version: 66.11
glider: 181
mission: 11
dive: 63
start: 5 22 113 20 51 0
data:
$ID,181
$MISSION,11
$DIVE,63
$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,-95751.789
$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,78
$R_STBD_OVSHOOT,64
$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
$GPS1,220513,204329,2142.227,12102.290,57,1.0,57,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-67.8
$GPS2,220513,205031,2142.298,12102.289,13,1.4,13,-2.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,DOGLEG4
$TGT_LATLONG,2148.000,12112.000
$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,61.1,19756,-14.3,-10.000,-17.31,2952
$D_GRID,721
$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,-194.6,212,2496,912,910,0.0,0.0,0,107,0.00,0.00,-86.32,0.000,16386,0.000,0.000,211,2496,3172,3222,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.91,-194.6,211,2496,3223,3123,4.5,-16.0,15,131,10.20,2.12,-6.07,0.000,18692,0.410,0.096,2392,3754,3557,3644,3470,0,0,0,0,0,0,14.45,14.71,14.92
$GC,272,-0.91,-194.6,2392,3754,3645,3478,71.9,-37.6,30,277,0.00,1.98,0.00,0.000,1030,0.000,0.035,2392,2459,3561,3645,3478,0,0,0,0,0,0,28.83,14.81,28.83
$GC,584,-0.91,-194.6,2392,2455,3646,3478,146.0,-21.3,46,589,0.00,2.17,0.00,0.000,516,0.000,0.044,2392,1059,3562,3647,3478,0,0,0,0,0,0,28.83,14.85,28.83
$GC,630,-0.91,-194.6,1536,1057,3643,3476,153.9,-20.1,48,635,0.00,2.22,0.00,0.000,1030,0.000,0.062,2383,2424,3562,3646,3479,0,0,0,0,0,0,28.83,14.86,28.83
$GC,947,-0.91,-194.6,2383,2424,3648,3479,214.1,-19.8,64,953,0.00,2.15,0.00,0.000,516,0.000,0.045,2383,1053,3563,3647,3479,0,0,0,0,0,0,28.83,14.90,28.83
$GC,1044,-0.91,-194.6,2382,1052,3648,3479,230.6,-20.0,68,1052,0.15,2.28,0.00,0.000,3078,0.257,0.063,2407,2461,3563,3648,3479,0,0,0,0,0,0,14.76,14.87,28.83
$GC,1350,-0.91,-194.6,2407,2461,3648,3480,282.9,-15.7,84,1356,0.00,2.15,0.00,0.000,260,0.000,0.085,2399,3777,3563,3648,3478,0,0,0,0,0,0,28.83,14.89,28.83
$GC,1442,-0.91,-194.6,2400,3777,3648,3476,296.8,-16.7,88,1447,0.00,2.00,0.00,0.000,1030,0.000,0.036,2399,2444,3562,3648,3477,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1754,-0.91,-194.6,2399,2439,3648,3475,350.7,-17.3,104,1755,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2439,3561,3648,3475,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2054,-0.91,-194.6,2399,2439,3648,3472,401.3,-17.1,119,2060,0.00,2.15,0.00,0.000,516,0.000,0.047,2399,1060,3559,3648,3471,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2111,-0.91,-194.6,2399,1059,3648,3471,408.0,-16.2,121,2118,0.00,2.25,0.00,0.000,1030,0.000,0.060,2390,2458,3559,3647,3471,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2417,-0.91,-194.6,2390,2459,3648,3467,452.3,-13.6,137,2422,0.00,2.20,0.00,0.000,516,0.000,0.047,2390,1060,3557,3648,3467,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2473,-0.91,-194.6,2389,1060,3648,3467,457.9,-13.3,139,2481,0.00,2.25,0.00,0.000,1030,0.000,0.062,2380,2455,3557,3648,3467,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2779,-0.91,-194.6,2380,2455,3648,3462,503.0,-14.4,155,2785,0.00,2.17,0.00,0.000,516,0.000,0.047,2380,1066,3555,3648,3462,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2796,-0.91,-194.6,2380,1066,3647,3462,503.0,-14.4,155,2804,0.15,2.25,0.00,0.000,3078,0.249,0.063,2406,2457,3555,3648,3462,0,0,0,0,0,0,14.83,14.95,28.83
$GC,3102,-0.91,-194.6,2405,2456,3646,3459,544.2,-12.7,171,3107,0.00,2.17,0.00,0.000,260,0.000,0.093,2398,3776,3552,3646,3459,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3174,-0.91,-194.6,2398,3776,3645,3459,552.3,-13.1,174,3179,0.00,2.03,0.00,0.000,1030,0.000,0.042,2398,2451,3550,3642,3459,0,0,0,0,0,0,28.83,15.01,28.83
$GC,3486,-0.91,-194.6,2398,2445,3644,3455,594.8,-12.4,190,3491,0.00,2.17,0.00,0.000,516,0.000,0.052,2397,1060,3549,3644,3455,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3624,-0.91,-194.6,2398,1060,3643,3454,607.3,-10.0,195,3629,0.00,2.25,0.00,0.000,1030,0.000,0.064,2389,2456,3548,3643,3453,0,0,0,0,0,0,28.83,14.95,28.83
$GC,3942,-0.91,-194.6,2389,2451,3640,3450,650.9,-13.8,206,3947,0.00,2.20,0.00,0.000,260,0.000,0.095,2379,3779,3545,3640,3450,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4008,-0.91,-194.6,2379,3780,3638,3450,659.6,-13.7,208,4014,0.00,2.05,0.00,0.000,1030,0.000,0.044,2379,2448,3544,3638,3451,0,0,0,0,0,0,28.83,15.01,28.83
$GC,4336,-0.91,-194.6,2379,2445,3637,3447,702.0,-11.9,219,4342,0.00,2.20,0.00,0.000,516,0.000,0.054,2379,1066,3541,3636,3447,0,0,0,0,0,0,28.83,14.96,28.83
$GC,4373,-0.91,-194.6,2379,1062,3636,3447,707.2,-13.1,220,4379,0.15,2.28,0.00,0.000,3078,0.270,0.068,2403,2452,3541,3636,3447,0,0,0,0,0,0,14.81,14.94,28.83
$STATE,4490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4490,begin apogee
$GC,4495,-0.25,0.0,2404,2345,3633,3446,722.8,-12.8,224,4686,0.70,0.00,181.70,1.486,10246,0.216,0.000,2613,2345,2752,2782,2722,0,0,0,0,0,0,14.81,28.83,13.69
$STATE,4687,end apogee,CONTROL_FINISHED_OK
$STATE,4687,begin climb
$GC,4689,0.91,194.6,2613,2345,2781,2719,727.4,0.0,230,4884,1.15,0.00,185.07,1.448,10758,0.122,0.000,2988,2346,1956,1984,1929,0,0,0,0,0,0,14.23,28.83,13.66
$GC,5181,0.91,194.6,2988,2345,1984,1907,636.6,20.8,247,5187,0.00,2.42,0.00,0.000,260,0.000,0.090,2988,3768,1944,1981,1907,0,0,0,0,0,0,28.83,14.66,28.83
$GC,5228,0.91,194.6,2988,3768,1984,1907,629.1,21.1,248,5234,0.00,2.22,0.00,0.000,1030,0.000,0.042,2999,2350,1945,1984,1907,0,0,0,0,0,0,28.83,14.74,28.83
$GC,5547,0.91,194.6,2999,2344,1985,1902,559.1,19.1,262,5553,0.00,2.22,0.00,0.000,516,0.000,0.054,3009,959,1942,1983,1902,0,0,0,0,0,0,28.83,14.82,28.83
$GC,5578,0.91,194.6,3009,959,1983,1902,554.6,19.2,263,5584,0.00,2.28,0.00,0.000,1030,0.000,0.061,3009,2353,1942,1983,1901,0,0,0,0,0,0,28.83,14.81,28.83
$GC,5891,0.91,194.6,3009,2354,1983,1898,492.3,18.4,279,5896,0.00,2.35,0.00,0.000,260,0.000,0.092,3009,3759,1941,1983,1899,0,0,0,0,0,0,28.83,14.83,28.83
$GC,5957,0.91,194.6,3009,3759,1984,1899,478.8,21.1,282,5963,0.00,2.20,0.00,0.000,1030,0.000,0.042,3020,2343,1941,1984,1899,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6275,0.91,194.6,3020,2338,1984,1896,409.6,21.8,298,6280,0.00,2.22,0.00,0.000,516,0.000,0.054,3030,947,1939,1983,1896,0,0,0,0,0,0,28.83,14.90,28.83
$GC,6312,0.91,194.6,3030,946,1983,1896,404.6,21.9,299,6319,0.15,2.30,0.00,0.000,5126,0.285,0.062,2998,2359,1939,1983,1896,0,0,0,0,0,0,14.73,14.88,28.83
$GC,6618,0.91,194.6,2998,2359,1983,1895,346.4,18.7,315,6623,0.00,2.33,0.00,0.000,260,0.000,0.091,2997,3754,1939,1984,1895,0,0,0,0,0,0,28.83,14.87,28.83
$GC,6724,0.91,194.6,2080,3753,1947,1886,326.0,19.9,320,6730,0.00,2.17,0.00,0.000,1030,0.000,0.043,3005,2349,1939,1983,1895,0,0,0,0,0,0,28.83,14.94,28.83
$GC,7041,0.91,194.6,3005,2344,1984,1893,271.8,16.4,336,7043,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2344,1939,1984,1894,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7342,0.91,194.6,3005,2345,1983,1893,223.0,15.1,351,7347,0.00,2.38,0.00,0.000,260,0.000,0.091,3005,3758,1938,1983,1893,0,0,0,0,0,0,28.83,14.89,28.83
$GC,7459,0.91,194.6,3005,3758,1983,1893,205.9,17.1,356,7466,0.00,2.17,0.00,0.000,1030,0.000,0.041,3016,2346,1942,1991,1893,0,0,0,0,0,0,28.83,14.95,28.83
$GC,7764,0.91,194.6,3016,2342,1984,1893,153.8,17.2,372,7769,0.00,2.20,0.00,0.000,516,0.000,0.054,3026,960,1938,1983,1893,0,0,0,0,0,0,28.83,14.92,28.83
$GC,7890,0.91,194.6,3026,960,1983,1892,134.4,15.9,378,7896,0.15,2.25,0.00,0.000,5126,0.275,0.058,2993,2355,1937,1983,1892,0,0,0,0,0,0,14.75,14.90,28.83
$GC,8208,0.91,194.6,2992,2355,1984,1892,97.3,10.7,394,8214,0.00,2.33,0.00,0.000,260,0.000,0.091,2992,3753,1937,1983,1892,0,0,0,0,0,0,28.83,14.88,28.83
$GC,8255,0.91,194.6,2992,3754,1984,1892,92.6,10.5,396,8260,0.00,2.17,0.00,0.000,1030,0.000,0.041,3000,2339,1937,1983,1892,0,0,0,0,0,0,28.83,14.95,28.83
$GC,8572,0.93,213.7,3000,2336,1984,1892,56.8,9.3,412,8587,0.00,2.22,7.03,0.304,8708,0.000,0.053,3009,966,1884,1924,1845,0,0,0,0,0,0,28.83,14.90,14.69
$GC,8615,1.00,282.0,3010,966,1925,1843,53.9,7.6,414,8656,0.00,2.22,33.38,0.309,9222,0.000,0.057,3009,2353,1602,1640,1564,0,0,0,0,0,0,28.83,14.88,14.64
$GC,8955,1.01,294.1,3016,2353,1644,1564,27.5,9.6,444,8966,0.00,0.00,6.05,0.230,8198,0.000,0.000,3010,2349,1553,1596,1511,0,0,0,0,0,0,28.83,28.83,14.70
$STATE,9249,end climb,SURFACE_DEPTH_REACHED
$STATE,9249,begin surface coast
$FINISH,0.1,1.021469
$STATE,9286,end surface coast,CONTROL_FINISHED_OK
$STATE,9286,begin surface
$SM_CCo,9302,70.30,0.150,0,0,916,450.13
$SM_GC,-0.26,7.82,0.15,70.30,0.083,0.119,0.150,223,2493,916,-7.63,-0.93,450.13,0,0,0,0,0,0,14.88,14.89,14.73
$IRIDIUM_FIX,2141.13,12114.55,220513,171757
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.40
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,23.10
$XPDR_PINGS,1
$SC_FREEKB,3913920
$24V_AH,13.7,36.411
$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,20.625,88.650,413.225,70.300,0.000,27.784,22.448,195.290,0.250,0.000,16.438,1622.797,5916.902,574.326,1580.157,112.821,0.000,1282.893,0.000,1206.064,0.000,0.541,0.000
$DEVICE_MAMPS,410.040,119.340,1486.395,149.940,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9335.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.139,0.000,0.000,0.000
$MEM,322832
$DATA_FILE_SIZE,20073,507
$CAP_FILE_SIZE,117884,0
$CFSIZE,260034560,251125760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137,226.5,1
$GPS,220513,232828,2142.591,12102.961,14,2.2,33,-2.7