version: 66.11
glider: 181
mission: 11
dive: 6
start: 5 17 113 15 11 2
data:
$ID,181
$MISSION,11
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,240
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,500
$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,-95679.766
$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,2760
$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,2400
$C_ROLL_CLIMB,2375
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,42
$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
$GPS1,170513,150235,2203.894,12024.056,30,0.8,30,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.53
$_SM_ANGLEo,-71.7
$GPS2,170513,151031,2203.770,12024.047,11,1.5,11,-2.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,HOLDING
$TGT_LATLONG,2204.000,12024.000
$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,343.6,433,-27.9,-10.000,-30.00,792
$D_GRID,736
$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,16,begin dive
$GC,18,-1.45,-51.7,215,2417,726,712,0.0,0.0,0,109,0.00,0.00,-88.55,0.000,16390,0.000,0.000,214,2416,2965,3020,2911,0,0,0,0,0,0,28.83,28.83,14.95
$GC,111,-1.45,-51.7,214,2417,3020,2912,3.9,-11.4,15,126,9.93,2.25,0.00,0.000,2820,0.424,0.073,2277,3769,2966,3021,2912,0,0,0,0,0,0,14.42,14.69,28.83
$GC,143,-1.45,-51.7,2277,3768,3023,2912,17.8,-40.9,20,150,0.00,2.12,0.00,0.000,1030,0.000,0.044,2275,2405,2967,3023,2912,0,0,0,0,0,0,28.83,14.76,28.83
$GC,458,-1.45,-51.7,2277,2402,3026,2911,85.0,-19.6,44,459,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2402,2969,3026,2912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,758,-1.45,-51.7,2277,2402,3027,2912,133.7,-16.7,59,763,0.00,2.20,0.00,0.000,516,0.000,0.048,2277,988,2969,3027,2912,0,0,0,0,0,0,28.83,14.86,28.83
$GC,820,-1.45,-51.7,2276,988,3027,2912,143.1,-15.3,62,825,0.00,2.25,0.00,0.000,1030,0.000,0.058,2266,2395,2969,3027,2912,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1142,-1.45,-51.7,2266,2392,3027,2912,192.2,-13.8,78,1147,0.00,2.22,0.00,0.000,260,0.000,0.079,2256,3775,2970,3028,2912,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1233,-1.45,-51.7,2256,3776,3027,2912,205.3,-16.1,82,1240,0.15,2.10,0.00,0.000,3078,0.318,0.039,2286,2376,2969,3027,2912,0,0,0,0,0,0,14.66,14.92,28.83
$GC,1548,-1.45,-51.7,2286,2376,3028,2912,241.9,-10.4,98,1553,0.00,2.28,0.00,0.000,260,0.000,0.080,2277,3777,2970,3028,2912,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1779,-1.45,-51.7,2277,3778,3027,2911,269.3,-12.7,109,1785,0.00,2.08,0.00,0.000,1030,0.000,0.040,2274,2398,2970,3028,2912,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2091,-1.45,-51.7,2277,2396,3027,2910,305.0,-10.3,125,2097,0.00,2.15,0.00,0.000,516,0.000,0.050,2277,1011,2968,3027,2910,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2199,-1.45,-51.7,1432,1011,3000,2901,316.4,-11.1,130,2204,0.00,2.22,0.00,0.000,1030,0.000,0.060,2267,2399,2968,3028,2908,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2516,-1.45,-51.7,2267,2399,3027,2906,352.1,-10.2,146,2521,0.00,2.17,0.00,0.000,516,0.000,0.054,2267,1014,2966,3028,2905,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2747,-1.45,-51.7,2263,1014,3027,2904,375.3,-11.1,157,2753,0.15,2.22,0.00,0.000,3078,0.321,0.063,2288,2399,2965,3027,2903,0,0,0,0,0,0,14.71,14.94,28.83
$GC,3060,-1.45,-54.6,2289,2399,3028,2900,407.5,-9.6,173,3066,0.00,2.20,-0.08,0.000,16900,0.000,0.076,2289,1022,2986,3050,2923,0,0,0,0,0,0,28.83,14.96,14.77
$GC,3284,-1.45,-56.1,2289,1017,3050,2923,429.8,-9.8,184,3289,0.00,2.22,0.00,0.000,1030,0.000,0.063,2281,2397,2986,3050,2922,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3607,-1.46,-58.1,2281,2397,3050,2918,459.5,-9.7,200,3612,0.00,2.28,0.00,0.000,260,0.000,0.091,2270,3783,2984,3050,2918,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3652,-1.46,-58.1,2270,3782,3050,2918,464.5,-10.6,202,3658,0.00,2.12,0.00,0.000,1030,0.000,0.048,2270,2402,2984,3050,2918,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3970,-1.46,-58.1,2270,2401,3050,2915,498.7,-10.6,218,3976,0.00,2.20,0.00,0.000,516,0.000,0.057,2270,1002,2982,3050,2914,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4187,-1.46,-58.2,2270,1001,3050,2913,519.5,-10.0,228,4194,0.12,2.28,0.00,0.000,3078,0.337,0.067,2285,2402,2981,3050,2913,0,0,0,0,0,0,14.70,14.92,28.83
$GC,4493,-1.47,-69.5,2285,2402,3050,2912,548.0,-8.5,244,4498,0.00,2.28,0.00,0.000,260,0.000,0.096,2276,3780,2981,3050,2912,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4719,-1.48,-78.1,2276,3778,3047,2912,567.7,-8.9,255,4725,0.00,2.12,0.00,0.000,1030,0.000,0.050,2277,2400,2980,3048,2912,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5037,-1.49,-92.1,2277,2401,3047,2910,593.5,-8.2,271,5042,0.00,2.30,0.00,0.000,260,0.000,0.094,2265,3783,2978,3047,2910,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5119,-1.50,-106.5,1424,3782,3017,2902,600.2,-8.1,275,5124,0.00,2.15,0.00,0.000,1030,0.000,0.050,2266,2402,2977,3045,2910,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5432,-1.52,-126.0,2266,2396,3045,2907,622.8,-7.5,286,5437,0.00,2.22,0.00,0.000,516,0.000,0.060,2266,996,2975,3045,2906,0,0,0,0,0,0,28.83,14.93,28.83
$GC,5618,-1.54,-141.6,2265,996,3044,2906,637.7,-8.0,292,5623,0.00,2.30,0.00,0.000,1030,0.000,0.070,2255,2403,2975,3044,2907,0,0,0,0,0,0,28.83,14.91,28.83
$STATE,5914,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5915,begin apogee
$GC,5918,-0.25,0.0,2255,2403,3043,2905,662.4,-8.2,302,5978,1.55,0.00,54.38,1.447,10246,0.300,0.000,2676,2404,2751,2813,2689,0,0,0,0,0,0,14.65,28.83,13.96
$STATE,5980,end apogee,CONTROL_FINISHED_OK
$STATE,5980,begin climb
$GC,5981,1.54,141.6,2676,2404,2811,2686,662.9,0.0,304,6132,1.62,2.45,138.00,1.401,10500,0.068,0.091,3273,3773,2170,2193,2147,0,0,0,0,0,0,14.60,14.19,13.64
$GC,6189,1.54,141.6,3273,3773,2191,2139,608.3,33.8,311,6194,0.00,2.25,0.00,0.000,1030,0.000,0.044,3284,2364,2164,2191,2138,0,0,0,0,0,0,28.83,14.51,28.83
$GC,6501,1.54,141.6,3285,2359,2188,2130,498.9,33.3,326,6506,0.00,2.40,0.00,0.000,260,0.000,0.087,3284,3783,2158,2187,2130,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6538,1.54,141.6,3285,3783,2188,2130,490.9,33.4,327,6545,0.17,2.20,0.00,0.000,5126,0.392,0.043,3262,2372,2159,2188,2131,0,0,0,0,0,0,14.52,14.79,28.83
$GC,6843,1.54,141.6,3262,2367,2187,2126,387.9,31.0,343,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,2367,2156,2187,2126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7145,1.54,141.6,3262,2367,2187,2123,296.4,31.1,358,7150,0.00,2.20,0.00,0.000,516,0.000,0.053,3270,979,2155,2187,2123,0,0,0,0,0,0,28.83,14.87,28.83
$GC,7228,1.54,141.6,3270,979,2186,2123,270.9,30.6,362,7233,0.00,2.28,0.00,0.000,1030,0.000,0.061,3269,2379,2154,2186,2122,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7550,1.54,141.6,3269,2380,2186,2119,173.5,29.5,378,7556,0.00,2.33,0.00,0.000,260,0.000,0.091,3269,3774,2152,2186,2119,0,0,0,0,0,0,28.83,14.84,28.83
$GC,7607,1.54,141.6,3269,3774,2185,2115,160.6,29.3,380,7614,0.00,2.15,0.00,0.000,1030,0.000,0.043,3277,2370,2153,2186,2120,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7913,1.54,141.6,3277,2365,2185,2118,73.0,23.9,396,7914,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2365,2152,2185,2119,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8214,1.54,144.2,3283,2365,2185,2118,20.4,9.7,424,8220,0.00,2.17,0.00,0.000,516,0.000,0.050,3287,982,2151,2185,2118,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8450,1.62,220.6,3287,982,2184,2118,14.1,0.1,470,8492,0.00,2.22,34.33,0.194,9222,0.000,0.053,3287,2382,1851,1875,1827,0,0,0,0,0,0,28.83,14.86,14.72
$STATE,8599,end climb,SURFACE_DEPTH_REACHED
$STATE,8599,begin surface coast
$FINISH,-0.4,1.021078
$STATE,8626,end surface coast,CONTROL_FINISHED_OK
$STATE,8626,begin surface
$SM_CCo,8641,123.32,0.151,0,0,711,500.17
$SM_GC,0.33,8.52,0.00,123.32,0.076,0.000,0.151,237,2383,711,-7.80,-0.48,500.17,0,0,0,0,0,0,14.87,28.83,14.69
$IRIDIUM_FIX,2206.70,12023.09,170513,111114
$TT8_MAMPS,0.020223,0.020223
$HUMID,47.99
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,23.60
$XPDR_PINGS,0
$SC_FREEKB,3935872
$24V_AH,13.6,25.659
$10V_AH,13.7,0.000
$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,22.225,75.750,226.700,123.325,0.000,31.393,50.668,217.874,0.000,0.000,13.838,1733.818,5260.732,462.131,1706.826,91.034,0.000,1154.620,0.000,1275.142,0.000,0.541,0.000
$DEVICE_MAMPS,423.810,120.105,1446.615,151.470,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8667.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.155,0.000,0.000,0.000
$MEM,323260
$DATA_FILE_SIZE,16772,503
$CAP_FILE_SIZE,115638,0
$CFSIZE,260034560,255356928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.026,351.8,1
$GPS,170513,173820,2204.495,12023.696,12,2.1,31,-2.7