version: 66.11
glider: 181
mission: 11
dive: 162
start: 6 5 113 14 50 52
data:
$ID,181
$MISSION,11
$DIVE,162
$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,-95889.805
$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,67
$R_STBD_OVSHOOT,33
$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
$GPS1,050613,144136,2342.308,12314.572,33,0.9,34,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-70.0
$GPS2,050613,145025,2342.372,12314.676,13,1.3,13,-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,50.7,69757,-12.6,-7.857,-16.23,3084
$D_GRID,4504
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.79,-160.6,226,2455,914,912,0.0,0.0,0,107,0.00,0.00,-85.62,0.000,16386,0.000,0.000,225,2457,3103,3159,3048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.79,-160.6,221,2457,3159,3051,3.6,-12.6,15,131,10.23,2.25,-5.25,0.000,18692,0.396,0.093,2427,3780,3411,3494,3328,0,0,0,0,0,0,14.40,14.66,14.90
$GC,154,-0.79,-160.6,2427,3780,3494,3329,24.3,-40.3,22,160,0.00,2.05,0.00,0.000,1030,0.000,0.034,2427,2443,3411,3494,3329,0,0,0,0,0,0,28.83,14.71,28.83
$GC,459,-0.79,-160.6,2427,2437,3496,3330,112.4,-25.5,42,464,0.00,2.15,0.00,0.000,516,0.000,0.040,2426,1053,3413,3496,3330,0,0,0,0,0,0,28.83,14.81,28.83
$GC,545,-0.79,-160.6,1552,1051,3489,3326,129.7,-20.8,46,550,0.00,2.28,0.00,0.000,1030,0.000,0.057,2417,2460,3413,3496,3330,0,0,0,0,0,0,28.83,14.80,28.83
$GC,862,-0.79,-160.6,2417,2459,3491,3331,191.1,-19.2,62,868,0.00,2.20,0.00,0.000,516,0.000,0.041,2416,1047,3413,3496,3331,0,0,0,0,0,0,28.83,14.87,28.83
$GC,899,-0.79,-160.6,2416,1047,3497,3331,195.3,-18.9,63,907,0.15,2.25,0.00,0.000,3078,0.257,0.055,2441,2448,3414,3497,3331,0,0,0,0,0,0,14.68,14.84,28.83
$GC,1205,-0.79,-160.6,2441,2449,3497,3331,244.3,-14.7,79,1210,0.00,2.17,0.00,0.000,516,0.000,0.044,2441,1063,3414,3497,3331,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1257,-0.79,-160.6,2442,1062,3497,3331,250.5,-14.6,81,1262,0.00,2.25,0.00,0.000,1030,0.000,0.057,2434,2457,3414,3497,3331,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1570,-0.79,-160.6,2434,2459,3497,3327,295.7,-13.8,97,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2458,3413,3496,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1871,-0.79,-160.6,2434,2459,3497,3328,337.6,-14.1,112,1876,0.00,2.17,0.00,0.000,260,0.000,0.080,2424,3784,3412,3497,3328,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1968,-0.79,-160.6,2424,3784,3497,3328,350.5,-15.4,116,1975,0.00,2.03,0.00,0.000,1030,0.000,0.037,2424,2440,3412,3497,3328,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2273,-0.79,-160.6,2424,2438,3496,3324,400.4,-14.4,132,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2424,2438,3410,3497,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2575,-0.79,-160.6,2424,2438,3497,3321,442.8,-14.1,147,2580,0.00,2.15,0.00,0.000,516,0.000,0.046,2422,1060,3408,3496,3321,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2607,-0.79,-160.6,2424,1059,3496,3320,445.8,-13.6,148,2612,0.00,2.25,0.00,0.000,1030,0.000,0.059,2415,2451,3408,3496,3320,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2919,-0.79,-160.6,2415,2451,3496,3316,489.8,-14.4,164,2924,0.00,2.20,0.00,0.000,516,0.000,0.049,2414,1062,3406,3497,3316,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2956,-0.79,-160.6,2415,1061,3497,3316,493.0,-14.5,165,2963,0.15,2.28,0.00,0.000,3078,0.250,0.062,2441,2459,3406,3497,3316,0,0,0,0,0,0,14.74,14.90,28.83
$GC,3262,-0.79,-160.6,2441,2461,3491,3317,530.1,-11.0,181,3267,0.00,2.17,0.00,0.000,260,0.000,0.086,2433,3778,3401,3487,3316,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3335,-0.79,-160.6,2434,3779,3491,3316,537.1,-11.0,184,3340,0.00,2.03,0.00,0.000,1030,0.000,0.039,2433,2448,3401,3491,3312,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3648,-0.79,-160.6,2433,2444,3491,3311,575.0,-12.1,200,3649,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2444,3401,3491,3311,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3949,-0.79,-160.6,2433,2444,3489,3308,607.9,-10.6,214,3950,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2444,3398,3489,3308,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4248,-0.79,-160.6,2434,2444,3487,3307,640.0,-10.5,224,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2444,3397,3487,3307,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4548,-0.79,-160.6,2433,2444,3484,3303,671.7,-9.9,234,4549,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2444,3397,3491,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4848,-0.79,-160.6,2433,2444,3482,3300,705.1,-11.2,244,4854,0.00,2.25,0.00,0.000,260,0.000,0.089,2423,3783,3391,3481,3301,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4881,-0.79,-160.6,2423,3783,3481,3300,708.9,-11.1,245,4886,0.00,2.08,0.00,0.000,1030,0.000,0.042,2423,2450,3390,3481,3300,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5215,-0.79,-160.6,2423,2443,3480,3297,746.1,-11.0,256,5220,0.00,2.20,0.00,0.000,516,0.000,0.053,2423,1062,3388,3480,3297,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5261,-0.79,-160.6,2423,1062,3480,3297,749.8,-10.8,257,5267,0.00,2.30,0.00,0.000,1030,0.000,0.067,2416,2455,3388,3480,3297,0,0,0,0,0,0,28.83,14.86,28.83
$GC,5580,-0.79,-160.6,2416,2454,3477,3295,787.1,-11.5,268,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2455,3384,3475,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5879,-0.79,-160.6,2416,2455,3475,3292,821.6,-11.6,278,5884,0.00,2.22,0.00,0.000,260,0.000,0.096,2406,3775,3383,3475,3292,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5942,-0.79,-160.6,2406,3775,3474,3292,829.3,-12.0,280,5948,0.15,2.08,0.00,0.000,3078,0.251,0.045,2441,2449,3383,3474,3292,0,0,0,0,0,0,14.67,14.93,28.83
$GC,6276,-0.79,-160.6,2441,2445,3474,3289,860.3,-8.7,291,6281,0.00,2.22,0.00,0.000,516,0.000,0.056,2441,1061,3381,3473,3289,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6349,-0.79,-160.6,2441,1060,3473,3289,865.8,-8.6,293,6356,0.00,2.33,0.00,0.000,1030,0.000,0.070,2437,2457,3381,3473,3289,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6674,-0.79,-160.6,2437,2457,3470,3286,896.2,-9.1,304,6679,0.00,2.25,0.00,0.000,260,0.000,0.100,2427,3781,3378,3470,3286,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6761,-0.79,-160.6,2427,3782,3468,3286,902.3,-9.4,306,6768,0.00,2.10,0.00,0.000,1030,0.000,0.047,2427,2443,3377,3468,3286,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7067,-0.79,-160.6,2427,2441,3468,3284,934.1,-9.8,317,7072,0.00,2.22,0.00,0.000,516,0.000,0.057,2427,1060,3376,3468,3284,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7139,-0.79,-160.6,2427,1060,3467,3284,940.6,-10.2,319,7145,0.00,2.33,0.00,0.000,1030,0.000,0.070,2418,2453,3380,3473,3287,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7463,-0.79,-160.6,2419,2454,3466,3281,974.8,-10.1,330,7468,0.00,2.28,0.00,0.000,260,0.000,0.102,2408,3787,3373,3466,3281,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7550,-0.79,-160.6,2408,3787,3465,3280,981.8,-10.6,332,7557,0.15,2.10,0.00,0.000,3078,0.251,0.049,2443,2450,3373,3465,3281,0,0,0,0,0,0,14.62,14.90,28.83
$STATE,7614,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7614,begin apogee
$GC,7619,-0.25,0.0,2443,2337,3465,3281,990.8,-10.2,335,7791,0.55,0.00,158.80,1.748,10246,0.200,0.000,2609,2337,2754,2793,2715,0,0,0,0,1,0,14.64,28.83,13.33
$STATE,7793,end apogee,CONTROL_FINISHED_OK
$STATE,7793,begin climb
$GC,7795,0.79,160.6,2609,2337,2793,2716,995.4,0.0,340,7967,1.05,2.40,157.90,2.502,11012,0.119,0.061,2960,968,2099,2114,2084,0,0,0,0,1,0,14.22,13.95,13.11
$GC,7979,0.79,160.6,2960,967,2114,2082,974.6,13.7,347,7985,0.00,2.45,0.00,0.000,1030,0.000,0.069,2960,2347,2097,2114,2081,0,0,0,0,0,0,28.83,14.04,28.83
$GC,8314,0.79,160.6,2960,2348,2113,2068,916.2,17.6,358,8320,0.00,2.47,0.00,0.000,260,0.000,0.102,2960,3762,2091,2113,2069,0,0,0,0,0,0,28.83,14.56,28.83
$GC,8397,0.79,160.6,2960,3762,2113,2068,904.0,18.2,360,8404,0.00,2.25,0.00,0.000,1030,0.000,0.044,2971,2358,2090,2113,2068,0,0,0,0,0,0,28.83,14.66,28.83
$GC,8711,0.79,160.6,2971,2357,2113,2065,843.2,17.6,371,8712,0.00,0.00,0.00,0.000,6,0.000,0.000,2970,2357,2087,2113,2061,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9011,0.79,160.6,2971,2357,2113,2063,791.5,16.7,381,9016,0.00,2.45,0.00,0.000,260,0.000,0.096,2970,3764,2088,2113,2063,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9034,0.79,160.6,2971,3764,2113,2063,791.5,16.7,381,9039,0.00,2.25,0.00,0.000,1030,0.000,0.043,2981,2340,2088,2113,2063,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9347,0.79,160.6,2981,2336,2113,2061,731.0,18.1,392,9352,0.00,2.25,0.00,0.000,516,0.000,0.056,2991,954,2086,2112,2061,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9373,0.79,160.6,2992,954,2113,2061,731.0,18.1,392,9381,0.15,2.35,0.00,0.000,5126,0.284,0.063,2960,2367,2086,2113,2060,0,0,0,0,0,0,14.59,14.79,28.83
$GC,9680,0.79,160.6,2960,2366,2113,2059,678.9,14.7,403,9682,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2366,2089,2113,2065,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9979,0.79,160.6,2960,2366,2113,2058,632.0,16.4,413,9985,0.00,2.38,0.00,0.000,260,0.000,0.095,2960,3759,2085,2113,2057,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10013,0.79,160.6,2959,3759,2113,2058,626.0,16.9,414,10018,0.00,2.22,0.00,0.000,1030,0.000,0.043,2968,2348,2085,2113,2058,0,0,0,0,0,0,28.83,14.88,28.83
$GC,10325,0.79,160.6,2968,2344,2112,2052,573.4,16.3,427,10332,0.00,2.42,0.00,0.000,260,0.000,0.096,2968,3753,2084,2113,2056,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10369,0.79,160.6,2968,3753,2113,2056,566.0,16.4,429,10375,0.00,2.22,0.00,0.000,1030,0.000,0.042,2977,2343,2084,2113,2056,0,0,0,0,0,0,28.83,14.88,28.83
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$STATE,15390,end climb,SURFACE_DEPTH_REACHED
$STATE,15390,begin surface coast
$FINISH,-0.1,1.021272
$STATE,15431,end surface coast,CONTROL_FINISHED_OK
$STATE,15431,begin surface
$SM_CCo,15447,57.15,0.138,0,0,917,450.13
$SM_GC,-0.02,7.45,0.17,57.15,0.047,0.112,0.138,236,2461,917,-7.62,-1.16,450.13,0,0,0,0,0,0,14.83,14.82,14.69
$IRIDIUM_FIX,2345.05,12315.26,050613,101028
$TT8_MAMPS,0.018725,0.018725
$HUMID,42.95
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,26.20
$XPDR_PINGS,4
$SC_FREEKB,3875040
$24V_AH,13.1,62.596
$10V_AH,13.0,0.000
$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,20.475,148.750,395.100,57.150,0.000,28.839,21.507,254.613,1.000,0.000,16.299,2382.447,10627.350,631.962,2161.110,234.696,0.000,1602.311,0.000,1706.942,0.000,0.543,0.000
$DEVICE_MAMPS,396.270,111.690,2502.315,138.465,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15509.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.950,0.000,0.000,0.000
$MEM,328528
$DATA_FILE_SIZE,26730,745
$CAP_FILE_SIZE,176837,0
$CFSIZE,260034560,241885184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.250,115.5,1
$GPS,050613,191035,2342.968,12318.450,33,0.9,34,-3.3