version: 66.11
glider: 181
mission: 11
dive: 60
start: 5 22 113 11 53 5
data:
$ID,181
$MISSION,11
$DIVE,60
$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,-95748.016
$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,64
$R_STBD_OVSHOOT,30
$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
$GPS1,220513,114535,2143.879,12100.368,29,1.2,33,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-69.4
$GPS2,220513,115237,2143.875,12100.449,11,1.9,11,-2.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,DOGLEG3
$TGT_LATLONG,2142.000,12103.000
$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,115.9,5598,-14.3,-10.000,-17.31,2952
$D_GRID,736
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.91,-194.6,222,2367,915,912,0.0,0.0,0,106,0.00,0.00,-84.35,0.000,16386,0.000,0.000,220,2369,3099,3148,3050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,108,-0.91,-194.6,220,2369,3148,3051,3.7,-12.2,14,134,10.23,2.15,-7.32,0.000,19204,0.415,0.065,2398,1005,3550,3638,3462,0,0,0,0,0,0,14.46,14.72,14.92
$GC,361,-0.91,-194.6,2398,1004,3638,3464,85.1,-24.5,35,368,0.00,2.28,0.00,0.000,1030,0.000,0.059,2390,2406,3550,3638,3463,0,0,0,0,0,0,28.83,14.78,28.83
$GC,667,-0.91,-194.6,2390,2407,3638,3467,154.9,-21.9,51,672,0.00,2.20,0.00,0.000,516,0.000,0.044,2390,1004,3552,3638,3467,0,0,0,0,0,0,28.83,14.86,28.83
$GC,698,-0.91,-194.6,2390,1004,3639,3467,160.0,-22.5,52,704,0.00,2.28,0.00,0.000,1030,0.000,0.060,2380,2413,3552,3638,3467,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1012,-0.91,-194.6,2380,2413,3639,3467,219.1,-15.7,68,1017,0.00,2.22,0.00,0.000,260,0.000,0.081,2370,3782,3553,3639,3467,0,0,0,0,0,0,28.83,14.87,28.83
$GC,1108,-0.91,-194.6,2370,3783,3639,3468,234.2,-18.2,72,1116,0.15,2.10,0.00,0.000,3078,0.270,0.036,2403,2386,3553,3639,3467,0,0,0,0,0,0,14.75,14.93,28.83
$GC,1414,-0.91,-194.6,2403,2382,3639,3467,283.6,-15.2,88,1420,0.00,2.28,0.00,0.000,260,0.000,0.079,2395,3777,3553,3639,3467,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1451,-0.91,-194.6,2399,3777,3639,3467,287.4,-15.8,89,1457,0.00,2.08,0.00,0.000,1030,0.000,0.037,2395,2407,3553,3640,3466,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1757,-0.91,-194.6,2395,2402,3639,3464,339.8,-16.7,105,1762,0.00,2.17,0.00,0.000,516,0.000,0.047,2395,1003,3551,3639,3464,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1813,-0.91,-194.6,2395,1003,3639,3464,346.7,-16.9,107,1819,0.00,2.25,0.00,0.000,1030,0.000,0.061,2386,2403,3551,3639,3464,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2119,-0.91,-194.6,2386,2403,3639,3461,403.9,-21.0,123,2124,0.00,2.25,0.00,0.000,260,0.000,0.084,2375,3786,3550,3640,3461,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2170,-0.91,-194.6,2375,3786,3639,3461,412.5,-20.8,125,2176,0.12,2.10,0.00,0.000,3078,0.274,0.039,2408,2392,3549,3639,3460,0,0,0,0,0,0,14.81,14.99,28.83
$GC,2484,-0.91,-194.6,2402,2386,3639,3457,467.2,-15.1,141,2489,0.00,2.15,0.00,0.000,516,0.000,0.050,2402,1009,3547,3639,3456,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2549,-0.91,-194.6,1560,1007,3635,3453,475.4,-13.3,144,2555,0.00,2.25,0.00,0.000,1030,0.000,0.060,2395,2404,3547,3639,3456,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2867,-0.91,-194.6,2395,2404,3639,3450,519.3,-13.5,160,2873,0.00,2.20,0.00,0.000,516,0.000,0.052,2395,1007,3545,3640,3450,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2910,-0.91,-194.6,2395,1007,3639,3450,525.2,-13.6,162,2916,0.00,2.25,0.00,0.000,1030,0.000,0.061,2385,2399,3544,3639,3450,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3232,-0.91,-194.6,2385,2399,3636,3447,572.0,-14.7,178,3238,0.00,2.28,0.00,0.000,260,0.000,0.090,2375,3785,3541,3636,3447,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3329,-0.91,-194.6,2376,3786,3634,3447,586.0,-17.1,182,3336,0.12,2.10,0.00,0.000,3078,0.282,0.044,2401,2412,3540,3634,3447,0,0,0,0,0,0,14.81,15.00,28.83
$GC,3655,-0.91,-194.6,2401,2410,3633,3444,639.3,-14.4,195,3660,0.00,2.22,0.00,0.000,516,0.000,0.055,2402,1000,3538,3633,3443,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3749,-0.91,-194.6,2402,1000,3633,3443,652.1,-13.8,198,3754,0.00,2.28,0.00,0.000,1030,0.000,0.063,2395,2399,3538,3633,3443,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4082,-0.91,-194.6,2394,2399,3629,3440,701.3,-14.2,209,4087,0.00,2.28,0.00,0.000,260,0.000,0.093,2384,3777,3534,3629,3440,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4124,-0.91,-194.6,2384,3777,3628,3439,705.5,-13.4,210,4129,0.00,2.12,0.00,0.000,1030,0.000,0.045,2384,2398,3533,3627,3440,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4447,-0.91,-194.6,2384,2392,3627,3437,727.0,-0.0,221,4448,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2392,3533,3628,3438,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4535,end dive,NO_VERTICAL_VELOCITY
$STATE,4535,begin apogee
$GC,4538,-0.25,0.0,2384,2392,3627,3436,727.0,0.0,224,4726,0.70,0.00,176.48,1.855,10246,0.142,0.000,2617,2392,2753,2782,2725,0,0,0,0,1,0,14.90,28.83,13.35
$STATE,4728,end apogee,CONTROL_FINISHED_OK
$STATE,4728,begin climb
$GC,4730,0.91,194.6,2617,2392,2782,2726,726.5,0.0,230,4921,1.12,2.45,174.68,2.179,10756,0.115,0.054,2995,985,1959,1986,1933,0,0,0,0,1,0,14.14,14.02,13.28
$GC,5048,0.91,194.6,2995,985,1986,1926,676.0,19.6,241,5053,0.00,2.35,0.00,0.000,1030,0.000,0.062,2995,2380,1956,1986,1926,0,0,0,0,0,0,28.83,14.47,28.83
$GC,5381,0.91,194.6,2995,2380,1986,1920,610.4,20.8,252,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2995,2380,1953,1986,1920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5682,0.91,194.6,2995,2380,1986,1916,548.3,20.4,266,5687,0.00,2.35,0.00,0.000,260,0.000,0.092,2995,3781,1951,1986,1916,0,0,0,0,0,0,28.83,14.78,28.83
$GC,5708,0.91,194.6,2088,3780,1950,1908,543.4,20.1,267,5713,0.00,2.20,0.00,0.000,1030,0.000,0.042,3005,2362,1951,1986,1917,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6025,0.91,194.6,3005,2357,1986,1915,480.2,19.4,283,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,3006,2357,1950,1986,1915,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6326,0.91,194.6,3006,2356,1986,1914,414.9,22.2,298,6331,0.00,2.20,0.00,0.000,516,0.000,0.054,3016,979,1950,1986,1914,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6382,0.91,194.6,3016,978,1987,1914,406.2,21.0,300,6389,0.00,2.28,0.00,0.000,1030,0.000,0.062,3017,2378,1950,1986,1914,0,0,0,0,0,0,28.83,14.88,28.83
$GC,6688,0.91,194.6,3016,2378,1986,1912,351.1,16.7,316,6689,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2378,1949,1986,1912,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6989,0.91,194.6,3016,2382,1986,1910,297.0,19.1,331,6995,0.00,2.22,0.00,0.000,516,0.000,0.053,3025,984,1948,1986,1911,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7053,0.91,194.6,3025,984,1986,1911,284.6,19.4,334,7059,0.15,2.25,0.00,0.000,5126,0.285,0.063,2993,2376,1951,1994,1908,0,0,0,0,0,0,14.77,14.91,28.83
$GC,7376,0.91,194.6,2993,2377,1986,1908,234.0,14.5,350,7382,0.00,2.33,0.00,0.000,260,0.000,0.090,2993,3777,1947,1986,1908,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7419,0.91,194.6,2993,3777,1988,1908,226.9,15.4,352,7425,0.00,2.17,0.00,0.000,1030,0.000,0.042,3001,2366,1947,1986,1909,0,0,0,0,0,0,28.83,14.96,28.83
$GC,7742,0.91,194.6,3001,2361,1986,1908,180.2,12.7,368,7747,0.00,2.38,0.00,0.000,260,0.000,0.090,3001,3774,1947,1986,1908,0,0,0,0,0,0,28.83,14.87,28.83
$GC,7834,0.91,194.6,3001,3774,1987,1908,168.6,14.1,372,7839,0.00,2.17,0.00,0.000,1030,0.000,0.042,3011,2366,1947,1987,1908,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8146,0.91,194.6,3012,2361,1986,1908,122.0,14.2,388,8151,0.00,2.20,0.00,0.000,516,0.000,0.055,3021,978,1947,1986,1908,0,0,0,0,0,0,28.83,14.92,28.83
$GC,8243,0.91,194.6,3022,978,1988,1909,111.3,13.2,392,8250,0.00,2.28,0.00,0.000,1030,0.000,0.058,3022,2387,1947,1987,1907,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8548,0.91,194.6,3022,2387,1985,1907,76.4,11.1,408,8554,0.00,2.30,0.00,0.000,260,0.000,0.089,3020,3776,1947,1987,1908,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8692,0.91,194.6,3021,3776,1986,1908,60.0,10.8,415,8698,0.15,2.15,0.00,0.000,5126,0.281,0.040,2997,2364,1944,1981,1908,0,0,0,0,0,0,14.77,14.94,28.83
$GC,9006,1.17,460.0,2997,2360,1986,1908,41.9,0.8,440,9132,0.20,0.00,120.90,0.262,10502,0.101,0.000,3087,2360,875,908,843,0,0,0,0,0,0,14.92,28.83,14.61
$STATE,9303,end climb,SURFACE_DEPTH_REACHED
$STATE,9303,begin surface coast
$FINISH,-0.4,1.021324
$STATE,9325,end surface coast,CONTROL_FINISHED_OK
$STATE,9326,begin surface
$SM_CCo,9401,0.00,0.000,0,0,871,461.90
$SM_GC,-0.22,7.78,0.08,0.00,0.050,0.189,0.000,228,2397,871,-7.61,-0.88,461.90,0,0,0,0,0,0,14.81,14.78,28.83
$IRIDIUM_FIX,2143.45,12109.37,220513,090917
$TT8_MAMPS,0.019474,0.019474
$HUMID,49.09
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,23.00
$XPDR_PINGS,16
$SC_FREEKB,3915072
$24V_AH,13.3,35.888
$10V_AH,13.4,0.000
$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,20.725,84.825,472.050,0.000,0.000,30.141,39.150,180.406,4.000,0.000,14.268,1574.207,6031.943,531.201,1591.481,105.482,0.000,1259.954,0.000,1214.194,0.000,0.542,0.000
$DEVICE_MAMPS,414.630,188.955,2178.720,0.000,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9364.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.017,0.000,0.000,0.000
$MEM,322840
$DATA_FILE_SIZE,16701,487
$CAP_FILE_SIZE,115041,0
$CFSIZE,260034560,251392000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.017,150.8,1
$GPS,220513,143106,2143.314,12101.722,40,1.0,40,-2.7