version: 66.11
glider: 181
mission: 11
dive: 611
start: 8 23 113 8 27 30
data:
$ID,181
$MISSION,11
$DIVE,611
$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,220
$T_MISSION,270
$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,250
$COURSE_BIAS,0
$GLIDE_SLOPE,50
$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,180
$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,475
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$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,-99202.008
$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,2670
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,19.9
$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,2825
$C_ROLL_CLIMB,2075
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,62
$R_STBD_OVSHOOT,27
$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,10
$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
$GPS1,230813,081554,2003.282,12637.080,39,1.3,39,-2.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-71.3
$GPS2,230813,082701,2003.250,12637.324,10,1.8,10,-2.5
$SPEED_LIMITS,0.126,0.224
$TGT_NAME,HEADING
$TGT_LATLONG,1952.451,12637.324
$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,182.5,20000,-27.9,-15.000,-33.75,2427
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,22,-1.89,-243.3,227,2827,1010,998,0.0,0.0,0,106,0.00,0.00,-81.47,0.000,16386,0.000,0.000,227,2828,3059,3108,3011,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-1.89,-243.3,227,2828,3107,3013,3.4,-12.2,15,143,8.55,1.73,-16.25,0.000,18948,0.374,0.063,2055,1758,3931,3989,3873,0,0,0,0,0,0,13.96,14.64,14.86
$GC,189,-1.89,-243.3,2057,1758,3989,3874,27.8,-29.7,28,194,0.00,1.80,0.00,0.000,1030,0.000,0.059,2049,2840,3931,3989,3874,0,0,0,0,0,0,28.83,14.47,28.83
$GC,383,-1.89,-243.3,2049,2841,3989,3874,85.2,-28.5,47,388,0.00,1.70,0.00,0.000,516,0.000,0.034,2049,1773,3931,3989,3874,0,0,0,0,0,0,28.83,14.58,28.83
$GC,407,-1.89,-243.3,2049,1771,3989,3874,91.9,-27.9,49,412,0.00,1.75,0.00,0.000,1030,0.000,0.057,2041,2836,3931,3989,3874,0,0,0,0,0,0,28.83,14.58,28.83
$GC,601,-1.89,-243.3,2041,2835,3988,3874,142.5,-25.2,68,606,0.00,1.55,0.00,0.000,260,0.000,0.063,2033,3794,3931,3989,3874,0,0,0,0,0,0,28.83,14.58,28.83
$GC,679,-1.89,-243.3,2033,3790,3989,3875,161.4,-25.7,75,686,0.12,1.50,0.00,0.000,3078,0.324,0.029,2056,2759,3935,3996,3875,0,0,0,0,0,0,14.21,14.72,28.83
$GC,865,-1.89,-243.3,2056,2759,3989,3875,207.8,-24.9,94,870,0.00,1.50,0.00,0.000,516,0.000,0.031,2055,1756,3932,3989,3876,0,0,0,0,0,0,28.83,14.67,28.83
$GC,892,-1.89,-243.3,2056,1755,3989,3876,213.7,-24.5,96,899,0.00,1.77,0.00,0.000,1030,0.000,0.054,2050,2823,3932,3989,3876,0,0,0,0,0,0,28.83,14.58,28.83
$GC,1078,-1.89,-243.3,2050,2823,3989,3876,257.2,-21.3,115,1083,0.00,1.55,0.00,0.000,260,0.000,0.063,2043,3783,3932,3989,3876,0,0,0,0,0,0,28.83,14.61,28.83
$GC,1127,-1.89,-243.3,1236,3783,3988,3876,267.2,-23.5,119,1133,0.00,1.50,0.00,0.000,1030,0.000,0.029,2042,2753,3932,3988,3877,0,0,0,0,0,0,28.83,14.73,28.83
$GC,1312,-1.89,-243.3,2043,2752,3989,3877,309.6,-22.6,138,1317,0.00,1.50,0.00,0.000,516,0.000,0.031,2043,1748,3933,3989,3877,0,0,0,0,0,0,28.83,14.69,28.83
$GC,1346,-1.89,-243.3,2043,1747,3989,3878,316.6,-21.0,141,1352,0.00,1.75,0.00,0.000,1030,0.000,0.053,2035,2830,3933,3988,3878,0,0,0,0,0,0,28.83,14.64,28.83
$GC,1540,-1.89,-243.3,2035,2831,3989,3877,358.9,-21.8,160,1545,0.00,1.55,0.00,0.000,260,0.000,0.067,2027,3787,3933,3989,3878,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1595,-1.89,-243.3,2027,3787,3989,3876,371.1,-23.3,165,1601,0.15,1.52,0.00,0.000,3078,0.310,0.030,2057,2750,3933,3989,3877,0,0,0,0,0,0,14.21,14.73,28.83
$GC,1790,-1.89,-243.3,2057,2749,3989,3877,414.2,-21.2,184,1795,0.00,1.70,0.00,0.000,260,0.000,0.066,2051,3779,3933,3989,3877,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1839,-1.89,-243.3,2051,3779,3989,3877,424.1,-22.4,188,1845,0.00,1.50,0.00,0.000,1030,0.000,0.031,2051,2755,3933,3989,3877,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2024,-1.89,-243.3,2051,2754,3989,3877,464.1,-20.7,207,2029,0.00,1.70,0.00,0.000,260,0.000,0.067,2042,3777,3933,3989,3877,0,0,0,0,0,0,28.83,14.56,28.83
$GC,2093,-1.89,-243.3,2043,3777,3988,3877,477.5,-20.8,213,2100,0.00,1.50,0.00,0.000,1030,0.000,0.031,2043,2766,3932,3989,3876,0,0,0,0,0,0,28.83,14.71,28.83
$GC,2279,-1.89,-243.3,2043,2765,3989,3876,517.1,-20.5,232,2284,0.00,1.52,0.00,0.000,516,0.000,0.032,2043,1754,3931,3988,3875,0,0,0,0,0,0,28.83,14.69,28.83
$GC,2293,-1.89,-243.3,2043,1753,3989,3876,520.0,-20.9,233,2298,0.00,1.77,0.00,0.000,1030,0.000,0.057,2031,2830,3930,3988,3872,0,0,0,0,0,0,28.83,14.62,28.83
$GC,2487,-1.89,-243.3,2035,2830,3989,3874,561.3,-21.4,252,2492,0.00,1.55,0.00,0.000,260,0.000,0.068,2024,3781,3931,3989,3874,0,0,0,0,0,0,28.83,14.59,28.83
$GC,2505,-1.89,-243.3,2028,3782,3989,3873,564.0,-20.8,253,2512,0.15,1.50,0.00,0.000,3078,0.308,0.031,2057,2772,3931,3989,3874,0,0,0,0,0,0,14.19,14.73,28.83
$GC,2702,-1.89,-243.3,2057,2772,3989,3872,605.6,-20.3,272,2707,0.00,1.70,0.00,0.000,260,0.000,0.072,2052,3784,3930,3988,3872,0,0,0,0,0,0,28.83,14.60,28.83
$GC,2796,-1.89,-243.3,2052,3785,3989,3871,624.0,-21.9,276,2801,0.00,1.50,0.00,0.000,1030,0.000,0.031,2052,2779,3930,3989,3871,0,0,0,0,0,0,28.83,14.72,28.83
$GC,2990,-1.89,-243.3,2052,2779,3989,3868,668.4,-21.8,286,2995,0.00,1.67,0.00,0.000,260,0.000,0.072,2044,3779,3928,3989,3867,0,0,0,0,0,0,28.83,14.59,28.83
$GC,3035,-1.89,-243.3,2043,3779,3989,3867,678.7,-22.7,288,3040,0.00,1.48,0.00,0.000,1030,0.000,0.034,2043,2818,3930,3988,3873,0,0,0,0,0,0,28.83,14.69,28.83
$GC,3240,-1.89,-243.3,2043,2819,3995,3865,727.4,-23.6,298,3245,0.00,1.55,0.00,0.000,516,0.000,0.034,2044,1805,3926,3988,3865,0,0,0,0,0,0,28.83,14.67,28.83
$GC,3273,-1.89,-243.3,2043,1804,3988,3865,733.1,-23.5,299,3279,0.00,1.73,0.00,0.000,1030,0.000,0.063,2036,2817,3927,3989,3865,0,0,0,0,0,0,28.83,14.55,28.83
$GC,3469,-1.89,-243.3,2036,2817,3987,3862,780.8,-23.4,309,3474,0.00,1.62,0.00,0.000,260,0.000,0.076,2027,3789,3924,3987,3862,0,0,0,0,0,0,28.83,14.54,28.83
$GC,3554,-1.89,-243.3,2028,3789,3984,3864,800.3,-23.1,313,3560,0.15,1.50,0.00,0.000,3078,0.319,0.036,2057,2846,3923,3985,3862,0,0,0,0,0,0,14.05,14.58,28.83
$GC,3762,-1.89,-243.3,2057,2845,3985,3858,843.5,-20.4,323,3768,0.00,1.65,0.00,0.000,260,0.000,0.077,2052,3784,3920,3984,3857,0,0,0,0,0,0,28.83,14.48,28.83
$GC,3810,-1.89,-243.3,2052,3785,3983,3858,853.7,-20.9,325,3816,0.00,1.52,0.00,0.000,1030,0.000,0.037,2051,2821,3923,3983,3863,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4011,-1.89,-243.3,2052,2820,3983,3855,896.8,-21.2,335,4016,0.00,1.60,0.00,0.000,516,0.000,0.035,2051,1792,3919,3983,3855,0,0,0,0,0,0,28.83,14.64,28.83
$GC,4039,-1.89,-243.3,2051,1791,3982,3854,902.1,-21.3,336,4045,0.00,1.75,0.00,0.000,1030,0.000,0.064,2044,2830,3920,3987,3854,0,0,0,0,0,0,28.83,14.53,28.83
$GC,4240,-1.89,-243.3,2044,2830,3980,3852,945.9,-20.9,346,4241,0.00,0.00,0.00,0.000,6,0.000,0.000,2044,2830,3916,3980,3852,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4418,-1.89,-243.3,2043,2830,3978,3849,985.9,-22.3,355,4424,0.00,1.65,0.00,0.000,260,0.000,0.083,2036,3772,3913,3977,3849,0,0,0,0,0,0,28.83,14.40,28.83
$STATE,4440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4440,begin apogee
$GC,4450,-0.25,0.0,2036,2105,3977,3849,990.9,-22.1,356,4682,2.12,0.00,223.50,1.831,10246,0.280,0.000,2579,2100,2935,2969,2902,0,0,0,0,0,0,13.89,28.83,13.22
$STATE,4684,end apogee,CONTROL_FINISHED_OK
$STATE,4684,begin climb
$GC,4687,1.89,243.3,2579,2100,2966,2898,1008.5,0.0,368,4923,2.00,1.92,225.80,1.799,10756,0.074,0.057,3297,1007,1942,1970,1914,0,0,0,0,0,0,14.31,14.26,13.28
$GC,5013,1.89,243.3,3298,1006,1968,1897,962.7,21.3,384,5018,0.00,1.80,0.00,0.000,1030,0.000,0.063,3297,2072,1932,1968,1897,0,0,0,0,0,0,28.83,14.49,28.83
$GC,5212,1.89,243.3,3298,2074,1968,1892,919.6,21.5,394,5217,0.00,1.83,0.00,0.000,260,0.000,0.083,3298,3141,1929,1967,1892,0,0,0,0,0,0,28.83,14.57,28.83
$GC,5240,1.89,243.3,2384,3139,1930,1882,914.2,21.7,395,5245,0.00,1.73,0.00,0.000,1030,0.000,0.041,3305,2069,1930,1968,1892,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5440,1.89,243.3,3305,2069,1968,1889,871.5,20.9,405,5445,0.00,1.73,0.00,0.000,516,0.000,0.056,3313,1010,1928,1968,1888,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5602,1.89,243.3,3313,1011,1967,1886,840.5,21.2,412,5609,0.15,1.77,0.00,0.000,5126,0.347,0.061,3283,2076,1926,1967,1886,0,0,0,0,0,0,14.19,14.60,28.83
$GC,5785,1.89,243.3,3283,2077,1967,1883,798.6,20.6,422,5791,0.00,1.80,0.00,0.000,260,0.000,0.080,3283,3137,1925,1968,1883,0,0,0,0,0,0,28.83,14.60,28.83
$GC,5853,1.89,243.3,3283,3137,1967,1883,784.8,21.3,425,5859,0.00,1.75,0.00,0.000,1030,0.000,0.037,3291,2066,1925,1967,1883,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6054,1.89,243.3,3288,2066,1967,1881,742.3,21.1,435,6059,0.00,1.70,0.00,0.000,516,0.000,0.049,3295,1012,1924,1967,1881,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6195,1.89,243.3,3296,1012,1966,1881,716.3,20.5,441,6202,0.00,1.80,0.00,0.000,1030,0.000,0.055,3295,2072,1923,1966,1881,0,0,0,0,0,0,28.83,14.54,28.83
$GC,6379,1.89,243.3,3296,2073,1966,1880,675.7,20.1,451,6385,0.00,1.70,0.00,0.000,516,0.000,0.044,3302,1015,1923,1966,1880,0,0,0,0,0,0,28.83,14.66,28.83
$GC,6423,1.89,243.3,3302,1015,1965,1880,666.8,20.2,453,6429,0.00,1.77,0.00,0.000,1030,0.000,0.054,3302,2082,1922,1965,1879,0,0,0,0,0,0,28.83,14.60,28.83
$GC,6628,1.89,243.3,3302,2082,1965,1880,625.7,20.2,463,6634,0.00,1.77,0.00,0.000,260,0.000,0.074,3303,3135,1921,1964,1878,0,0,0,0,0,0,28.83,14.57,28.83
$GC,6676,1.89,243.3,2400,3133,1926,1870,616.4,20.1,465,6682,0.15,1.67,0.00,0.000,5126,0.367,0.033,3284,2064,1921,1964,1879,0,0,0,0,0,0,14.06,14.69,28.83
$GC,6865,1.89,243.3,3284,2061,1964,1877,580.6,17.5,479,6871,0.00,1.67,0.00,0.000,516,0.000,0.045,3290,1019,1920,1963,1877,0,0,0,0,0,0,28.83,14.64,28.83
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$GC,7949,1.89,243.3,3312,1032,1960,1873,397.7,16.1,584,7955,0.17,1.73,0.00,0.000,5126,0.340,0.050,3280,2075,1916,1960,1873,0,0,0,0,0,0,13.93,14.52,28.83
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$STATE,10577,end climb,SURFACE_DEPTH_REACHED
$STATE,10577,begin surface coast
$FINISH,0.4,1.021341
$STATE,10597,end surface coast,CONTROL_FINISHED_OK
$STATE,10597,begin surface
$SM_CCo,10620,18.35,0.142,0,0,999,475.15
$SM_GC,-0.14,8.70,1.27,18.35,0.051,0.070,0.142,229,2830,999,-7.53,-0.93,475.15,0,0,0,0,0,0,14.62,14.57,14.36
$IRIDIUM_FIX,2001.88,12628.31,230813,050535
$TT8_MAMPS,0.019474,0.019474
$HUMID,57.28
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,25.20
$XPDR_PINGS,0
$SC_FREEKB,3689472
$24V_AH,13.2,207.108
$10V_AH,11.0,0.000
$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
$DEVICE_SECS,22.550,130.025,594.150,18.350,0.000,34.609,19.996,311.199,0.000,0.000,12.751,2383.855,5291.695,701.080,2324.879,599.184,0.000,1806.656,0.000,1894.932,0.000,0.541,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10655.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,3.764,0.000,0.000,0.000
$MEM,328892
$DATA_FILE_SIZE,33318,856
$CAP_FILE_SIZE,191404,0
$CFSIZE,260034560,189546496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230813,112605,2002.260,12638.702,25,1.4,25,-2.5