version: 66.11
glider: 181
mission: 11
dive: 49
start: 5 21 113 13 56 32
data:
$ID,181
$MISSION,11
$DIVE,49
$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,-95734.172
$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,76
$R_STBD_OVSHOOT,34
$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
$GPS1,210513,135109,2147.670,12050.684,8,3.5,27,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-71.4
$GPS2,210513,135603,2147.706,12050.850,12,2.8,31,-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,117.1,15744,-14.3,-10.000,-17.31,2952
$D_GRID,405
$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,-194.6,225,2363,914,915,0.0,0.0,0,104,0.00,0.00,-82.78,0.000,16386,0.000,0.000,224,2363,2985,3018,2952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.91,-194.6,224,2363,3018,2952,3.1,-10.3,14,133,10.20,2.35,-9.77,0.000,18692,0.419,0.093,2392,3778,3552,3632,3473,0,0,0,0,0,0,14.60,14.87,15.07
$GC,358,-0.91,-194.6,2392,3778,3633,3469,81.8,-26.4,36,365,0.00,2.05,0.00,0.000,1030,0.000,0.034,2391,2402,3551,3633,3469,0,0,0,0,0,0,28.83,14.98,28.83
$GC,665,-0.91,-194.6,2391,2396,3633,3469,157.1,-27.2,52,670,0.00,2.12,0.00,0.000,516,0.000,0.044,2391,1009,3551,3633,3469,0,0,0,0,0,0,28.83,14.98,28.83
$GC,856,-0.91,-194.6,2391,1008,3633,3469,187.6,-17.4,61,861,0.00,2.22,0.00,0.000,1030,0.000,0.059,2382,2406,3551,3633,3469,0,0,0,0,0,0,28.83,14.98,28.83
$STATE,1147,end dive,NO_VERTICAL_VELOCITY
$STATE,1147,begin apogee
$GC,1151,-0.25,0.0,2381,2407,3633,3469,204.7,0.0,76,1310,0.65,0.00,150.18,0.863,10246,0.090,0.000,2625,2408,2749,2782,2717,0,0,0,0,0,0,15.00,28.83,14.19
$STATE,1312,end apogee,CONTROL_FINISHED_OK
$STATE,1312,begin climb
$GC,1314,0.91,194.6,2625,2408,2781,2716,204.6,0.0,84,1480,1.08,2.35,155.40,0.837,11012,0.096,0.051,3003,994,1954,1992,1917,0,0,0,0,0,0,14.59,14.50,14.14
$GC,1521,0.91,194.6,3006,993,1991,1910,184.1,14.1,94,1526,0.00,2.25,0.00,0.000,1030,0.000,0.059,3007,2374,1950,1991,1910,0,0,0,0,0,0,28.83,14.62,28.83
$GC,1832,0.91,194.6,3007,2376,1991,1901,130.9,14.3,110,1838,0.00,2.30,0.00,0.000,260,0.000,0.080,3007,3785,1946,1991,1901,0,0,0,0,0,0,28.83,14.86,28.83
$GC,1919,0.91,194.6,3007,3785,1991,1901,118.8,14.9,114,1925,0.00,2.12,0.00,0.000,1030,0.000,0.036,3017,2374,1945,1991,1900,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2236,0.91,194.6,3017,2371,1991,1897,76.6,12.7,130,2242,0.00,2.15,0.00,0.000,516,0.000,0.048,3027,990,1943,1991,1896,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2383,0.91,194.6,3027,988,1990,1895,60.0,11.0,137,2389,0.15,2.20,0.00,0.000,5126,0.242,0.050,2991,2391,1943,1991,1895,0,0,0,0,0,0,14.85,14.98,28.83
$GC,2691,0.96,246.5,2992,2391,1991,1894,34.2,8.2,162,2722,0.00,2.25,22.62,0.236,8452,0.000,0.080,2991,3778,1748,1788,1709,0,0,0,0,0,0,28.83,14.92,14.81
$GC,2880,1.03,312.1,2991,3778,1789,1711,19.2,7.7,187,2918,0.00,2.10,30.95,0.194,9222,0.000,0.037,2999,2370,1479,1520,1438,0,0,0,0,0,0,28.83,15.00,14.83
$STATE,3109,end climb,SURFACE_DEPTH_REACHED
$STATE,3109,begin surface coast
$FINISH,-0.0,1.021458
$STATE,3151,end surface coast,CONTROL_FINISHED_OK
$STATE,3151,begin surface
$SM_CCo,3165,61.10,0.141,0,0,915,450.13
$SM_GC,-0.35,7.70,0.00,61.10,0.083,0.000,0.141,245,2368,915,-7.61,-0.88,450.13,0,0,0,0,0,0,14.94,28.83,14.85
$IRIDIUM_FIX,2152.74,12036.30,210513,131328
$TT8_MAMPS,0.018725,0.018725
$HUMID,44.09
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,23.90
$XPDR_PINGS,2
$SC_FREEKB,3919296
$24V_AH,14.1,33.628
$10V_AH,14.1,0.000
$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,19.775,26.475,359.150,61.100,0.000,24.753,24.395,103.556,0.500,0.000,35.527,736.526,1471.807,448.553,838.710,51.603,0.000,822.111,0.000,593.030,0.000,0.543,0.000
$DEVICE_MAMPS,419.220,92.565,862.920,140.760,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3157.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.630,0.000,0.000,0.000
$MEM,323044
$DATA_FILE_SIZE,6819,239
$CAP_FILE_SIZE,53694,0
$CFSIZE,260034560,252256256
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.350, 83.3,1
$GPS,210513,145112,2147.663,12051.738,7,1.9,12,-2.7