version: 66.11
glider: 181
mission: 11
dive: 172
start: 6 7 113 12 28 52
data:
$ID,181
$MISSION,11
$DIVE,172
$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,-95902.508
$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,74
$R_STBD_OVSHOOT,61
$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
$GPS1,070613,121859,2350.655,12358.258,38,1.2,39,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-71.2
$GPS2,070613,122824,2350.748,12358.646,14,1.2,31,-3.4
$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,260.0,6329,-12.6,-7.857,-16.23,3084
$D_GRID,2763
$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,-160.6,213,2488,912,910,0.0,0.0,0,104,0.00,0.00,-82.38,0.000,16386,0.000,0.000,212,2488,2973,3026,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.79,-160.6,212,2488,3026,2922,3.1,-10.2,14,133,10.05,2.25,-7.85,0.000,18948,0.386,0.067,2434,1067,3409,3500,3319,0,0,0,0,0,0,14.38,14.71,14.92
$GC,236,-0.79,-160.6,2434,1066,3500,3321,44.6,-26.0,31,241,0.00,2.22,0.00,0.000,1030,0.000,0.057,2427,2426,3411,3501,3322,0,0,0,0,0,0,28.83,14.69,28.83
$GC,548,-0.79,-160.6,2427,2428,3500,3322,116.5,-23.4,48,549,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2428,3410,3500,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,849,-0.79,-160.6,2427,2427,3500,3325,174.6,-17.9,63,854,0.00,2.20,0.00,0.000,260,0.000,0.076,2416,3779,3412,3499,3325,0,0,0,0,0,0,28.83,14.81,28.83
$GC,962,-0.79,-160.6,2416,3779,3501,3325,193.4,-18.1,68,968,0.00,2.00,0.00,0.000,1030,0.000,0.035,2415,2453,3412,3500,3325,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1275,-0.79,-160.6,2422,2445,3501,3325,244.8,-16.1,84,1281,0.00,2.20,0.00,0.000,260,0.000,0.076,2406,3785,3413,3501,3325,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1298,-0.79,-160.6,2406,3786,3500,3325,248.7,-16.3,85,1304,0.15,2.03,0.00,0.000,3078,0.253,0.036,2441,2437,3413,3501,3325,0,0,0,0,0,0,14.70,14.92,28.83
$GC,1622,-0.79,-160.6,2441,2428,3501,3324,297.4,-15.4,101,1627,0.00,2.12,0.00,0.000,516,0.000,0.045,2441,1072,3412,3501,3324,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1654,-0.79,-160.6,2441,1072,3501,3324,300.9,-15.5,102,1659,0.00,2.22,0.00,0.000,1030,0.000,0.058,2434,2452,3412,3501,3324,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1966,-0.79,-160.6,2434,2452,3501,3321,347.2,-13.5,118,1973,0.00,2.17,0.00,0.000,260,0.000,0.080,2424,3777,3411,3501,3321,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2021,-0.79,-160.6,2424,3777,3501,3320,354.0,-14.6,120,2026,0.00,2.00,0.00,0.000,1030,0.000,0.037,2424,2456,3410,3500,3320,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2333,-0.79,-160.6,2425,2450,3500,3316,403.0,-14.4,136,2338,0.00,2.20,0.00,0.000,260,0.000,0.080,2414,3786,3409,3501,3317,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2370,-0.79,-160.6,1536,3785,3494,3313,406.4,-14.5,137,2377,0.12,2.03,0.00,0.000,3078,0.256,0.037,2442,2448,3408,3500,3317,0,0,0,0,0,0,14.72,14.95,28.83
$GC,2676,-0.79,-160.6,2442,2447,3501,3315,445.6,-11.5,153,2681,0.00,2.17,0.00,0.000,516,0.000,0.048,2442,1062,3408,3501,3315,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2763,-0.79,-160.6,2442,1062,3501,3315,455.8,-12.3,157,2768,0.00,2.25,0.00,0.000,1030,0.000,0.060,2436,2448,3408,3501,3315,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3081,-0.79,-160.6,2436,2449,3498,3316,495.9,-12.7,173,3086,0.00,2.22,0.00,0.000,260,0.000,0.086,2427,3784,3404,3498,3311,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3138,-0.79,-160.6,2426,3784,3498,3311,501.6,-13.0,175,3146,0.00,2.05,0.00,0.000,1030,0.000,0.041,2427,2447,3404,3498,3311,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3443,-0.79,-160.6,2427,2446,3497,3308,541.1,-12.1,191,3449,0.00,2.20,0.00,0.000,516,0.000,0.051,2426,1056,3402,3497,3308,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3521,-0.79,-160.6,2426,1056,3497,3307,549.1,-12.7,194,3528,0.00,2.28,0.00,0.000,1030,0.000,0.062,2417,2449,3401,3496,3307,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3827,-0.79,-160.6,2417,2450,3494,3306,591.2,-12.7,210,3832,0.00,2.20,0.00,0.000,260,0.000,0.088,2407,3776,3397,3493,3302,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3909,-0.79,-160.6,2407,3775,3491,3305,602.4,-13.7,214,3915,0.15,2.05,0.00,0.000,3078,0.245,0.043,2442,2452,3398,3491,3305,0,0,0,0,0,0,14.71,14.95,28.83
$GC,4224,-0.79,-160.6,2442,2447,3491,3301,636.3,-10.5,225,4229,0.00,2.22,0.00,0.000,516,0.000,0.054,2442,1053,3395,3491,3300,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4276,-0.79,-160.6,2443,1053,3490,3300,639.9,-10.5,226,4282,0.00,2.30,0.00,0.000,1030,0.000,0.064,2437,2450,3394,3489,3300,0,0,0,0,0,0,28.83,14.86,28.83
$GC,4590,-0.79,-160.6,2437,2450,3488,3297,674.9,-10.2,237,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2450,3392,3488,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4889,-0.79,-160.6,2437,2451,3486,3294,706.3,-10.8,247,4890,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2450,3390,3486,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5189,-0.79,-160.6,2437,2450,3483,3291,740.1,-11.5,257,5195,0.00,2.25,0.00,0.000,260,0.000,0.095,2427,3783,3386,3483,3290,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5261,-0.79,-160.6,2427,3783,3482,3291,748.0,-12.0,259,5267,0.00,2.08,0.00,0.000,1030,0.000,0.047,2427,2457,3386,3481,3291,0,0,0,0,0,0,28.83,14.93,28.83
$GC,5586,-0.79,-160.6,2427,2453,3481,3287,786.2,-11.1,270,5591,0.00,2.25,0.00,0.000,260,0.000,0.093,2417,3778,3384,3481,3287,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5613,-0.79,-160.6,2417,3777,3480,3288,786.2,-11.1,270,5620,0.00,2.10,0.00,0.000,1030,0.000,0.046,2417,2439,3383,3480,3287,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5919,-0.79,-160.6,2417,2438,3479,3285,822.2,-10.5,281,5925,0.00,2.30,0.00,0.000,260,0.000,0.093,2407,3787,3382,3479,3285,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5936,-0.79,-160.6,2407,3787,3478,3285,822.2,-10.5,281,5943,0.15,2.12,0.00,0.000,3078,0.249,0.047,2442,2437,3381,3478,3285,0,0,0,0,0,0,14.66,14.92,28.83
$GC,6257,-0.79,-160.6,2441,2435,3477,3281,854.5,-9.6,292,6263,0.00,2.22,0.00,0.000,516,0.000,0.060,2442,1059,3379,3477,3281,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6320,-0.79,-160.6,2442,1059,3478,3286,860.6,-9.6,294,6326,0.00,2.33,0.00,0.000,1030,0.000,0.070,2437,2448,3378,3476,3281,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6655,-0.79,-160.6,2437,2448,3474,3280,891.6,-9.3,305,6660,0.00,2.28,0.00,0.000,260,0.000,0.099,2427,3780,3376,3474,3279,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6691,-0.79,-160.6,2427,3780,3473,3279,894.8,-9.2,306,6697,0.00,2.10,0.00,0.000,1030,0.000,0.049,2427,2449,3377,3474,3280,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7021,-0.79,-160.6,2427,2447,3472,3278,925.7,-9.4,317,7026,0.00,2.25,0.00,0.000,516,0.000,0.060,2427,1061,3375,3472,3278,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7077,-0.79,-160.6,2427,1061,3472,3278,928.9,-9.4,318,7084,0.00,2.33,0.00,0.000,1030,0.000,0.072,2419,2450,3375,3472,3278,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7384,-0.79,-160.6,2419,2450,3469,3276,960.0,-9.5,329,7389,0.00,2.28,0.00,0.000,260,0.000,0.101,2409,3778,3372,3469,3275,0,0,0,0,0,0,28.83,14.75,28.83
$GC,7416,-0.79,-160.6,2408,3779,3468,3275,964.3,-10.3,330,7422,0.15,2.12,0.00,0.000,3078,0.246,0.049,2443,2444,3371,3468,3275,0,0,0,0,0,0,14.62,14.89,28.83
$STATE,7749,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7749,begin apogee
$GC,7754,-0.25,0.0,2443,2345,3468,3273,991.6,-8.3,341,7932,0.55,0.00,161.45,1.916,10246,0.200,0.000,2609,2346,2752,2798,2707,0,0,0,0,1,0,14.64,28.83,13.24
$STATE,7934,end apogee,CONTROL_FINISHED_OK
$STATE,7934,begin climb
$GC,7936,0.79,160.6,2610,2345,2799,2707,995.3,0.0,347,8113,1.08,2.70,156.30,2.508,10500,0.115,0.102,2954,3759,2099,2117,2081,0,0,0,0,1,0,14.17,13.90,13.09
$GC,8124,0.79,160.6,2954,3759,2117,2080,976.4,13.2,353,8129,0.00,2.35,0.00,0.000,1030,0.000,0.046,2964,2365,2098,2117,2080,0,0,0,0,0,0,28.83,14.11,28.83
$GC,8448,0.79,160.6,2964,2364,2116,2066,916.5,17.4,364,8449,0.00,0.00,0.00,0.000,6,0.000,0.000,2965,2365,2091,2116,2066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8747,0.79,160.6,2964,2364,2115,2064,862.9,18.0,374,8752,0.00,2.35,0.00,0.000,516,0.000,0.063,2974,948,2089,2115,2063,0,0,0,0,0,0,28.83,14.70,28.83
$GC,8780,0.79,160.6,2975,947,2115,2063,857.1,17.9,375,8785,0.00,2.38,0.00,0.000,1030,0.000,0.067,2975,2356,2088,2115,2061,0,0,0,0,0,0,28.83,14.69,28.83
$GC,9115,0.79,160.6,2975,2356,2115,2060,795.8,18.2,386,9120,0.00,2.40,0.00,0.000,260,0.000,0.096,2974,3754,2087,2115,2060,0,0,0,0,0,0,28.83,14.71,28.83
$GC,9161,0.79,160.6,2975,3753,2115,2060,789.3,18.3,387,9167,0.00,2.25,0.00,0.000,1030,0.000,0.045,2985,2343,2088,2115,2061,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9480,0.79,160.6,2985,2338,2115,2058,730.5,17.7,398,9481,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2338,2086,2115,2058,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9780,0.79,160.6,2985,2337,2115,2057,676.1,18.3,408,9785,0.00,2.45,0.00,0.000,260,0.000,0.097,2985,3754,2085,2115,2056,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9862,0.79,160.6,2985,3754,2115,2057,663.2,19.0,410,9868,0.17,2.25,0.00,0.000,5126,0.298,0.046,2958,2337,2086,2115,2057,0,0,0,0,0,0,14.56,14.85,28.83
$GC,10177,0.79,160.6,2958,2332,2115,2055,610.0,15.5,421,10183,0.00,2.25,0.00,0.000,516,0.000,0.059,2966,959,2085,2115,2055,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10204,0.79,160.6,2966,959,2115,2055,610.0,15.5,421,10212,0.00,2.33,0.00,0.000,1030,0.000,0.063,2966,2361,2085,2115,2055,0,0,0,0,0,0,28.83,14.80,28.83
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$STATE,15355,end climb,SURFACE_DEPTH_REACHED
$STATE,15355,begin surface coast
$FINISH,-0.0,1.021245
$STATE,15392,end surface coast,CONTROL_FINISHED_OK
$STATE,15392,begin surface
$SM_CCo,15410,46.03,0.138,0,0,915,450.13
$SM_GC,0.02,7.47,2.47,46.03,0.046,0.049,0.138,232,2448,915,-7.61,-1.07,450.13,0,0,0,0,0,0,14.82,14.76,14.67
$IRIDIUM_FIX,2347.41,12350.56,070613,070708
$TT8_MAMPS,0.019474,0.019474
$HUMID,42.51
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,26.20
$XPDR_PINGS,5
$SC_FREEKB,3870624
$24V_AH,13.1,65.376
$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,20.475,161.950,406.400,46.025,0.000,23.544,43.201,255.203,1.250,0.000,34.297,2420.836,10477.508,635.244,2248.888,243.767,0.000,1645.961,0.000,1753.462,0.000,0.542,0.000
$DEVICE_MAMPS,385.560,130.815,2507.670,137.700,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15451.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.908,0.000,0.000,0.000
$MEM,328616
$DATA_FILE_SIZE,26732,741
$CAP_FILE_SIZE,180380,0
$CFSIZE,260034560,240730112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.360, 80.0,1
$GPS,070613,164753,2350.829,12359.614,22,1.0,40,-3.4