version: 66.11
glider: 181
mission: 11
dive: 176
start: 6 8 113 6 49 16
data:
$ID,181
$MISSION,11
$DIVE,176
$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,-95917.898
$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,76
$R_STBD_OVSHOOT,53
$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
$GPS1,080613,063930,2348.577,12405.614,37,1.5,38,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-71.6
$GPS2,080613,064849,2348.560,12405.975,14,1.2,14,-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,230.7,256820,-12.6,-7.857,-16.23,3084
$D_GRID,3069
$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,-160.6,213,2481,911,911,0.0,0.0,0,103,0.00,0.00,-81.20,0.000,16386,0.000,0.000,213,2481,2936,2991,2881,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.79,-160.6,213,2481,2991,2882,3.0,-9.7,14,132,10.02,2.22,-8.55,0.000,18948,0.383,0.055,2437,1058,3409,3502,3317,0,0,0,0,0,0,14.37,14.73,14.92
$GC,195,-0.79,-160.6,2437,1056,3501,3317,35.2,-27.8,27,201,0.00,2.25,0.00,0.000,1030,0.000,0.057,2429,2435,3409,3502,3317,0,0,0,0,0,0,28.83,14.69,28.83
$GC,518,-0.79,-160.6,2429,2437,3502,3318,119.1,-25.0,46,523,0.00,2.20,0.00,0.000,260,0.000,0.073,2419,3790,3410,3502,3318,0,0,0,0,0,0,28.83,14.78,28.83
$GC,620,-0.79,-160.6,2419,3789,3502,3319,143.4,-23.1,51,626,0.00,2.03,0.00,0.000,1030,0.000,0.033,2419,2435,3410,3502,3319,0,0,0,0,0,0,28.83,14.88,28.83
$GC,943,-0.79,-160.6,2419,2428,3502,3322,207.1,-17.8,67,948,0.00,2.20,0.00,0.000,260,0.000,0.072,2409,3781,3410,3502,3319,0,0,0,0,0,0,28.83,14.85,28.83
$GC,974,-0.79,-160.6,2409,3782,3502,3320,210.7,-17.1,68,981,0.15,2.00,0.00,0.000,3078,0.249,0.031,2444,2438,3411,3502,3321,0,0,0,0,0,0,14.66,14.88,28.83
$GC,1289,-0.79,-160.6,2444,2434,3502,3321,256.9,-14.5,84,1294,0.00,2.20,0.00,0.000,260,0.000,0.073,2436,3783,3411,3502,3321,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1315,-0.79,-160.6,1568,3784,3495,3317,260.6,-14.8,85,1320,0.00,2.00,0.00,0.000,1030,0.000,0.033,2437,2455,3411,3502,3321,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1633,-0.79,-160.6,2436,2446,3502,3320,308.4,-14.7,101,1634,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2450,3411,3502,3320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1934,-0.79,-160.6,2436,2448,3502,3317,351.8,-14.4,116,1939,0.00,2.17,0.00,0.000,260,0.000,0.076,2427,3780,3410,3503,3317,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1951,-0.79,-160.6,2427,3780,3503,3317,351.8,-14.4,116,1958,0.00,2.00,0.00,0.000,1030,0.000,0.034,2427,2448,3409,3502,3317,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2256,-0.79,-160.6,2426,2446,3502,3316,397.7,-13.6,132,2261,0.00,2.15,0.00,0.000,516,0.000,0.044,2427,1066,3409,3502,3316,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2322,-0.79,-160.6,1536,1066,3495,3313,406.9,-14.3,135,2328,0.00,2.25,0.00,0.000,1030,0.000,0.057,2417,2460,3409,3502,3316,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2641,-0.79,-160.6,2417,2461,3502,3311,455.0,-14.3,151,2646,0.00,2.15,0.00,0.000,260,0.000,0.080,2407,3776,3406,3502,3310,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2727,-0.79,-160.6,1536,3776,3493,3307,467.0,-14.5,155,2733,0.15,2.00,0.00,0.000,3078,0.248,0.037,2442,2452,3405,3500,3310,0,0,0,0,0,0,14.73,14.98,28.83
$GC,3046,-0.79,-160.6,2442,2447,3499,3308,504.4,-11.0,171,3052,0.00,2.17,0.00,0.000,516,0.000,0.047,2442,1060,3403,3499,3308,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3114,-0.79,-160.6,2442,1059,3499,3307,511.5,-11.1,174,3119,0.00,2.28,0.00,0.000,1030,0.000,0.060,2436,2458,3402,3498,3307,0,0,0,0,0,0,28.83,14.89,28.83
$GC,3432,-0.79,-160.6,2436,2458,3496,3309,546.5,-11.4,190,3437,0.00,2.20,0.00,0.000,260,0.000,0.086,2426,3777,3401,3496,3306,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3504,-0.79,-160.6,2426,3777,3495,3306,554.6,-12.7,193,3510,0.00,2.03,0.00,0.000,1030,0.000,0.041,2426,2457,3400,3495,3306,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3817,-0.79,-160.6,2426,2451,3493,3301,594.3,-12.7,209,3818,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2452,3398,3493,3303,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4118,-0.79,-160.6,2426,2451,3490,3298,632.9,-12.6,220,4123,0.00,2.20,0.00,0.000,516,0.000,0.050,2426,1063,3394,3490,3298,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4160,-0.79,-160.6,2426,1062,3490,3299,637.0,-12.4,221,4165,0.00,2.28,0.00,0.000,1030,0.000,0.063,2417,2451,3394,3491,3298,0,0,0,0,0,0,28.83,14.89,28.83
$GC,4484,-0.79,-160.6,2417,2451,3488,3295,675.5,-11.3,232,4489,0.00,2.22,0.00,0.000,260,0.000,0.090,2407,3783,3391,3488,3294,0,0,0,0,0,0,28.83,14.85,28.83
$GC,4536,-0.79,-160.6,2406,3783,3487,3295,679.3,-11.1,233,4542,0.15,2.08,0.00,0.000,3078,0.249,0.043,2442,2443,3390,3487,3294,0,0,0,0,0,0,14.69,14.96,28.83
$GC,4852,-0.79,-160.6,2441,2435,3485,3291,711.6,-9.4,244,4857,0.00,2.20,0.00,0.000,516,0.000,0.053,2442,1060,3387,3485,3290,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4908,-0.79,-160.6,2442,1060,3485,3290,714.8,-9.3,245,4916,0.00,2.30,0.00,0.000,1030,0.000,0.065,2436,2455,3387,3484,3290,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5215,-0.79,-160.6,2437,2454,3481,3287,746.8,-10.1,256,5220,0.00,2.22,0.00,0.000,260,0.000,0.095,2427,3775,3384,3481,3287,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5248,-0.79,-160.6,2433,3775,3481,3287,750.1,-10.2,257,5254,0.00,2.08,0.00,0.000,1030,0.000,0.044,2427,2450,3384,3481,3288,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5583,-0.79,-160.6,2427,2447,3480,3286,790.4,-12.9,268,5588,0.00,2.22,0.00,0.000,516,0.000,0.054,2427,1061,3381,3479,3283,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5626,-0.79,-160.6,2427,1061,3480,3283,794.8,-12.8,269,5631,0.00,2.33,0.00,0.000,1030,0.000,0.067,2414,2455,3380,3479,3282,0,0,0,0,0,0,28.83,14.84,28.83
$GC,5950,-0.79,-160.6,2419,2456,3476,3280,836.8,-12.2,280,5955,0.00,2.25,0.00,0.000,260,0.000,0.097,2408,3779,3378,3476,3280,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6007,-0.79,-160.6,2408,3779,3475,3280,841.0,-12.2,281,6014,0.15,2.08,0.00,0.000,3078,0.248,0.046,2443,2453,3377,3475,3280,0,0,0,0,0,0,14.64,14.92,28.83
$GC,6314,-0.79,-160.6,2443,2451,3475,3278,872.9,-9.0,292,6319,0.00,2.25,0.00,0.000,516,0.000,0.056,2443,1064,3376,3475,3278,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6361,-0.79,-160.6,2443,1064,3474,3278,876.4,-9.3,293,6366,0.00,2.33,0.00,0.000,1030,0.000,0.069,2437,2459,3376,3474,3278,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6679,-0.79,-160.6,2437,2459,3473,3275,905.2,-8.6,304,6684,0.00,2.25,0.00,0.000,260,0.000,0.100,2427,3777,3374,3476,3272,0,0,0,0,0,0,28.83,14.77,28.83
$GC,6757,-0.79,-160.6,2427,3777,3470,3275,911.4,-9.2,306,6762,0.00,2.10,0.00,0.000,1030,0.000,0.048,2427,2440,3372,3470,3275,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7076,-0.79,-160.6,2427,2437,3469,3273,942.9,-9.3,317,7081,0.00,2.33,0.00,0.000,260,0.000,0.097,2417,3789,3370,3468,3273,0,0,0,0,0,0,28.83,14.77,28.83
$GC,7139,-0.79,-160.6,2417,3790,3468,3273,949.3,-9.6,319,7144,0.00,2.12,0.00,0.000,1030,0.000,0.047,2417,2453,3369,3467,3272,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7473,-0.79,-160.6,2417,2450,3467,3271,980.2,-8.6,330,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2450,3369,3467,3271,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,7590,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7590,begin apogee
$GC,7595,-0.25,0.0,2417,2336,3467,3270,990.6,-8.7,334,7762,0.68,0.00,153.77,2.140,10246,0.212,0.000,2613,2336,2752,2800,2705,0,0,0,0,1,0,14.62,28.83,13.24
$STATE,7764,end apogee,CONTROL_FINISHED_OK
$STATE,7764,begin climb
$GC,7766,0.79,160.6,2613,2336,2801,2705,993.1,0.0,339,7941,1.02,2.47,157.50,2.499,10756,0.110,0.061,2959,967,2097,2117,2078,0,0,0,0,1,0,14.14,13.94,13.12
$GC,7963,0.79,160.6,2959,967,2118,2074,970.4,14.5,346,7968,0.00,2.42,0.00,0.000,1030,0.000,0.069,2957,2348,2093,2114,2073,0,0,0,0,0,0,28.83,14.11,28.83
$GC,8287,0.79,160.6,2959,2348,2114,2061,912.8,17.1,357,8292,0.00,2.47,0.00,0.000,260,0.000,0.101,2959,3756,2087,2114,2061,0,0,0,0,0,0,28.83,14.57,28.83
$GC,8371,0.79,160.6,2958,3756,2114,2062,900.7,17.9,359,8376,0.00,2.25,0.00,0.000,1030,0.000,0.044,2969,2356,2087,2114,2061,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8684,0.79,160.6,2969,2355,2114,2057,848.8,15.1,370,8685,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2356,2085,2114,2057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8984,0.79,160.6,2969,2355,2114,2055,802.8,15.6,380,8985,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2356,2084,2114,2055,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9284,0.79,160.6,2972,2352,2114,2053,753.6,16.8,390,9285,0.00,0.00,0.00,0.000,6,0.000,0.000,2969,2352,2083,2114,2053,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9583,0.79,160.6,2969,2351,2114,2051,704.2,16.7,400,9588,0.00,2.28,0.00,0.000,516,0.000,0.057,2979,955,2082,2114,2051,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9660,0.79,160.6,2979,954,2113,2051,693.5,17.0,402,9666,0.00,2.33,0.00,0.000,1030,0.000,0.063,2979,2355,2082,2114,2050,0,0,0,0,0,0,28.83,14.79,28.83
$GC,9979,0.79,160.6,2979,2356,2117,2049,634.1,18.1,413,9980,0.00,0.00,0.00,0.000,6,0.000,0.000,2979,2356,2081,2114,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10288,0.79,160.6,2979,2356,2113,2048,579.4,17.7,425,10293,0.00,2.30,0.00,0.000,516,0.000,0.055,2988,954,2080,2113,2048,0,0,0,0,0,0,28.83,14.83,28.83
$GC,10334,0.79,160.6,2080,953,2075,2038,572.0,17.5,427,10341,0.15,2.33,0.00,0.000,5126,0.271,0.063,2956,2360,2081,2114,2048,0,0,0,0,0,0,14.58,14.80,28.83
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$STATE,15542,end climb,SURFACE_DEPTH_REACHED
$STATE,15542,begin surface coast
$FINISH,2.1,1.020888
$STATE,15555,end surface coast,CONTROL_FINISHED_OK
$STATE,15555,begin surface
$SM_CCo,15574,76.72,0.138,0,0,917,450.13
$SM_GC,0.11,7.85,2.05,76.72,0.083,0.033,0.138,229,2431,917,-7.63,1.95,450.13,0,0,0,0,0,0,14.83,14.88,14.69
$IRIDIUM_FIX,2333.28,12405.55,080613,020219
$TT8_MAMPS,0.019474,0.019474
$HUMID,42.55
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,26.40
$XPDR_PINGS,10
$SC_FREEKB,3868832
$24V_AH,13.1,66.572
$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,20.500,142.425,372.750,76.725,0.000,23.415,52.202,251.625,2.500,0.000,17.137,2387.998,10784.849,611.396,2187.482,240.548,0.000,1581.980,0.000,1702.011,0.000,0.543,0.000
$DEVICE_MAMPS,383.265,109.395,2499.255,138.465,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15631.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.912,0.000,0.000,0.000
$MEM,328604
$DATA_FILE_SIZE,26771,742
$CAP_FILE_SIZE,176082,0
$CFSIZE,260034560,240279552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.321, 65.5,1
$GPS,080613,111129,2348.375,12406.897,37,1.3,38,-3.4