version: 66.11
glider: 181
mission: 11
dive: 71
start: 5 23 113 22 33 30
data:
$ID,181
$MISSION,11
$DIVE,71
$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,330
$T_MISSION,360
$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,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,-95762.039
$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,49
$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
$GPS1,230513,222536,2150.656,12111.546,36,1.1,36,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-71.7
$GPS2,230513,223301,2150.871,12111.535,15,1.1,15,-2.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,23.7,136882,-14.3,-10.000,-17.31,2952
$D_GRID,832
$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,-0.91,-194.6,225,2473,913,915,0.0,0.0,0,108,0.00,0.00,-87.40,0.000,16386,0.000,0.000,224,2473,3181,3229,3134,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.91,-194.6,224,2473,3229,3135,4.3,-15.3,15,137,10.32,2.20,-5.80,0.000,18692,0.418,0.113,2390,3755,3551,3633,3469,0,0,0,0,0,0,14.42,14.65,14.90
$GC,149,-0.91,-194.6,2390,3752,3633,3469,27.1,-55.5,21,155,0.00,2.03,0.00,0.000,1030,0.000,0.043,2390,2468,3551,3633,3470,0,0,0,0,0,0,28.83,14.72,28.83
$GC,472,-0.91,-194.6,2390,2464,3635,3470,126.7,-25.3,40,478,0.00,2.22,0.00,0.000,516,0.000,0.047,2390,1046,3552,3635,3470,0,0,0,0,0,0,28.83,14.79,28.83
$GC,524,-0.91,-194.6,2390,1044,3636,3470,137.3,-25.0,42,530,0.00,2.28,0.00,0.000,1030,0.000,0.064,2380,2437,3552,3635,3470,0,0,0,0,0,0,28.83,14.80,28.83
$GC,836,-0.91,-194.6,2380,2438,3637,3470,216.5,-22.4,58,842,0.00,2.20,0.00,0.000,260,0.000,0.081,2370,3785,3553,3637,3470,0,0,0,0,0,0,28.83,14.83,28.83
$GC,879,-0.91,-194.6,2370,3786,3638,3470,227.2,-23.8,60,885,0.15,2.05,0.00,0.000,3078,0.288,0.037,2401,2433,3553,3637,3469,0,0,0,0,0,0,14.69,14.90,28.83
$GC,1202,-0.91,-194.6,2402,2429,3638,3470,293.3,-16.1,76,1207,0.00,2.22,0.00,0.000,260,0.000,0.081,2394,3789,3554,3638,3470,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1304,-0.91,-194.6,2394,3789,3638,3469,310.7,-17.1,81,1309,0.00,2.03,0.00,0.000,1030,0.000,0.037,2394,2449,3554,3639,3470,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1626,-0.91,-194.6,2394,2443,3638,3469,361.0,-15.0,97,1632,0.00,2.20,0.00,0.000,260,0.000,0.082,2384,3786,3554,3639,3469,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1657,-0.91,-194.6,2383,3786,3638,3468,364.5,-15.2,98,1663,0.00,2.03,0.00,0.000,1030,0.000,0.037,2384,2451,3553,3638,3468,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1970,-0.91,-194.6,2384,2445,3638,3465,417.5,-17.0,114,1976,0.00,2.15,0.00,0.000,516,0.000,0.047,2383,1059,3551,3638,3465,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2082,-0.91,-194.6,2384,1058,3638,3463,433.8,-15.6,119,2088,0.12,2.25,0.00,0.000,3078,0.261,0.060,2402,2456,3550,3638,3463,0,0,0,0,0,0,14.81,14.92,28.83
$GC,2396,-0.91,-194.6,2402,2456,3638,3460,471.7,-11.4,135,2401,0.00,2.17,0.00,0.000,260,0.000,0.087,2395,3778,3553,3646,3460,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2472,-0.91,-194.6,2395,3778,3638,3459,480.1,-12.8,138,2479,0.00,2.03,0.00,0.000,1030,0.000,0.040,2395,2443,3547,3638,3457,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2778,-0.91,-194.6,2394,2441,3638,3455,529.8,-15.5,154,2783,0.00,2.15,0.00,0.000,516,0.000,0.050,2394,1064,3546,3638,3454,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2869,-0.91,-194.6,2395,1064,3638,3454,542.5,-15.4,158,2875,0.00,2.25,0.00,0.000,1030,0.000,0.062,2385,2457,3545,3638,3452,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3182,-0.91,-194.6,2385,2456,3634,3449,593.6,-14.5,174,3188,0.00,2.20,0.00,0.000,260,0.000,0.090,2375,3786,3542,3634,3450,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3208,-0.91,-194.6,1536,3785,3629,3443,596.9,-14.5,175,3214,0.12,2.05,0.00,0.000,3078,0.278,0.043,2401,2440,3541,3633,3450,0,0,0,0,0,0,14.80,15.00,28.83
$GC,3517,-0.91,-194.6,2401,2438,3633,3447,635.1,-12.0,186,3518,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2438,3540,3633,3447,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3816,-0.91,-194.6,2401,2438,3630,3444,669.7,-11.7,196,3821,0.00,2.22,0.00,0.000,260,0.000,0.093,2394,3777,3536,3630,3443,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3858,-0.91,-194.6,2394,3777,3628,3444,673.7,-11.9,197,3863,0.00,2.03,0.00,0.000,1030,0.000,0.044,2394,2452,3536,3628,3444,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4181,-0.91,-194.6,2394,2447,3626,3440,710.9,-11.3,208,4186,0.00,2.20,0.00,0.000,516,0.000,0.054,2394,1056,3533,3626,3440,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4237,-0.91,-194.6,2394,1054,3627,3440,714.8,-11.6,209,4244,0.00,2.28,0.00,0.000,1030,0.000,0.067,2384,2450,3532,3626,3439,0,0,0,0,0,0,28.83,14.93,28.83
$GC,4544,-0.91,-194.6,2384,2450,3624,3437,759.0,-14.4,220,4549,0.00,2.20,0.00,0.000,516,0.000,0.053,2384,1064,3531,3624,3438,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4565,-0.91,-194.6,2383,1064,3624,3437,759.0,-14.4,220,4571,0.12,2.28,0.00,0.000,3078,0.269,0.067,2402,2460,3531,3624,3438,0,0,0,0,0,0,14.81,14.93,28.83
$GC,4879,-0.91,-194.6,2402,2461,3622,3436,802.6,-13.3,231,4884,0.00,2.20,0.00,0.000,260,0.000,0.096,2394,3786,3529,3622,3437,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4931,-0.91,-194.6,2395,3786,3621,3435,807.3,-13.5,232,4936,0.00,2.05,0.00,0.000,1030,0.000,0.047,2393,2456,3528,3621,3435,0,0,0,0,0,0,28.83,14.99,28.83
$STATE,5092,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5092,begin apogee
$GC,5096,-0.25,0.0,2394,2336,3620,3434,832.1,-13.5,238,5288,0.75,0.00,185.50,1.599,10246,0.229,0.000,2612,2336,2751,2780,2722,0,0,0,0,0,0,14.78,28.83,13.61
$STATE,5290,end apogee,CONTROL_FINISHED_OK
$STATE,5290,begin climb
$GC,5291,0.91,194.6,2612,2336,2778,2720,839.2,0.0,244,5486,1.17,0.00,188.88,1.570,10758,0.126,0.000,2990,2336,1958,1984,1932,0,0,0,0,0,0,14.17,28.83,13.56
$GC,5784,0.91,194.6,2990,2336,1980,1907,753.7,20.5,261,5789,0.00,2.45,0.00,0.000,260,0.000,0.091,2990,3764,1943,1980,1907,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5850,0.91,194.6,2072,3764,1944,1899,738.6,22.3,263,5855,0.00,2.22,0.00,0.000,1030,0.000,0.043,3000,2355,1943,1980,1907,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6178,0.91,194.6,3000,2349,1984,1902,664.3,22.4,274,6184,0.00,2.40,0.00,0.000,260,0.000,0.092,3000,3759,1941,1980,1902,0,0,0,0,0,0,28.83,14.76,28.83
$GC,6235,0.91,194.6,3000,3759,1980,1902,656.4,22.4,275,6242,0.00,2.20,0.00,0.000,1030,0.000,0.042,3011,2348,1941,1980,1902,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6542,0.91,194.6,3011,2343,1980,1899,583.0,22.5,287,6543,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2343,1939,1980,1899,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6841,0.91,194.6,3011,2343,1980,1897,518.6,21.5,302,6843,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2343,1938,1980,1897,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7142,0.91,194.6,3011,2343,1980,1896,455.9,20.6,317,7143,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2343,1938,1980,1896,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7442,0.91,194.6,3011,2341,1980,1895,399.7,18.5,332,7447,0.00,2.38,0.00,0.000,260,0.000,0.091,3011,3755,1937,1980,1895,0,0,0,0,0,0,28.83,14.87,28.83
$GC,7493,0.91,194.6,3011,3756,1980,1893,390.6,20.0,334,7499,0.00,2.20,0.00,0.000,1030,0.000,0.043,3021,2342,1938,1980,1896,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7806,0.91,194.6,3022,2338,1980,1895,326.7,20.4,350,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2338,1937,1980,1895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8106,0.91,194.6,3022,2337,1980,1894,267.1,17.4,365,8112,0.00,2.40,0.00,0.000,260,0.000,0.091,3022,3762,1937,1980,1894,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8173,0.91,194.6,3022,3762,1980,1893,255.5,18.5,368,8179,0.17,2.20,0.00,0.000,5126,0.290,0.043,2993,2340,1937,1980,1894,0,0,0,0,0,0,14.73,14.92,28.83
$GC,8491,0.91,194.6,2993,2335,1980,1893,210.8,13.1,384,8497,0.00,2.22,0.00,0.000,516,0.000,0.056,3001,956,1936,1980,1893,0,0,0,0,0,0,28.83,14.91,28.83
$GC,8538,0.91,194.6,3001,956,1980,1893,204.9,13.6,386,8543,0.00,2.28,0.00,0.000,1030,0.000,0.059,3001,2363,1936,1979,1893,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8855,0.91,194.6,3001,2362,1980,1893,157.3,15.4,402,8857,0.00,0.00,0.00,0.000,6,0.000,0.000,3001,2362,1936,1979,1893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9156,0.91,194.6,3000,2362,1980,1889,116.9,12.2,417,9162,0.00,2.30,0.00,0.000,260,0.000,0.087,3001,3753,1936,1980,1893,0,0,0,0,0,0,28.83,14.88,28.83
$GC,9339,0.91,194.6,3001,3753,1980,1893,95.4,11.3,426,9345,0.00,2.17,0.00,0.000,1030,0.000,0.041,3011,2347,1936,1980,1893,0,0,0,0,0,0,28.83,14.95,28.83
$GC,9662,0.95,239.2,3011,2342,1980,1893,62.1,8.4,442,9687,0.00,2.20,19.38,0.324,8708,0.000,0.051,3021,956,1777,1815,1739,0,0,0,0,0,0,28.83,14.85,14.61
$GC,9769,1.02,304.8,3021,956,1819,1746,54.2,7.7,447,9809,0.00,2.25,32.08,0.302,9222,0.000,0.056,3021,2352,1506,1541,1471,0,0,0,0,0,0,28.83,14.86,14.60
$GC,10111,1.07,355.2,3021,2352,1556,1473,20.1,8.2,483,10142,0.00,0.00,24.12,0.205,8198,0.000,0.000,3021,2351,1302,1344,1261,0,0,0,0,0,0,28.83,28.83,14.65
$STATE,10308,end climb,SURFACE_DEPTH_REACHED
$STATE,10308,begin surface coast
$FINISH,0.0,1.021332
$STATE,10339,end surface coast,CONTROL_FINISHED_OK
$STATE,10339,begin surface
$SM_CCo,10355,42.97,0.147,0,0,917,450.13
$SM_GC,-0.33,7.62,0.15,42.97,0.057,0.126,0.147,233,2470,917,-7.61,-1.02,450.13,0,0,0,0,0,0,14.85,14.84,14.72
$IRIDIUM_FIX,2145.77,12148.01,230513,181833
$TT8_MAMPS,0.019474,0.019474
$HUMID,46.73
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,23.50
$XPDR_PINGS,1
$SC_FREEKB,3910784
$24V_AH,13.6,38.189
$10V_AH,13.6,0.000
$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,20.575,88.300,449.950,42.975,0.000,27.956,16.768,212.510,0.250,0.000,18.894,1645.358,6906.091,555.539,1626.265,120.654,0.000,1295.694,0.000,1235.112,0.000,0.541,0.000
$DEVICE_MAMPS,418.455,126.225,1598.850,146.880,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10391.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.602,0.000,0.000,0.000
$MEM,322820
$DATA_FILE_SIZE,20079,527
$CAP_FILE_SIZE,123215,0
$CFSIZE,260034560,250376192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.046,312.9,1
$GPS,240513,012803,2152.618,12111.857,13,3.2,32,-2.7