version: 66.11
glider: 181
mission: 11
dive: 241
start: 6 17 113 23 33 48
data:
$ID,181
$MISSION,11
$DIVE,241
$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,-96046.836
$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,56
$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
$GPS1,170613,232421,2243.822,12507.458,9,2.2,28,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.10
$_SM_ANGLEo,-73.4
$GPS2,170613,233321,2243.792,12507.613,14,2.1,33,-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,223.6,179584,-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,-243.3,208,2480,1159,1160,0.0,0.0,0,99,0.00,0.00,-76.95,0.000,16386,0.000,0.000,207,2480,3149,3196,3102,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-1.10,-243.3,207,2480,3196,3102,4.4,-15.8,14,132,9.50,2.25,-12.80,0.000,18948,0.376,0.066,2340,1064,3965,4006,3925,0,0,0,0,0,0,14.38,14.72,14.93
$GC,161,-1.10,-243.3,2340,1062,4003,3927,30.1,-33.8,23,166,0.00,2.25,0.00,0.000,1030,0.000,0.063,2333,2420,3965,4003,3927,0,0,0,0,0,0,28.83,14.66,28.83
$GC,484,-1.10,-243.3,2333,2422,4002,3930,128.5,-27.7,42,489,0.00,2.25,0.00,0.000,260,0.000,0.073,2322,3784,3966,4002,3931,0,0,0,0,0,0,28.83,14.76,28.83
$GC,587,-1.10,-243.3,2322,3781,4002,3932,156.8,-27.4,47,592,0.00,2.03,0.00,0.000,1030,0.000,0.033,2322,2449,3966,4001,3931,0,0,0,0,0,0,28.83,14.83,28.83
$GC,910,-1.10,-243.3,2322,2442,4002,3932,250.3,-29.6,63,915,0.00,2.22,0.00,0.000,260,0.000,0.072,2312,3793,3966,4001,3932,0,0,0,0,0,0,28.83,14.81,28.83
$GC,952,-1.10,-243.3,2311,3794,4001,3932,263.5,-30.2,65,959,0.15,2.05,0.00,0.000,3078,0.280,0.032,2344,2431,3967,4002,3932,0,0,0,0,0,0,14.59,14.90,28.83
$GC,1276,-1.10,-243.3,2344,2424,4001,3932,340.3,-22.5,81,1281,0.00,2.25,0.00,0.000,260,0.000,0.074,2336,3790,3966,4001,3932,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1322,-1.10,-243.3,1472,3789,4000,3931,350.5,-23.7,83,1328,0.00,2.03,0.00,0.000,1030,0.000,0.033,2336,2440,3966,4001,3932,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1640,-1.10,-243.3,2336,2432,3997,3932,428.6,-23.5,99,1645,0.00,2.22,0.00,0.000,260,0.000,0.075,2326,3783,3964,3997,3932,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1692,-1.10,-243.3,2326,3782,3997,3932,439.3,-24.3,101,1697,0.00,2.00,0.00,0.000,1030,0.000,0.033,2326,2457,3964,3997,3932,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2004,-1.10,-243.3,2326,2450,3997,3931,512.7,-20.7,117,2010,0.00,2.20,0.00,0.000,260,0.000,0.076,2315,3784,3963,3997,3930,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2072,-1.10,-243.3,2316,3784,3997,3930,526.0,-20.8,120,2078,0.12,2.05,0.00,0.000,3078,0.275,0.034,2341,2441,3963,3997,3929,0,0,0,0,0,0,14.64,14.92,28.83
$GC,2390,-1.10,-243.3,2342,2435,3997,3925,591.1,-20.7,136,2395,0.00,2.22,0.00,0.000,260,0.000,0.079,2334,3782,3961,3997,3925,0,0,0,0,0,0,28.83,14.85,28.83
$GC,2416,-1.10,-243.3,1480,3782,3994,3924,595.9,-21.0,137,2422,0.00,2.03,0.00,0.000,1030,0.000,0.034,2334,2451,3960,3997,3924,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2736,-1.10,-243.3,2334,2444,3998,3920,665.6,-21.2,148,2741,0.00,2.22,0.00,0.000,260,0.000,0.081,2324,3782,3958,3997,3920,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2778,-1.10,-243.3,2324,3783,3997,3920,673.0,-21.2,149,2783,0.00,2.03,0.00,0.000,1030,0.000,0.036,2324,2443,3958,3997,3919,0,0,0,0,0,0,28.83,14.94,28.83
$GC,3102,-1.10,-243.3,2324,2437,3997,3912,744.0,-21.4,160,3108,0.00,2.25,0.00,0.000,260,0.000,0.083,2313,3783,3954,3997,3912,0,0,0,0,0,0,28.83,14.83,28.83
$GC,3174,-1.10,-243.3,2313,3784,3997,3912,758.3,-21.6,162,3180,0.12,2.05,0.00,0.000,3078,0.285,0.037,2339,2464,3954,3997,3911,0,0,0,0,0,0,14.62,14.93,28.83
$GC,3499,-1.10,-243.3,2339,2458,3997,3905,824.8,-20.4,173,3505,0.00,2.22,0.00,0.000,260,0.000,0.085,2332,3781,3950,3997,3904,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3526,-1.10,-243.3,2332,3783,3997,3905,824.8,-20.4,173,3533,0.00,2.08,0.00,0.000,1030,0.000,0.039,2332,2447,3950,3997,3904,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3833,-1.10,-243.3,2332,2444,3997,3898,893.5,-20.7,184,3838,0.00,2.25,0.00,0.000,260,0.000,0.087,2322,3778,3947,3997,3897,0,0,0,0,0,0,28.83,14.79,28.83
$GC,3896,-1.10,-243.3,2322,3780,3997,3897,907.5,-21.5,186,3901,0.00,2.08,0.00,0.000,1030,0.000,0.039,2322,2453,3947,3997,3897,0,0,0,0,0,0,28.83,14.91,28.83
$GC,4230,-1.10,-243.3,2322,2446,3995,3892,976.0,-20.2,197,4231,0.00,0.00,0.00,0.000,6,0.000,0.000,2322,2447,3943,3995,3892,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4317,begin apogee
$GC,4323,-0.21,0.0,2322,2322,3995,3890,994.0,-19.9,200,4533,1.08,0.00,197.30,2.366,10246,0.230,0.000,2632,2321,3093,3119,3068,0,0,0,0,1,0,14.59,28.83,13.25
$STATE,4535,end apogee,CONTROL_FINISHED_OK
$STATE,4535,begin climb
$GC,4537,1.10,243.3,2627,2321,3120,3071,1007.1,0.0,207,4822,1.23,2.65,271.38,1.597,11012,0.057,0.090,3069,3755,2098,2128,2069,0,0,0,0,0,0,14.17,14.12,13.56
$GC,4940,1.10,243.3,3065,3755,2124,2061,954.6,26.5,220,4945,0.00,2.25,0.00,0.000,1030,0.000,0.041,3079,2366,2091,2122,2061,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5254,1.10,243.3,3079,2365,2124,2052,874.3,23.5,231,5259,0.00,2.33,0.00,0.000,516,0.000,0.057,3090,951,2088,2124,2052,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5331,1.10,243.3,3090,950,2124,2050,860.4,22.5,233,5337,0.15,2.35,0.00,0.000,5126,0.316,0.063,3060,2353,2087,2124,2050,0,0,0,0,0,0,14.51,14.70,28.83
$GC,5651,1.10,243.3,3060,2353,2124,2046,793.7,19.3,244,5657,0.00,2.30,0.00,0.000,516,0.000,0.053,3067,955,2085,2124,2046,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5693,1.10,243.3,3067,955,2124,2046,786.8,19.4,245,5699,0.00,2.33,0.00,0.000,1030,0.000,0.062,3067,2360,2084,2124,2045,0,0,0,0,0,0,28.83,14.78,28.83
$GC,6017,1.10,243.3,3067,2360,2124,2043,718.8,21.1,256,6023,0.00,2.30,0.00,0.000,516,0.000,0.051,3077,954,2082,2126,2039,0,0,0,0,0,0,28.83,14.83,28.83
$GC,6055,1.10,243.3,3077,953,2123,2043,711.7,21.1,257,6060,0.00,2.30,0.00,0.000,1030,0.000,0.061,3077,2348,2082,2123,2042,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6384,1.10,243.3,3077,2348,2123,2040,639.4,21.4,268,6385,0.00,0.00,0.00,0.000,6,0.000,0.000,3073,2346,2081,2123,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6693,1.10,243.3,3078,2348,2122,2038,576.6,19.6,280,6698,0.00,2.28,0.00,0.000,516,0.000,0.051,3088,951,2080,2122,2038,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6811,1.10,243.3,3088,951,2121,2038,558.2,17.6,285,6819,0.15,2.30,0.00,0.000,5126,0.305,0.058,3056,2353,2079,2121,2038,0,0,0,0,0,0,14.55,14.81,28.83
$GC,7116,1.10,243.3,3056,2353,2121,2036,501.2,17.4,301,7121,0.00,2.38,0.00,0.000,260,0.000,0.089,3055,3755,2078,2121,2036,0,0,0,0,0,0,28.83,14.78,28.83
$GC,7179,1.10,243.3,3056,3754,2120,2036,489.6,17.9,304,7184,0.00,2.22,0.00,0.000,1030,0.000,0.039,3064,2327,2078,2120,2036,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7502,1.10,243.3,3064,2322,2120,2035,437.7,14.8,320,7507,0.00,2.20,0.00,0.000,516,0.000,0.050,3074,957,2077,2120,2035,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7565,1.10,243.3,3074,957,2119,2035,429.2,13.6,323,7570,0.00,2.28,0.00,0.000,1030,0.000,0.058,3071,2349,2077,2119,2035,0,0,0,0,0,0,28.83,14.81,28.83
$GC,7887,1.10,243.3,3074,2349,2119,2035,380.9,14.3,339,7892,0.00,2.25,0.00,0.000,516,0.000,0.047,3084,959,2077,2119,2035,0,0,0,0,0,0,28.83,14.85,28.83
$GC,7973,1.10,243.3,2152,958,2080,2025,368.8,14.6,343,7979,0.12,2.28,0.00,0.000,5126,0.301,0.055,3059,2352,2077,2119,2035,0,0,0,0,0,0,14.54,14.81,28.83
$GC,8292,1.10,243.3,3059,2352,2119,2035,327.4,13.0,359,8297,0.00,2.35,0.00,0.000,260,0.000,0.084,3059,3753,2077,2119,2035,0,0,0,0,0,0,28.83,14.78,28.83
$GC,8344,1.10,243.3,3059,3753,2119,2035,320.7,14.3,361,8349,0.00,2.17,0.00,0.000,1030,0.000,0.037,3067,2343,2077,2120,2035,0,0,0,0,0,0,28.83,14.89,28.83
$GC,8656,1.10,243.3,3067,2338,2119,2035,271.1,15.1,377,8662,0.00,2.20,0.00,0.000,516,0.000,0.047,3077,961,2077,2120,2035,0,0,0,0,0,0,28.83,14.85,28.83
$GC,8688,1.10,243.3,3084,961,2119,2036,267.9,14.7,378,8694,0.00,2.25,0.00,0.000,1030,0.000,0.052,3078,2351,2078,2120,2036,0,0,0,0,0,0,28.83,14.82,28.83
$GC,9001,1.10,243.3,3079,2351,2120,2036,221.5,13.7,394,9006,0.00,2.22,0.00,0.000,516,0.000,0.045,3088,968,2078,2120,2037,0,0,0,0,0,0,28.83,14.85,28.83
$GC,9139,1.10,243.3,3088,968,2119,2038,205.2,13.6,400,9146,0.15,2.25,0.00,0.000,5126,0.286,0.053,3055,2351,2079,2120,2038,0,0,0,0,0,0,14.53,14.81,28.83
$GC,9445,1.10,243.3,3055,2351,2120,2039,166.5,12.1,416,9446,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2351,2079,2120,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9747,1.19,288.0,3055,2351,2127,2040,135.0,9.9,431,9771,0.00,0.00,22.10,0.544,8198,0.000,0.000,3055,2351,1919,1956,1882,0,0,0,0,0,0,28.83,28.83,14.42
$GC,10064,1.19,288.0,3055,2351,1966,1891,96.5,12.0,447,10068,0.00,0.00,1.58,0.199,8198,0.000,0.000,3055,2351,1917,1957,1877,0,0,0,0,0,0,28.83,28.83,14.60
$GC,10365,1.30,345.6,3055,2351,1968,1889,65.8,9.4,462,10405,0.17,2.38,30.12,0.322,10500,0.107,0.078,3131,3755,1685,1717,1653,0,0,0,0,0,0,14.81,14.77,14.54
$GC,10438,1.30,345.6,3132,3755,1717,1661,55.9,14.3,465,10444,0.00,2.17,0.00,0.000,1030,0.000,0.034,3142,2336,1689,1717,1661,0,0,0,0,0,0,28.83,14.83,28.83
$GC,10747,1.46,423.8,3142,2332,1719,1661,14.0,8.7,505,10793,0.00,2.22,37.58,0.177,8708,0.000,0.046,3152,966,1363,1396,1330,0,0,0,0,0,0,28.83,14.76,14.63
$STATE,10840,end climb,SURFACE_DEPTH_REACHED
$STATE,10840,begin surface coast
$FINISH,0.1,1.021237
$STATE,10861,end surface coast,CONTROL_FINISHED_OK
$STATE,10861,begin surface
$SM_CCo,10881,23.73,0.144,0,0,1154,475.15
$SM_GC,-0.71,7.88,2.45,23.73,0.041,0.044,0.144,231,2455,1154,-7.63,-1.07,475.15,0,0,0,0,0,0,14.79,14.78,14.66
$IRIDIUM_FIX,2225.34,12457.80,170613,202002
$TT8_MAMPS,0.019474,0.019474
$HUMID,48.50
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,25.10
$XPDR_PINGS,1
$SC_FREEKB,3843296
$24V_AH,13.2,86.048
$10V_AH,13.4,0.000
$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,20.825,107.000,560.050,23.725,0.000,32.972,24.416,246.540,0.250,0.000,36.628,1599.869,7231.515,635.395,1738.094,247.203,0.000,1432.742,0.000,1309.130,0.000,0.541,0.000
$DEVICE_MAMPS,375.615,107.100,2366.145,143.820,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10902.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.896,0.000,0.000,0.000
$MEM,328356
$DATA_FILE_SIZE,20127,526
$CAP_FILE_SIZE,133227,0
$CFSIZE,260034560,233975808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,180613,023659,2242.694,12507.777,36,0.9,41,-3.2