version: 66.11
glider: 181
mission: 11
dive: 55
start: 5 21 113 23 4 16
data:
$ID,181
$MISSION,11
$DIVE,55
$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,-95741.672
$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,58
$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
$GPS1,210513,225727,2145.856,12055.014,12,2.1,31,-2.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.02
$_SM_ANGLEo,-70.9
$GPS2,210513,230348,2145.965,12055.119,9,1.5,9,-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,113.7,15421,-14.3,-10.000,-17.31,2952
$D_GRID,567
$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,-194.6,226,2371,921,918,0.0,0.0,0,108,0.00,0.00,-86.80,0.000,16386,0.000,0.000,226,2371,3150,3197,3104,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-0.91,-194.6,225,2372,3197,3105,4.3,-15.7,15,137,10.07,2.33,-6.43,0.000,18692,0.410,0.090,2389,3774,3550,3632,3469,0,0,0,0,0,0,14.50,14.75,14.97
$GC,268,-0.91,-194.6,2389,3774,3633,3472,71.6,-36.4,31,274,0.00,2.12,0.00,0.000,1030,0.000,0.040,2387,2403,3552,3633,3472,0,0,0,0,0,0,28.83,14.82,28.83
$GC,586,-0.91,-194.6,2389,2397,3634,3472,147.4,-20.1,47,591,0.00,2.25,0.00,0.000,260,0.000,0.080,2378,3775,3553,3634,3472,0,0,0,0,0,0,28.83,14.83,28.83
$GC,662,-0.91,-194.6,2378,3775,3634,3473,160.2,-20.4,50,669,0.00,2.12,0.00,0.000,1030,0.000,0.037,2378,2377,3554,3635,3473,0,0,0,0,0,0,28.83,14.93,28.83
$GC,969,-0.91,-194.6,2378,2372,3636,3473,227.1,-18.8,66,970,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2372,3555,3637,3473,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1268,-0.91,-194.6,2378,2372,3636,3473,287.5,-19.8,81,1275,0.00,2.30,0.00,0.000,260,0.000,0.081,2367,3781,3554,3636,3473,0,0,0,0,0,0,28.83,14.92,28.83
$GC,1411,-0.91,-194.6,2368,3778,3636,3472,314.5,-18.5,88,1418,0.15,2.08,0.00,0.000,3078,0.285,0.037,2400,2402,3554,3636,3472,0,0,0,0,0,0,14.78,15.00,28.83
$GC,1735,-0.91,-194.6,2401,2396,3636,3469,369.7,-17.9,104,1740,0.00,2.15,0.00,0.000,516,0.000,0.048,2401,1013,3552,3636,3469,0,0,0,0,0,0,28.83,14.97,28.83
$GC,1761,-0.91,-194.6,1544,1012,3632,3466,373.4,-17.5,105,1767,0.00,2.22,0.00,0.000,1030,0.000,0.061,2394,2399,3552,3636,3469,0,0,0,0,0,0,28.83,14.97,28.83
$GC,2079,-0.91,-194.6,2394,2400,3636,3465,424.8,-18.2,121,2084,0.00,2.25,0.00,0.000,260,0.000,0.085,2383,3783,3550,3636,3464,0,0,0,0,0,0,28.83,14.93,28.83
$GC,2170,-0.91,-194.6,2383,3783,3636,3463,439.5,-17.9,125,2176,0.00,2.10,0.00,0.000,1030,0.000,0.041,2384,2397,3549,3636,3463,0,0,0,0,0,0,28.83,15.00,28.83
$GC,2484,-0.91,-194.6,2383,2391,3636,3460,493.7,-16.3,141,2489,0.00,2.15,0.00,0.000,516,0.000,0.048,2383,1007,3548,3636,3460,0,0,0,0,0,0,28.83,14.99,28.83
$GC,2610,-0.91,-194.6,2383,1007,3636,3464,511.3,-13.7,147,2616,0.12,2.25,0.00,0.000,3078,0.271,0.063,2401,2400,3547,3636,3458,0,0,0,0,0,0,14.83,14.97,28.83
$GC,2928,-0.91,-194.6,2401,2400,3636,3454,556.3,-15.3,163,2934,0.00,2.25,0.00,0.000,260,0.000,0.090,2393,3775,3544,3635,3454,0,0,0,0,0,0,28.83,14.93,28.83
$STATE,3010,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3010,begin apogee
$GC,3016,-0.25,0.0,2393,2381,3634,3454,567.8,-13.9,167,3196,0.75,0.00,166.90,1.902,10246,0.223,0.000,2612,2375,2754,2782,2726,0,0,0,0,1,0,14.79,28.83,13.50
$STATE,3198,end apogee,CONTROL_FINISHED_OK
$STATE,3198,begin climb
$GC,3199,0.91,194.6,2612,2375,2783,2728,571.5,0.0,176,3386,1.15,2.40,169.40,1.937,10756,0.126,0.054,2995,980,1959,1990,1929,0,0,0,0,1,0,14.22,14.16,13.47
$GC,3402,0.91,194.6,2995,980,1990,1929,546.6,17.5,186,3407,0.00,2.35,0.00,0.000,1030,0.000,0.060,2995,2376,1959,1990,1929,0,0,0,0,0,0,28.83,14.31,28.83
$GC,3714,0.91,194.6,2995,2375,1991,1922,484.8,18.0,202,3720,0.00,2.33,0.00,0.000,260,0.000,0.086,2995,3775,1955,1991,1920,0,0,0,0,0,0,28.83,14.72,28.83
$GC,3757,0.91,194.6,2995,3775,1991,1923,476.1,19.7,204,3763,0.00,2.20,0.00,0.000,1030,0.000,0.043,3005,2369,1957,1991,1923,0,0,0,0,0,0,28.83,14.78,28.83
$GC,4080,0.91,194.6,3005,2364,1990,1919,409.2,21.1,220,4085,0.00,2.20,0.00,0.000,516,0.000,0.054,3016,978,1955,1991,1919,0,0,0,0,0,0,28.83,14.88,28.83
$GC,4112,0.91,194.6,3016,978,1991,1918,404.7,21.0,221,4117,0.00,2.28,0.00,0.000,1030,0.000,0.061,3016,2379,1954,1991,1918,0,0,0,0,0,0,28.83,14.86,28.83
$GC,4424,0.91,194.6,3016,2379,1990,1916,340.5,21.3,237,4425,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2379,1953,1990,1916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4725,0.91,194.6,3016,2380,1991,1914,284.3,15.6,252,4726,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2379,1952,1991,1914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5024,0.91,194.6,3016,2379,1991,1913,237.1,17.1,267,5030,0.00,2.30,0.00,0.000,260,0.000,0.089,3016,3780,1952,1991,1913,0,0,0,0,0,0,28.83,14.92,28.83
$GC,5048,0.91,194.6,3016,3779,1991,1913,232.7,17.4,268,5054,0.15,2.17,0.00,0.000,5126,0.294,0.042,2994,2361,1952,1991,1913,0,0,0,0,0,0,14.81,14.98,28.83
$GC,5371,0.91,194.6,2994,2357,1991,1911,183.3,15.2,284,5377,0.00,2.38,0.00,0.000,260,0.000,0.090,2993,3778,1951,1991,1911,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5543,0.91,194.6,2994,3778,1991,1911,156.7,16.7,292,5548,0.00,2.15,0.00,0.000,1030,0.000,0.041,3002,2376,1951,1991,1911,0,0,0,0,0,0,28.83,14.97,28.83
$GC,5855,0.91,194.6,3002,2372,1990,1909,113.5,13.9,308,5860,0.00,2.35,0.00,0.000,260,0.000,0.088,3002,3779,1950,1991,1909,0,0,0,0,0,0,28.83,14.91,28.83
$GC,5932,0.91,194.6,3002,3780,1991,1909,105.2,13.4,311,5939,0.00,2.17,0.00,0.000,1030,0.000,0.041,3012,2363,1949,1990,1909,0,0,0,0,0,0,28.83,14.98,28.83
$GC,6238,0.96,245.2,3013,2360,1991,1908,72.1,8.2,327,6268,0.00,2.20,23.80,0.360,8708,0.000,0.052,3023,976,1752,1789,1716,0,0,0,0,0,0,28.83,14.91,14.66
$GC,6471,1.08,369.5,3023,976,1789,1716,55.5,5.7,338,6536,0.00,2.25,58.47,0.305,9222,0.000,0.057,3023,2377,1246,1279,1213,0,0,0,0,0,0,28.83,14.90,14.63
$GC,6838,1.08,369.5,2064,2375,1266,1204,15.2,13.3,377,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2377,1243,1280,1206,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,6950,end climb,SURFACE_DEPTH_REACHED
$STATE,6950,begin surface coast
$FINISH,0.2,1.021347
$STATE,6982,end surface coast,CONTROL_FINISHED_OK
$STATE,6982,begin surface
$SM_CCo,6996,35.88,0.148,0,0,917,450.13
$SM_GC,-0.36,7.82,0.00,35.88,0.080,0.000,0.148,222,2377,917,-7.63,-0.65,450.13,0,0,0,0,0,0,14.91,28.83,14.78
$IRIDIUM_FIX,2124.90,12040.74,210513,212116
$TT8_MAMPS,0.019474,0.019474
$HUMID,48.74
$INTERNAL_PRESSURE,9.69764
$TCM_TEMP,23.40
$XPDR_PINGS,13
$SC_FREEKB,3916992
$24V_AH,13.5,34.680
$10V_AH,13.6,0.000
$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,20.225,62.500,418.575,35.875,0.000,24.673,43.023,163.598,3.250,0.000,12.059,1284.763,4214.052,505.486,1340.726,86.951,0.000,1114.134,0.000,1005.009,0.000,0.541,0.000
$DEVICE_MAMPS,410.040,89.505,1936.980,147.645,0.000,112.450,160.000,223.000,420.000,0.000,20.970,10.960,2.190,10.960,28.940,35.680,0.000,16.000,0.000,6.740,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7014.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.992,0.000,0.000,0.000
$MEM,322840
$DATA_FILE_SIZE,13414,405
$CAP_FILE_SIZE,93646,0
$CFSIZE,260034560,251834368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$CURRENT,0.200, 58.8,1
$GPS,220513,010236,2145.830,12056.741,25,1.9,25,-2.7