version: 66.11
glider: 177
mission: 4
dive: 395
start: 5 30 113 2 47 50
data:
$ID,177
$MISSION,4
$DIVE,395
$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,520.77191
$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,-39111.82
$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,55
$R_STBD_OVSHOOT,43
$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
$GPS1,300513,023036,1840.211,12129.917,85,1.6,85,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.46
$_SM_ANGLEo,-71.1
$GPS2,300513,024721,1840.384,12129.722,293,8.8,301,-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,469
$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,20,-0.88,-219.4,136,2384,466,452,0.0,0.0,0,118,0.00,0.00,-92.03,0.000,16386,0.000,0.000,136,2384,2968,2994,2943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.88,-219.4,136,2384,2994,2939,4.9,-17.2,13,145,10.12,0.00,-7.38,0.000,18694,0.222,0.000,2699,2384,3487,3562,3413,0,0,0,0,0,0,25.61,28.83,26.74
$GC,213,-0.88,-219.4,1632,2381,3552,3410,46.9,-30.6,28,221,0.00,2.03,0.00,0.000,516,0.000,0.033,2699,977,3488,3564,3413,0,0,0,0,0,0,28.83,26.32,28.83
$GC,251,-0.88,-219.4,1616,973,3552,3411,59.0,-30.4,34,259,0.00,1.98,0.00,0.000,1030,0.000,0.026,2691,2387,3488,3564,3413,0,0,0,0,0,0,28.83,26.41,28.83
$GC,454,-0.88,-219.4,2691,2388,3565,3413,116.1,-30.8,71,462,0.00,1.90,0.00,0.000,260,0.000,0.037,2681,3706,3489,3565,3413,0,0,0,0,0,0,28.83,26.35,28.83
$GC,535,-0.88,-219.4,1632,3706,3552,3410,139.0,-25.7,85,543,0.10,1.85,0.00,0.000,3078,0.173,0.020,2704,2324,3489,3565,3413,0,0,0,0,0,0,26.20,26.52,28.83
$GC,739,-0.88,-219.4,1616,2320,3552,3410,162.7,-7.3,122,747,0.00,1.92,0.00,0.000,516,0.000,0.031,2704,967,3489,3566,3413,0,0,0,0,0,0,28.83,26.36,28.83
$GC,784,-0.88,-219.4,2703,967,3566,3413,166.3,-8.8,129,792,0.00,1.98,0.00,0.000,1030,0.000,0.027,2698,2377,3489,3566,3413,0,0,0,0,0,0,28.83,26.43,28.83
$GC,985,-0.88,-219.4,2697,2377,3565,3413,186.5,-12.7,166,993,0.00,1.92,0.00,0.000,260,0.000,0.037,2690,3705,3489,3566,3413,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1071,-0.88,-219.4,1600,3703,3551,3410,198.5,-14.6,181,1079,0.00,1.85,0.00,0.000,1030,0.000,0.019,2690,2317,3489,3566,3413,0,0,0,0,0,0,28.83,26.51,28.83
$STATE,1085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1085,begin apogee
$GC,1093,-0.20,0.0,2689,2192,3565,3413,200.8,-15.5,183,1272,0.73,0.00,169.65,0.445,10246,0.131,0.000,2920,2191,2586,2684,2488,0,0,0,0,0,0,25.89,28.83,25.13
$STATE,1273,end apogee,CONTROL_FINISHED_OK
$STATE,1274,begin climb
$GC,1276,0.88,219.4,2920,2191,2684,2484,213.6,0.0,207,1451,0.95,2.17,164.05,0.437,10500,0.067,0.034,3271,3639,1686,1803,1570,0,0,0,0,0,0,25.71,25.67,25.14
$GC,1648,0.88,219.4,2208,3639,1731,1559,161.2,21.6,266,1656,0.00,1.92,0.00,0.000,1030,0.000,0.021,3276,2266,1680,1797,1563,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1856,0.88,219.4,3276,2263,1798,1561,124.7,14.2,303,1864,0.00,2.05,0.00,0.000,516,0.000,0.037,3284,861,1679,1798,1561,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1991,0.88,219.4,2224,860,1731,1556,107.4,12.2,327,2000,0.08,1.95,0.00,0.000,5126,0.193,0.024,3271,2249,1679,1797,1561,0,0,0,0,0,0,26.17,26.38,28.83
$GC,2197,0.88,219.4,3271,2249,1795,1559,81.3,13.2,364,2205,0.00,2.03,0.00,0.000,260,0.000,0.037,3271,3635,1677,1795,1559,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2231,0.88,219.4,3270,3635,1793,1559,77.0,12.8,369,2240,0.00,1.98,0.00,0.000,1030,0.000,0.021,3271,2244,1675,1793,1558,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2436,0.88,219.4,3271,2244,1793,1557,53.1,10.7,406,2444,0.00,2.03,0.00,0.000,516,0.000,0.040,3273,858,1675,1793,1558,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2480,0.88,219.4,3273,858,1792,1557,48.5,9.8,413,2488,0.00,1.95,0.00,0.000,1030,0.000,0.024,3273,2235,1675,1792,1558,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2684,0.88,219.4,2184,2232,1725,1551,31.4,9.7,450,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,3273,2235,1673,1792,1555,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2887,1.22,435.3,2192,2232,1724,1549,18.9,3.2,487,2986,0.25,2.12,87.15,0.087,11012,0.054,0.036,3400,3636,813,892,734,0,0,0,0,0,0,26.51,26.22,26.03
$STATE,3019,end climb,SURFACE_DEPTH_REACHED
$STATE,3019,begin surface coast
$FINISH,0.1,1.020077
$STATE,3037,end surface coast,CONTROL_FINISHED_OK
$STATE,3037,begin surface
$SM_CCo,3058,32.40,0.046,0,0,463,520.77
$SM_GC,-1.57,8.30,1.80,32.40,0.032,0.020,0.046,135,2364,463,-8.80,1.98,520.77,0,0,1,0,0,0,26.25,26.36,26.21
$IRIDIUM_FIX,1835.04,12131.38,300513,020241
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.78
$INTERNAL_PRESSURE,9.8246
$TCM_TEMP,24.40
$XPDR_PINGS,67
$SC_FREEKB,3868864
$24V_AH,25.1,47.852
$10V_AH,10.3,44.638
$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,20.525,35.500,420.850,32.400,0.000,0.000,0.000,286.175,16.750,0.000,304.274,1395.573,415.162,538.953,1405.183,344.078,0.000,1298.513,0.000,806.245,0.000,0.550,0.000
$DEVICE_MAMPS,221.850,100.980,445.230,45.900,0.000,0.000,0.000,91.035,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3048.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.793,0.000,0.000,0.000
$MEM,323420
$DATA_FILE_SIZE,16795,509
$CAP_FILE_SIZE,192665,0
$CFSIZE,260034560,203952128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,300513,034425,1840.623,12129.318,238,2.8,257,-2.0