version: 66.11
glider: 177
mission: 4
dive: 385
start: 5 29 113 14 55 32
data:
$ID,177
$MISSION,4
$DIVE,385
$N_DIVES,390
$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,-35773.844
$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,52
$R_STBD_OVSHOOT,85
$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
$GPS1,290513,143626,1841.214,12143.072,103,6.4,122,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.54
$_SM_ANGLEo,-68.0
$GPS2,290513,145459,1841.113,12142.780,208,2.0,208,-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,76.9,22717,-11.0,-9.524,-15.49,4630
$D_GRID,493
$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,-292.0,132,2416,481,455,0.0,0.0,0,124,0.00,0.00,-100.40,0.000,16386,0.000,0.000,132,2417,3122,3161,3084,0,0,0,0,0,0,28.83,28.83,28.83
$GC,128,-1.02,-292.0,132,2417,3161,3086,4.3,-14.0,13,163,9.98,1.90,-11.73,0.000,18692,0.230,0.056,2579,3682,3964,4005,3924,0,0,0,0,0,0,25.56,25.55,26.69
$GC,204,-1.02,-292.0,2582,3682,4005,3925,51.4,-52.9,21,211,0.08,1.90,0.00,0.000,3078,0.207,0.021,2591,2324,3965,4006,3925,0,0,0,0,0,0,26.15,26.39,28.83
$GC,533,-1.02,-292.0,2591,2322,4005,3927,166.1,-30.1,37,539,0.00,2.00,0.00,0.000,260,0.000,0.037,2583,3683,3966,4005,3927,0,0,0,0,0,0,28.83,26.32,28.83
$GC,640,-1.02,-292.0,2583,3684,4005,3929,195.5,-23.7,42,646,0.00,1.85,0.00,0.000,1030,0.000,0.019,2583,2322,3967,4005,3929,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,662,begin apogee
$GC,669,-0.20,0.0,2583,2191,4005,3929,201.2,-22.5,43,853,0.90,0.00,177.73,0.422,10246,0.151,0.000,2857,2190,2989,3092,2887,0,0,0,0,0,0,25.76,28.83,25.15
$STATE,855,end apogee,CONTROL_FINISHED_OK
$STATE,855,begin climb
$GC,857,1.02,292.0,2857,2190,3092,2882,213.3,0.0,51,1083,1.12,2.20,217.18,0.420,10500,0.084,0.034,3254,3606,1795,1917,1674,0,0,0,0,0,0,25.63,25.62,25.10
$GC,1102,1.02,292.0,3254,3606,1914,1668,206.1,10.4,64,1108,0.00,1.92,0.00,0.000,1030,0.000,0.023,3256,2276,1790,1914,1667,0,0,0,0,0,0,28.83,25.80,28.83
$GC,1424,1.02,292.0,3256,2273,1914,1661,171.0,12.4,80,1430,0.00,2.10,0.00,0.000,516,0.000,0.037,3260,847,1787,1914,1660,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1667,1.02,292.0,3260,847,1911,1660,142.8,12.3,91,1673,0.00,1.90,0.00,0.000,1030,0.000,0.023,3260,2216,1785,1911,1660,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1982,1.39,474.9,3260,2216,1910,1656,112.3,5.5,107,2121,0.28,2.12,128.18,0.372,10500,0.052,0.035,3394,3631,1051,1141,961,0,0,0,0,0,0,26.46,25.79,25.32
$GC,2223,1.39,474.9,3394,3632,1132,957,79.5,18.5,117,2232,0.12,2.00,0.00,0.000,5126,0.201,0.022,3373,2228,1044,1132,957,0,0,0,0,0,0,25.74,26.10,28.83
$GC,2531,1.39,474.9,2368,2226,1110,950,21.1,16.1,143,2539,0.00,2.00,0.00,0.000,516,0.000,0.036,3380,855,1041,1130,952,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2570,1.39,474.9,3379,855,1130,951,14.5,16.4,149,2578,0.00,1.92,0.00,0.000,1030,0.000,0.023,3379,2238,1040,1130,951,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,2671,end climb,SURFACE_DEPTH_REACHED
$STATE,2671,begin surface coast
$FINISH,0.1,1.019826
$STATE,2701,end surface coast,CONTROL_FINISHED_OK
$STATE,2701,begin surface
$SM_CCo,2720,52.90,0.044,0,0,464,619.87
$SM_GC,-1.29,8.73,0.15,52.90,0.063,0.071,0.044,140,2433,464,-8.62,-1.87,619.87,0,0,0,0,0,0,26.29,26.47,26.24
$IRIDIUM_FIX,1832.77,12144.65,290513,141401
$TT8_MAMPS,0.026964,0.026964
$HUMID,51.69
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,25.00
$XPDR_PINGS,58
$SC_FREEKB,3872704
$24V_AH,25.1,47.179
$10V_AH,10.3,44.132
$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,21.200,24.050,523.075,52.900,0.000,0.000,0.000,483.100,14.500,0.000,213.352,662.443,1219.284,600.575,1177.936,235.285,0.000,1431.934,0.000,457.969,0.000,0.550,0.000
$DEVICE_MAMPS,230.265,100.980,421.515,44.370,0.000,0.000,0.000,117.810,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2717.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.507,0.000,0.000,0.000
$MEM,323280
$DATA_FILE_SIZE,6810,172
$CAP_FILE_SIZE,101672,0
$CFSIZE,260034560,204718080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.656,241.8,1
$GPS,290513,154444,1840.579,12142.038,114,3.8,133,-2.0