version: 66.11
glider: 177
mission: 4
dive: 400
start: 5 30 113 9 19 53
data:
$ID,177
$MISSION,4
$DIVE,400
$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,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,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,-40645.059
$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,67
$R_STBD_OVSHOOT,54
$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
$GPS1,300513,090240,1841.123,12128.619,116,2.0,118,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.50
$_SM_ANGLEo,-66.9
$GPS2,300513,090240,1841.123,12128.619,301,99.0,301,-2.0
$SPEED_LIMITS,0.165,0.305
$TGT_NAME,DOGLEG
$TGT_LATLONG,1848.000,12127.000
$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,34.4,13048,-13.2,-9.524,-17.35,3487
$D_GRID,509
$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,-219.4,146,2380,476,448,0.0,0.0,0,113,0.00,0.00,-89.93,0.000,16386,0.000,0.000,146,2380,2832,2863,2802,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.88,-219.4,146,2380,2863,2803,3.5,-13.1,12,153,11.12,1.98,-9.93,0.000,18692,0.255,0.050,2687,3710,3487,3572,3402,0,0,0,0,0,0,25.65,26.34,26.73
$GC,199,-0.88,-219.4,1600,3709,3560,3400,37.8,-28.4,24,208,0.08,1.85,0.00,0.000,3078,0.193,0.020,2706,2345,3488,3573,3403,0,0,0,0,0,0,26.22,26.45,28.83
$GC,406,-0.88,-219.4,1600,2341,3560,3400,86.5,-22.7,61,414,0.00,1.90,0.00,0.000,516,0.000,0.030,2701,1005,3488,3574,3402,0,0,0,0,0,0,28.83,26.36,28.83
$GC,466,-0.88,-219.4,2701,1005,3573,3402,100.5,-20.5,71,474,0.00,1.92,0.00,0.000,1030,0.000,0.025,2693,2383,3488,3574,3403,0,0,0,0,0,0,28.83,26.43,28.83
$GC,671,-0.88,-219.4,1600,2381,3561,3401,137.4,-16.0,108,679,0.00,1.92,0.00,0.000,260,0.000,0.037,2686,3714,3488,3574,3403,0,0,0,0,0,0,28.83,26.35,28.83
$GC,742,-0.88,-219.4,1600,3713,3561,3400,150.6,-19.5,120,751,0.08,1.80,0.00,0.000,3078,0.184,0.018,2701,2337,3488,3573,3403,0,0,0,0,0,0,26.32,26.56,28.83
$GC,949,-0.88,-219.4,1616,2334,3561,3400,182.6,-15.5,157,956,0.00,1.83,0.00,0.000,516,0.000,0.031,2701,1043,3488,3573,3403,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1019,-0.88,-219.4,1616,1042,3561,3400,194.6,-15.6,169,1027,0.00,1.88,0.00,0.000,1030,0.000,0.026,2696,2383,3488,3574,3403,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,1056,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1056,begin apogee
$GC,1062,-0.20,0.0,2695,2384,3574,3403,200.7,-15.3,175,1242,0.70,0.00,169.15,0.428,10246,0.140,0.000,2914,2384,2584,2683,2486,0,0,0,0,0,0,25.85,28.83,25.18
$STATE,1243,end apogee,CONTROL_FINISHED_OK
$STATE,1245,begin climb
$GC,1248,0.88,219.4,2914,2384,2683,2483,207.6,0.0,198,1422,0.98,1.88,163.60,0.414,11012,0.075,0.035,3266,3641,1688,1805,1572,0,0,0,0,0,0,25.71,25.70,25.18
$GC,1486,0.88,219.4,3266,3641,1800,1564,175.0,18.0,231,1494,0.00,1.90,0.00,0.000,1030,0.000,0.023,3269,2313,1682,1800,1564,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1692,0.88,219.4,2176,2310,1732,1558,143.8,13.7,268,1700,0.00,2.05,0.00,0.000,516,0.000,0.039,3272,917,1681,1800,1563,0,0,0,0,0,0,28.83,26.18,28.83
$GC,1726,0.88,219.4,3271,916,1800,1563,139.3,12.4,273,1735,0.00,1.85,0.00,0.000,1030,0.000,0.023,3272,2245,1681,1800,1562,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1933,0.88,219.4,2192,2243,1732,1554,116.0,11.4,310,1941,0.00,2.03,0.00,0.000,260,0.000,0.037,3272,3630,1679,1800,1559,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2186,0.88,219.4,2208,3630,1729,1553,85.8,12.2,356,2194,0.00,1.85,0.00,0.000,1030,0.000,0.021,3276,2287,1676,1795,1558,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2392,0.88,219.4,3276,2286,1795,1556,61.1,12.3,393,2401,0.00,1.98,0.00,0.000,260,0.000,0.036,3277,3632,1675,1795,1556,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2443,0.88,219.4,2240,3631,1729,1551,53.9,14.1,401,2452,0.00,1.95,0.00,0.000,1030,0.000,0.021,3282,2249,1674,1793,1555,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2650,1.00,297.7,3282,2250,1793,1554,35.3,7.2,438,2713,0.10,2.12,53.85,0.340,10756,0.100,0.037,3353,849,1369,1477,1262,0,0,0,0,0,0,26.56,26.12,25.63
$GC,2841,1.00,297.7,2336,849,1431,1255,16.3,10.7,469,2850,0.17,1.95,0.00,0.000,5126,0.161,0.031,3307,2249,1365,1474,1257,0,0,0,0,0,0,25.89,26.29,28.83
$GC,2919,1.15,387.4,2240,2247,1430,1252,11.1,6.9,482,2967,0.12,2.10,34.70,0.072,10756,0.081,0.037,3394,856,1009,1100,918,0,0,0,0,0,0,26.44,26.22,26.08
$STATE,2995,end climb,SURFACE_DEPTH_REACHED
$STATE,2995,begin surface coast
$FINISH,0.3,1.020030
$STATE,3013,end surface coast,CONTROL_FINISHED_OK
$STATE,3013,begin surface
$SM_CCo,3034,49.83,0.045,0,0,463,520.77
$SM_GC,-1.38,8.95,2.17,49.83,0.072,0.021,0.045,127,2361,463,-8.81,-2.18,520.77,0,0,0,0,0,0,26.26,26.35,26.23
$IRIDIUM_FIX,1832.77,12128.25,300513,090927
$TT8_MAMPS,0.027713,0.027713
$HUMID,54.01
$INTERNAL_PRESSURE,9.84413
$TCM_TEMP,24.80
$XPDR_PINGS,68
$SC_FREEKB,3866944
$24V_AH,25.2,48.173
$10V_AH,10.3,44.912
$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,22.300,38.900,421.300,49.825,0.000,0.000,0.000,282.925,17.000,0.000,303.483,1417.881,372.468,571.397,1385.745,342.825,0.000,1320.166,0.000,787.216,0.000,0.549,0.000
$DEVICE_MAMPS,254.745,49.725,427.635,45.135,0.000,0.000,0.000,92.565,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3024.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.818,0.000,0.000,0.000
$MEM,323352
$DATA_FILE_SIZE,16779,496
$CAP_FILE_SIZE,189165,0
$CFSIZE,260034560,203563008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.440,217.4,1
$GPS,300513,101433,1840.870,12128.321,129,4.8,148,-2.0