version: 66.11
glider: 181
mission: 11
dive: 194
start: 6 11 113 12 27 30
data:
$ID,181
$MISSION,11
$DIVE,194
$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,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,-95944.219
$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,61
$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,3
$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
$GPS1,110613,121805,2337.648,12428.368,26,1.1,27,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.01
$_SM_ANGLEo,-72.6
$GPS2,110613,122701,2337.580,12428.544,14,1.3,14,-3.4
$SPEED_LIMITS,0.147,0.301
$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,224.9,40044,-12.2,-8.462,-15.70,3470
$D_GRID,3542
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,20,-0.80,-194.6,223,2487,923,918,0.0,0.0,0,107,0.00,0.00,-84.40,0.000,16386,0.000,0.000,222,2488,3083,3145,3022,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.80,-194.6,222,2493,3146,3023,3.8,-13.3,15,136,10.05,2.28,-7.90,0.000,18948,0.386,0.063,2431,1051,3555,3657,3453,0,0,0,0,0,0,14.38,14.70,14.92
$GC,227,-0.80,-194.6,1544,1050,3653,3458,44.4,-26.5,30,235,0.00,2.25,0.00,0.000,1030,0.000,0.058,2423,2428,3559,3657,3461,0,0,0,0,0,0,28.83,14.72,28.83
$GC,534,-0.80,-194.6,2423,2428,3658,3461,124.5,-21.7,47,539,0.00,2.22,0.00,0.000,260,0.000,0.075,2413,3783,3556,3652,3461,0,0,0,0,0,0,28.83,14.73,28.83
$GC,647,-0.80,-194.6,2413,3783,3658,3462,147.8,-23.0,52,652,0.00,2.03,0.00,0.000,1030,0.000,0.033,2412,2441,3559,3657,3461,0,0,0,0,0,0,28.83,14.88,28.83
$GC,960,-0.80,-194.6,2413,2435,3658,3462,217.1,-20.0,68,966,0.00,2.22,0.00,0.000,260,0.000,0.073,2403,3789,3559,3657,3462,0,0,0,0,0,0,28.83,14.82,28.83
$GC,997,-0.80,-194.6,2402,3790,3657,3462,221.9,-19.9,69,1005,0.15,2.03,0.00,0.000,3078,0.251,0.031,2437,2435,3560,3658,3462,0,0,0,0,0,0,14.66,14.91,28.83
$GC,1303,-0.80,-194.6,2438,2430,3658,3462,276.2,-16.8,85,1308,0.00,2.22,0.00,0.000,260,0.000,0.074,2430,3782,3560,3658,3462,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1329,-0.80,-194.6,1544,3786,3654,3460,279.9,-16.6,86,1335,0.00,2.00,0.00,0.000,1030,0.000,0.032,2430,2449,3559,3657,3462,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1648,-0.80,-194.6,2429,2442,3658,3462,331.6,-15.5,102,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2442,3560,3658,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1949,-0.80,-194.6,2429,2442,3658,3460,375.3,-14.6,117,1954,0.00,2.20,0.00,0.000,260,0.000,0.076,2420,3777,3559,3658,3460,0,0,0,0,0,0,28.83,14.87,28.83
$GC,2033,-0.80,-194.6,2420,3778,3665,3458,388.0,-15.1,121,2038,0.00,2.03,0.00,0.000,1030,0.000,0.034,2420,2446,3558,3658,3458,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2356,-0.80,-194.6,2420,2440,3658,3456,435.3,-14.1,137,2362,0.00,2.17,0.00,0.000,516,0.000,0.045,2420,1061,3557,3658,3456,0,0,0,0,0,0,28.83,14.91,28.83
$GC,2384,-0.80,-194.6,2420,1060,3659,3456,438.6,-14.1,138,2389,0.00,2.25,0.00,0.000,1030,0.000,0.057,2411,2452,3557,3658,3456,0,0,0,0,0,0,28.83,14.88,28.83
$GC,2701,-0.80,-194.6,2411,2452,3658,3457,483.1,-13.5,154,2707,0.00,2.17,0.00,0.000,260,0.000,0.080,2400,3778,3554,3658,3451,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2775,-0.80,-194.6,2401,3778,3658,3451,492.5,-14.7,157,2781,0.15,2.03,0.00,0.000,3078,0.248,0.037,2436,2443,3554,3658,3451,0,0,0,0,0,0,14.71,14.96,28.83
$GC,3089,-0.80,-194.6,2436,2438,3656,3447,532.3,-12.1,173,3094,0.00,2.22,0.00,0.000,260,0.000,0.082,2429,3777,3551,3656,3447,0,0,0,0,0,0,28.83,14.85,28.83
$GC,3152,-0.80,-194.6,2428,3777,3654,3448,540.7,-13.0,176,3157,0.00,2.03,0.00,0.000,1030,0.000,0.037,2428,2457,3550,3654,3447,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3475,-0.80,-194.6,2429,2452,3652,3444,583.7,-13.1,192,3481,0.00,2.20,0.00,0.000,516,0.000,0.048,2428,1064,3548,3652,3444,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3539,-0.80,-194.6,2428,1063,3652,3444,592.1,-13.2,195,3544,0.00,2.28,0.00,0.000,1030,0.000,0.060,2419,2457,3547,3651,3444,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3873,-0.80,-194.6,2419,2457,3648,3440,636.1,-13.3,207,3879,0.00,2.22,0.00,0.000,260,0.000,0.088,2409,3784,3544,3648,3440,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3955,-0.80,-194.6,2409,3784,3647,3440,644.9,-13.4,209,3962,0.12,2.05,0.00,0.000,3078,0.251,0.041,2437,2450,3543,3647,3440,0,0,0,0,0,0,14.69,14.95,28.83
$GC,4270,-0.80,-194.6,2438,2448,3646,3437,682.3,-10.9,220,4276,0.00,2.25,0.00,0.000,260,0.000,0.089,2434,3781,3541,3646,3436,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4299,-0.80,-194.6,2434,3782,3645,3437,682.3,-10.9,220,4305,0.00,2.05,0.00,0.000,1030,0.000,0.041,2434,2446,3541,3645,3437,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4604,-0.80,-194.6,2434,2444,3644,3433,721.7,-11.9,231,4610,0.00,2.25,0.00,0.000,260,0.000,0.089,2424,3777,3538,3643,3433,0,0,0,0,0,0,28.83,14.81,28.83
$GC,4647,-0.80,-194.6,2424,3777,3642,3433,725.8,-11.9,232,4654,0.00,2.05,0.00,0.000,1030,0.000,0.041,2424,2456,3537,3642,3433,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4972,-0.80,-194.6,2424,2453,3639,3431,764.6,-11.5,243,4977,0.00,2.25,0.00,0.000,260,0.000,0.090,2418,3782,3535,3639,3431,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5005,-0.80,-194.6,2414,3782,3638,3431,768.4,-11.4,244,5011,0.00,2.10,0.00,0.000,1030,0.000,0.042,2414,2447,3534,3638,3431,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5341,-0.80,-194.6,2414,2445,3637,3427,810.8,-12.8,255,5347,0.00,2.22,0.00,0.000,516,0.000,0.054,2414,1061,3531,3636,3426,0,0,0,0,0,0,28.83,14.85,28.83
$GC,5375,-0.80,-194.6,2414,1061,3636,3427,815.5,-12.8,256,5381,0.12,2.33,0.00,0.000,3078,0.249,0.067,2434,2455,3531,3636,3427,0,0,0,0,0,0,14.68,14.83,28.83
$GC,5708,-0.80,-194.6,2434,2456,3633,3425,851.2,-10.5,267,5713,0.00,2.25,0.00,0.000,260,0.000,0.097,2426,3779,3529,3633,3425,0,0,0,0,0,0,28.83,14.77,28.83
$GC,5795,-0.80,-194.6,2427,3780,3632,3424,858.1,-10.7,269,5801,0.00,2.08,0.00,0.000,1030,0.000,0.045,2426,2451,3528,3632,3424,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6101,-0.80,-194.6,2426,2450,3631,3422,893.2,-10.4,280,6107,0.00,2.25,0.00,0.000,516,0.000,0.054,2426,1060,3527,3631,3423,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6160,-0.80,-194.6,2426,1059,3630,3421,896.7,-10.4,281,6167,0.00,2.33,0.00,0.000,1030,0.000,0.068,2419,2453,3526,3630,3423,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6464,-0.80,-194.6,2420,2453,3627,3420,932.3,-10.8,292,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2453,3523,3627,3420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6764,-0.80,-194.6,2419,2453,3626,3418,963.7,-10.5,302,6769,0.00,2.25,0.00,0.000,516,0.000,0.056,2419,1066,3521,3625,3418,0,0,0,0,0,0,28.83,14.82,28.83
$GC,6801,-0.80,-194.6,1552,1065,3620,3415,967.2,-10.6,303,6806,0.00,2.33,0.00,0.000,1030,0.000,0.070,2411,2458,3521,3625,3418,0,0,0,0,0,0,28.83,14.79,28.83
$STATE,7006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7006,begin apogee
$GC,7012,-0.25,0.0,2410,2339,3624,3416,990.4,-11.1,310,7227,0.70,0.00,205.82,1.671,10246,0.207,0.000,2615,2340,2748,2786,2711,0,0,0,0,0,0,14.61,28.83,13.55
$STATE,7228,end apogee,CONTROL_FINISHED_OK
$STATE,7228,begin climb
$GC,7231,0.80,194.6,2615,2339,2784,2709,994.8,0.0,317,7460,1.02,2.42,214.70,1.561,10756,0.111,0.060,2961,974,1952,1989,1916,0,0,0,0,0,0,14.19,14.10,13.54
$GC,7616,0.80,194.6,2048,974,1950,1890,936.1,17.7,330,7622,0.00,2.35,0.00,0.000,1030,0.000,0.067,2962,2351,1942,1987,1898,0,0,0,0,0,0,28.83,14.47,28.83
$GC,7946,0.80,194.6,2962,2351,1987,1894,873.5,19.0,341,7951,0.00,2.30,0.00,0.000,516,0.000,0.057,2971,968,1940,1987,1894,0,0,0,0,0,0,28.83,14.69,28.83
$GC,8018,0.80,194.6,2971,968,1986,1893,861.5,19.1,343,8023,0.00,2.33,0.00,0.000,1030,0.000,0.066,2971,2351,1939,1986,1893,0,0,0,0,0,0,28.83,14.68,28.83
$GC,8342,0.80,194.6,2971,2351,1986,1890,798.1,18.8,354,8347,0.00,2.42,0.00,0.000,260,0.000,0.096,2971,3763,1938,1986,1890,0,0,0,0,0,0,28.83,14.71,28.83
$GC,8384,0.80,194.6,2971,3763,1987,1890,791.4,18.9,355,8390,0.00,2.22,0.00,0.000,1030,0.000,0.043,2981,2355,1938,1987,1890,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8709,0.80,194.6,2981,2350,1987,1888,726.7,19.4,366,8714,0.00,2.28,0.00,0.000,516,0.000,0.056,2991,961,1937,1986,1888,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8768,0.80,194.6,2992,961,1987,1888,720.2,19.2,367,8776,0.15,2.33,0.00,0.000,5126,0.268,0.063,2959,2361,1937,1987,1888,0,0,0,0,0,0,14.57,14.77,28.83
$GC,9073,0.80,194.6,2959,2361,1988,1886,663.2,17.2,378,9078,0.00,2.40,0.00,0.000,260,0.000,0.097,2958,3752,1936,1987,1886,0,0,0,0,0,0,28.83,14.76,28.83
$GC,9120,0.80,194.6,2959,3752,1987,1886,656.8,17.6,379,9126,0.00,2.22,0.00,0.000,1030,0.000,0.043,2969,2344,1936,1987,1886,0,0,0,0,0,0,28.83,14.86,28.83
$GC,9439,0.80,194.6,2967,2340,1987,1885,598.3,17.3,390,9440,0.00,0.00,0.00,0.000,6,0.000,0.000,2966,2340,1935,1986,1885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9740,0.80,194.6,2967,2340,1986,1884,547.1,16.2,405,9746,0.00,2.25,0.00,0.000,516,0.000,0.055,2976,957,1935,1987,1883,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9804,0.80,194.6,2977,956,1987,1884,536.7,16.0,408,9810,0.00,2.33,0.00,0.000,1030,0.000,0.063,2977,2356,1935,1987,1883,0,0,0,0,0,0,28.83,14.79,28.83
$GC,10128,0.80,194.6,2977,2356,1987,1883,482.3,16.9,424,10133,0.00,2.40,0.00,0.000,260,0.000,0.094,2976,3759,1935,1987,1883,0,0,0,0,0,0,28.83,14.76,28.83
$GC,10160,0.80,194.6,2977,3759,1987,1883,478.1,17.1,425,10166,0.00,2.22,0.00,0.000,1030,0.000,0.041,2987,2350,1935,1987,1883,0,0,0,0,0,0,28.83,14.87,28.83
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$STATE,14526,end climb,SURFACE_DEPTH_REACHED
$STATE,14526,begin surface coast
$FINISH,-0.2,1.021353
$STATE,14562,end surface coast,CONTROL_FINISHED_OK
$STATE,14562,begin surface
$SM_CCo,14579,12.38,0.143,0,0,916,450.13
$SM_GC,-0.29,7.50,0.12,12.38,0.044,0.131,0.143,223,2486,916,-7.63,-1.07,450.13,0,0,0,0,0,0,14.81,14.78,14.67
$IRIDIUM_FIX,2337.99,12628.65,110613,080831
$TT8_MAMPS,0.019474,0.019474
$HUMID,44.95
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,26.30
$XPDR_PINGS,1
$SC_FREEKB,3861248
$24V_AH,13.5,71.802
$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,20.275,147.525,538.575,12.375,0.000,23.556,41.942,247.458,0.250,0.000,17.080,2244.037,9824.437,669.281,2137.400,257.595,0.000,1672.210,0.000,1680.139,0.000,0.543,0.000
$DEVICE_MAMPS,386.325,130.815,1670.760,143.055,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14620.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.989,0.000,0.000,0.000
$MEM,328372
$DATA_FILE_SIZE,26772,701
$CAP_FILE_SIZE,171886,0
$CFSIZE,260034560,238288896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.344, 79.5,1
$GPS,110613,163205,2336.810,12429.701,38,0.9,39,-3.4