version: 66.11
glider: 181
mission: 11
dive: 54
start: 5 21 113 21 10 17
data:
$ID,181
$MISSION,11
$DIVE,54
$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,-95740.422
$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,61
$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
$GPS1,210513,210305,2146.156,12054.094,40,0.9,40,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.08
$_SM_ANGLEo,-71.2
$GPS2,210513,210949,2146.268,12054.149,12,1.5,12,-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,105.0,17159,-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,-194.6,229,2385,919,924,0.0,0.0,0,104,0.00,0.00,-82.32,0.000,16386,0.000,0.000,228,2385,2969,3007,2931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,106,-0.91,-194.6,228,2385,3007,2932,3.1,-9.9,14,133,10.10,2.33,-9.95,0.000,18692,0.412,0.090,2391,3777,3550,3637,3463,0,0,0,0,0,0,14.50,14.76,14.97
$GC,259,-0.91,-194.6,2392,3777,3637,3466,60.6,-36.2,30,266,0.00,2.12,0.00,0.000,1030,0.000,0.040,2391,2398,3551,3636,3466,0,0,0,0,0,0,28.83,14.85,28.83
$GC,565,-0.91,-194.6,2391,2393,3637,3467,133.8,-17.4,46,570,0.00,2.28,0.00,0.000,260,0.000,0.081,2381,3779,3552,3637,3468,0,0,0,0,0,0,28.83,14.85,28.83
$GC,641,-0.91,-194.6,2381,3780,3637,3468,145.9,-19.3,49,648,0.00,2.12,0.00,0.000,1030,0.000,0.038,2381,2380,3552,3637,3468,0,0,0,0,0,0,28.83,14.92,28.83
$GC,947,-0.91,-194.6,2381,2374,3637,3469,209.5,-17.5,65,952,0.00,2.12,0.00,0.000,516,0.000,0.047,2381,1007,3553,3637,3469,0,0,0,0,0,0,28.83,14.94,28.83
$GC,978,-0.91,-194.6,2381,1007,3637,3469,213.6,-17.8,66,985,0.15,2.22,0.00,0.000,3078,0.249,0.060,2406,2396,3553,3638,3469,0,0,0,0,0,0,14.80,14.92,28.83
$GC,1293,-0.91,-194.6,2407,2397,3637,3469,265.8,-16.7,82,1298,0.00,2.25,0.00,0.000,260,0.000,0.081,2398,3788,3553,3637,3469,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1384,-0.91,-194.6,2399,3789,3637,3469,279.6,-16.6,86,1389,0.00,2.10,0.00,0.000,1030,0.000,0.038,2399,2397,3552,3637,3468,0,0,0,0,0,0,28.83,15.00,28.83
$GC,1696,-0.91,-194.6,2398,2392,3637,3466,330.4,-14.4,102,1702,0.00,2.28,0.00,0.000,260,0.000,0.084,2388,3780,3551,3637,3465,0,0,0,0,0,0,28.83,14.94,28.83
$GC,1748,-0.91,-194.6,2389,3780,3637,3464,337.3,-15.4,104,1754,0.00,2.10,0.00,0.000,1030,0.000,0.040,2389,2395,3550,3637,3464,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2060,-0.91,-194.6,2387,2390,3638,3462,389.3,-16.6,120,2066,0.00,2.28,0.00,0.000,260,0.000,0.085,2378,3777,3549,3637,3462,0,0,0,0,0,0,28.83,14.94,28.83
$GC,2083,-0.91,-194.6,2378,3778,3637,3461,393.1,-16.9,121,2088,0.00,2.10,0.00,0.000,1030,0.000,0.040,2378,2392,3549,3637,3462,0,0,0,0,0,0,28.83,15.02,28.83
$GC,2405,-0.91,-194.6,2378,2386,3637,3457,448.8,-16.5,137,2410,0.00,2.15,0.00,0.000,516,0.000,0.053,2378,1013,3547,3637,3457,0,0,0,0,0,0,28.83,14.96,28.83
$GC,2487,-0.91,-194.6,2378,1013,3637,3457,461.8,-15.9,141,2493,0.15,2.25,0.00,0.000,3078,0.275,0.063,2403,2401,3547,3637,3457,0,0,0,0,0,0,14.82,14.97,28.83
$GC,2811,-0.91,-194.6,2403,2402,3637,3452,485.5,0.0,157,2816,0.00,2.20,0.00,0.000,516,0.000,0.050,2403,999,3545,3637,3453,0,0,0,0,0,0,28.83,15.00,28.83
$STATE,2872,end dive,NO_VERTICAL_VELOCITY
$STATE,2872,begin apogee
$GC,2878,-0.25,0.0,2403,2379,3638,3452,485.6,0.0,160,3055,0.62,0.00,167.60,1.225,10246,0.130,0.000,2618,2379,2749,2781,2718,0,0,0,0,0,0,14.91,28.83,13.89
$STATE,3057,end apogee,CONTROL_FINISHED_OK
$STATE,3057,begin climb
$GC,3058,0.91,194.6,2618,2379,2779,2717,485.3,0.0,169,3236,1.12,2.47,169.27,1.190,10500,0.121,0.088,2991,3771,1954,1986,1922,0,0,0,0,0,0,14.36,14.27,13.83
$GC,3273,0.91,194.6,2991,3772,1983,1913,455.0,20.7,179,3280,0.00,2.20,0.00,0.000,1030,0.000,0.041,3002,2378,1947,1983,1912,0,0,0,0,0,0,28.83,14.50,28.83
$GC,3578,0.91,194.6,3002,2374,1983,1899,386.2,22.1,195,3584,0.00,2.22,0.00,0.000,516,0.000,0.053,3014,978,1941,1983,1899,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3641,0.91,194.6,3011,977,1978,1898,372.4,22.1,198,3648,0.00,2.30,0.00,0.000,1030,0.000,0.060,3012,2382,1940,1983,1898,0,0,0,0,0,0,28.83,14.78,28.83
$GC,3965,0.91,194.6,3012,2383,1983,1895,311.8,16.6,214,3970,0.00,2.33,0.00,0.000,260,0.000,0.089,3012,3783,1938,1983,1894,0,0,0,0,0,0,28.83,14.84,28.83
$GC,4067,0.91,194.6,3012,3783,1983,1896,292.4,19.2,219,4072,0.00,2.17,0.00,0.000,1030,0.000,0.041,3022,2363,1939,1983,1895,0,0,0,0,0,0,28.83,14.92,28.83
$GC,4390,0.91,194.6,3022,2362,1983,1892,233.3,17.9,235,4395,0.12,2.35,0.00,0.000,4356,0.319,0.086,2993,3775,1937,1983,1892,0,0,0,0,0,0,14.75,14.88,28.83
$GC,4452,0.91,194.6,2993,3775,1983,1892,221.6,18.5,238,4458,0.00,2.15,0.00,0.000,1030,0.000,0.041,3000,2372,1937,1983,1892,0,0,0,0,0,0,28.83,14.95,28.83
$GC,4775,0.91,194.6,3004,2369,1983,1889,175.1,16.5,254,4780,0.00,2.20,0.00,0.000,516,0.000,0.054,3011,981,1936,1983,1889,0,0,0,0,0,0,28.83,14.94,28.83
$GC,4888,0.91,194.6,3011,984,1983,1889,159.7,14.5,259,4894,0.00,2.25,0.00,0.000,1030,0.000,0.060,3011,2376,1935,1983,1888,0,0,0,0,0,0,28.83,14.90,28.83
$GC,5200,0.91,194.6,3011,2377,1982,1887,107.7,15.5,275,5207,0.00,2.33,0.00,0.000,260,0.000,0.090,3010,3780,1935,1983,1887,0,0,0,0,0,0,28.83,14.87,28.83
$GC,5293,0.91,194.6,3011,3780,1983,1887,95.5,14.7,279,5298,0.00,2.15,0.00,0.000,1030,0.000,0.041,3021,2368,1935,1983,1887,0,0,0,0,0,0,28.83,14.98,28.83
$GC,5605,0.91,194.6,3021,2364,1990,1886,58.4,10.5,295,5610,0.00,2.17,0.00,0.000,516,0.000,0.054,3031,990,1934,1983,1886,0,0,0,0,0,0,28.83,14.95,28.83
$GC,5738,0.95,239.5,3031,990,1983,1886,45.5,8.4,304,5764,0.00,2.22,18.92,0.270,9222,0.000,0.057,3031,2379,1774,1814,1735,0,0,0,0,0,0,28.83,14.92,14.69
$GC,6067,1.09,371.5,2048,2377,1787,1738,24.7,5.4,337,6138,0.00,2.33,62.05,0.216,8964,0.000,0.089,3031,3777,1237,1272,1203,0,0,0,0,0,0,28.83,14.80,14.71
$GC,6230,1.09,371.5,3031,3777,1286,1205,8.1,11.7,367,6237,0.00,2.15,0.00,0.000,1030,0.000,0.041,3041,2380,1246,1288,1205,0,0,0,0,0,0,28.83,14.89,28.83
$STATE,6278,end climb,SURFACE_DEPTH_REACHED
$STATE,6278,begin surface coast
$FINISH,0.2,1.021369
$STATE,6304,end surface coast,CONTROL_FINISHED_OK
$STATE,6305,begin surface
$SM_CCo,6319,35.92,0.148,0,0,916,450.13
$SM_GC,-0.41,7.75,0.00,35.92,0.066,0.000,0.148,236,2375,916,-7.62,-0.74,450.13,0,0,0,0,0,0,14.88,28.83,14.76
$IRIDIUM_FIX,2143.45,12104.20,210513,191912
$TT8_MAMPS,0.019474,0.019474
$HUMID,49.40
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,22.90
$XPDR_PINGS,24
$SC_FREEKB,3917376
$24V_AH,13.8,34.435
$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,20.025,71.175,417.850,35.925,0.000,24.494,52.844,173.919,6.000,0.000,15.232,1187.172,3715.863,502.650,1288.602,84.655,0.000,1076.634,0.000,929.796,0.000,0.542,0.000
$DEVICE_MAMPS,412.335,90.270,1224.765,148.410,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,6331.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.655,0.000,0.000,0.000
$MEM,322828
$DATA_FILE_SIZE,13418,381
$CAP_FILE_SIZE,90444,0
$CFSIZE,260034560,251908096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049,176.7,1
$GPS,210513,225727,2145.856,12055.014,12,2.1,31,-2.7