version: 66.11
glider: 177
mission: 4
dive: 379
start: 5 29 113 4 22 32
data:
$ID,177
$MISSION,4
$DIVE,379
$N_DIVES,385
$D_SURF,3
$D_FLARE,3
$D_TGT,400
$D_ABORT,500
$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,140
$T_MISSION,170
$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,-33960.34
$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,61
$R_STBD_OVSHOOT,89
$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
$GPS1,290513,034851,1842.947,12147.188,249,4.1,268,-2.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.32
$_SM_ANGLEo,-73.8
$GPS2,290513,034851,1842.947,12147.188,901,99.0,901,-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,106.0,22787,-11.0,-9.524,-15.49,4630
$D_GRID,784
$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,-1.02,-292.0,122,2406,468,456,0.0,0.0,0,120,0.00,0.00,-96.80,0.000,16386,0.000,0.000,122,2406,3084,3122,3046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-1.02,-292.0,122,2406,3123,3047,5.1,-17.3,13,150,10.23,0.00,-12.25,0.000,18694,0.236,0.000,2591,2407,3966,4006,3926,0,0,0,0,0,0,25.45,28.83,26.78
$GC,469,-1.02,-292.0,2590,2407,4004,3932,149.6,-31.7,35,470,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2407,3968,4004,3932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,770,-1.02,-292.0,2591,2407,4003,3936,228.8,-28.7,50,776,0.00,2.03,0.00,0.000,516,0.000,0.028,2591,980,3969,4003,3936,0,0,0,0,0,0,28.83,26.41,28.83
$GC,877,-1.02,-292.0,2591,980,4003,3936,256.0,-24.8,55,884,0.00,1.92,0.00,0.000,1030,0.000,0.025,2583,2342,3969,4003,3936,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1205,-1.02,-292.0,2583,2343,4003,3935,342.0,-26.3,71,1211,0.00,1.98,0.00,0.000,260,0.000,0.037,2576,3706,3971,4003,3940,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1232,-1.02,-292.0,1568,3705,4002,3933,349.4,-26.4,72,1239,0.10,1.85,0.00,0.000,3078,0.178,0.019,2598,2325,3968,4002,3934,0,0,0,0,0,0,26.20,26.54,28.83
$STATE,1471,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1471,begin apogee
$GC,1476,-0.20,0.0,2598,2325,4003,3928,404.0,-21.2,84,1670,0.80,0.00,184.75,0.586,10246,0.135,0.000,2855,2324,2988,3098,2879,0,0,0,0,0,0,25.89,28.83,24.94
$STATE,1671,end apogee,CONTROL_FINISHED_OK
$STATE,1671,begin climb
$GC,1674,1.02,292.0,2854,2324,3098,2876,416.1,0.0,92,1910,1.10,2.00,224.50,0.582,10500,0.072,0.036,3252,3635,1796,1917,1676,0,0,0,0,0,0,25.59,25.54,24.94
$GC,1991,1.02,292.0,3251,3635,1914,1665,379.1,22.3,106,1997,0.00,1.92,0.00,0.000,1030,0.000,0.022,3257,2292,1789,1913,1665,0,0,0,0,0,0,28.83,26.02,28.83
$GC,2307,1.02,292.0,3256,2291,1913,1657,311.7,20.3,122,2313,0.00,2.05,0.00,0.000,516,0.000,0.037,3263,895,1785,1913,1657,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2436,1.02,292.0,3262,895,1909,1657,287.3,18.6,128,2442,0.00,1.90,0.00,0.000,1030,0.000,0.024,3263,2241,1783,1909,1657,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2765,1.02,292.0,3263,2241,1905,1653,228.3,15.1,144,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,3263,2241,1778,1905,1652,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3061,1.02,292.0,3263,2241,1902,1650,182.2,13.3,159,3067,0.00,1.98,0.00,0.000,516,0.000,0.037,3270,900,1776,1902,1650,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3302,1.02,292.0,3270,900,1897,1650,144.8,17.5,170,3310,0.08,1.88,0.00,0.000,5126,0.201,0.024,3257,2249,1773,1897,1650,0,0,0,0,0,0,26.19,26.41,28.83
$GC,3622,1.02,292.0,3257,2250,1895,1646,110.8,9.8,186,3628,0.00,1.98,0.00,0.000,516,0.000,0.037,3265,902,1770,1894,1646,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3868,1.35,454.9,3265,901,1893,1646,86.2,5.9,197,3990,0.28,1.88,111.55,0.398,11270,0.054,0.023,3389,2248,1132,1220,1045,0,0,0,0,0,0,26.39,26.43,25.34
$GC,4296,1.35,454.9,3389,2248,1210,1037,17.1,19.1,230,4305,0.12,2.03,0.00,0.000,4356,0.187,0.034,3356,3631,1123,1210,1036,0,0,0,0,0,0,25.98,26.20,28.83
$GC,4341,1.35,454.9,3355,3630,1209,1036,9.5,15.3,237,4350,0.00,1.90,0.00,0.000,1030,0.000,0.021,3358,2271,1122,1209,1036,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,4386,end climb,SURFACE_DEPTH_REACHED
$STATE,4387,begin surface coast
$FINISH,0.4,1.020172
$STATE,4412,end surface coast,CONTROL_FINISHED_OK
$STATE,4412,begin surface
$SM_CCo,4432,60.50,0.048,0,0,464,619.87
$SM_GC,-1.54,8.68,0.12,60.50,0.062,0.070,0.048,136,2403,464,-8.61,-1.72,619.87,0,0,0,0,0,0,26.27,26.48,26.19
$IRIDIUM_FIX,1835.04,12149.71,290513,040415
$TT8_MAMPS,0.026215,0.026215
$HUMID,57.48
$INTERNAL_PRESSURE,9.766
$TCM_TEMP,24.10
$XPDR_PINGS,94
$SC_FREEKB,3875008
$24V_AH,24.9,46.638
$10V_AH,10.3,43.794
$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,21.375,27.400,520.800,60.500,0.000,0.000,0.000,679.425,23.500,0.000,903.528,1012.121,2336.792,578.886,2288.355,279.378,0.000,1723.886,0.000,675.115,0.000,0.551,0.000
$DEVICE_MAMPS,235.620,70.380,585.990,48.195,0.000,0.000,0.000,101.745,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4424.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.686,0.000,0.000,0.000
$MEM,320468
$DATA_FILE_SIZE,10147,249
$CAP_FILE_SIZE,143105,0
$CFSIZE,260034560,205156352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.707,269.2,1
$GPS,290513,054246,1842.799,12145.698,257,3.6,276,-2.1