version: 66.11
glider: 177
mission: 4
dive: 373
start: 5 28 113 20 44 27
data:
$ID,177
$MISSION,4
$DIVE,373
$N_DIVES,375
$D_SURF,3
$D_FLARE,3
$D_TGT,200
$D_ABORT,300
$D_NO_BLEED,200
$D_BOOST,20
$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,70
$T_MISSION,100
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$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,52151
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.001
$HD_C,9.9999997e-06
$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,619.87311
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,161
$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,-31241.73
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,159
$PITCH_MAX,3950
$C_PITCH,2925
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,25
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,161
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,2375
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,78
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,2992
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$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,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-43.106712
$PRESSURE_SLOPE,0.000115925
$AD7714Ch0Gain,128
$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,0
$XPDR_VALID,0
$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,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044109048
$SEABIRD_T_H,0.00065266038
$SEABIRD_T_I,2.7513828e-05
$SEABIRD_T_J,3.0466049e-06
$SEABIRD_C_G,-9.9740562
$SEABIRD_C_H,1.1339458
$SEABIRD_C_I,-0.0018908759
$SEABIRD_C_J,0.0002126007
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,280513,202721,1842.740,12154.236,220,7.6,239,-2.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.42
$_SM_ANGLEo,-73.4
$GPS2,280513,204357,1842.846,12154.334,100,3.8,119,-2.1
$SPEED_LIMITS,0.165,0.767
$TGT_NAME,PICKUP
$TGT_LATLONG,1845.000,12200.000
$TGT_RADIUS,5000.000
$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,81.7,10707,-6.4,-9.524,-7.08,3131
$D_GRID,1008
$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,19,-0.65,-194.6,126,2399,469,454,0.0,0.0,0,120,0.00,0.00,-95.22,0.000,16386,0.000,0.000,126,2400,3045,3086,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-0.65,-194.6,126,2400,3087,3006,4.7,-15.6,13,159,10.82,1.92,-10.82,0.000,18692,0.241,0.053,2705,3680,3789,3882,3697,0,0,0,0,0,0,25.58,26.24,26.63
$GC,289,-0.65,-194.6,2704,3677,3882,3698,60.0,-26.5,28,295,0.00,1.83,0.00,0.000,1030,0.000,0.029,2705,2347,3790,3882,3698,0,0,0,0,0,0,28.83,26.38,28.83
$GC,610,-0.65,-194.6,2704,2346,3882,3698,140.8,-18.0,44,616,0.00,1.90,0.00,0.000,516,0.000,0.031,2704,1008,3790,3883,3698,0,0,0,0,0,0,28.83,26.34,28.83
$GC,710,-0.65,-194.6,2704,1007,3882,3695,155.6,-16.8,48,717,0.08,1.88,0.00,0.000,3078,0.188,0.025,2716,2352,3790,3882,3698,0,0,0,0,0,0,26.24,26.43,28.83
$STATE,963,end dive,TARGET_DEPTH_EXCEEDED
$STATE,963,begin apogee
$GC,969,-0.20,0.0,2716,2188,3882,3698,202.6,-16.7,61,1122,0.43,0.00,146.02,0.425,10246,0.119,0.000,2857,2187,2989,3096,2882,0,0,0,0,0,0,26.03,28.83,25.18
$STATE,1124,end apogee,CONTROL_FINISHED_OK
$STATE,1127,begin climb
$GC,1129,0.65,194.6,2857,2187,3096,2879,210.1,0.0,67,1289,0.77,2.00,147.68,0.418,10756,0.085,0.036,3141,879,2194,2322,2067,0,0,0,0,0,0,25.67,25.64,25.13
$GC,1325,0.70,223.4,3140,878,2321,2064,198.4,8.6,76,1354,0.00,1.92,22.58,0.423,9222,0.000,0.022,3141,2246,2077,2206,1949,0,0,0,0,0,0,28.83,25.91,25.19
$GC,1673,0.93,336.7,3140,2246,2205,1935,174.5,5.8,93,1765,0.20,2.05,82.35,0.404,10500,0.056,0.034,3257,3631,1614,1731,1497,0,0,0,0,0,0,26.37,25.83,25.34
$GC,1846,0.93,336.7,3256,3631,1728,1489,152.2,16.0,100,1855,0.15,1.95,0.00,0.000,5126,0.179,0.021,3222,2248,1608,1728,1489,0,0,0,0,0,0,25.75,26.10,28.83
$GC,2153,0.93,336.7,3222,2247,1728,1482,117.2,9.6,116,2159,0.00,2.00,0.00,0.000,516,0.000,0.035,3227,867,1604,1728,1481,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2331,0.93,336.7,3228,867,1725,1482,103.7,9.8,124,2337,0.00,1.92,0.00,0.000,1030,0.000,0.022,3228,2241,1603,1725,1481,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2646,1.05,395.8,3227,2242,1723,1478,76.5,7.6,140,2699,0.12,2.10,40.97,0.360,10500,0.078,0.036,3313,3638,1372,1484,1261,0,0,0,0,0,0,26.54,26.17,25.67
$GC,2784,1.05,395.8,3313,3638,1484,1255,63.1,10.6,146,2790,0.20,1.95,0.00,0.000,5126,0.162,0.021,3261,2238,1369,1483,1255,0,0,0,0,0,0,25.89,26.29,28.83
$GC,3094,1.15,445.9,3261,2237,1483,1251,40.5,7.9,167,3135,0.12,0.00,34.83,0.332,10246,0.081,0.000,3337,2237,1170,1269,1071,0,0,0,0,0,0,26.50,28.83,25.74
$STATE,3416,end climb,SURFACE_DEPTH_REACHED
$STATE,3416,begin surface coast
$FINISH,-0.3,1.020298
$STATE,3453,end surface coast,CONTROL_FINISHED_OK
$STATE,3453,begin surface
$SM_CCo,3472,63.88,0.046,0,0,464,619.87
$SM_GC,-1.27,8.55,0.17,63.88,0.060,0.063,0.046,141,2426,464,-8.61,-1.55,619.87,0,0,0,0,0,0,26.32,26.48,26.24
$IRIDIUM_FIX,1837.32,12154.05,280513,202044
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.76
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,25.50
$XPDR_PINGS,81
$SC_FREEKB,3877312
$24V_AH,25.1,46.230
$10V_AH,10.3,43.491
$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,21.450,23.700,474.425,63.875,0.000,0.000,0.000,533.675,20.250,0.000,122.887,853.307,1644.503,551.357,1248.975,245.527,0.000,1480.888,0.000,579.816,0.000,0.550,0.000
$DEVICE_MAMPS,240.975,78.030,425.340,45.900,0.000,0.000,0.000,110.925,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3465.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.061,0.000,0.000,0.000
$MEM,320548
$DATA_FILE_SIZE,6826,222
$CAP_FILE_SIZE,122998,0
$CFSIZE,260034560,205533184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.526,254.9,1
$GPS,280513,214749,1842.597,12153.647,221,1.7,221,-2.1