version: 66.11
glider: 177
mission: 4
dive: 401
start: 5 30 113 12 30 46
data:
$ID,177
$MISSION,4
$DIVE,401
$N_DIVES,405
$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,-42135.328
$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,3000
$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,56
$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,3
$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
$GPS1,300513,120909,1839.417,12128.084,142,3.2,161,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.32
$_SM_ANGLEo,-68.7
$GPS2,300513,123014,1839.280,12127.997,102,6.9,121,-2.0
$SPEED_LIMITS,0.165,0.305
$TGT_NAME,DOGLEG
$TGT_LATLONG,1847.000,12121.000
$TGT_RADIUS,2000.000
$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,6.4,18841,-13.2,-9.524,-17.35,3487
$D_GRID,421
$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,19,-0.88,-219.4,151,2367,481,447,0.0,0.0,0,122,0.00,0.00,-98.35,0.000,16386,0.000,0.000,152,2367,3113,3155,3072,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-0.88,-219.4,152,2367,3156,3072,5.1,-16.7,13,152,11.00,2.00,-5.38,0.000,18692,0.249,0.044,2706,3724,3485,3565,3405,0,0,0,0,0,0,25.70,26.41,26.73
$GC,216,-0.88,-219.4,1600,3723,3551,3403,42.0,-23.2,27,224,0.00,1.88,0.00,0.000,1030,0.000,0.019,2706,2344,3486,3566,3406,0,0,0,0,0,0,28.83,26.51,28.83
$GC,421,-0.88,-219.4,1608,2340,3551,3403,94.9,-25.5,64,429,0.00,1.90,0.00,0.000,516,0.000,0.033,2706,1000,3485,3566,3405,0,0,0,0,0,0,28.83,26.41,28.83
$GC,507,-0.88,-219.4,2706,999,3566,3405,116.3,-23.0,79,517,0.10,1.92,0.00,0.000,3078,0.193,0.026,2720,2385,3485,3566,3405,0,0,0,0,0,0,26.20,26.48,28.83
$GC,716,-0.88,-219.4,2720,2385,3566,3405,151.2,-14.9,116,724,0.00,1.92,0.00,0.000,260,0.000,0.037,2718,3709,3485,3566,3405,0,0,0,0,0,0,28.83,26.41,28.83
$GC,824,-0.88,-219.4,1600,3708,3551,3402,166.3,-11.6,135,833,0.00,1.80,0.00,0.000,1030,0.000,0.018,2713,2355,3485,3566,3405,0,0,0,0,0,0,28.83,26.60,28.83
$GC,1032,-0.88,-219.4,1600,2352,3551,3402,191.3,-12.0,172,1040,0.00,1.90,0.00,0.000,516,0.000,0.030,2713,1015,3485,3566,3405,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,1088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1088,begin apogee
$GC,1096,-0.20,0.0,2705,2242,3566,3405,200.2,-15.2,182,1274,0.70,0.00,168.93,0.430,10246,0.132,0.000,2929,2242,2584,2683,2485,0,0,0,0,0,0,26.02,28.83,25.23
$STATE,1276,end apogee,CONTROL_FINISHED_OK
$STATE,1278,begin climb
$GC,1280,0.88,219.4,2929,2242,2683,2482,210.1,0.0,205,1454,0.98,0.00,163.52,0.421,10502,0.076,0.000,3283,2242,1686,1805,1568,0,0,0,0,0,0,25.77,28.83,25.24
$GC,1653,0.88,219.4,3283,2242,1803,1559,150.6,18.7,263,1661,0.00,1.98,0.00,0.000,516,0.000,0.037,3290,895,1681,1803,1559,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1675,0.88,219.4,2256,894,1737,1554,147.3,15.1,266,1682,0.00,1.88,0.00,0.000,1030,0.000,0.023,3290,2242,1681,1803,1559,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1882,0.88,219.4,2192,2239,1731,1552,120.7,11.4,303,1891,0.00,2.03,0.00,0.000,260,0.000,0.035,3290,3636,1677,1799,1556,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1961,0.88,219.4,3289,3637,1797,1556,111.1,12.1,316,1970,0.08,1.90,0.00,0.000,5126,0.223,0.021,3285,2281,1676,1797,1556,0,0,0,0,0,0,26.20,26.45,28.83
$GC,2169,0.88,219.4,2192,2274,1727,1549,88.8,10.1,353,2177,0.00,2.00,0.00,0.000,260,0.000,0.034,3285,3644,1675,1797,1553,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2268,0.88,219.4,3284,3644,1795,1552,77.6,10.9,370,2276,0.00,1.98,0.00,0.000,1030,0.000,0.021,3285,2236,1673,1794,1553,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2474,0.91,239.8,3284,2235,1794,1550,60.4,8.9,407,2490,0.00,0.00,13.65,0.372,8454,0.000,0.000,3285,2234,1607,1722,1492,0,0,0,0,0,0,28.83,28.83,25.74
$GC,2689,0.92,247.6,2192,2232,1657,1479,38.4,9.3,445,2704,0.00,2.08,5.03,0.388,8708,0.000,0.038,3286,852,1579,1692,1466,0,0,0,0,0,0,28.83,26.36,25.52
$GC,2951,1.14,384.0,2208,852,1632,1465,19.6,5.5,492,3015,0.22,1.95,57.65,0.092,11270,0.055,0.023,3397,2250,1021,1111,932,0,0,0,0,0,0,26.46,26.48,26.11
$GC,3084,1.14,384.0,3397,2250,1110,932,3.5,14.6,512,3093,0.12,2.03,0.00,0.000,4612,0.174,0.033,3365,851,1021,1111,932,0,0,0,0,0,0,26.17,26.32,28.83
$STATE,3098,end climb,SURFACE_DEPTH_REACHED
$STATE,3098,begin surface coast
$FINISH,-1.8,1.020242
$STATE,3123,end surface coast,CONTROL_FINISHED_OK
$STATE,3123,begin surface
$SM_CCo,3145,50.70,0.044,0,0,464,520.77
$SM_GC,-1.42,8.30,2.22,50.70,0.041,0.028,0.044,122,2371,464,-8.85,-1.64,520.77,0,0,0,0,0,0,26.33,26.41,26.31
$IRIDIUM_FIX,1832.77,12130.19,300513,121225
$TT8_MAMPS,0.026964,0.026964
$HUMID,52.63
$INTERNAL_PRESSURE,9.91249
$TCM_TEMP,25.50
$XPDR_PINGS,454
$SC_FREEKB,3866560
$24V_AH,25.2,48.320
$10V_AH,10.3,45.047
$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,21.500,35.100,408.775,50.700,0.000,0.000,0.000,0.000,113.500,0.000,125.034,1490.494,143.685,554.349,935.722,266.771,0.000,1023.171,0.000,823.191,0.000,0.552,0.000
$DEVICE_MAMPS,249.390,43.605,429.930,43.605,0.000,0.000,0.000,0.000,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3102.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.715,0.000,0.000,0.000
$MEM,323224
$DATA_FILE_SIZE,16761,518
$CAP_FILE_SIZE,238272,0
$CFSIZE,260034560,203472896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,16.275,358.6,1
$GPS,300513,123014,1839.280,12127.997,301,99.0,301,-2.0