version: 66.11
glider: 177
mission: 4
dive: 378
start: 5 29 113 2 54 2
data:
$ID,177
$MISSION,4
$DIVE,378
$N_DIVES,380
$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,-33056.184
$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,107
$R_STBD_OVSHOOT,57
$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
$GPS1,290513,024036,1842.963,12148.545,202,2.0,202,-2.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.38
$_SM_ANGLEo,-72.7
$GPS2,290513,025331,1843.069,12148.468,145,1.9,145,-2.1
$SPEED_LIMITS,0.165,0.344
$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,99.3,20538,-11.0,-9.524,-15.49,4630
$D_GRID,946
$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,-1.02,-292.0,144,2345,462,458,0.0,0.0,0,118,0.00,0.00,-92.28,0.000,16386,0.000,0.000,144,2345,2920,2957,2883,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-1.02,-292.0,144,2346,2957,2885,3.6,-12.6,13,157,10.25,2.05,-15.60,0.000,18692,0.243,0.051,2582,3712,3964,4008,3921,0,0,1,0,0,0,25.65,25.64,26.75
$GC,353,-1.02,-292.0,2582,3713,4007,3924,99.8,-36.9,29,359,0.00,1.80,0.00,0.000,1030,0.000,0.018,2583,2385,3965,4006,3924,0,0,0,0,0,0,28.83,26.52,28.83
$GC,668,-1.02,-292.0,2582,2382,4006,3928,193.6,-27.0,45,675,0.00,1.95,0.00,0.000,516,0.000,0.029,2583,1005,3966,4005,3928,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,691,end dive,TARGET_DEPTH_EXCEEDED
$STATE,692,begin apogee
$GC,699,-0.20,0.0,2574,2240,4005,3929,202.2,-29.9,46,883,0.93,0.00,176.35,0.426,10246,0.155,0.000,2853,2241,2989,3090,2889,0,0,0,0,0,0,25.79,28.83,25.19
$STATE,885,end apogee,CONTROL_FINISHED_OK
$STATE,885,begin climb
$GC,887,1.02,292.0,2853,2241,3090,2886,216.1,0.0,54,1116,1.12,2.10,216.48,0.420,11012,0.083,0.034,3253,3644,1796,1917,1676,0,0,0,0,0,0,25.67,25.70,25.18
$GC,1157,1.02,292.0,3253,3644,1914,1670,190.7,16.1,68,1163,0.00,1.98,0.00,0.000,1030,0.000,0.022,3256,2277,1792,1915,1670,0,0,0,0,0,0,28.83,25.97,28.83
$GC,1480,1.02,292.0,3255,2273,1915,1664,137.3,11.9,84,1486,0.00,2.10,0.00,0.000,516,0.000,0.037,3260,839,1789,1914,1664,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1721,1.02,292.0,3260,839,1911,1662,110.7,11.2,95,1727,0.00,1.98,0.00,0.000,1030,0.000,0.023,3260,2242,1786,1911,1661,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2037,1.23,393.5,3260,2243,1910,1657,78.9,7.3,111,2118,0.15,2.10,71.05,0.366,10500,0.072,0.036,3344,3628,1382,1491,1273,0,0,0,0,0,0,26.53,26.03,25.56
$GC,2199,1.23,393.5,3344,3628,1490,1266,59.8,12.9,118,2207,0.15,2.00,0.00,0.000,5126,0.180,0.021,3314,2229,1378,1490,1266,0,0,0,0,0,0,25.84,26.20,28.83
$GC,2511,1.23,393.5,3314,2227,1490,1260,31.4,11.3,142,2512,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2227,1375,1490,1260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2826,1.53,546.1,3313,2227,1490,1257,3.8,6.1,196,2844,0.25,0.00,14.95,0.055,10498,0.052,0.000,3442,2226,1214,1311,1117,0,0,0,0,0,0,26.51,28.83,28.83
$STATE,2845,end climb,SURFACE_DEPTH_REACHED
$STATE,2845,begin surface coast
$FINISH,-2.3,1.019722
$STATE,2888,end surface coast,CONTROL_FINISHED_OK
$STATE,2888,begin surface
$SM_CCo,2908,67.82,0.044,0,0,463,619.87
$SM_GC,-1.25,8.45,0.17,67.82,0.037,0.063,0.044,123,2405,463,-8.63,-1.92,619.87,0,0,0,0,0,0,26.37,26.53,26.28
$IRIDIUM_FIX,1839.59,12155.98,290513,010123
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.15
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,25.30
$XPDR_PINGS,32
$SC_FREEKB,3875392
$24V_AH,25.2,46.538
$10V_AH,10.3,43.724
$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,21.300,20.000,478.825,67.825,0.000,0.000,0.000,217.175,8.000,0.000,147.744,782.765,1277.928,542.144,934.353,223.920,0.000,1139.671,0.000,534.419,0.000,0.549,0.000
$DEVICE_MAMPS,242.505,63.495,426.105,44.370,0.000,0.000,0.000,71.145,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2889.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.251,0.000,0.000,0.000
$MEM,321352
$DATA_FILE_SIZE,6816,205
$CAP_FILE_SIZE,111870,0
$CFSIZE,260034560,205254656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.845,269.7,1
$GPS,290513,034851,1842.947,12147.188,249,4.1,268,-2.1