version: 66.11
glider: 181
mission: 11
dive: 528
start: 8 10 113 20 55 51
data:
$ID,181
$MISSION,11
$DIVE,528
$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,-97865.867
$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,2175
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,83
$R_STBD_OVSHOOT,29
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,100813,204235,2057.452,12518.810,39,1.0,39,-2.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-67.7
$GPS2,100813,205519,2057.326,12519.140,13,1.1,13,-2.8
$SPEED_LIMITS,0.191,0.212
$TGT_NAME,HEADING
$TGT_LATLONG,2047.179,12515.189
$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,22,-1.34,-262.8,218,2726,463,431,0.0,0.0,0,129,0.00,0.00,-103.60,0.000,16386,0.000,0.000,218,2727,3144,3193,3096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,136,-1.34,-262.8,218,2727,3194,3097,4.2,-14.2,19,166,9.10,1.60,-14.32,0.000,18948,0.361,0.059,2237,1689,3963,4004,3923,0,0,0,0,0,0,14.09,14.67,14.88
$GC,206,-1.34,-262.8,2237,1688,4003,3925,25.4,-22.9,31,213,0.00,1.73,0.00,0.000,1030,0.000,0.057,2232,2737,3964,4003,3925,0,0,0,0,0,0,28.83,14.53,28.83
$GC,393,-1.34,-262.8,2232,2737,3999,3925,69.2,-24.1,50,398,0.00,1.73,0.00,0.000,260,0.000,0.070,2224,3779,3963,4002,3925,0,0,0,0,0,0,28.83,14.59,28.83
$GC,437,-1.34,-262.8,2224,3779,4002,3925,79.4,-22.7,54,442,0.00,1.58,0.00,0.000,1030,0.000,0.031,2224,2722,3963,4002,3925,0,0,0,0,0,0,28.83,14.73,28.83
$GC,630,-1.34,-262.8,2223,2720,4002,3926,120.3,-20.7,73,636,0.00,1.77,0.00,0.000,260,0.000,0.066,2215,3785,3963,4002,3925,0,0,0,0,0,0,28.83,14.57,28.83
$GC,688,-1.34,-262.8,1360,3785,4000,3924,132.0,-21.7,78,694,0.00,1.48,0.00,0.000,1030,0.000,0.031,2215,2800,3963,4002,3925,0,0,0,0,0,0,28.83,14.72,28.83
$GC,874,-1.34,-262.8,2215,2800,4002,3926,171.3,-19.8,97,879,0.00,1.62,0.00,0.000,260,0.000,0.066,2207,3782,3963,4001,3926,0,0,0,0,0,0,28.83,14.64,28.83
$GC,958,-1.34,-262.8,2208,3781,4002,3926,188.8,-21.6,105,963,0.10,1.35,0.00,0.000,3078,0.252,0.032,2233,2885,3963,4001,3926,0,0,0,0,0,0,14.30,14.73,28.83
$GC,1152,-1.34,-262.8,2234,2885,4001,3927,225.9,-18.5,124,1157,0.00,1.52,0.00,0.000,260,0.000,0.069,2226,3805,3964,4001,3927,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1226,-1.34,-262.8,2229,3805,4001,3927,239.1,-17.7,131,1231,0.00,1.48,0.00,0.000,1030,0.000,0.031,2229,2808,3964,4001,3927,0,0,0,0,0,0,28.83,14.75,28.83
$GC,1419,-1.34,-262.8,2229,2807,4001,3927,271.8,-16.3,150,1425,0.00,1.67,0.00,0.000,516,0.000,0.032,2229,1705,3964,4001,3927,0,0,0,0,0,0,28.83,14.76,28.83
$GC,1484,-1.34,-262.8,2229,1703,4001,3927,281.8,-15.2,156,1489,0.00,1.75,0.00,0.000,1030,0.000,0.052,2221,2786,3964,4001,3927,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1678,-1.34,-262.8,2222,2786,4001,3928,313.0,-16.2,175,1683,0.00,1.62,0.00,0.000,260,0.000,0.069,2214,3779,3964,4001,3927,0,0,0,0,0,0,28.83,14.65,28.83
$GC,1722,-1.34,-262.8,2214,3779,4001,3927,320.4,-16.8,179,1728,0.12,1.50,0.00,0.000,3078,0.276,0.031,2239,2777,3964,4001,3927,0,0,0,0,0,0,14.39,14.76,28.83
$GC,1917,-1.34,-262.8,2239,2778,4001,3927,351.7,-15.8,198,1922,0.00,1.67,0.00,0.000,516,0.000,0.034,2239,1710,3964,4001,3927,0,0,0,0,0,0,28.83,14.71,28.83
$GC,1941,-1.34,-262.8,2239,1710,4000,3927,355.4,-15.4,200,1947,0.00,1.77,0.00,0.000,1030,0.000,0.054,2234,2802,3963,4001,3926,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2135,-1.34,-262.8,2234,2803,4000,3925,387.2,-16.7,219,2140,0.00,1.60,0.00,0.000,260,0.000,0.071,2226,3777,3962,4000,3925,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2170,-1.34,-262.8,2227,3777,3999,3925,392.8,-16.7,222,2175,0.00,1.48,0.00,0.000,1030,0.000,0.031,2226,2786,3962,3999,3925,0,0,0,0,0,0,28.83,14.76,28.83
$GC,2363,-1.34,-262.8,2227,2785,3999,3922,424.8,-15.3,241,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,2226,2785,3960,3999,3922,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2543,-1.34,-262.8,2226,2785,3999,3921,452.6,-15.6,259,2545,0.00,0.00,-0.05,0.000,16390,0.000,0.000,2226,2785,3973,3999,3948,0,0,0,0,0,0,28.83,28.83,13.31
$GC,2725,-1.34,-262.8,2226,2785,3999,3947,480.3,-15.6,277,2730,0.00,1.65,0.00,0.000,516,0.000,0.035,2226,1710,3973,3999,3947,0,0,0,0,0,0,28.83,14.74,28.83
$GC,2762,-1.34,-262.8,2226,1709,3999,3947,485.2,-14.8,280,2769,0.00,1.80,0.00,0.000,1030,0.000,0.058,2218,2811,3972,3999,3946,0,0,0,0,0,0,28.83,14.66,28.83
$GC,2950,-1.34,-262.8,2218,2811,3999,3944,513.4,-14.8,299,2956,0.00,0.00,0.00,0.000,6,0.000,0.000,2218,2811,3975,4006,3944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3138,-1.34,-262.8,2218,2811,3999,3941,541.7,-15.2,318,3144,0.00,1.73,0.00,0.000,516,0.000,0.036,2218,1708,3970,3999,3941,0,0,0,0,0,0,28.83,14.74,28.83
$GC,3173,-1.34,-262.8,2218,1704,3998,3940,546.9,-15.1,321,3179,0.12,1.80,0.00,0.000,3078,0.280,0.058,2237,2792,3969,3999,3940,0,0,0,0,0,0,14.35,14.65,28.83
$GC,3368,-1.34,-262.8,2237,2792,3999,3936,576.6,-15.4,340,3373,0.00,1.62,0.00,0.000,260,0.000,0.076,2232,3772,3967,3999,3936,0,0,0,0,0,0,28.83,14.60,28.83
$GC,3404,-1.34,-262.8,2232,3773,3999,3935,582.1,-15.8,343,3409,0.00,1.50,0.00,0.000,1030,0.000,0.037,2232,2811,3967,3999,3935,0,0,0,0,0,0,28.83,14.71,28.83
$GC,3597,-1.34,-262.8,2232,2809,3999,3932,612.9,-15.8,358,3602,0.00,1.70,0.00,0.000,516,0.000,0.036,2232,1706,3965,3999,3932,0,0,0,0,0,0,28.83,14.73,28.83
$GC,3662,-1.34,-262.8,2232,1705,3999,3930,622.7,-15.3,361,3667,0.00,1.75,0.00,0.000,1030,0.000,0.059,2224,2763,3964,3999,3930,0,0,0,0,0,0,28.83,14.63,28.83
$GC,3868,-1.34,-262.8,2224,2763,3999,3925,654.1,-15.5,371,3873,0.00,1.70,0.00,0.000,260,0.000,0.080,2216,3779,3962,3999,3925,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3926,-1.34,-262.8,2216,3779,3999,3924,661.6,-16.0,373,3932,0.00,1.50,0.00,0.000,1030,0.000,0.036,2216,2776,3961,3999,3924,0,0,0,0,0,0,28.83,14.74,28.83
$GC,4113,-1.34,-262.8,2216,2777,3999,3920,694.5,-16.7,383,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2216,2777,3958,3998,3919,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4292,-1.34,-262.8,2216,2776,3999,3914,725.8,-17.6,392,4297,0.00,1.75,0.00,0.000,260,0.000,0.081,2208,3772,3956,3999,3914,0,0,0,0,0,0,28.83,14.51,28.83
$GC,4346,-1.34,-262.8,2208,3772,3999,3913,734.0,-18.4,394,4352,0.10,1.48,0.00,0.000,3078,0.252,0.039,2234,2846,3956,3999,3913,0,0,0,0,0,0,14.23,14.68,28.83
$GC,4543,-1.34,-262.8,2234,2845,3999,3908,768.5,-16.6,404,4548,0.00,1.75,0.00,0.000,516,0.000,0.037,2235,1715,3953,3999,3908,0,0,0,0,0,0,28.83,14.69,28.83
$GC,4591,-1.34,-262.8,2235,1715,3999,3908,776.1,-16.6,406,4597,0.00,1.80,0.00,0.000,1030,0.000,0.065,2229,2785,3953,3999,3908,0,0,0,0,0,0,28.83,14.57,28.83
$GC,4790,-1.34,-262.8,2230,2785,3999,3903,810.1,-16.6,416,4796,0.00,1.73,0.00,0.000,260,0.000,0.086,2222,3769,3951,3999,3903,0,0,0,0,0,0,28.83,14.46,28.83
$GC,4828,-1.34,-262.8,2221,3770,3999,3902,814.3,-16.8,417,4835,0.00,1.50,0.00,0.000,1030,0.000,0.041,2222,2799,3950,3999,3902,0,0,0,0,0,0,28.83,14.70,28.83
$GC,5016,-1.34,-262.8,2221,2799,3999,3897,848.2,-16.9,427,5021,0.00,1.70,0.00,0.000,260,0.000,0.083,2214,3781,3949,3999,3899,0,0,0,0,0,0,28.83,14.50,28.83
$GC,5053,-1.34,-262.8,2214,3781,3998,3898,852.6,-17.2,428,5060,0.00,1.50,0.00,0.000,1030,0.000,0.040,2214,2842,3948,3998,3898,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5241,-1.34,-262.8,2214,2842,3998,3895,887.7,-17.7,438,5246,0.00,1.77,0.00,0.000,516,0.000,0.039,2214,1718,3946,3998,3895,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5268,-1.34,-262.8,2214,1717,3998,3895,892.0,-17.6,439,5275,0.15,1.88,0.00,0.000,3078,0.278,0.070,2237,2815,3946,3998,3895,0,0,0,0,0,0,14.17,14.46,28.83
$GC,5470,-1.34,-262.8,2238,2815,3997,3891,926.5,-17.0,449,5476,0.00,1.65,0.00,0.000,260,0.000,0.090,2233,3775,3943,3997,3890,0,0,0,0,0,0,28.83,14.45,28.83
$GC,5515,-1.34,-262.8,2233,3774,3995,3890,934.7,-17.5,451,5520,0.00,1.52,0.00,0.000,1030,0.000,0.041,2233,2812,3942,3995,3890,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5719,-1.34,-262.8,2233,2812,3995,3888,970.7,-17.7,461,5724,0.00,1.73,0.00,0.000,516,0.000,0.040,2233,1717,3941,3995,3888,0,0,0,0,0,0,28.83,14.64,28.83
$GC,5758,-1.34,-262.8,2233,1716,3995,3887,974.5,-17.2,462,5765,0.00,1.88,0.00,0.000,1030,0.000,0.070,2225,2784,3941,3995,3888,0,0,0,0,0,0,28.83,14.42,28.83
$STATE,5840,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5840,begin apogee
$GC,5848,-0.22,0.0,2225,2198,3994,3886,991.9,-17.6,467,6086,1.35,0.00,229.30,1.791,10244,0.225,0.000,2597,2196,2934,2964,2904,0,0,0,0,0,0,13.97,28.83,13.27
$STATE,6088,end apogee,CONTROL_FINISHED_OK
$STATE,6088,begin climb
$GC,6091,1.34,262.8,2597,2196,2962,2900,1012.5,0.0,479,6346,1.42,1.80,242.88,1.812,10756,0.070,0.049,3114,1151,1860,1897,1824,0,0,0,0,0,0,14.28,14.27,13.28
$GC,6401,1.34,262.8,3114,1155,1894,1813,985.2,15.7,494,6408,0.00,1.75,0.00,0.000,1030,0.000,0.067,3114,2176,1853,1895,1812,0,0,0,0,0,0,28.83,14.42,28.83
$GC,6588,1.34,262.8,3114,2176,1894,1805,952.2,16.8,504,6594,0.00,1.75,0.00,0.000,516,0.000,0.058,3117,1154,1849,1894,1805,0,0,0,0,0,0,28.83,14.58,28.83
$GC,6672,1.34,262.8,3121,1154,1894,1803,938.4,16.5,508,6677,0.00,1.75,0.00,0.000,1030,0.000,0.065,3121,2187,1849,1895,1803,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6877,1.34,262.8,3121,2187,1894,1800,900.9,18.2,518,6882,0.00,1.83,0.00,0.000,260,0.000,0.088,3121,3249,1846,1894,1799,0,0,0,0,0,0,28.83,14.57,28.83
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$STATE,13695,end climb,SURFACE_DEPTH_REACHED
$STATE,13695,begin surface coast
$FINISH,0.2,1.021103
$STATE,13721,end surface coast,CONTROL_FINISHED_OK
$STATE,13721,begin surface
$SM_CCo,13744,94.60,0.135,0,0,438,612.76
$SM_GC,-0.01,8.18,0.88,94.60,0.052,0.060,0.135,227,2735,438,-7.55,-0.88,612.76,0,0,0,0,0,0,14.64,14.64,14.44
$IRIDIUM_FIX,2047.91,12521.26,100813,161657
$TT8_MAMPS,0.019474,0.019474
$HUMID,50.86
$INTERNAL_PRESSURE,9.78553
$TCM_TEMP,26.10
$XPDR_PINGS,1
$SC_FREEKB,3722112
$24V_AH,13.3,179.026
$10V_AH,12.5,0.000
$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,21.525,166.825,593.950,94.600,0.000,29.304,37.197,371.548,0.250,0.000,16.667,3054.869,7133.824,856.478,2865.874,683.416,0.000,2203.703,0.000,2311.643,0.000,0.543,0.000
$DEVICE_MAMPS,361.080,89.505,1811.520,135.405,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,13798.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.051,0.000,0.000,0.000
$MEM,328676
$DATA_FILE_SIZE,43347,1114
$CAP_FILE_SIZE,247777,0
$CFSIZE,260034560,199348224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110813,004806,2056.222,12520.904,47,0.8,47,-2.8