version: 66.11
glider: 177
mission: 4
dive: 397
start: 5 30 113 5 46 39
data:
$ID,177
$MISSION,4
$DIVE,397
$N_DIVES,400
$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,-40338.328
$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,64
$R_STBD_OVSHOOT,82
$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
$GPS1,300513,052618,1841.348,12129.247,174,1.4,183,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.42
$_SM_ANGLEo,-68.9
$GPS2,300513,052618,1841.348,12129.247,301,99.0,301,-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,510
$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,-219.4,123,2387,473,449,0.0,0.0,0,108,0.00,0.00,-85.93,0.000,16386,0.000,0.000,123,2387,2720,2747,2693,0,0,0,0,0,0,28.83,28.83,28.83
$GC,115,-0.88,-219.4,123,2387,2747,2694,3.1,-11.6,12,149,10.73,1.88,-12.12,0.000,18692,0.240,0.050,2688,3682,3483,3566,3400,0,0,0,0,0,0,25.64,26.34,26.74
$GC,195,-0.88,-219.4,2687,3682,3566,3401,36.3,-28.8,24,203,0.00,1.83,0.00,0.000,1030,0.000,0.020,2688,2339,3483,3565,3402,0,0,0,0,0,0,28.83,26.48,28.83
$GC,396,-0.88,-219.4,1616,2335,3554,3399,91.2,-22.5,61,404,0.00,1.88,0.00,0.000,516,0.000,0.029,2688,1003,3484,3567,3402,0,0,0,0,0,0,28.83,26.39,28.83
$GC,535,-0.88,-219.4,1600,1001,3559,3399,115.3,-15.0,86,544,0.10,1.90,0.00,0.000,3078,0.178,0.025,2702,2359,3485,3568,3402,0,0,0,0,0,0,26.17,26.45,28.83
$GC,740,-0.88,-219.4,1632,2358,3554,3400,143.6,-14.4,123,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2360,3485,3568,3403,0,0,0,0,0,0,28.83,28.83,28.83
$GC,940,-0.88,-219.4,1632,2357,3554,3400,177.4,-18.2,160,949,0.00,1.95,0.00,0.000,516,0.000,0.030,2702,1001,3485,3568,3403,0,0,0,0,0,0,28.83,26.38,28.83
$GC,1022,-0.88,-219.4,1640,1000,3554,3400,191.2,-15.1,174,1030,0.00,1.92,0.00,0.000,1030,0.000,0.025,2696,2379,3485,3568,3402,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,1087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1087,begin apogee
$GC,1094,-0.20,0.0,2696,2214,3567,3403,200.0,-13.5,185,1273,0.68,0.00,168.60,0.429,10246,0.125,0.000,2915,2214,2585,2683,2488,0,0,0,0,0,0,25.95,28.83,25.18
$STATE,1274,end apogee,CONTROL_FINISHED_OK
$STATE,1274,begin climb
$GC,1277,0.88,219.4,2915,2214,2683,2484,206.6,0.0,209,1452,0.98,2.12,163.73,0.414,11012,0.073,0.034,3268,3632,1686,1803,1569,0,0,0,0,0,0,25.72,25.71,25.19
$GC,1542,0.88,219.4,2208,3631,1731,1559,164.7,20.2,248,1550,0.00,1.90,0.00,0.000,1030,0.000,0.022,3269,2296,1680,1797,1564,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1747,0.88,219.4,2184,2292,1730,1557,130.8,13.5,285,1755,0.00,2.05,0.00,0.000,516,0.000,0.038,3273,907,1680,1798,1562,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1997,0.88,219.4,2208,906,1729,1555,99.9,12.2,331,2005,0.00,1.88,0.00,0.000,1030,0.000,0.028,3272,2248,1675,1791,1559,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2202,0.88,219.4,2192,2245,1727,1553,75.7,11.3,368,2210,0.00,2.05,0.00,0.000,260,0.000,0.036,3273,3641,1675,1793,1558,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2278,0.88,219.4,2208,3641,1726,1553,64.8,14.3,381,2286,0.00,1.90,0.00,0.000,1030,0.000,0.021,3277,2272,1674,1792,1557,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2482,0.91,237.9,3277,2272,1792,1555,39.3,9.0,418,2497,0.00,0.00,11.93,0.369,8198,0.000,0.000,3278,2272,1616,1730,1502,0,0,0,0,0,0,28.83,28.83,25.75
$GC,2694,1.08,345.9,2224,2267,1669,1492,23.6,6.3,456,2779,0.12,2.12,71.47,0.324,10756,0.084,0.037,3365,868,1172,1268,1076,0,0,0,0,0,0,26.52,26.03,25.60
$GC,2871,1.16,394.1,2336,868,1237,1069,7.8,8.1,484,2894,0.00,1.92,18.00,0.066,9222,0.000,0.022,3365,2238,980,1072,889,0,0,0,0,0,0,28.83,26.25,26.06
$STATE,2928,end climb,SURFACE_DEPTH_REACHED
$STATE,2928,begin surface coast
$FINISH,-0.7,1.019994
$STATE,2962,end surface coast,CONTROL_FINISHED_OK
$STATE,2962,begin surface
$SM_CCo,2984,47.67,0.045,0,0,464,520.77
$SM_GC,-1.34,8.32,0.15,47.67,0.039,0.071,0.045,128,2401,464,-8.81,-1.89,520.77,0,0,0,0,0,0,26.25,26.37,26.20
$IRIDIUM_FIX,1835.04,12128.25,300513,050559
$TT8_MAMPS,0.027713,0.027713
$HUMID,54.80
$INTERNAL_PRESSURE,9.83436
$TCM_TEMP,24.50
$XPDR_PINGS,82
$SC_FREEKB,3868096
$24V_AH,25.2,47.993
$10V_AH,10.5,44.765
$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,20.925,27.575,433.725,47.675,0.000,0.000,0.000,476.400,20.500,0.000,306.401,1358.395,410.682,544.157,1574.837,338.940,0.000,1480.030,0.000,791.972,0.000,0.550,0.000
$DEVICE_MAMPS,240.210,71.145,429.165,45.135,0.000,0.000,0.000,93.330,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2973.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.794,0.000,0.000,0.000
$MEM,323312
$DATA_FILE_SIZE,16775,499
$CAP_FILE_SIZE,188337,0
$CFSIZE,260034560,203800576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300513,063927,1841.348,12129.299,70,2.3,89,-2.0