version: 66.11
glider: 177
mission: 4
dive: 388
start: 5 29 113 18 47 51
data:
$ID,177
$MISSION,4
$DIVE,388
$N_DIVES,395
$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,-37585.203
$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,97
$R_STBD_OVSHOOT,76
$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
$GPS1,290513,183819,1839.000,12138.804,133,2.8,152,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.36
$_SM_ANGLEo,-68.0
$GPS2,290513,184719,1838.932,12138.690,85,2.2,104,-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,62.2,27844,-11.0,-9.524,-15.49,4630
$D_GRID,375
$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,-292.0,143,2384,477,452,0.0,0.0,0,105,0.00,0.00,-82.38,0.000,16386,0.000,0.000,142,2384,2728,2761,2696,0,0,0,0,0,0,28.83,28.83,28.83
$GC,109,-1.02,-292.0,142,2384,2761,2698,3.4,-12.1,11,151,10.35,1.90,-20.25,0.000,18692,0.242,0.048,2607,3695,3964,4008,3920,0,0,0,0,0,0,25.65,26.29,26.68
$GC,212,-1.02,-292.0,2607,3695,4008,3922,50.1,-45.6,22,220,0.00,1.80,0.00,0.000,1030,0.000,0.021,2607,2389,3964,4007,3922,0,0,0,0,0,0,28.83,26.42,28.83
$GC,400,-1.02,-292.0,2607,2388,4007,3923,113.6,-35.1,32,406,0.00,2.00,0.00,0.000,516,0.000,0.035,2610,999,3965,4007,3923,0,0,0,0,0,0,28.83,26.34,28.83
$GC,599,-1.02,-292.0,2607,997,4006,3926,174.1,-28.3,41,606,0.10,1.90,0.00,0.000,3078,0.186,0.030,2621,2339,3966,4006,3926,0,0,0,0,0,0,26.16,26.41,28.83
$STATE,713,end dive,TARGET_DEPTH_EXCEEDED
$STATE,713,begin apogee
$GC,720,-0.20,0.0,2621,2181,4006,3926,202.7,-24.6,47,906,0.82,0.05,177.93,0.441,10244,0.148,0.145,2877,2264,2989,3092,2887,0,0,0,0,0,0,25.89,25.62,25.18
$STATE,907,end apogee,CONTROL_FINISHED_OK
$STATE,907,begin climb
$GC,910,1.02,292.0,2876,2264,3092,2884,222.4,0.0,55,1142,1.12,2.05,218.57,0.438,10756,0.066,0.029,3285,862,1797,1910,1684,0,0,0,0,0,0,25.74,25.79,25.17
$GC,1382,1.02,292.0,3285,862,1909,1672,174.2,15.3,76,1388,0.00,1.92,0.00,0.000,1030,0.000,0.024,3285,2236,1790,1909,1672,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1585,1.02,292.0,3285,2237,1907,1666,150.3,9.7,86,1590,0.00,2.03,0.00,0.000,516,0.000,0.044,3293,859,1786,1906,1666,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1824,1.15,355.7,3293,859,1908,1665,132.4,8.1,97,1880,0.10,1.95,45.90,0.399,11270,0.099,0.023,3352,2270,1539,1652,1426,0,0,0,0,0,0,26.36,26.44,25.60
$GC,2070,1.15,355.7,3352,2270,1650,1415,94.9,15.9,109,2076,0.12,1.98,0.00,0.000,4356,0.172,0.034,3316,3627,1532,1650,1414,0,0,0,0,0,0,26.13,26.27,28.83
$GC,2255,1.15,355.7,3316,3628,1648,1411,69.7,12.4,117,2263,0.00,1.90,0.00,0.000,1030,0.000,0.020,3322,2257,1529,1648,1411,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2443,1.23,396.2,3322,2256,1649,1410,53.4,8.6,127,2479,0.08,2.03,28.90,0.356,10756,0.122,0.034,3381,873,1371,1481,1262,0,0,0,0,0,0,26.55,26.24,25.73
$GC,2614,1.23,396.2,3380,873,1479,1260,33.6,12.2,140,2622,0.15,1.90,0.00,0.000,5126,0.173,0.023,3344,2250,1368,1479,1258,0,0,0,0,0,0,25.98,26.37,28.83
$GC,2812,1.27,414.5,2304,2247,1434,1254,12.8,9.1,170,2821,0.00,0.00,6.40,0.077,8198,0.000,0.000,3344,2249,1301,1407,1196,0,0,0,0,0,0,28.83,28.83,26.15
$GC,2890,1.27,414.5,2304,2248,1367,1197,5.4,9.6,183,2898,0.00,1.98,0.00,0.000,260,0.000,0.033,3344,3624,1303,1407,1199,0,0,0,0,0,0,28.83,26.37,28.83
$STATE,2910,end climb,SURFACE_DEPTH_REACHED
$STATE,2910,begin surface coast
$FINISH,0.3,1.020426
$STATE,2933,end surface coast,CONTROL_FINISHED_OK
$STATE,2934,begin surface
$SM_CCo,2956,76.18,0.044,0,0,464,619.87
$SM_GC,-1.44,8.62,1.75,76.18,0.064,0.018,0.044,150,2347,464,-8.69,2.29,619.87,0,0,1,0,0,0,26.26,26.50,26.29
$IRIDIUM_FIX,1832.77,12138.39,290513,171744
$TT8_MAMPS,0.026964,0.026964
$HUMID,51.02
$INTERNAL_PRESSURE,9.89296
$TCM_TEMP,25.50
$XPDR_PINGS,54
$SC_FREEKB,3871552
$24V_AH,25.2,47.410
$10V_AH,10.3,44.298
$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,21.475,27.225,477.700,76.175,0.000,0.000,0.000,270.525,13.500,0.000,108.094,864.980,899.753,562.407,1002.402,254.381,0.000,1249.792,0.000,603.348,0.000,0.550,0.000
$DEVICE_MAMPS,241.740,144.585,440.640,44.370,0.000,0.000,0.000,113.220,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2936.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.943,0.000,0.000,0.000
$MEM,323296
$DATA_FILE_SIZE,6821,190
$CAP_FILE_SIZE,120874,0
$CFSIZE,260034560,204525568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.783,258.4,1
$GPS,290513,194139,1838.746,12137.464,131,2.1,150,-2.0