version: 66.11
glider: 177
mission: 4
dive: 382
start: 5 29 113 9 28 51
data:
$ID,177
$MISSION,4
$DIVE,382
$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,-34867.059
$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,74
$R_STBD_OVSHOOT,95
$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
$GPS1,290513,091126,1841.918,12144.501,70,4.3,89,-2.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.49
$_SM_ANGLEo,-69.4
$GPS2,290513,092821,1842.012,12144.346,170,2.7,189,-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,84.6,21351,-11.0,-9.524,-15.49,4630
$D_GRID,622
$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,21,-1.02,-292.0,144,2417,471,454,0.0,0.0,0,112,0.00,0.00,-89.07,0.000,16386,0.000,0.000,144,2417,2801,2834,2769,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-1.02,-292.0,144,2417,2834,2771,3.1,-11.9,12,152,10.15,1.92,-17.55,0.000,19204,0.239,0.055,2585,3675,3965,4008,3923,0,0,0,0,0,0,25.60,26.26,26.69
$GC,211,-1.02,-292.0,2585,3675,4007,3927,47.9,-42.1,22,217,0.00,1.80,0.00,0.000,1030,0.000,0.020,2585,2366,3966,4007,3926,0,0,0,0,0,0,28.83,26.41,28.83
$GC,527,-1.02,-292.0,2585,2365,4006,3930,150.6,-26.6,38,532,0.00,1.95,0.00,0.000,516,0.000,0.034,2585,1004,3967,4005,3930,0,0,0,0,0,0,28.83,26.30,28.83
$GC,605,-1.02,-292.0,2585,1004,4005,3932,167.3,-23.6,41,611,0.10,1.88,0.00,0.000,3078,0.187,0.034,2598,2340,3968,4005,3932,0,0,0,0,0,0,26.10,26.39,28.83
$GC,921,-1.02,-292.0,2598,2345,4005,3933,246.7,-25.2,57,928,0.00,1.92,0.00,0.000,516,0.000,0.041,2598,1001,3968,4003,3933,0,0,0,0,0,0,28.83,26.32,28.83
$GC,962,-1.02,-292.0,2598,1002,4005,3933,253.2,-24.9,58,970,0.00,1.92,0.00,0.000,1030,0.000,0.026,2592,2373,3969,4005,3933,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1267,-1.02,-292.0,2591,2374,4005,3931,325.9,-22.5,74,1273,0.00,1.95,0.00,0.000,260,0.000,0.038,2581,3710,3968,4005,3931,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1307,-1.02,-292.0,2581,3711,4005,3930,331.9,-22.8,75,1316,0.08,1.85,0.00,0.000,3078,0.184,0.020,2595,2338,3967,4005,3930,0,0,0,0,0,0,26.25,26.49,28.83
$GC,1613,-1.02,-292.0,2595,2337,4005,3923,399.6,-20.6,91,1619,0.00,1.88,0.00,0.000,516,0.000,0.031,2595,1023,3964,4005,3923,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,1635,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1635,begin apogee
$GC,1643,-0.20,0.0,2590,2245,4005,3923,404.5,-20.0,92,1836,0.82,0.00,184.48,0.594,10246,0.129,0.000,2852,2245,2989,3099,2880,0,0,0,0,0,0,25.78,28.83,24.83
$STATE,1837,end apogee,CONTROL_FINISHED_OK
$STATE,1838,begin climb
$GC,1840,1.02,292.0,2855,2245,3099,2877,412.5,0.0,100,2078,1.12,2.20,226.32,0.589,10500,0.073,0.038,3258,3641,1796,1916,1676,0,0,0,0,0,0,25.49,25.43,24.82
$GC,2101,1.02,292.0,3258,3640,1913,1671,390.5,17.3,114,2109,0.00,1.95,0.00,0.000,1030,0.000,0.021,3267,2276,1791,1913,1669,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2409,1.02,292.0,3267,2276,1910,1662,327.2,21.5,130,2415,0.00,2.08,0.00,0.000,516,0.000,0.037,3276,866,1786,1910,1662,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2464,1.02,292.0,3276,866,1910,1662,318.6,20.3,132,2471,0.10,1.98,0.00,0.000,5126,0.194,0.025,3257,2256,1785,1909,1662,0,0,0,0,0,0,25.93,26.23,28.83
$GC,2782,1.02,292.0,3256,2257,1906,1658,252.6,20.0,148,2789,0.00,2.05,0.00,0.000,260,0.000,0.038,3256,3634,1781,1906,1657,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2796,1.02,292.0,3256,3635,1905,1657,252.6,20.0,148,2802,0.00,1.98,0.00,0.000,1030,0.000,0.022,3258,2225,1781,1905,1657,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3110,1.02,292.0,3258,2223,1903,1656,195.4,14.6,164,3116,0.00,1.98,0.00,0.000,516,0.000,0.036,3269,870,1779,1902,1656,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3350,1.02,292.0,3268,870,1899,1655,162.4,13.5,175,3356,0.00,1.92,0.00,0.000,1030,0.000,0.024,3268,2239,1777,1899,1655,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3666,1.02,292.0,3268,2240,1897,1651,112.8,12.9,191,3672,0.00,2.03,0.00,0.000,516,0.000,0.041,3269,870,1774,1897,1651,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3905,1.02,292.0,3269,870,1894,1651,85.1,12.4,202,3912,0.08,1.92,0.00,0.000,5126,0.190,0.024,3256,2246,1772,1894,1651,0,0,0,0,0,0,26.15,26.36,28.83
$GC,4224,1.26,411.6,3256,2247,1894,1648,53.1,6.9,218,4313,0.20,2.05,81.97,0.387,10500,0.062,0.035,3362,3622,1307,1410,1205,0,0,0,0,0,0,26.48,25.90,25.41
$GC,4349,1.26,411.6,3362,3623,1407,1204,38.9,13.6,226,4358,0.15,1.98,0.00,0.000,5126,0.190,0.024,3329,2265,1305,1407,1203,0,0,0,0,0,0,25.60,25.98,28.83
$STATE,4659,end climb,SURFACE_DEPTH_REACHED
$STATE,4659,begin surface coast
$FINISH,0.1,1.020699
$STATE,4699,end surface coast,CONTROL_FINISHED_OK
$STATE,4699,begin surface
$SM_CCo,4719,77.32,0.047,0,0,463,619.87
$SM_GC,-1.64,8.70,0.12,77.32,0.067,0.074,0.047,146,2396,463,-8.61,-1.89,619.87,0,0,0,0,0,0,26.20,26.42,26.12
$IRIDIUM_FIX,1832.77,12142.71,290513,090914
$TT8_MAMPS,0.026964,0.026964
$HUMID,57.28
$INTERNAL_PRESSURE,9.72694
$TCM_TEMP,24.00
$XPDR_PINGS,49
$SC_FREEKB,3873856
$24V_AH,24.8,46.910
$10V_AH,10.2,43.960
$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,21.500,43.075,492.775,77.325,0.000,0.000,0.000,403.250,12.250,0.000,193.269,1098.175,2492.646,627.917,1320.459,278.796,0.000,1479.746,0.000,684.507,0.000,0.548,0.000
$DEVICE_MAMPS,238.680,74.205,594.405,47.430,0.000,0.000,0.000,94.095,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4711.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.039,0.000,0.000,0.000
$MEM,323428
$DATA_FILE_SIZE,10147,282
$CAP_FILE_SIZE,150176,0
$CFSIZE,260034560,204906496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.164,244.0,1
$GPS,290513,105103,1841.910,12144.559,70,2.7,89,-2.1