version: 66.11
glider: 181
mission: 11
dive: 237
start: 6 17 113 10 42 9
data:
$ID,181
$MISSION,11
$DIVE,237
$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,-96041.805
$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,73
$R_STBD_OVSHOOT,34
$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
$GPS1,170613,103259,2248.457,12508.947,37,1.3,37,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.16
$_SM_ANGLEo,-70.6
$GPS2,170613,104143,2248.415,12509.034,14,1.1,14,-3.2
$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,222.5,187725,-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,20,-1.10,-243.3,228,2461,1156,1160,0.0,0.0,0,100,0.00,0.00,-77.55,0.000,16386,0.000,0.000,228,2462,3183,3231,3135,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-1.10,-243.3,228,2458,3230,3137,4.5,-17.1,14,134,9.48,2.28,-12.05,0.000,18948,0.382,0.069,2340,1074,3966,4003,3930,0,0,0,0,0,0,14.38,14.68,14.92
$GC,206,-1.10,-243.3,2340,1074,4001,3933,44.3,-28.6,26,212,0.00,2.25,0.00,0.000,1030,0.000,0.054,2332,2451,3967,4001,3933,0,0,0,0,0,0,28.83,14.68,28.83
$GC,511,-1.10,-243.3,2332,2451,4000,3935,139.0,-29.6,43,516,0.00,2.20,0.00,0.000,260,0.000,0.076,2322,3786,3971,4000,3942,0,0,0,0,0,0,28.83,14.76,28.83
$GC,608,-1.10,-243.3,2322,3786,4000,3937,164.6,-30.9,47,615,0.00,2.03,0.00,0.000,1030,0.000,0.034,2321,2453,3968,4000,3937,0,0,0,0,0,0,28.83,14.87,28.83
$GC,914,-1.10,-243.3,2322,2445,3997,3938,259.3,-27.7,63,919,0.00,2.20,0.00,0.000,260,0.000,0.071,2311,3784,3968,3997,3939,0,0,0,0,0,0,28.83,14.77,28.83
$GC,971,-1.10,-243.3,2311,3784,3997,3938,271.3,-28.2,65,978,0.15,2.03,0.00,0.000,3078,0.298,0.033,2342,2427,3967,3996,3938,0,0,0,0,0,0,14.56,14.86,28.83
$GC,1277,-1.10,-243.3,2342,2422,3993,3938,355.7,-23.3,81,1282,0.00,2.25,0.00,0.000,260,0.000,0.073,2334,3791,3967,3997,3938,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1309,-1.10,-243.3,2334,3788,3997,3938,361.3,-23.7,82,1314,0.00,2.00,0.00,0.000,1030,0.000,0.033,2334,2459,3967,3997,3938,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1622,-1.10,-243.3,2334,2452,3997,3938,441.3,-23.7,98,1627,0.00,2.20,0.00,0.000,260,0.000,0.076,2324,3782,3967,3997,3938,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1730,-1.10,-243.3,2324,3782,3997,3937,465.7,-23.8,103,1735,0.00,2.03,0.00,0.000,1030,0.000,0.033,2325,2437,3967,3997,3937,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2047,-1.10,-243.3,2324,2430,3997,3934,541.2,-23.0,119,2053,0.00,2.22,0.00,0.000,260,0.000,0.078,2313,3778,3965,3997,3933,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2125,-1.10,-243.3,2314,3778,3997,3932,556.8,-24.6,122,2132,0.12,2.00,0.00,0.000,3078,0.278,0.034,2340,2447,3964,3997,3932,0,0,0,0,0,0,14.64,14.93,28.83
$GC,2430,-1.10,-243.3,2340,2442,3997,3927,626.6,-20.5,136,2435,0.00,2.22,0.00,0.000,260,0.000,0.080,2333,3781,3965,4004,3927,0,0,0,0,0,0,28.83,14.80,28.83
$GC,2517,-1.10,-243.3,2333,3783,3997,3926,639.6,-20.7,138,2524,0.00,2.03,0.00,0.000,1030,0.000,0.035,2332,2454,3961,3997,3926,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2823,-1.10,-243.3,2333,2451,3997,3921,709.1,-21.4,149,2828,0.00,2.20,0.00,0.000,260,0.000,0.080,2322,3775,3959,3997,3921,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2850,-1.10,-243.3,2322,3775,3997,3921,709.1,-21.4,149,2857,0.00,2.03,0.00,0.000,1030,0.000,0.037,2322,2454,3958,3997,3920,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3156,-1.10,-243.3,2322,2450,3997,3914,783.5,-21.5,160,3161,0.00,2.22,0.00,0.000,260,0.000,0.083,2312,3778,3955,3997,3913,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3233,-1.10,-243.3,2311,3778,3997,3912,797.9,-21.9,162,3239,0.15,2.05,0.00,0.000,3078,0.272,0.038,2345,2452,3954,3997,3912,0,0,0,0,0,0,14.62,14.92,28.83
$GC,3553,-1.10,-243.3,2345,2445,3994,3905,862.6,-19.0,173,3558,0.00,2.25,0.00,0.000,260,0.000,0.087,2338,3778,3951,3997,3905,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3605,-1.10,-243.3,2338,3778,3997,3905,869.3,-19.1,174,3610,0.00,2.08,0.00,0.000,1030,0.000,0.040,2338,2444,3950,3996,3905,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3918,-1.10,-243.3,2338,2437,3996,3898,935.5,-19.9,185,3923,0.00,2.28,0.00,0.000,260,0.000,0.090,2328,3777,3947,3996,3898,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4014,-1.10,-243.3,1488,3778,3993,3896,955.3,-20.9,188,4019,0.00,2.08,0.00,0.000,1030,0.000,0.041,2327,2450,3945,3994,3897,0,0,0,0,0,0,28.83,14.92,28.83
$STATE,4190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4190,begin apogee
$GC,4196,-0.21,0.0,2328,2334,3994,3895,992.8,-20.8,194,4432,1.02,0.00,228.23,1.627,10246,0.226,0.000,2622,2332,3088,3114,3062,0,0,0,0,0,0,14.59,28.83,13.52
$STATE,4434,end apogee,CONTROL_FINISHED_OK
$STATE,4434,begin climb
$GC,4436,1.10,243.3,2622,2332,3110,3062,1009.0,0.0,202,4684,1.25,2.40,236.23,1.741,10756,0.060,0.058,3075,980,2095,2124,2067,0,0,0,0,0,0,14.26,14.12,13.50
$GC,4823,1.10,243.3,3074,980,2122,2051,958.5,21.9,215,4828,0.00,2.33,0.00,0.000,1030,0.000,0.065,3075,2345,2086,2122,2050,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5157,1.10,243.3,3075,2345,2122,2044,885.0,21.5,226,5162,0.00,2.25,0.00,0.000,516,0.000,0.054,3085,979,2083,2122,2044,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5210,1.10,243.3,3085,979,2122,2043,877.4,21.5,227,5216,0.12,2.30,0.00,0.000,5126,0.314,0.064,3059,2359,2082,2121,2043,0,0,0,0,0,0,14.52,14.72,28.83
$GC,5525,1.10,243.3,3059,2359,2122,2038,808.4,20.6,238,5530,0.00,2.28,0.00,0.000,516,0.000,0.054,3067,978,2080,2122,2038,0,0,0,0,0,0,28.83,14.80,28.83
$GC,5582,1.10,243.3,3067,973,2121,2038,801.5,20.4,239,5589,0.00,2.30,0.00,0.000,1030,0.000,0.063,3067,2360,2079,2122,2037,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5887,1.10,243.3,3067,2361,2120,2035,733.7,20.8,250,5889,0.00,0.00,0.00,0.000,6,0.000,0.000,3067,2361,2077,2120,2035,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6188,1.10,243.3,3067,2361,2119,2034,669.9,21.2,260,6193,0.00,2.25,0.00,0.000,516,0.000,0.051,3077,980,2076,2119,2034,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6270,1.10,243.3,3077,980,2118,2034,656.7,20.8,262,6275,0.00,2.28,0.00,0.000,1030,0.000,0.060,3077,2362,2076,2118,2034,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6596,1.10,243.3,3077,2362,2117,2032,587.1,20.1,274,6601,0.00,2.25,0.00,0.000,516,0.000,0.051,3087,977,2074,2117,2032,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6653,1.10,243.3,3087,977,2117,2032,577.9,20.2,276,6660,0.15,2.25,0.00,0.000,5126,0.304,0.057,3055,2352,2074,2117,2032,0,0,0,0,0,0,14.54,14.81,28.83
$GC,6958,1.10,243.3,3055,2352,2117,2030,520.6,16.6,292,6964,0.00,2.22,0.00,0.000,516,0.000,0.050,3063,976,2073,2117,2030,0,0,0,0,0,0,28.83,14.84,28.83
$GC,6981,1.10,243.3,3063,976,2117,2029,516.9,16.2,293,6987,0.00,2.28,0.00,0.000,1030,0.000,0.059,3063,2346,2073,2117,2029,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7305,1.10,243.3,3063,2346,2116,2028,465.6,15.3,309,7310,0.00,2.22,0.00,0.000,516,0.000,0.050,3072,975,2072,2116,2028,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7368,1.10,243.3,3073,974,2116,2028,455.2,16.1,312,7373,0.00,2.28,0.00,0.000,1030,0.000,0.058,3073,2352,2072,2116,2028,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7691,1.10,243.3,3073,2354,2115,2028,396.4,18.7,328,7696,0.00,2.25,0.00,0.000,516,0.000,0.049,3083,973,2071,2116,2027,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7783,1.10,243.3,3083,972,2116,2027,382.2,16.9,332,7788,0.00,2.28,0.00,0.000,1030,0.000,0.057,3083,2364,2072,2116,2028,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8096,1.10,243.3,3083,2363,2116,2028,335.5,14.0,348,8101,0.00,2.35,0.00,0.000,260,0.000,0.086,3082,3759,2072,2116,2028,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8222,1.10,243.3,3082,3759,2115,2028,315.3,16.5,354,8228,0.17,2.17,0.00,0.000,5126,0.318,0.037,3056,2352,2071,2115,2028,0,0,0,0,0,0,14.49,14.88,28.83
$GC,8541,1.10,243.3,3055,2348,2115,2028,271.1,15.0,370,8546,0.00,2.22,0.00,0.000,516,0.000,0.047,3064,964,2074,2115,2034,0,0,0,0,0,0,28.83,14.83,28.83
$GC,8659,1.10,243.3,3064,964,2115,2028,256.2,14.5,375,8666,0.00,2.28,0.00,0.000,1030,0.000,0.054,3064,2357,2071,2115,2028,0,0,0,0,0,0,28.83,14.81,28.83
$GC,8964,1.10,243.3,3063,2357,2115,2029,212.7,14.3,391,8965,0.00,0.00,0.00,0.000,6,0.000,0.000,3064,2357,2071,2114,2029,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9266,1.10,243.3,3064,2357,2115,2032,174.3,12.3,406,9271,0.00,2.22,0.00,0.000,516,0.000,0.045,3073,969,2073,2114,2032,0,0,0,0,0,0,28.83,14.84,28.83
$GC,9471,1.10,243.3,3074,968,2114,2033,149.4,11.9,416,9476,0.00,2.22,0.00,0.000,1030,0.000,0.051,3074,2349,2073,2114,2033,0,0,0,0,0,0,28.83,14.81,28.83
$GC,9794,1.15,266.7,3074,2350,2114,2035,112.7,10.6,432,9808,0.00,2.28,9.38,0.413,8708,0.000,0.044,3083,964,2005,2044,1967,0,0,0,0,0,0,28.83,14.83,14.40
$GC,9825,1.21,299.4,3083,964,2047,1974,110.6,10.3,433,9849,0.00,2.25,17.98,0.467,9222,0.000,0.050,3083,2362,1873,1906,1840,0,0,0,0,0,0,28.83,14.82,14.46
$GC,10157,1.21,299.4,3083,2361,1921,1854,68.3,13.1,450,10167,0.00,2.28,1.90,0.186,8708,0.000,0.044,3093,970,1874,1908,1841,0,0,0,0,0,0,28.83,14.78,14.63
$GC,10290,1.21,299.4,3093,970,1921,1852,52.1,12.8,456,10301,0.00,2.22,1.75,0.187,9222,0.000,0.050,3093,2349,1872,1908,1837,0,0,0,0,0,0,28.83,14.79,14.62
$GC,10603,1.64,513.2,3093,2349,1923,1850,24.3,4.2,488,10713,0.35,2.33,100.12,0.190,10500,0.088,0.073,3228,3757,997,1022,973,0,0,0,0,0,0,14.76,14.72,14.58
$STATE,10738,end climb,SURFACE_DEPTH_REACHED
$STATE,10738,begin surface coast
$FINISH,-0.6,1.021282
$STATE,10752,end surface coast,CONTROL_FINISHED_OK
$STATE,10752,begin surface
$SM_CCo,10831,0.00,0.000,0,0,1001,513.17
$SM_GC,-0.30,8.15,2.08,0.00,0.045,0.033,0.000,232,2448,1001,-7.63,1.98,513.17,0,0,0,0,0,0,14.76,14.80,28.83
$IRIDIUM_FIX,2248.70,12501.25,170613,070704
$TT8_MAMPS,0.019474,0.019474
$HUMID,46.92
$INTERNAL_PRESSURE,9.75623
$TCM_TEMP,25.20
$XPDR_PINGS,1
$SC_FREEKB,3844704
$24V_AH,13.5,84.812
$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,21.125,110.500,595.575,0.000,0.000,31.867,37.722,234.935,0.250,0.000,17.190,1629.100,7051.646,646.088,1792.723,239.020,0.000,1480.431,0.000,1370.888,0.000,0.542,0.000
$DEVICE_MAMPS,381.735,125.460,1741.140,0.000,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10791.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.975,0.000,0.000,0.000
$MEM,328436
$DATA_FILE_SIZE,20097,514
$CAP_FILE_SIZE,134154,0
$CFSIZE,260034560,234336256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170613,134405,2247.331,12508.665,33,0.9,43,-3.2