version: 66.11
glider: 181
mission: 11
dive: 543
start: 8 13 113 17 38 18
data:
$ID,181
$MISSION,11
$DIVE,543
$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,200
$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,-97885.203
$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,2483
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.9
$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,2175
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,73
$R_STBD_OVSHOOT,30
$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
$GPS1,130813,172405,2042.634,12547.979,36,0.9,43,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.08
$_SM_ANGLEo,-67.7
$GPS2,130813,173748,2042.659,12548.380,9,1.3,14,-2.7
$SPEED_LIMITS,0.179,0.181
$TGT_NAME,HEADING
$TGT_LATLONG,2032.511,12544.436
$TGT_RADIUS,1852.000
$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,202.7,20000,-21.5,-10.312,-29.71,2752
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.47,-194.6,219,2725,464,431,0.0,0.0,0,124,0.00,0.00,-98.57,0.000,16386,0.000,0.000,219,2725,2973,3018,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,131,-1.47,-194.6,219,2726,3018,2931,3.3,-10.2,18,161,8.05,0.00,-14.32,0.000,18694,0.361,0.000,2004,2726,3733,3793,3673,0,0,0,0,0,0,14.08,28.83,14.92
$GC,349,-1.47,-194.6,2004,2725,3793,3674,71.2,-30.5,45,354,0.00,1.62,0.00,0.000,516,0.000,0.031,2002,1672,3733,3792,3674,0,0,0,0,0,0,28.83,14.68,28.83
$GC,437,-1.47,-194.6,1216,1671,3790,3672,95.0,-29.0,53,444,0.00,1.73,0.00,0.000,1030,0.000,0.053,1998,2734,3733,3793,3673,0,0,0,0,0,0,28.83,14.64,28.83
$GC,623,-1.47,-194.6,1998,2735,3793,3673,146.5,-25.1,72,628,0.00,1.70,0.00,0.000,260,0.000,0.060,1990,3780,3733,3793,3673,0,0,0,0,0,0,28.83,14.64,28.83
$GC,671,-1.47,-194.6,1990,3780,3793,3669,157.6,-25.9,76,678,0.00,1.62,0.00,0.000,1030,0.000,0.030,1990,2706,3732,3792,3673,0,0,0,0,0,0,28.83,14.71,28.83
$GC,857,-1.47,-194.6,1990,2705,3792,3673,202.8,-22.5,95,862,0.00,1.77,0.00,0.000,260,0.000,0.062,1982,3779,3733,3793,3674,0,0,0,0,0,0,28.83,14.65,28.83
$GC,881,-1.47,-194.6,1982,3778,3793,3674,208.3,-22.5,97,886,0.00,1.60,0.00,0.000,1030,0.000,0.030,1982,2711,3733,3792,3674,0,0,0,0,0,0,28.83,14.77,28.83
$GC,1075,-1.47,-194.6,1982,2708,3793,3674,251.4,-20.7,116,1080,0.00,1.52,0.00,0.000,516,0.000,0.033,1982,1701,3733,3792,3674,0,0,0,0,0,0,28.83,14.72,28.83
$GC,1184,-1.47,-194.6,1982,1700,3793,3675,272.6,-20.0,126,1192,0.15,1.65,0.00,0.000,3078,0.327,0.050,2007,2735,3734,3793,3675,0,0,0,0,0,0,14.22,14.69,28.83
$GC,1371,-1.47,-194.6,2003,2735,3793,3675,312.1,-20.6,145,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2003,2734,3733,3792,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1551,-1.47,-194.6,2003,2734,3793,3675,348.5,-20.9,163,1556,0.00,1.67,0.00,0.000,260,0.000,0.064,1998,3774,3734,3793,3675,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1606,-1.47,-194.6,1998,3771,3793,3674,360.1,-22.0,168,1611,0.00,1.58,0.00,0.000,1030,0.000,0.031,1998,2708,3733,3792,3674,0,0,0,0,0,0,28.83,14.78,28.83
$GC,1800,-1.47,-194.6,1997,2707,3792,3674,402.7,-22.2,187,1805,0.00,1.77,0.00,0.000,260,0.000,0.061,1989,3784,3734,3793,3676,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1819,-1.47,-194.6,1989,3785,3792,3674,405.6,-21.8,188,1825,0.00,1.58,0.00,0.000,1030,0.000,0.031,1990,2739,3733,3792,3674,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2004,-1.47,-194.6,1989,2739,3792,3673,447.6,-21.5,207,2009,0.00,1.70,0.00,0.000,260,0.000,0.063,1981,3775,3732,3792,3673,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2048,-1.47,-194.6,1981,3775,3793,3673,456.8,-20.9,211,2053,0.00,1.60,0.00,0.000,1030,0.000,0.031,1981,2723,3733,3793,3673,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2242,-1.47,-194.6,1981,2720,3792,3672,498.5,-21.7,230,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,1981,2720,3731,3792,3671,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2422,-1.47,-194.6,1981,2720,3793,3670,537.2,-21.7,248,2427,0.00,1.75,0.00,0.000,260,0.000,0.068,1973,3775,3730,3792,3669,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2459,-1.47,-194.6,1973,3775,3791,3669,544.5,-21.8,251,2467,0.15,1.60,0.00,0.000,3078,0.334,0.032,2001,2718,3730,3792,3669,0,0,0,0,0,0,14.19,14.79,28.83
$GC,2645,-1.47,-194.6,2001,2718,3792,3667,583.1,-20.0,270,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2719,3729,3792,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2839,-1.47,-194.6,2001,2718,3790,3665,619.1,-18.7,284,2844,0.00,1.77,0.00,0.000,260,0.000,0.071,1996,3779,3727,3790,3664,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2906,-1.47,-194.6,1996,3776,3789,3665,632.1,-19.3,287,2912,0.00,1.60,0.00,0.000,1030,0.000,0.034,1995,2729,3727,3789,3665,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3107,-1.47,-194.6,1995,2729,3787,3661,672.5,-20.1,297,3112,0.00,1.60,0.00,0.000,516,0.000,0.036,1996,1694,3724,3788,3661,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3150,-1.47,-194.6,1996,1694,3788,3661,681.6,-20.2,299,3156,0.00,1.73,0.00,0.000,1030,0.000,0.057,1989,2711,3724,3788,3661,0,0,0,0,0,0,28.83,14.58,28.83
$GC,3354,-1.47,-194.6,1989,2712,3787,3658,722.9,-20.6,309,3359,0.00,1.77,0.00,0.000,260,0.000,0.075,1980,3776,3722,3787,3657,0,0,0,0,0,0,28.83,14.61,28.83
$GC,3393,-1.47,-194.6,1981,3776,3786,3657,728.1,-20.9,310,3400,0.12,1.60,0.00,0.000,3078,0.340,0.035,2001,2732,3721,3785,3657,0,0,0,0,0,0,14.19,14.75,28.83
$GC,3580,-1.47,-194.6,2002,2731,3784,3654,772.9,-22.7,320,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2002,2730,3719,3784,3655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3759,-1.47,-194.6,2002,2730,3781,3654,812.7,-22.4,329,3764,0.00,1.83,0.00,0.000,260,0.000,0.077,1996,3788,3716,3780,3653,0,0,0,0,0,0,28.83,14.52,28.83
$GC,3806,-1.47,-194.6,1248,3787,3776,3651,823.0,-22.4,331,3812,0.00,1.70,0.00,0.000,1030,0.000,0.037,1996,2718,3716,3779,3653,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4005,-1.47,-194.6,1996,2718,3778,3649,869.1,-22.5,341,4010,0.00,1.60,0.00,0.000,516,0.000,0.040,1996,1697,3713,3778,3649,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4024,-1.47,-194.6,1996,1696,3778,3649,869.1,-22.5,341,4031,0.00,1.77,0.00,0.000,1030,0.000,0.063,1988,2746,3713,3778,3649,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4209,-1.47,-194.6,1988,2746,3776,3646,916.7,-24.2,351,4214,0.00,1.75,0.00,0.000,260,0.000,0.080,1981,3778,3711,3776,3646,0,0,0,0,0,0,28.83,14.52,28.83
$GC,4325,-1.47,-194.6,1980,3778,3773,3645,942.4,-25.4,356,4331,0.12,1.65,0.00,0.000,3078,0.347,0.038,1998,2733,3709,3773,3645,0,0,0,0,0,0,14.11,14.71,28.83
$GC,4522,-1.47,-194.6,2001,2733,3772,3642,989.9,-22.6,366,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2001,2733,3707,3772,3642,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4537,begin apogee
$GC,4545,-0.25,0.0,2001,2170,3772,3642,994.5,-22.7,367,4743,1.58,0.00,190.07,1.727,10246,0.304,0.000,2392,2169,2935,2973,2897,0,0,0,0,0,0,13.84,28.83,13.26
$STATE,4744,end apogee,CONTROL_FINISHED_OK
$STATE,4745,begin climb
$GC,4748,1.47,194.6,2392,2169,2971,2895,1012.9,0.0,377,4937,1.88,1.88,179.85,1.814,11012,0.184,0.078,2945,3234,2142,2176,2108,0,0,0,0,0,0,14.16,14.21,13.30
$GC,4949,1.58,251.0,2945,3234,2173,2099,1003.2,8.2,387,5007,0.12,1.70,52.30,1.776,11270,0.140,0.040,2993,2197,1912,1957,1868,0,0,0,0,0,0,14.32,14.35,13.31
$GC,5196,1.58,251.0,2993,2197,1952,1849,973.4,12.0,400,5201,0.00,1.80,0.00,0.000,260,0.000,0.084,2993,3231,1900,1952,1849,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5281,1.58,251.0,2993,3231,1952,1849,962.4,13.1,404,5286,0.00,1.70,0.00,0.000,1030,0.000,0.039,3001,2175,1903,1952,1855,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5484,1.58,251.0,3001,2175,1952,1844,937.7,12.1,414,5489,0.00,1.70,0.00,0.000,516,0.000,0.056,3008,1133,1897,1951,1844,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5537,1.58,251.0,3008,1133,1951,1843,932.3,12.2,416,5542,0.00,1.75,0.00,0.000,1030,0.000,0.064,3008,2174,1897,1951,1843,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5732,1.58,251.0,3008,2175,1951,1840,907.0,12.5,426,5737,0.00,1.85,0.00,0.000,260,0.000,0.087,3008,3226,1896,1951,1841,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5816,1.58,251.0,3008,3226,1950,1841,895.8,13.2,430,5821,0.00,1.70,0.00,0.000,1030,0.000,0.039,3016,2166,1896,1951,1841,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6020,1.58,251.0,3016,2165,1947,1837,870.3,12.0,440,6026,0.00,1.70,0.00,0.000,516,0.000,0.054,3023,1128,1894,1950,1838,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6078,1.58,251.0,3023,1128,1949,1838,864.9,12.0,442,6085,0.15,1.75,0.00,0.000,5126,0.265,0.060,2991,2176,1893,1949,1838,0,0,0,0,0,0,14.34,14.63,28.83
$GC,6265,1.58,251.0,2991,2177,1949,1836,842.7,10.9,452,6270,0.00,1.80,0.00,0.000,260,0.000,0.084,2991,3231,1892,1949,1836,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6375,1.58,251.0,1984,3228,1909,1827,830.7,11.5,457,6380,0.00,1.70,0.00,0.000,1030,0.000,0.038,2996,2161,1893,1950,1837,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6575,1.58,251.0,2996,2161,1948,1834,808.2,11.1,467,6580,0.00,1.67,0.00,0.000,516,0.000,0.053,3003,1135,1891,1949,1834,0,0,0,0,0,0,28.83,14.64,28.83
$GC,6592,1.58,251.0,3004,1135,1949,1834,808.2,11.1,467,6599,0.00,1.75,0.00,0.000,1030,0.000,0.060,3004,2183,1891,1948,1834,0,0,0,0,0,0,28.83,14.62,28.83
$GC,6778,1.58,251.0,3003,2182,1948,1833,784.3,11.8,477,6784,0.00,1.80,0.00,0.000,260,0.000,0.084,3003,3232,1890,1948,1833,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6877,1.58,251.0,3004,3232,1948,1833,773.4,13.0,481,6884,0.00,1.70,0.00,0.000,1030,0.000,0.037,3011,2160,1890,1948,1833,0,0,0,0,0,0,28.83,14.69,28.83
$GC,7063,1.58,251.0,3012,2160,1947,1834,748.8,12.4,491,7064,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2160,1889,1947,1832,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,13991,end climb,SURFACE_DEPTH_REACHED
$STATE,13991,begin surface coast
$FINISH,-0.6,1.021171
$STATE,14018,end surface coast,CONTROL_FINISHED_OK
$STATE,14018,begin surface
$SM_CCo,14041,55.47,0.134,0,0,439,612.76
$SM_GC,0.04,8.02,0.90,55.47,0.050,0.067,0.134,234,2720,439,-6.94,-1.10,612.76,0,0,0,0,0,0,14.64,14.58,14.44
$IRIDIUM_FIX,2027.17,12555.55,130813,131306
$TT8_MAMPS,0.019474,0.019474
$HUMID,51.26
$INTERNAL_PRESSURE,9.80506
$TCM_TEMP,26.40
$XPDR_PINGS,2
$SC_FREEKB,3715680
$24V_AH,13.3,184.921
$10V_AH,12.5,0.000
$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
$DEVICE_SECS,21.000,163.750,632.500,55.475,0.000,25.165,52.610,403.391,0.500,0.000,17.163,3116.449,7265.023,833.557,2990.537,698.726,0.000,2214.032,0.000,2409.278,0.000,0.544,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14100.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.022,0.000,0.000,0.000
$MEM,328764
$DATA_FILE_SIZE,43322,1129
$CAP_FILE_SIZE,251079,0
$CFSIZE,260034560,197111808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130813,213435,2042.038,12550.164,31,1.0,31,-2.7