version: 66.11
glider: 177
mission: 4
dive: 372
start: 5 28 113 19 27 36
data:
$ID,177
$MISSION,4
$DIVE,372
$N_DIVES,375
$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,200
$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,0.001
$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,-31240.375
$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,2925
$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,88
$R_STBD_OVSHOOT,95
$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,0.0020000001
$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
$GPS1,280513,184806,1842.680,12155.158,145,1.5,145,-2.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.49
$_SM_ANGLEo,-73.4
$GPS2,280513,184806,1842.680,12155.158,901,99.0,901,-2.1
$SPEED_LIMITS,0.165,0.767
$TGT_NAME,PICKUP
$TGT_LATLONG,1845.000,12200.000
$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,64.2,9517,-6.4,-9.524,-7.08,3131
$D_GRID,1054
$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,-0.65,-194.6,140,2418,476,456,0.0,0.0,0,120,0.00,0.00,-96.43,0.000,16386,0.000,0.000,141,2418,3079,3125,3034,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-0.65,-194.6,141,2418,3126,3035,3.9,-11.1,13,158,10.90,2.08,-10.38,0.000,18948,0.243,0.047,2712,1009,3790,3882,3699,0,0,1,0,0,0,25.58,25.60,26.73
$GC,222,-0.65,-194.6,2711,1007,3882,3699,49.9,-32.1,23,230,0.00,1.88,0.00,0.000,1030,0.000,0.028,2704,2332,3790,3882,3698,0,0,0,0,0,0,28.83,26.36,28.83
$GC,529,-0.65,-194.6,2704,2334,3882,3698,131.5,-19.8,39,535,0.00,1.88,0.00,0.000,516,0.000,0.028,2704,1005,3790,3882,3698,0,0,0,0,0,0,28.83,26.34,28.83
$GC,599,-0.65,-194.6,2704,1006,3882,3698,143.6,-18.1,42,606,0.08,1.92,0.00,0.000,3078,0.195,0.026,2715,2382,3790,3882,3698,0,0,0,0,0,0,26.20,26.40,28.83
$GC,923,-0.65,-194.6,2714,2382,3882,3698,198.0,-16.3,58,929,0.00,1.95,0.00,0.000,260,0.000,0.039,2708,3716,3790,3882,3698,0,0,0,0,0,0,28.83,26.32,28.83
$STATE,946,end dive,TARGET_DEPTH_EXCEEDED
$STATE,946,begin apogee
$GC,954,-0.20,0.0,2707,2217,3882,3698,202.3,-15.7,59,1106,0.45,0.00,144.82,0.450,10246,0.119,0.000,2855,2215,2990,3099,2882,0,0,0,0,0,0,25.97,28.83,25.09
$STATE,1107,end apogee,CONTROL_FINISHED_OK
$STATE,1110,begin climb
$GC,1112,0.65,194.6,2855,2215,3099,2880,212.2,0.0,65,1273,0.77,2.20,148.80,0.435,11012,0.090,0.037,3128,3632,2193,2320,2066,0,0,0,0,0,0,25.60,25.58,25.05
$GC,1369,0.66,202.5,3128,3632,2318,2059,198.9,9.3,79,1383,0.00,1.92,5.05,0.444,9222,0.000,0.019,3136,2254,2166,2295,2038,0,0,0,0,0,0,28.83,26.05,25.22
$GC,1684,0.74,243.7,3136,2254,2295,2037,170.3,8.2,95,1721,0.10,0.00,33.40,0.424,10246,0.093,0.000,3202,2252,1995,2123,1868,0,0,0,0,0,0,26.39,28.83,25.50
$GC,2022,0.80,269.3,3202,2252,2122,1854,139.6,8.7,112,2051,0.10,2.12,19.52,0.417,12548,0.163,0.034,3179,3639,1891,2021,1761,0,0,0,0,0,0,26.23,26.16,25.60
$GC,2288,1.15,447.3,3178,3639,2019,1751,116.2,3.7,124,2422,0.32,1.95,126.43,0.376,11270,0.043,0.020,3336,2212,1166,1263,1069,0,0,0,0,0,0,26.34,26.36,25.26
$GC,2741,1.15,447.3,3336,2211,1260,1050,52.1,14.4,146,2743,0.15,0.00,0.00,0.000,4102,0.162,0.000,3296,2211,1155,1261,1050,0,0,0,0,0,0,26.01,28.83,28.83
$GC,3046,1.21,478.3,2272,2209,1233,1044,19.0,8.5,180,3064,0.08,2.17,11.57,0.096,10500,0.122,0.034,3349,3644,1041,1138,945,0,0,0,0,0,0,26.50,26.27,25.98
$GC,3083,1.21,478.3,2352,3643,1117,948,14.9,10.9,185,3092,0.15,1.92,0.00,0.000,5126,0.182,0.023,3314,2282,1044,1138,950,0,0,0,0,0,0,25.94,26.34,28.83
$STATE,3195,end climb,SURFACE_DEPTH_REACHED
$STATE,3195,begin surface coast
$FINISH,0.6,1.020371
$STATE,3228,end surface coast,CONTROL_FINISHED_OK
$STATE,3228,begin surface
$SM_CCo,3248,53.08,0.045,0,0,464,619.87
$SM_GC,-1.47,8.48,0.10,53.08,0.058,0.087,0.045,129,2399,464,-8.63,-1.72,619.87,0,0,0,0,0,0,26.29,26.52,26.23
$IRIDIUM_FIX,1837.32,12155.98,280513,191906
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.60
$INTERNAL_PRESSURE,9.81483
$TCM_TEMP,25.30
$XPDR_PINGS,124
$SC_FREEKB,3877696
$24V_AH,25.0,46.157
$10V_AH,10.3,43.443
$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,21.575,24.175,489.600,53.075,0.000,0.000,0.000,979.575,31.000,0.000,903.499,770.384,1598.730,564.146,2404.356,281.753,0.000,1914.243,0.000,524.820,0.000,0.552,0.000
$DEVICE_MAMPS,243.270,87.210,449.820,45.135,0.000,0.000,0.000,107.865,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3253.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.605,0.000,0.000,0.000
$MEM,320512
$DATA_FILE_SIZE,6824,211
$CAP_FILE_SIZE,121657,0
$CFSIZE,260034560,205594624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.709,260.5,1
$GPS,280513,202721,1842.740,12154.236,220,7.6,239,-2.1