version: 66.11
glider: 181
mission: 11
dive: 61
start: 5 22 113 14 38 49
data:
$ID,181
$MISSION,11
$DIVE,61
$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,-95749.266
$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,67
$R_STBD_OVSHOOT,48
$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
$GPS1,220513,143106,2143.314,12101.722,40,1.0,40,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-68.6
$GPS2,220513,143807,2143.384,12101.823,12,1.5,12,-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,143.7,3267,-23.4,-10.000,-25.70,1135
$D_GRID,729
$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,-1.24,-74.2,212,2482,890,853,0.0,0.0,0,103,0.00,0.00,-82.62,0.000,16386,0.000,0.000,211,2483,2970,3011,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,105,-1.24,-74.2,211,2483,3011,2930,3.6,-11.8,14,126,9.73,2.10,-1.65,0.000,18692,0.414,0.095,2282,3765,3060,3116,3004,0,0,0,0,0,0,14.45,14.71,14.89
$GC,318,-1.24,-74.2,2283,3765,3117,3008,82.2,-30.0,32,325,0.00,2.00,0.00,0.000,1030,0.000,0.035,2282,2453,3062,3116,3008,0,0,0,0,0,0,28.83,14.80,28.83
$GC,623,-1.24,-74.2,2283,2448,3120,3004,141.6,-17.6,48,628,0.00,2.15,0.00,0.000,260,0.000,0.074,2272,3764,3064,3120,3008,0,0,0,0,0,0,28.83,14.83,28.83
$GC,720,-1.24,-74.2,2272,3765,3121,3008,157.6,-19.6,52,727,0.00,2.00,0.00,0.000,1030,0.000,0.034,2272,2429,3064,3120,3008,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1025,-1.24,-74.2,2272,2427,3122,3008,209.7,-16.8,68,1030,0.00,2.12,0.00,0.000,516,0.000,0.043,2272,1057,3065,3122,3008,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1148,-1.24,-74.2,2272,1057,3122,3008,229.5,-15.5,74,1154,0.15,2.20,0.00,0.000,3078,0.299,0.054,2295,2442,3065,3122,3008,0,0,0,0,0,0,14.75,14.92,28.83
$GC,1471,-1.24,-74.2,2295,2442,3124,3008,271.8,-13.1,90,1476,0.00,2.15,0.00,0.000,516,0.000,0.047,2295,1073,3066,3124,3008,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1594,-1.24,-74.2,2295,1072,3123,3007,289.7,-14.9,96,1600,0.00,2.20,0.00,0.000,1030,0.000,0.054,2287,2459,3065,3123,3008,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1917,-1.24,-74.2,2286,2460,3123,3006,332.5,-12.6,112,1923,0.00,2.17,0.00,0.000,516,0.000,0.047,2287,1069,3065,3124,3006,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2114,-1.24,-74.2,2286,1069,3124,3005,356.2,-14.7,121,2120,0.00,2.20,0.00,0.000,1030,0.000,0.055,2277,2453,3063,3121,3005,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2420,-1.24,-74.2,2277,2453,3123,3002,402.3,-12.6,137,2425,0.00,2.15,0.00,0.000,516,0.000,0.047,2277,1071,3063,3124,3002,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2632,-1.24,-74.2,2276,1072,3124,3000,427.9,-11.4,147,2638,0.15,2.20,0.00,0.000,3078,0.308,0.058,2299,2450,3061,3123,2999,0,0,0,0,0,0,14.81,14.96,28.83
$GC,2944,-1.24,-74.2,2299,2450,3123,2995,464.5,-11.0,163,2950,0.00,2.15,0.00,0.000,516,0.000,0.049,2299,1072,3059,3123,2996,0,0,0,0,0,0,28.83,14.98,28.83
$GC,3176,-1.24,-74.2,2300,1072,3119,2995,493.5,-13.2,174,3182,0.00,2.20,0.00,0.000,1030,0.000,0.057,2292,2449,3059,3123,2996,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3489,-1.24,-74.2,2291,2449,3121,2992,534.9,-12.9,190,3494,0.00,2.17,0.00,0.000,516,0.000,0.049,2291,1063,3056,3121,2992,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3655,-1.24,-74.2,1488,1062,3100,2984,556.9,-12.9,198,3660,0.00,2.22,0.00,0.000,1030,0.000,0.058,2281,2451,3055,3121,2990,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3972,-1.24,-74.2,2281,2451,3117,2987,593.2,-11.3,214,3978,0.00,2.15,0.00,0.000,260,0.000,0.083,2271,3773,3052,3117,2987,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4155,-1.24,-74.2,2271,3774,3115,2987,617.2,-13.4,221,4162,0.00,2.00,0.00,0.000,1030,0.000,0.042,2271,2452,3051,3115,2987,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4489,-1.24,-74.2,2271,2451,3115,2984,657.4,-11.2,232,4495,0.00,2.17,0.00,0.000,516,0.000,0.052,2271,1066,3049,3115,2984,0,0,0,0,0,0,28.83,14.98,28.83
$GC,4721,-1.24,-74.2,2271,1066,3114,2982,682.7,-11.6,239,4727,0.17,2.25,0.00,0.000,3078,0.313,0.063,2300,2458,3047,3114,2981,0,0,0,0,0,0,14.78,14.95,28.83
$GC,5035,-1.24,-74.2,2299,2458,3112,2979,718.3,-10.4,250,5040,0.00,2.20,0.00,0.000,516,0.000,0.053,2300,1070,3045,3112,2979,0,0,0,0,0,0,28.83,14.96,28.83
$STATE,5156,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5156,begin apogee
$GC,5162,-0.25,0.0,2293,2352,3111,2978,731.2,-10.5,254,5241,1.17,0.00,70.28,1.522,10246,0.285,0.000,2608,2353,2751,2805,2698,0,0,0,0,0,0,14.73,28.83,13.94
$STATE,5242,end apogee,CONTROL_FINISHED_OK
$STATE,5242,begin climb
$GC,5244,1.24,74.2,2608,2353,2805,2697,733.3,0.0,256,5324,1.48,0.00,75.82,1.491,10758,0.122,0.000,3096,2354,2450,2474,2426,0,0,0,0,0,0,14.47,28.83,13.73
$GC,5607,1.24,74.2,3097,2353,2466,2410,662.1,22.7,269,5608,0.00,0.00,0.00,0.000,6,0.000,0.000,3097,2353,2438,2466,2410,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5907,1.24,74.2,3097,2355,2466,2407,602.8,18.8,279,5912,0.00,2.22,0.00,0.000,516,0.000,0.051,3107,970,2443,2473,2413,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5998,1.24,74.2,3107,969,2465,2406,588.6,17.3,283,6005,0.00,2.25,0.00,0.000,1030,0.000,0.058,3108,2354,2435,2465,2405,0,0,0,0,0,0,28.83,14.81,28.83
$GC,6312,1.24,74.2,3107,2354,2465,2401,532.0,18.9,299,6317,0.00,2.33,0.00,0.000,260,0.000,0.085,3107,3763,2433,2465,2402,0,0,0,0,0,0,28.83,14.85,28.83
$GC,6328,1.24,74.2,3108,3759,2465,2402,532.0,18.9,299,6336,0.00,2.15,0.00,0.000,1030,0.000,0.040,3118,2356,2433,2465,2402,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6634,1.24,74.2,3118,2352,2465,2400,473.1,16.6,315,6640,0.00,2.20,0.00,0.000,516,0.000,0.051,3128,967,2432,2464,2400,0,0,0,0,0,0,28.83,14.91,28.83
$GC,6858,1.24,74.2,3129,968,2464,2398,434.3,17.1,326,6864,0.00,2.25,0.00,0.000,1030,0.000,0.058,3128,2354,2431,2464,2398,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7181,1.24,74.2,3128,2354,2464,2396,385.6,13.7,342,7186,0.00,2.30,0.00,0.000,260,0.000,0.084,3128,3754,2430,2464,2396,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7243,1.24,74.2,3128,3754,2463,2396,375.7,15.4,345,7249,0.17,2.15,0.00,0.000,5126,0.353,0.040,3104,2349,2429,2462,2396,0,0,0,0,0,0,14.69,14.95,28.83
$GC,7567,1.24,74.2,3104,2344,2463,2395,328.7,15.2,361,7572,0.00,2.20,0.00,0.000,516,0.000,0.053,3112,961,2428,2462,2395,0,0,0,0,0,0,28.83,14.93,28.83
$GC,7769,1.24,74.2,3112,961,2461,2394,300.4,12.4,371,7774,0.00,2.25,0.00,0.000,1030,0.000,0.056,3112,2353,2428,2462,2394,0,0,0,0,0,0,28.83,14.91,28.83
$GC,8091,1.24,74.2,3112,2354,2461,2394,261.9,11.7,387,8097,0.00,2.30,0.00,0.000,260,0.000,0.085,3112,3754,2427,2461,2394,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8324,1.24,74.2,3112,3753,2461,2394,233.5,11.6,398,8329,0.00,2.15,0.00,0.000,1030,0.000,0.039,3122,2343,2427,2461,2394,0,0,0,0,0,0,28.83,14.96,28.83
$GC,8636,1.25,76.8,3123,2338,2461,2393,197.1,9.8,414,8642,0.00,2.35,0.00,0.000,260,0.000,0.083,3123,3754,2427,2461,2393,0,0,0,0,0,0,28.83,14.90,28.83
$GC,8863,1.25,76.8,2208,3754,2420,2383,171.5,12.2,425,8869,0.15,2.15,0.00,0.000,5126,0.350,0.039,3104,2343,2427,2461,2394,0,0,0,0,0,0,14.67,14.94,28.83
$GC,9181,1.27,104.2,3104,2338,2461,2393,143.1,7.5,441,9226,0.00,2.42,31.25,1.187,8452,0.000,0.082,3098,3758,2328,2357,2300,0,0,0,0,1,0,28.83,14.71,14.12
$GC,9454,1.27,104.2,3102,3758,2358,2303,119.0,10.7,454,9459,0.00,2.17,0.00,0.000,1030,0.000,0.037,3110,2337,2330,2357,2303,0,0,0,0,0,0,28.83,14.83,28.83
$GC,9766,1.28,114.7,3111,2332,2358,2301,92.4,9.0,470,9774,0.00,0.00,5.93,0.420,8198,0.000,0.000,3111,2332,2285,2313,2258,0,0,0,0,0,0,28.83,28.83,14.58
$GC,10067,1.36,193.9,3111,2332,2313,2259,77.3,2.8,485,10112,0.00,2.38,39.42,0.380,8452,0.000,0.080,3111,3754,1960,1987,1934,0,0,0,0,0,0,28.83,14.78,14.56
$GC,10180,1.36,193.9,3111,3754,1988,1935,67.8,10.5,490,10185,0.00,2.15,0.00,0.000,1030,0.000,0.037,3121,2353,1960,1987,1934,0,0,0,0,0,0,28.83,14.85,28.83
$GC,10493,1.37,203.0,3121,2349,1988,1928,28.5,9.2,516,10504,0.00,2.20,4.18,0.236,8708,0.000,0.047,3132,956,1923,1956,1890,0,0,0,0,0,0,28.83,14.85,14.68
$GC,10732,1.41,241.4,3132,956,1956,1890,8.6,6.5,559,10758,0.00,2.25,17.88,0.169,9222,0.000,0.050,3132,2362,1765,1798,1733,0,0,0,0,0,0,28.83,14.85,14.75
$STATE,10800,end climb,SURFACE_DEPTH_REACHED
$STATE,10800,begin surface coast
$FINISH,-0.4,1.021433
$STATE,10825,end surface coast,CONTROL_FINISHED_OK
$STATE,10825,begin surface
$SM_CCo,10841,91.80,0.145,0,0,915,450.13
$SM_GC,-0.19,8.00,0.12,91.80,0.066,0.143,0.145,244,2460,915,-7.61,-1.16,450.13,0,0,0,0,0,0,14.84,14.83,14.71
$IRIDIUM_FIX,2143.45,12047.47,220513,111112
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.80
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,23.80
$XPDR_PINGS,0
$SC_FREEKB,3914688
$24V_AH,13.7,36.044
$10V_AH,13.9,0.000
$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,21.175,92.350,244.750,91.800,0.000,24.683,48.544,178.350,0.000,0.000,15.653,2213.406,6514.442,478.010,2051.747,125.311,0.000,1347.193,0.000,1665.433,0.000,0.541,0.000
$DEVICE_MAMPS,413.865,143.055,1521.585,144.585,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10877.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.992,0.000,0.000,0.000
$MEM,322812
$DATA_FILE_SIZE,20087,576
$CAP_FILE_SIZE,137916,0
$CFSIZE,260034560,251289600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.065, 42.9,1
$GPS,220513,174215,2143.070,12102.729,10,2.7,29,-2.7