version: 66.11
glider: 181
mission: 11
dive: 547
start: 8 14 113 9 56 56
data:
$ID,181
$MISSION,11
$DIVE,547
$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,250
$T_MISSION,270
$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,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,-98877.773
$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,2483
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.9
$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,2175
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,64
$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,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
$GPS1,140813,094145,2039.559,12554.904,11,4.5,30,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-68.6
$GPS2,140813,095605,2039.552,12555.159,14,0.9,30,-2.7
$SPEED_LIMITS,0.229,0.239
$TGT_NAME,HEADING
$TGT_LATLONG,2029.405,12551.216
$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,202.7,20000,-21.6,-13.200,-28.95,3286
$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,-1.48,-194.6,225,2721,473,426,0.0,0.0,0,124,0.00,0.00,-98.57,0.000,16386,0.000,0.000,224,2722,2954,3000,2908,0,0,0,0,0,0,28.83,28.83,28.83
$GC,132,-1.48,-194.6,224,2721,3000,2907,3.1,-10.7,18,162,8.12,1.65,-14.62,0.000,18948,0.367,0.058,2001,1668,3732,3791,3673,0,0,0,0,0,0,14.04,14.67,14.89
$GC,171,-1.48,-194.6,2001,1667,3791,3675,17.0,-29.7,24,177,0.00,1.77,0.00,0.000,1030,0.000,0.057,1994,2737,3733,3791,3675,0,0,0,0,0,0,28.83,14.59,28.83
$GC,361,-1.48,-194.6,1995,2738,3791,3674,77.0,-29.9,45,366,0.00,1.73,0.00,0.000,260,0.000,0.063,1986,3792,3732,3791,3674,0,0,0,0,0,0,28.83,14.61,28.83
$GC,457,-1.48,-194.6,1986,3788,3791,3675,106.8,-32.0,54,462,0.00,1.65,0.00,0.000,1030,0.000,0.031,1986,2703,3733,3791,3675,0,0,0,0,0,0,28.83,14.73,28.83
$GC,650,-1.48,-194.6,1986,2700,3787,3674,162.0,-27.1,73,655,0.00,1.80,0.00,0.000,260,0.000,0.061,1978,3787,3732,3791,3674,0,0,0,0,0,0,28.83,14.66,28.83
$GC,704,-1.48,-194.6,1978,3788,3791,3675,176.2,-26.5,78,710,0.12,1.62,0.00,0.000,3078,0.333,0.030,2000,2715,3733,3792,3675,0,0,0,0,0,0,14.25,14.76,28.83
$GC,898,-1.48,-194.6,1999,2715,3791,3675,220.5,-22.1,97,904,0.00,1.77,0.00,0.000,260,0.000,0.061,1993,3790,3733,3791,3675,0,0,0,0,0,0,28.83,14.67,28.83
$GC,936,-1.48,-194.6,1224,3790,3789,3673,228.7,-24.6,100,942,0.00,1.60,0.00,0.000,1030,0.000,0.030,1994,2713,3733,3791,3675,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1122,-1.48,-194.6,1994,2713,3792,3675,271.5,-22.4,119,1127,0.00,1.77,0.00,0.000,260,0.000,0.063,1985,3785,3733,3791,3675,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1258,-1.48,-194.6,1985,3784,3791,3676,303.4,-23.5,132,1263,0.00,1.58,0.00,0.000,1030,0.000,0.031,1985,2720,3733,3791,3675,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1452,-1.48,-194.6,1985,2719,3791,3676,344.5,-21.0,151,1453,0.00,0.00,0.00,0.000,6,0.000,0.000,1985,2719,3733,3791,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1632,-1.48,-194.6,1985,2719,3791,3676,382.3,-21.7,169,1637,0.00,1.77,0.00,0.000,260,0.000,0.063,1977,3789,3733,3791,3675,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1707,-1.48,-194.6,1977,3789,3791,3675,398.8,-22.3,176,1713,0.10,1.62,0.00,0.000,3078,0.314,0.031,1999,2741,3733,3791,3675,0,0,0,0,0,0,14.23,14.75,28.83
$GC,1901,-1.48,-194.6,2000,2740,3792,3675,441.6,-22.7,195,1906,0.00,1.73,0.00,0.000,260,0.000,0.065,1992,3787,3733,3791,3675,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1979,-1.48,-194.6,1216,3787,3789,3674,458.6,-23.3,202,1986,0.00,1.62,0.00,0.000,1030,0.000,0.031,1994,2707,3733,3791,3675,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2165,-1.48,-194.6,1994,2707,3791,3673,500.1,-21.4,221,2170,0.00,1.77,0.00,0.000,260,0.000,0.067,1985,3781,3732,3791,3673,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2262,-1.48,-194.6,1986,3780,3791,3673,521.3,-22.6,230,2267,0.00,1.60,0.00,0.000,1030,0.000,0.031,1986,2728,3732,3791,3673,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2457,-1.48,-194.6,1986,2727,3791,3671,562.9,-20.6,249,2462,0.00,1.75,0.00,0.000,260,0.000,0.069,1978,3780,3731,3791,3671,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2511,-1.48,-194.6,1978,3780,3790,3671,574.8,-21.9,254,2517,0.12,1.60,0.00,0.000,3078,0.336,0.032,1999,2724,3730,3790,3671,0,0,0,0,0,0,14.26,14.78,28.83
$GC,2706,-1.48,-194.6,2000,2724,3790,3668,613.8,-19.8,270,2711,0.00,1.77,0.00,0.000,260,0.000,0.071,1999,3786,3729,3790,3668,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2803,-1.48,-194.6,1994,3786,3788,3668,631.8,-21.7,274,2810,0.00,1.60,0.00,0.000,1030,0.000,0.033,1994,2741,3728,3788,3668,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2990,-1.48,-194.6,1995,2740,3788,3665,672.6,-20.3,284,2995,0.00,1.75,0.00,0.000,260,0.000,0.073,1986,3783,3726,3788,3665,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3048,-1.48,-194.6,1986,3783,3787,3664,682.4,-21.0,286,3055,0.00,1.65,0.00,0.000,1030,0.000,0.035,1986,2704,3726,3787,3665,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3236,-1.48,-194.6,1986,2701,3787,3663,725.4,-21.3,296,3241,0.00,1.80,0.00,0.000,260,0.000,0.073,1977,3776,3724,3787,3662,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3274,-1.48,-194.6,1977,3776,3786,3662,731.6,-22.3,297,3282,0.10,1.62,0.00,0.000,3078,0.321,0.035,2003,2740,3723,3786,3661,0,0,0,0,0,0,14.18,14.73,28.83
$GC,3462,-1.48,-194.6,2000,2740,3785,3658,775.7,-21.3,307,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2000,2740,3721,3785,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3640,-1.48,-194.6,1998,2740,3781,3655,816.1,-22.4,316,3645,0.00,1.75,0.00,0.000,260,0.000,0.076,1994,3776,3718,3781,3655,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3715,-1.48,-194.6,1994,3776,3779,3655,831.8,-23.8,319,3720,0.00,1.62,0.00,0.000,1030,0.000,0.037,1994,2715,3717,3779,3655,0,0,0,0,0,0,28.83,14.75,28.83
$GC,3909,-1.48,-194.6,1993,2714,3779,3652,878.6,-22.9,329,3915,0.00,1.80,0.00,0.000,260,0.000,0.077,1985,3773,3715,3778,3652,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3953,-1.48,-194.6,1986,3775,3777,3653,889.4,-23.4,331,3958,0.00,1.62,0.00,0.000,1030,0.000,0.037,1985,2727,3715,3777,3653,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4157,-1.48,-194.6,1985,2727,3776,3649,937.8,-24.0,341,4162,0.00,1.80,0.00,0.000,260,0.000,0.081,1977,3775,3712,3776,3648,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4196,-1.48,-194.6,1978,3775,3774,3649,943.7,-24.2,342,4204,0.12,1.65,0.00,0.000,3078,0.342,0.037,1999,2727,3711,3775,3648,0,0,0,0,0,0,14.16,14.76,28.83
$STATE,4380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4380,begin apogee
$GC,4388,-0.25,0.0,1999,2170,3773,3645,992.4,-24.2,352,4573,1.55,0.00,176.48,1.815,10246,0.303,0.000,2391,2169,2934,2972,2897,0,0,0,0,0,0,13.90,28.83,13.27
$STATE,4575,end apogee,CONTROL_FINISHED_OK
$STATE,4575,begin climb
$GC,4578,1.48,194.6,2391,2169,2970,2895,1011.2,0.0,361,4769,1.88,1.77,179.40,1.812,11012,0.184,0.060,2953,1158,2139,2177,2102,0,0,0,0,0,0,14.16,14.20,13.31
$GC,4878,1.76,335.0,2953,1158,2177,2089,994.0,8.8,376,5020,0.28,1.73,128.85,1.776,11270,0.101,0.065,3055,2176,1568,1618,1518,0,0,0,0,0,0,14.54,14.52,13.35
$GC,5209,1.76,335.0,3055,2176,1618,1500,945.7,15.3,393,5214,0.00,1.83,0.00,0.000,260,0.000,0.090,3055,3230,1558,1617,1500,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5263,1.76,335.0,3055,3230,1616,1499,938.5,15.8,395,5268,0.00,1.67,0.00,0.000,1030,0.000,0.042,3062,2194,1558,1617,1499,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5456,1.76,335.0,3063,2194,1616,1496,905.8,15.8,405,5462,0.00,1.75,0.00,0.000,516,0.000,0.057,3071,1129,1556,1617,1496,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5532,1.76,335.0,3071,1129,1616,1495,895.8,15.9,408,5537,0.00,1.77,0.00,0.000,1030,0.000,0.065,3070,2184,1555,1616,1495,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5725,1.76,335.0,3071,2184,1616,1493,863.2,15.8,418,5730,0.00,1.80,0.00,0.000,260,0.000,0.088,3070,3235,1554,1616,1493,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5804,1.76,335.0,3071,3235,1616,1493,852.4,16.6,421,5812,0.15,1.70,0.00,0.000,5126,0.301,0.040,3046,2167,1554,1616,1493,0,0,0,0,0,0,14.35,14.73,28.83
$GC,5991,1.76,335.0,3046,2167,1616,1490,823.1,14.3,431,5996,0.00,1.70,0.00,0.000,516,0.000,0.054,3053,1129,1553,1616,1490,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6066,1.76,335.0,3052,1128,1615,1489,813.8,14.1,434,6071,0.00,1.75,0.00,0.000,1030,0.000,0.060,3052,2178,1552,1615,1489,0,0,0,0,0,0,28.83,14.65,28.83
$GC,6261,1.76,335.0,3053,2178,1615,1487,784.0,14.8,444,6266,0.00,1.80,0.00,0.000,260,0.000,0.085,3053,3232,1551,1615,1487,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6335,1.76,335.0,3052,3231,1619,1484,774.1,15.3,447,6340,0.00,1.67,0.00,0.000,1030,0.000,0.039,3060,2170,1551,1615,1487,0,0,0,0,0,0,28.83,14.73,28.83
$GC,6530,1.76,335.0,3060,2170,1614,1486,743.9,14.6,457,6535,0.00,1.70,0.00,0.000,516,0.000,0.053,3068,1131,1550,1615,1485,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6577,1.76,335.0,3068,1131,1614,1485,737.3,14.7,459,6582,0.00,1.75,0.00,0.000,1030,0.000,0.060,3068,2178,1550,1614,1486,0,0,0,0,0,0,28.83,14.63,28.83
$GC,6777,1.76,335.0,3068,2178,1614,1484,707.2,14.5,469,6783,0.00,1.80,0.00,0.000,260,0.000,0.084,3068,3230,1548,1613,1484,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6861,1.76,335.0,3068,3230,1614,1485,694.4,15.1,473,6866,0.00,1.70,0.00,0.000,1030,0.000,0.039,3076,2166,1549,1614,1485,0,0,0,0,0,0,28.83,14.71,28.83
$GC,7066,1.76,335.0,3076,2166,1613,1483,665.6,14.1,483,7071,0.00,1.85,0.00,0.000,260,0.000,0.083,3076,3228,1548,1613,1483,0,0,0,0,0,0,28.83,14.54,28.83
$GC,7110,1.76,335.0,3077,3228,1613,1483,659.1,14.3,485,7115,0.15,1.67,0.00,0.000,5126,0.290,0.038,3051,2174,1548,1613,1483,0,0,0,0,0,0,14.26,14.71,28.83
$GC,7319,1.81,364.0,3051,2174,1613,1482,633.4,12.3,495,7350,0.00,1.70,25.88,1.432,8708,0.000,0.049,3057,1134,1450,1510,1390,0,0,0,0,0,0,28.83,14.67,13.71
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$STATE,11973,end climb,SURFACE_DEPTH_REACHED
$STATE,11973,begin surface coast
$FINISH,0.0,1.021162
$STATE,11994,end surface coast,CONTROL_FINISHED_OK
$STATE,11994,begin surface
$SM_CCo,12015,8.43,0.145,0,0,439,612.76
$SM_GC,-0.30,8.12,0.95,8.43,0.046,0.070,0.145,218,2725,439,-6.95,-1.19,612.76,0,0,0,0,0,0,14.67,14.62,14.42
$IRIDIUM_FIX,2050.21,12728.21,140813,060621
$TT8_MAMPS,0.018725,0.018725
$HUMID,55.98
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,25.80
$XPDR_PINGS,3
$SC_FREEKB,3714016
$24V_AH,13.3,186.573
$10V_AH,12.5,0.000
$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
$DEVICE_SECS,21.525,139.725,723.275,8.425,0.000,31.090,19.912,428.938,0.750,0.000,33.315,2671.153,6056.435,808.997,2688.843,646.887,0.000,2051.169,0.000,2100.162,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.547,0.000,0.000,0.000
$MEM,328716
$DATA_FILE_SIZE,36705,956
$CAP_FILE_SIZE,217269,1
$CFSIZE,260034560,196632576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,140813,131835,2038.888,12556.116,25,1.8,25,-2.7