version: 66.11
glider: 181
mission: 11
dive: 80
start: 5 25 113 5 4 16
data:
$ID,181
$MISSION,11
$DIVE,80
$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,-95773.344
$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,54
$R_STBD_OVSHOOT,58
$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
$GPS1,250513,045554,2215.236,12115.255,39,1.5,39,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.19
$_SM_ANGLEo,-69.6
$GPS2,250513,050348,2215.508,12115.221,9,1.5,14,-2.8
$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,15.3,90887,-14.3,-10.000,-17.31,2952
$D_GRID,798
$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,-0.91,-194.6,228,2487,919,917,0.0,0.0,0,104,0.00,0.00,-82.80,0.000,16386,0.000,0.000,227,2489,3087,3135,3039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.91,-194.6,227,2488,3134,3039,4.2,-15.5,14,133,10.18,2.15,-7.55,0.000,18692,0.411,0.110,2390,3743,3551,3639,3463,0,0,0,0,0,0,14.42,14.66,14.90
$GC,239,-0.91,-194.6,2390,3744,3639,3464,57.9,-38.8,28,247,0.00,2.00,0.00,0.000,1030,0.000,0.037,2390,2436,3551,3639,3464,0,0,0,0,0,0,28.83,14.78,28.83
$GC,545,-0.91,-194.6,2390,2435,3640,3467,148.1,-28.0,44,551,0.00,2.12,0.00,0.000,516,0.000,0.043,2390,1064,3552,3639,3466,0,0,0,0,0,0,28.83,14.83,28.83
$GC,608,-0.91,-194.6,2390,1064,3640,3466,162.1,-22.6,47,614,0.00,2.20,0.00,0.000,1030,0.000,0.058,2381,2429,3554,3640,3468,0,0,0,0,0,0,28.83,14.81,28.83
$GC,932,-0.91,-194.6,2376,2430,3639,3467,230.1,-21.2,63,937,0.00,2.15,0.00,0.000,516,0.000,0.043,2380,1053,3553,3640,3467,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1028,-0.91,-194.6,2380,1051,3640,3467,247.1,-20.9,67,1035,0.15,2.25,0.00,0.000,3078,0.254,0.061,2406,2450,3554,3640,3468,0,0,0,0,0,0,14.76,14.87,28.83
$GC,1334,-0.91,-194.6,2406,2450,3641,3467,307.2,-17.4,83,1339,0.00,2.15,0.00,0.000,260,0.000,0.081,2398,3777,3553,3640,3467,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1406,-0.91,-194.6,2398,3777,3640,3466,316.7,-15.4,86,1413,0.00,2.00,0.00,0.000,1030,0.000,0.037,2398,2443,3553,3640,3467,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1720,-0.91,-194.6,2398,2440,3641,3463,364.5,-15.0,102,1725,0.00,2.12,0.00,0.000,516,0.000,0.046,2398,1066,3551,3640,3463,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1892,-0.91,-194.6,2398,1066,3640,3458,390.9,-15.7,110,1897,0.00,2.22,0.00,0.000,1030,0.000,0.061,2388,2451,3551,3639,3463,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2204,-0.91,-194.6,2389,2451,3640,3458,441.7,-15.2,126,2210,0.00,2.17,0.00,0.000,260,0.000,0.085,2379,3787,3548,3640,3457,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2267,-0.91,-194.6,2378,3787,3640,3457,451.0,-14.8,129,2273,0.00,2.00,0.00,0.000,1030,0.000,0.039,2378,2457,3548,3640,3457,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2590,-0.91,-194.6,2374,2455,3640,3453,496.6,-14.0,145,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2455,3546,3640,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2891,-0.91,-194.6,2378,2454,3639,3450,537.7,-13.5,160,2892,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2454,3544,3639,3450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3191,-0.91,-194.6,2378,2454,3637,3447,581.6,-14.8,175,3196,0.00,2.17,0.00,0.000,516,0.000,0.050,2378,1063,3542,3637,3447,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3267,-0.91,-194.6,2378,1063,3636,3447,590.8,-14.6,178,3276,0.15,2.25,0.00,0.000,3078,0.260,0.064,2404,2451,3541,3636,3446,0,0,0,0,0,0,14.83,14.94,28.83
$GC,3574,-0.91,-194.6,2404,2452,3634,3438,629.8,-12.4,190,3579,0.00,2.20,0.00,0.000,260,0.000,0.092,2396,3785,3538,3633,3443,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3697,-0.91,-194.6,2396,3785,3631,3443,646.5,-13.5,194,3703,0.00,2.05,0.00,0.000,1030,0.000,0.044,2396,2448,3537,3632,3443,0,0,0,0,0,0,28.83,15.00,28.83
$GC,4031,-0.91,-194.6,2396,2446,3630,3439,691.1,-13.5,205,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2446,3534,3630,3439,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4330,-0.91,-194.6,2396,2445,3627,3437,732.5,-13.0,215,4336,0.00,2.17,0.00,0.000,516,0.000,0.053,2396,1063,3532,3627,3437,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4356,-0.91,-194.6,2396,1063,3627,3437,732.5,-13.0,215,4363,0.00,2.28,0.00,0.000,1030,0.000,0.067,2393,2460,3532,3627,3437,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4663,-0.91,-194.6,2387,2461,3624,3434,780.0,-14.4,226,4668,0.00,2.17,0.00,0.000,260,0.000,0.094,2377,3777,3529,3624,3434,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4695,-0.91,-194.6,2377,3777,3624,3434,785.0,-14.6,227,4702,0.12,2.05,0.00,0.000,3078,0.275,0.046,2403,2447,3529,3624,3434,0,0,0,0,0,0,14.80,15.00,28.83
$STATE,4787,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4787,begin apogee
$GC,4792,-0.25,0.0,2403,2340,3623,3433,799.3,-15.4,230,4993,0.70,0.00,190.73,1.500,10246,0.214,0.000,2613,2339,2754,2783,2726,0,0,0,0,1,0,14.81,28.83,13.71
$STATE,4995,end apogee,CONTROL_FINISHED_OK
$STATE,4995,begin climb
$GC,4997,0.91,194.6,2613,2339,2783,2726,808.6,0.0,236,5190,1.15,2.60,176.70,2.255,10500,0.121,0.090,2986,3758,1960,1985,1935,0,0,0,0,1,0,14.23,13.99,13.27
$GC,5201,0.91,194.6,2987,3757,1987,1936,787.1,15.4,243,5207,0.00,2.28,0.00,0.000,1030,0.000,0.041,2997,2364,1961,1987,1935,0,0,0,0,0,0,28.83,14.20,28.83
$GC,5514,0.91,194.6,2998,2359,1987,1929,714.6,20.8,254,5515,0.00,0.00,0.00,0.000,6,0.000,0.000,2997,2359,1958,1987,1930,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5815,0.91,194.6,2997,2359,1987,1928,650.7,21.4,264,5820,0.00,2.35,0.00,0.000,260,0.000,0.090,2997,3756,1957,1987,1928,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5861,0.91,194.6,2997,3756,1987,1928,642.9,21.5,265,5866,0.00,2.20,0.00,0.000,1030,0.000,0.042,3008,2349,1957,1987,1928,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6169,0.91,194.6,3008,2349,1987,1924,567.3,21.6,278,6175,0.00,2.38,0.00,0.000,260,0.000,0.090,3008,3756,1955,1987,1924,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6186,0.91,194.6,3008,3756,1987,1924,567.3,21.6,278,6194,0.00,2.20,0.00,0.000,1030,0.000,0.042,3018,2347,1955,1987,1924,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6492,0.91,194.6,3018,2342,1991,1925,499.6,20.3,294,6498,0.00,2.20,0.00,0.000,516,0.000,0.054,3029,958,1954,1987,1922,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6564,0.91,194.6,3029,959,1987,1922,488.0,18.8,297,6570,0.15,2.28,0.00,0.000,5126,0.284,0.062,2996,2356,1954,1987,1922,0,0,0,0,0,0,14.73,14.86,28.83
$GC,6877,0.91,194.6,2996,2357,1987,1920,427.0,20.4,313,6882,0.00,2.33,0.00,0.000,260,0.000,0.092,2996,3756,1953,1987,1920,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6990,0.91,194.6,2996,3757,1987,1920,405.1,21.3,318,6995,0.00,2.17,0.00,0.000,1030,0.000,0.043,3004,2350,1957,1994,1920,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7302,0.91,194.6,3004,2345,1988,1918,344.8,17.0,334,7307,0.00,2.22,0.00,0.000,516,0.000,0.056,3014,950,1952,1987,1918,0,0,0,0,0,0,28.83,14.91,28.83
$GC,7419,0.91,194.6,3014,949,1988,1917,329.0,15.3,339,7426,0.00,2.28,0.00,0.000,1030,0.000,0.060,3014,2353,1952,1988,1917,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7724,0.91,194.6,3014,2353,1987,1916,274.2,17.8,355,7730,0.00,2.33,0.00,0.000,260,0.000,0.090,3014,3758,1951,1987,1915,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7751,0.91,194.6,3014,3758,1988,1916,269.8,17.9,356,7757,0.15,2.17,0.00,0.000,5126,0.301,0.042,2992,2350,1951,1987,1916,0,0,0,0,0,0,14.76,14.94,28.83
$GC,8069,0.91,194.6,2992,2346,1988,1915,217.3,15.7,372,8075,0.00,2.35,0.00,0.000,260,0.000,0.089,2992,3755,1951,1987,1915,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8096,0.91,194.6,2992,3755,1987,1915,213.9,15.2,373,8102,0.00,2.17,0.00,0.000,1030,0.000,0.041,3000,2343,1951,1988,1915,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8414,0.91,194.6,3000,2339,1987,1915,169.3,15.0,389,8419,0.00,2.20,0.00,0.000,516,0.000,0.054,3010,956,1951,1987,1916,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8476,0.91,194.6,3010,956,1988,1915,160.1,15.2,392,8481,0.00,2.28,0.00,0.000,1030,0.000,0.058,3010,2361,1952,1988,1916,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8798,0.91,194.6,3010,2361,1987,1915,117.4,11.5,408,8804,0.00,2.25,0.00,0.000,516,0.000,0.054,3020,960,1951,1987,1915,0,0,0,0,0,0,28.83,14.89,28.83
$GC,8830,0.91,194.6,3020,959,1987,1915,114.6,11.9,409,8836,0.00,2.25,0.00,0.000,1030,0.000,0.057,3020,2359,1951,1987,1915,0,0,0,0,0,0,28.83,14.90,28.83
$GC,9144,0.91,198.0,3020,2359,1988,1915,80.5,9.9,425,9145,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2359,1951,1987,1915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9444,1.00,286.4,3020,2359,1989,1915,55.4,6.9,440,9493,0.00,2.33,43.45,0.308,8452,0.000,0.083,3020,3758,1584,1620,1548,0,0,0,0,0,0,28.83,14.80,14.64
$GC,9519,1.10,381.1,3022,3758,1624,1549,51.1,6.7,443,9571,0.00,2.17,44.28,0.291,9222,0.000,0.039,3028,2339,1198,1235,1161,0,0,0,0,0,0,28.83,14.88,14.59
$GC,9873,1.14,426.3,2064,2337,1226,1155,11.9,8.4,491,9899,0.10,0.00,20.77,0.181,10758,0.156,0.000,3082,2338,1011,1050,973,0,0,0,0,0,0,14.84,28.83,14.69
$STATE,9945,end climb,SURFACE_DEPTH_REACHED
$STATE,9945,begin surface coast
$FINISH,-0.6,1.021230
$STATE,9967,end surface coast,CONTROL_FINISHED_OK
$STATE,9967,begin surface
$SM_CCo,9983,10.50,0.157,1,0,917,450.13
$SM_GC,-0.41,7.75,0.20,10.50,0.049,0.106,0.157,239,2483,917,-7.62,-0.76,450.13,0,0,0,0,1,0,14.81,14.83,14.73
$IRIDIUM_FIX,2159.71,12109.79,250513,010101
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.75
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,22.90
$XPDR_PINGS,18
$SC_FREEKB,3907328
$24V_AH,13.3,40.663
$10V_AH,13.5,0.000
$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,20.600,93.175,475.925,10.500,0.000,29.594,55.198,200.056,4.500,0.000,17.535,1609.815,6540.567,590.977,1621.978,121.954,0.000,1305.416,0.000,1198.508,0.000,0.539,0.000
$DEVICE_MAMPS,410.805,127.755,2255.220,156.825,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10023.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.744,0.000,0.000,0.000
$MEM,322856
$DATA_FILE_SIZE,20099,508
$CAP_FILE_SIZE,120997,0
$CFSIZE,260034560,249528320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$CURRENT,0.362, 33.2,1
$GPS,250513,075205,2218.713,12116.742,11,1.6,27,-2.8