version: 66.11
glider: 181
mission: 11
dive: 51
start: 5 21 113 16 32 41
data:
$ID,181
$MISSION,11
$DIVE,51
$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,-95736.672
$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,66
$R_STBD_OVSHOOT,30
$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
$GPS1,210513,162605,2147.216,12052.186,39,0.9,45,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.00
$_SM_ANGLEo,-71.3
$GPS2,210513,163213,2147.363,12052.224,10,1.3,10,-2.7
$SPEED_LIMITS,0.173,0.321
$TGT_NAME,DOGLEG3
$TGT_LATLONG,2142.000,12103.000
$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,125.1,21037,-14.3,-10.000,-17.31,2952
$D_GRID,513
$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,17,begin dive
$GC,18,-0.91,-194.6,223,2399,913,919,0.0,0.0,0,107,0.00,0.00,-85.47,0.000,16386,0.000,0.000,222,2400,3101,3145,3058,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.91,-194.6,223,2399,3145,3059,4.0,-14.6,15,135,9.98,2.25,-7.28,0.000,18692,0.407,0.089,2389,3780,3551,3633,3469,0,0,0,0,0,0,14.57,14.81,15.04
$GC,191,-0.91,-194.6,2389,3780,3633,3472,39.8,-36.2,25,198,0.00,2.10,0.00,0.000,1030,0.000,0.037,2390,2411,3552,3633,3472,0,0,0,0,0,0,28.83,14.86,28.83
$GC,497,-0.91,-194.6,2389,2405,3633,3472,136.0,-26.5,42,502,0.00,2.25,0.00,0.000,260,0.000,0.082,2378,3783,3552,3633,3472,0,0,0,0,0,0,28.83,14.90,28.83
$GC,628,-0.91,-194.6,2378,3782,3633,3473,162.7,-21.0,48,634,0.00,2.10,0.00,0.000,1030,0.000,0.036,2378,2378,3553,3633,3473,0,0,0,0,0,0,28.83,14.98,28.83
$GC,941,-0.91,-194.6,2378,2375,3634,3473,227.4,-22.0,64,943,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2374,3553,3634,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1242,-0.91,-194.6,2378,2374,3634,3472,281.7,-18.6,79,1248,0.00,2.28,0.00,0.000,260,0.000,0.081,2368,3778,3553,3634,3473,0,0,0,0,0,0,28.83,14.96,28.83
$GC,1298,-0.91,-194.6,2367,3778,3634,3473,289.4,-18.5,81,1306,0.15,2.05,0.00,0.000,3078,0.259,0.037,2402,2408,3553,3634,3473,0,0,0,0,0,0,14.85,15.02,28.83
$GC,1604,-0.91,-194.6,2402,2402,3634,3470,335.4,-10.3,97,1610,0.00,2.17,0.00,0.000,516,0.000,0.058,2403,1013,3552,3634,3470,0,0,0,0,0,0,28.83,15.02,28.83
$GC,1681,-0.91,-194.6,2404,1013,3634,3470,335.5,-0.1,100,1688,0.00,2.20,0.00,0.000,1030,0.000,0.051,2403,2412,3551,3634,3469,0,0,0,0,0,0,28.83,15.01,28.83
$STATE,1785,end dive,NO_VERTICAL_VELOCITY
$STATE,1785,begin apogee
$GC,1789,-0.25,0.0,2403,2413,3634,3468,335.6,0.0,106,1957,0.62,0.00,162.25,1.027,10246,0.126,0.000,2621,2413,2754,2783,2725,0,0,0,0,0,0,14.96,28.83,14.07
$STATE,1958,end apogee,CONTROL_FINISHED_OK
$STATE,1958,begin climb
$GC,1960,0.91,194.6,2621,2413,2781,2718,335.3,0.0,114,2134,1.10,2.33,164.20,1.001,10756,0.119,0.046,3000,987,1954,1990,1919,0,0,0,0,0,0,14.47,14.42,14.00
$GC,2225,0.91,194.6,3001,987,1988,1904,298.4,18.3,127,2233,0.00,2.25,0.00,0.000,1030,0.000,0.055,3000,2370,1945,1988,1903,0,0,0,0,0,0,28.83,14.64,28.83
$GC,2531,0.91,194.6,3000,2371,1988,1897,228.4,24.4,143,2537,0.00,2.30,0.00,0.000,260,0.000,0.082,3000,3774,1940,1983,1897,0,0,0,0,0,0,28.83,14.83,28.83
$GC,2588,0.91,194.6,3000,3774,1988,1897,220.7,19.4,145,2595,0.00,2.12,0.00,0.000,1030,0.000,0.038,3011,2373,1942,1988,1897,0,0,0,0,0,0,28.83,14.90,28.83
$GC,2894,0.91,194.6,3011,2367,1988,1894,159.4,17.2,161,2899,0.00,2.17,0.00,0.000,516,0.000,0.049,3021,982,1941,1988,1894,0,0,0,0,0,0,28.83,14.95,28.83
$GC,2936,0.91,194.6,3021,981,1988,1893,151.0,20.4,163,2941,0.00,2.25,0.00,0.000,1030,0.000,0.056,3021,2383,1941,1988,1894,0,0,0,0,0,0,28.83,14.93,28.83
$GC,3258,0.91,194.6,3021,2384,1988,1890,105.4,14.5,179,3259,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2384,1939,1988,1890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3560,0.96,250.1,3021,2383,1988,1888,78.8,8.1,194,3593,0.00,2.25,24.80,0.373,8708,0.000,0.048,3031,987,1735,1772,1698,0,0,0,0,0,0,28.83,14.91,14.69
$GC,3605,1.06,342.4,3031,987,1773,1700,76.0,6.8,196,3656,0.00,2.22,44.50,0.367,9222,0.000,0.054,3031,2383,1357,1392,1323,0,0,0,0,0,0,28.83,14.91,14.62
$GC,3964,1.15,436.6,3031,2384,1401,1325,24.6,6.7,223,4018,0.12,2.33,43.80,0.214,10500,0.136,0.083,3101,3766,971,1000,942,0,0,0,0,0,0,14.91,14.83,14.73
$GC,4120,1.15,436.6,3101,3766,1012,945,3.8,17.4,252,4128,0.17,2.12,0.00,0.000,5126,0.250,0.038,3067,2369,978,1012,944,0,0,0,0,0,0,14.76,14.93,28.83
$STATE,4133,end climb,SURFACE_DEPTH_REACHED
$STATE,4134,begin surface coast
$FINISH,-0.6,1.021415
$STATE,4150,end surface coast,CONTROL_FINISHED_OK
$STATE,4150,begin surface
$SM_CCo,4165,6.70,0.155,0,0,915,450.13
$SM_GC,0.98,7.65,0.00,6.70,0.049,0.000,0.155,223,2364,915,-7.63,-1.02,450.13,0,0,0,0,0,0,14.91,28.83,14.81
$IRIDIUM_FIX,2143.45,12055.83,210513,141406
$TT8_MAMPS,0.019474,0.019474
$HUMID,48.77
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,22.70
$XPDR_PINGS,2
$SC_FREEKB,3918528
$24V_AH,14.0,33.931
$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,19.800,39.750,439.550,6.700,0.000,27.325,38.794,158.528,0.500,0.000,13.066,736.747,2380.535,466.368,913.524,62.192,0.000,880.931,0.000,601.057,0.000,0.542,0.000
$DEVICE_MAMPS,406.980,88.740,1027.395,155.295,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4182.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.748,0.000,0.000,0.000
$MEM,322820
$DATA_FILE_SIZE,10155,257
$CAP_FILE_SIZE,63843,0
$CFSIZE,260034560,252125184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.122, 87.1,1
$GPS,210513,174301,2147.059,12052.986,6,1.5,6,-2.7