version: 66.11
glider: 181
mission: 11
dive: 161
start: 6 5 113 10 22 42
data:
$ID,181
$MISSION,11
$DIVE,161
$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,-95888.539
$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,57
$R_STBD_OVSHOOT,49
$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
$GPS1,050613,101253,2342.220,12310.412,29,1.6,47,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-68.9
$GPS2,050613,102215,2342.293,12310.489,10,4.1,29,-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,66.4,76743,-12.6,-7.857,-16.23,3084
$D_GRID,4498
$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,20,-0.79,-160.6,226,2472,916,909,0.0,0.0,0,110,0.00,0.00,-87.65,0.000,16386,0.000,0.000,225,2471,3196,3252,3140,0,0,0,0,0,0,28.83,28.83,28.83
$GC,113,-0.79,-160.6,224,2471,3252,3141,4.2,-15.0,15,134,10.23,2.20,-4.00,0.000,18692,0.396,0.092,2426,3772,3442,3522,3362,0,0,0,0,0,0,14.39,14.66,14.89
$GC,146,-0.79,-160.6,2426,3772,3522,3364,23.0,-51.5,20,153,0.00,2.05,0.00,0.000,1030,0.000,0.037,2426,2441,3446,3522,3370,0,0,0,0,0,0,28.83,14.71,28.83
$GC,451,-0.79,-160.6,2426,2435,3525,3364,105.1,-22.4,40,456,0.00,2.20,0.00,0.000,260,0.000,0.075,2416,3765,3444,3525,3363,0,0,0,0,0,0,28.83,14.76,28.83
$GC,494,-0.79,-160.6,2416,3765,3525,3364,115.0,-23.3,42,499,0.00,2.00,0.00,0.000,1030,0.000,0.034,2416,2438,3444,3525,3364,0,0,0,0,0,0,28.83,14.83,28.83
$GC,816,-0.79,-160.6,2416,2432,3527,3364,178.9,-19.1,58,822,0.00,2.15,0.00,0.000,516,0.000,0.043,2416,1058,3445,3527,3364,0,0,0,0,0,0,28.83,14.85,28.83
$GC,929,-0.79,-160.6,2416,1057,3527,3364,196.9,-17.0,63,936,0.15,2.22,0.00,0.000,3078,0.256,0.057,2441,2437,3445,3527,3364,0,0,0,0,0,0,14.67,14.83,28.83
$GC,1243,-0.79,-160.6,2437,2437,3533,3364,251.2,-15.6,79,1249,0.00,2.22,0.00,0.000,260,0.000,0.079,2433,3787,3445,3527,3364,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1280,-0.79,-160.6,2433,3787,3527,3364,254.6,-15.2,80,1287,0.00,2.03,0.00,0.000,1030,0.000,0.035,2433,2442,3445,3527,3364,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1586,-0.79,-160.6,2433,2440,3527,3364,307.9,-15.7,96,1592,0.00,2.15,0.00,0.000,516,0.000,0.044,2433,1061,3445,3527,3364,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1654,-0.79,-160.6,2433,1061,3527,3364,317.4,-15.2,99,1659,0.00,2.25,0.00,0.000,1030,0.000,0.058,2424,2451,3445,3527,3364,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1971,-0.79,-160.6,2423,2451,3527,3360,365.6,-14.3,115,1976,0.00,2.17,0.00,0.000,260,0.000,0.080,2413,3782,3443,3527,3360,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2089,-0.79,-160.6,2413,3777,3527,3360,381.4,-15.8,120,2096,0.12,2.00,0.00,0.000,3078,0.268,0.036,2446,2454,3443,3527,3359,0,0,0,0,0,0,14.71,14.95,28.83
$GC,2394,-0.79,-160.6,2440,2448,3527,3356,423.7,-13.2,136,2399,0.00,2.17,0.00,0.000,516,0.000,0.046,2440,1064,3441,3527,3356,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2491,-0.79,-160.6,2441,1063,3527,3356,434.3,-12.8,140,2497,0.00,2.25,0.00,0.000,1030,0.000,0.060,2436,2452,3441,3527,3356,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2797,-0.79,-160.6,2435,2453,3526,3354,478.9,-13.5,156,2802,0.00,2.20,0.00,0.000,260,0.000,0.085,2426,3781,3439,3526,3353,0,0,0,0,0,0,28.83,14.89,28.83
$GC,2929,-0.79,-160.6,2426,3783,3526,3352,497.5,-15.0,162,2935,0.00,2.03,0.00,0.000,1030,0.000,0.038,2425,2452,3439,3526,3352,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3242,-0.79,-160.6,2426,2446,3526,3348,537.7,-11.1,178,3248,0.00,2.17,0.00,0.000,516,0.000,0.049,2426,1063,3436,3526,3347,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3299,-0.79,-160.6,2426,1063,3526,3347,542.7,-11.4,180,3306,0.00,2.28,0.00,0.000,1030,0.000,0.061,2417,2460,3437,3527,3347,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3605,-0.79,-160.6,2416,2460,3524,3345,582.3,-13.0,196,3610,0.00,2.17,0.00,0.000,260,0.000,0.088,2406,3777,3433,3523,3344,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3697,-0.79,-160.6,2407,3777,3521,3345,593.9,-14.1,200,3704,0.15,2.05,0.00,0.000,3078,0.252,0.041,2441,2443,3432,3521,3344,0,0,0,0,0,0,14.71,14.96,28.83
$GC,4022,-0.79,-160.6,2441,2438,3520,3339,631.2,-10.6,212,4027,0.00,2.17,0.00,0.000,516,0.000,0.052,2442,1065,3430,3521,3340,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4103,-0.79,-160.6,2441,1065,3520,3340,638.2,-10.8,214,4109,0.00,2.28,0.00,0.000,1030,0.000,0.065,2436,2450,3429,3520,3339,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4416,-0.79,-160.6,2436,2450,3517,3336,672.6,-9.7,225,4421,0.00,2.22,0.00,0.000,260,0.000,0.093,2426,3780,3426,3517,3335,0,0,0,0,0,0,28.83,14.84,28.83
$GC,4562,-0.79,-160.6,2425,3780,3514,3335,685.7,-10.8,229,4569,0.00,2.08,0.00,0.000,1030,0.000,0.044,2425,2439,3424,3513,3335,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4868,-0.79,-160.6,2426,2438,3514,3331,719.6,-9.9,240,4869,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2437,3422,3514,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5169,-0.79,-160.6,2426,2438,3511,3328,748.2,-9.4,250,5175,0.00,2.20,0.00,0.000,516,0.000,0.054,2426,1061,3420,3512,3328,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5202,-0.79,-160.6,2426,1060,3511,3328,751.7,-9.5,251,5208,0.00,2.33,0.00,0.000,1030,0.000,0.068,2417,2458,3420,3512,3328,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5536,-0.79,-160.6,2418,2459,3509,3326,785.2,-10.1,262,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2459,3417,3509,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5836,-0.79,-160.6,2417,2458,3507,3323,816.6,-10.9,272,5842,0.00,2.22,0.00,0.000,260,0.000,0.097,2407,3777,3414,3507,3322,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5878,-0.79,-160.6,2407,3777,3506,3322,820.7,-11.1,273,5885,0.15,2.08,0.00,0.000,3078,0.256,0.047,2441,2447,3414,3506,3323,0,0,0,0,0,0,14.66,14.92,28.83
$GC,6204,-0.79,-160.6,2448,2446,3505,3320,852.6,-9.1,284,6209,0.00,2.28,0.00,0.000,260,0.000,0.096,2435,3778,3412,3505,3320,0,0,0,0,0,0,28.83,14.79,28.83
$GC,6230,-0.79,-160.6,2434,3778,3504,3320,852.6,-9.1,284,6237,0.00,2.08,0.00,0.000,1030,0.000,0.047,2434,2449,3412,3504,3320,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6537,-0.79,-160.6,2434,2447,3503,3318,882.8,-8.9,295,6542,0.00,2.22,0.00,0.000,516,0.000,0.057,2436,1062,3410,3504,3317,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6574,-0.79,-160.6,2434,1065,3503,3317,885.2,-8.6,296,6579,0.00,2.33,0.00,0.000,1030,0.000,0.070,2425,2459,3410,3503,3317,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6903,-0.79,-160.6,2424,2459,3501,3316,918.3,-10.1,307,6909,0.00,2.25,0.00,0.000,260,0.000,0.101,2415,3778,3409,3501,3317,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6936,-0.79,-160.6,2415,3778,3500,3316,921.9,-10.2,308,6942,0.00,2.10,0.00,0.000,1030,0.000,0.048,2414,2452,3408,3500,3316,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7270,-0.79,-160.6,2414,2448,3499,3316,953.8,-9.4,319,7271,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2448,3408,3500,3316,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7569,-0.79,-160.6,2415,2447,3498,3314,981.6,-9.4,329,7576,0.12,2.25,0.00,0.000,2564,0.268,0.055,2448,1058,3403,3498,3309,0,0,0,0,0,0,14.62,14.83,28.83
$GC,7593,-0.79,-160.6,2448,1058,3498,3313,981.6,-9.4,329,7599,0.00,2.33,0.00,0.000,1030,0.000,0.072,2441,2449,3405,3498,3313,0,0,0,0,0,0,28.83,14.81,28.83
$STATE,7695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7695,begin apogee
$GC,7700,-0.25,0.0,2441,2346,3498,3312,991.4,-7.4,333,7879,0.57,0.00,171.18,1.730,10246,0.203,0.000,2610,2346,2749,2786,2713,0,0,0,0,0,0,14.64,28.83,13.54
$STATE,7881,end apogee,CONTROL_FINISHED_OK
$STATE,7881,begin climb
$GC,7883,0.79,160.6,2610,2346,2784,2712,994.1,0.0,339,8046,1.05,0.00,151.02,2.416,10758,0.118,0.000,2951,2346,2097,2112,2083,0,0,0,0,1,0,14.16,28.83,13.12
$GC,8359,0.79,160.6,2950,2346,2113,2071,923.0,16.8,355,8360,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2346,2091,2112,2071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8659,0.79,160.6,2950,2346,2112,2066,874.2,16.0,365,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2346,2089,2113,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8959,0.79,160.6,2950,2346,2113,2064,825.2,16.1,375,8964,0.00,2.45,0.00,0.000,260,0.000,0.098,2950,3761,2089,2113,2065,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8982,0.79,160.6,2945,3761,2113,2065,825.2,16.1,375,8987,0.00,2.22,0.00,0.000,1030,0.000,0.044,2960,2357,2089,2113,2065,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9295,0.79,160.6,2960,2353,2113,2062,768.0,17.3,386,9300,0.00,2.30,0.00,0.000,516,0.000,0.057,2970,951,2087,2113,2062,0,0,0,0,0,0,28.83,14.79,28.83
$GC,9322,0.79,160.6,2970,950,2113,2062,768.0,17.3,386,9329,0.00,2.33,0.00,0.000,1030,0.000,0.063,2970,2353,2087,2112,2062,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9628,0.79,160.6,2970,2353,2113,2060,709.8,17.6,397,9633,0.00,2.30,0.00,0.000,516,0.000,0.056,2980,952,2086,2112,2061,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9661,0.79,160.6,2980,952,2112,2060,704.1,17.6,398,9667,0.00,2.33,0.00,0.000,1030,0.000,0.063,2980,2349,2086,2112,2060,0,0,0,0,0,0,28.83,14.79,28.83
$GC,9995,0.79,160.6,2980,2350,2113,2060,646.3,16.7,409,10001,0.00,2.40,0.00,0.000,260,0.000,0.094,2980,3767,2084,2109,2060,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10059,0.79,160.6,2980,3765,2113,2059,633.5,18.5,411,10065,0.15,2.25,0.00,0.000,5126,0.304,0.044,2959,2342,2086,2112,2060,0,0,0,0,0,0,14.58,14.86,28.83
$GC,10372,0.79,160.6,2959,2337,2112,2058,581.3,15.1,423,10377,0.00,2.25,0.00,0.000,516,0.000,0.056,2967,955,2085,2112,2058,0,0,0,0,0,0,28.83,14.83,28.83
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$STATE,15354,end climb,SURFACE_DEPTH_REACHED
$STATE,15354,begin surface coast
$FINISH,-0.9,1.021437
$STATE,15385,end surface coast,CONTROL_FINISHED_OK
$STATE,15385,begin surface
$SM_CCo,15405,50.65,0.141,0,0,916,450.13
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$IRIDIUM_FIX,2326.22,12304.88,050613,050555
$TT8_MAMPS,0.019474,0.019474
$HUMID,43.03
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,26.00
$XPDR_PINGS,5
$SC_FREEKB,3875488
$24V_AH,13.1,62.305
$10V_AH,13.3,0.000
$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
$DEVICE_SECS,20.575,151.750,408.375,50.650,0.000,31.025,46.015,247.465,1.250,0.000,33.499,2389.584,10527.655,613.307,2251.591,239.554,0.000,1627.916,0.000,1756.883,0.000,0.542,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15440.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.889,0.000,0.000,0.000
$MEM,328568
$DATA_FILE_SIZE,26702,729
$CAP_FILE_SIZE,176742,0
$CFSIZE,260034560,241999872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.240,113.7,1
$GPS,050613,144136,2342.308,12314.572,33,0.9,34,-3.3