version: 66.11
glider: 181
mission: 11
dive: 175
start: 6 8 113 2 14 5
data:
$ID,181
$MISSION,11
$DIVE,175
$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,-95916.641
$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,73
$R_STBD_OVSHOOT,34
$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
$GPS1,080613,020354,2349.486,12403.616,37,1.4,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-71.2
$GPS2,080613,021337,2349.576,12404.014,14,1.1,14,-3.4
$SPEED_LIMITS,0.136,0.270
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,229.9,258587,-12.6,-7.857,-16.23,3084
$D_GRID,3239
$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,-160.6,211,2436,913,912,0.0,0.0,0,106,0.00,0.00,-84.10,0.000,16386,0.000,0.000,210,2438,3085,3149,3022,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.79,-160.6,210,2438,3149,3022,4.1,-13.9,15,130,10.07,2.28,-5.50,0.000,18692,0.385,0.093,2429,3778,3409,3499,3320,0,0,0,0,0,0,14.40,14.69,14.91
$GC,148,-0.79,-160.6,1504,3778,3492,3319,22.6,-42.1,21,154,0.00,2.03,0.00,0.000,1030,0.000,0.034,2429,2461,3411,3500,3322,0,0,0,0,0,0,28.83,14.72,28.83
$GC,461,-0.79,-160.6,2429,2457,3500,3323,107.9,-22.8,42,467,0.00,2.17,0.00,0.000,260,0.000,0.070,2419,3785,3411,3500,3323,0,0,0,0,0,0,28.83,14.78,28.83
$GC,498,-0.79,-160.6,2420,3786,3500,3323,112.9,-22.4,43,505,0.00,2.05,0.00,0.000,1030,0.000,0.033,2420,2434,3411,3500,3323,0,0,0,0,0,0,28.83,14.85,28.83
$GC,804,-0.79,-160.6,2419,2428,3501,3326,177.4,-19.9,59,810,0.00,2.20,0.00,0.000,260,0.000,0.072,2409,3777,3412,3500,3325,0,0,0,0,0,0,28.83,14.83,28.83
$GC,867,-0.79,-160.6,2409,3778,3501,3326,189.0,-18.6,62,873,0.12,2.00,0.00,0.000,3078,0.259,0.032,2438,2439,3413,3501,3326,0,0,0,0,0,0,14.67,14.91,28.83
$GC,1191,-0.79,-160.6,2438,2434,3501,3326,240.0,-15.1,78,1197,0.00,2.12,0.00,0.000,516,0.000,0.043,2438,1065,3413,3501,3326,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1214,-0.79,-160.6,2438,1064,3501,3326,243.2,-14.8,79,1220,0.00,2.22,0.00,0.000,1030,0.000,0.053,2430,2449,3413,3501,3325,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1538,-0.79,-160.6,2431,2451,3501,3325,294.8,-16.6,95,1543,0.00,2.15,0.00,0.000,260,0.000,0.076,2420,3778,3413,3501,3326,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1554,-0.79,-160.6,2421,3779,3501,3326,294.8,-16.6,95,1561,0.00,2.00,0.00,0.000,1030,0.000,0.034,2420,2448,3413,3500,3326,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1860,-0.79,-160.6,2420,2445,3502,3323,349.1,-17.1,111,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2445,3413,3502,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2162,-0.79,-160.6,2420,2445,3502,3320,394.6,-15.0,126,2167,0.00,2.15,0.00,0.000,516,0.000,0.044,2420,1063,3411,3501,3321,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2208,-0.79,-160.6,1552,1063,3496,3317,400.7,-14.5,128,2214,0.12,2.25,0.00,0.000,3078,0.241,0.057,2438,2458,3411,3502,3320,0,0,0,0,0,0,14.76,14.90,28.83
$GC,2526,-0.79,-160.6,2439,2459,3502,3317,439.9,-12.2,144,2532,0.00,2.17,0.00,0.000,260,0.000,0.083,2431,3784,3409,3502,3316,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2579,-0.79,-160.6,2432,3784,3500,3316,445.5,-12.4,146,2584,0.00,2.03,0.00,0.000,1030,0.000,0.037,2431,2447,3408,3500,3317,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2891,-0.79,-160.6,2431,2442,3500,3314,488.0,-13.8,162,2897,0.00,2.15,0.00,0.000,516,0.000,0.047,2431,1071,3406,3500,3313,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2925,-0.79,-160.6,2432,1071,3500,3313,491.2,-13.8,163,2930,0.00,2.25,0.00,0.000,1030,0.000,0.061,2422,2455,3406,3500,3313,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3237,-0.79,-160.6,2422,2456,3492,3309,534.6,-13.3,179,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2455,3403,3497,3309,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3539,-0.79,-160.6,2422,2455,3495,3308,571.2,-12.1,194,3545,0.00,2.20,0.00,0.000,260,0.000,0.086,2412,3784,3401,3495,3307,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3591,-0.79,-160.6,2412,3784,3493,3307,576.7,-12.0,196,3597,0.12,2.05,0.00,0.000,3078,0.249,0.041,2440,2449,3400,3493,3307,0,0,0,0,0,0,14.73,14.97,28.83
$GC,3915,-0.79,-160.6,2440,2444,3491,3303,610.3,-10.4,211,3920,0.00,2.20,0.00,0.000,516,0.000,0.051,2441,1055,3397,3492,3303,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3956,-0.79,-160.6,2440,1055,3491,3303,613.8,-10.5,212,3961,0.00,2.30,0.00,0.000,1030,0.000,0.064,2437,2454,3395,3487,3303,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4280,-0.79,-160.6,2437,2452,3489,3299,649.4,-10.6,223,4286,0.00,2.22,0.00,0.000,260,0.000,0.091,2427,3784,3394,3489,3299,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4313,-0.79,-160.6,2427,3784,3484,3299,653.3,-10.8,224,4319,0.00,2.08,0.00,0.000,1030,0.000,0.044,2427,2454,3395,3488,3302,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4647,-0.79,-160.6,2427,2450,3487,3295,687.8,-9.8,235,4648,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2450,3391,3487,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4947,-0.79,-160.6,2427,2450,3484,3293,717.8,-9.9,245,4948,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2450,3388,3484,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5246,-0.79,-160.6,2427,2448,3481,3290,746.2,-9.2,255,5251,0.00,2.22,0.00,0.000,516,0.000,0.054,2427,1060,3385,3481,3290,0,0,0,0,0,0,28.83,14.89,28.83
$GC,5282,-0.79,-160.6,1576,1062,3474,3286,749.3,-9.2,256,5287,0.00,2.30,0.00,0.000,1030,0.000,0.067,2418,2449,3385,3481,3290,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5611,-0.79,-160.6,2418,2448,3479,3287,780.4,-9.2,267,5617,0.00,2.25,0.00,0.000,260,0.000,0.095,2408,3783,3383,3480,3287,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5634,-0.79,-160.6,2407,3785,3478,3287,780.4,-9.2,267,5640,0.15,2.10,0.00,0.000,3078,0.250,0.046,2443,2445,3383,3479,3287,0,0,0,0,0,0,14.66,14.93,28.83
$GC,5949,-0.79,-160.6,2443,2441,3478,3284,812.2,-9.8,278,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2441,3381,3478,3284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6247,-0.79,-160.6,2443,2441,3471,3287,840.9,-9.4,288,6248,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2441,3378,3475,3281,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6548,-0.79,-160.6,2443,2441,3474,3280,868.9,-9.7,298,6553,0.00,2.28,0.00,0.000,260,0.000,0.093,2436,3778,3376,3474,3279,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6625,-0.79,-160.6,2435,3778,3473,3279,875.1,-9.7,300,6631,0.00,2.10,0.00,0.000,1030,0.000,0.047,2435,2440,3375,3472,3279,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6945,-0.79,-160.6,2435,2438,3472,3277,907.6,-9.8,311,6946,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2438,3374,3472,3277,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7244,-0.79,-160.6,2435,2438,3469,3275,936.9,-9.9,321,7249,0.00,2.22,0.00,0.000,516,0.000,0.057,2435,1065,3371,3469,3274,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7280,-0.79,-160.6,2435,1065,3469,3274,940.9,-10.4,322,7285,0.00,2.33,0.00,0.000,1030,0.000,0.071,2426,2455,3371,3469,3274,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7609,-0.79,-160.6,2426,2454,3468,3273,974.3,-10.0,333,7614,0.00,2.28,0.00,0.000,260,0.000,0.100,2415,3783,3370,3467,3273,0,0,0,0,0,0,28.83,14.75,28.83
$GC,7660,-0.79,-160.6,2416,3782,3467,3273,977.4,-9.8,334,7666,0.00,2.10,0.00,0.000,1030,0.000,0.049,2415,2453,3369,3466,3273,0,0,0,0,0,0,28.83,14.89,28.83
$STATE,7792,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7792,begin apogee
$GC,7797,-0.25,0.0,2416,2337,3466,3273,992.5,-9.8,339,7963,0.68,0.00,151.98,2.340,10246,0.213,0.000,2612,2337,2755,2800,2710,0,0,0,0,1,0,14.61,28.83,13.21
$STATE,7965,end apogee,CONTROL_FINISHED_OK
$STATE,7965,begin climb
$GC,7966,0.79,160.6,2612,2337,2800,2710,996.2,0.0,344,8134,1.05,0.00,158.82,2.502,10246,0.112,0.000,2953,2337,2097,2115,2080,0,0,0,0,1,0,14.12,28.83,13.07
$GC,8423,0.79,160.6,2952,2337,2115,2065,927.9,16.3,360,8428,0.00,2.50,0.00,0.000,260,0.000,0.099,2953,3755,2091,2116,2066,0,0,0,0,0,0,28.83,14.51,28.83
$GC,8456,0.79,160.6,2953,3755,2115,2066,921.6,16.7,361,8462,0.00,2.25,0.00,0.000,1030,0.000,0.044,2963,2362,2091,2115,2068,0,0,0,0,0,0,28.83,14.60,28.83
$GC,8791,0.79,160.6,2964,2360,2115,2060,865.5,16.6,372,8796,0.00,2.33,0.00,0.000,516,0.000,0.060,2973,952,2087,2115,2060,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8884,0.79,160.6,2974,951,2115,2059,850.2,16.2,375,8889,0.00,2.35,0.00,0.000,1030,0.000,0.065,2973,2352,2086,2114,2058,0,0,0,0,0,0,28.83,14.70,28.83
$GC,9218,0.79,160.6,2974,2352,2115,2056,794.2,16.5,386,9223,0.00,2.42,0.00,0.000,260,0.000,0.094,2973,3758,2086,2115,2057,0,0,0,0,0,0,28.83,14.73,28.83
$GC,9274,0.79,160.6,2973,3758,2115,2057,788.2,16.6,387,9281,0.00,2.25,0.00,0.000,1030,0.000,0.043,2984,2337,2085,2115,2056,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9581,0.79,160.6,2984,2332,2115,2055,731.2,17.3,398,9586,0.00,2.22,0.00,0.000,516,0.000,0.056,2994,965,2082,2110,2055,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9624,0.79,160.6,2994,965,2114,2055,725.4,17.5,399,9629,0.17,2.30,0.00,0.000,5126,0.282,0.063,2955,2352,2085,2115,2055,0,0,0,0,0,0,14.56,14.77,28.83
$GC,9948,0.79,160.6,2956,2352,2115,2053,672.8,15.4,410,9954,0.00,2.28,0.00,0.000,516,0.000,0.057,2963,965,2084,2115,2053,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9995,0.79,160.6,2962,965,2115,2053,667.6,15.3,411,10001,0.00,2.30,0.00,0.000,1030,0.000,0.063,2963,2355,2084,2115,2053,0,0,0,0,0,0,28.83,14.78,28.83
$GC,10315,0.79,160.6,2963,2355,2115,2051,613.2,16.9,422,10321,0.00,2.40,0.00,0.000,260,0.000,0.096,2962,3756,2083,2115,2051,0,0,0,0,0,0,28.83,14.76,28.83
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$STATE,15740,end climb,SURFACE_DEPTH_REACHED
$STATE,15740,begin surface coast
$FINISH,0.5,1.020928
$STATE,15772,end surface coast,CONTROL_FINISHED_OK
$STATE,15772,begin surface
$SM_CCo,15789,54.00,0.138,0,0,914,450.13
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$TT8_MAMPS,0.019474,0.019474
$HUMID,42.43
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,26.50
$XPDR_PINGS,2
$SC_FREEKB,3869280
$24V_AH,13.1,66.265
$10V_AH,13.3,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.750,147.775,391.625,54.000,0.000,23.198,39.351,293.067,0.500,0.000,17.683,2392.703,10973.780,632.125,2172.691,258.461,0.000,1580.613,0.000,1668.446,0.000,0.543,0.000
$DEVICE_MAMPS,384.795,109.395,2501.550,137.700,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
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$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.948,0.000,0.000,0.000
$MEM,328932
$DATA_FILE_SIZE,26694,756
$CAP_FILE_SIZE,178723,0
$CFSIZE,260034560,240390144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.359, 82.3,1
$GPS,080613,063930,2348.577,12405.614,37,1.5,38,-3.4