version: 66.11
glider: 181
mission: 11
dive: 38
start: 5 21 113 3 32 52
data:
$ID,181
$MISSION,11
$DIVE,38
$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,-95719.852
$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,59
$R_STBD_OVSHOOT,32
$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
$GPS1,210513,032549,2145.363,12042.277,8,1.5,8,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-70.7
$GPS2,210513,033224,2145.342,12042.408,9,1.6,9,-2.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,DOGLEG3
$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,82.8,30648,-14.3,-10.000,-17.31,2952
$D_GRID,403
$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,-194.6,215,2384,918,920,0.0,0.0,0,110,0.00,0.00,-88.50,0.000,16386,0.000,0.000,213,2385,3149,3195,3104,0,0,0,0,0,0,28.83,28.83,28.83
$GC,112,-0.91,-194.6,213,2386,3195,3104,3.7,-12.8,15,139,10.40,2.22,-6.65,0.000,18948,0.422,0.067,2398,1003,3549,3632,3467,0,0,0,0,0,0,14.48,14.73,14.93
$GC,295,-0.91,-194.6,2397,1001,3634,3468,67.0,-30.6,33,300,0.00,2.28,0.00,0.000,1030,0.000,0.063,2390,2396,3551,3634,3468,0,0,0,0,0,0,28.83,14.78,28.83
$GC,607,-0.91,-194.6,2390,2396,3637,3468,144.0,-21.1,49,612,0.00,2.25,0.00,0.000,260,0.000,0.080,2379,3781,3553,3637,3469,0,0,0,0,0,0,28.83,14.83,28.83
$GC,664,-0.91,-194.6,2379,3781,3637,3470,153.2,-21.6,51,670,0.00,2.10,0.00,0.000,1030,0.000,0.038,2379,2395,3553,3637,3469,0,0,0,0,0,0,28.83,14.90,28.83
$GC,970,-0.91,-194.6,2379,2390,3637,3470,224.4,-20.6,67,975,0.00,2.28,0.00,0.000,260,0.000,0.082,2368,3781,3552,3635,3470,0,0,0,0,0,0,28.83,14.88,28.83
$GC,1055,-0.91,-194.6,1536,3781,3633,3468,241.1,-20.4,71,1061,0.15,2.10,0.00,0.000,3078,0.276,0.037,2402,2395,3554,3638,3471,0,0,0,0,0,0,14.77,14.92,28.83
$GC,1373,-0.91,-194.6,2402,2390,3637,3471,294.1,-17.3,87,1379,0.00,2.15,0.00,0.000,516,0.000,0.047,2402,1003,3553,3637,3470,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1441,-0.91,-194.6,2402,1002,3637,3470,304.8,-17.2,90,1446,0.00,2.25,0.00,0.000,1030,0.000,0.061,2395,2405,3553,3637,3470,0,0,0,0,0,0,28.83,14.93,28.83
$GC,1758,-0.91,-194.6,2395,2406,3638,3468,360.0,-18.9,106,1763,0.00,2.25,0.00,0.000,260,0.000,0.086,2384,3785,3552,3637,3468,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1809,-0.91,-194.6,2384,3786,3638,3467,368.3,-19.5,108,1815,0.00,2.10,0.00,0.000,1030,0.000,0.041,2385,2402,3552,3637,3467,0,0,0,0,0,0,28.83,14.99,28.83
$STATE,2000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2000,begin apogee
$GC,2004,-0.25,0.0,2384,2396,3643,3465,403.7,-16.0,118,2172,0.77,0.00,161.32,1.110,10246,0.227,0.000,2611,2396,2749,2780,2719,0,0,0,0,0,0,14.81,28.83,13.92
$STATE,2173,end apogee,CONTROL_FINISHED_OK
$STATE,2174,begin climb
$GC,2175,0.91,194.6,2611,2396,2779,2717,409.9,0.0,126,2353,1.15,2.42,166.32,1.082,11012,0.129,0.084,2986,3771,1953,1989,1918,0,0,0,0,0,0,14.35,14.26,13.84
$GC,2374,0.91,194.6,2985,3771,1988,1913,386.2,16.4,136,2379,0.00,2.22,0.00,0.000,1030,0.000,0.040,2996,2369,1950,1988,1912,0,0,0,0,0,0,28.83,14.43,28.83
$GC,2686,0.91,194.6,2996,2364,1988,1899,324.7,20.0,152,2692,0.00,2.38,0.00,0.000,260,0.000,0.086,2997,3775,1943,1988,1899,0,0,0,0,0,0,28.83,14.73,28.83
$GC,2729,0.91,194.6,2997,3775,1988,1899,315.8,20.2,154,2735,0.00,2.17,0.00,0.000,1030,0.000,0.041,3007,2369,1943,1988,1899,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3051,0.91,194.6,3006,2363,1988,1895,255.0,19.1,170,3057,0.00,2.20,0.00,0.000,516,0.000,0.051,3017,978,1941,1988,1895,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3107,0.91,194.6,3017,977,1988,1895,247.3,18.9,172,3114,0.00,2.25,0.00,0.000,1030,0.000,0.057,3017,2375,1941,1988,1894,0,0,0,0,0,0,28.83,14.87,28.83
$GC,3413,0.91,194.6,3017,2376,1987,1892,185.4,17.8,188,3419,0.00,2.30,0.00,0.000,260,0.000,0.086,3023,3780,1940,1988,1892,0,0,0,0,0,0,28.83,14.88,28.83
$GC,3450,0.91,194.6,3017,3780,1988,1892,181.2,18.0,189,3457,0.15,2.15,0.00,0.000,5126,0.300,0.040,2995,2369,1940,1988,1892,0,0,0,0,0,0,14.75,14.94,28.83
$GC,3756,0.91,194.6,2995,2365,1987,1890,129.5,16.1,205,3761,0.00,2.17,0.00,0.000,516,0.000,0.051,3004,986,1939,1988,1890,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3787,0.91,194.6,3003,985,1988,1890,126.1,15.7,206,3792,0.00,2.25,0.00,0.000,1030,0.000,0.058,3003,2385,1938,1987,1889,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4099,0.91,194.6,3003,2385,1983,1885,75.7,14.8,222,4100,0.00,0.00,0.00,0.000,6,0.000,0.000,3003,2385,1937,1987,1887,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4399,0.95,233.8,3003,2385,1987,1885,42.2,8.6,240,4421,0.00,2.35,16.15,0.262,8452,0.000,0.083,3003,3779,1799,1840,1759,0,0,0,0,0,0,28.83,14.85,14.75
$GC,4537,0.98,269.9,2048,3779,1808,1767,31.0,8.7,253,4565,0.00,2.15,18.00,0.233,9222,0.000,0.039,3013,2358,1653,1693,1614,0,0,0,0,0,0,28.83,14.93,14.74
$STATE,4847,end climb,SURFACE_DEPTH_REACHED
$STATE,4847,begin surface coast
$FINISH,0.1,1.021610
$STATE,4879,end surface coast,CONTROL_FINISHED_OK
$STATE,4879,begin surface
$SM_CCo,4895,80.78,0.146,0,0,916,450.13
$SM_GC,-0.09,7.55,0.08,80.78,0.055,0.174,0.146,226,2411,916,-7.63,-0.90,450.13,0,0,0,0,0,0,14.94,14.91,14.78
$IRIDIUM_FIX,2134.17,12045.10,210513,000054
$TT8_MAMPS,0.019474,0.019474
$HUMID,44.29
$INTERNAL_PRESSURE,9.72694
$TCM_TEMP,24.40
$XPDR_PINGS,3
$SC_FREEKB,3923520
$24V_AH,13.8,32.517
$10V_AH,13.8,0.000
$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,20.175,49.075,361.800,80.775,0.000,27.577,33.414,174.463,0.750,0.000,11.902,932.225,2842.414,504.146,1041.386,65.449,0.000,945.462,0.000,706.378,0.000,0.540,0.000
$DEVICE_MAMPS,422.280,173.655,1110.015,146.115,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4924.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.441,0.000,0.000,0.000
$MEM,323036
$DATA_FILE_SIZE,10119,315
$CAP_FILE_SIZE,72715,0
$CFSIZE,260034560,252760064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.262, 84.1,1
$GPS,210513,045706,2145.540,12043.971,36,1.0,36,-2.7