version: 66.11
glider: 181
mission: 11
dive: 219
start: 6 15 113 1 37 12
data:
$ID,181
$MISSION,11
$DIVE,219
$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,290
$T_MISSION,320
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52184
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00189915
$HD_B,0.015333
$HD_C,1.4612e-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,475
$N_FILEKB,4
$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,-96018.953
$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,24
$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,60
$R_STBD_OVSHOOT,57
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,3093
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$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,48
$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
$GPS1,150613,012745,2314.646,12501.061,9,2.9,28,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-70.3
$GPS2,150613,013645,2314.743,12501.155,12,2.9,31,-3.4
$SPEED_LIMITS,0.197,0.263
$TGT_NAME,N3
$TGT_LATLONG,2130.000,12400.000
$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,211.9,220759,-14.7,-11.379,-23.37,3050
$D_GRID,1000
$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,-1.10,-243.3,217,2477,1158,1156,0.0,0.0,0,100,0.00,0.00,-77.72,0.000,16386,0.000,0.000,217,2478,3169,3219,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-1.10,-243.3,217,2478,3218,3121,4.3,-14.6,14,134,9.50,2.25,-12.65,0.000,18948,0.379,0.063,2338,1051,3966,4004,3929,0,0,0,0,0,0,14.40,14.71,14.94
$GC,181,-1.10,-243.3,2337,1049,4002,3933,38.5,-33.7,25,187,0.00,2.25,0.00,0.000,1030,0.000,0.056,2329,2428,3967,4002,3933,0,0,0,0,0,0,28.83,14.70,28.83
$GC,494,-1.10,-243.3,2329,2428,4000,3935,153.4,-32.4,42,495,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2428,3967,4000,3935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,796,-1.10,-243.3,2329,2428,4001,3938,243.7,-29.6,57,801,0.00,2.22,0.00,0.000,260,0.000,0.074,2319,3786,3969,4000,3938,0,0,0,0,0,0,28.83,14.82,28.83
$GC,892,-1.10,-243.3,2319,3786,4001,3938,268.6,-29.4,61,899,0.00,2.05,0.00,0.000,1030,0.000,0.034,2319,2428,3969,4001,3938,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1198,-1.10,-243.3,2318,2420,4000,3938,358.7,-28.3,77,1203,0.00,2.22,0.00,0.000,260,0.000,0.073,2307,3780,3969,4000,3938,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1275,-1.10,-243.3,2308,3781,4001,3938,377.0,-28.9,80,1283,0.15,2.03,0.00,0.000,3078,0.268,0.034,2341,2436,3968,4000,3937,0,0,0,0,0,0,14.66,14.93,28.83
$GC,1581,-1.10,-243.3,2342,2431,4000,3937,453.3,-22.7,96,1586,0.00,2.22,0.00,0.000,260,0.000,0.076,2333,3778,3968,4000,3937,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1658,-1.10,-243.3,2334,3780,3999,3938,467.5,-22.4,99,1665,0.00,2.00,0.00,0.000,1030,0.000,0.035,2333,2453,3971,4006,3937,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1964,-1.10,-243.3,2332,2448,3996,3934,535.8,-22.1,115,1969,0.00,2.20,0.00,0.000,260,0.000,0.082,2324,3777,3965,3997,3934,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2096,-1.10,-243.3,2323,3778,3997,3933,564.2,-23.2,121,2101,0.00,2.03,0.00,0.000,1030,0.000,0.038,2322,2452,3964,3997,3932,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2430,-1.10,-243.3,2323,2446,3997,3927,644.0,-24.0,135,2436,0.00,2.22,0.00,0.000,260,0.000,0.083,2313,3778,3961,3997,3926,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2484,-1.10,-243.3,2313,3778,3997,3925,652.3,-23.9,136,2490,0.12,2.03,0.00,0.000,3078,0.277,0.038,2339,2453,3961,3997,3925,0,0,0,0,0,0,14.68,14.95,28.83
$GC,2798,-1.10,-243.3,2340,2449,3997,3920,724.1,-20.6,147,2804,0.00,2.22,0.00,0.000,260,0.000,0.084,2332,3781,3957,3996,3918,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2905,-1.10,-243.3,2332,3781,3997,3917,744.3,-21.4,150,2911,0.00,2.05,0.00,0.000,1030,0.000,0.039,2332,2453,3956,3997,3916,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3225,-1.10,-243.3,2332,2447,3997,3909,811.9,-20.3,161,3230,0.00,2.22,0.00,0.000,260,0.000,0.086,2322,3777,3953,3997,3909,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3251,-1.10,-243.3,2322,3777,3997,3908,811.9,-20.3,161,3258,0.00,2.05,0.00,0.000,1030,0.000,0.041,2322,2453,3952,3997,3908,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3558,-1.10,-243.3,2322,2450,3994,3902,881.3,-20.4,172,3563,0.00,2.25,0.00,0.000,260,0.000,0.088,2312,3780,3949,3997,3901,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3634,-1.10,-243.3,2312,3780,3997,3901,894.7,-20.8,174,3640,0.15,2.08,0.00,0.000,3078,0.271,0.043,2345,2452,3949,3997,3901,0,0,0,0,0,0,14.62,14.90,28.83
$GC,3955,-1.10,-243.3,2345,2446,3997,3895,954.7,-17.2,185,3956,0.00,0.00,0.00,0.000,6,0.000,0.000,2345,2446,3946,3997,3895,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4161,begin apogee
$GC,4166,-0.21,0.0,2345,2327,3995,3891,991.7,-17.6,192,4382,0.95,0.00,208.02,1.717,10246,0.212,0.000,2625,2327,3089,3116,3063,0,0,0,0,0,0,14.62,28.83,13.58
$STATE,4383,end apogee,CONTROL_FINISHED_OK
$STATE,4384,begin climb
$GC,4385,1.10,243.3,2624,2327,3113,3060,1002.7,0.0,199,4644,1.23,2.40,243.68,1.682,10756,0.063,0.062,3071,978,2095,2124,2066,0,0,0,0,0,0,14.25,14.14,13.52
$GC,4871,1.10,243.3,3072,978,2123,2048,931.8,21.6,215,4876,0.00,2.33,0.00,0.000,1030,0.000,0.067,3071,2351,2084,2122,2047,0,0,0,0,0,0,28.83,14.59,28.83
$GC,5190,1.10,243.3,3071,2351,2122,2042,858.2,22.2,226,5195,0.00,2.28,0.00,0.000,516,0.000,0.057,3078,971,2082,2122,2042,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5314,1.10,243.3,3081,971,2122,2040,832.8,20.6,230,5320,0.00,2.33,0.00,0.000,1030,0.000,0.066,3081,2362,2081,2122,2040,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5648,1.10,243.3,3081,2361,2122,2036,759.4,21.8,241,5653,0.00,2.28,0.00,0.000,516,0.000,0.057,3091,974,2079,2122,2036,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5721,1.10,243.3,3091,974,2121,2036,745.2,22.1,243,5727,0.15,2.28,0.00,0.000,5126,0.320,0.063,3060,2351,2078,2121,2035,0,0,0,0,0,0,14.56,14.80,28.83
$GC,6046,1.10,243.3,3059,2351,2120,2034,674.7,21.2,254,6047,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2351,2077,2120,2034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6345,1.10,243.3,3060,2351,2120,2032,610.9,20.9,264,6350,0.00,2.40,0.00,0.000,260,0.000,0.092,3059,3762,2076,2119,2033,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6417,1.10,243.3,3059,3763,2119,2033,596.1,22.2,266,6422,0.00,2.20,0.00,0.000,1030,0.000,0.041,3067,2354,2075,2119,2032,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6730,1.10,243.3,3068,2350,2118,2031,528.9,19.3,282,6735,0.00,2.22,0.00,0.000,516,0.000,0.052,3078,964,2074,2118,2031,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6772,1.10,243.3,3078,964,2119,2031,520.2,19.8,284,6778,0.00,2.30,0.00,0.000,1030,0.000,0.060,3078,2360,2074,2117,2032,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7096,1.10,243.3,3078,2360,2117,2029,456.3,19.0,300,7101,0.00,2.38,0.00,0.000,260,0.000,0.090,3078,3752,2072,2116,2029,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7148,1.10,243.3,3078,3751,2116,2030,447.3,20.4,302,7154,0.15,2.20,0.00,0.000,5126,0.337,0.040,3058,2340,2073,2117,2030,0,0,0,0,0,0,14.52,14.90,28.83
$GC,7462,1.10,243.3,3058,2341,2116,2028,390.5,16.9,318,7463,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2335,2072,2116,2028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7764,1.10,243.3,3058,2335,2117,2027,338.4,16.6,333,7769,0.00,2.22,0.00,0.000,516,0.000,0.050,3067,952,2072,2116,2028,0,0,0,0,0,0,28.83,14.86,28.83
$GC,7937,1.10,243.3,3067,951,2111,2028,312.9,14.9,341,7942,0.00,2.28,0.00,0.000,1030,0.000,0.057,3066,2349,2072,2116,2028,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8249,1.10,243.3,3067,2350,2116,2027,268.0,13.8,357,8254,0.00,2.35,0.00,0.000,260,0.000,0.085,3067,3759,2072,2116,2028,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8286,1.10,243.3,3067,3759,2116,2028,264.6,14.5,358,8293,0.00,2.20,0.00,0.000,1030,0.000,0.037,3077,2334,2072,2116,2028,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8592,1.10,243.3,3078,2330,2116,2028,221.2,13.8,374,8593,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2330,2072,2116,2028,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8893,1.10,243.3,3078,2330,2116,2028,181.9,12.8,389,8899,0.00,2.17,0.00,0.000,516,0.000,0.047,3088,961,2072,2116,2028,0,0,0,0,0,0,28.83,14.86,28.83
$GC,8920,1.10,243.3,3088,961,2117,2030,178.9,12.6,390,8926,0.15,2.25,0.00,0.000,5126,0.285,0.052,3055,2353,2073,2116,2030,0,0,0,0,0,0,14.57,14.83,28.83
$GC,9239,1.10,244.1,3055,2353,2116,2032,141.4,11.4,406,9240,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2353,2074,2116,2032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9540,1.15,267.4,3055,2353,2116,2033,107.8,10.6,421,9552,0.00,0.00,9.50,0.404,8198,0.000,0.000,3055,2353,2003,2045,1962,0,0,0,0,0,0,28.83,28.83,14.44
$GC,9839,1.24,315.4,3055,2353,2060,1979,75.7,9.8,436,9874,0.12,2.28,26.38,0.349,10756,0.137,0.046,3124,966,1810,1841,1780,0,0,0,0,0,0,14.85,14.81,14.54
$GC,10006,1.24,315.4,3124,967,1850,1788,54.8,13.5,444,10016,0.00,2.22,1.55,0.190,9222,0.000,0.050,3124,2349,1808,1841,1775,0,0,0,0,0,0,28.83,14.80,14.67
$GC,10319,1.24,315.4,3124,2350,1851,1784,18.0,12.2,479,10327,0.00,2.28,1.50,0.187,8708,0.000,0.044,3134,964,1806,1842,1771,0,0,0,0,0,0,28.83,14.81,14.64
$STATE,10468,end climb,SURFACE_DEPTH_REACHED
$STATE,10468,begin surface coast
$FINISH,-0.4,1.021471
$STATE,10500,end surface coast,CONTROL_FINISHED_OK
$STATE,10500,begin surface
$SM_CCo,10519,74.03,0.142,0,0,1153,475.15
$SM_GC,-0.01,7.85,2.47,74.03,0.047,0.051,0.142,233,2460,1153,-7.61,-0.82,475.15,0,0,0,0,0,0,14.85,14.81,14.68
$IRIDIUM_FIX,2255.72,12443.78,140613,222216
$TT8_MAMPS,0.019474,0.019474
$HUMID,46.65
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,25.50
$XPDR_PINGS,0
$SC_FREEKB,3851616
$24V_AH,13.5,79.340
$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,20.525,89.025,490.625,74.025,0.000,29.511,23.873,258.644,0.000,0.000,34.775,1608.137,6945.385,608.541,1760.697,220.656,0.000,1388.356,0.000,1316.434,0.000,0.542,0.000
$DEVICE_MAMPS,379.440,110.160,1717.425,141.525,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10544.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.995,0.000,0.000,0.000
$MEM,328360
$DATA_FILE_SIZE,20140,514
$CAP_FILE_SIZE,127316,0
$CFSIZE,260034560,235982848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150613,043506,2313.400,12502.310,35,0.9,35,-3.4