version: 66.11
glider: 181
mission: 11
dive: 39
start: 5 21 113 5 3 34
data:
$ID,181
$MISSION,11
$DIVE,39
$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,-95721.102
$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,77
$R_STBD_OVSHOOT,40
$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
$GPS1,210513,045706,2145.540,12043.971,36,1.0,36,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.06
$_SM_ANGLEo,-71.2
$GPS2,210513,050306,2145.566,12044.099,8,1.4,13,-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,80.5,27712,-14.3,-10.000,-17.31,2952
$D_GRID,326
$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,-194.6,219,2416,915,920,0.0,0.0,0,108,0.00,0.00,-87.45,0.000,16386,0.000,0.000,218,2417,3098,3142,3055,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.91,-194.6,223,2417,3143,3057,3.3,-11.3,15,137,10.18,2.20,-7.90,0.000,18948,0.415,0.066,2397,1013,3551,3634,3468,0,0,0,0,0,0,14.54,14.79,14.98
$GC,258,-0.91,-194.6,2397,1013,3634,3469,56.7,-34.3,31,265,0.00,2.28,0.00,0.000,1030,0.000,0.068,2389,2394,3551,3634,3469,0,0,0,0,0,0,28.83,14.81,28.83
$GC,564,-0.91,-194.6,2389,2395,3637,3473,137.4,-21.7,47,569,0.00,2.25,0.00,0.000,260,0.000,0.080,2379,3784,3553,3637,3470,0,0,0,0,0,0,28.83,14.85,28.83
$GC,650,-0.91,-194.6,2379,3785,3637,3471,156.9,-23.9,51,656,0.00,2.08,0.00,0.000,1030,0.000,0.037,2378,2409,3554,3637,3471,0,0,0,0,0,0,28.83,14.94,28.83
$GC,968,-0.91,-194.6,2378,2404,3637,3471,227.3,-21.8,67,973,0.00,2.17,0.00,0.000,516,0.000,0.048,2375,1003,3554,3637,3471,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1064,-0.91,-194.6,2379,1002,3637,3471,244.1,-20.2,71,1072,0.15,2.28,0.00,0.000,3078,0.285,0.063,2402,2413,3554,3637,3471,0,0,0,0,0,0,14.80,14.92,28.83
$GC,1371,-0.91,-194.6,2402,2417,3637,3471,292.4,-4.2,87,1376,0.00,2.22,0.00,0.000,260,0.000,0.083,2402,3791,3553,3637,3470,0,0,0,0,0,0,28.83,14.94,28.83
$STATE,1513,end dive,NO_VERTICAL_VELOCITY
$STATE,1513,begin apogee
$GC,1519,-0.25,0.0,2402,2353,3637,3469,292.4,0.0,94,1679,0.60,0.00,152.75,0.981,10246,0.093,0.000,2625,2352,2750,2782,2718,0,0,0,0,0,0,14.95,28.83,14.03
$STATE,1681,end apogee,CONTROL_FINISHED_OK
$STATE,1681,begin climb
$GC,1682,0.91,194.6,2625,2351,2780,2716,292.5,0.0,102,1845,1.08,2.25,153.98,0.956,10756,0.109,0.048,2998,984,1954,1991,1918,0,0,0,0,0,0,14.43,14.37,13.95
$GC,1980,0.91,194.6,2998,982,1988,1900,251.2,17.9,117,1986,0.00,2.30,0.00,0.000,1030,0.000,0.057,2998,2383,1944,1988,1900,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2297,0.91,194.6,2999,2384,1988,1895,192.2,18.2,133,2303,0.00,2.28,0.00,0.000,516,0.000,0.060,3008,982,1941,1988,1895,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2324,0.91,194.6,2064,982,1950,1886,188.5,17.6,134,2330,0.00,2.25,0.00,0.000,1030,0.000,0.054,3008,2385,1941,1988,1895,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2641,0.91,194.6,3008,2385,1988,1893,137.2,16.4,150,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,3008,2385,1940,1988,1893,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2942,0.91,194.6,3008,2385,1988,1889,90.7,16.4,165,2948,0.00,2.28,0.00,0.000,260,0.000,0.083,3008,3777,1939,1988,1890,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2989,0.91,194.6,3009,3777,1988,1889,83.0,17.4,167,2994,0.00,2.15,0.00,0.000,1030,0.000,0.038,3018,2361,1939,1990,1889,0,0,0,0,0,0,28.83,14.97,28.83
$GC,3296,0.91,194.6,3019,2356,1988,1887,45.0,11.7,184,3301,0.00,2.35,0.00,0.000,260,0.000,0.084,3019,3777,1937,1988,1887,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3508,1.06,345.8,3019,3777,1987,1887,27.1,4.7,205,3585,0.00,2.12,67.30,0.220,9222,0.000,0.037,3030,2358,1341,1379,1303,0,0,0,0,0,0,28.83,14.97,14.73
$STATE,3742,end climb,SURFACE_DEPTH_REACHED
$STATE,3742,begin surface coast
$FINISH,0.3,1.021601
$STATE,3764,end surface coast,CONTROL_FINISHED_OK
$STATE,3764,begin surface
$SM_CCo,3779,46.88,0.146,0,0,917,450.13
$SM_GC,-0.00,7.68,0.05,46.88,0.063,0.230,0.146,227,2402,917,-7.63,-1.16,450.13,0,0,0,0,0,0,14.91,14.90,14.79
$IRIDIUM_FIX,2129.53,12050.27,210513,030317
$TT8_MAMPS,0.020223,0.020223
$HUMID,44.88
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,24.30
$XPDR_PINGS,2
$SC_FREEKB,3923136
$24V_AH,14.0,32.649
$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,19.675,35.700,374.025,46.875,0.000,31.402,38.729,145.876,0.500,0.000,15.764,774.062,1990.836,442.793,941.072,57.753,0.000,854.163,0.000,635.364,0.000,0.542,0.000
$DEVICE_MAMPS,415.395,229.500,981.495,146.115,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3791.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.144,0.000,0.000,0.000
$MEM,323020
$DATA_FILE_SIZE,6852,250
$CAP_FILE_SIZE,60668,0
$CFSIZE,260034560,252710912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.226, 80.8,1
$GPS,210513,060813,2145.687,12045.088,11,1.4,11,-2.7