version: 66.11
glider: 181
mission: 11
dive: 91
start: 5 26 113 18 0 48
data:
$ID,181
$MISSION,11
$DIVE,91
$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,-95794.742
$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,2450
$C_ROLL_CLIMB,2350
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,57
$R_STBD_OVSHOOT,45
$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
$GPS1,260513,175220,2248.989,12122.554,12,4.0,32,-2.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.15
$_SM_ANGLEo,-72.3
$GPS2,260513,180020,2249.236,12122.695,11,2.2,30,-2.9
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,N1
$TGT_LATLONG,2303.600,12125.840
$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,8.7,27136,-14.3,-10.000,-17.31,2952
$D_GRID,709
$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,-194.6,223,2471,919,923,0.0,0.0,0,107,0.00,0.00,-85.43,0.000,16386,0.000,0.000,224,2471,3117,3167,3068,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.91,-194.6,223,2470,3167,3069,3.9,-15.3,15,135,10.20,2.30,-6.90,0.000,18948,0.409,0.063,2399,1038,3550,3638,3462,0,0,0,0,0,0,14.42,14.71,14.89
$GC,362,-0.91,-194.6,1512,1038,3636,3462,92.7,-28.0,36,367,0.00,2.28,0.00,0.000,1030,0.000,0.058,2392,2434,3553,3641,3465,0,0,0,0,0,0,28.83,14.76,28.83
$GC,684,-0.91,-194.6,2392,2435,3640,3466,170.3,-21.6,52,690,0.00,2.17,0.00,0.000,516,0.000,0.044,2390,1046,3553,3640,3467,0,0,0,0,0,0,28.83,14.84,28.83
$GC,776,-0.91,-194.6,2391,1044,3640,3467,185.3,-18.0,56,782,0.00,2.28,0.00,0.000,1030,0.000,0.059,2382,2449,3553,3640,3467,0,0,0,0,0,0,28.83,14.83,28.83
$GC,1089,-0.91,-194.6,2382,2450,3641,3467,252.4,-22.3,72,1094,0.00,2.15,0.00,0.000,260,0.000,0.078,2372,3780,3554,3641,3467,0,0,0,0,0,0,28.83,14.85,28.83
$GC,1226,-0.91,-194.6,2372,3780,3641,3467,278.0,-21.3,78,1234,0.15,2.03,0.00,0.000,3078,0.272,0.036,2404,2430,3554,3641,3467,0,0,0,0,0,0,14.73,14.92,28.83
$GC,1532,-0.91,-194.6,2405,2424,3641,3467,330.6,-15.9,94,1538,0.00,2.10,0.00,0.000,516,0.000,0.045,2405,1074,3554,3642,3466,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1609,-0.91,-194.6,2404,1073,3641,3466,339.8,-14.8,97,1616,0.00,2.22,0.00,0.000,1030,0.000,0.058,2398,2455,3553,3641,3465,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1915,-0.91,-194.6,2397,2456,3641,3463,396.7,-15.2,113,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2457,3551,3641,3462,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2216,-0.91,-194.6,2397,2457,3641,3458,440.3,-14.5,128,2221,0.00,2.17,0.00,0.000,260,0.000,0.086,2387,3784,3549,3641,3458,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2247,-0.91,-194.6,2387,3784,3641,3457,443.8,-14.9,129,2254,0.00,2.03,0.00,0.000,1030,0.000,0.040,2388,2454,3549,3642,3457,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2561,-0.91,-194.6,2387,2448,3641,3454,493.3,-15.4,145,2562,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2448,3547,3641,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2861,-0.91,-194.6,2388,2448,3639,3450,540.0,-14.9,160,2867,0.00,2.20,0.00,0.000,260,0.000,0.090,2378,3777,3544,3639,3450,0,0,0,0,0,0,28.83,14.92,28.83
$GC,2933,-0.91,-194.6,2377,3778,3637,3450,550.7,-16.2,163,2939,0.00,2.03,0.00,0.000,1030,0.000,0.041,2377,2447,3543,3637,3450,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3246,-0.91,-194.6,2377,2442,3634,3447,598.1,-14.4,179,3248,0.12,0.00,0.00,0.000,2054,0.295,0.000,2404,2442,3540,3635,3446,0,0,0,0,0,0,14.78,28.83,28.83
$GC,3566,-0.91,-194.6,2404,2441,3633,3449,632.4,-10.7,190,3571,0.00,2.17,0.00,0.000,516,0.000,0.052,2404,1065,3538,3633,3443,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3598,-0.91,-194.6,2404,1064,3633,3443,636.7,-11.7,191,3604,0.00,2.28,0.00,0.000,1030,0.000,0.065,2397,2454,3538,3633,3443,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3932,-0.91,-194.6,2397,2453,3630,3440,691.9,-16.8,202,3938,0.00,2.20,0.00,0.000,260,0.000,0.093,2387,3780,3534,3629,3440,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3960,-0.91,-194.6,2387,3781,3629,3440,691.9,-16.8,202,3966,0.00,2.05,0.00,0.000,1030,0.000,0.045,2387,2443,3534,3629,3440,0,0,0,0,0,0,28.83,14.99,28.83
$STATE,4054,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4054,begin apogee
$GC,4059,-0.25,0.0,2387,2336,3628,3439,712.3,-16.5,206,4249,0.77,0.00,183.12,1.454,10246,0.225,0.000,2612,2337,2749,2779,2719,0,0,0,0,0,0,14.77,28.83,13.69
$STATE,4251,end apogee,CONTROL_FINISHED_OK
$STATE,4251,begin climb
$GC,4252,0.91,194.6,2612,2336,2776,2717,718.5,0.0,212,4453,1.17,2.58,186.95,1.424,10500,0.131,0.089,2987,3753,1954,1984,1925,0,0,0,0,0,0,14.21,14.12,13.63
$GC,4464,0.91,194.6,2987,3753,1983,1921,691.9,17.6,219,4469,0.00,2.25,0.00,0.000,1030,0.000,0.041,2998,2362,1951,1983,1919,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4782,0.91,194.6,2998,2358,1983,1903,618.0,21.6,230,4788,0.00,2.28,0.00,0.000,516,0.000,0.053,3008,960,1943,1983,1903,0,0,0,0,0,0,28.83,14.67,28.83
$GC,4815,0.91,194.6,3008,960,1982,1902,610.8,21.8,231,4821,0.00,2.30,0.00,0.000,1030,0.000,0.057,3007,2358,1942,1982,1902,0,0,0,0,0,0,28.83,14.67,28.83
$GC,5138,0.91,194.6,3007,2352,1983,1897,535.6,22.3,246,5143,0.00,2.35,0.00,0.000,260,0.000,0.090,3008,3749,1940,1982,1898,0,0,0,0,0,0,28.83,14.76,28.83
$GC,5184,0.91,194.6,2080,3748,1946,1889,525.9,22.2,248,5189,0.00,2.17,0.00,0.000,1030,0.000,0.041,3019,2352,1940,1982,1898,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5502,0.91,194.6,3019,2348,1983,1895,455.6,20.8,264,5503,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2348,1939,1983,1895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5803,0.91,194.6,3019,2348,1983,1893,391.0,21.5,279,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2347,1938,1983,1893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6102,0.91,194.6,3019,2348,1982,1891,329.9,21.7,294,6104,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2348,1937,1982,1892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6403,0.91,194.6,3018,2348,1982,1889,270.0,20.1,309,6408,0.00,2.22,0.00,0.000,516,0.000,0.054,3028,959,1935,1982,1889,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6435,0.91,194.6,3029,959,1980,1888,265.5,19.8,310,6441,0.15,2.25,0.00,0.000,5126,0.284,0.058,2996,2348,1935,1981,1890,0,0,0,0,0,0,14.74,14.89,28.83
$GC,6749,0.91,194.6,2994,2349,1982,1887,211.5,16.9,326,6755,0.00,2.38,0.00,0.000,260,0.000,0.089,2996,3764,1934,1982,1887,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6801,0.91,194.6,2996,3764,1982,1887,204.0,17.3,328,6806,0.00,2.20,0.00,0.000,1030,0.000,0.040,3004,2337,1934,1981,1888,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7113,0.91,194.6,3004,2332,1983,1887,147.4,18.2,344,7115,0.00,0.00,0.00,0.000,6,0.000,0.000,3004,2332,1934,1982,1887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7414,0.91,194.6,3004,2332,1982,1887,95.9,14.9,359,7419,0.00,2.17,0.00,0.000,516,0.000,0.050,3014,960,1934,1982,1887,0,0,0,0,0,0,28.83,14.90,28.83
$GC,7457,0.91,194.6,3014,959,1982,1887,90.6,13.1,361,7463,0.00,2.25,0.00,0.000,1030,0.000,0.056,3014,2354,1934,1981,1887,0,0,0,0,0,0,28.83,14.88,28.83
$GC,7780,0.94,224.8,3014,2354,1981,1886,51.8,9.0,377,7801,0.00,2.35,11.90,0.285,8452,0.000,0.085,3014,3748,1836,1875,1797,0,0,0,0,0,0,28.83,14.82,14.68
$GC,7823,0.96,242.3,3014,3748,1878,1802,47.2,9.4,379,7839,0.00,2.17,9.15,0.282,9222,0.000,0.037,3025,2327,1765,1803,1727,0,0,0,0,0,0,28.83,14.92,14.68
$GC,8144,1.03,310.9,3025,2327,1813,1736,11.3,7.6,424,8186,0.00,2.20,33.00,0.181,8708,0.000,0.051,3034,975,1482,1522,1443,0,0,0,0,0,0,28.83,14.83,14.70
$STATE,8252,end climb,SURFACE_DEPTH_REACHED
$STATE,8252,begin surface coast
$FINISH,-0.5,1.021140
$STATE,8288,end surface coast,CONTROL_FINISHED_OK
$STATE,8288,begin surface
$SM_CCo,8306,62.70,0.151,0,0,915,450.13
$SM_GC,-0.50,7.68,2.45,62.70,0.055,0.055,0.151,236,2449,915,-7.62,-0.99,450.13,0,0,0,0,0,0,14.83,14.83,14.71
$IRIDIUM_FIX,2244.02,12107.05,260513,141417
$TT8_MAMPS,0.019474,0.019474
$HUMID,45.94
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,23.90
$XPDR_PINGS,1
$SC_FREEKB,3903104
$24V_AH,13.6,43.565
$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,20.250,71.325,424.125,62.700,0.000,25.752,45.187,206.639,0.250,0.000,33.884,1354.497,5406.883,571.740,1408.481,119.324,0.000,1166.265,0.000,991.847,0.000,0.541,0.000
$DEVICE_MAMPS,409.275,126.990,1454.265,150.705,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8339.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.073,0.000,0.000,0.000
$MEM,322816
$DATA_FILE_SIZE,16812,451
$CAP_FILE_SIZE,102595,0
$CFSIZE,260034560,248512512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.252, 29.4,1
$GPS,260513,202135,2251.555,12123.465,35,0.8,35,-3.0