version: 66.11
glider: 177
mission: 4
dive: 391
start: 5 29 113 22 3 50
data:
$ID,177
$MISSION,4
$DIVE,391
$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,400
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-37891.949
$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,96
$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
$GPS1,290513,215158,1838.604,12134.944,143,2.3,162,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.27
$_SM_ANGLEo,-75.1
$GPS2,290513,215158,1838.604,12134.944,301,99.0,301,-2.0
$SPEED_LIMITS,0.165,0.344
$TGT_NAME,DOGLEG2
$TGT_LATLONG,1848.000,12140.000
$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,74.0,19529,-11.0,-9.524,-15.49,4630
$D_GRID,475
$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,-292.0,128,2344,1247,1128,0.0,0.0,0,82,0.00,0.00,-59.20,0.000,16386,0.000,0.000,128,2344,2751,2798,2704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.91,-292.0,128,2344,2799,2705,3.0,-11.2,8,128,10.27,1.98,-20.30,0.000,18692,0.229,0.048,2668,3693,3962,4006,3919,0,0,0,0,0,0,25.63,26.33,26.74
$GC,271,-0.91,-292.0,1584,3693,4005,3921,71.9,-24.4,39,279,0.00,1.83,0.00,0.000,1030,0.000,0.019,2668,2381,3963,4005,3922,0,0,0,0,0,0,28.83,26.51,28.83
$GC,476,-0.91,-292.0,1600,2378,4004,3923,132.1,-30.8,76,484,0.08,1.92,0.00,0.000,2564,0.207,0.028,2681,1013,3965,4006,3924,0,0,0,0,0,0,26.45,26.39,28.83
$GC,543,-0.91,-292.0,1600,1011,4004,3925,147.1,-17.9,87,551,0.00,1.88,0.00,0.000,1030,0.000,0.021,2674,2376,3965,4005,3926,0,0,0,0,0,0,28.83,26.51,28.83
$GC,747,-0.91,-292.0,1600,2374,4004,3926,183.9,-16.6,124,754,0.00,1.95,0.00,0.000,516,0.000,0.028,2674,1005,3965,4005,3926,0,0,0,0,0,0,28.83,26.40,28.83
$GC,781,-0.91,-292.0,2674,1006,4006,3926,190.3,-19.3,129,790,0.08,1.90,0.00,0.000,3078,0.202,0.024,2680,2366,3965,4005,3926,0,0,0,0,0,0,26.24,26.46,28.83
$STATE,833,end dive,TARGET_DEPTH_EXCEEDED
$STATE,833,begin apogee
$GC,840,-0.20,0.0,2680,2206,4005,3926,200.0,-17.1,138,1023,0.70,0.00,177.90,0.425,10246,0.128,0.000,2907,2207,2990,3105,2876,0,0,0,0,0,0,25.96,28.83,25.20
$STATE,1028,end apogee,CONTROL_FINISHED_OK
$STATE,1028,begin climb
$GC,1030,0.91,292.0,2907,2207,3106,2871,217.2,0.0,162,1256,0.95,2.00,217.85,0.422,10756,0.048,0.037,3285,911,1797,1921,1674,0,0,0,0,0,0,25.80,25.70,25.19
$GC,1320,0.91,292.0,3285,912,1921,1668,199.1,15.1,202,1328,0.10,1.88,0.00,0.000,5126,0.185,0.023,3265,2251,1793,1920,1667,0,0,0,0,0,0,25.78,26.05,28.83
$GC,1526,0.91,292.0,2176,2249,1845,1658,171.3,15.1,239,1535,0.00,1.95,0.00,0.000,516,0.000,0.034,3271,914,1791,1920,1663,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1782,0.91,292.0,2208,913,1846,1655,133.8,13.4,285,1790,0.00,1.83,0.00,0.000,1030,0.000,0.024,3271,2238,1790,1920,1660,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1989,0.91,292.0,2192,2236,1845,1652,101.8,14.2,322,1997,0.00,1.92,0.00,0.000,516,0.000,0.041,3277,915,1789,1920,1658,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2060,0.91,292.0,3277,915,1920,1657,92.3,14.2,334,2068,0.00,1.85,0.00,0.000,1030,0.000,0.023,3277,2250,1788,1920,1657,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2267,1.11,419.7,3277,2249,1917,1656,72.7,6.7,371,2370,0.12,2.10,90.28,0.353,10500,0.084,0.035,3351,3624,1276,1383,1169,0,0,0,0,0,0,26.54,25.98,25.51
$GC,2422,1.11,419.7,2336,3623,1343,1161,52.2,17.1,393,2430,0.10,1.88,0.00,0.000,5126,0.210,0.024,3332,2308,1272,1382,1162,0,0,0,0,0,0,25.84,26.14,28.83
$GC,2629,1.11,419.7,2272,2304,1342,1155,24.0,12.9,430,2637,0.00,2.03,0.00,0.000,516,0.000,0.036,3338,917,1269,1382,1157,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2733,1.11,419.7,2304,916,1343,1155,11.1,12.4,448,2741,0.00,1.83,0.00,0.000,1030,0.000,0.023,3338,2237,1268,1381,1156,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,2801,end climb,SURFACE_DEPTH_REACHED
$STATE,2801,begin surface coast
$FINISH,0.2,1.020605
$STATE,2831,end surface coast,CONTROL_FINISHED_OK
$STATE,2831,begin surface
$SM_CCo,2911,0.00,0.000,0,0,1264,423.88
$SM_GC,-1.32,8.60,0.15,0.00,0.063,0.072,0.000,138,2420,1264,-8.77,-1.92,423.88,0,0,0,0,0,0,26.27,26.49,28.83
$IRIDIUM_FIX,1830.49,12135.26,290513,202046
$TT8_MAMPS,0.027713,0.027713
$HUMID,54.96
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,24.60
$XPDR_PINGS,49
$SC_FREEKB,3870400
$24V_AH,25.2,47.616
$10V_AH,10.4,44.435
$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,21.000,30.950,486.025,0.000,0.000,0.000,0.000,216.025,12.250,0.000,303.597,1305.858,186.324,527.271,1249.229,324.447,0.000,1187.382,0.000,728.215,0.000,0.551,0.000
$DEVICE_MAMPS,228.735,77.265,425.340,0.000,0.000,0.000,0.000,113.985,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2843.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.764,0.000,0.000,0.000
$MEM,323300
$DATA_FILE_SIZE,16753,465
$CAP_FILE_SIZE,175072,0
$CFSIZE,260034560,204267520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.738,276.6,1
$GPS,290513,225720,1838.675,12133.801,237,3.3,256,-2.0