version: 66.11
glider: 177
mission: 4
dive: 387
start: 5 29 113 17 41 23
data:
$ID,177
$MISSION,4
$DIVE,387
$N_DIVES,390
$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,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,-37583.945
$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,2950
$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,63
$R_STBD_OVSHOOT,107
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.75
$ROLL_ADJ_DBAND,0.029999999
$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
$GPS1,290513,170711,1839.702,12140.708,57,1.4,68,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.34
$_SM_ANGLEo,-74.2
$GPS2,290513,170711,1839.702,12140.708,901,99.0,901,-2.0
$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,67.5,24905,-11.0,-9.524,-15.49,4630
$D_GRID,443
$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,-1.02,-292.0,141,2423,471,450,0.0,0.0,0,120,0.00,0.00,-96.32,0.000,16386,0.000,0.000,140,2423,2997,3030,2965,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-1.02,-292.0,140,2423,3030,2966,4.5,-18.5,13,158,10.38,1.77,-13.12,0.000,18692,0.239,0.044,2610,3671,3961,4002,3920,0,0,0,0,0,0,25.46,26.39,26.76
$GC,192,-1.02,-292.0,2610,3672,4006,3921,44.9,-54.4,20,200,0.00,1.80,0.00,0.000,1030,0.000,0.020,2610,2354,3963,4006,3921,0,0,0,0,0,0,28.83,26.48,28.83
$GC,392,-1.02,-292.0,2610,2353,4006,3921,119.4,-39.8,31,398,0.00,1.92,0.00,0.000,516,0.000,0.031,2612,995,3963,4005,3922,0,0,0,0,0,0,28.83,26.39,28.83
$GC,483,-1.02,-292.0,2610,993,4005,3922,150.1,-34.0,35,491,0.10,1.90,0.00,0.000,3078,0.202,0.025,2621,2349,3963,4005,3922,0,0,0,0,0,0,26.14,26.45,28.83
$GC,688,-1.02,-292.0,2621,2350,4006,3923,199.8,-22.1,45,694,0.00,1.92,0.00,0.000,516,0.000,0.030,2622,998,3964,4006,3923,0,0,0,0,0,0,28.83,26.40,28.83
$STATE,712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,712,begin apogee
$GC,720,-0.20,0.0,2615,2239,4006,3923,207.3,-23.8,46,904,0.88,0.00,177.55,0.430,10244,0.152,0.000,2882,2239,2990,3092,2888,0,0,0,0,0,0,25.83,28.83,25.17
$STATE,905,end apogee,CONTROL_FINISHED_OK
$STATE,905,begin climb
$GC,908,1.02,292.0,2881,2239,3092,2885,223.1,0.0,54,1140,1.20,2.10,217.95,0.430,10500,0.106,0.038,3276,3631,1797,1916,1679,0,0,0,0,0,0,25.63,25.77,25.16
$GC,1379,1.02,292.0,3275,3631,1916,1665,172.2,16.5,75,1385,0.00,1.92,0.00,0.000,1030,0.000,0.021,3282,2259,1791,1916,1666,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1581,1.02,292.0,3282,2259,1916,1664,151.9,10.1,85,1587,0.00,2.08,0.00,0.000,516,0.000,0.040,3284,848,1790,1916,1664,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1821,1.02,292.0,3284,848,1916,1661,129.2,10.2,96,1828,0.00,1.95,0.00,0.000,1030,0.000,0.024,3284,2250,1788,1916,1660,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2020,1.07,313.5,3284,2250,1922,1658,110.0,9.0,106,2043,0.00,0.00,15.48,0.399,8710,0.000,0.000,3284,2250,1711,1835,1588,0,0,0,0,0,0,28.83,28.83,25.72
$GC,2218,1.07,313.5,3284,2253,1835,1582,91.8,9.6,116,2225,0.00,2.00,0.00,0.000,260,0.000,0.036,3284,3632,1708,1835,1582,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2410,1.13,343.2,3283,3632,1834,1580,73.0,8.9,125,2440,0.10,1.92,22.65,0.376,11270,0.096,0.020,3347,2226,1588,1706,1471,0,0,0,0,0,0,26.39,26.48,25.75
$GC,2642,1.13,343.2,3346,2225,1709,1463,51.7,9.5,136,2649,0.12,1.95,0.00,0.000,4612,0.171,0.032,3318,874,1586,1709,1463,0,0,0,0,0,0,26.17,26.32,28.83
$GC,2862,1.63,595.6,3318,874,1709,1463,41.6,3.9,155,3043,0.43,1.90,172.95,0.322,11270,0.044,0.022,3503,2249,563,586,541,0,0,0,0,0,0,26.44,26.45,25.41
$GC,3111,1.66,611.8,2560,2246,580,530,10.6,9.2,183,3121,0.10,0.00,5.95,0.074,12294,0.209,0.000,3485,2250,497,514,481,0,0,0,0,0,0,25.90,28.83,25.89
$STATE,3177,end climb,SURFACE_DEPTH_REACHED
$STATE,3177,begin surface coast
$FINISH,-2.2,1.020888
$STATE,3194,end surface coast,CONTROL_FINISHED_OK
$STATE,3194,begin surface
$SM_CCo,3215,3.42,0.047,0,0,464,619.87
$SM_GC,-1.03,8.65,0.12,3.42,0.041,0.083,0.047,144,2382,464,-8.68,-2.12,619.87,0,0,0,0,0,0,26.14,26.29,26.15
$IRIDIUM_FIX,1830.49,12139.58,290513,171716
$TT8_MAMPS,0.026964,0.026964
$HUMID,51.22
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,25.70
$XPDR_PINGS,107
$SC_FREEKB,3871936
$24V_AH,25.2,47.342
$10V_AH,10.4,44.257
$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,21.950,27.050,612.525,3.425,0.000,0.000,0.000,712.475,26.750,0.000,905.154,833.488,1298.552,593.337,2253.701,272.201,0.000,1762.636,0.000,617.714,0.000,0.553,0.000
$DEVICE_MAMPS,239.445,82.620,429.930,46.665,0.000,0.000,0.000,105.570,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3195.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.903,0.000,0.000,0.000
$MEM,323268
$DATA_FILE_SIZE,6835,197
$CAP_FILE_SIZE,128515,0
$CFSIZE,260034560,204570624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,1.151,245.7,1
$GPS,290513,183819,1839.000,12138.804,133,2.8,152,-2.0