0.00,1.62,0.00,0.000,1030,0.000,0.040,2223,2728,3943,3996,3890,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4880,-1.34,-262.8,2223,2727,3995,3888,819.9,-16.0,419,4886,0.00,1.83,0.00,0.000,260,0.000,0.083,2215,3782,3941,3995,3888,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4938,-1.34,-262.8,2215,3782,3994,3888,827.5,-16.5,421,4947,0.00,1.65,0.00,0.000,1030,0.000,0.038,2215,2714,3941,3994,3888,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5124,-1.34,-262.8,2215,2714,3990,3884,861.4,-16.7,431,5130,0.00,1.90,0.00,0.000,260,0.000,0.085,2206,3782,3939,3995,3884,0,0,0,0,0,0,28.83,14.42,28.83
$GC,5173,-1.34,-262.8,2207,3781,3992,3890,869.6,-17.7,433,5179,0.10,1.67,0.00,0.000,3078,0.251,0.039,2233,2743,3938,3992,3884,0,0,0,0,0,0,14.19,14.66,28.83
$GC,5375,-1.34,-262.8,2233,2742,3991,3881,901.5,-15.7,443,5381,0.00,2.28,0.00,0.000,516,0.000,0.043,2234,1338,3936,3991,3881,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5400,-1.34,-262.8,2234,1339,3991,3881,905.6,-15.7,444,5406,0.00,2.38,0.00,0.000,1030,0.000,0.067,2226,2724,3935,3990,3881,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5604,-1.34,-262.8,2226,2724,3989,3878,938.1,-15.8,454,5610,0.00,1.83,0.00,0.000,260,0.000,0.091,2217,3779,3933,3988,3878,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5652,-1.34,-262.8,2218,3779,3988,3878,945.7,-16.6,456,5657,0.00,1.67,0.00,0.000,1030,0.000,0.041,2220,2708,3933,3988,3878,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5852,-1.34,-262.8,2218,2707,3987,3875,980.6,-17.5,466,5853,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2707,3931,3987,3876,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5908,begin apogee
$GC,5916,-0.22,0.0,2218,2098,3986,3874,991.2,-17.6,469,6154,1.38,0.00,228.77,1.785,10246,0.225,0.000,2595,2097,2934,2964,2905,0,0,0,0,0,0,13.99,28.83,13.27
$STATE,6156,end apogee,CONTROL_FINISHED_OK
$STATE,6156,begin climb
$GC,6159,1.34,262.8,2595,2096,2963,2900,1010.7,0.0,481,6415,1.48,2.42,243.68,1.804,10756,0.074,0.066,3121,736,1860,1894,1827,0,0,0,0,0,0,14.25,14.17,13.30
$GC,6465,1.34,262.8,3121,736,1891,1815,979.5,17.0,496,6470,0.00,2.35,0.00,0.000,1030,0.000,0.061,3121,2107,1853,1891,1815,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6659,1.34,262.8,3120,2107,1891,1808,943.8,18.0,506,6665,0.00,2.33,0.00,0.000,516,0.000,0.062,3130,728,1849,1891,1808,0,0,0,0,0,0,28.83,14.60,28.83
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$STATE,13760,end climb,SURFACE_DEPTH_REACHED
$STATE,13760,begin surface coast
$FINISH,-0.2,1.021270
$STATE,13782,end surface coast,CONTROL_FINISHED_OK
$STATE,13782,begin surface
$SM_CCo,13807,81.78,0.135,0,0,438,612.76
$SM_GC,0.04,8.32,3.38,81.78,0.050,0.048,0.135,216,2721,438,-7.55,-1.16,612.76,0,0,0,0,0,0,14.66,14.59,14.43
$IRIDIUM_FIX,2045.60,12353.56,100813,121236
$TT8_MAMPS,0.018725,0.018725
$HUMID,51.69
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,26.20
$XPDR_PINGS,0
$SC_FREEKB,3722944
$24V_AH,13.3,178.263
$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
$DEVICE_SECS,22.075,221.550,617.325,81.775,0.000,60.082,57.267,435.936,0.000,0.000,14.371,3066.323,7178.027,877.061,3027.641,699.056,0.000,2250.607,0.000,2339.570,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13856.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.029,0.000,0.000,0.000
$MEM,328716
$DATA_FILE_SIZE,43344,1111
$CAP_FILE_SIZE,251803,0
$CFSIZE,260034560,199614464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100813,163206,2058.500,12516.460,33,1.0,34,-2.8