version: 66.11
glider: 177
mission: 4
dive: 406
start: 5 30 113 19 4 44
data:
$ID,177
$MISSION,4
$DIVE,406
$N_DIVES,410
$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,-42957.223
$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,68
$R_STBD_OVSHOOT,50
$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
$GPS1,300513,183904,1839.455,12125.493,80,4.1,99,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.31
$_SM_ANGLEo,-73.5
$GPS2,300513,190412,1839.614,12124.966,282,2.3,301,-2.0
$SPEED_LIMITS,0.165,0.305
$TGT_NAME,PICKUP
$TGT_LATLONG,1845.000,12200.000
$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,70.3,62244,-13.2,-9.524,-17.35,3487
$D_GRID,387
$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,-219.4,153,2367,472,449,0.0,0.0,0,127,0.00,0.00,-104.82,0.000,16386,0.000,0.000,153,2367,3356,3415,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,132,-0.88,-219.4,153,2367,3415,3299,5.6,-18.4,14,149,10.82,2.03,-1.67,0.000,18692,0.243,0.050,2703,3718,3486,3563,3409,0,0,0,0,0,0,25.58,26.36,26.66
$GC,219,-0.88,-219.4,1600,3717,3552,3407,52.3,-23.2,28,228,0.00,1.88,0.00,0.000,1030,0.000,0.020,2703,2341,3487,3566,3409,0,0,0,0,0,0,28.83,26.49,28.83
$GC,425,-0.88,-219.4,1600,2338,3552,3406,105.0,-15.7,65,433,0.00,1.88,0.00,0.000,516,0.000,0.030,2703,1005,3487,3566,3408,0,0,0,0,0,0,28.83,26.39,28.83
$GC,577,-0.88,-219.4,2702,1004,3568,3406,126.4,-14.9,92,587,0.10,1.92,0.00,0.000,3078,0.172,0.026,2719,2385,3487,3568,3407,0,0,0,0,0,0,26.22,26.46,28.83
$GC,784,-0.88,-219.4,2719,2385,3572,3407,154.4,-14.8,129,792,0.00,1.90,0.00,0.000,260,0.000,0.036,2714,3703,3488,3570,3407,0,0,0,0,0,0,28.83,26.39,28.83
$GC,851,-0.88,-219.4,2713,3703,3570,3407,164.6,-14.3,140,860,0.00,1.85,0.00,0.000,1030,0.000,0.019,2713,2358,3488,3569,3407,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1059,-0.88,-219.4,2713,2357,3569,3406,195.6,-16.9,177,1067,0.00,1.90,0.00,0.000,516,0.000,0.031,2713,1018,3487,3570,3405,0,0,0,0,0,0,28.83,26.39,28.83
$STATE,1087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1087,begin apogee
$GC,1095,-0.20,0.0,2705,2237,3570,3406,200.4,-15.8,181,1271,0.70,0.00,169.00,0.428,10246,0.125,0.000,2932,2237,2586,2684,2489,0,0,0,0,0,0,25.97,28.83,25.18
$STATE,1272,end apogee,CONTROL_FINISHED_OK
$STATE,1275,begin climb
$GC,1278,0.88,219.4,2931,2237,2684,2485,208.8,0.0,204,1451,0.95,2.05,163.45,0.417,10756,0.067,0.037,3286,903,1690,1807,1573,0,0,1,0,0,0,25.76,25.71,25.20
$GC,1604,0.88,219.4,2208,902,1738,1562,167.9,16.2,253,1612,0.00,1.90,0.00,0.000,1030,0.000,0.025,3286,2247,1685,1806,1565,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1809,0.88,219.4,3286,2248,1805,1563,135.7,12.9,290,1818,0.00,2.03,0.00,0.000,260,0.000,0.037,3286,3635,1683,1804,1563,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1947,0.88,219.4,3286,3636,1802,1558,116.3,16.7,314,1955,0.00,1.90,0.00,0.000,1030,0.000,0.021,3294,2263,1682,1802,1562,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2154,0.88,219.4,2240,2260,1734,1554,82.3,11.6,351,2162,0.00,2.03,0.00,0.000,516,0.000,0.037,3304,863,1680,1802,1559,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2350,1.01,298.9,3304,863,1800,1559,65.7,7.2,386,2414,0.05,1.92,56.08,0.357,11270,0.161,0.023,3348,2259,1365,1473,1257,0,0,0,0,0,0,26.36,26.45,25.60
$GC,2611,1.01,298.9,2304,2257,1426,1244,32.4,12.9,430,2620,0.12,2.05,0.00,0.000,4612,0.170,0.035,3318,859,1359,1472,1247,0,0,0,0,0,0,26.11,26.24,28.83
$GC,2765,1.05,325.5,3317,858,1470,1245,18.4,8.7,457,2783,0.08,1.92,10.00,0.091,11270,0.118,0.023,3371,2241,1261,1361,1161,0,0,0,0,0,0,26.32,26.41,26.03
$GC,2852,1.05,325.5,3371,2242,1361,1164,8.9,10.8,471,2860,0.12,0.00,0.00,0.000,4102,0.175,0.000,3336,2243,1262,1361,1164,0,0,0,0,0,0,26.15,28.83,28.83
$STATE,2915,end climb,SURFACE_DEPTH_REACHED
$STATE,2915,begin surface coast
$FINISH,0.7,1.020012
$STATE,2950,end surface coast,CONTROL_FINISHED_OK
$STATE,2950,begin surface
$SM_CCo,2971,72.60,0.044,0,0,464,520.77
$SM_GC,-1.23,8.55,0.15,72.60,0.060,0.073,0.044,139,2422,464,-8.86,-1.78,520.77,0,0,0,0,0,0,26.29,26.51,26.27
$IRIDIUM_FIX,1830.49,12128.25,300513,181831
$TT8_MAMPS,0.027713,0.027713
$HUMID,54.13
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,24.70
$XPDR_PINGS,166
$SC_FREEKB,3864640
$24V_AH,25.2,48.628
$10V_AH,10.4,45.312
$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,21.500,31.050,398.525,72.600,0.000,0.000,0.000,0.000,41.500,0.000,304.074,1401.210,133.071,556.427,1067.765,258.694,0.000,1000.698,0.000,766.204,0.000,0.552,0.000
$DEVICE_MAMPS,243.270,72.675,428.400,44.370,0.000,0.000,0.000,0.000,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2927.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.811,0.000,0.000,0.000
$MEM,323264
$DATA_FILE_SIZE,16779,488
$CAP_FILE_SIZE,198352,0
$CFSIZE,260034560,203112448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.460,271.0,1
$GPS,300513,200043,1839.699,12124.487,257,1.6,270,-2.0