version: 66.11
glider: 181
mission: 11
dive: 53
start: 5 21 113 19 20 56
data:
$ID,181
$MISSION,11
$DIVE,53
$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,-95739.172
$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,63
$R_STBD_OVSHOOT,33
$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
$GPS1,210513,191355,2146.609,12053.515,13,1.6,13,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.12
$_SM_ANGLEo,-71.3
$GPS2,210513,192027,2146.749,12053.558,11,4.0,30,-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,117.4,18476,-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,16,begin dive
$GC,18,-0.91,-194.6,234,2364,915,921,0.0,0.0,0,107,0.00,0.00,-86.65,0.000,16386,0.000,0.000,233,2364,3138,3181,3095,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-0.91,-194.6,233,2365,3181,3095,4.2,-16.1,15,136,10.00,2.33,-6.62,0.000,18692,0.410,0.090,2389,3773,3550,3632,3469,0,0,0,0,0,0,14.53,14.77,15.01
$GC,242,-0.91,-194.6,2390,3773,3632,3472,62.3,-37.7,30,248,0.00,2.10,0.00,0.000,1030,0.000,0.037,2389,2392,3552,3633,3472,0,0,0,0,0,0,28.83,14.87,28.83
$GC,565,-0.91,-194.6,2390,2386,3634,3472,137.5,-17.9,46,570,0.00,2.30,0.00,0.000,260,0.000,0.080,2379,3783,3553,3634,3472,0,0,0,0,0,0,28.83,14.88,28.83
$GC,701,-0.91,-194.6,2383,3783,3641,3472,159.6,-18.1,52,708,0.00,2.10,0.00,0.000,1030,0.000,0.037,2379,2392,3554,3635,3473,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1007,-0.91,-194.6,2380,2386,3635,3473,217.6,-17.0,68,1012,0.00,2.28,0.00,0.000,260,0.000,0.080,2369,3780,3554,3635,3473,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1113,-0.91,-194.6,1512,3779,3631,3470,238.0,-20.3,73,1119,0.15,2.08,0.00,0.000,3078,0.266,0.037,2403,2394,3554,3635,3473,0,0,0,0,0,0,14.78,14.96,28.83
$GC,1431,-0.91,-194.6,2403,2389,3635,3472,286.7,-15.1,89,1437,0.00,2.12,0.00,0.000,516,0.000,0.048,2403,1020,3553,3635,3472,0,0,0,0,0,0,28.83,14.98,28.83
$GC,1458,-0.91,-194.6,1536,1018,3630,3469,290.5,-15.6,90,1463,0.00,2.20,0.00,0.000,1030,0.000,0.059,2396,2397,3553,3635,3472,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1775,-0.91,-194.6,2395,2397,3635,3469,340.0,-15.8,106,1780,0.00,2.22,0.00,0.000,260,0.000,0.083,2385,3777,3551,3635,3467,0,0,0,0,0,0,28.83,14.95,28.83
$GC,1807,-0.91,-194.6,2385,3777,3632,3468,343.4,-15.9,107,1812,0.00,2.08,0.00,0.000,1030,0.000,0.039,2385,2405,3551,3635,3468,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2119,-0.91,-194.6,2385,2400,3634,3463,403.9,-17.6,123,2124,0.00,2.17,0.00,0.000,516,0.000,0.050,2385,1004,3549,3635,3463,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2170,-0.91,-194.6,2385,1004,3635,3463,410.6,-16.5,125,2177,0.12,2.25,0.00,0.000,3078,0.270,0.063,2404,2402,3549,3635,3463,0,0,0,0,0,0,14.85,14.98,28.83
$GC,2484,-0.91,-194.6,2403,2403,3634,3460,455.1,-13.4,141,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2402,3547,3635,3460,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2783,end dive,NO_VERTICAL_VELOCITY
$STATE,2783,begin apogee
$GC,2787,-0.25,0.0,2404,2404,3635,3455,468.8,0.0,156,2958,0.60,0.00,165.60,1.217,10246,0.088,0.000,2630,2404,2751,2782,2721,0,0,0,0,0,0,15.00,28.83,13.92
$STATE,2960,end apogee,CONTROL_FINISHED_OK
$STATE,2960,begin climb
$GC,2961,0.91,194.6,2630,2404,2780,2718,468.7,0.0,164,3139,1.08,2.38,167.93,1.177,10500,0.122,0.086,2986,3781,1953,1986,1920,0,0,0,0,0,0,14.37,14.29,13.86
$GC,3169,0.91,194.6,2064,3780,1948,1902,438.0,21.0,175,3175,0.00,2.22,0.00,0.000,1030,0.000,0.041,2997,2377,1947,1984,1911,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3486,0.91,194.6,2997,2372,1984,1897,369.9,22.7,191,3492,0.00,2.22,0.00,0.000,516,0.000,0.053,3006,979,1940,1984,1897,0,0,0,0,0,0,28.83,14.81,28.83
$GC,3518,0.91,194.6,3007,979,1984,1896,365.3,21.8,192,3524,0.00,2.28,0.00,0.000,1030,0.000,0.059,3007,2380,1940,1984,1896,0,0,0,0,0,0,28.83,14.80,28.83
$GC,3830,0.91,194.6,3006,2380,1980,1894,302.6,20.8,208,3836,0.00,2.22,0.00,0.000,516,0.000,0.051,3017,985,1939,1984,1894,0,0,0,0,0,0,28.83,14.90,28.83
$GC,3947,0.91,194.6,3017,985,1983,1893,283.5,18.4,213,3954,0.00,2.25,0.00,0.000,1030,0.000,0.060,3017,2375,1938,1984,1893,0,0,0,0,0,0,28.83,14.87,28.83
$GC,4252,0.91,194.6,3017,2376,1983,1891,222.3,20.3,229,4258,0.00,2.22,0.00,0.000,516,0.000,0.050,3027,974,1936,1983,1890,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4283,0.91,194.6,3027,974,1983,1896,218.5,19.5,230,4290,0.15,2.28,0.00,0.000,5126,0.275,0.059,2994,2385,1937,1984,1891,0,0,0,0,0,0,14.77,14.92,28.83
$GC,4598,0.91,194.6,2993,2385,1984,1889,164.1,18.7,246,4603,0.00,2.30,0.00,0.000,260,0.000,0.090,2993,3777,1936,1984,1888,0,0,0,0,0,0,28.83,14.90,28.83
$GC,4680,0.91,194.6,2994,3777,1983,1889,148.8,18.4,250,4686,0.00,2.15,0.00,0.000,1030,0.000,0.041,3001,2367,1936,1984,1888,0,0,0,0,0,0,28.83,14.96,28.83
$GC,5003,0.91,194.6,3001,2363,1983,1886,100.6,10.3,266,5009,0.00,2.38,0.00,0.000,260,0.000,0.093,3002,3784,1935,1984,1886,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5226,0.91,194.6,3001,3784,1984,1886,71.2,13.4,277,5232,0.00,2.17,0.00,0.000,1030,0.000,0.041,3011,2369,1934,1984,1885,0,0,0,0,0,0,28.83,14.96,28.83
$GC,5540,0.97,258.2,3012,2364,1984,1883,42.4,7.8,297,5572,0.00,2.28,27.35,0.267,8708,0.000,0.054,3022,975,1699,1738,1661,0,0,0,0,0,0,28.83,14.89,14.73
$GC,5598,1.07,358.2,2088,974,1710,1660,38.8,6.5,302,5656,0.00,2.25,47.08,0.256,9222,0.000,0.056,3022,2378,1291,1326,1257,0,0,0,0,0,0,28.83,14.88,14.67
$GC,5954,1.12,403.3,2064,2376,1323,1256,4.0,8.4,359,5969,0.12,0.00,11.90,0.159,10498,0.134,0.000,3091,2378,1192,1231,1153,0,0,0,0,0,0,14.88,28.83,28.83
$STATE,5970,end climb,SURFACE_DEPTH_REACHED
$STATE,5970,begin surface coast
$FINISH,-1.1,1.008327
$STATE,6001,end surface coast,CONTROL_FINISHED_OK
$STATE,6001,begin surface
$SM_CCo,6017,30.17,0.149,0,0,916,450.13
$SM_GC,-0.19,7.78,0.00,30.17,0.054,0.000,0.149,234,2383,916,-7.62,-0.45,450.13,0,0,0,0,0,0,14.90,28.83,14.77
$IRIDIUM_FIX,2150.42,12046.67,210513,171707
$TT8_MAMPS,0.019474,0.019474
$HUMID,50.55
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,22.60
$XPDR_PINGS,39
$SC_FREEKB,3917760
$24V_AH,13.9,34.259
$10V_AH,13.8,0.000
$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,20.000,57.825,419.850,30.175,0.000,29.601,47.524,152.002,9.750,0.000,33.613,1128.250,3541.788,484.203,1227.493,79.224,0.000,1031.887,0.000,884.886,0.000,0.541,0.000
$DEVICE_MAMPS,410.040,93.330,1217.115,149.175,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6037.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.687,0.000,0.000,0.000
$MEM,322832
$DATA_FILE_SIZE,13460,367
$CAP_FILE_SIZE,85276,0
$CFSIZE,260034560,251985920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.088,225.0,1
$GPS,210513,210305,2146.156,12054.094,40,0.9,40,-2.7