version: 66.12
glider: 177
mission: 11
dive: 6
start: 8 5 114 16 50 49
data:
$ID,177
$MISSION,11
$DIVE,6
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,200
$D_NO_BLEED,50
$D_BOOST,20
$T_BOOST,5
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,5
$SURFACE_URGENCY_TRY,5
$SURFACE_URGENCY_FORCE,10
$T_DIVE,50
$T_MISSION,65
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,-5
$T_NO_W,360
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$USE_ICE,1
$ICE_FREEZE_MARGIN,0.059999999
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.028
$MASS,53222
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00266
$HD_B,0.0099999998
$HD_C,4.8000002e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,4
$TGT_DEFAULT_LAT,7500
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,707.69049
$N_FILEKB,8
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-675546.25
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,200
$PITCH_MAX,3900
$C_PITCH,2600
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,27
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,161
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,2100
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,3140
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$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,-158.36624
$PRESSURE_SLOPE,0.00010898
$AD7714Ch0Gain,1
$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,3
$XPDR_VALID,0
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,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,149
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.004354998
$SEABIRD_T_H,0.00062502571
$SEABIRD_T_I,2.3150107e-05
$SEABIRD_T_J,2.4680064e-06
$SEABIRD_C_G,-9.81075
$SEABIRD_C_H,1.1317941
$SEABIRD_C_I,-0.0019965407
$SEABIRD_C_J,0.00022967349
$SC_RECORDABOVE,2000.0
$SC_PROFILE,3.0
$SC_XMITPROFILE,3.0
$GPS1,050814,164223,7506.143,-15853.728,22,1.4,39,21.9
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-62.8
$GPS2,050814,165019,7506.152,-15853.635,13,1.9,13,21.9
$SPEED_LIMITS,0.173,0.238
$TGT_NAME,1
$TGT_LATLONG,7506.000,-15852.000
$TGT_RADIUS,200.000
$MHEAD_RNG_PITCHd_Wd,88.0,828,-18.2,-10.000,-22.81,2005
$D_GRID,1000
$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,-0.89,-145.9,192,2094,396,503,0.0,0.0,0,131,0.00,0.00,-110.12,0.000,16386,0.000,0.000,192,2094,2683,2736,2630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,135,-0.89,-145.9,192,2094,2738,2637,4.2,-4.4,11,175,9.23,2.30,-21.90,0.000,19204,0.263,0.069,2298,3492,3740,3835,3646,0,0,0,0,0,0,25.33,25.60,25.94
$GC,402,-0.86,-145.9,2298,3492,3839,3648,61.2,-16.2,64,409,0.00,2.12,0.00,0.000,1030,0.000,0.034,2298,2097,3743,3839,3648,0,0,0,0,0,0,28.83,25.84,28.83
$GC,708,-0.86,-145.9,2298,2097,3839,3647,100.5,-12.3,95,714,0.00,2.17,0.00,0.000,516,0.000,0.054,2298,705,3743,3839,3647,0,0,0,0,0,0,28.83,25.92,28.83
$GC,946,-0.89,-145.9,2302,705,3839,3646,129.0,-11.8,141,951,0.00,2.12,0.00,0.000,1030,0.000,0.041,2289,2100,3742,3839,3646,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,1126,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1126,begin apogee
$GC,1132,-0.19,0.0,2288,2100,3839,3646,150.2,-11.2,160,1341,0.77,0.00,194.85,0.507,10246,0.132,0.000,2536,2100,3141,3252,3030,0,0,0,0,1,0,25.98,28.83,24.10
$STATE,1342,end apogee,CONTROL_FINISHED_OK
$STATE,1342,begin climb
$GC,1345,0.89,145.9,2535,2101,3251,3028,161.4,0.0,181,1544,1.00,2.40,181.25,0.487,10500,0.057,0.047,2890,3506,2544,2654,2434,0,0,0,0,1,0,24.75,24.44,23.84
$GC,1715,0.72,145.9,2890,3506,2653,2429,147.5,10.6,255,1721,0.28,2.17,0.00,0.000,5126,0.184,0.028,2834,2094,2540,2653,2428,0,0,0,0,0,0,25.04,25.27,28.83
$GC,2033,0.75,198.7,2834,2098,2652,2424,122.8,7.3,287,2108,0.00,2.33,62.33,0.554,8452,0.000,0.048,2834,3510,2329,2457,2202,0,0,0,0,1,0,28.83,25.00,24.44
$GC,2166,0.70,200.6,2834,3510,2457,2200,111.1,9.9,313,2172,0.00,2.17,0.00,0.000,1030,0.000,0.028,2843,2100,2326,2453,2200,0,0,0,0,0,0,28.83,25.26,28.83
$GC,2472,0.74,243.0,2843,2100,2457,2194,84.9,7.8,344,2540,0.00,0.00,56.35,0.500,8198,0.000,0.000,2843,2099,2147,2282,2013,0,0,0,0,1,0,28.83,28.83,24.55
$GC,2842,0.82,295.6,2842,2100,2282,2006,55.2,7.3,381,2911,0.00,2.33,56.05,0.542,8452,0.000,0.051,2843,3507,1931,2073,1789,0,0,0,0,1,0,28.83,25.03,24.52
$GC,3020,0.97,378.3,2843,3507,2073,1785,42.3,5.8,416,3108,0.20,2.17,71.53,0.565,11270,0.069,0.028,2938,2090,1592,1727,1458,0,0,0,0,1,0,25.38,25.39,24.20
$GC,3406,1.10,463.1,2938,2090,1731,1450,11.6,5.7,463,3456,0.00,2.35,43.20,0.093,8452,0.000,0.048,2938,3507,1247,1366,1129,0,0,0,0,0,0,28.83,25.43,25.39
$FREEZE,8.11,-7.535,-1.841,2,1,0
$FREEZE,7.85,-7.530,-1.840,2,1,0
$FREEZE,7.24,-7.530,-1.839,2,1,0
$FREEZE,6.73,-7.481,-1.837,2,1,0
$FREEZE,6.30,-7.481,-1.836,2,1,0
$FREEZE,5.83,-7.476,-1.836,2,1,0
$FREEZE,5.42,-7.476,-1.835,2,1,0
$FREEZE,5.03,-7.427,-1.832,2,1,0
$FREEZE,4.72,-7.427,-1.832,2,1,0
$FREEZE,4.10,-7.411,-1.831,2,1,0
$FREEZE,3.75,-7.411,-1.831,2,1,0
$FREEZE,2.82,-7.405,-1.830,2,1,0
$GC,3519,1.18,500.7,2938,3507,1364,1127,3.8,8.1,484,3529,0.00,2.15,5.15,0.075,9218,0.000,0.028,2949,2099,1204,1318,1091,0,0,0,0,0,0,28.83,25.57,28.83
$STATE,3530,end climb,SURFACE_DEPTH_REACHED
$STATE,3530,begin surface coast
$FREEZE,2.12,-7.405,-1.830,2,1,0
$FINISH,2.1,1.026727
$STATE,3536,end surface coast,CONTROL_FINISHED_OK
$STATE,3536,begin surface
$SM_CCo,3555,97.53,0.071,0,0,464,656.18
$SM_CCo,3656,-0.55,0.000,0,0,467,656.18
$SM_CCo,3660,0.95,0.080,0,0,464,656.18
$SM_GC,1.53,7.95,0.00,0.95,0.072,0.000,0.080,185,2099,464,-7.49,-0.03,656.18,0,0,0,0,0,0,25.54,28.83,25.46
$IRIDIUM_FIX,7421.75,-15855.35,091021,020405
$TT8_MAMPS,0.021721,0.021721
$HUMID,65.31
$INTERNAL_PRESSURE,8.41829
$TCM_TEMP,13.70
$XPDR_PINGS,0
$SC_FREEKB,4017024
$24V_AH,23.84,1.556
$10V_AH,9.50,0.957
$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,19.425,26.800,670.700,98.475,0.000,0.000,0.000,296.925,0.000,0.000,18.093,827.400,1270.270,788.376,1089.491,176.574,0.000,1572.719,0.000,727.301,0.000,0.536,0.000
$DEVICE_MAMPS,263.160,68.850,564.570,79.560,0.000,0.000,0.000,118.575,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3578.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,36.778,0.000,0.000,0.000
$MEM,323324
$DATA_FILE_SIZE,16771,486
$CAP_FILE_SIZE,73951,0
$CFSIZE,260034560,252469248
$ERRORS,0,3,0,0,0,0,0,0,0,0,0,0,0,6,0,0
$INTR,0,4527.08,0x23790a,7,5
$INTR,1,1129.31,0x23790a,2,5
$INTR,2,3542.60,0x23790a,7,5
$GPS,050814,175305,7506.196,-15853.920,14,1.3,30,21.9