version: 66.11
glider: 177
mission: 4
dive: 389
start: 5 29 113 19 54 18
data:
$ID,177
$MISSION,4
$DIVE,389
$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,-37586.465
$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,2975
$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,104
$R_STBD_OVSHOOT,71
$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,0.0016
$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
$GPS1,290513,194139,1838.746,12137.464,131,2.1,150,-2.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.36
$_SM_ANGLEo,-70.7
$GPS2,290513,195348,1838.814,12137.446,48,1.8,65,-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,60.7,29905,-11.0,-9.524,-15.49,4630
$D_GRID,393
$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,-0.91,-292.0,149,2344,467,451,0.0,0.0,0,111,0.00,0.00,-88.35,0.000,16386,0.000,0.000,149,2344,2826,2859,2793,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.91,-292.0,149,2342,2859,2794,3.8,-13.6,12,160,10.60,1.92,-17.73,0.000,19204,0.243,0.040,2676,1006,3965,4008,3922,0,0,0,0,0,0,25.63,26.33,26.67
$GC,340,-0.91,-292.0,1600,1005,4006,3923,78.5,-28.3,50,349,0.08,1.90,0.00,0.000,3078,0.222,0.025,2681,2362,3965,4007,3923,0,0,0,0,0,0,26.17,26.41,28.83
$GC,548,-0.91,-292.0,2680,2363,4007,3924,139.2,-31.6,87,556,0.00,1.98,0.00,0.000,260,0.000,0.037,2673,3709,3965,4007,3924,0,0,0,0,0,0,28.83,26.37,28.83
$GC,646,-0.91,-292.0,1608,3708,4005,3925,163.1,-19.2,104,654,0.00,1.80,0.00,0.000,1030,0.000,0.018,2673,2359,3966,4007,3925,0,0,0,0,0,0,28.83,26.58,28.83
$GC,848,-0.91,-292.0,1584,2356,4005,3925,195.1,-20.6,141,857,0.00,1.88,0.00,0.000,516,0.000,0.030,2673,1032,3966,4006,3926,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,874,begin apogee
$GC,882,-0.20,0.0,2664,2243,4006,3926,200.2,-18.3,145,1065,0.77,0.00,177.57,0.427,10246,0.135,0.000,2909,2243,2989,3093,2886,0,0,0,0,0,0,25.92,28.83,25.21
$STATE,1069,end apogee,CONTROL_FINISHED_OK
$STATE,1069,begin climb
$GC,1071,0.91,292.0,2909,2243,3093,2884,208.2,0.0,169,1298,0.90,2.08,217.00,0.418,11012,0.030,0.034,3314,898,1797,1916,1679,0,0,0,0,0,0,25.87,25.71,25.20
$GC,1550,0.91,292.0,3314,898,1915,1672,167.0,26.0,243,1559,0.17,1.90,0.00,0.000,5126,0.168,0.024,3269,2271,1793,1915,1672,0,0,0,0,0,0,25.91,26.30,28.83
$GC,1758,0.91,292.0,2184,2268,1840,1662,135.5,14.0,280,1766,0.00,2.00,0.00,0.000,516,0.000,0.038,3269,907,1790,1914,1667,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2010,0.91,292.0,3269,907,1915,1666,102.9,12.6,326,2019,0.00,1.85,0.00,0.000,1030,0.000,0.024,3269,2235,1790,1914,1666,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2219,1.23,491.1,2192,2230,1840,1659,87.0,5.1,363,2375,0.25,2.12,140.32,0.351,10500,0.054,0.036,3395,3625,982,1071,893,0,0,0,0,0,0,26.51,25.86,25.40
$GC,2506,1.23,491.1,2400,3624,1045,890,43.9,19.0,407,2515,0.12,1.88,0.00,0.000,5126,0.192,0.021,3371,2288,977,1063,891,0,0,0,0,0,0,25.89,26.24,28.83
$GC,2714,1.23,491.1,3371,2286,1063,894,10.7,15.2,444,2722,0.00,2.08,0.00,0.000,516,0.000,0.035,3378,859,975,1063,888,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2743,1.23,491.1,2368,858,1045,887,6.7,14.0,448,2751,0.00,1.92,0.00,0.000,1030,0.000,0.022,3379,2251,975,1063,888,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,2775,end climb,SURFACE_DEPTH_REACHED
$STATE,2775,begin surface coast
$FINISH,-0.4,1.020439
$STATE,2797,end surface coast,CONTROL_FINISHED_OK
$STATE,2797,begin surface
$SM_CCo,2818,46.72,0.046,0,0,464,619.87
$SM_GC,-1.05,8.48,0.12,46.72,0.050,0.080,0.046,138,2407,464,-8.77,-2.01,619.87,0,0,0,0,0,0,26.32,26.48,26.27
$IRIDIUM_FIX,1832.77,12136.45,290513,191937
$TT8_MAMPS,0.026964,0.026964
$HUMID,52.28
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,25.10
$XPDR_PINGS,68
$SC_FREEKB,3871168
$24V_AH,25.2,47.485
$10V_AH,10.4,44.344
$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,21.375,27.150,534.900,46.725,0.000,0.000,0.000,380.875,17.000,0.000,68.369,1250.232,238.080,624.943,1165.767,324.525,0.000,1451.226,0.000,717.967,0.000,0.550,0.000
$DEVICE_MAMPS,243.270,79.560,426.870,45.900,0.000,0.000,0.000,111.690,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2812.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.988,0.000,0.000,0.000
$MEM,323332
$DATA_FILE_SIZE,16771,457
$CAP_FILE_SIZE,171959,0
$CFSIZE,260034560,204410880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.783,258.4,1
$GPS,290513,204457,1838.533,12136.280,110,4.2,129,-2.0