version: 66.11
glider: 177
mission: 4
dive: 393
start: 5 30 113 0 22 51
data:
$ID,177
$MISSION,4
$DIVE,393
$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,225
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0255001
$MASS,52151
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,0
$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,-38501.492
$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,2985
$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,94
$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,2588
$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
$GPS1,290513,230646,1832.767,12131.383,0,10000.0,0,-2.0
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.10
$_SM_ANGLEo,-73.0
$GPS2,300513,002221,1839.205,12132.126,183,3.5,202,-2.0
$SPEED_LIMITS,0.165,0.305
$TGT_NAME,HEADING
$TGT_LATLONG,0.000,0.000
$TGT_RADIUS,1852.000
$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,74.0,19529,-13.2,-9.524,-17.35,3487
$D_GRID,514
$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,-0.88,-219.4,125,2381,1410,1302,0.0,0.0,0,82,0.00,0.00,-59.33,0.000,16386,0.000,0.000,125,2381,2987,3016,2959,0,0,0,0,0,0,28.83,28.83,28.83
$GC,86,-0.88,-219.4,125,2382,3016,2965,4.1,-13.7,8,110,10.43,2.03,-7.82,0.000,18692,0.231,0.053,2687,3717,3485,3560,3411,0,0,0,0,0,0,25.61,26.30,26.70
$GC,267,-0.88,-219.4,2687,3717,3565,3411,67.0,-21.8,39,276,0.08,1.83,0.00,0.000,3078,0.190,0.019,2701,2353,3488,3565,3411,0,0,0,0,0,0,26.24,26.48,28.83
$GC,469,-0.88,-219.4,2701,2352,3566,3411,113.8,-17.6,76,476,0.00,1.98,0.00,0.000,260,0.000,0.037,2693,3705,3488,3566,3411,0,0,0,0,0,0,28.83,26.35,28.83
$GC,534,-0.88,-219.4,1600,3703,3552,3408,125.1,-18.5,87,542,0.00,1.77,0.00,0.000,1030,0.000,0.019,2693,2371,3488,3566,3411,0,0,0,0,0,0,28.83,26.52,28.83
$GC,735,-0.88,-219.4,2693,2371,3567,3412,158.9,-16.6,124,743,0.00,1.90,0.00,0.000,516,0.000,0.031,2693,1023,3489,3567,3411,0,0,0,0,0,0,28.83,26.37,28.83
$GC,780,-0.88,-219.4,2692,1023,3567,3411,166.6,-17.9,131,788,0.10,1.90,0.00,0.000,3078,0.181,0.026,2708,2380,3488,3567,3410,0,0,0,0,0,0,26.17,26.44,28.83
$GC,984,-0.88,-219.4,1608,2378,3552,3408,196.1,-13.4,168,992,0.00,1.92,0.00,0.000,260,0.000,0.037,2701,3710,3489,3567,3411,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,1009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1009,begin apogee
$GC,1018,-0.20,0.0,2701,2239,3567,3411,200.3,-14.3,172,1195,0.68,0.00,168.95,0.429,10246,0.125,0.000,2919,2237,2585,2692,2479,0,0,0,0,0,0,25.93,28.83,25.18
$STATE,1199,end apogee,CONTROL_FINISHED_OK
$STATE,1199,begin climb
$GC,1202,0.88,219.4,2918,2237,2692,2475,204.6,0.0,196,1377,0.95,2.10,163.77,0.415,11012,0.072,0.034,3267,3632,1687,1804,1571,0,0,0,0,0,0,25.72,25.70,25.18
$GC,1573,0.88,219.4,2208,3631,1733,1559,147.0,18.2,255,1581,0.00,1.92,0.00,0.000,1030,0.000,0.022,3269,2281,1681,1800,1563,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1778,0.88,219.4,3269,2279,1800,1562,119.7,13.1,292,1787,0.00,2.12,0.00,0.000,516,0.000,0.039,3272,845,1681,1800,1562,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1933,0.88,219.4,2256,845,1737,1557,101.2,9.8,320,1941,0.00,1.95,0.00,0.000,1030,0.000,0.023,3272,2247,1680,1800,1560,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2138,0.88,219.4,3272,2247,1800,1555,78.5,11.8,357,2146,0.00,2.05,0.00,0.000,260,0.000,0.036,3272,3640,1679,1800,1558,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2229,0.88,219.4,2216,3639,1732,1554,66.2,13.7,373,2237,0.00,1.98,0.00,0.000,1030,0.000,0.021,3277,2224,1678,1799,1558,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2433,0.88,219.4,2216,2221,1731,1553,40.2,12.1,410,2441,0.00,1.98,0.00,0.000,516,0.000,0.036,3285,856,1677,1797,1557,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2508,0.91,236.1,2208,856,1730,1553,32.5,9.0,423,2525,0.00,1.92,11.75,0.369,9222,0.000,0.023,3284,2244,1622,1738,1507,0,0,0,0,0,0,28.83,26.45,25.73
$GC,2721,1.07,337.4,2208,2241,1675,1494,14.1,6.5,461,2776,0.12,2.08,40.97,0.080,10756,0.080,0.037,3373,871,1213,1309,1118,0,0,0,0,0,0,26.53,26.25,26.10
$STATE,2819,end climb,SURFACE_DEPTH_REACHED
$STATE,2819,begin surface coast
$FINISH,0.1,1.020983
$STATE,2842,end surface coast,CONTROL_FINISHED_OK
$STATE,2843,begin surface
$SM_CCo,2864,23.65,0.049,0,0,956,400.08
$SM_GC,-1.65,8.95,2.17,23.65,0.076,0.024,0.049,125,2367,956,-8.81,-1.89,400.08,0,0,0,0,0,0,26.27,26.38,26.25
$IRIDIUM_FIX,1835.04,12134.51,290513,232310
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.94
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,24.40
$XPDR_PINGS,47
$SC_FREEKB,3869632
$24V_AH,25.2,47.730
$10V_AH,10.3,44.533
$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,21.300,35.625,385.450,23.650,0.000,0.000,0.000,203.900,11.750,0.000,206.282,1340.503,165.485,464.505,1164.907,330.004,0.000,1107.024,0.000,761.650,0.000,0.552,0.000
$DEVICE_MAMPS,231.030,52.785,429.165,48.960,0.000,0.000,0.000,114.750,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2855.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.924,0.000,0.000,0.000
$MEM,323288
$DATA_FILE_SIZE,16760,480
$CAP_FILE_SIZE,180160,0
$CFSIZE,260034560,204132352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,300513,002221,1839.205,12132.126,301,99.0,301,-2.0