version: 66.11
glider: 181
mission: 11
dive: 507
start: 8 7 113 1 24 53
data:
$ID,181
$MISSION,11
$DIVE,507
$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,320
$T_MISSION,350
$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,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0028798201
$HD_B,0.025745301
$HD_C,2.4475299e-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,612.7594
$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,-97829.477
$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,2675
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$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,30
$C_ROLL_DIVE,2725
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$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,2938
$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,11
$MINV_10V,11
$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
$GPS1,070813,011135,2121.930,12439.637,25,1.6,26,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-69.8
$GPS2,070813,012425,2121.668,12439.900,15,1.7,15,-2.8
$SPEED_LIMITS,0.179,0.181
$TGT_NAME,ALT1
$TGT_LATLONG,2045.000,12345.000
$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,237.3,116842,-21.5,-10.312,-29.71,2752
$D_GRID,5428
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.32,-194.6,230,2723,459,430,0.0,0.0,0,123,0.00,0.00,-97.93,0.000,16386,0.000,0.000,230,2724,2959,3006,2913,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-1.32,-194.6,230,2724,3012,2916,3.1,-10.2,18,160,9.12,1.65,-14.68,0.000,18948,0.367,0.060,2240,1673,3729,3800,3659,0,0,0,0,0,0,14.13,14.68,14.88
$GC,191,-1.32,-194.6,1328,1671,3797,3659,20.1,-24.0,28,198,0.00,1.75,0.00,0.000,1030,0.000,0.060,2235,2735,3730,3800,3660,0,0,0,0,0,0,28.83,14.58,28.83
$GC,382,-1.32,-194.6,2235,2735,3800,3660,68.5,-24.9,48,387,0.00,1.73,0.00,0.000,260,0.000,0.067,2227,3789,3730,3800,3660,0,0,0,0,0,0,28.83,14.59,28.83
$GC,495,-1.32,-194.6,2227,3789,3800,3661,94.2,-20.6,59,500,0.00,1.62,0.00,0.000,1030,0.000,0.031,2226,2687,3729,3799,3660,0,0,0,0,0,0,28.83,14.75,28.83
$GC,688,-1.32,-194.6,2227,2688,3800,3661,131.6,-18.2,78,694,0.00,1.83,0.00,0.000,260,0.000,0.065,2218,3789,3730,3800,3660,0,0,0,0,0,0,28.83,14.58,28.83
$GC,747,-1.32,-194.6,2218,3789,3800,3661,142.0,-19.8,83,754,0.12,1.58,0.00,0.000,3078,0.294,0.031,2243,2711,3730,3799,3661,0,0,0,0,0,0,14.33,14.77,28.83
$GC,932,-1.32,-194.6,2243,2710,3800,3660,174.8,-16.5,102,937,0.00,1.77,0.00,0.000,260,0.000,0.065,2236,3789,3730,3800,3661,0,0,0,0,0,0,28.83,14.64,28.83
$GC,945,-1.32,-194.6,2237,3789,3799,3661,176.9,-16.4,103,950,0.00,1.55,0.00,0.000,1030,0.000,0.031,2237,2733,3730,3800,3661,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1138,-1.32,-194.6,2237,2732,3800,3661,208.1,-16.1,122,1144,0.00,1.77,0.00,0.000,260,0.000,0.067,2229,3810,3730,3800,3661,0,0,0,0,0,0,28.83,14.63,28.83
$GC,1212,-1.32,-194.6,2229,3810,3799,3661,220.9,-17.1,129,1217,0.00,1.60,0.00,0.000,1030,0.000,0.031,2228,2712,3730,3800,3661,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1406,-1.32,-194.6,2229,2711,3800,3661,252.2,-15.7,148,1411,0.00,1.77,0.00,0.000,260,0.000,0.067,2220,3786,3730,3800,3661,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1433,-1.32,-194.6,2220,3784,3800,3661,256.2,-16.2,150,1440,0.00,1.55,0.00,0.000,1030,0.000,0.031,2220,2714,3730,3800,3661,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1619,-1.32,-194.6,2220,2715,3800,3661,287.7,-16.6,169,1624,0.00,1.50,0.00,0.000,516,0.000,0.033,2220,1709,3730,3800,3661,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1683,-1.32,-194.6,2220,1710,3800,3660,298.0,-15.9,175,1689,0.15,1.65,0.00,0.000,3078,0.275,0.053,2246,2741,3730,3800,3660,0,0,0,0,0,0,14.36,14.69,28.83
$GC,1877,-1.32,-194.6,2246,2741,3800,3660,327.9,-15.2,194,1882,0.00,1.73,0.00,0.000,260,0.000,0.069,2240,3773,3730,3800,3660,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1925,-1.32,-194.6,1368,3773,3798,3659,334.8,-15.9,198,1932,0.00,1.58,0.00,0.000,1030,0.000,0.031,2240,2714,3729,3799,3660,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2111,-1.32,-194.6,2240,2714,3800,3660,363.0,-14.8,217,2116,0.00,1.52,0.00,0.000,516,0.000,0.033,2240,1723,3729,3799,3660,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2159,-1.32,-194.6,1376,1721,3798,3658,369.4,-14.6,221,2166,0.00,1.65,0.00,0.000,1030,0.000,0.054,2233,2722,3729,3800,3659,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2345,-1.32,-194.6,2233,2722,3799,3657,396.7,-14.3,240,2350,0.00,1.73,0.00,0.000,260,0.000,0.069,2225,3777,3728,3800,3656,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2403,-1.32,-194.6,1360,3777,3797,3655,404.8,-15.1,245,2410,0.00,1.52,0.00,0.000,1030,0.000,0.032,2225,2722,3728,3799,3657,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2589,-1.32,-194.6,2225,2722,3800,3656,433.0,-14.9,264,2594,0.00,1.50,0.00,0.000,516,0.000,0.034,2225,1723,3727,3800,3655,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2657,-1.32,-194.6,2225,1723,3800,3655,442.6,-15.0,270,2664,0.12,1.62,0.00,0.000,3078,0.280,0.056,2244,2728,3727,3800,3654,0,0,0,0,0,0,14.38,14.66,28.83
$GC,2844,-1.32,-194.6,2244,2727,3799,3653,470.7,-15.1,289,2849,0.00,1.73,0.00,0.000,260,0.000,0.072,2238,3776,3726,3799,3653,0,0,0,0,0,0,28.83,14.58,28.83
$GC,2911,-1.32,-194.6,2239,3776,3798,3653,480.8,-16.1,295,2918,0.00,1.58,0.00,0.000,1030,0.000,0.033,2238,2724,3725,3798,3653,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3099,-1.32,-194.6,2239,2724,3798,3650,508.4,-14.1,314,3104,0.00,0.00,0.00,0.000,6,0.000,0.000,2237,2724,3724,3798,3650,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3287,-1.32,-194.6,2238,2724,3797,3649,534.1,-13.3,333,3292,0.00,1.77,0.00,0.000,260,0.000,0.074,2230,3779,3722,3797,3647,0,0,0,0,0,0,28.83,14.62,28.83
$GC,3333,-1.32,-194.6,2230,3779,3796,3649,540.5,-14.2,337,3338,0.00,1.55,0.00,0.000,1030,0.000,0.034,2230,2734,3722,3796,3649,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3526,-1.32,-194.6,2230,2733,3795,3646,566.3,-13.0,356,3528,0.00,0.00,0.00,0.000,6,0.000,0.000,2230,2733,3720,3795,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3706,-1.32,-194.6,2230,2733,3793,3644,590.3,-13.6,374,3711,0.00,1.77,0.00,0.000,260,0.000,0.076,2222,3783,3718,3792,3644,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3760,-1.32,-194.6,2222,3783,3791,3644,598.0,-14.6,379,3765,0.00,1.58,0.00,0.000,1030,0.000,0.034,2222,2723,3717,3791,3644,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3955,-1.32,-194.6,2222,2722,3790,3642,626.0,-14.4,389,3960,0.00,1.77,0.00,0.000,260,0.000,0.076,2213,3774,3716,3790,3643,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4032,-1.32,-194.6,2214,3774,3788,3642,636.2,-15.5,392,4040,0.15,1.58,0.00,0.000,3078,0.274,0.035,2246,2727,3715,3789,3642,0,0,0,0,0,0,14.30,14.78,28.83
$GC,4222,-1.32,-194.6,2246,2724,3789,3639,665.1,-14.3,402,4227,0.00,1.62,0.00,0.000,516,0.000,0.037,2246,1701,3713,3788,3639,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4250,-1.32,-194.6,2246,1701,3788,3639,668.9,-14.2,403,4255,0.00,1.70,0.00,0.000,1030,0.000,0.060,2240,2729,3713,3788,3638,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4449,-1.32,-194.6,2241,2729,3787,3636,697.7,-13.9,413,4454,0.00,1.77,0.00,0.000,260,0.000,0.080,2233,3785,3711,3787,3636,0,0,0,0,0,0,28.83,14.56,28.83
$GC,4517,-1.32,-194.6,2233,3784,3786,3636,707.0,-14.5,416,4522,0.00,1.60,0.00,0.000,1030,0.000,0.037,2233,2726,3711,3786,3636,0,0,0,0,0,0,28.83,14.76,28.83
$GC,4719,-1.32,-194.6,2233,2726,3785,3633,734.4,-12.9,426,4724,0.00,1.80,0.00,0.000,260,0.000,0.081,2224,3779,3709,3785,3633,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4792,-1.32,-194.6,2225,3779,3781,3633,743.6,-13.7,429,4797,0.00,1.60,0.00,0.000,1030,0.000,0.037,2225,2727,3707,3781,3633,0,0,0,0,0,0,28.83,14.75,28.83
$GC,4986,-1.32,-194.6,2223,2725,3778,3634,770.4,-13.7,439,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2725,3705,3778,3633,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5167,-1.32,-194.6,2223,2725,3778,3629,796.1,-14.4,448,5172,0.00,1.85,0.00,0.000,260,0.000,0.082,2216,3796,3703,3778,3629,0,0,0,0,0,0,28.83,14.48,28.83
$GC,5195,-1.32,-194.6,2216,3796,3778,3629,799.8,-14.5,449,5201,0.12,1.65,0.00,0.000,3078,0.290,0.037,2242,2735,3703,3778,3629,0,0,0,0,0,0,14.25,14.73,28.83
$GC,5397,-1.32,-194.6,2242,2734,3778,3626,828.6,-14.4,459,5402,0.00,1.80,0.00,0.000,260,0.000,0.085,2236,3776,3701,3778,3625,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5425,-1.32,-194.6,2236,3776,3777,3626,832.5,-14.6,460,5431,0.00,1.67,0.00,0.000,1030,0.000,0.038,2235,2720,3701,3777,3625,0,0,0,0,0,0,28.83,14.68,28.83
$GC,5624,-1.32,-194.6,2236,2719,3776,3623,863.2,-14.9,470,5625,0.00,0.00,0.00,0.000,6,0.000,0.000,2236,2720,3699,3776,3623,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5805,-1.32,-194.6,2236,2720,3774,3621,889.7,-14.9,479,5810,0.00,1.85,0.00,0.000,260,0.000,0.086,2228,3777,3697,3774,3621,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5852,-1.32,-194.6,1392,3778,3770,3619,896.8,-15.2,481,5857,0.00,1.65,0.00,0.000,1030,0.000,0.040,2227,2723,3697,3773,3621,0,0,0,0,0,0,28.83,14.69,28.83
$GC,6051,-1.32,-194.6,2227,2723,3772,3619,928.3,-15.4,491,6056,0.00,1.85,0.00,0.000,260,0.000,0.088,2219,3779,3695,3772,3619,0,0,0,0,0,0,28.83,14.43,28.83
$GC,6085,-1.32,-194.6,2219,3779,3771,3619,932.1,-15.5,492,6090,0.00,1.70,0.00,0.000,1030,0.000,0.041,2219,2725,3695,3771,3619,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6279,-1.32,-194.6,2219,2725,3770,3617,964.6,-16.1,502,6280,0.00,0.00,0.00,0.000,6,0.000,0.000,2219,2725,3693,3770,3616,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6436,begin apogee
$GC,6445,-0.22,0.0,2219,2108,3767,3614,990.6,-16.5,510,6627,1.40,0.00,175.27,1.811,10246,0.240,0.000,2595,2106,2936,2980,2893,0,0,0,0,0,0,13.95,28.83,13.29
$STATE,6628,end apogee,CONTROL_FINISHED_OK
$STATE,6628,begin climb
$GC,6632,1.32,194.6,2595,2106,2977,2889,1003.0,0.0,519,6823,1.48,1.85,181.60,1.820,10756,0.078,0.062,3115,1068,2140,2166,2114,0,0,0,0,0,0,14.23,14.19,13.30
$GC,6865,1.32,194.6,3115,1067,2163,2101,984.6,14.1,531,6870,0.00,1.77,0.00,0.000,1030,0.000,0.066,3115,2094,2132,2164,2101,0,0,0,0,0,0,28.83,14.35,28.83
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$STATE,15090,end climb,SURFACE_DEPTH_REACHED
$STATE,15091,begin surface coast
$FINISH,0.2,1.021050
$STATE,15120,end surface coast,CONTROL_FINISHED_OK
$STATE,15120,begin surface
$SM_CCo,15140,104.22,0.136,0,0,438,612.76
$SM_GC,0.02,8.12,0.65,104.22,0.047,0.044,0.136,235,2753,438,-7.54,2.12,612.76,0,0,0,0,0,0,14.65,14.74,14.44
$IRIDIUM_FIX,2108.69,12443.61,060813,202013
$TT8_MAMPS,0.019474,0.019474
$HUMID,49.84
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,27.50
$XPDR_PINGS,1
$SC_FREEKB,3730880
$24V_AH,13.3,171.539
$10V_AH,12.6,0.000
$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
$DEVICE_SECS,21.350,174.750,505.750,104.225,0.000,32.850,17.582,387.066,0.250,0.000,18.006,3400.754,7986.747,801.212,3115.107,696.349,0.000,2238.622,0.000,2561.889,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15201.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.984,0.000,0.000,0.000
$MEM,328336
$DATA_FILE_SIZE,46705,1225
$CAP_FILE_SIZE,265957,0
$CFSIZE,260034560,202223616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070813,054029,2120.199,12440.521,36,0.9,42,-2.8