version: 66.11
glider: 181
mission: 11
dive: 189
start: 6 10 113 15 17 52
data:
$ID,181
$MISSION,11
$DIVE,189
$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,-95937.906
$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,65
$R_STBD_OVSHOOT,54
$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
$GPS1,100613,150806,2342.959,12420.836,25,1.3,26,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-71.2
$GPS2,100613,151724,2343.006,12420.838,10,1.3,15,-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,211.1,52389,-13.6,-8.462,-16.94,2871
$D_GRID,2615
$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,-0.84,-160.6,229,2476,912,919,0.0,0.0,0,109,0.00,0.00,-86.88,0.000,16386,0.000,0.000,229,2476,3150,3212,3088,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.84,-160.6,229,2476,3212,3090,4.1,-14.7,15,133,10.00,2.30,-4.40,0.000,18948,0.387,0.062,2424,1053,3411,3498,3325,0,0,0,0,0,0,14.38,14.73,14.90
$GC,265,-0.84,-160.6,2424,1051,3500,3326,53.1,-24.8,34,270,0.00,2.25,0.00,0.000,1030,0.000,0.054,2416,2436,3412,3500,3325,0,0,0,0,0,0,28.83,14.73,28.83
$GC,588,-0.84,-160.6,2413,2437,3500,3326,132.3,-23.1,50,593,0.00,2.17,0.00,0.000,516,0.000,0.042,2416,1050,3412,3499,3326,0,0,0,0,0,0,28.83,14.83,28.83
$GC,706,-0.84,-160.6,2416,1049,3501,3326,152.1,-18.7,55,713,0.00,2.28,0.00,0.000,1030,0.000,0.057,2406,2458,3414,3502,3326,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1012,-0.84,-160.6,2406,2457,3502,3327,213.3,-17.5,71,1017,0.00,2.15,0.00,0.000,260,0.000,0.075,2396,3778,3415,3502,3328,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1035,-0.84,-160.6,2396,3778,3501,3327,217.5,-17.4,72,1041,0.12,2.03,0.00,0.000,3078,0.267,0.034,2423,2426,3415,3502,3328,0,0,0,0,0,0,14.62,14.86,28.83
$GC,1358,-0.84,-160.6,2423,2421,3501,3327,267.8,-14.9,88,1364,0.00,2.22,0.00,0.000,260,0.000,0.073,2415,3783,3414,3502,3327,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1436,-0.84,-160.6,2415,3783,3501,3327,277.9,-16.0,91,1443,0.00,2.00,0.00,0.000,1030,0.000,0.032,2415,2454,3414,3502,3327,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1741,-0.84,-160.6,2415,2447,3502,3327,328.3,-15.9,107,1746,0.00,2.17,0.00,0.000,260,0.000,0.074,2405,3778,3414,3502,3326,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1767,-0.84,-160.6,1536,3778,3495,3323,331.5,-15.2,108,1773,0.00,2.00,0.00,0.000,1030,0.000,0.034,2405,2450,3413,3501,3326,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2085,-0.84,-160.6,2401,2444,3502,3322,380.2,-15.1,124,2086,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2444,3412,3502,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2387,-0.84,-160.6,2404,2443,3502,3320,423.8,-14.4,139,2392,0.00,2.20,0.00,0.000,260,0.000,0.077,2395,3780,3408,3498,3319,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2470,-0.84,-160.6,2395,3780,3502,3318,436.4,-14.9,143,2476,0.12,2.03,0.00,0.000,3078,0.265,0.035,2423,2452,3410,3502,3318,0,0,0,0,0,0,14.70,14.96,28.83
$GC,2794,-0.84,-160.6,2423,2446,3502,3316,479.1,-13.3,159,2800,0.00,2.20,0.00,0.000,260,0.000,0.080,2415,3775,3409,3502,3316,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2821,-0.84,-160.6,1536,3775,3494,3312,482.2,-13.1,160,2826,0.00,2.03,0.00,0.000,1030,0.000,0.037,2415,2449,3408,3501,3316,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3138,-0.84,-160.6,2415,2443,3500,3313,524.2,-12.5,176,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2443,3406,3499,3313,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3439,-0.84,-160.6,2415,2443,3497,3309,563.5,-12.8,191,3445,0.00,2.22,0.00,0.000,260,0.000,0.084,2406,3777,3402,3497,3308,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3522,-0.84,-160.6,2406,3777,3496,3308,575.0,-13.8,195,3528,0.00,2.05,0.00,0.000,1030,0.000,0.038,2406,2450,3402,3496,3308,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3845,-0.84,-160.6,2406,2444,3495,3307,618.5,-13.2,209,3850,0.00,2.22,0.00,0.000,260,0.000,0.085,2396,3774,3400,3494,3307,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3897,-0.84,-160.6,2396,3774,3492,3307,623.0,-13.1,210,3903,0.12,2.05,0.00,0.000,3078,0.266,0.039,2423,2446,3400,3493,3307,0,0,0,0,0,0,14.68,14.95,28.83
$GC,4212,-0.84,-160.6,2424,2440,3491,3301,659.8,-10.0,221,4217,0.00,2.25,0.00,0.000,260,0.000,0.087,2416,3778,3396,3491,3302,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4245,-0.84,-160.6,2416,3779,3490,3301,663.2,-9.9,222,4250,0.00,2.08,0.00,0.000,1030,0.000,0.041,2416,2444,3396,3490,3302,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4579,-0.84,-160.6,2416,2439,3489,3298,697.1,-10.6,233,4580,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2438,3393,3489,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4878,-0.84,-160.6,2416,2438,3487,3295,728.9,-10.8,243,4883,0.00,2.25,0.00,0.000,260,0.000,0.088,2406,3772,3391,3487,3295,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4925,-0.84,-160.6,2406,3773,3486,3295,732.7,-10.9,244,4930,0.00,2.05,0.00,0.000,1030,0.000,0.042,2406,2453,3390,3485,3295,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5243,-0.84,-160.6,2406,2447,3485,3292,772.4,-12.2,255,5249,0.00,2.22,0.00,0.000,516,0.000,0.054,2405,1061,3387,3484,3291,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5321,-0.84,-160.6,2405,1060,3483,3291,779.9,-11.8,257,5327,0.12,2.30,0.00,0.000,3078,0.262,0.066,2425,2445,3387,3483,3291,0,0,0,0,0,0,14.66,14.83,28.83
$GC,5641,-0.84,-160.6,2425,2445,3481,3288,816.6,-10.9,268,5647,0.00,2.28,0.00,0.000,260,0.000,0.096,2417,3782,3384,3481,3288,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5728,-0.84,-160.6,2417,3783,3480,3288,824.1,-11.3,270,5736,0.00,2.10,0.00,0.000,1030,0.000,0.045,2417,2441,3384,3480,3288,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6034,-0.84,-160.6,2417,2438,3479,3285,861.2,-11.1,281,6039,0.00,2.22,0.00,0.000,516,0.000,0.056,2417,1065,3382,3479,3285,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6068,-0.84,-160.6,2416,1059,3479,3285,864.6,-10.9,282,6073,0.00,2.33,0.00,0.000,1030,0.000,0.068,2407,2450,3382,3479,3285,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6402,-0.84,-160.6,2408,2450,3476,3282,898.4,-10.0,293,6403,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2450,3379,3476,3282,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6700,-0.84,-160.6,2408,2450,3475,3280,928.4,-10.0,303,6705,0.00,2.28,0.00,0.000,260,0.000,0.097,2397,3785,3377,3474,3280,0,0,0,0,0,0,28.83,14.75,28.83
$GC,6757,-0.84,-160.6,2397,3785,3474,3280,932.1,-10.2,304,6765,0.12,2.10,0.00,0.000,3078,0.256,0.047,2425,2447,3377,3474,3281,0,0,0,0,0,0,14.62,14.90,28.83
$GC,7064,-0.84,-160.6,2425,2446,3474,3278,965.4,-10.1,315,7070,0.00,2.25,0.00,0.000,516,0.000,0.057,2425,1057,3375,3473,3278,0,0,0,0,0,0,28.83,14.82,28.83
$GC,7177,-0.84,-160.6,2425,1058,3473,3278,975.3,-10.5,318,7182,0.00,2.33,0.00,0.000,1030,0.000,0.070,2419,2450,3375,3472,3278,0,0,0,0,0,0,28.83,14.78,28.83
$STATE,7308,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7308,begin apogee
$GC,7313,-0.25,0.0,2419,2347,3471,3277,991.1,-10.5,323,7485,0.65,0.00,164.10,1.727,10246,0.207,0.000,2609,2347,2752,2800,2704,0,0,0,0,0,0,14.60,28.83,13.55
$STATE,7487,end apogee,CONTROL_FINISHED_OK
$STATE,7487,begin climb
$GC,7488,0.84,160.6,2609,2347,2797,2701,996.7,0.0,328,7649,1.10,0.00,150.48,2.388,10758,0.118,0.000,2966,2346,2098,2118,2078,0,0,0,0,1,0,14.19,28.83,13.16
$GC,7940,0.84,160.6,2965,2346,2118,2070,928.8,17.7,344,7946,0.00,2.30,0.00,0.000,516,0.000,0.060,2975,967,2094,2118,2070,0,0,0,0,0,0,28.83,14.57,28.83
$GC,7982,0.84,160.6,2975,967,2118,2069,922.9,17.7,345,7988,0.00,2.35,0.00,0.000,1030,0.000,0.068,2975,2352,2093,2118,2068,0,0,0,0,0,0,28.83,14.58,28.83
$GC,8307,0.84,160.6,2975,2353,2118,2065,863.2,18.0,356,8312,0.00,2.42,0.00,0.000,260,0.000,0.097,2975,3762,2091,2117,2066,0,0,0,0,0,0,28.83,14.67,28.83
$GC,8370,0.84,160.6,2975,3762,2118,2066,850.5,18.9,358,8375,0.00,2.25,0.00,0.000,1030,0.000,0.044,2985,2354,2092,2118,2066,0,0,0,0,0,0,28.83,14.76,28.83
$GC,8704,0.84,160.6,2985,2350,2118,2062,788.6,18.2,369,8709,0.00,2.42,0.00,0.000,260,0.000,0.096,2986,3755,2090,2118,2062,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8761,0.84,160.6,2985,3754,2118,2062,781.9,18.4,370,8768,0.00,2.22,0.00,0.000,1030,0.000,0.044,2996,2347,2090,2118,2062,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9067,0.84,160.6,2996,2344,2118,2060,717.6,19.7,381,9073,0.00,2.25,0.00,0.000,516,0.000,0.055,3006,961,2089,2118,2061,0,0,0,0,0,0,28.83,14.79,28.83
$GC,9135,0.84,160.6,3006,964,2118,2060,705.2,19.9,383,9141,0.15,2.30,0.00,0.000,5126,0.284,0.063,2975,2351,2089,2118,2060,0,0,0,0,0,0,14.54,14.77,28.83
$GC,9465,0.84,160.6,2974,2351,2118,2058,642.5,19.5,394,9471,0.00,2.42,0.00,0.000,260,0.000,0.096,2974,3766,2088,2118,2058,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9528,0.84,160.6,2974,3766,2118,2058,628.8,20.4,396,9535,0.00,2.25,0.00,0.000,1030,0.000,0.044,2982,2348,2087,2118,2057,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9843,0.84,160.6,2982,2344,2118,2056,571.5,17.3,409,9849,0.00,2.45,0.00,0.000,260,0.000,0.095,2982,3758,2087,2118,2056,0,0,0,0,0,0,28.83,14.74,28.83
$GC,9861,0.84,160.6,2982,3758,2118,2056,571.5,17.3,409,9868,0.00,2.22,0.00,0.000,1030,0.000,0.043,2993,2344,2087,2118,2056,0,0,0,0,0,0,28.83,14.85,28.83
$GC,10168,0.84,160.6,2993,2339,2118,2055,515.1,17.2,425,10173,0.00,2.25,0.00,0.000,516,0.000,0.054,3003,957,2087,2118,2056,0,0,0,0,0,0,28.83,14.81,28.83
$GC,10211,0.84,160.6,3003,957,2118,2055,507.6,17.3,427,10217,0.12,2.33,0.00,0.000,5126,0.285,0.063,2977,2356,2086,2117,2055,0,0,0,0,0,0,14.55,14.78,28.83
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$STATE,14768,end climb,SURFACE_DEPTH_REACHED
$STATE,14768,begin surface coast
$FINISH,-0.3,1.021388
$STATE,14800,end surface coast,CONTROL_FINISHED_OK
$STATE,14801,begin surface
$SM_CCo,14817,51.72,0.138,0,0,915,450.13
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$IRIDIUM_FIX,2337.99,12436.94,100613,101023
$TT8_MAMPS,0.019474,0.019474
$HUMID,43.10
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,26.40
$XPDR_PINGS,4
$SC_FREEKB,3863360
$24V_AH,13.2,70.347
$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,20.400,143.150,403.650,51.725,0.000,29.018,51.687,252.171,1.000,0.000,18.346,2317.777,10081.867,620.695,2153.667,259.017,0.000,1574.010,0.000,1680.465,0.000,0.543,0.000
$DEVICE_MAMPS,387.090,131.580,2387.565,138.465,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14875.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.973,0.000,0.000,0.000
$MEM,328336
$DATA_FILE_SIZE,26722,705
$CAP_FILE_SIZE,172057,0
$CFSIZE,260034560,238837760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.296, 69.5,1
$GPS,100613,192706,2342.229,12422.120,39,0.8,40,-3.4