version: 66.11
glider: 181
mission: 11
dive: 478
start: 8 1 113 14 45 44
data:
$ID,181
$MISSION,11
$DIVE,478
$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,-96703.008
$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,64
$R_STBD_OVSHOOT,29
$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,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
$GPS1,010813,143253,2148.573,12415.183,25,1.5,42,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-65.2
$GPS2,010813,144513,2148.593,12415.482,14,1.5,14,-2.9
$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,265.7,43560,-21.5,-10.312,-29.71,2752
$D_GRID,5562
$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,19,begin dive
$GC,23,-1.32,-194.6,218,2662,470,424,0.0,0.0,0,131,0.00,0.00,-105.35,0.000,16386,0.000,0.000,218,2662,3206,3246,3166,0,0,0,0,0,0,28.83,28.83,28.83
$GC,137,-1.32,-194.6,217,2662,3247,3167,4.3,-14.6,18,164,9.18,2.22,-8.93,0.000,18948,0.367,0.055,2240,1255,3733,3793,3673,0,0,0,0,0,0,14.13,14.65,14.88
$GC,204,-1.32,-194.6,2239,1255,3793,3674,25.5,-25.9,28,212,0.00,2.33,0.00,0.000,1030,0.000,0.057,2232,2662,3733,3793,3674,0,0,0,0,0,0,28.83,14.58,28.83
$GC,403,-1.32,-194.6,2232,2668,3793,3674,73.6,-22.4,43,408,0.00,1.85,0.00,0.000,260,0.000,0.070,2223,3785,3733,3793,3674,0,0,0,0,0,0,28.83,14.60,28.83
$GC,431,-1.32,-194.6,2223,3784,3793,3674,79.2,-22.0,44,437,0.00,1.75,0.00,0.000,1030,0.000,0.031,2223,2632,3734,3794,3675,0,0,0,0,0,0,28.83,14.73,28.83
$GC,631,-1.32,-194.6,2223,2632,3793,3674,123.6,-20.3,54,632,0.00,0.00,0.00,0.000,6,0.000,0.000,2223,2631,3733,3793,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,812,-1.32,-194.6,2223,2631,3793,3674,158.1,-18.3,63,818,0.00,1.90,0.00,0.000,260,0.000,0.067,2214,3782,3734,3793,3675,0,0,0,0,0,0,28.83,14.65,28.83
$GC,890,-1.32,-194.6,2214,3782,3793,3675,170.1,-18.1,66,898,0.15,1.73,0.00,0.000,3078,0.279,0.031,2245,2612,3734,3793,3675,0,0,0,0,0,0,14.31,14.76,28.83
$GC,1077,-1.32,-194.6,2245,2611,3793,3675,203.7,-16.7,76,1082,0.00,2.05,0.00,0.000,516,0.000,0.036,2246,1289,3734,3793,3675,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1095,-1.32,-194.6,2245,1288,3793,3675,203.7,-16.7,76,1102,0.00,2.22,0.00,0.000,1030,0.000,0.054,2238,2656,3734,3793,3675,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1280,-1.32,-194.6,2238,2654,3793,3675,236.7,-16.6,86,1285,0.00,1.85,0.00,0.000,260,0.000,0.070,2229,3789,3734,3793,3675,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1365,-1.32,-194.6,2229,3790,3793,3675,251.4,-17.5,90,1370,0.00,1.70,0.00,0.000,1030,0.000,0.031,2230,2648,3734,3793,3675,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1568,-1.32,-194.6,2230,2647,3793,3675,288.1,-17.8,100,1574,0.00,1.88,0.00,0.000,260,0.000,0.067,2220,3782,3734,3793,3675,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1587,-1.32,-194.6,2220,3782,3793,3675,288.1,-17.8,100,1593,0.00,1.67,0.00,0.000,1030,0.000,0.031,2220,2644,3734,3793,3675,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1774,-1.32,-194.6,2220,2643,3793,3675,323.6,-16.8,110,1779,0.00,1.88,0.00,0.000,260,0.000,0.068,2212,3780,3734,3793,3675,0,0,0,0,0,0,28.83,14.68,28.83
$GC,1841,-1.32,-194.6,1376,3780,3791,3678,335.1,-17.8,113,1847,0.15,1.67,0.00,0.000,3078,0.278,0.031,2244,2640,3734,3793,3675,0,0,0,0,0,0,14.37,14.83,28.83
$GC,2043,-1.32,-194.6,2244,2640,3793,3673,365.5,-14.4,123,2049,0.00,2.10,0.00,0.000,516,0.000,0.036,2244,1291,3733,3793,3673,0,0,0,0,0,0,28.83,14.78,28.83
$GC,2087,-1.32,-194.6,2244,1291,3793,3673,372.3,-14.4,125,2092,0.00,2.22,0.00,0.000,1030,0.000,0.055,2237,2655,3731,3789,3673,0,0,0,0,0,0,28.83,14.70,28.83
$GC,2292,-1.32,-194.6,2237,2656,3793,3671,404.7,-15.6,135,2297,0.00,1.85,0.00,0.000,260,0.000,0.073,2228,3777,3732,3793,3671,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2379,-1.32,-194.6,2228,3778,3793,3671,418.7,-16.7,139,2385,0.00,1.67,0.00,0.000,1030,0.000,0.032,2228,2650,3731,3793,3670,0,0,0,0,0,0,28.83,14.82,28.83
$GC,2579,-1.32,-194.6,2228,2650,3793,3669,451.9,-15.9,149,2585,0.00,1.90,0.00,0.000,260,0.000,0.071,2219,3788,3730,3793,3668,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2608,-1.32,-194.6,2219,3788,3793,3668,455.8,-15.7,150,2614,0.12,1.70,0.00,0.000,3078,0.283,0.032,2244,2653,3730,3793,3667,0,0,0,0,0,0,14.38,14.83,28.83
$GC,2810,-1.32,-194.6,2245,2648,3793,3666,487.1,-15.3,160,2816,0.00,1.95,0.00,0.000,260,0.000,0.073,2238,3793,3729,3793,3665,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2845,-1.32,-194.6,2238,3791,3793,3665,491.3,-15.6,161,2850,0.00,1.73,0.00,0.000,1030,0.000,0.033,2238,2644,3729,3793,3665,0,0,0,0,0,0,28.83,14.84,28.83
$GC,3038,-1.32,-194.6,2238,2643,3793,3663,520.8,-14.2,171,3043,0.00,1.90,0.00,0.000,260,0.000,0.073,2229,3777,3727,3793,3662,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3062,-1.32,-194.6,2229,3778,3792,3663,524.2,-14.2,172,3067,0.00,1.70,0.00,0.000,1030,0.000,0.032,2229,2643,3727,3792,3663,0,0,0,0,0,0,28.83,14.82,28.83
$GC,3266,-1.32,-194.6,2227,2645,3789,3663,552.7,-14.3,182,3271,0.00,2.12,0.00,0.000,516,0.000,0.038,2228,1295,3725,3789,3662,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3300,-1.32,-194.6,2228,1294,3789,3662,556.3,-14.6,183,3305,0.00,2.25,0.00,0.000,1030,0.000,0.057,2219,2656,3725,3789,3662,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3495,-1.32,-194.6,2219,2656,3789,3659,586.8,-14.7,193,3502,0.12,1.90,0.00,0.000,2308,0.300,0.076,2244,3786,3723,3789,3658,0,0,0,0,0,0,14.39,14.63,28.83
$GC,3571,-1.32,-194.6,2244,3786,3788,3658,596.9,-15.1,196,3576,0.00,1.73,0.00,0.000,1030,0.000,0.035,2244,2648,3723,3788,3658,0,0,0,0,0,0,28.83,14.76,28.83
$GC,3764,-1.32,-194.6,2244,2647,3788,3655,626.6,-14.4,203,3769,0.00,1.92,0.00,0.000,260,0.000,0.076,2235,3785,3721,3788,3655,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3799,-1.32,-194.6,2235,3785,3788,3655,631.6,-14.3,204,3805,0.00,1.73,0.00,0.000,1030,0.000,0.035,2235,2653,3721,3788,3655,0,0,0,0,0,0,28.83,14.82,28.83
$GC,4013,-1.32,-194.6,2235,2652,3788,3653,662.6,-14.2,211,4019,0.00,1.92,0.00,0.000,260,0.000,0.079,2226,3784,3720,3787,3653,0,0,0,0,0,0,28.83,14.60,28.83
$GC,4063,-1.32,-194.6,2226,3783,3787,3653,667.6,-14.0,212,4068,0.00,1.73,0.00,0.000,1030,0.000,0.035,2226,2654,3720,3787,3653,0,0,0,0,0,0,28.83,14.79,28.83
$GC,4262,-1.32,-194.6,2226,2653,3786,3650,698.7,-14.5,219,4267,0.00,1.92,0.00,0.000,260,0.000,0.080,2217,3778,3717,3785,3650,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4315,-1.32,-194.6,2217,3778,3784,3650,703.9,-14.8,220,4321,0.10,1.77,0.00,0.000,3078,0.262,0.035,2253,2648,3716,3783,3650,0,0,0,0,0,0,14.26,14.76,28.83
$GC,4511,-1.32,-194.6,2252,2648,3783,3646,734.0,-13.8,227,4517,0.00,1.95,0.00,0.000,260,0.000,0.081,2244,3785,3714,3783,3646,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4580,-1.32,-194.6,2244,3785,3780,3645,743.8,-14.4,229,4585,0.00,1.75,0.00,0.000,1030,0.000,0.037,2244,2650,3713,3780,3646,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4790,-1.32,-194.6,2244,2650,3780,3643,775.6,-15.2,236,4796,0.00,2.20,0.00,0.000,516,0.000,0.043,2244,1282,3711,3779,3643,0,0,0,0,0,0,28.83,14.68,28.83
$GC,4813,-1.32,-194.6,2244,1282,3779,3643,775.6,-15.2,236,4819,0.00,2.30,0.00,0.000,1030,0.000,0.062,2234,2652,3711,3779,3643,0,0,0,0,0,0,28.83,14.62,28.83
$GC,5008,-1.32,-194.6,2234,2652,3778,3641,809.8,-15.3,243,5014,0.00,1.95,0.00,0.000,260,0.000,0.088,2225,3778,3710,3778,3642,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5098,-1.32,-194.6,2225,3778,3776,3642,819.7,-15.3,245,5105,0.00,1.75,0.00,0.000,1030,0.000,0.038,2225,2644,3709,3776,3642,0,0,0,0,0,0,28.83,14.75,28.83
$GC,5283,-1.32,-194.6,2225,2644,3776,3638,851.2,-14.8,252,5289,0.00,1.98,0.00,0.000,260,0.000,0.084,2216,3784,3707,3776,3638,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5311,-1.32,-194.6,2217,3784,3775,3638,851.2,-14.8,252,5319,0.12,1.77,0.00,0.000,3078,0.290,0.037,2242,2651,3706,3775,3638,0,0,0,0,0,0,14.25,14.73,28.83
$GC,5498,-1.32,-194.6,2242,2651,3774,3635,881.8,-14.3,259,5504,0.00,1.95,0.00,0.000,260,0.000,0.086,2235,3779,3704,3773,3635,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5533,-1.32,-194.6,2235,3779,3773,3635,887.4,-14.7,260,5538,0.00,1.77,0.00,0.000,1030,0.000,0.038,2235,2644,3703,3772,3635,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5747,-1.32,-194.6,2235,2643,3772,3633,920.4,-15.5,267,5753,0.00,2.00,0.00,0.000,260,0.000,0.086,2226,3783,3702,3772,3633,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5815,-1.32,-194.6,2226,3783,3770,3633,931.5,-16.5,269,5820,0.00,1.77,0.00,0.000,1030,0.000,0.039,2226,2653,3701,3770,3633,0,0,0,0,0,0,28.83,14.72,28.83
$GC,6024,-1.32,-194.6,2226,2653,3769,3631,966.9,-16.5,276,6029,0.00,1.98,0.00,0.000,260,0.000,0.088,2217,3781,3700,3769,3631,0,0,0,0,0,0,28.83,14.47,28.83
$GC,6052,-1.32,-194.6,2217,3781,3768,3631,966.9,-16.5,276,6060,0.12,1.77,0.00,0.000,3078,0.293,0.039,2242,2653,3699,3768,3631,0,0,0,0,0,0,14.21,14.71,28.83
$STATE,6174,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6175,begin apogee
$GC,6182,-0.22,0.0,2242,2143,3768,3629,993.6,-16.8,281,6368,1.27,0.00,176.30,1.829,10246,0.225,0.000,2601,2142,2936,2969,2904,0,0,0,0,0,0,14.06,28.83,13.28
$STATE,6370,end apogee,CONTROL_FINISHED_OK
$STATE,6370,begin climb
$GC,6373,1.32,194.6,2596,2142,2963,2899,1006.2,0.0,287,6564,1.45,2.42,179.93,1.810,11012,0.076,0.061,3111,782,2140,2165,2115,0,0,0,0,0,0,14.24,14.16,13.30
$GC,6607,1.32,194.6,3111,782,2162,2101,988.7,12.7,295,6613,0.00,2.35,0.00,0.000,1030,0.000,0.063,3112,2146,2131,2162,2100,0,0,0,0,0,0,28.83,14.36,28.83
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$STATE,14734,end climb,SURFACE_DEPTH_REACHED
$STATE,14734,begin surface coast
$FINISH,0.1,1.021316
$STATE,14755,end surface coast,CONTROL_FINISHED_OK
$STATE,14756,begin surface
$SM_CCo,14780,103.70,0.137,0,0,437,612.76
$SM_GC,-0.09,8.35,3.17,103.70,0.052,0.051,0.137,228,2650,437,-7.54,-0.88,612.76,0,0,0,0,0,0,14.65,14.57,14.46
$IRIDIUM_FIX,2143.45,12422.62,010813,101025
$TT8_MAMPS,0.019474,0.019474
$HUMID,49.56
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,25.80
$XPDR_PINGS,1
$SC_FREEKB,3743072
$24V_AH,13.3,161.853
$10V_AH,12.8,0.000
$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,22.600,227.675,487.875,103.700,0.000,30.789,48.285,354.627,0.250,0.000,17.360,2643.517,9015.990,826.351,2568.657,565.267,0.000,2053.079,0.000,1999.546,0.000,0.542,0.000
$DEVICE_MAMPS,367.200,91.800,1829.115,136.935,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14828.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.980,0.000,0.000,0.000
$MEM,328608
$DATA_FILE_SIZE,26783,685
$CAP_FILE_SIZE,219462,0
$CFSIZE,260034560,206016512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.261,129.3,1
$GPS,010813,185506,2147.438,12416.347,29,1.3,29,-2.9