version: 66.11
glider: 177
mission: 4
dive: 383
start: 5 29 113 11 14 36
data:
$ID,177
$MISSION,4
$DIVE,383
$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,-34868.316
$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,50
$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
$GPS1,290513,105103,1841.910,12144.559,70,2.7,89,-2.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.53
$_SM_ANGLEo,-67.9
$GPS2,290513,111403,1842.070,12144.207,266,2.8,285,-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,104.2,21610,-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,20,-1.02,-292.0,144,2396,475,455,0.0,0.0,0,121,0.00,0.00,-96.80,0.000,16386,0.000,0.000,143,2397,3072,3113,3032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-1.02,-292.0,144,2395,3113,3035,4.8,-16.7,13,160,10.07,1.88,-12.93,0.000,18692,0.236,0.048,2584,3690,3963,4006,3921,0,0,0,0,0,0,25.57,26.29,26.69
$GC,264,-1.02,-292.0,1536,3689,4005,3922,68.1,-35.2,25,270,0.00,1.85,0.00,0.000,1030,0.000,0.019,2584,2328,3964,4006,3923,0,0,0,0,0,0,28.83,26.45,28.83
$GC,591,-1.02,-292.0,2584,2327,4006,3927,161.1,-23.5,41,598,0.00,1.90,0.00,0.000,516,0.000,0.031,2584,1009,3966,4006,3927,0,0,0,0,0,0,28.83,26.32,28.83
$GC,696,-1.02,-292.0,2584,1008,4005,3928,185.3,-26.6,45,705,0.10,1.88,0.00,0.000,3078,0.197,0.024,2595,2356,3966,4005,3928,0,0,0,0,0,0,26.08,26.40,28.83
$GC,1000,-1.02,-292.0,2595,2357,4005,3928,264.4,-23.9,61,1006,0.00,1.92,0.00,0.000,516,0.000,0.031,2596,1011,3966,4005,3927,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1100,-1.02,-292.0,2596,1011,4005,3927,283.6,-21.9,65,1106,0.00,1.90,0.00,0.000,1030,0.000,0.026,2589,2367,3966,4005,3927,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1416,-1.02,-292.0,2589,2368,4005,3922,364.4,-26.5,81,1421,0.00,1.98,0.00,0.000,260,0.000,0.038,2580,3717,3963,4005,3922,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1462,-1.02,-292.0,2580,3717,4005,3921,375.5,-25.0,83,1468,0.10,1.83,0.00,0.000,3078,0.170,0.020,2602,2370,3963,4005,3921,0,0,0,0,0,0,26.15,26.47,28.83
$STATE,1565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1565,begin apogee
$GC,1572,-0.20,0.0,2602,2243,4005,3918,400.5,-23.8,88,1763,0.80,0.00,184.02,0.595,10246,0.132,0.000,2858,2242,2989,3098,2880,0,0,0,0,0,0,25.75,28.83,24.83
$STATE,1765,end apogee,CONTROL_FINISHED_OK
$STATE,1765,begin climb
$GC,1767,1.02,292.0,2858,2242,3098,2877,414.2,0.0,96,2003,1.10,2.15,224.60,0.581,10756,0.072,0.040,3263,878,1797,1917,1678,0,0,0,0,0,0,25.48,25.41,24.83
$GC,2162,1.02,292.0,3262,878,1914,1670,367.9,18.7,113,2168,0.00,1.95,0.00,0.000,1030,0.000,0.025,3262,2245,1791,1914,1669,0,0,0,0,0,0,28.83,26.05,28.83
$GC,2477,1.02,292.0,3263,2245,1911,1663,309.4,16.2,129,2484,0.00,2.08,0.00,0.000,260,0.000,0.039,3262,3642,1787,1911,1663,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2581,1.02,292.0,3262,3642,1908,1661,293.1,18.6,133,2589,0.10,1.98,0.00,0.000,5126,0.222,0.022,3251,2255,1784,1907,1661,0,0,0,0,0,0,25.94,26.30,28.83
$GC,2886,1.02,292.0,3251,2254,1907,1657,238.9,17.2,149,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,2255,1782,1907,1657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3186,1.02,292.0,3251,2254,1903,1656,185.9,17.4,164,3191,0.00,2.08,0.00,0.000,516,0.000,0.040,3259,848,1779,1903,1656,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3398,1.02,292.0,2256,848,1835,1651,152.3,15.6,174,3404,0.00,1.95,0.00,0.000,1030,0.000,0.023,3259,2245,1778,1901,1656,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3721,1.02,292.0,3260,2246,1901,1652,112.4,12.5,190,3727,0.00,2.08,0.00,0.000,516,0.000,0.037,3268,848,1776,1901,1652,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3968,1.02,292.0,3268,848,1896,1652,86.4,10.3,201,3974,0.00,1.98,0.00,0.000,1030,0.000,0.024,3268,2236,1774,1896,1652,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4284,1.14,347.7,3268,2237,1895,1650,57.6,8.3,217,4333,0.08,2.08,37.78,0.375,10500,0.119,0.035,3318,3644,1568,1682,1455,0,0,0,0,0,0,26.55,26.16,25.61
$GC,4421,1.14,347.7,3318,3644,1679,1451,42.2,12.9,225,4429,0.15,2.03,0.00,0.000,5126,0.174,0.022,3289,2224,1565,1679,1451,0,0,0,0,0,0,25.82,26.22,28.83
$GC,4741,1.15,353.3,2240,2221,1622,1443,16.8,9.4,264,4751,0.00,2.00,1.30,0.083,8708,0.000,0.034,3295,855,1551,1665,1438,0,0,0,0,0,0,28.83,26.18,25.90
$GC,4814,1.35,455.1,3295,855,1665,1441,11.0,7.3,276,4865,0.17,1.95,41.60,0.073,11270,0.068,0.023,3382,2256,1135,1230,1041,0,0,0,0,0,0,26.29,26.34,26.01
$STATE,4891,end climb,SURFACE_DEPTH_REACHED
$STATE,4892,begin surface coast
$FINISH,-0.5,1.020706
$STATE,4917,end surface coast,CONTROL_FINISHED_OK
$STATE,4917,begin surface
$SM_CCo,4936,61.40,0.047,0,0,464,619.87
$SM_GC,-1.44,8.38,0.12,61.40,0.038,0.082,0.047,125,2431,464,-8.62,-1.89,619.87,0,0,0,0,0,0,26.22,26.43,26.14
$IRIDIUM_FIX,1835.04,12144.65,290513,111144
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.59
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,24.50
$XPDR_PINGS,78
$SC_FREEKB,3873472
$24V_AH,24.8,47.003
$10V_AH,10.3,44.018
$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,21.050,39.625,489.300,61.400,0.000,0.000,0.000,673.900,19.500,0.000,289.290,1221.237,2481.705,582.893,1777.363,324.647,0.000,1769.933,0.000,782.629,0.000,0.548,0.000
$DEVICE_MAMPS,235.620,81.855,595.170,46.665,0.000,0.000,0.000,104.040,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4925.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.217,0.000,0.000,0.000
$MEM,323248
$DATA_FILE_SIZE,10128,291
$CAP_FILE_SIZE,166310,0
$CFSIZE,260034560,204812288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.237,248.6,1
$GPS,290513,124145,1841.650,12144.076,166,3.2,185,-2.0