version: 66.11
glider: 177
mission: 4
dive: 405
start: 5 30 113 17 27 43
data:
$ID,177
$MISSION,4
$DIVE,405
$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,-42752.98
$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,78
$R_STBD_OVSHOOT,60
$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
$GPS1,300513,171048,1839.297,12126.230,46,1.5,57,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.40
$_SM_ANGLEo,-70.5
$GPS2,300513,172709,1839.309,12126.283,44,3.3,63,-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,14.0,16991,-13.2,-9.524,-17.35,3487
$D_GRID,407
$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,-219.4,136,2379,478,448,0.0,0.0,0,111,0.00,0.00,-89.03,0.000,16386,0.000,0.000,136,2380,2768,2804,2732,0,0,0,0,0,0,28.83,28.83,28.83
$GC,118,-0.88,-219.4,136,2379,2808,2732,3.0,-12.0,12,152,10.85,1.98,-11.62,0.000,19204,0.246,0.037,2711,965,3487,3580,3395,0,0,0,0,0,0,25.67,26.38,26.70
$GC,391,-0.88,-219.4,1616,964,3568,3393,87.0,-21.8,60,399,0.00,1.98,0.00,0.000,1030,0.000,0.025,2703,2377,3488,3581,3396,0,0,0,0,0,0,28.83,26.43,28.83
$GC,595,-0.88,-219.4,2703,2377,3580,3396,130.6,-17.9,97,603,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2377,3488,3581,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,798,-0.88,-219.4,2703,2377,3581,3397,162.3,-16.2,134,806,0.00,1.92,0.00,0.000,260,0.000,0.037,2695,3707,3489,3581,3397,0,0,0,0,0,0,28.83,26.37,28.83
$GC,837,-0.88,-219.4,1608,3707,3569,3394,169.1,-17.6,140,846,0.10,1.83,0.00,0.000,3078,0.164,0.019,2718,2340,3489,3581,3397,0,0,0,0,0,0,26.25,26.55,28.83
$GC,1044,-0.88,-219.4,1632,2337,3569,3394,199.5,-14.3,177,1051,0.00,1.85,0.00,0.000,516,0.000,0.029,2718,1018,3489,3581,3397,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,1060,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1060,begin apogee
$GC,1069,-0.20,0.0,2713,2244,3581,3397,202.1,-13.8,179,1245,0.68,0.00,169.40,0.427,10246,0.126,0.000,2931,2244,2586,2684,2489,0,0,0,0,0,0,25.95,28.83,25.18
$STATE,1249,end apogee,CONTROL_FINISHED_OK
$STATE,1249,begin climb
$GC,1251,0.88,219.4,2931,2244,2684,2485,212.2,0.0,202,1425,0.95,0.00,163.85,0.418,11014,0.070,0.000,3283,2244,1689,1806,1572,0,0,0,0,0,0,25.75,28.83,25.19
$GC,1625,0.88,219.4,3283,2244,1804,1564,168.1,17.1,260,1632,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,2244,1684,1804,1564,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1832,0.88,219.4,2208,2241,1736,1556,136.2,13.3,297,1840,0.00,2.03,0.00,0.000,260,0.000,0.035,3283,3637,1681,1803,1560,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1952,0.88,219.4,3282,3636,1801,1559,116.9,16.7,318,1960,0.00,1.90,0.00,0.000,1030,0.000,0.023,3283,2293,1680,1801,1559,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2159,0.88,219.4,3283,2292,1801,1559,88.9,12.5,355,2167,0.00,1.98,0.00,0.000,260,0.000,0.036,3283,3639,1679,1801,1558,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2230,0.88,219.4,2208,3639,1733,1553,81.1,9.9,367,2238,0.00,1.90,0.00,0.000,1030,0.000,0.022,3283,2279,1678,1799,1558,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2436,0.97,273.3,2208,2275,1732,1552,66.6,7.9,404,2485,0.10,2.15,38.17,0.363,10756,0.099,0.037,3354,857,1469,1582,1357,0,0,0,0,0,0,26.55,26.19,25.69
$GC,2591,0.97,273.3,3354,858,1582,1353,49.5,10.1,429,2601,0.17,1.95,0.00,0.000,5126,0.169,0.023,3309,2262,1467,1582,1352,0,0,0,0,0,0,25.91,26.32,28.83
$GC,2801,1.00,295.9,2240,2260,1529,1345,29.1,8.9,466,2824,0.00,2.05,15.88,0.352,8452,0.000,0.035,3309,3620,1378,1490,1267,0,0,0,0,0,0,28.83,26.30,25.77
$GC,2905,1.00,295.9,3309,3620,1489,1262,19.2,10.2,483,2913,0.00,1.95,0.00,0.000,1030,0.000,0.021,3311,2228,1375,1489,1262,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2982,1.06,334.2,2272,2225,1443,1259,12.3,8.4,496,3007,0.10,2.00,14.90,0.077,10756,0.093,0.038,3384,857,1226,1325,1128,0,0,0,0,0,0,26.51,26.26,26.10
$STATE,3062,end climb,SURFACE_DEPTH_REACHED
$STATE,3062,begin surface coast
$FINISH,0.2,1.020554
$STATE,3085,end surface coast,CONTROL_FINISHED_OK
$STATE,3085,begin surface
$SM_CCo,3108,69.18,0.044,0,0,464,520.77
$SM_GC,-1.40,8.75,2.20,69.18,0.064,0.026,0.044,129,2362,464,-8.85,-1.89,520.77,0,0,0,0,0,0,26.32,26.38,26.25
$IRIDIUM_FIX,1830.49,12128.25,300513,171737
$TT8_MAMPS,0.026964,0.026964
$HUMID,54.41
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,24.90
$XPDR_PINGS,74
$SC_FREEKB,3865024
$24V_AH,25.2,48.541
$10V_AH,10.3,45.244
$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,21.700,31.400,402.200,69.175,0.000,0.000,0.000,493.500,18.500,0.000,67.083,1484.133,381.923,564.160,1378.972,352.756,0.000,1522.059,0.000,815.353,0.000,0.549,0.000
$DEVICE_MAMPS,245.565,38.250,426.870,44.370,0.000,0.000,0.000,91.800,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3098.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.815,0.000,0.000,0.000
$MEM,323280
$DATA_FILE_SIZE,16770,513
$CAP_FILE_SIZE,194019,0
$CFSIZE,260034560,203161600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.352,250.0,1
$GPS,300513,182245,1839.498,12125.679,59,3.7,78,-2.0