version: 66.11
glider: 181
mission: 11
dive: 510
start: 8 7 113 14 54 31
data:
$ID,181
$MISSION,11
$DIVE,510
$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,0
$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,-97833.352
$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,30
$C_ROLL_DIVE,2725
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,65
$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,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,11
$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
$GPS1,070813,144035,2118.564,12441.781,30,1.1,31,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.12
$_SM_ANGLEo,-71.0
$GPS2,070813,145400,2118.582,12442.117,10,1.0,15,-2.8
$SPEED_LIMITS,0.179,0.181
$TGT_NAME,ALT1
$TGT_LATLONG,2045.000,12345.000
$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,240.6,116846,-21.5,-10.312,-29.71,2752
$D_GRID,5234
$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,-194.6,228,2724,460,434,0.0,0.0,0,123,0.00,0.00,-98.57,0.000,16386,0.000,0.000,228,2724,2995,3039,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,128,-1.32,-194.6,228,2724,3039,2952,3.4,-11.5,18,159,9.20,1.62,-13.95,0.000,18948,0.371,0.062,2240,1678,3733,3802,3664,0,0,0,0,0,0,14.11,14.62,14.88
$GC,223,-1.32,-194.6,1392,1677,3799,3663,28.4,-24.2,33,230,0.00,1.73,0.00,0.000,1030,0.000,0.056,2235,2730,3733,3802,3664,0,0,0,0,0,0,28.83,14.59,28.83
$GC,410,-1.32,-194.6,2234,2730,3802,3662,75.5,-23.7,52,415,0.00,1.73,0.00,0.000,260,0.000,0.067,2226,3785,3733,3802,3664,0,0,0,0,0,0,28.83,14.60,28.83
$GC,453,-1.32,-194.6,2226,3785,3802,3664,85.7,-23.5,56,459,0.00,1.62,0.00,0.000,1030,0.000,0.031,2226,2687,3733,3802,3664,0,0,0,0,0,0,28.83,14.71,28.83
$GC,647,-1.32,-194.6,2226,2686,3802,3664,125.9,-20.4,75,648,0.00,0.00,0.00,0.000,6,0.000,0.000,2227,2686,3733,3802,3664,0,0,0,0,0,0,28.83,28.83,28.83
$GC,827,-1.32,-194.6,2226,2686,3802,3665,160.0,-18.0,93,832,0.00,1.50,0.00,0.000,516,0.000,0.032,2226,1685,3733,3802,3665,0,0,0,0,0,0,28.83,14.71,28.83
$GC,861,-1.32,-194.6,2226,1684,3801,3665,166.1,-18.5,96,867,0.12,1.70,0.00,0.000,3078,0.283,0.054,2245,2738,3733,3802,3665,0,0,0,0,0,0,14.36,14.67,28.83
$GC,1056,-1.32,-194.6,2245,2737,3802,3665,200.4,-16.9,115,1061,0.00,1.67,0.00,0.000,260,0.000,0.066,2239,3779,3733,3802,3665,0,0,0,0,0,0,28.83,14.67,28.83
$GC,1084,-1.32,-194.6,1360,3780,3799,3663,204.3,-16.7,117,1090,0.00,1.55,0.00,0.000,1030,0.000,0.031,2239,2719,3733,3801,3665,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1269,-1.32,-194.6,2240,2719,3802,3665,235.9,-16.2,136,1274,0.00,1.50,0.00,0.000,516,0.000,0.031,2239,1707,3733,3802,3665,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1304,-1.32,-194.6,2240,1706,3801,3665,241.4,-16.1,139,1309,0.00,1.70,0.00,0.000,1030,0.000,0.053,2232,2731,3733,3802,3665,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1498,-1.32,-194.6,2233,2731,3802,3664,273.0,-16.1,158,1503,0.00,1.70,0.00,0.000,260,0.000,0.067,2224,3779,3733,3802,3665,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1583,-1.32,-194.6,2224,3779,3802,3664,286.4,-15.8,166,1588,0.00,1.55,0.00,0.000,1030,0.000,0.031,2224,2716,3732,3801,3664,0,0,0,0,0,0,28.83,14.80,28.83
$GC,1777,-1.32,-194.6,2224,2714,3802,3664,315.5,-15.0,185,1783,0.00,1.55,0.00,0.000,516,0.000,0.032,2225,1707,3733,3802,3664,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1815,-1.32,-194.6,2223,1706,3802,3664,320.7,-14.7,188,1822,0.12,1.65,0.00,0.000,3078,0.285,0.054,2243,2733,3732,3801,3664,0,0,0,0,0,0,14.38,14.69,28.83
$GC,2002,-1.32,-194.6,2243,2733,3801,3664,347.8,-13.8,207,2007,0.00,1.70,0.00,0.000,260,0.000,0.068,2237,3778,3732,3802,3663,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2079,-1.32,-194.6,1384,3784,3799,3661,359.1,-15.4,214,2086,0.00,1.55,0.00,0.000,1030,0.000,0.031,2237,2718,3732,3801,3663,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2266,-1.32,-194.6,2237,2719,3802,3661,389.0,-16.0,233,2271,0.00,1.75,0.00,0.000,260,0.000,0.069,2229,3777,3731,3802,3661,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2313,-1.32,-194.6,2229,3777,3802,3661,396.6,-17.1,237,2320,0.00,1.55,0.00,0.000,1030,0.000,0.032,2229,2715,3731,3801,3661,0,0,0,0,0,0,28.83,14.81,28.83
$GC,2499,-1.32,-194.6,2229,2714,3801,3660,428.3,-16.6,256,2504,0.00,1.50,0.00,0.000,516,0.000,0.034,2229,1713,3731,3802,3660,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2546,-1.32,-194.6,1376,1711,3799,3658,435.2,-16.0,260,2553,0.00,1.62,0.00,0.000,1030,0.000,0.054,2221,2725,3730,3801,3659,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2733,-1.32,-194.6,2222,2725,3802,3657,462.7,-13.8,279,2734,0.00,0.00,0.00,0.000,6,0.000,0.000,2222,2725,3729,3802,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2913,-1.32,-194.6,2222,2724,3802,3655,487.8,-14.0,297,2918,0.00,1.55,0.00,0.000,516,0.000,0.034,2222,1710,3728,3802,3655,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2941,-1.32,-194.6,2223,1709,3801,3655,491.2,-14.3,299,2949,0.15,1.65,0.00,0.000,3078,0.273,0.057,2247,2725,3727,3800,3655,0,0,0,0,0,0,14.35,14.67,28.83
$GC,3127,-1.32,-194.6,2247,2725,3800,3654,517.4,-14.1,318,3132,0.00,1.75,0.00,0.000,260,0.000,0.073,2242,3788,3727,3800,3654,0,0,0,0,0,0,28.83,14.64,28.83
$GC,3185,-1.32,-194.6,1376,3787,3798,3652,525.6,-15.6,323,3192,0.00,1.58,0.00,0.000,1030,0.000,0.034,2242,2714,3726,3799,3654,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3372,-1.32,-194.6,2242,2714,3799,3651,554.2,-15.1,342,3377,0.00,1.50,0.00,0.000,516,0.000,0.034,2242,1721,3725,3799,3651,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3415,-1.32,-194.6,2242,1721,3798,3651,560.6,-14.5,346,3420,0.00,1.65,0.00,0.000,1030,0.000,0.057,2234,2727,3724,3798,3651,0,0,0,0,0,0,28.83,14.65,28.83
$GC,3610,-1.32,-194.6,2235,2728,3799,3649,588.8,-14.5,365,3616,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2724,3723,3797,3649,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3809,-1.32,-194.6,2235,2727,3796,3647,617.1,-14.2,379,3810,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2724,3719,3792,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3989,-1.32,-194.6,2234,2727,3792,3645,642.5,-14.2,388,3990,0.00,0.00,0.00,0.000,6,0.000,0.000,2234,2727,3718,3792,3645,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4170,-1.32,-194.6,2234,2727,3791,3642,667.9,-14.3,397,4175,0.00,1.80,0.00,0.000,260,0.000,0.078,2226,3774,3716,3790,3642,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4188,-1.32,-194.6,2226,3775,3790,3643,667.9,-14.3,397,4194,0.00,1.55,0.00,0.000,1030,0.000,0.037,2226,2745,3716,3790,3643,0,0,0,0,0,0,28.83,14.77,28.83
$GC,4375,-1.32,-194.6,2226,2745,3789,3641,698.5,-15.1,407,4380,0.00,1.60,0.00,0.000,516,0.000,0.037,2226,1707,3714,3788,3640,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4422,-1.32,-194.6,2226,1706,3788,3640,704.9,-14.6,409,4428,0.12,1.70,0.00,0.000,3078,0.284,0.062,2245,2728,3714,3788,3640,0,0,0,0,0,0,14.30,14.60,28.83
$GC,4624,-1.32,-194.6,2245,2728,3787,3637,734.8,-14.5,419,4629,0.00,1.77,0.00,0.000,260,0.000,0.082,2239,3778,3712,3787,3637,0,0,0,0,0,0,28.83,14.55,28.83
$GC,4653,-1.32,-194.6,2239,3779,3787,3637,738.8,-14.7,420,4658,0.00,1.65,0.00,0.000,1030,0.000,0.038,2239,2732,3712,3787,3637,0,0,0,0,0,0,28.83,14.71,28.83
$GC,4852,-1.32,-194.6,2239,2732,3786,3634,769.8,-14.8,430,4853,0.00,0.00,0.00,0.000,6,0.000,0.000,2239,2731,3710,3786,3634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5033,-1.32,-194.6,2240,2732,3783,3633,798.1,-16.1,439,5038,0.00,1.80,0.00,0.000,260,0.000,0.083,2231,3777,3707,3781,3633,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5116,-1.32,-194.6,2229,3779,3777,3633,812.2,-16.6,443,5121,0.00,1.65,0.00,0.000,1030,0.000,0.038,2229,2702,3705,3777,3633,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5321,-1.32,-194.6,2229,2701,3784,3631,845.7,-16.2,453,5326,0.00,1.88,0.00,0.000,260,0.000,0.084,2222,3784,3703,3777,3630,0,0,0,0,0,0,28.83,14.51,28.83
$GC,5369,-1.32,-194.6,2222,3785,3783,3628,853.3,-16.5,455,5374,0.00,1.62,0.00,0.000,1030,0.000,0.039,2222,2733,3703,3777,3629,0,0,0,0,0,0,28.83,14.72,28.83
$GC,5568,-1.32,-194.6,2222,2732,3777,3626,887.1,-16.2,465,5573,0.00,1.83,0.00,0.000,260,0.000,0.085,2214,3782,3701,3777,3626,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5616,-1.32,-194.6,1368,3779,3773,3624,894.3,-16.5,467,5622,0.15,1.65,0.00,0.000,3078,0.280,0.040,2246,2729,3701,3776,3626,0,0,0,0,0,0,14.20,14.72,28.83
$GC,5818,-1.32,-194.6,2246,2728,3775,3623,924.6,-14.5,477,5823,0.00,1.83,0.00,0.000,260,0.000,0.086,2240,3774,3699,3775,3623,0,0,0,0,0,0,28.83,14.46,28.83
$GC,5896,-1.32,-194.6,2240,3775,3773,3623,934.4,-14.8,480,5903,0.00,1.65,0.00,0.000,1030,0.000,0.040,2240,2715,3698,3773,3623,0,0,0,0,0,0,28.83,14.71,28.83
$GC,6081,-1.32,-194.6,2240,2714,3773,3621,961.7,-13.3,490,6086,0.00,1.88,0.00,0.000,260,0.000,0.088,2232,3783,3696,3772,3621,0,0,0,0,0,0,28.83,14.44,28.83
$GC,6119,-1.32,-194.6,2232,3784,3772,3621,965.1,-13.5,491,6126,0.00,1.65,0.00,0.000,1030,0.000,0.041,2231,2731,3696,3772,3621,0,0,0,0,0,0,28.83,14.69,28.83
$STATE,6282,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6282,begin apogee
$GC,6291,-0.22,0.0,2231,2101,3771,3618,990.2,-13.9,500,6477,1.33,0.00,176.57,1.805,10246,0.230,0.000,2594,2098,2934,2978,2891,0,0,0,0,0,0,13.99,28.83,13.29
$STATE,6479,end apogee,CONTROL_FINISHED_OK
$STATE,6479,begin climb
$GC,6482,1.32,194.6,2595,2098,2976,2888,999.9,0.0,509,6673,1.48,1.77,181.15,1.812,10756,0.084,0.063,3111,1071,2139,2166,2112,0,0,0,0,0,0,14.24,14.19,13.29
$GC,6800,1.32,194.6,3111,1072,2163,2094,969.8,13.9,525,6805,0.00,1.75,0.00,0.000,1030,0.000,0.068,3111,2097,2129,2164,2094,0,0,0,0,0,0,28.83,14.50,28.83
$GC,6995,1.32,194.6,3111,2097,2164,2090,943.0,13.0,535,7000,0.00,1.83,0.00,0.000,260,0.000,0.086,3111,3159,2126,2164,2089,0,0,0,0,0,0,28.83,14.57,28.83
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$STATE,14885,end climb,SURFACE_DEPTH_REACHED
$STATE,14885,begin surface coast
$FINISH,-0.3,1.020941
$STATE,14906,end surface coast,CONTROL_FINISHED_OK
$STATE,14906,begin surface
$SM_CCo,14931,100.32,0.137,0,0,439,612.76
$SM_GC,-0.04,8.40,2.83,100.32,0.055,0.055,0.137,229,2720,439,-7.55,-1.16,612.76,0,0,0,0,0,0,14.63,14.58,14.43
$IRIDIUM_FIX,2120.26,12442.44,070813,101015
$TT8_MAMPS,0.019474,0.019474
$HUMID,49.88
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,25.80
$XPDR_PINGS,0
$SC_FREEKB,3729632
$24V_AH,13.3,172.559
$10V_AH,12.6,0.000
$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
$DEVICE_SECS,21.725,172.750,496.700,100.325,0.000,29.272,46.840,401.229,0.000,0.000,17.791,3325.622,7910.455,794.734,3093.836,699.559,0.000,2209.487,0.000,2514.295,0.000,0.543,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,14995.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.979,0.000,0.000,0.000
$MEM,328348
$DATA_FILE_SIZE,46644,1206
$CAP_FILE_SIZE,260247,0
$CFSIZE,260034560,201809920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070813,190636,2118.026,12443.464,42,1.0,43,-2.8