version: 66.11
glider: 181
mission: 11
dive: 26
start: 5 19 113 23 21 24
data:
$ID,181
$MISSION,11
$DIVE,26
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-8
$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,0.0033
$HD_B,0.0082
$HD_C,1.5e-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,450
$N_FILEKB,8
$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,-95704.844
$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,2700
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,20
$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,2400
$C_ROLL_CLIMB,2375
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,69
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,440
$VBD_MAX,3960
$C_VBD,2753
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$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,12
$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,49
$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
$GPS1,190513,231423,2149.155,12031.141,23,0.9,40,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-69.9
$GPS2,190513,232055,2149.198,12031.063,14,1.4,14,-2.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,DOGLEG2
$TGT_LATLONG,2148.000,12100.000
$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,118.7,49808,-14.3,-10.000,-17.31,2952
$D_GRID,592
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.91,-194.6,218,2407,917,921,0.0,0.0,0,109,0.00,0.00,-87.97,0.000,16386,0.000,0.000,217,2407,3117,3165,3070,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.91,-194.6,217,2407,3165,3072,3.4,-11.1,15,137,10.12,2.30,-7.53,0.000,18692,0.412,0.099,2392,3780,3548,3634,3463,0,0,0,0,0,0,14.52,14.73,14.97
$GC,254,-0.91,-194.6,2392,3780,3634,3464,57.2,-33.0,30,259,0.00,2.10,0.00,0.000,1030,0.000,0.037,2392,2398,3549,3634,3465,0,0,0,0,0,0,28.83,14.82,28.83
$GC,566,-0.91,-194.6,2392,2393,3634,3467,137.6,-21.3,46,571,0.00,2.15,0.00,0.000,516,0.000,0.044,2392,1004,3550,3634,3467,0,0,0,0,0,0,28.83,14.90,28.83
$GC,608,-0.91,-194.6,2391,1003,3634,3467,145.8,-20.2,48,613,0.00,2.25,0.00,0.000,1030,0.000,0.059,2382,2405,3551,3635,3467,0,0,0,0,0,0,28.83,14.88,28.83
$GC,930,-0.91,-194.6,2382,2405,3637,3468,215.4,-19.6,64,935,0.00,2.22,0.00,0.000,260,0.000,0.081,2371,3780,3552,3637,3467,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1003,-0.91,-194.6,2371,3781,3636,3467,228.6,-21.0,67,1008,0.15,2.08,0.00,0.000,3078,0.272,0.037,2405,2399,3552,3637,3468,0,0,0,0,0,0,14.80,14.97,28.83
$GC,1315,-0.91,-194.6,2405,2393,3637,3467,286.8,-18.6,83,1321,0.00,2.15,0.00,0.000,516,0.000,0.047,2405,1008,3552,3637,3467,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1467,-0.91,-194.6,2405,1008,3637,3467,310.4,-15.8,90,1472,0.00,2.22,0.00,0.000,1030,0.000,0.061,2398,2399,3549,3632,3467,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1779,-0.91,-194.6,2398,2400,3636,3464,361.7,-15.0,106,1784,0.00,2.25,0.00,0.000,260,0.000,0.086,2387,3784,3550,3637,3463,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1841,-0.91,-194.6,2387,3784,3636,3463,371.5,-15.7,109,1846,0.00,2.10,0.00,0.000,1030,0.000,0.040,2387,2393,3549,3637,3462,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2163,-0.91,-194.6,2387,2389,3637,3461,420.9,-16.6,125,2168,0.00,2.15,0.00,0.000,516,0.000,0.051,2387,1008,3548,3636,3461,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2210,-0.91,-194.6,1504,1008,3632,3458,428.1,-17.0,127,2215,0.00,2.25,0.00,0.000,1030,0.000,0.065,2377,2404,3548,3636,3460,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2528,-0.91,-194.6,2377,2405,3637,3456,481.7,-17.0,143,2533,0.12,2.25,0.00,0.000,2308,0.302,0.087,2401,3780,3546,3637,3455,0,0,0,0,0,0,14.85,14.95,28.83
$GC,2640,-0.91,-194.6,2401,3780,3637,3454,498.3,-16.1,148,2645,0.00,2.10,0.00,0.000,1030,0.000,0.042,2400,2399,3545,3637,3454,0,0,0,0,0,0,28.83,15.03,28.83
$GC,2952,-0.91,-194.6,2401,2393,3637,3450,548.3,-16.3,164,2958,0.00,2.17,0.00,0.000,516,0.000,0.053,2401,1005,3543,3637,3450,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2995,-0.91,-194.6,2401,1004,3637,3450,555.3,-16.4,166,3001,0.00,2.25,0.00,0.000,1030,0.000,0.065,2396,2399,3543,3637,3450,0,0,0,0,0,0,28.83,14.99,28.83
$STATE,3257,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3257,begin apogee
$GC,3261,-0.25,0.0,2396,2399,3634,3447,593.6,-14.2,179,3443,0.73,0.00,173.98,1.327,10246,0.223,0.000,2610,2399,2749,2782,2717,0,0,0,0,0,0,14.85,28.83,13.78
$STATE,3445,end apogee,CONTROL_FINISHED_OK
$STATE,3445,begin climb
$GC,3446,0.91,194.6,2610,2400,2780,2714,600.7,0.0,188,3633,1.15,2.38,176.75,1.304,10756,0.126,0.051,2996,981,1953,1985,1921,0,0,0,0,0,0,14.30,14.24,13.73
$GC,3674,0.91,194.6,2996,981,1984,1915,571.9,18.3,198,3682,0.00,2.35,0.00,0.000,1030,0.000,0.062,2996,2381,1945,1983,1908,0,0,0,0,0,0,28.83,14.42,28.83
$GC,3980,0.91,194.6,2996,2382,1983,1898,500.3,21.7,214,3986,0.00,2.35,0.00,0.000,260,0.000,0.090,2996,3783,1941,1984,1898,0,0,0,0,0,0,28.83,14.73,28.83
$GC,4017,0.91,194.6,2996,3783,1983,1898,495.5,21.1,215,4023,0.00,2.17,0.00,0.000,1030,0.000,0.041,3007,2375,1940,1983,1898,0,0,0,0,0,0,28.83,14.80,28.83
$GC,4323,0.91,194.6,3006,2372,1983,1895,425.1,21.1,231,4324,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2372,1939,1983,1895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4623,0.91,194.6,3007,2372,1983,1892,361.2,22.0,246,4629,0.00,2.35,0.00,0.000,260,0.000,0.090,3007,3775,1937,1983,1892,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4696,0.91,194.6,3007,3775,1983,1892,346.5,22.7,249,4702,0.00,2.15,0.00,0.000,1030,0.000,0.041,3017,2374,1938,1984,1892,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5009,0.91,194.6,3017,2370,1983,1889,275.5,21.6,265,5014,0.00,2.20,0.00,0.000,516,0.000,0.054,3027,982,1935,1982,1889,0,0,0,0,0,0,28.83,14.94,28.83
$GC,5055,0.91,194.6,2128,982,1948,1883,266.7,21.5,267,5061,0.15,2.25,0.00,0.000,5126,0.283,0.060,2995,2377,1935,1982,1889,0,0,0,0,0,0,14.78,14.92,28.83
$GC,5373,0.91,194.6,2995,2377,1983,1886,205.7,20.0,283,5379,0.00,2.22,0.00,0.000,516,0.000,0.055,3003,985,1934,1983,1886,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5446,0.91,194.6,3002,986,1983,1886,193.5,19.7,286,5451,0.00,2.25,0.00,0.000,1030,0.000,0.060,3002,2381,1934,1982,1886,0,0,0,0,0,0,28.83,14.93,28.83
$GC,5758,0.91,194.6,3002,2381,1982,1885,134.2,17.9,302,5763,0.00,2.30,0.00,0.000,260,0.000,0.088,3002,3777,1933,1982,1885,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5840,0.91,194.6,3002,3777,1983,1885,118.7,18.9,306,5846,0.00,2.17,0.00,0.000,1030,0.000,0.039,3012,2363,1933,1982,1885,0,0,0,0,0,0,28.83,14.96,28.83
$GC,6163,0.91,194.6,3013,2359,1982,1883,69.9,14.4,322,6168,0.00,2.17,0.00,0.000,516,0.000,0.051,3023,978,1932,1982,1883,0,0,0,0,0,0,28.83,14.92,28.83
$GC,6245,0.91,194.6,3023,975,1982,1883,57.8,14.7,326,6250,0.00,2.25,0.00,0.000,1030,0.000,0.056,3023,2385,1932,1982,1883,0,0,0,0,0,0,28.83,14.93,28.83
$GC,6552,0.94,227.8,2064,2383,1945,1873,21.4,8.8,357,6570,0.00,0.00,12.68,0.210,8198,0.000,0.000,3022,2385,1823,1865,1782,0,0,0,0,0,0,28.83,28.83,14.76
$STATE,6772,end climb,SURFACE_DEPTH_REACHED
$STATE,6772,begin surface coast
$FINISH,-0.2,1.021741
$STATE,6808,end surface coast,CONTROL_FINISHED_OK
$STATE,6808,begin surface
$SM_CCo,6823,99.62,0.148,0,0,915,450.13
$SM_GC,-0.04,7.50,0.00,99.62,0.048,0.000,0.148,231,2386,915,-7.61,-0.40,450.13,0,0,0,0,0,0,14.95,28.83,14.78
$IRIDIUM_FIX,2131.85,12026.40,190513,212158
$TT8_MAMPS,0.019474,0.019474
$HUMID,45.23
$INTERNAL_PRESSURE,9.69764
$TCM_TEMP,24.20
$XPDR_PINGS,29
$SC_FREEKB,3928128
$24V_AH,13.7,30.068
$10V_AH,13.7,0.000
$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,19.925,66.575,363.400,99.625,0.000,23.877,42.579,171.902,7.250,0.000,17.584,1271.527,4146.583,527.108,1309.863,78.597,0.000,1106.403,0.000,965.945,0.000,0.541,0.000
$DEVICE_MAMPS,412.335,99.450,1327.275,147.645,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6832.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.682,0.000,0.000,0.000
$MEM,323224
$DATA_FILE_SIZE,13447,407
$CAP_FILE_SIZE,93066,0
$CFSIZE,260034560,253669376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.123,340.0,1
$GPS,200513,011737,2149.081,12031.826,8,1.5,8,-2.7