version: 66.11
glider: 177
mission: 4
dive: 407
start: 5 30 113 20 21 15
data:
$ID,177
$MISSION,4
$DIVE,407
$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,-42958.48
$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,76
$R_STBD_OVSHOOT,104
$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
$GPS1,300513,200043,1839.699,12124.487,257,1.6,270,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.39
$_SM_ANGLEo,-72.1
$GPS2,300513,202044,1839.911,12124.224,217,1.5,218,-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,98.0,63446,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.88,-219.4,138,2422,467,450,0.0,0.0,0,113,0.00,0.00,-89.93,0.000,16386,0.000,0.000,138,2423,2883,2920,2847,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.88,-219.4,138,2423,2920,2847,4.0,-14.5,12,145,10.70,1.88,-9.38,0.000,18692,0.240,0.050,2703,3670,3486,3574,3398,0,0,0,0,0,0,25.69,26.35,26.73
$GC,198,-0.88,-219.4,2702,3670,3577,3398,37.4,-26.9,24,206,0.00,1.77,0.00,0.000,1030,0.000,0.020,2703,2360,3487,3577,3398,0,0,0,0,0,0,28.83,26.48,28.83
$GC,402,-0.88,-219.4,2703,2359,3577,3398,89.3,-18.6,61,411,0.00,1.90,0.00,0.000,516,0.000,0.029,2703,1004,3487,3577,3398,0,0,0,0,0,0,28.83,26.39,28.83
$GC,507,-0.88,-219.4,1600,1003,3564,3396,109.5,-17.4,79,516,0.10,1.85,0.00,0.000,3078,0.181,0.025,2717,2332,3487,3577,3398,0,0,0,0,0,0,26.18,26.45,28.83
$GC,714,-0.88,-219.4,1600,2329,3564,3396,142.2,-16.0,116,722,0.00,1.88,0.00,0.000,516,0.000,0.029,2717,1004,3487,3577,3398,0,0,0,0,0,0,28.83,26.40,28.83
$GC,811,-0.88,-219.4,1640,1003,3566,3396,157.4,-16.1,133,820,0.00,1.90,0.00,0.000,1030,0.000,0.025,2713,2370,3488,3578,3399,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1016,-0.88,-219.4,1632,2368,3566,3396,189.2,-15.9,170,1024,0.00,1.95,0.00,0.000,260,0.000,0.047,2705,3707,3488,3578,3398,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1037,-0.88,-219.4,1664,3707,3566,3396,192.8,-15.1,173,1046,0.00,1.80,0.00,0.000,1030,0.000,0.019,2705,2365,3488,3578,3399,0,0,0,0,0,0,28.83,26.55,28.83
$STATE,1086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1086,begin apogee
$GC,1093,-0.20,0.0,2705,2236,3578,3398,200.7,-14.4,181,1270,0.73,0.00,168.18,0.428,10246,0.132,0.000,2934,2235,2586,2684,2488,0,0,0,0,0,0,25.90,28.83,25.18
$STATE,1272,end apogee,CONTROL_FINISHED_OK
$STATE,1272,begin climb
$GC,1277,0.88,219.4,2934,2235,2684,2485,207.0,0.0,204,1453,0.98,2.00,164.15,0.419,11012,0.074,0.034,3298,898,1688,1805,1571,0,0,0,0,0,0,25.73,25.70,25.18
$GC,1538,0.88,219.4,2240,897,1736,1562,176.5,18.8,241,1547,0.08,1.90,0.00,0.000,5126,0.192,0.024,3285,2250,1685,1805,1565,0,0,0,0,0,0,25.91,26.11,28.83
$GC,1746,0.88,219.4,2208,2249,1735,1558,137.4,17.0,278,1755,0.00,2.03,0.00,0.000,260,0.000,0.035,3285,3629,1683,1804,1563,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1861,0.88,219.4,2240,3628,1739,1557,116.6,17.9,298,1869,0.00,1.90,0.00,0.000,1030,0.000,0.022,3285,2274,1681,1802,1561,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2068,0.88,219.4,3284,2273,1802,1559,86.8,11.2,335,2075,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,2273,1680,1802,1559,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2274,0.99,285.7,2208,2270,1734,1552,72.1,7.6,372,2331,0.10,2.12,47.17,0.368,10756,0.099,0.037,3352,860,1419,1530,1308,0,0,0,0,0,0,26.54,26.13,25.63
$GC,2555,0.99,285.7,2336,860,1487,1298,39.2,11.4,420,2564,0.15,1.92,0.00,0.000,5126,0.173,0.022,3315,2257,1414,1529,1300,0,0,0,0,0,0,25.96,26.37,28.83
$GC,2764,0.99,285.7,3314,2257,1528,1297,15.5,10.7,457,2772,0.00,1.98,0.00,0.000,260,0.000,0.035,3314,3620,1412,1527,1297,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2836,0.99,285.7,3313,3620,1526,1297,7.7,9.7,469,2845,0.00,1.92,0.00,0.000,1030,0.000,0.021,3314,2233,1411,1526,1297,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,2902,end climb,SURFACE_DEPTH_REACHED
$STATE,2902,begin surface coast
$FINISH,-0.8,1.020021
$STATE,2969,end surface coast,CONTROL_FINISHED_OK
$STATE,2969,begin surface
$SM_CCo,2989,85.70,0.044,0,0,464,520.77
$SM_GC,-1.40,8.43,0.15,85.70,0.057,0.070,0.044,140,2417,464,-8.85,-2.29,520.77,0,0,0,0,0,0,26.34,26.53,26.27
$IRIDIUM_FIX,1832.77,12126.31,300513,202058
$TT8_MAMPS,0.026964,0.026964
$HUMID,54.80
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,24.90
$XPDR_PINGS,95
$SC_FREEKB,3864256
$24V_AH,25.2,48.692
$10V_AH,10.3,45.366
$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,21.250,30.925,379.500,85.700,0.000,0.000,0.000,558.025,23.750,0.000,223.842,1428.581,371.336,556.962,1557.087,362.282,0.000,1567.308,0.000,780.574,0.000,0.550,0.000
$DEVICE_MAMPS,240.210,100.980,428.400,44.370,0.000,0.000,0.000,111.690,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2979.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.821,0.000,0.000,0.000
$MEM,323228
$DATA_FILE_SIZE,16790,492
$CAP_FILE_SIZE,187702,0
$CFSIZE,260034560,203042816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.478,277.4,1
$GPS,300513,211603,1840.047,12123.706,148,2.2,167,-2.0