version: 66.11
glider: 181
mission: 11
dive: 236
start: 6 17 113 7 29 0
data:
$ID,181
$MISSION,11
$DIVE,236
$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,-96040.547
$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,68
$R_STBD_OVSHOOT,64
$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
$GPS1,170613,071945,2249.948,12509.078,12,2.5,31,-3.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.22
$_SM_ANGLEo,-72.5
$GPS2,170613,072833,2249.868,12509.147,10,2.7,29,-3.3
$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,222.2,189937,-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,-243.3,238,2486,1154,1162,0.0,0.0,0,99,0.00,0.00,-77.03,0.000,16386,0.000,0.000,238,2486,3131,3179,3084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.10,-243.3,238,2486,3178,3085,4.0,-14.9,14,133,9.50,2.25,-13.25,0.000,18948,0.386,0.057,2337,1058,3968,4003,3933,0,0,0,0,0,0,14.37,14.70,14.93
$GC,215,-1.10,-243.3,1472,1054,4005,3937,43.1,-27.4,28,221,0.00,2.25,0.00,0.000,1030,0.000,0.057,2329,2425,3968,4000,3937,0,0,0,0,0,0,28.83,14.67,28.83
$GC,521,-1.10,-243.3,2329,2424,4000,3939,142.6,-32.3,45,526,0.00,2.22,0.00,0.000,260,0.000,0.073,2319,3778,3969,4000,3939,0,0,0,0,0,0,28.83,14.76,28.83
$GC,657,-1.10,-243.3,2318,3780,3998,3940,183.0,-32.9,51,664,0.00,2.03,0.00,0.000,1030,0.000,0.034,2319,2442,3969,3999,3940,0,0,0,0,0,0,28.83,14.86,28.83
$GC,964,-1.10,-243.3,2318,2435,3997,3942,275.7,-27.8,67,969,0.00,2.22,0.00,0.000,260,0.000,0.073,2308,3784,3968,3996,3941,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1056,-1.10,-243.3,2308,3784,3996,3942,302.6,-32.4,71,1062,0.15,2.03,0.00,0.000,3078,0.277,0.033,2341,2427,3969,3996,3942,0,0,0,0,0,0,14.59,14.90,28.83
$GC,1369,-1.10,-243.3,2341,2422,3997,3941,380.4,-20.6,87,1375,0.00,2.25,0.00,0.000,260,0.000,0.073,2333,3785,3968,3996,3941,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1478,-1.10,-243.3,2333,3786,3996,3941,404.1,-23.3,92,1483,0.00,2.00,0.00,0.000,1030,0.000,0.034,2333,2461,3968,3996,3941,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1796,-1.10,-243.3,2335,2455,3997,3939,483.9,-25.1,108,1801,0.00,2.20,0.00,0.000,260,0.000,0.076,2323,3784,3968,3997,3939,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1869,-1.10,-243.3,2323,3784,3997,3938,499.8,-25.3,111,1874,0.00,2.03,0.00,0.000,1030,0.000,0.034,2323,2435,3967,3996,3938,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2182,-1.10,-243.3,2323,2429,3997,3934,572.2,-21.0,127,2187,0.00,2.22,0.00,0.000,260,0.000,0.078,2312,3776,3965,3997,3934,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2275,-1.10,-243.3,2312,3778,3996,3932,590.4,-22.0,131,2281,0.12,2.00,0.00,0.000,3078,0.277,0.034,2339,2448,3964,3996,3932,0,0,0,0,0,0,14.64,14.93,28.83
$GC,2600,-1.10,-243.3,2339,2442,3997,3927,660.0,-21.1,143,2605,0.00,2.22,0.00,0.000,260,0.000,0.082,2331,3775,3961,3996,3926,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2657,-1.10,-243.3,2331,3775,3997,3925,667.6,-21.4,144,2664,0.00,2.00,0.00,0.000,1030,0.000,0.037,2331,2467,3961,3997,3925,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2963,-1.10,-243.3,2331,2464,3997,3920,735.5,-20.3,155,2969,0.00,2.20,0.00,0.000,260,0.000,0.083,2327,3780,3958,3997,3919,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3015,-1.10,-243.3,2321,3780,3997,3918,742.2,-20.3,156,3021,0.00,2.05,0.00,0.000,1030,0.000,0.037,2321,2453,3956,3995,3918,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3328,-1.10,-243.3,2321,2447,3997,3911,815.7,-22.9,167,3333,0.00,2.22,0.00,0.000,260,0.000,0.085,2311,3774,3954,3997,3911,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3380,-1.10,-243.3,2311,3774,3997,3910,823.4,-23.1,168,3387,0.15,2.05,0.00,0.000,3078,0.272,0.038,2350,2454,3953,3997,3909,0,0,0,0,0,0,14.60,14.92,28.83
$GC,3695,-1.10,-243.3,2344,2449,3997,3903,888.2,-18.1,179,3701,0.00,2.25,0.00,0.000,260,0.000,0.088,2337,3778,3949,3997,3902,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3743,-1.10,-243.3,2337,3779,3996,3902,894.5,-18.1,180,3748,0.00,2.08,0.00,0.000,1030,0.000,0.040,2337,2450,3947,3996,3899,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4060,-1.10,-243.3,2337,2444,3996,3897,956.5,-18.9,191,4065,0.00,2.28,0.00,0.000,260,0.000,0.091,2326,3781,3946,3996,3896,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4154,-1.10,-243.3,2326,3781,3995,3896,975.2,-20.0,194,4159,0.00,2.10,0.00,0.000,1030,0.000,0.041,2326,2448,3945,3994,3896,0,0,0,0,0,0,28.83,14.91,28.83
$STATE,4244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4244,begin apogee
$GC,4250,-0.21,0.0,2322,2334,3995,3895,994.0,-20.2,197,4487,1.05,0.00,228.98,1.621,10246,0.229,0.000,2624,2334,3090,3115,3065,0,0,0,0,0,0,14.59,28.83,13.59
$STATE,4488,end apogee,CONTROL_FINISHED_OK
$STATE,4488,begin climb
$GC,4490,1.10,243.3,2624,2334,3113,3062,1007.5,0.0,205,4771,1.23,2.33,269.98,1.576,10756,0.066,0.056,3070,980,2098,2127,2069,0,0,0,0,0,0,14.26,14.14,13.56
$GC,4839,1.10,243.3,3069,980,2124,2056,971.1,21.5,216,4845,0.00,2.35,0.00,0.000,1030,0.000,0.063,3070,2353,2089,2123,2055,0,0,0,0,0,0,28.83,14.38,28.83
$GC,5153,1.10,243.3,3070,2352,2123,2047,898.4,21.8,227,5158,0.00,2.28,0.00,0.000,516,0.000,0.054,3080,976,2085,2123,2047,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5186,1.10,243.3,3080,976,2129,2046,891.7,21.2,228,5191,0.00,2.30,0.00,0.000,1030,0.000,0.063,3080,2350,2084,2123,2046,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5521,1.10,243.3,3080,2349,2123,2042,819.4,21.5,239,5526,0.00,2.25,0.00,0.000,516,0.000,0.053,3090,971,2082,2123,2041,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5618,1.10,243.3,3090,971,2123,2040,799.2,21.3,242,5624,0.15,2.30,0.00,0.000,5126,0.324,0.060,3060,2362,2081,2123,2040,0,0,0,0,0,0,14.50,14.78,28.83
$GC,5948,1.10,243.3,3056,2363,2123,2037,732.2,20.4,253,5949,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,2363,2080,2123,2037,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6246,1.10,243.3,3060,2363,2122,2035,670.5,20.5,263,6252,0.00,2.28,0.00,0.000,516,0.000,0.052,3067,971,2078,2122,2035,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6295,1.10,243.3,3067,970,2121,2031,663.9,20.2,264,6300,0.00,2.28,0.00,0.000,1030,0.000,0.059,3067,2353,2078,2121,2035,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6613,1.10,243.3,3067,2354,2120,2034,597.0,20.2,275,6619,0.00,2.25,0.00,0.000,516,0.000,0.051,3077,975,2077,2120,2034,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6676,1.10,243.3,3077,974,2120,2034,584.1,20.4,278,6682,0.00,2.28,0.00,0.000,1030,0.000,0.057,3077,2353,2076,2119,2034,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6999,1.10,243.3,3077,2354,2119,2033,523.8,17.3,294,7000,0.00,0.00,0.00,0.000,6,0.000,0.000,3077,2354,2076,2119,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7301,1.10,243.3,3077,2354,2119,2032,471.2,17.5,309,7306,0.00,2.25,0.00,0.000,516,0.000,0.049,3087,965,2075,2118,2032,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7364,1.10,243.3,3087,964,2118,2032,459.7,17.8,312,7370,0.15,2.30,0.00,0.000,5126,0.300,0.057,3055,2362,2075,2118,2032,0,0,0,0,0,0,14.53,14.81,28.83
$GC,7688,1.10,243.3,3051,2361,2118,2031,410.3,13.5,328,7693,0.00,2.25,0.00,0.000,516,0.000,0.049,3063,969,2074,2118,2031,0,0,0,0,0,0,28.83,14.80,28.83
$GC,7711,1.10,243.3,3063,968,2118,2031,407.5,13.1,329,7716,0.00,2.28,0.00,0.000,1030,0.000,0.056,3063,2354,2074,2118,2031,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8033,1.10,243.3,3063,2354,2118,2030,363.0,14.9,345,8039,0.00,2.38,0.00,0.000,260,0.000,0.086,3063,3760,2074,2118,2031,0,0,0,0,0,0,28.83,14.77,28.83
$GC,8057,1.10,243.3,3063,3761,2118,2031,359.2,15.5,346,8062,0.00,2.20,0.00,0.000,1030,0.000,0.037,3073,2351,2074,2118,2031,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8379,1.10,243.3,3074,2346,2118,2031,310.0,13.7,362,8385,0.00,2.22,0.00,0.000,516,0.000,0.048,3083,960,2074,2118,2031,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8585,1.10,243.3,3084,960,2118,2031,282.8,13.7,372,8591,0.12,2.28,0.00,0.000,5126,0.298,0.054,3059,2361,2074,2118,2031,0,0,0,0,0,0,14.53,14.80,28.83
$GC,8908,1.10,243.3,3059,2361,2118,2032,238.7,13.1,388,8913,0.00,2.33,0.00,0.000,260,0.000,0.083,3058,3751,2075,2118,2032,0,0,0,0,0,0,28.83,14.73,28.83
$GC,8994,1.10,243.3,2128,3750,2079,2024,226.4,15.0,392,9000,0.00,2.17,0.00,0.000,1030,0.000,0.036,3067,2340,2075,2118,2033,0,0,0,0,0,0,28.83,14.89,28.83
$GC,9312,1.10,243.3,3067,2335,2118,2033,184.5,12.0,408,9317,0.00,2.17,0.00,0.000,516,0.000,0.047,3077,969,2076,2118,2034,0,0,0,0,0,0,28.83,14.84,28.83
$GC,9497,1.10,243.3,3077,969,2118,2035,162.6,12.1,417,9502,0.00,2.25,0.00,0.000,1030,0.000,0.051,3077,2349,2077,2119,2035,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9820,1.10,243.3,3077,2349,2119,2035,123.7,12.1,433,9825,0.00,2.33,0.00,0.000,260,0.000,0.079,3077,3752,2077,2119,2036,0,0,0,0,0,0,28.83,14.78,28.83
$GC,9863,1.10,243.3,3077,3752,2118,2037,117.9,12.7,435,9869,0.15,2.15,0.00,0.000,5126,0.312,0.034,3056,2344,2077,2118,2037,0,0,0,0,0,0,14.49,14.85,28.83
$GC,10187,1.23,308.8,3056,2339,2118,2038,85.3,9.2,451,10228,0.12,2.22,30.50,0.375,10756,0.137,0.044,3124,970,1836,1865,1807,0,0,0,0,0,0,14.84,14.80,14.48
$GC,10386,1.23,308.8,3124,970,1876,1817,58.9,15.8,460,10393,0.00,2.22,1.80,0.185,9222,0.000,0.050,3124,2349,1833,1866,1801,0,0,0,0,0,0,28.83,14.75,14.64
$GC,10693,1.28,335.8,3124,2349,1878,1814,16.7,10.5,497,10717,0.00,2.25,15.02,0.186,8708,0.000,0.044,3134,973,1724,1757,1691,0,0,0,0,0,0,28.83,14.76,14.60
$STATE,10839,end climb,SURFACE_DEPTH_REACHED
$STATE,10839,begin surface coast
$FINISH,0.5,1.021257
$STATE,10871,end surface coast,CONTROL_FINISHED_OK
$STATE,10871,begin surface
$SM_CCo,10892,64.32,0.142,0,0,1153,475.15
$SM_GC,-0.34,8.68,2.47,64.32,0.125,0.053,0.142,229,2459,1153,-7.63,-0.82,475.15,0,0,0,0,0,0,14.81,14.78,14.65
$IRIDIUM_FIX,2239.35,12515.41,170613,040419
$TT8_MAMPS,0.018725,0.018725
$HUMID,47.40
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,25.20
$XPDR_PINGS,1
$SC_FREEKB,3845088
$24V_AH,13.6,84.509
$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,21.575,110.850,546.275,64.325,0.000,31.664,18.927,244.594,0.250,0.000,33.086,1727.461,7003.140,651.781,1868.179,242.434,0.000,1512.959,0.000,1445.139,0.000,0.541,0.000
$DEVICE_MAMPS,385.560,124.695,1621.035,142.290,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10908.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.920,0.000,0.000,0.000
$MEM,328416
$DATA_FILE_SIZE,20107,531
$CAP_FILE_SIZE,137368,0
$CFSIZE,260034560,234426368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170613,103259,2248.457,12508.947,37,1.3,37,-3.2