version: 66.11
glider: 181
mission: 11
dive: 441
start: 7 25 113 23 24 13
data:
$ID,181
$MISSION,11
$DIVE,441
$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,2
$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,-96592
$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,40
$C_ROLL_DIVE,2650
$C_ROLL_CLIMB,2150
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$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,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
$GPS1,250713,231235,2306.781,12338.312,33,1.1,33,-3.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.08
$_SM_ANGLEo,-68.2
$GPS2,250713,232342,2306.730,12338.473,10,1.2,10,-3.2
$SPEED_LIMITS,0.179,0.181
$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,216.5,182944,-21.5,-10.312,-29.71,2752
$D_GRID,6273
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.32,-194.6,220,2663,464,430,0.0,0.0,0,125,0.00,0.00,-100.85,0.000,16386,0.000,0.000,220,2664,3019,3062,2977,0,0,0,0,0,0,28.83,28.83,28.83
$GC,131,-1.32,-194.6,219,2664,3062,2978,3.1,-10.2,17,157,9.23,0.00,-13.38,0.000,18950,0.373,0.000,2243,2664,3734,3805,3664,0,0,0,0,0,0,14.19,28.83,14.88
$GC,356,-1.32,-194.6,2243,2664,3805,3666,61.0,-22.6,43,361,0.00,1.88,0.00,0.000,260,0.000,0.072,2237,3792,3735,3805,3666,0,0,0,0,0,0,28.83,14.60,28.83
$GC,433,-1.32,-194.6,2236,3792,3804,3666,75.6,-23.0,46,441,0.00,1.75,0.00,0.000,1030,0.000,0.032,2236,2635,3735,3805,3666,0,0,0,0,0,0,28.83,14.71,28.83
$GC,620,-1.32,-194.6,2237,2635,3805,3666,115.4,-19.8,56,626,0.00,1.92,0.00,0.000,260,0.000,0.072,2228,3791,3735,3805,3666,0,0,0,0,0,0,28.83,14.65,28.83
$GC,644,-1.32,-194.6,2227,3791,3805,3666,120.1,-19.3,57,649,0.00,1.75,0.00,0.000,1030,0.000,0.032,2228,2622,3735,3805,3666,0,0,0,0,0,0,28.83,14.74,28.83
$GC,848,-1.32,-194.6,2228,2621,3805,3666,160.4,-18.9,67,853,0.00,2.08,0.00,0.000,516,0.000,0.036,2228,1287,3736,3807,3666,0,0,0,0,0,0,28.83,14.69,28.83
$GC,860,-1.32,-194.6,2228,1286,3805,3666,160.4,-18.9,67,866,0.12,2.22,0.00,0.000,3078,0.298,0.054,2243,2652,3735,3804,3666,0,0,0,0,0,0,14.38,14.69,28.83
$GC,1054,-1.32,-194.6,2243,2652,3805,3666,196.2,-16.3,77,1060,0.00,1.85,0.00,0.000,260,0.000,0.072,2237,3781,3735,3805,3666,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1113,-1.32,-194.6,2237,3781,3804,3666,203.6,-16.5,79,1120,0.00,1.67,0.00,0.000,1030,0.000,0.033,2237,2639,3735,3805,3666,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1299,-1.32,-194.6,2237,2639,3805,3666,234.4,-15.4,89,1304,0.00,1.90,0.00,0.000,260,0.000,0.070,2229,3788,3735,3805,3666,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1323,-1.32,-194.6,2228,3788,3805,3666,238.2,-15.4,90,1328,0.00,1.67,0.00,0.000,1030,0.000,0.033,2228,2643,3735,3804,3666,0,0,0,0,0,0,28.83,14.84,28.83
$GC,1527,-1.32,-194.6,2228,2643,3805,3666,270.2,-16.1,100,1532,0.00,1.90,0.00,0.000,260,0.000,0.070,2219,3785,3735,3805,3666,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1545,-1.32,-194.6,2219,3785,3805,3666,270.2,-16.1,100,1552,0.12,1.65,0.00,0.000,3078,0.295,0.031,2244,2662,3733,3800,3666,0,0,0,0,0,0,14.40,14.84,28.83
$GC,1733,-1.32,-194.6,2244,2662,3805,3666,303.3,-16.6,110,1739,0.00,2.15,0.00,0.000,516,0.000,0.036,2244,1286,3735,3805,3666,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1761,-1.32,-194.6,2244,1285,3805,3666,307.8,-16.7,111,1767,0.00,2.22,0.00,0.000,1030,0.000,0.055,2236,2651,3735,3805,3666,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1961,-1.32,-194.6,2237,2651,3805,3665,342.5,-16.7,121,1967,0.00,1.85,0.00,0.000,260,0.000,0.073,2228,3779,3735,3805,3665,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2045,-1.32,-194.6,2228,3780,3804,3665,357.1,-17.2,125,2051,0.00,1.67,0.00,0.000,1030,0.000,0.033,2228,2656,3735,3805,3665,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2250,-1.32,-194.6,2228,2656,3805,3663,389.6,-15.7,135,2256,0.00,2.15,0.00,0.000,516,0.000,0.039,2227,1289,3734,3805,3663,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2284,-1.32,-194.6,2228,1284,3805,3660,393.2,-15.3,136,2290,0.12,2.25,0.00,0.000,3078,0.300,0.056,2243,2657,3734,3805,3663,0,0,0,0,0,0,14.38,14.71,28.83
$GC,2480,-1.32,-194.6,2243,2657,3805,3661,423.2,-14.4,146,2485,0.00,1.85,0.00,0.000,260,0.000,0.076,2237,3778,3732,3804,3660,0,0,0,0,0,0,28.83,14.67,28.83
$GC,2595,-1.32,-194.6,2237,3778,3805,3664,439.1,-15.3,151,2601,0.00,1.70,0.00,0.000,1030,0.000,0.034,2237,2639,3732,3805,3660,0,0,0,0,0,0,28.83,14.84,28.83
$GC,2789,-1.32,-194.6,2237,2639,3805,3658,471.2,-15.9,161,2795,0.00,1.92,0.00,0.000,260,0.000,0.075,2228,3789,3731,3805,3657,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2808,-1.32,-194.6,2229,3789,3805,3657,471.2,-15.9,161,2814,0.00,1.70,0.00,0.000,1030,0.000,0.034,2228,2659,3730,3804,3657,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2993,-1.32,-194.6,2229,2659,3804,3655,502.7,-15.0,171,2999,0.00,2.17,0.00,0.000,516,0.000,0.040,2228,1278,3729,3804,3655,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3042,-1.32,-194.6,1376,1277,3801,3653,509.4,-15.0,173,3048,0.12,2.28,0.00,0.000,3078,0.288,0.059,2244,2655,3729,3803,3655,0,0,0,0,0,0,14.38,14.68,28.83
$GC,3244,-1.32,-194.6,2244,2656,3803,3653,538.3,-14.1,183,3250,0.00,1.88,0.00,0.000,260,0.000,0.079,2238,3779,3728,3804,3653,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3289,-1.32,-194.6,2238,3779,3801,3653,545.4,-14.8,185,3295,0.00,1.70,0.00,0.000,1030,0.000,0.035,2237,2653,3727,3801,3653,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3494,-1.32,-194.6,2236,2651,3798,3653,576.9,-15.5,195,3499,0.00,2.17,0.00,0.000,516,0.000,0.041,2237,1278,3725,3798,3653,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3538,-1.32,-194.6,2237,1277,3798,3653,584.0,-15.8,197,3543,0.00,2.30,0.00,0.000,1030,0.000,0.060,2228,2658,3728,3804,3653,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3731,-1.32,-194.6,2228,2659,3798,3649,615.0,-15.7,205,3737,0.00,2.20,0.00,0.000,516,0.000,0.040,2228,1282,3723,3798,3649,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3820,-1.32,-194.6,2228,1282,3798,3648,625.3,-16.0,207,3827,0.12,2.28,0.00,0.000,3078,0.298,0.061,2243,2649,3723,3798,3648,0,0,0,0,0,0,14.34,14.66,28.83
$GC,4005,-1.32,-194.6,2241,2648,3798,3645,655.9,-14.1,214,4011,0.00,1.90,0.00,0.000,260,0.000,0.084,2236,3777,3721,3798,3645,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4040,-1.32,-194.6,2237,3778,3796,3645,660.8,-14.1,215,4045,0.00,1.73,0.00,0.000,1030,0.000,0.037,2237,2648,3721,3797,3645,0,0,0,0,0,0,28.83,14.83,28.83
$GC,4253,-1.32,-194.6,2237,2648,3795,3643,690.4,-13.9,222,4259,0.00,2.17,0.00,0.000,516,0.000,0.042,2237,1287,3719,3795,3643,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4271,-1.32,-194.6,2237,1287,3794,3643,690.4,-13.9,222,4276,0.00,2.28,0.00,0.000,1030,0.000,0.063,2227,2647,3718,3794,3643,0,0,0,0,0,0,28.83,14.66,28.83
$GC,4470,-1.32,-194.6,2228,2648,3792,3642,722.0,-14.6,229,4476,0.00,1.92,0.00,0.000,260,0.000,0.085,2218,3782,3716,3791,3642,0,0,0,0,0,0,28.83,14.59,28.83
$GC,4518,-1.32,-194.6,2218,3782,3790,3642,727.4,-14.8,230,4525,0.12,1.73,0.00,0.000,3078,0.301,0.038,2243,2659,3716,3791,3642,0,0,0,0,0,0,14.32,14.79,28.83
$GC,4719,-1.32,-194.6,2243,2659,3790,3638,759.7,-15.1,237,4725,0.00,2.22,0.00,0.000,516,0.000,0.044,2243,1274,3714,3790,3638,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4753,-1.32,-194.6,2243,1274,3789,3638,764.8,-15.0,238,4758,0.00,2.33,0.00,0.000,1030,0.000,0.065,2236,2652,3714,3790,3638,0,0,0,0,0,0,28.83,14.62,28.83
$GC,4967,-1.32,-194.6,2235,2652,3788,3635,799.5,-16.5,245,4972,0.00,1.92,0.00,0.000,260,0.000,0.088,2226,3778,3711,3788,3635,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5063,-1.32,-194.6,2226,3778,3788,3635,815.3,-16.6,248,5068,0.00,1.77,0.00,0.000,1030,0.000,0.040,2227,2645,3711,3787,3635,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5277,-1.32,-194.6,2227,2644,3787,3633,851.1,-16.8,255,5282,0.00,1.98,0.00,0.000,260,0.000,0.087,2218,3782,3710,3787,3633,0,0,0,0,0,0,28.83,14.54,28.83
$GC,5352,-1.32,-194.6,2218,3783,3786,3633,862.5,-17.2,257,5357,0.12,1.77,0.00,0.000,3078,0.306,0.041,2242,2648,3709,3786,3633,0,0,0,0,0,0,14.26,14.76,28.83
$GC,5557,-1.32,-194.6,2242,2649,3785,3627,897.9,-16.0,264,5562,0.00,1.98,0.00,0.000,260,0.000,0.089,2235,3785,3706,3784,3629,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5650,-1.32,-194.6,2235,3784,3781,3630,913.4,-16.3,267,5655,0.00,1.80,0.00,0.000,1030,0.000,0.041,2235,2642,3705,3781,3629,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5864,-1.32,-194.6,2235,2642,3780,3627,945.6,-14.7,274,5870,0.00,2.22,0.00,0.000,516,0.000,0.047,2235,1274,3703,3780,3627,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5901,-1.32,-194.6,1416,1274,3777,3624,951.0,-15.0,275,5907,0.00,2.35,0.00,0.000,1030,0.000,0.069,2225,2652,3703,3779,3627,0,0,0,0,0,0,28.83,14.55,28.83
$GC,6111,-1.32,-194.6,2225,2652,3778,3624,985.6,-16.8,282,6117,0.00,1.98,0.00,0.000,260,0.000,0.095,2216,3778,3701,3778,3624,0,0,0,0,0,0,28.83,14.45,28.83
$STATE,6142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6143,begin apogee
$GC,6152,-0.22,0.0,2218,2168,3778,3624,991.8,-16.9,283,6336,1.42,0.00,175.55,1.838,10246,0.256,0.000,2593,2164,2934,2979,2890,0,0,0,0,0,0,14.10,28.83,13.33
$STATE,6338,end apogee,CONTROL_FINISHED_OK
$STATE,6338,begin climb
$GC,6341,1.32,194.6,2593,2163,2977,2887,1003.6,0.0,289,6535,1.48,2.53,179.50,1.818,10756,0.086,0.067,3109,758,2136,2165,2108,0,0,0,0,0,0,14.21,14.13,13.31
$GC,6700,1.32,194.6,3109,758,2163,2091,964.2,15.0,301,6705,0.00,2.38,0.00,0.000,1030,0.000,0.067,3109,2150,2127,2163,2091,0,0,0,0,0,0,28.83,14.52,28.83
$GC,6904,1.32,194.6,3109,2150,2163,2087,932.1,15.1,308,6910,0.00,2.38,0.00,0.000,516,0.000,0.065,3119,745,2124,2163,2086,0,0,0,0,0,0,28.83,14.63,28.83
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$STATE,14635,end climb,SURFACE_DEPTH_REACHED
$STATE,14635,begin surface coast
$FINISH,0.0,1.021264
$STATE,14661,end surface coast,CONTROL_FINISHED_OK
$STATE,14661,begin surface
$SM_CCo,14683,111.75,0.137,0,0,437,612.76
$SM_GC,-0.15,8.23,0.88,111.75,0.050,0.067,0.137,227,2667,437,-7.55,-0.76,612.76,0,0,0,0,0,0,14.69,14.63,14.48
$IRIDIUM_FIX,2253.38,12343.35,250713,191945
$TT8_MAMPS,0.019474,0.019474
$HUMID,49.92
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,25.50
$XPDR_PINGS,1
$SC_FREEKB,3758464
$24V_AH,13.3,150.235
$10V_AH,13.0,0.000
$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
$DEVICE_SECS,22.300,222.175,485.525,111.750,0.000,30.222,21.622,325.178,0.250,0.000,12.955,2598.813,9048.795,826.299,2451.431,534.960,0.000,2023.174,0.000,1936.101,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14733.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.035,0.000,0.000,0.000
$MEM,328616
$DATA_FILE_SIZE,26761,691
$CAP_FILE_SIZE,216710,0
$CFSIZE,260034560,210399232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.310,146.1,1
$GPS,260713,033205,2304.072,12339.257,28,1.1,28,-3.2