version: 66.11
glider: 181
mission: 11
dive: 160
start: 6 5 113 5 56 28
data:
$ID,181
$MISSION,11
$DIVE,160
$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,420
$T_MISSION,450
$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,165
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52184
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0033
$HD_B,0.0082
$HD_C,1.5e-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,450
$N_FILEKB,8
$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,-95887.273
$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,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,2450
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,55
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2753
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,12
$MINV_10V,12
$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,49
$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
$GPS1,050613,054730,2341.186,12307.558,36,1.8,37,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-73.0
$GPS2,050613,055601,2341.300,12307.587,12,1.3,12,-3.3
$SPEED_LIMITS,0.136,0.270
$TGT_NAME,N2
$TGT_LATLONG,2350.000,12355.000
$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,54.4,81921,-12.6,-7.857,-16.23,3084
$D_GRID,3995
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.79,-160.6,229,2480,906,919,0.0,0.0,0,103,0.00,0.00,-81.32,0.000,16386,0.000,0.000,230,2481,3020,3075,2966,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.79,-160.6,230,2481,3076,2966,3.9,-14.3,14,132,10.20,2.30,-6.62,0.000,18948,0.398,0.062,2436,1055,3412,3497,3327,0,0,0,0,0,0,14.38,14.69,14.90
$GC,195,-0.79,-160.6,2436,1054,3498,3328,35.5,-25.4,27,200,0.00,2.25,0.00,0.000,1030,0.000,0.057,2428,2431,3413,3498,3328,0,0,0,0,0,0,28.83,14.67,28.83
$GC,517,-0.79,-160.6,2431,2432,3498,3328,111.7,-21.0,46,523,0.00,2.22,0.00,0.000,260,0.000,0.077,2418,3791,3413,3498,3328,0,0,0,0,0,0,28.83,14.76,28.83
$GC,623,-0.79,-160.6,1536,3791,3491,3325,133.6,-21.3,51,629,0.00,2.05,0.00,0.000,1030,0.000,0.034,2418,2423,3413,3498,3329,0,0,0,0,0,0,28.83,14.87,28.83
$GC,941,-0.79,-160.6,2418,2417,3498,3325,195.3,-18.1,67,946,0.00,2.10,0.00,0.000,516,0.000,0.042,2417,1068,3413,3498,3329,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1148,-0.79,-160.6,2418,1067,3498,3329,229.9,-16.0,77,1154,0.15,2.25,0.00,0.000,3078,0.251,0.057,2443,2467,3413,3498,3329,0,0,0,0,0,0,14.69,14.85,28.83
$GC,1466,-0.79,-160.6,2443,2467,3498,3329,275.7,-14.3,93,1472,0.00,2.15,0.00,0.000,260,0.000,0.080,2435,3781,3413,3498,3329,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1530,-0.79,-160.6,2435,3781,3498,3329,285.1,-14.6,96,1536,0.00,2.00,0.00,0.000,1030,0.000,0.034,2435,2450,3411,3494,3329,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1853,-0.79,-160.6,2435,2444,3498,3328,330.1,-13.6,112,1854,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2444,3413,3498,3328,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2154,-0.79,-160.6,2435,2444,3498,3324,370.2,-13.7,127,2160,0.00,2.17,0.00,0.000,260,0.000,0.079,2426,3775,3411,3498,3324,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2181,-0.79,-160.6,2426,3775,3498,3324,373.5,-13.6,128,2186,0.00,2.00,0.00,0.000,1030,0.000,0.035,2426,2450,3411,3498,3324,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2499,-0.79,-160.6,2426,2444,3497,3321,416.4,-13.1,144,2504,0.00,2.17,0.00,0.000,516,0.000,0.046,2426,1058,3409,3498,3320,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2535,-0.79,-160.6,2425,1057,3498,3320,419.7,-13.3,145,2543,0.00,2.25,0.00,0.000,1030,0.000,0.060,2416,2447,3409,3498,3320,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2841,-0.79,-160.6,2416,2447,3498,3317,461.2,-12.7,161,2847,0.00,2.17,0.00,0.000,260,0.000,0.083,2406,3777,3408,3500,3316,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2904,-0.79,-160.6,2406,3777,3498,3316,469.6,-13.0,164,2911,0.15,2.03,0.00,0.000,3078,0.252,0.037,2441,2440,3407,3498,3317,0,0,0,0,0,0,14.73,14.97,28.83
$GC,3229,-0.79,-160.6,2441,2437,3497,3314,505.1,-11.2,180,3234,0.00,2.15,0.00,0.000,516,0.000,0.048,2441,1068,3405,3497,3314,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3281,-0.79,-160.6,2441,1068,3497,3314,510.2,-11.7,182,3287,0.00,2.25,0.00,0.000,1030,0.000,0.062,2436,2451,3405,3497,3314,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3594,-0.79,-160.6,2436,2452,3495,3309,546.3,-11.0,198,3599,0.00,2.20,0.00,0.000,516,0.000,0.050,2436,1066,3399,3490,3309,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3636,-0.79,-160.6,2436,1066,3495,3309,551.2,-11.3,200,3641,0.00,2.28,0.00,0.000,1030,0.000,0.064,2436,2451,3401,3494,3309,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3959,-0.79,-160.6,2435,2454,3491,3307,585.9,-10.3,216,3964,0.00,2.20,0.00,0.000,260,0.000,0.090,2427,3778,3398,3490,3307,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3995,-0.79,-160.6,2427,3778,3490,3307,588.3,-10.4,217,4003,0.00,2.03,0.00,0.000,1030,0.000,0.042,2427,2456,3398,3490,3307,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4313,-0.79,-160.6,2426,2454,3488,3304,624.7,-11.2,230,4319,0.00,2.22,0.00,0.000,260,0.000,0.089,2417,3781,3396,3488,3304,0,0,0,0,0,0,28.83,14.86,28.83
$GC,4360,-0.79,-160.6,2416,3781,3487,3304,628.8,-11.4,231,4365,0.00,2.05,0.00,0.000,1030,0.000,0.042,2417,2453,3395,3487,3304,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4678,-0.79,-160.6,2417,2453,3485,3301,669.4,-12.7,242,4684,0.00,2.20,0.00,0.000,516,0.000,0.053,2416,1063,3392,3485,3300,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4751,-0.79,-160.6,2416,1063,3484,3300,677.6,-13.1,244,4757,0.15,2.30,0.00,0.000,3078,0.246,0.067,2443,2461,3392,3484,3300,0,0,0,0,0,0,14.71,14.88,28.83
$GC,5075,-0.79,-160.6,2443,2461,3482,3297,710.4,-8.9,255,5081,0.00,2.22,0.00,0.000,260,0.000,0.094,2435,3787,3389,3481,3297,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5138,-0.79,-160.6,2435,3788,3481,3297,716.2,-8.8,257,5143,0.00,2.10,0.00,0.000,1030,0.000,0.045,2435,2442,3389,3481,3297,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5472,-0.79,-160.6,2435,2440,3480,3294,744.6,-8.5,268,5477,0.00,2.28,0.00,0.000,260,0.000,0.092,2425,3787,3387,3480,3294,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5494,-0.79,-160.6,2426,3788,3479,3293,744.6,-8.5,268,5499,0.00,2.08,0.00,0.000,1030,0.000,0.045,2425,2453,3386,3479,3294,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5807,-0.79,-160.6,2426,2449,3477,3291,776.5,-9.7,279,5812,0.00,2.22,0.00,0.000,516,0.000,0.054,2425,1059,3384,3477,3291,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5863,-0.79,-160.6,2425,1059,3477,3291,779.9,-9.9,280,5870,0.00,2.30,0.00,0.000,1030,0.000,0.070,2417,2449,3383,3476,3290,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6170,-0.79,-160.6,2417,2452,3474,3288,815.1,-10.8,291,6176,0.00,2.28,0.00,0.000,260,0.000,0.099,2405,3786,3381,3474,3288,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6217,-0.79,-160.6,2408,3786,3474,3288,818.9,-10.9,292,6223,0.15,2.10,0.00,0.000,3078,0.253,0.048,2442,2449,3381,3474,3288,0,0,0,0,0,0,14.66,14.92,28.83
$GC,6537,-0.79,-160.6,2442,2447,3473,3286,850.1,-9.2,303,6538,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2447,3379,3473,3285,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6836,-0.79,-160.6,2442,2447,3471,3283,877.7,-9.5,313,6837,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2447,3377,3471,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7136,-0.79,-160.6,2442,2447,3468,3281,905.5,-9.2,323,7141,0.00,2.25,0.00,0.000,516,0.000,0.057,2442,1052,3375,3469,3281,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7163,-0.79,-160.6,2442,1051,3469,3281,905.5,-9.2,323,7170,0.00,2.33,0.00,0.000,1030,0.000,0.071,2437,2447,3375,3469,3281,0,0,0,0,0,0,28.83,14.82,28.83
$GC,7469,-0.79,-160.6,2437,2448,3467,3280,937.7,-9.6,334,7474,0.00,2.28,0.00,0.000,260,0.000,0.102,2428,3781,3373,3467,3280,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7522,-0.79,-160.6,2428,3782,3467,3280,941.2,-9.8,335,7527,0.00,2.10,0.00,0.000,1030,0.000,0.048,2428,2449,3373,3467,3280,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7835,-0.79,-160.6,2428,2445,3466,3279,974.8,-9.9,346,7840,0.00,2.25,0.00,0.000,516,0.000,0.058,2428,1053,3372,3466,3279,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7867,-0.79,-160.6,2428,1053,3466,3279,978.8,-10.4,347,7872,0.00,2.35,0.00,0.000,1030,0.000,0.072,2419,2453,3372,3466,3279,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,7988,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7988,begin apogee
$GC,7993,-0.25,0.0,2419,2339,3466,3278,990.8,-9.8,351,8165,0.68,0.00,162.98,1.745,10246,0.214,0.000,2615,2335,2750,2790,2711,0,0,0,0,0,0,14.62,28.83,13.54
$STATE,8167,end apogee,CONTROL_FINISHED_OK
$STATE,8167,begin climb
$GC,8169,0.79,160.6,2616,2338,2788,2709,995.9,0.0,356,8333,1.02,0.00,153.75,2.515,10758,0.114,0.000,2950,2338,2098,2112,2084,0,0,0,0,1,0,14.18,28.83,13.10
$GC,8620,0.79,160.6,2950,2338,2112,2072,929.9,16.9,372,8626,0.00,2.50,0.00,0.000,260,0.000,0.103,2950,3755,2092,2112,2072,0,0,0,0,0,0,28.83,14.50,28.83
$GC,8653,0.79,160.6,2950,3755,2112,2072,923.8,17.3,373,8658,0.00,2.28,0.00,0.000,1030,0.000,0.043,2960,2350,2092,2112,2072,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8987,0.79,160.6,2960,2350,2112,2067,862.8,18.3,384,8992,0.00,2.47,0.00,0.000,260,0.000,0.099,2960,3762,2089,2112,2067,0,0,0,0,0,0,28.83,14.66,28.83
$GC,9034,0.79,160.6,2960,3762,2112,2067,856.2,18.6,385,9040,0.00,2.25,0.00,0.000,1030,0.000,0.043,2971,2347,2089,2112,2067,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9353,0.79,160.6,2971,2344,2112,2065,793.4,18.3,396,9359,0.00,2.45,0.00,0.000,260,0.000,0.096,2971,3757,2089,2112,2066,0,0,0,0,0,0,28.83,14.72,28.83
$GC,9420,0.79,160.6,2048,3757,2073,2055,780.3,19.3,398,9425,0.00,2.22,0.00,0.000,1030,0.000,0.042,2980,2346,2086,2107,2065,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9749,0.79,160.6,2981,2341,2112,2063,719.8,17.8,409,9750,0.00,0.00,0.00,0.000,6,0.000,0.000,2981,2342,2088,2112,2064,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10048,0.79,160.6,2981,2342,2112,2062,668.1,16.8,419,10053,0.00,2.45,0.00,0.000,260,0.000,0.095,2981,3762,2087,2112,2062,0,0,0,0,0,0,28.83,14.77,28.83
$GC,10120,0.79,160.6,2981,3762,2112,2062,656.1,17.8,421,10126,0.15,2.22,0.00,0.000,5126,0.308,0.044,2961,2346,2087,2112,2062,0,0,0,0,0,0,14.59,14.87,28.83
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$STATE,15200,end climb,SURFACE_DEPTH_REACHED
$STATE,15200,begin surface coast
$FINISH,-0.2,1.021382
$STATE,15232,end surface coast,CONTROL_FINISHED_OK
$STATE,15232,begin surface
$SM_CCo,15248,44.90,0.143,0,0,917,450.13
$SM_GC,-0.04,7.57,0.17,44.90,0.043,0.114,0.143,242,2467,917,-7.61,-1.07,450.13,0,0,0,0,0,0,14.80,14.79,14.66
$IRIDIUM_FIX,2323.87,12332.28,050613,010130
$TT8_MAMPS,0.019474,0.019474
$HUMID,44.84
$INTERNAL_PRESSURE,9.72694
$TCM_TEMP,25.40
$XPDR_PINGS,3
$SC_FREEKB,3875936
$24V_AH,13.1,62.015
$10V_AH,13.1,0.000
$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,20.775,161.700,406.800,44.900,0.000,24.502,18.542,246.245,0.750,0.000,15.114,2347.653,10440.761,625.453,2156.370,238.807,0.000,1618.304,0.000,1709.591,0.000,0.542,0.000
$DEVICE_MAMPS,397.800,113.985,2515.320,143.055,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15308.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.691,0.000,0.000,0.000
$MEM,328616
$DATA_FILE_SIZE,26734,709
$CAP_FILE_SIZE,176337,0
$CFSIZE,260034560,242114560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.137,112.2,1
$GPS,050613,101253,2342.220,12310.412,29,1.6,47,-3.3