version: 66.11
glider: 177
mission: 4
dive: 380
start: 5 29 113 6 0 11
data:
$ID,177
$MISSION,4
$DIVE,380
$N_DIVES,385
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$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,140
$T_MISSION,170
$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,300
$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,0.0099999998
$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,-33961.605
$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,79
$R_STBD_OVSHOOT,84
$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
$GPS1,290513,054246,1842.799,12145.698,257,3.6,276,-2.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.44
$_SM_ANGLEo,-71.9
$GPS2,290513,055939,1842.826,12145.625,126,6.9,145,-2.1
$SPEED_LIMITS,0.165,0.344
$TGT_NAME,DOGLEG
$TGT_LATLONG,1835.000,12154.000
$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,91.7,20646,-11.0,-9.524,-15.49,4630
$D_GRID,784
$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,17,begin dive
$GC,20,-1.02,-292.0,136,2403,470,461,0.0,0.0,0,111,0.00,0.00,-88.47,0.000,16386,0.000,0.000,136,2404,2797,2829,2765,0,0,0,0,0,0,28.83,28.83,28.83
$GC,117,-1.02,-292.0,136,2403,2829,2766,3.2,-12.0,12,152,9.68,2.10,-17.80,0.000,18948,0.222,0.045,2599,997,3963,4007,3920,0,0,0,0,0,0,25.61,26.30,26.71
$GC,176,-1.02,-292.0,2599,996,4007,3923,35.3,-49.3,19,182,0.00,1.90,0.00,0.000,1030,0.000,0.029,2592,2336,3965,4007,3923,0,0,0,0,0,0,28.83,26.34,28.83
$GC,503,-1.02,-292.0,2592,2339,4006,3926,154.3,-29.0,37,510,0.00,2.03,0.00,0.000,260,0.000,0.036,2581,3721,3966,4006,3926,0,0,0,0,0,0,28.83,26.35,28.83
$GC,516,-1.02,-292.0,2582,3721,4006,3926,154.3,-29.0,37,522,0.00,1.85,0.00,0.000,1030,0.000,0.019,2581,2341,3966,4006,3927,0,0,0,0,0,0,28.83,26.51,28.83
$GC,832,-1.02,-292.0,2581,2339,4006,3929,239.5,-24.9,53,838,0.00,1.85,0.00,0.000,516,0.000,0.031,2582,1028,3967,4005,3929,0,0,0,0,0,0,28.83,26.36,28.83
$GC,981,-1.02,-292.0,2582,1028,4005,3929,272.0,-20.5,60,988,0.10,1.90,0.00,0.000,3078,0.192,0.027,2594,2384,3967,4005,3929,0,0,0,0,0,0,26.12,26.42,28.83
$GC,1310,-1.02,-292.0,2594,2386,4005,3928,345.1,-23.1,76,1316,0.00,1.92,0.00,0.000,260,0.000,0.037,2589,3709,3966,4006,3927,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1338,-1.02,-292.0,2589,3709,4005,3927,351.7,-23.3,77,1344,0.00,1.80,0.00,0.000,1030,0.000,0.019,2589,2376,3966,4005,3927,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,1556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1556,begin apogee
$GC,1563,-0.20,0.0,2589,2223,4005,3922,402.8,-22.8,88,1757,0.85,0.00,184.85,0.585,10246,0.138,0.000,2855,2222,2988,3097,2879,0,0,0,0,0,0,25.79,28.83,24.90
$STATE,1759,end apogee,CONTROL_FINISHED_OK
$STATE,1759,begin climb
$GC,1761,1.02,292.0,2855,2223,3097,2876,413.6,0.0,96,1998,1.12,1.98,224.52,0.575,10756,0.076,0.034,3265,908,1796,1915,1677,0,0,0,0,0,0,25.53,25.49,24.89
$GC,2083,1.02,292.0,3265,908,1912,1666,375.8,19.8,110,2090,0.00,1.90,0.00,0.000,1030,0.000,0.022,3265,2249,1790,1912,1669,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2399,1.02,292.0,3265,2254,1910,1660,309.0,19.4,126,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,2250,1785,1910,1660,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2698,1.02,292.0,3265,2250,1905,1657,249.8,20.7,141,2704,0.00,2.03,0.00,0.000,260,0.000,0.038,3265,3625,1781,1905,1657,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2756,1.02,292.0,3265,3626,1909,1656,239.3,22.1,143,2762,0.08,1.90,0.00,0.000,5126,0.233,0.024,3257,2286,1779,1903,1656,0,0,0,0,0,0,26.10,26.36,28.83
$GC,3074,1.02,292.0,3256,2285,1901,1652,182.9,17.1,159,3080,0.00,2.10,0.00,0.000,516,0.000,0.037,3263,854,1774,1897,1652,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3315,1.02,292.0,3263,854,1897,1651,149.8,11.8,170,3322,0.00,1.95,0.00,0.000,1030,0.000,0.024,3263,2243,1774,1897,1652,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3631,1.02,292.0,3262,2244,1894,1648,109.7,11.2,186,3637,0.00,2.05,0.00,0.000,516,0.000,0.037,3269,851,1771,1894,1648,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3879,1.05,303.3,3268,851,1892,1651,89.5,9.3,197,3893,0.00,1.95,3.08,0.297,9222,0.000,0.023,3269,2246,1756,1876,1637,0,0,0,0,0,0,28.83,26.40,24.70
$GC,4192,1.05,303.3,3269,2246,1876,1639,65.5,9.8,213,4198,0.00,2.05,0.00,0.000,516,0.000,0.037,3269,846,1758,1876,1640,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4253,1.05,303.3,3269,846,1876,1639,61.0,9.9,215,4261,0.00,1.95,0.00,0.000,1030,0.000,0.022,3269,2247,1758,1876,1640,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4562,1.83,693.1,3269,2248,1876,1640,46.5,0.9,239,4782,0.60,0.00,214.90,0.327,10498,0.038,0.000,3532,2247,500,503,497,0,0,0,0,0,0,26.44,28.83,28.83
$STATE,4783,end climb,SURFACE_DEPTH_REACHED
$STATE,4783,begin surface coast
$FINISH,-2.4,1.019893
$STATE,4796,end surface coast,CONTROL_FINISHED_OK
$STATE,4797,begin surface
$SM_CCo,4819,2.70,0.049,0,0,464,619.87
$SM_GC,-0.71,8.85,0.15,2.70,0.035,0.071,0.049,127,2435,464,-8.62,-1.67,619.87,0,0,0,0,0,0,25.86,25.89,25.81
$IRIDIUM_FIX,1837.32,12145.85,290513,050521
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.35
$INTERNAL_PRESSURE,9.77577
$TCM_TEMP,24.90
$XPDR_PINGS,51
$SC_FREEKB,3874624
$24V_AH,24.7,46.738
$10V_AH,10.3,43.847
$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,21.275,35.450,627.350,2.700,0.000,0.000,0.000,450.275,12.750,0.000,149.125,1026.014,2578.359,612.981,1321.444,305.269,0.000,1563.610,0.000,701.634,0.000,0.550,0.000
$DEVICE_MAMPS,233.325,78.795,585.225,48.960,0.000,0.000,0.000,100.215,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4809.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.055,0.000,0.000,0.000
$MEM,321436
$DATA_FILE_SIZE,10152,262
$CAP_FILE_SIZE,150284,0
$CFSIZE,260034560,205074432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.503,250.7,1
$GPS,290513,072233,1842.251,12144.801,55,2.6,74,-2.1