version: 66.11
glider: 177
mission: 4
dive: 384
start: 5 29 113 13 15 24
data:
$ID,177
$MISSION,4
$DIVE,384
$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,-35772.582
$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,68
$R_STBD_OVSHOOT,66
$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
$GPS1,290513,124145,1841.650,12144.076,166,3.2,185,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.55
$_SM_ANGLEo,-68.6
$GPS2,290513,124145,1841.650,12144.076,901,99.0,901,-2.0
$SPEED_LIMITS,0.165,0.344
$TGT_NAME,DOGLEG
$TGT_LATLONG,1835.000,12154.000
$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,92.2,21334,-11.0,-9.524,-15.49,4630
$D_GRID,503
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,21,-1.02,-292.0,124,2431,476,456,0.0,0.0,0,109,0.00,0.00,-85.40,0.000,16386,0.000,0.000,124,2432,2787,2820,2754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,116,-1.02,-292.0,124,2431,2820,2755,3.7,-13.7,12,150,10.38,2.15,-16.10,0.000,18948,0.241,0.046,2590,983,3965,4006,3924,0,0,1,0,0,0,25.56,25.56,26.75
$GC,255,-1.02,-292.0,2589,982,4006,3926,71.9,-48.3,23,264,0.08,1.95,0.00,0.000,3078,0.214,0.028,2597,2367,3964,4002,3926,0,0,0,0,0,0,26.15,26.37,28.83
$GC,563,-1.02,-292.0,2594,2368,4005,3929,170.9,-25.2,39,569,0.00,2.00,0.00,0.000,516,0.000,0.032,2594,981,3967,4005,3930,0,0,0,0,0,0,28.83,26.33,28.83
$GC,685,-1.02,-292.0,2595,980,4005,3930,196.0,-23.2,44,693,0.00,1.98,0.00,0.000,1030,0.000,0.026,2587,2389,3967,4004,3930,0,0,0,0,0,0,28.83,26.40,28.83
$GC,993,-1.02,-292.0,2586,2391,4005,3931,284.4,-28.3,60,999,0.00,2.03,0.00,0.000,516,0.000,0.032,2586,980,3967,4004,3930,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1103,-1.02,-292.0,2586,980,4005,3930,317.1,-29.7,65,1109,0.10,1.95,0.00,0.000,3078,0.192,0.026,2599,2375,3967,4005,3930,0,0,0,0,0,0,26.09,26.39,28.83
$STATE,1385,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1385,begin apogee
$GC,1392,-0.20,0.0,2599,2190,4004,3925,402.2,-31.4,79,1584,0.80,0.00,183.48,0.587,10246,0.135,0.000,2854,2190,2989,3099,2879,0,0,0,0,0,0,25.77,28.83,24.84
$STATE,1585,end apogee,CONTROL_FINISHED_OK
$STATE,1585,begin climb
$GC,1588,1.02,292.0,2854,2190,3099,2879,430.7,0.0,87,1828,1.12,1.98,225.88,0.590,10756,0.077,0.037,3262,912,1796,1918,1674,0,0,0,0,0,0,25.49,25.44,24.84
$GC,1923,1.02,292.0,3264,913,1915,1669,425.1,10.0,102,1929,0.00,1.92,0.00,0.000,1030,0.000,0.025,3262,2253,1791,1915,1668,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2250,1.02,292.0,3261,2254,1913,1660,358.7,28.2,118,2257,0.00,2.05,0.00,0.000,260,0.000,0.039,3261,3634,1786,1913,1660,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2284,1.02,292.0,3261,3634,1910,1660,348.8,31.2,119,2291,0.08,1.90,0.00,0.000,5126,0.239,0.021,3257,2288,1785,1910,1661,0,0,0,0,0,0,26.03,26.29,28.83
$GC,2602,1.02,292.0,3257,2287,1905,1657,245.0,29.5,135,2608,0.00,2.15,0.00,0.000,516,0.000,0.048,3264,866,1781,1907,1656,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2829,1.02,292.0,3264,861,1903,1656,185.8,23.2,145,2837,0.00,1.95,0.00,0.000,1030,0.000,0.024,3264,2246,1779,1903,1656,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3137,1.02,292.0,3264,2244,1903,1652,133.0,10.7,161,3143,0.00,2.05,0.00,0.000,516,0.000,0.037,3269,859,1779,1903,1655,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3368,1.11,335.5,3266,859,1900,1652,111.9,8.6,172,3406,0.00,1.95,29.75,0.427,9222,0.000,0.024,3269,2239,1619,1737,1502,0,0,0,0,0,0,28.83,26.38,25.58
$GC,3719,1.26,407.3,3269,2240,1736,1492,79.1,7.9,189,3781,0.15,2.12,50.90,0.392,10500,0.074,0.037,3351,3634,1325,1430,1221,0,0,0,0,0,0,26.41,26.01,25.51
$GC,3872,1.26,407.3,3356,3634,1429,1214,65.7,10.8,195,3882,0.12,2.00,0.00,0.000,5126,0.195,0.024,3324,2247,1321,1429,1214,0,0,0,0,0,0,25.78,26.13,28.83
$GC,4175,1.26,407.3,3324,2246,1429,1210,40.0,16.7,214,4181,0.00,2.05,0.00,0.000,516,0.000,0.037,3332,848,1319,1429,1210,0,0,0,0,0,0,28.83,26.20,28.83
$GC,4287,1.26,407.3,3331,848,1429,1210,24.1,9.9,225,4295,0.00,1.95,0.00,0.000,1030,0.000,0.025,3332,2237,1319,1429,1210,0,0,0,0,0,0,28.83,26.33,28.83
$STATE,4514,end climb,SURFACE_DEPTH_REACHED
$STATE,4515,begin surface coast
$FINISH,-2.3,1.018582
$STATE,4593,end surface coast,CONTROL_FINISHED_OK
$STATE,4593,begin surface
$SM_CCo,4613,80.15,0.045,0,0,462,619.87
$SM_GC,-1.48,8.20,0.17,80.15,0.039,0.064,0.045,133,2415,462,-8.61,-1.39,619.87,0,0,0,0,0,0,26.33,26.49,26.20
$IRIDIUM_FIX,1835.04,12144.65,290513,121210
$TT8_MAMPS,0.026215,0.026215
$HUMID,53.30
$INTERNAL_PRESSURE,9.7953
$TCM_TEMP,25.20
$XPDR_PINGS,92
$SC_FREEKB,3873088
$24V_AH,24.8,47.102
$10V_AH,10.2,44.090
$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,21.025,36.450,490.000,80.150,0.000,0.000,0.000,667.525,23.000,0.000,903.639,1171.708,2253.075,590.863,2336.405,337.796,0.000,1757.841,0.000,775.628,0.000,0.549,0.000
$DEVICE_MAMPS,240.975,64.260,589.815,45.135,0.000,0.000,0.000,107.100,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4602.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,6.234,0.000,0.000,0.000
$MEM,323480
$DATA_FILE_SIZE,10149,281
$CAP_FILE_SIZE,160594,0
$CFSIZE,260034560,204734464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.621,257.0,1
$GPS,290513,143626,1841.214,12143.072,103,6.4,122,-2.0