version: 66.11
glider: 177
mission: 4
dive: 390
start: 5 29 113 20 57 28
data:
$ID,177
$MISSION,4
$DIVE,390
$N_DIVES,395
$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,400
$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,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-37587.723
$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,2975
$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,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,0.0016
$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
$GPS1,290513,204457,1838.533,12136.280,110,4.2,129,-2.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.34
$_SM_ANGLEo,-72.5
$GPS2,290513,205655,1838.611,12136.193,142,1.5,160,-2.0
$SPEED_LIMITS,0.165,0.344
$TGT_NAME,DOGLEG2
$TGT_LATLONG,1848.000,12140.000
$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,68.0,18625,-11.0,-9.524,-15.49,4630
$D_GRID,473
$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,20,-0.91,-292.0,137,2408,467,459,0.0,0.0,0,122,0.00,0.00,-97.07,0.000,16386,0.000,0.000,137,2408,2990,3021,2960,0,0,0,0,0,0,28.83,28.83,28.83
$GC,127,-0.91,-292.0,137,2408,3022,2961,3.1,-9.6,13,161,10.43,1.90,-14.70,0.000,18692,0.236,0.051,2668,3670,3964,4008,3921,0,0,0,0,0,0,25.60,26.32,26.59
$GC,325,-0.91,-292.0,1600,3670,4006,3923,85.3,-24.9,47,335,0.08,1.80,0.00,0.000,3078,0.195,0.019,2682,2315,3965,4007,3923,0,0,0,0,0,0,26.25,26.48,28.83
$GC,533,-0.91,-292.0,1584,2311,4005,3925,141.5,-23.3,84,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2313,3965,4006,3925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,737,-0.91,-292.0,2681,2313,4007,3926,183.1,-19.4,121,745,0.00,1.90,0.00,0.000,516,0.000,0.032,2682,981,3966,4006,3927,0,0,0,0,0,0,28.83,26.39,28.83
$GC,797,-0.91,-292.0,1616,979,4005,3927,193.9,-15.7,131,806,0.00,1.92,0.00,0.000,1030,0.000,0.027,2676,2340,3965,4004,3927,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,839,begin apogee
$GC,847,-0.20,0.0,2676,2176,4006,3927,200.7,-15.2,138,1034,0.73,0.05,177.32,0.424,10246,0.136,0.145,2905,2270,2990,3094,2886,0,0,0,0,0,0,25.94,25.65,25.21
$STATE,1036,end apogee,CONTROL_FINISHED_OK
$STATE,1036,begin climb
$GC,1038,0.91,292.0,2904,2270,3093,2881,211.9,0.0,162,1266,0.98,2.08,217.32,0.419,10500,0.063,0.036,3269,3610,1796,1916,1677,0,0,0,0,0,0,25.77,25.72,25.20
$GC,1513,0.91,292.0,2208,3610,1841,1659,171.9,18.7,236,1522,0.00,1.95,0.00,0.000,1030,0.000,0.023,3269,2245,1789,1914,1665,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1722,0.91,292.0,3269,2244,1914,1664,141.0,13.6,273,1730,0.00,2.03,0.00,0.000,260,0.000,0.034,3269,3622,1792,1921,1664,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1976,0.91,292.0,3269,3622,1914,1661,105.6,13.4,319,1984,0.00,1.95,0.00,0.000,1030,0.000,0.022,3269,2233,1787,1914,1660,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2181,0.99,342.7,3269,2233,1914,1658,86.1,8.4,356,2230,0.08,2.05,36.65,0.369,10500,0.125,0.035,3316,3620,1589,1707,1472,0,0,0,0,0,0,26.56,26.21,25.68
$GC,2394,0.99,342.7,3316,3620,1706,1465,57.5,13.7,392,2404,0.12,1.92,0.00,0.000,5126,0.179,0.020,3294,2224,1585,1706,1465,0,0,0,0,0,0,26.05,26.39,28.83
$GC,2601,1.06,384.8,2224,2221,1645,1458,36.1,8.6,429,2643,0.08,1.98,30.17,0.339,10756,0.119,0.034,3352,858,1419,1533,1306,0,0,0,0,0,0,26.54,26.23,25.78
$GC,2754,1.06,384.8,3352,854,1531,1303,20.2,11.3,454,2763,0.15,1.90,0.00,0.000,5126,0.166,0.022,3314,2237,1416,1531,1302,0,0,0,0,0,0,25.99,26.39,28.83
$GC,2831,1.06,384.8,2304,2235,1485,1298,12.7,9.5,467,2838,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,2237,1415,1531,1300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2907,1.15,440.4,2240,2235,1481,1297,6.3,8.3,480,2940,0.10,2.05,20.77,0.060,10500,0.093,0.035,3376,3613,1196,1294,1098,0,0,0,0,0,0,26.51,26.32,26.22
$STATE,2947,end climb,SURFACE_DEPTH_REACHED
$STATE,2947,begin surface coast
$FINISH,-1.2,1.020072
$STATE,2981,end surface coast,CONTROL_FINISHED_OK
$STATE,2981,begin surface
$SM_CCo,3063,0.00,0.000,0,0,1192,441.54
$SM_GC,-1.45,8.27,1.75,0.00,0.037,0.019,0.000,129,2347,1192,-8.78,2.09,441.54,0,0,1,0,0,0,26.29,26.47,28.83
$IRIDIUM_FIX,1830.49,12138.39,290513,191959
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.18
$INTERNAL_PRESSURE,9.93202
$TCM_TEMP,25.20
$XPDR_PINGS,77
$SC_FREEKB,3870784
$24V_AH,25.2,47.551
$10V_AH,10.3,44.389
$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,21.000,27.325,482.250,0.000,0.000,0.000,0.000,319.775,19.250,0.000,163.510,1375.815,253.639,553.599,1247.829,351.302,0.000,1336.365,0.000,768.995,0.000,0.550,0.000
$DEVICE_MAMPS,235.620,145.350,423.810,0.000,0.000,0.000,0.000,111.690,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3000.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.727,0.000,0.000,0.000
$MEM,323304
$DATA_FILE_SIZE,16765,491
$CAP_FILE_SIZE,185086,0
$CFSIZE,260034560,204324864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.787,263.1,1
$GPS,290513,215158,1838.604,12134.944,143,2.3,162,-2.0