version: 66.11
glider: 177
mission: 4
dive: 398
start: 5 30 113 6 54 45
data:
$ID,177
$MISSION,4
$DIVE,398
$N_DIVES,400
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0255001
$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,520.77191
$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,-40339.59
$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,2985
$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,80
$R_STBD_OVSHOOT,86
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,2588
$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
$GPS1,300513,063927,1841.348,12129.299,70,2.3,89,-2.0
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.45
$_SM_ANGLEo,-71.0
$GPS2,300513,065415,1841.299,12129.391,240,2.8,259,-2.0
$SPEED_LIMITS,0.165,0.305
$TGT_NAME,DOGLEG
$TGT_LATLONG,1848.000,12127.000
$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,343.3,13099,-13.2,-9.524,-17.35,3487
$D_GRID,509
$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,17,begin dive
$GC,20,-0.88,-219.4,127,2402,469,451,0.0,0.0,0,110,0.00,0.00,-87.90,0.000,16386,0.000,0.000,127,2402,2772,2802,2743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-0.88,-219.4,127,2402,2801,2743,3.2,-12.6,12,150,10.95,1.90,-11.10,0.000,18692,0.246,0.052,2691,3673,3488,3571,3405,0,0,0,0,0,0,25.59,26.32,26.71
$GC,234,-0.88,-219.4,1600,3672,3558,3403,43.4,-18.1,31,242,0.00,1.80,0.00,0.000,1030,0.000,0.019,2691,2358,3489,3572,3406,0,0,0,0,0,0,28.83,26.46,28.83
$GC,439,-0.88,-219.4,2691,2358,3573,3406,91.7,-26.7,68,447,0.00,1.92,0.00,0.000,516,0.000,0.031,2691,999,3489,3573,3406,0,0,0,0,0,0,28.83,26.35,28.83
$GC,552,-0.88,-219.4,2691,999,3574,3406,121.6,-18.3,88,561,0.10,1.88,0.00,0.000,3078,0.182,0.025,2705,2350,3489,3573,3406,0,0,0,0,0,0,26.16,26.44,28.83
$GC,759,-0.88,-219.4,1600,2348,3560,3403,138.4,-8.7,125,767,0.00,2.00,0.00,0.000,260,0.000,0.047,2697,3706,3489,3573,3406,0,0,0,0,0,0,28.83,26.34,28.83
$GC,897,-0.88,-219.4,1600,3705,3560,3404,153.3,-13.0,149,905,0.00,1.88,0.00,0.000,1030,0.000,0.029,2698,2333,3489,3573,3406,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1104,-0.88,-219.4,1600,2331,3560,3403,193.2,-19.3,186,1113,0.00,1.90,0.00,0.000,516,0.000,0.031,2697,996,3489,3573,3406,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,1141,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1141,begin apogee
$GC,1149,-0.20,0.0,2689,2246,3571,3406,200.2,-16.2,192,1325,0.70,0.00,169.60,0.425,10246,0.126,0.000,2915,2246,2586,2683,2489,0,0,0,0,0,0,25.91,28.83,25.18
$STATE,1328,end apogee,CONTROL_FINISHED_OK
$STATE,1328,begin climb
$GC,1332,0.88,219.4,2915,2246,2683,2484,202.6,0.0,215,1507,0.98,2.08,163.18,0.409,10500,0.070,0.034,3271,3636,1687,1805,1570,0,0,0,0,0,0,25.72,25.70,25.18
$GC,1582,0.88,219.4,3270,3637,1799,1566,170.0,12.6,250,1591,0.00,1.92,0.00,0.000,1030,0.000,0.020,3278,2270,1683,1800,1566,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1790,0.88,219.4,2192,2266,1732,1559,138.9,16.2,287,1798,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,2268,1681,1799,1563,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1996,0.88,219.4,2208,2266,1732,1556,103.4,12.9,324,2004,0.00,2.03,0.00,0.000,260,0.000,0.037,3278,3645,1678,1799,1557,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2153,0.90,235.5,3278,3639,1795,1560,88.2,9.1,352,2170,0.00,1.95,11.23,0.396,9222,0.000,0.022,3282,2259,1625,1737,1513,0,0,0,0,0,0,28.83,26.40,25.70
$GC,2367,0.90,235.5,2240,2256,1676,1501,59.5,16.0,390,2375,0.00,2.05,0.00,0.000,516,0.000,0.040,3286,848,1621,1737,1505,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2416,0.90,235.5,2240,848,1675,1501,51.5,16.2,398,2424,0.00,1.95,0.00,0.000,1030,0.000,0.023,3286,2243,1620,1736,1505,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2623,1.00,291.9,2240,2240,1675,1501,29.3,7.9,435,2673,0.08,2.10,40.05,0.339,10500,0.118,0.036,3339,3634,1392,1500,1285,0,0,0,0,0,0,26.55,26.20,25.72
$GC,2732,1.00,291.9,3339,3635,1497,1281,16.0,14.5,451,2741,0.15,2.00,0.00,0.000,5126,0.176,0.021,3305,2205,1389,1497,1281,0,0,0,0,0,0,25.91,26.29,28.83
$GC,2810,1.16,396.3,3303,2205,1498,1278,9.5,6.5,464,2860,0.12,2.03,40.15,0.067,10756,0.081,0.037,3391,866,972,1063,881,0,0,0,0,0,0,26.43,26.18,26.10
$STATE,2876,end climb,SURFACE_DEPTH_REACHED
$STATE,2878,begin surface coast
$FINISH,-0.7,1.020090
$STATE,2906,end surface coast,CONTROL_FINISHED_OK
$STATE,2906,begin surface
$SM_CCo,2930,46.35,0.045,0,0,464,520.77
$SM_GC,-1.31,8.38,2.20,46.35,0.039,0.022,0.045,124,2369,464,-8.81,-1.61,520.77,0,0,0,0,0,0,26.25,26.32,26.22
$IRIDIUM_FIX,1835.04,12128.25,300513,050559
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.71
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,24.30
$XPDR_PINGS,65
$SC_FREEKB,3867712
$24V_AH,25.2,48.050
$10V_AH,10.4,44.812
$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,21.450,35.375,424.200,46.350,0.000,0.000,0.000,338.925,16.250,0.000,262.741,1368.581,249.963,553.437,1346.101,347.052,0.000,1340.006,0.000,756.231,0.000,0.549,0.000
$DEVICE_MAMPS,245.565,52.020,424.575,45.135,0.000,0.000,0.000,113.220,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2917.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.837,0.000,0.000,0.000
$MEM,323288
$DATA_FILE_SIZE,16804,478
$CAP_FILE_SIZE,182888,0
$CFSIZE,260034560,203739136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.255,230.1,1
$GPS,300513,074651,1841.246,12128.830,85,2.6,104,-2.0