version: 66.11
glider: 181
mission: 11
dive: 52
start: 5 21 113 17 49 11
data:
$ID,181
$MISSION,11
$DIVE,52
$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,-95737.922
$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,71
$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
$GPS1,210513,174301,2147.059,12052.986,6,1.5,6,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.12
$_SM_ANGLEo,-72.6
$GPS2,210513,174843,2147.148,12053.062,10,1.4,10,-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,133.4,19578,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.91,-194.6,221,2363,926,915,0.0,0.0,0,107,0.00,0.00,-85.55,0.000,16386,0.000,0.000,220,2363,3107,3153,3062,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.91,-194.6,220,2363,3153,3063,4.1,-15.5,15,135,10.00,2.35,-7.15,0.000,18692,0.409,0.096,2389,3771,3551,3633,3470,0,0,0,0,0,0,14.56,14.78,15.02
$GC,276,-0.91,-194.6,2389,3771,3633,3473,69.2,-34.1,31,283,0.00,2.08,0.00,0.000,1030,0.000,0.037,2389,2404,3551,3630,3473,0,0,0,0,0,0,28.83,14.90,28.83
$GC,582,-0.91,-194.6,2389,2398,3634,3473,146.6,-16.8,47,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2398,3553,3634,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,884,-0.91,-194.6,2389,2398,3637,3473,198.5,-17.4,62,889,0.00,2.28,0.00,0.000,260,0.000,0.083,2379,3783,3555,3637,3473,0,0,0,0,0,0,28.83,14.92,28.83
$GC,980,-0.91,-194.6,2378,3783,3637,3474,213.8,-18.5,66,987,0.00,2.08,0.00,0.000,1030,0.000,0.037,2379,2399,3555,3637,3473,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1286,-0.91,-194.6,2378,2393,3637,3473,275.2,-17.2,82,1292,0.00,2.25,0.00,0.000,260,0.000,0.080,2368,3774,3555,3637,3473,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1333,-0.91,-194.6,2368,3774,3637,3473,282.3,-16.1,84,1339,0.15,2.08,0.00,0.000,3078,0.275,0.039,2402,2398,3554,3637,3472,0,0,0,0,0,0,14.82,15.02,28.83
$GC,1651,-0.91,-194.6,2402,2392,3637,3470,327.0,-14.0,100,1656,0.00,2.15,0.00,0.000,516,0.000,0.050,2402,1009,3556,3637,3476,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1713,-0.91,-194.6,2402,1008,3637,3469,337.8,-17.4,103,1718,0.00,2.25,0.00,0.000,1030,0.000,0.073,2395,2392,3553,3637,3469,0,0,0,0,0,0,28.83,14.98,28.83
$GC,2035,-0.91,-194.6,2394,2392,3637,3465,394.1,-17.5,119,2041,0.00,2.25,0.00,0.000,260,0.000,0.084,2384,3780,3551,3637,3465,0,0,0,0,0,0,28.83,14.96,28.83
$STATE,2257,end dive,NO_VERTICAL_VELOCITY
$STATE,2257,begin apogee
$GC,2263,-0.25,0.0,2383,2345,3637,3463,397.8,0.0,130,2439,0.68,0.00,165.88,1.107,10246,0.122,0.000,2617,2344,2750,2783,2718,0,0,0,0,0,0,14.93,28.83,14.00
$STATE,2441,end apogee,CONTROL_FINISHED_OK
$STATE,2441,begin climb
$GC,2442,0.91,194.6,2617,2344,2782,2717,397.7,0.0,139,2621,1.10,2.30,167.70,1.081,10756,0.119,0.050,2996,983,1953,1988,1919,0,0,0,0,0,0,14.46,14.38,13.93
$GC,2664,0.91,194.6,2997,982,1988,1907,366.3,19.0,150,2669,0.00,2.30,0.00,0.000,1030,0.000,0.054,2996,2382,1947,1988,1907,0,0,0,0,0,0,28.83,14.54,28.83
$GC,2987,0.91,194.6,2996,2383,1988,1898,298.8,23.9,166,2993,0.00,2.35,0.00,0.000,260,0.000,0.097,2996,3773,1943,1988,1898,0,0,0,0,0,0,28.83,14.79,28.83
$GC,2998,0.91,194.6,3000,3775,1988,1898,298.8,23.9,166,3004,0.00,2.17,0.00,0.000,1030,0.000,0.041,3007,2357,1942,1987,1898,0,0,0,0,0,0,28.83,14.86,28.83
$GC,3311,0.91,194.6,3007,2353,1988,1895,230.1,21.1,182,3316,0.00,2.15,0.00,0.000,516,0.000,0.050,3017,990,1941,1987,1895,0,0,0,0,0,0,28.83,14.92,28.83
$GC,3397,0.91,194.6,3017,990,1988,1894,215.9,17.2,186,3403,0.00,2.22,0.00,0.000,1030,0.000,0.057,3017,2374,1941,1988,1894,0,0,0,0,0,0,28.83,14.91,28.83
$GC,3715,0.91,194.6,3017,2374,1988,1892,157.2,19.8,202,3720,0.00,2.30,0.00,0.000,260,0.000,0.087,3017,3771,1940,1988,1892,0,0,0,0,0,0,28.83,14.91,28.83
$GC,3866,0.91,194.6,3017,3772,1988,1892,127.0,21.2,209,3873,0.15,2.12,0.00,0.000,5126,0.288,0.041,2994,2379,1940,1988,1892,0,0,0,0,0,0,14.79,14.97,28.83
$GC,4180,0.95,234.3,2994,2374,1988,1889,88.7,8.6,225,4203,0.00,2.40,17.08,0.400,8452,0.000,0.085,2994,3783,1799,1840,1758,0,0,0,0,0,0,28.83,14.88,14.66
$GC,4374,0.95,234.3,2994,3782,1844,1770,69.8,10.6,234,4380,0.00,2.15,1.25,0.211,9222,0.000,0.041,3002,2370,1798,1839,1757,0,0,0,0,0,0,28.83,14.97,14.83
$GC,4687,1.09,377.5,3002,2365,1845,1766,42.4,5.0,256,4764,0.12,2.40,67.68,0.259,10500,0.134,0.088,3069,3767,1215,1250,1181,0,0,0,0,0,0,14.97,14.82,14.71
$GC,4821,1.09,377.5,3069,3766,1254,1182,23.0,17.1,270,4828,0.00,2.15,0.00,0.000,1030,0.000,0.040,3080,2371,1218,1254,1182,0,0,0,0,0,0,28.83,14.90,28.83
$STATE,4958,end climb,SURFACE_DEPTH_REACHED
$STATE,4958,begin surface coast
$FINISH,-0.3,1.021398
$STATE,4980,end surface coast,CONTROL_FINISHED_OK
$STATE,4980,begin surface
$SM_CCo,4995,33.03,0.148,0,0,917,450.13
$SM_GC,-0.05,7.70,0.00,33.03,0.050,0.000,0.148,238,2367,917,-7.61,-0.93,450.13,0,0,0,0,0,0,14.90,28.83,14.79
$IRIDIUM_FIX,2145.77,12035.12,210513,161617
$TT8_MAMPS,0.019474,0.019474
$HUMID,49.84
$INTERNAL_PRESSURE,9.69764
$TCM_TEMP,22.50
$XPDR_PINGS,2
$SC_FREEKB,3918144
$24V_AH,13.9,34.087
$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,19.900,48.975,419.575,33.025,0.000,28.551,37.205,139.897,0.500,0.000,12.862,974.236,2779.430,479.655,1087.473,71.669,0.000,976.740,0.000,794.741,0.000,0.542,0.000
$DEVICE_MAMPS,408.510,97.155,1106.955,148.410,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5000.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.178,0.000,0.000,0.000
$MEM,322784
$DATA_FILE_SIZE,10134,301
$CAP_FILE_SIZE,73951,0
$CFSIZE,260034560,252059648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024,238.0,1
$GPS,210513,191355,2146.609,12053.515,13,1.6,13,-2.7