version: 66.11
glider: 181
mission: 11
dive: 525
start: 8 10 113 8 33 18
data:
$ID,181
$MISSION,11
$DIVE,525
$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,300
$T_MISSION,330
$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,270
$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,200
$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,-97862
$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,2725
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,26
$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
$GPS1,100813,081936,2101.215,12513.112,26,1.9,27,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-69.0
$GPS2,100813,083245,2101.073,12513.379,13,2.1,32,-2.8
$SPEED_LIMITS,0.191,0.212
$TGT_NAME,HEADING
$TGT_LATLONG,2050.925,12509.427
$TGT_RADIUS,1852.000
$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,202.8,20000,-18.8,-11.000,-27.44,3441
$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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,23,-1.34,-262.8,220,2721,459,432,0.0,0.0,0,124,0.00,0.00,-98.25,0.000,16386,0.000,0.000,220,2721,2958,3001,2915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,131,-1.34,-262.8,220,2721,3001,2918,3.1,-10.2,18,167,9.15,2.22,-18.92,0.000,18948,0.366,0.053,2235,1318,3910,4009,3811,0,0,0,0,0,0,14.08,14.64,14.88
$GC,202,-1.34,-262.8,2234,1318,4009,3919,22.9,-23.0,30,209,0.00,2.35,0.00,0.000,1030,0.000,0.057,2226,2737,3964,4009,3919,0,0,0,0,0,0,28.83,14.53,28.83
$GC,398,-1.34,-262.8,2227,2738,4009,3919,70.3,-23.4,50,403,0.00,1.77,0.00,0.000,260,0.000,0.073,2219,3776,3964,4009,3919,0,0,0,0,0,0,28.83,14.54,28.83
$GC,421,-1.34,-262.8,2219,3777,4009,3919,76.0,-23.5,52,427,0.00,1.62,0.00,0.000,1030,0.000,0.031,2219,2707,3964,4009,3919,0,0,0,0,0,0,28.83,14.73,28.83
$GC,615,-1.34,-262.8,2219,2705,4009,3920,120.9,-23.0,71,620,0.00,2.15,0.00,0.000,516,0.000,0.035,2218,1331,3965,4011,3919,0,0,0,0,0,0,28.83,14.70,28.83
$GC,683,-1.34,-262.8,2218,1331,4008,3920,134.5,-21.2,77,690,0.15,2.30,0.00,0.000,3078,0.272,0.056,2241,2730,3963,4008,3918,0,0,0,0,0,0,14.33,14.64,28.83
$GC,869,-1.34,-262.8,2241,2730,4008,3921,169.4,-17.4,96,874,0.00,1.73,0.00,0.000,260,0.000,0.072,2234,3778,3964,4007,3921,0,0,0,0,0,0,28.83,14.63,28.83
$GC,912,-1.34,-262.8,2235,3778,4008,3922,177.4,-18.8,100,918,0.00,1.60,0.00,0.000,1030,0.000,0.031,2235,2687,3964,4007,3922,0,0,0,0,0,0,28.83,14.81,28.83
$GC,1106,-1.34,-262.8,2235,2687,4007,3923,211.5,-17.8,119,1111,0.00,1.83,0.00,0.000,260,0.000,0.068,2227,3783,3965,4007,3923,0,0,0,0,0,0,28.83,14.66,28.83
$GC,1164,-1.34,-262.8,2227,3783,4007,3922,221.5,-18.6,124,1170,0.00,1.55,0.00,0.000,1030,0.000,0.031,2227,2722,3965,4007,3923,0,0,0,0,0,0,28.83,14.79,28.83
$GC,1350,-1.34,-262.8,2227,2720,4007,3923,255.8,-17.6,143,1355,0.00,2.12,0.00,0.000,516,0.000,0.036,2227,1358,3965,4007,3923,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1407,-1.34,-262.8,2227,1358,4007,3923,264.9,-17.0,148,1414,0.00,2.22,0.00,0.000,1030,0.000,0.053,2217,2730,3965,4007,3923,0,0,0,0,0,0,28.83,14.70,28.83
$GC,1593,-1.34,-262.8,2218,2730,4007,3923,296.9,-17.2,167,1599,0.00,1.77,0.00,0.000,260,0.000,0.070,2209,3779,3965,4007,3923,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1611,-1.34,-262.8,2209,3779,4006,3924,299.2,-17.1,168,1618,0.15,1.55,0.00,0.000,3078,0.269,0.031,2238,2714,3964,4006,3923,0,0,0,0,0,0,14.38,14.79,28.83
$GC,1797,-1.34,-262.8,2242,2714,4006,3923,330.2,-16.2,187,1802,0.00,2.10,0.00,0.000,516,0.000,0.037,2242,1372,3965,4008,3923,0,0,0,0,0,0,28.83,14.74,28.83
$GC,1831,-1.34,-262.8,2243,1372,4006,3923,335.7,-16.3,190,1836,0.00,2.22,0.00,0.000,1030,0.000,0.054,2235,2732,3964,4006,3923,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2024,-1.34,-262.8,2234,2732,4005,3923,368.4,-17.0,209,2030,0.00,1.73,0.00,0.000,260,0.000,0.073,2227,3778,3963,4005,3922,0,0,0,0,0,0,28.83,14.65,28.83
$GC,2068,-1.34,-262.8,2227,3777,4005,3922,376.0,-17.7,213,2073,0.00,1.55,0.00,0.000,1030,0.000,0.032,2227,2720,3963,4005,3922,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2262,-1.34,-262.8,2227,2719,4005,3921,407.6,-15.7,232,2267,0.00,2.10,0.00,0.000,516,0.000,0.036,2227,1375,3962,4005,3920,0,0,0,0,0,0,28.83,14.75,28.83
$GC,2279,-1.34,-262.8,2227,1375,4005,3920,409.7,-15.8,233,2286,0.00,2.22,0.00,0.000,1030,0.000,0.055,2217,2731,3962,4005,3920,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2466,-1.34,-262.8,2217,2732,4004,3917,439.1,-14.6,252,2472,0.00,1.75,0.00,0.000,260,0.000,0.075,2209,3783,3961,4005,3917,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2494,-1.34,-262.8,2209,3783,4005,3916,442.9,-14.8,254,2502,0.15,1.55,0.00,0.000,3078,0.268,0.034,2241,2737,3960,4005,3916,0,0,0,0,0,0,14.36,14.80,28.83
$GC,2680,-1.34,-262.8,2242,2737,4005,3914,470.7,-14.8,273,2686,0.00,1.77,-0.05,0.000,16644,0.000,0.096,2236,3782,3974,4002,3946,0,0,0,0,0,0,28.83,14.62,13.32
$GC,2749,-1.34,-262.8,2236,3782,4002,3945,480.7,-15.7,279,2756,0.00,1.62,0.00,0.000,1030,0.000,0.033,2236,2710,3973,4002,3945,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2935,-1.34,-262.8,2236,2710,4002,3944,509.0,-15.0,298,2940,0.00,2.12,0.00,0.000,516,0.000,0.037,2236,1369,3972,4002,3943,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2963,-1.34,-262.8,2235,1369,4002,3943,512.5,-15.0,300,2969,0.00,2.25,0.00,0.000,1030,0.000,0.058,2226,2732,3972,4002,3943,0,0,0,0,0,0,28.83,14.66,28.83
$GC,3149,-1.34,-262.8,2226,2731,4002,3939,541.7,-15.1,319,3154,0.00,1.75,0.00,0.000,260,0.000,0.080,2218,3779,3970,4002,3939,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3182,-1.34,-262.8,2217,3779,4002,3939,547.0,-15.9,322,3187,0.00,1.55,0.00,0.000,1030,0.000,0.035,2217,2731,3970,4002,3938,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3376,-1.34,-262.8,2218,2730,4002,3934,577.3,-15.7,341,3381,0.00,2.15,0.00,0.000,516,0.000,0.037,2218,1367,3968,4002,3934,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3409,-1.34,-262.8,2217,1367,4002,3934,582.5,-15.5,344,3415,0.15,2.25,0.00,0.000,3078,0.266,0.059,2241,2724,3967,4002,3933,0,0,0,0,0,0,14.33,14.64,28.83
$GC,3614,-1.34,-262.8,2241,2722,4002,3929,612.5,-14.5,360,3619,0.00,1.77,0.00,0.000,260,0.000,0.081,2235,3779,3964,4000,3928,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3682,-1.34,-262.8,2235,3779,4002,3927,622.3,-15.2,363,3688,0.00,1.58,0.00,0.000,1030,0.000,0.037,2235,2733,3964,4002,3927,0,0,0,0,0,0,28.83,14.77,28.83
$GC,3881,-1.34,-262.8,2235,2732,4002,3923,653.2,-15.5,373,3886,0.00,2.20,0.00,0.000,516,0.000,0.039,2235,1355,3962,4002,3923,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3925,-1.34,-262.8,2235,1355,4002,3922,660.0,-15.6,375,3931,0.00,2.30,0.00,0.000,1030,0.000,0.063,2225,2721,3962,4002,3922,0,0,0,0,0,0,28.83,14.61,28.83
$GC,4130,-1.34,-262.8,2225,2721,4002,3917,693.7,-17.2,385,4135,0.00,1.80,0.00,0.000,260,0.000,0.086,2217,3781,3959,4002,3917,0,0,0,0,0,0,28.83,14.54,28.83
$GC,4228,-1.34,-262.8,2217,3781,4002,3914,709.3,-18.4,389,4235,0.00,1.60,0.00,0.000,1030,0.000,0.038,2217,2730,3957,4002,3913,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4415,-1.34,-262.8,2217,2729,4002,3910,744.3,-17.0,399,4416,0.00,0.00,0.00,0.000,6,0.000,0.000,2217,2728,3956,4002,3910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4594,-1.34,-262.8,2217,2728,4002,3907,774.2,-16.0,408,4599,0.00,1.85,0.00,0.000,260,0.000,0.083,2208,3798,3954,4002,3907,0,0,0,0,0,0,28.83,14.50,28.83
$GC,4621,-1.34,-262.8,1376,3798,4001,3905,778.6,-16.6,409,4627,0.15,1.65,0.00,0.000,3078,0.271,0.037,2241,2730,3954,4002,3907,0,0,0,0,0,0,14.27,14.76,28.83
$GC,4824,-1.34,-262.8,2241,2730,4002,3901,810.2,-15.5,419,4829,0.00,1.83,0.00,0.000,260,0.000,0.084,2235,3784,3951,4002,3901,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4869,-1.34,-262.8,2235,3784,4009,3900,818.2,-16.4,421,4874,0.00,1.65,0.00,0.000,1030,0.000,0.040,2235,2725,3951,4002,3900,0,0,0,0,0,0,28.83,14.73,28.83
$GC,5074,-1.34,-262.8,2235,2725,4003,3896,849.7,-15.6,431,5079,0.00,2.22,0.00,0.000,516,0.000,0.044,2235,1353,3949,4002,3896,0,0,0,0,0,0,28.83,14.61,28.83
$GC,5102,-1.34,-262.8,2235,1353,4002,3896,853.6,-15.6,432,5107,0.00,2.35,0.00,0.000,1030,0.000,0.067,2225,2730,3949,4002,3896,0,0,0,0,0,0,28.83,14.52,28.83
$GC,5301,-1.34,-262.8,2225,2730,4001,3892,886.7,-16.3,442,5307,0.00,1.88,0.00,0.000,260,0.000,0.093,2216,3810,3946,4000,3892,0,0,0,0,0,0,28.83,14.40,28.83
$GC,5360,-1.34,-262.8,2217,3810,3999,3892,894.6,-16.8,444,5366,0.00,1.70,0.00,0.000,1030,0.000,0.041,2217,2727,3945,3999,3892,0,0,0,0,0,0,28.83,14.71,28.83
$GC,5546,-1.34,-262.8,2216,2727,3998,3889,927.9,-16.4,454,5551,0.00,1.85,0.00,0.000,260,0.000,0.090,2208,3781,3943,3998,3889,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5574,-1.34,-262.8,2208,3781,3997,3889,932.0,-16.7,455,5580,0.15,1.67,0.00,0.000,3078,0.271,0.041,2240,2722,3942,3997,3888,0,0,0,0,0,0,14.19,14.69,28.83
$GC,5776,-1.34,-262.8,2240,2721,3997,3884,964.1,-15.6,465,5781,0.00,1.88,0.00,0.000,260,0.000,0.090,2234,3782,3940,3996,3885,0,0,0,0,0,0,28.83,14.43,28.83
$GC,5800,-1.34,-262.8,2234,3783,3996,3885,968.4,-15.8,466,5806,0.00,1.70,0.00,0.000,1030,0.000,0.042,2234,2717,3940,3996,3885,0,0,0,0,0,0,28.83,14.68,28.83
$STATE,5941,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5941,begin apogee
$GC,5949,-0.22,0.0,2234,2107,3995,3883,991.8,-16.1,473,6188,1.30,0.00,231.35,1.786,10246,0.213,0.000,2597,2106,2937,2968,2907,0,0,0,0,0,0,14.02,28.83,13.27
$STATE,6189,end apogee,CONTROL_FINISHED_OK
$STATE,6189,begin climb
$GC,6192,1.34,262.8,2597,2105,2964,2902,1010.6,0.0,485,6448,1.48,2.47,243.48,1.806,10756,0.071,0.065,3125,721,1862,1893,1831,0,0,0,0,0,0,14.23,14.16,13.28
$GC,6463,1.34,262.8,3125,721,1890,1824,987.3,15.7,498,6470,0.00,2.40,0.00,0.000,1030,0.000,0.064,3125,2099,1856,1890,1822,0,0,0,0,0,0,28.83,14.27,28.83
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$STATE,13533,end climb,SURFACE_DEPTH_REACHED
$STATE,13533,begin surface coast
$FINISH,0.0,1.021076
$STATE,13556,end surface coast,CONTROL_FINISHED_OK
$STATE,13556,begin surface
$SM_CCo,13580,86.75,0.135,0,0,438,612.76
$SM_GC,0.01,8.10,3.40,86.75,0.037,0.052,0.135,229,2725,438,-7.53,-0.82,612.76,0,0,0,0,0,0,14.65,14.52,14.43
$IRIDIUM_FIX,2059.45,12507.28,100813,040434
$TT8_MAMPS,0.019474,0.019474
$HUMID,51.77
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,26.20
$XPDR_PINGS,2
$SC_FREEKB,3723360
$24V_AH,13.3,177.878
$10V_AH,12.4,0.000
$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,22.150,220.050,598.950,86.750,0.000,27.815,39.511,374.738,0.500,0.000,36.333,3020.498,6984.785,878.224,2889.010,678.024,0.000,2234.587,0.000,2327.784,0.000,0.543,0.000
$DEVICE_MAMPS,365.670,133.110,1806.165,135.405,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13632.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.051,0.000,0.000,0.000
$MEM,328764
$DATA_FILE_SIZE,43286,1100
$CAP_FILE_SIZE,246424,0
$CFSIZE,260034560,199749632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100813,122236,2059.713,12514.826,39,0.9,40,-2.8