version: 66.11
glider: 181
mission: 11
dive: 50
start: 5 21 113 15 2 6
data:
$ID,181
$MISSION,11
$DIVE,50
$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,-95735.422
$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,75
$R_STBD_OVSHOOT,39
$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
$GPS1,210513,145112,2147.663,12051.738,7,1.9,12,-2.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-70.8
$GPS2,210513,150137,2147.734,12052.025,11,1.8,11,-2.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,DOGLEG3
$TGT_LATLONG,2142.000,12054.000
$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,210.0,11150,-14.3,-10.000,-17.31,2952
$D_GRID,566
$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,-194.6,221,2367,913,914,0.0,0.0,0,109,0.00,0.00,-88.18,0.000,16386,0.000,0.000,221,2366,3212,3258,3167,0,0,0,0,0,0,28.83,28.83,28.83
$GC,111,-0.91,-194.6,221,2366,3258,3168,4.8,-16.2,15,133,10.12,2.38,-5.25,0.000,18692,0.414,0.099,2392,3780,3550,3627,3473,0,0,0,0,0,0,14.59,14.82,15.05
$GC,209,-0.91,-194.6,2392,3780,3628,3475,48.5,-35.7,26,216,0.00,2.08,0.00,0.000,1030,0.000,0.036,2392,2414,3550,3627,3474,0,0,0,0,0,0,28.83,14.92,28.83
$GC,515,-0.91,-194.6,2392,2408,3628,3475,134.3,-24.3,42,521,0.00,2.22,0.00,0.000,260,0.000,0.077,2387,3779,3551,3628,3474,0,0,0,0,0,0,28.83,14.93,28.83
$GC,567,-0.91,-194.6,2381,3779,3628,3475,143.5,-21.7,44,572,0.00,2.10,0.00,0.000,1030,0.000,0.037,2381,2388,3551,3628,3475,0,0,0,0,0,0,28.83,15.00,28.83
$GC,879,-0.91,-194.6,2382,2382,3630,3474,210.4,-22.7,60,884,0.00,2.12,0.00,0.000,516,0.000,0.045,2382,998,3552,3630,3474,0,0,0,0,0,0,28.83,15.01,28.83
$GC,985,-0.91,-194.6,2381,998,3630,3474,229.1,-17.4,65,992,0.15,2.22,0.00,0.000,3078,0.247,0.060,2407,2395,3552,3631,3474,0,0,0,0,0,0,14.88,15.00,28.83
$GC,1303,-0.91,-194.6,2407,2395,3629,3473,270.7,-16.0,81,1309,0.00,2.17,0.00,0.000,516,0.000,0.050,2407,1000,3551,3630,3473,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1340,-0.91,-194.6,2407,999,3630,3473,274.4,-16.5,82,1347,0.00,2.22,0.00,0.000,1030,0.000,0.056,2399,2404,3551,3630,3473,0,0,0,0,0,0,28.83,15.01,28.83
$GC,1646,-0.91,-194.6,2400,2404,3629,3469,325.6,-15.9,98,1651,0.00,2.22,0.00,0.000,260,0.000,0.082,2389,3787,3549,3630,3469,0,0,0,0,0,0,28.83,14.99,28.83
$GC,1878,-0.91,-194.6,2389,3788,3630,3466,357.8,-8.7,109,1884,0.00,2.10,0.00,0.000,1030,0.000,0.038,2389,2381,3547,3630,3465,0,0,0,0,0,0,28.83,15.07,28.83
$STATE,2029,end dive,NO_VERTICAL_VELOCITY
$STATE,2029,begin apogee
$GC,2033,-0.25,0.0,2389,2380,3630,3462,357.8,0.0,117,2205,0.68,0.00,163.20,1.055,10246,0.142,0.000,2616,2375,2749,2779,2719,0,0,0,0,0,0,14.95,28.83,14.07
$STATE,2206,end apogee,CONTROL_FINISHED_OK
$STATE,2206,begin climb
$GC,2208,0.91,194.6,2616,2375,2779,2717,357.7,0.0,125,2382,1.10,2.25,164.90,1.027,10756,0.119,0.048,2996,990,1955,1991,1919,0,0,0,0,0,0,14.49,14.45,14.02
$GC,2414,0.91,194.6,2997,989,1989,1909,331.6,17.1,136,2420,0.00,2.28,0.00,0.000,1030,0.000,0.058,2997,2374,1948,1988,1908,0,0,0,0,0,0,28.83,14.57,28.83
$GC,2736,0.91,194.6,2997,2375,1988,1898,269.3,20.1,152,2742,0.00,2.30,0.00,0.000,260,0.000,0.083,2996,3783,1943,1989,1898,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2793,0.91,194.6,2996,3782,1988,1898,259.8,21.3,154,2800,0.00,2.12,0.00,0.000,1030,0.000,0.038,3007,2375,1943,1989,1898,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3099,0.91,194.6,3007,2372,1988,1894,205.7,15.2,170,3104,0.00,2.17,0.00,0.000,516,0.000,0.050,3017,985,1941,1989,1894,0,0,0,0,0,0,28.83,14.96,28.83
$GC,3271,0.91,194.6,3017,984,1988,1892,180.4,15.5,178,3276,0.00,2.22,0.00,0.000,1030,0.000,0.055,3017,2382,1944,1996,1892,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3583,0.91,194.6,3017,2382,1988,1890,128.6,15.1,194,3588,0.00,2.20,0.00,0.000,516,0.000,0.050,3027,987,1938,1988,1889,0,0,0,0,0,0,28.83,14.99,28.83
$GC,3640,0.91,194.6,3027,987,1988,1889,122.9,14.1,196,3647,0.15,2.22,0.00,0.000,5126,0.258,0.057,2992,2382,1938,1988,1889,0,0,0,0,0,0,14.84,14.97,28.83
$GC,3946,0.95,231.0,2992,2382,1988,1886,88.4,8.7,212,3967,0.00,2.35,15.38,0.398,8452,0.000,0.083,2992,3782,1811,1854,1769,0,0,0,0,0,0,28.83,14.91,14.70
$GC,4050,0.95,231.0,2992,3783,1856,1779,78.0,10.5,217,4056,0.00,2.12,0.00,0.000,1030,0.000,0.039,3000,2377,1817,1856,1779,0,0,0,0,0,0,28.83,14.97,28.83
$GC,4373,0.96,243.8,3000,2372,1856,1779,48.4,9.6,233,4385,0.00,2.25,7.28,0.269,8708,0.000,0.050,3010,978,1760,1800,1721,0,0,0,0,0,0,28.83,14.97,14.78
$GC,4458,0.99,272.7,3010,978,1804,1725,39.9,9.0,241,4479,0.00,2.22,14.82,0.253,9222,0.000,0.053,3010,2381,1641,1682,1600,0,0,0,0,0,0,28.83,14.96,14.77
$GC,4777,1.07,357.8,2048,2380,1658,1606,12.8,7.0,289,4826,0.10,2.22,39.65,0.176,10756,0.151,0.049,3071,977,1292,1328,1256,0,0,0,0,0,0,14.96,14.91,14.81
$STATE,4872,end climb,SURFACE_DEPTH_REACHED
$STATE,4872,begin surface coast
$FINISH,0.1,1.021426
$STATE,4893,end surface coast,CONTROL_FINISHED_OK
$STATE,4893,begin surface
$SM_CCo,4911,40.95,0.144,0,0,916,450.13
$SM_GC,-0.21,7.62,2.33,40.95,0.047,0.052,0.144,230,2396,916,-7.62,-1.16,450.13,0,0,0,0,0,0,14.95,14.92,14.83
$IRIDIUM_FIX,2148.09,12024.75,210513,141454
$TT8_MAMPS,0.019474,0.019474
$HUMID,47.67
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,23.30
$XPDR_PINGS,1
$SC_FREEKB,3918912
$24V_AH,14.0,33.785
$10V_AH,14.0,0.000
$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,19.925,53.125,405.225,40.950,0.000,84.944,132.652,143.560,0.250,0.000,14.617,973.322,2845.945,481.053,1232.385,68.384,0.000,969.069,0.000,774.309,0.000,0.542,0.000
$DEVICE_MAMPS,413.865,99.450,1054.935,143.820,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4923.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.754,0.000,0.000,0.000
$MEM,322844
$DATA_FILE_SIZE,10162,310
$CAP_FILE_SIZE,76310,0
$CFSIZE,260034560,252178432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.218,111.9,1
$GPS,210513,162605,2147.216,12052.186,39,0.9,45,-2.7