version: 66.11
glider: 181
mission: 11
dive: 214
start: 6 14 113 10 15 26
data:
$ID,181
$MISSION,11
$DIVE,214
$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,-96012.656
$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,71
$R_STBD_OVSHOOT,32
$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
$GPS1,140613,100624,2321.615,12457.419,41,0.9,41,-3.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-70.3
$GPS2,140613,101500,2321.604,12457.475,8,0.9,13,-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,209.0,229193,-14.7,-11.379,-23.37,3050
$D_GRID,5859
$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,20,-1.10,-243.3,208,2455,1161,1157,0.0,0.0,0,94,0.00,0.00,-72.47,0.000,16386,0.000,0.000,207,2455,2991,3037,2945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-1.10,-243.3,207,2455,3037,2947,3.2,-11.1,13,129,9.52,2.28,-16.23,0.000,18948,0.379,0.066,2337,1071,3965,4006,3925,0,0,0,0,0,0,14.38,14.72,14.92
$GC,192,-1.10,-243.3,2337,1063,4002,3931,40.9,-34.1,26,197,0.00,2.28,0.00,0.000,1030,0.000,0.058,2329,2450,3966,4002,3931,0,0,0,0,0,0,28.83,14.70,28.83
$GC,505,-1.10,-243.3,2329,2450,4001,3932,149.8,-34.1,43,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2450,3966,4001,3932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,806,-1.10,-243.3,2329,2450,4001,3934,242.2,-28.3,58,811,0.00,2.17,0.00,0.000,260,0.000,0.073,2319,3790,3967,4001,3934,0,0,0,0,0,0,28.83,14.81,28.83
$GC,849,-1.10,-243.3,2319,3790,4001,3934,254.9,-28.7,60,854,0.00,2.05,0.00,0.000,1030,0.000,0.034,2319,2434,3967,4001,3934,0,0,0,0,0,0,28.83,14.91,28.83
$GC,1172,-1.10,-243.3,2318,2426,3997,3937,342.5,-26.4,76,1177,0.00,2.22,0.00,0.000,260,0.000,0.074,2308,3780,3967,3996,3938,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1265,-1.10,-243.3,2308,3780,3998,3938,365.0,-27.2,80,1271,0.15,2.00,0.00,0.000,3078,0.279,0.032,2341,2443,3967,3997,3938,0,0,0,0,0,0,14.64,14.95,28.83
$GC,1579,-1.10,-243.3,2341,2436,3998,3937,439.1,-22.3,96,1584,0.00,2.22,0.00,0.000,260,0.000,0.073,2334,3783,3967,3997,3937,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1622,-1.10,-243.3,2333,3782,3997,3937,448.9,-22.8,98,1627,0.00,2.00,0.00,0.000,1030,0.000,0.034,2334,2452,3967,3997,3937,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1945,-1.10,-243.3,2333,2446,3997,3932,523.0,-22.6,114,1950,0.00,2.20,0.00,0.000,260,0.000,0.077,2324,3781,3964,3997,3932,0,0,0,0,0,0,28.83,14.86,28.83
$GC,2016,-1.10,-243.3,2323,3781,3998,3932,536.9,-22.4,117,2022,0.00,2.03,0.00,0.000,1030,0.000,0.035,2323,2442,3964,3997,3932,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2349,-1.10,-243.3,2323,2435,3997,3925,613.9,-21.8,133,2355,0.00,2.22,0.00,0.000,260,0.000,0.079,2313,3780,3961,3997,3925,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2451,-1.10,-243.3,2313,3780,3997,3924,635.1,-22.8,136,2457,0.12,2.03,0.00,0.000,3078,0.282,0.036,2339,2453,3959,3996,3923,0,0,0,0,0,0,14.66,14.95,28.83
$GC,2776,-1.10,-243.3,2339,2447,3997,3916,702.0,-20.2,147,2781,0.00,2.22,0.00,0.000,260,0.000,0.081,2332,3783,3956,3997,3916,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2833,-1.10,-243.3,2332,3783,3997,3915,709.1,-20.4,148,2839,0.00,2.05,0.00,0.000,1030,0.000,0.039,2331,2451,3956,3997,3915,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3139,-1.10,-243.3,2332,2447,3997,3908,777.8,-20.6,159,3144,0.00,2.22,0.00,0.000,260,0.000,0.085,2321,3777,3952,3997,3908,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3205,-1.10,-243.3,1472,3774,3997,3906,791.3,-21.2,161,3211,0.00,2.05,0.00,0.000,1030,0.000,0.039,2321,2454,3952,3997,3907,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3534,-1.10,-243.3,2321,2447,3997,3901,861.0,-20.8,172,3539,0.00,2.22,0.00,0.000,260,0.000,0.086,2311,3774,3948,3997,3900,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3561,-1.10,-243.3,2311,3775,3997,3900,861.0,-20.8,172,3569,0.15,2.08,0.00,0.000,3078,0.275,0.041,2344,2443,3948,3997,3900,0,0,0,0,0,0,14.63,14.93,28.83
$GC,3868,-1.10,-243.3,2344,2435,3997,3895,925.5,-18.9,183,3873,0.00,2.28,0.00,0.000,260,0.000,0.090,2337,3779,3946,3997,3895,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3911,-1.10,-243.3,2336,3780,3996,3895,931.7,-18.9,184,3916,0.00,2.10,0.00,0.000,1030,0.000,0.043,2336,2444,3945,3995,3895,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,4201,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4201,begin apogee
$GC,4208,-0.21,0.0,2337,2333,3994,3890,992.1,-20.1,194,4432,1.00,0.00,215.12,1.686,10246,0.220,0.000,2624,2332,3088,3116,3061,0,0,0,0,0,0,14.62,28.83,13.57
$STATE,4434,end apogee,CONTROL_FINISHED_OK
$STATE,4434,begin climb
$GC,4436,1.10,243.3,2624,2332,3113,3059,1006.0,0.0,201,4685,1.23,0.00,242.52,1.685,10758,0.065,0.000,3057,2332,2103,2128,2078,0,0,0,0,0,0,14.25,28.83,13.50
$GC,4983,1.10,243.3,3058,2332,2123,2045,916.1,23.6,220,4984,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2332,2084,2123,2046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5284,1.10,243.3,3058,2332,2123,2040,843.5,24.5,230,5285,0.00,0.00,0.00,0.000,6,0.000,0.000,3057,2332,2081,2122,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5583,1.10,243.3,3058,2332,2122,2037,771.6,23.8,240,5589,0.00,2.22,0.00,0.000,516,0.000,0.056,3067,970,2079,2122,2037,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5626,1.10,243.3,3067,969,2116,2037,763.7,23.8,241,5631,0.00,2.28,0.00,0.000,1030,0.000,0.060,3067,2349,2079,2121,2037,0,0,0,0,0,0,28.83,14.79,28.83
$GC,5951,1.10,243.3,3067,2349,2120,2035,685.6,23.2,252,5956,0.00,2.38,0.00,0.000,260,0.000,0.088,3067,3758,2077,2120,2035,0,0,0,0,0,0,28.83,14.80,28.83
$GC,6013,1.10,243.3,3067,3758,2119,2035,669.9,23.6,254,6019,0.00,2.20,0.00,0.000,1030,0.000,0.041,3078,2354,2077,2120,2035,0,0,0,0,0,0,28.83,14.89,28.83
$GC,6348,1.10,243.3,3078,2350,2118,2033,594.3,21.7,265,6353,0.00,2.22,0.00,0.000,516,0.000,0.051,3089,965,2076,2119,2034,0,0,0,0,0,0,28.83,14.86,28.83
$GC,6485,1.10,243.3,3088,965,2117,2034,568.0,20.7,271,6493,0.15,2.30,0.00,0.000,5126,0.308,0.060,3058,2359,2075,2117,2033,0,0,0,0,0,0,14.57,14.85,28.83
$GC,6791,1.10,243.3,3057,2358,2117,2030,505.3,18.7,287,6796,0.00,2.28,0.00,0.000,516,0.000,0.052,3065,961,2074,2118,2030,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6813,1.10,243.3,3065,961,2117,2030,501.2,18.7,288,6819,0.00,2.30,0.00,0.000,1030,0.000,0.058,3064,2357,2075,2120,2030,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7136,1.10,243.3,3065,2357,2118,2028,440.5,18.7,304,7142,0.00,2.28,0.00,0.000,516,0.000,0.052,3075,959,2072,2118,2027,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7274,1.10,243.3,3074,960,2117,2028,418.2,18.2,310,7281,0.00,2.28,0.00,0.000,1030,0.000,0.056,3075,2352,2070,2112,2028,0,0,0,0,0,0,28.83,14.83,28.83
$GC,7580,1.10,243.3,3075,2352,2117,2027,358.5,17.8,326,7585,0.00,2.25,0.00,0.000,516,0.000,0.050,3085,964,2072,2117,2027,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7607,1.10,243.3,2144,964,2077,2017,354.7,17.2,327,7613,0.12,2.28,0.00,0.000,5126,0.307,0.057,3059,2355,2072,2117,2027,0,0,0,0,0,0,14.56,14.82,28.83
$GC,7925,1.10,243.3,3059,2355,2116,2027,304.1,15.2,343,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2355,2072,2117,2027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8227,1.10,243.3,3059,2355,2117,2026,260.8,13.9,358,8232,0.00,2.25,0.00,0.000,516,0.000,0.050,3067,960,2071,2117,2026,0,0,0,0,0,0,28.83,14.86,28.83
$GC,8431,1.10,243.3,3067,961,2117,2027,232.2,13.1,368,8436,0.00,2.28,0.00,0.000,1030,0.000,0.055,3067,2351,2072,2117,2027,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8753,1.10,243.3,3066,2350,2117,2028,190.3,12.8,384,8758,0.00,2.33,0.00,0.000,260,0.000,0.082,3067,3753,2073,2117,2030,0,0,0,0,0,0,28.83,14.80,28.83
$GC,8810,1.10,243.3,3067,3753,2117,2028,184.0,13.4,386,8817,0.00,2.17,0.00,0.000,1030,0.000,0.037,3077,2342,2072,2117,2028,0,0,0,0,0,0,28.83,14.86,28.83
$GC,9116,1.10,245.3,3078,2338,2117,2029,144.1,11.3,402,9121,0.00,2.17,0.00,0.000,516,0.000,0.047,3088,967,2073,2117,2030,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9159,1.12,255.9,3088,967,2117,2032,139.4,11.0,404,9169,0.00,2.25,3.97,0.336,9222,0.000,0.052,3088,2357,2056,2097,2015,0,0,0,0,0,0,28.83,14.81,14.27
$GC,9482,1.21,300.5,3088,2355,2112,2030,104.7,9.9,420,9516,0.00,2.28,26.02,0.444,8708,0.000,0.045,3098,966,1869,1902,1836,0,0,0,0,0,0,28.83,14.82,14.47
$GC,9674,1.21,300.5,3097,967,1913,1846,84.0,11.9,429,9685,0.00,2.22,1.55,0.194,9222,0.000,0.049,3097,2349,1867,1902,1833,0,0,0,0,0,0,28.83,14.81,14.64
$GC,9985,1.26,321.7,3098,2349,1915,1842,48.9,10.7,445,10006,0.00,2.25,12.10,0.266,8708,0.000,0.044,3107,972,1783,1819,1748,0,0,0,0,0,0,28.83,14.79,14.56
$GC,10103,1.31,347.9,2176,968,1794,1750,37.6,10.5,456,10124,0.00,2.22,14.35,0.236,9222,0.000,0.049,3108,2351,1673,1710,1636,0,0,0,0,0,0,28.83,14.81,14.59
$STATE,10417,end climb,SURFACE_DEPTH_REACHED
$STATE,10417,begin surface coast
$FINISH,0.1,1.021277
$STATE,10443,end surface coast,CONTROL_FINISHED_OK
$STATE,10443,begin surface
$SM_CCo,10460,59.17,0.141,0,0,1153,475.15
$SM_GC,0.06,7.97,0.15,59.17,0.067,0.123,0.141,234,2466,1153,-7.61,-1.07,475.15,0,0,0,0,0,0,14.83,14.81,14.67
$IRIDIUM_FIX,2323.87,12457.02,140613,070750
$TT8_MAMPS,0.019474,0.019474
$HUMID,45.66
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,25.70
$XPDR_PINGS,1
$SC_FREEKB,3853536
$24V_AH,13.5,77.834
$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,20.425,92.850,515.650,59.175,0.000,30.557,29.368,251.305,0.250,0.000,16.330,1586.555,6907.834,608.352,1725.217,216.849,0.000,1393.306,0.000,1306.923,0.000,0.542,0.000
$DEVICE_MAMPS,379.440,126.225,1686.060,140.760,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10493.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.034,0.000,0.000,0.000
$MEM,328384
$DATA_FILE_SIZE,20078,513
$CAP_FILE_SIZE,127675,0
$CFSIZE,260034560,236433408
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140613,131143,2320.267,12458.292,12,2.0,12,-3.4