version: 66.11
glider: 181
mission: 11
dive: 585
start: 8 19 113 19 24 50
data:
$ID,181
$MISSION,11
$DIVE,585
$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,220
$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,50
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52184
$MASS_COMP,0
$NAV_MODE,2
$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,475
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$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,-99169.188
$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,2670
$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,2825
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,81
$R_STBD_OVSHOOT,38
$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,10
$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
$GPS1,190813,191238,2015.224,12615.505,14,2.6,33,-2.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.14
$_SM_ANGLEo,-65.1
$GPS2,190813,192421,2015.133,12615.646,14,2.1,33,-2.6
$SPEED_LIMITS,0.126,0.198
$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,288.0,266699,-31.8,-15.000,-37.13,1955
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.99,-194.6,214,2786,1011,994,0.0,0.0,0,110,0.00,0.00,-85.53,0.000,16386,0.000,0.000,214,2787,3164,3214,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-1.99,-194.6,214,2787,3214,3117,3.8,-13.6,14,141,8.10,0.00,-10.57,0.000,18694,0.355,0.000,2022,2787,3737,3807,3667,0,0,0,0,0,0,14.01,28.83,14.86
$GC,331,-1.99,-194.6,2022,2787,3807,3686,73.0,-30.1,40,336,0.00,1.67,0.00,0.000,260,0.000,0.061,2016,3788,3746,3807,3686,0,0,0,0,0,0,28.83,14.57,28.83
$GC,415,-1.99,-194.6,2016,3788,3806,3686,97.5,-28.5,48,420,0.00,1.50,0.00,0.000,1030,0.000,0.030,2016,2828,3746,3807,3686,0,0,0,0,0,0,28.83,14.64,28.83
$GC,608,-1.99,-194.6,2016,2825,3807,3687,148.8,-25.5,67,614,0.00,1.62,0.00,0.000,516,0.000,0.033,2016,1778,3747,3807,3687,0,0,0,0,0,0,28.83,14.65,28.83
$GC,622,-1.99,-194.6,2016,1777,3807,3687,152.1,-25.5,68,628,0.00,1.70,0.00,0.000,1030,0.000,0.054,2008,2828,3746,3807,3686,0,0,0,0,0,0,28.83,14.62,28.83
$GC,817,-1.99,-194.6,2009,2828,3807,3688,200.2,-23.8,87,822,0.00,1.58,0.00,0.000,260,0.000,0.065,2001,3783,3747,3807,3687,0,0,0,0,0,0,28.83,14.59,28.83
$GC,864,-1.99,-194.6,1232,3782,3800,3686,210.7,-23.3,91,871,0.12,1.50,0.00,0.000,3078,0.334,0.031,2023,2810,3747,3807,3688,0,0,0,0,0,0,14.15,14.62,28.83
$GC,1051,-1.99,-194.6,2023,2809,3807,3689,252.2,-21.8,110,1056,0.00,1.60,0.00,0.000,516,0.000,0.034,2023,1785,3748,3808,3689,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1069,-1.99,-194.6,2023,1784,3807,3690,255.0,-21.2,111,1077,0.00,1.67,0.00,0.000,1030,0.000,0.052,2018,2827,3747,3806,3689,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1255,-1.99,-194.6,2019,2828,3814,3690,296.5,-22.1,130,1260,0.00,1.55,0.00,0.000,260,0.000,0.065,2011,3779,3748,3807,3690,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1273,-1.99,-194.6,1240,3778,3804,3688,299.3,-21.6,131,1279,0.00,1.48,0.00,0.000,1030,0.000,0.031,2011,2792,3748,3807,3690,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1460,-1.99,-194.6,2011,2791,3807,3690,341.7,-22.9,150,1465,0.00,1.52,0.00,0.000,516,0.000,0.034,2011,1809,3749,3807,3691,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1478,-1.99,-194.6,2011,1806,3807,3690,344.9,-22.9,151,1486,0.00,1.67,0.00,0.000,1030,0.000,0.054,2004,2819,3748,3807,3690,0,0,0,0,0,0,28.83,14.60,28.83
$GC,1664,-1.99,-194.6,2004,2819,3807,3690,387.1,-21.8,170,1669,0.00,1.55,0.00,0.000,516,0.000,0.031,2001,1795,3748,3807,3690,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1748,-1.99,-194.6,2004,1795,3807,3691,404.3,-19.8,178,1754,0.15,1.67,0.00,0.000,3078,0.326,0.055,2025,2828,3748,3806,3691,0,0,0,0,0,0,14.19,14.65,28.83
$GC,1943,-1.99,-194.6,2025,2828,3807,3690,442.5,-20.3,197,1944,0.00,0.00,0.00,0.000,6,0.000,0.000,2025,2828,3749,3807,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2125,-1.99,-194.6,2025,2828,3807,3690,479.2,-20.1,215,2130,0.00,1.60,0.00,0.000,260,0.000,0.069,2020,3772,3748,3806,3690,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2264,-1.99,-194.6,1248,3773,3804,3688,508.6,-21.1,228,2272,0.00,1.42,0.00,0.000,1030,0.000,0.033,2020,2835,3748,3807,3689,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2451,-1.99,-194.6,2020,2835,3807,3687,546.6,-19.8,247,2456,0.00,1.55,0.00,0.000,516,0.000,0.034,2020,1809,3747,3807,3688,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2479,-1.99,-194.6,2020,1809,3803,3687,551.2,-19.4,249,2487,0.00,1.65,0.00,0.000,1030,0.000,0.057,2013,2823,3747,3807,3687,0,0,0,0,0,0,28.83,14.63,28.83
$GC,2665,-1.99,-194.6,2014,2824,3807,3686,588.3,-19.7,268,2670,0.00,1.58,0.00,0.000,260,0.000,0.070,2006,3779,3746,3807,3686,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2722,-1.99,-194.6,1248,3778,3805,3683,599.3,-20.8,273,2729,0.00,1.45,0.00,0.000,1030,0.000,0.034,2006,2827,3746,3807,3685,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2910,-1.99,-194.6,2006,2827,3806,3683,637.9,-20.3,283,2917,0.00,1.55,0.00,0.000,516,0.000,0.034,2006,1804,3744,3807,3682,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2935,-1.99,-194.6,2006,1803,3806,3682,643.4,-20.4,284,2942,0.15,1.70,0.00,0.000,3078,0.326,0.059,2027,2830,3744,3807,3682,0,0,0,0,0,0,14.17,14.61,28.83
$GC,3145,-1.99,-194.6,2027,2830,3807,3679,686.3,-21.5,294,3150,0.00,1.58,0.00,0.000,260,0.000,0.073,2022,3780,3743,3807,3679,0,0,0,0,0,0,28.83,14.57,28.83
$GC,3203,-1.99,-194.6,2024,3781,3807,3679,696.8,-21.7,296,3211,0.00,1.48,0.00,0.000,1030,0.000,0.035,2022,2832,3743,3807,3679,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3390,-1.99,-194.6,2022,2832,3806,3676,740.4,-21.9,306,3395,0.00,1.60,0.00,0.000,516,0.000,0.037,2022,1795,3742,3807,3677,0,0,0,0,0,0,28.83,14.68,28.83
$GC,3419,-1.99,-194.6,2022,1795,3806,3676,745.9,-21.8,307,3424,0.00,1.70,0.00,0.000,1030,0.000,0.061,2015,2823,3741,3806,3676,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3618,-1.99,-194.6,2015,2824,3805,3676,788.8,-21.2,317,3623,0.00,1.60,0.00,0.000,260,0.000,0.076,2008,3779,3739,3804,3674,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3645,-1.99,-194.6,2007,3779,3804,3674,794.2,-21.4,318,3652,0.00,1.50,0.00,0.000,1030,0.000,0.037,2008,2826,3738,3803,3673,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3847,-1.99,-194.6,2007,2826,3801,3671,840.2,-22.8,328,3853,0.00,1.62,0.00,0.000,260,0.000,0.076,1997,3779,3736,3801,3671,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3896,-1.99,-194.6,2000,3779,3796,3671,850.9,-23.2,330,3902,0.12,1.50,0.00,0.000,3078,0.344,0.037,2019,2808,3735,3800,3671,0,0,0,0,0,0,14.11,14.68,28.83
$GC,4101,-1.99,-194.6,2023,2808,3799,3667,897.0,-23.0,340,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2019,2808,3733,3799,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4276,-1.99,-194.6,2022,2810,3798,3665,937.5,-22.2,349,4281,0.00,1.67,0.00,0.000,260,0.000,0.077,2017,3783,3731,3799,3664,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4310,-1.99,-194.6,2017,3784,3797,3664,942.9,-22.3,350,4316,0.00,1.50,0.00,0.000,1030,0.000,0.039,2017,2821,3730,3797,3664,0,0,0,0,0,0,28.83,14.65,28.83
$GC,4505,-1.99,-194.6,2017,2822,3795,3662,989.3,-22.8,360,4510,0.00,1.65,0.00,0.000,260,0.000,0.081,2009,3778,3728,3795,3661,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4523,-1.99,-194.6,2010,3778,3794,3661,989.3,-22.8,360,4529,0.00,1.50,0.00,0.000,1030,0.000,0.040,2010,2815,3728,3794,3662,0,0,0,0,0,0,28.83,14.66,28.83
$STATE,4546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4546,begin apogee
$GC,4555,-0.25,0.0,2010,2087,3795,3660,999.6,-23.1,362,4748,2.28,0.00,182.40,1.834,10246,0.291,0.000,2579,2083,2934,2975,2894,0,0,0,0,0,0,13.87,28.83,13.23
$STATE,4750,end apogee,CONTROL_FINISHED_OK
$STATE,4750,begin climb
$GC,4754,1.99,194.6,2579,2083,2973,2891,1014.5,0.0,372,4951,2.10,1.90,181.62,1.808,11012,0.086,0.080,3316,3129,2137,2156,2119,0,0,0,0,0,0,14.32,14.21,13.28
$GC,5041,1.99,194.6,2432,3128,2113,2098,976.5,20.9,386,5047,0.00,1.73,0.00,0.000,1030,0.000,0.042,3324,2076,2131,2155,2108,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5241,1.99,194.6,3323,2076,2154,2100,936.2,19.9,396,5246,0.00,1.75,0.00,0.000,516,0.000,0.063,3332,1015,2127,2154,2100,0,0,0,0,0,0,28.83,14.63,28.83
$GC,5436,1.99,194.6,3332,1014,2154,2096,899.4,19.6,405,5443,0.00,1.77,0.00,0.000,1030,0.000,0.064,3332,2074,2122,2149,2096,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5632,1.99,194.6,3332,2074,2154,2093,859.9,19.6,415,5637,0.00,1.75,0.00,0.000,516,0.000,0.057,3339,1010,2123,2154,2093,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5717,1.99,194.6,3339,1010,2153,2093,843.2,19.9,419,5723,0.15,1.80,0.00,0.000,5126,0.357,0.060,3312,2084,2123,2153,2093,0,0,0,0,0,0,14.15,14.60,28.83
$GC,5924,1.99,194.6,3313,2084,2153,2090,804.8,18.7,429,5925,0.00,0.00,0.00,0.000,6,0.000,0.000,3313,2085,2122,2153,2091,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6103,1.99,194.6,3312,2085,2152,2089,769.9,19.5,438,6109,0.00,1.75,0.00,0.000,516,0.000,0.052,3318,1011,2120,2152,2089,0,0,0,0,0,0,28.83,14.67,28.83
$GC,6305,1.99,194.6,3318,1011,2151,2087,734.3,19.1,447,6313,0.00,1.83,0.00,0.000,1030,0.000,0.060,3318,2079,2118,2150,2087,0,0,0,0,0,0,28.83,14.53,28.83
$GC,6490,1.99,194.6,3318,2079,2150,2085,697.4,18.1,457,6495,0.00,1.75,0.00,0.000,516,0.000,0.050,3325,1009,2117,2150,2085,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6543,1.99,194.6,3325,1009,2151,2085,689.3,18.3,459,6549,0.00,1.77,0.00,0.000,1030,0.000,0.057,3325,2081,2117,2149,2085,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6739,1.99,194.6,3325,2081,2149,2084,653.0,17.6,469,6744,0.00,1.80,0.00,0.000,516,0.000,0.048,3332,1003,2116,2149,2084,0,0,0,0,0,0,28.83,14.59,28.83
$GC,6799,1.99,194.6,3332,1003,2150,2084,644.8,17.9,471,6805,0.00,1.77,0.00,0.000,1030,0.000,0.056,3332,2075,2116,2149,2083,0,0,0,0,0,0,28.83,14.56,28.83
$GC,6984,1.99,194.6,3332,2075,2149,2083,609.1,18.0,481,6990,0.00,1.77,0.00,0.000,260,0.000,0.073,3332,3135,2116,2149,2084,0,0,0,0,0,0,28.83,14.60,28.83
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$STATE,10968,end climb,SURFACE_DEPTH_REACHED
$STATE,10971,begin surface coast
$FINISH,-0.5,1.021339
$STATE,10992,end surface coast,CONTROL_FINISHED_OK
$STATE,10992,begin surface
$SM_CCo,11016,33.05,0.138,0,0,999,475.15
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$IRIDIUM_FIX,2001.88,12613.63,190813,161631
$TT8_MAMPS,0.018725,0.018725
$HUMID,56.18
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,3699456
$24V_AH,13.2,198.635
$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
$DEVICE_SECS,22.375,122.800,528.250,33.050,0.000,27.286,18.633,327.453,0.000,0.000,36.821,2657.206,5385.350,698.926,2412.630,590.968,0.000,1808.510,0.000,1932.391,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11051.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.745,0.000,0.000,0.000
$MEM,328404
$DATA_FILE_SIZE,33363,881
$CAP_FILE_SIZE,194791,0
$CFSIZE,260034560,192372736
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127,130.3,1
$GPS,190813,223030,2015.039,12615.787,40,1.1,40,-2.6