version: 66.11
glider: 181
mission: 11
dive: 186
start: 6 10 113 2 22 11
data:
$ID,181
$MISSION,11
$DIVE,186
$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,390
$T_MISSION,420
$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,-95934.125
$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,70
$R_STBD_OVSHOOT,31
$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
$GPS1,100613,021205,2345.601,12417.873,29,1.1,29,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.04
$_SM_ANGLEo,-70.7
$GPS2,100613,022142,2345.698,12417.905,8,1.1,13,-3.4
$SPEED_LIMITS,0.147,0.278
$TGT_NAME,OFFSHORE
$TGT_LATLONG,2316.000,12430.000
$TGT_RADIUS,5000.000
$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,207.9,58724,-13.6,-8.462,-16.94,2871
$D_GRID,2528
$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,20,-0.84,-160.6,215,2457,913,909,0.0,0.0,0,108,0.00,0.00,-86.18,0.000,16386,0.000,0.000,213,2458,3150,3212,3088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.84,-160.6,213,2458,3212,3090,4.5,-16.0,15,132,10.00,2.25,-4.30,0.000,18948,0.384,0.060,2423,1056,3409,3497,3322,0,0,0,0,0,0,14.41,14.72,14.92
$GC,218,-0.84,-160.6,1536,1054,3493,3321,39.7,-25.2,29,225,0.00,2.28,0.00,0.000,1030,0.000,0.058,2415,2450,3411,3500,3322,0,0,0,0,0,0,28.83,14.72,28.83
$GC,535,-0.84,-160.6,2415,2451,3500,3322,124.1,-23.7,47,541,0.00,2.15,0.00,0.000,260,0.000,0.071,2405,3780,3411,3500,3322,0,0,0,0,0,0,28.83,14.73,28.83
$GC,598,-0.84,-160.6,2405,3780,3500,3322,139.7,-24.5,50,604,0.00,2.03,0.00,0.000,1030,0.000,0.032,2405,2432,3411,3500,3323,0,0,0,0,0,0,28.83,14.90,28.83
$GC,922,-0.84,-160.6,2405,2426,3500,3324,206.0,-19.3,66,927,0.00,2.10,0.00,0.000,516,0.000,0.041,2405,1068,3412,3500,3325,0,0,0,0,0,0,28.83,14.88,28.83
$GC,998,-0.84,-160.6,2405,1068,3501,3325,215.7,-15.9,69,1006,0.12,2.22,0.00,0.000,3078,0.260,0.054,2423,2461,3413,3501,3325,0,0,0,0,0,0,14.71,14.87,28.83
$GC,1304,-0.84,-160.6,2423,2462,3501,3325,268.7,-16.1,85,1309,0.00,2.12,0.00,0.000,260,0.000,0.075,2416,3777,3411,3499,3324,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1341,-0.84,-160.6,2416,3777,3501,3324,272.4,-16.2,86,1348,0.00,1.98,0.00,0.000,1030,0.000,0.033,2416,2447,3412,3500,3324,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1647,-0.84,-160.6,2416,2443,3501,3324,322.8,-13.8,102,1652,0.00,2.12,0.00,0.000,516,0.000,0.042,2416,1074,3412,3501,3323,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1679,-0.84,-160.6,2415,1074,3500,3324,326.2,-14.0,103,1684,0.00,2.22,0.00,0.000,1030,0.000,0.056,2406,2460,3415,3501,3329,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1991,-0.84,-160.6,2406,2463,3501,3320,369.7,-13.7,119,1997,0.00,2.15,0.00,0.000,260,0.000,0.077,2396,3784,3410,3500,3321,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2064,-0.84,-160.6,2395,3781,3501,3320,379.5,-14.9,122,2070,0.12,2.00,0.00,0.000,3078,0.265,0.034,2423,2451,3410,3501,3320,0,0,0,0,0,0,14.73,14.96,28.83
$GC,2377,-0.84,-160.6,2424,2444,3500,3317,424.4,-12.9,138,2383,0.00,2.20,0.00,0.000,260,0.000,0.079,2415,3778,3408,3500,3317,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2403,-0.84,-160.6,1544,3778,3493,3313,427.6,-13.4,139,2409,0.00,2.00,0.00,0.000,1030,0.000,0.035,2415,2452,3408,3500,3316,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2722,-0.84,-160.6,2416,2450,3500,3314,470.8,-13.8,155,2727,0.00,2.20,0.00,0.000,260,0.000,0.080,2406,3776,3406,3500,3313,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2759,-0.84,-160.6,2406,3775,3500,3313,474.0,-14.1,156,2766,0.00,2.00,0.00,0.000,1030,0.000,0.035,2406,2453,3406,3500,3313,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3065,-0.84,-160.6,2406,2452,3498,3309,518.2,-13.5,172,3070,0.00,2.17,0.00,0.000,516,0.000,0.047,2406,1067,3403,3498,3309,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3097,-0.84,-160.6,2406,1067,3498,3309,521.1,-13.1,173,3102,0.12,2.25,0.00,0.000,3078,0.256,0.059,2424,2454,3403,3498,3309,0,0,0,0,0,0,14.75,14.90,28.83
$GC,3410,-0.84,-160.6,2425,2454,3497,3309,559.4,-11.6,189,3416,0.00,2.17,0.00,0.000,260,0.000,0.084,2417,3773,3402,3497,3307,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3453,-0.84,-160.6,2417,3774,3495,3307,565.0,-12.3,191,3459,0.00,2.03,0.00,0.000,1030,0.000,0.039,2417,2449,3401,3495,3307,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3767,-0.84,-160.6,2417,2446,3493,3302,605.0,-12.7,206,3772,0.00,2.22,0.00,0.000,260,0.000,0.085,2407,3778,3397,3492,3302,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3804,-0.84,-160.6,2407,3779,3491,3303,609.3,-12.8,207,3809,0.00,2.05,0.00,0.000,1030,0.000,0.040,2404,2446,3397,3491,3303,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4133,-0.84,-160.6,2407,2441,3490,3298,653.1,-12.7,218,4139,0.00,2.20,0.00,0.000,516,0.000,0.050,2407,1053,3394,3490,3298,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4175,-0.84,-160.6,2407,1053,3489,3298,657.7,-12.9,219,4182,0.12,2.30,0.00,0.000,3078,0.250,0.064,2426,2452,3393,3489,3298,0,0,0,0,0,0,14.73,14.87,28.83
$GC,4500,-0.84,-160.6,2426,2452,3487,3294,695.3,-11.4,230,4506,0.00,2.22,0.00,0.000,260,0.000,0.090,2418,3781,3390,3487,3294,0,0,0,0,0,0,28.83,14.84,28.83
$GC,4558,-0.84,-160.6,2418,3781,3486,3294,699.4,-11.4,231,4564,0.00,2.08,0.00,0.000,1030,0.000,0.043,2418,2439,3390,3486,3294,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4863,-0.84,-160.6,2418,2437,3484,3291,738.6,-11.8,242,4864,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2437,3387,3484,3291,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5163,-0.84,-160.6,2418,2438,3481,3288,771.9,-10.4,252,5169,0.00,2.20,0.00,0.000,516,0.000,0.053,2418,1061,3381,3476,3287,0,0,0,0,0,0,28.83,14.88,28.83
$GC,5190,-0.84,-160.6,2418,1060,3482,3287,771.9,-10.4,252,5197,0.00,2.30,0.00,0.000,1030,0.000,0.067,2409,2449,3384,3481,3288,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5496,-0.84,-160.6,2409,2449,3480,3285,808.6,-10.8,263,5502,0.00,2.25,0.00,0.000,260,0.000,0.095,2399,3781,3382,3480,3285,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5559,-0.84,-160.6,2399,3782,3478,3285,815.5,-10.8,265,5565,0.12,2.10,0.00,0.000,3078,0.258,0.044,2426,2445,3381,3478,3285,0,0,0,0,0,0,14.66,14.93,28.83
$GC,5893,-0.84,-160.6,2426,2440,3477,3281,846.2,-9.2,276,5898,0.00,2.22,0.00,0.000,516,0.000,0.056,2426,1061,3379,3477,3281,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5950,-0.84,-160.6,2426,1061,3477,3281,849.2,-9.3,277,5957,0.00,2.33,0.00,0.000,1030,0.000,0.068,2419,2459,3378,3476,3281,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6255,-0.84,-160.6,2419,2458,3474,3279,882.3,-10.2,288,6256,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2459,3377,3475,3279,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6556,-0.84,-160.6,2419,2458,3473,3278,912.7,-10.4,298,6561,0.00,2.28,0.00,0.000,516,0.000,0.055,2419,1061,3375,3473,3278,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6577,-0.84,-160.6,2419,1060,3473,3278,912.7,-10.4,298,6583,0.00,2.33,0.00,0.000,1030,0.000,0.068,2410,2454,3375,3473,3277,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6890,-0.84,-160.6,2410,2454,3470,3275,948.5,-10.2,309,6891,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2454,3372,3470,3275,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7190,-0.84,-160.6,2410,2455,3468,3273,980.8,-10.5,319,7196,0.00,2.28,0.00,0.000,260,0.000,0.099,2400,3786,3370,3467,3273,0,0,0,0,0,0,28.83,14.76,28.83
$GC,7264,-0.84,-160.6,2400,3785,3467,3272,988.1,-10.9,321,7269,0.00,2.10,0.00,0.000,1030,0.000,0.047,2400,2453,3370,3467,3273,0,0,0,0,0,0,28.83,14.90,28.83
$STATE,7285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7285,begin apogee
$GC,7291,-0.25,0.0,2400,2334,3467,3273,992.4,-11.6,322,7447,0.73,0.00,145.07,2.534,10246,0.216,0.000,2610,2334,2753,2802,2705,0,0,0,0,1,0,14.59,28.83,13.23
$STATE,7449,end apogee,CONTROL_FINISHED_OK
$STATE,7449,begin climb
$GC,7451,0.84,160.6,2610,2334,2802,2706,996.9,0.0,327,7622,1.10,2.65,156.93,2.507,10500,0.112,0.101,2967,3756,2098,2120,2076,0,0,0,0,1,0,14.11,13.90,13.09
$GC,7655,0.84,160.6,2968,3756,2120,2074,972.6,15.2,334,7661,0.00,2.33,0.00,0.000,1030,0.000,0.042,2977,2359,2096,2120,2073,0,0,0,0,0,0,28.83,14.19,28.83
$GC,7985,0.84,160.6,2978,2359,2119,2061,912.1,18.0,345,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2359,2090,2119,2061,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8283,0.84,160.6,2978,2359,2118,2057,856.0,18.6,355,8285,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2359,2087,2118,2057,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8583,0.84,160.6,2977,2354,2119,2055,799.2,18.7,365,8589,0.00,2.30,0.00,0.000,516,0.000,0.057,2988,950,2086,2118,2055,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8606,0.84,160.6,2988,950,2118,2055,799.2,18.7,365,8612,0.00,2.35,0.00,0.000,1030,0.000,0.063,2987,2363,2086,2118,2055,0,0,0,0,0,0,28.83,14.74,28.83
$GC,8920,0.84,160.6,2988,2363,2118,2052,736.6,18.7,376,8925,0.00,2.38,0.00,0.000,260,0.000,0.094,2988,3752,2085,2118,2052,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8953,0.84,160.6,2988,3752,2118,2052,730.0,18.8,377,8959,0.00,2.25,0.00,0.000,1030,0.000,0.043,2998,2334,2085,2118,2052,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9287,0.84,160.6,2999,2329,2118,2050,669.0,17.6,388,9288,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2329,2084,2118,2050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9586,0.84,160.6,2999,2329,2118,2048,618.7,16.7,398,9592,0.00,2.22,0.00,0.000,516,0.000,0.055,3008,958,2083,2118,2048,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9629,0.84,160.6,3006,958,2118,2048,612.9,16.8,399,9636,0.15,2.33,0.00,0.000,5126,0.282,0.061,2976,2359,2082,2117,2048,0,0,0,0,0,0,14.57,14.80,28.83
$GC,9953,0.84,160.6,2977,2359,2117,2047,558.7,16.3,414,9959,0.00,2.38,0.00,0.000,260,0.000,0.093,2977,3754,2085,2117,2054,0,0,0,0,0,0,28.83,14.77,28.83
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$STATE,14794,end climb,SURFACE_DEPTH_REACHED
$STATE,14794,begin surface coast
$FINISH,-0.1,1.021142
$STATE,14836,end surface coast,CONTROL_FINISHED_OK
$STATE,14836,begin surface
$SM_CCo,14853,78.93,0.137,0,0,917,450.13
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$IRIDIUM_FIX,2328.57,12402.28,090613,212159
$TT8_MAMPS,0.019474,0.019474
$HUMID,43.18
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,26.40
$XPDR_PINGS,3
$SC_FREEKB,3864672
$24V_AH,13.1,69.548
$10V_AH,13.3,0.000
$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,20.450,151.675,357.900,78.925,0.000,31.467,40.952,275.195,0.750,0.000,17.923,2303.532,10189.139,640.425,2124.610,257.245,0.000,1575.653,0.000,1637.574,0.000,0.545,0.000
$DEVICE_MAMPS,384.030,108.630,2533.680,136.935,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14899.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.930,0.000,0.000,0.000
$MEM,328752
$DATA_FILE_SIZE,26676,710
$CAP_FILE_SIZE,174205,0
$CFSIZE,260034560,239173632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.293, 70.4,1
$GPS,100613,063224,2344.686,12419.468,35,1.7,36,-3.4