version: 66.11
glider: 177
mission: 4
dive: 409
start: 5 30 113 22 47 53
data:
$ID,177
$MISSION,4
$DIVE,409
$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,0
$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,-43264.012
$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,107
$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
$GPS1,300513,222515,1840.639,12122.667,108,5.5,127,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.42
$_SM_ANGLEo,-72.2
$GPS2,300513,222515,1840.639,12122.667,301,99.0,301,-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,130.0,65968,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.88,-219.4,140,2413,470,451,0.0,0.0,0,113,0.00,0.00,-89.88,0.000,16386,0.000,0.000,140,2414,2832,2871,2794,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.88,-219.4,140,2414,2871,2794,3.4,-13.1,12,151,10.73,1.85,-10.55,0.000,18692,0.245,0.050,2703,3659,3485,3576,3395,0,0,0,0,0,0,25.78,26.26,26.57
$GC,232,-0.88,-219.4,1608,3658,3564,3393,46.1,-30.7,30,241,0.00,1.77,0.00,0.000,1030,0.000,0.020,2703,2359,3485,3576,3395,0,0,0,0,0,0,28.83,26.40,28.83
$GC,439,-0.88,-219.4,1600,2355,3564,3393,99.2,-17.9,67,447,0.03,1.90,0.00,0.000,2564,0.258,0.027,2712,1002,3486,3577,3395,0,0,0,0,0,0,26.43,26.39,28.83
$GC,470,-0.88,-219.4,1600,1001,3564,3393,103.8,-16.3,71,478,0.00,1.85,0.00,0.000,1030,0.000,0.024,2705,2336,3486,3577,3395,0,0,0,0,0,0,28.83,26.45,28.83
$GC,675,-0.88,-219.4,1600,2334,3564,3392,134.7,-17.4,108,683,0.00,1.90,0.00,0.000,516,0.000,0.029,2705,993,3486,3577,3395,0,0,0,0,0,0,28.83,26.42,28.83
$GC,719,-0.88,-219.4,2705,993,3577,3395,141.8,-14.7,115,728,0.08,1.95,0.00,0.000,3078,0.196,0.027,2714,2378,3486,3577,3395,0,0,0,0,0,0,26.27,26.46,28.83
$GC,926,-0.88,-219.4,1608,2376,3566,3392,170.9,-14.6,152,935,0.00,1.95,0.00,0.000,260,0.000,0.039,2707,3710,3486,3577,3395,0,0,0,0,0,0,28.83,26.40,28.83
$GC,956,-0.88,-219.4,1600,3709,3565,3393,174.7,-13.9,156,964,0.00,1.85,0.00,0.000,1030,0.000,0.019,2707,2345,3486,3578,3395,0,0,0,0,0,0,28.83,26.58,28.83
$STATE,1144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1144,begin apogee
$GC,1150,-0.20,0.0,2707,2341,3577,3395,200.7,-15.1,190,1332,0.70,0.00,168.98,0.436,10246,0.129,0.000,2931,2344,2587,2685,2490,0,0,0,0,0,0,26.06,28.83,25.21
$STATE,1333,end apogee,CONTROL_FINISHED_OK
$STATE,1333,begin climb
$GC,1336,0.88,219.4,2931,2344,2684,2482,210.9,0.0,214,1512,0.95,1.95,163.35,0.427,10500,0.064,0.033,3285,3640,1686,1803,1570,0,0,0,0,0,0,25.77,25.72,25.20
$GC,1758,0.88,219.4,2224,3639,1730,1557,145.5,14.8,281,1766,0.00,1.92,0.00,0.000,1030,0.000,0.028,3293,2275,1679,1798,1561,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1964,0.88,219.4,2208,2272,1729,1554,117.2,12.1,318,1972,0.00,2.03,0.00,0.000,260,0.000,0.037,3294,3649,1678,1798,1558,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2219,0.88,219.4,3294,3649,1796,1556,82.4,13.2,364,2228,0.10,2.00,0.00,0.000,5126,0.203,0.022,3285,2240,1676,1796,1556,0,0,0,0,0,0,26.13,26.46,28.83
$GC,2426,0.93,253.9,2176,2237,1727,1548,66.1,8.5,401,2459,0.08,2.15,24.10,0.373,10500,0.124,0.035,3327,3648,1547,1661,1434,0,0,0,0,0,0,26.56,26.27,25.72
$GC,2586,0.93,253.9,2304,3647,1601,1423,43.1,17.3,428,2595,0.15,1.98,0.00,0.000,5126,0.176,0.021,3298,2226,1543,1659,1427,0,0,0,0,0,0,26.02,26.40,28.83
$GC,2795,0.97,277.2,2240,2223,1601,1420,21.3,8.8,465,2818,0.00,2.03,13.10,0.350,8708,0.000,0.039,3305,872,1453,1567,1340,0,0,0,0,0,0,28.83,26.32,25.79
$GC,2899,0.97,277.2,2240,872,1513,1335,11.5,10.4,482,2907,0.00,1.92,0.00,0.000,1030,0.000,0.022,3305,2252,1451,1566,1337,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2976,1.20,422.9,3304,2255,1566,1335,6.6,5.2,495,3026,0.20,0.00,44.25,0.059,10498,0.058,0.000,3412,2252,980,1072,888,0,0,0,0,0,0,26.49,28.83,28.83
$STATE,3027,end climb,SURFACE_DEPTH_REACHED
$STATE,3027,begin surface coast
$FINISH,-2.0,1.020246
$STATE,3057,end surface coast,CONTROL_FINISHED_OK
$STATE,3057,begin surface
$SM_CCo,3076,47.00,0.045,0,0,463,520.77
$SM_GC,-1.53,8.30,0.12,47.00,0.033,0.086,0.045,129,2387,463,-8.85,-2.01,520.77,0,0,0,0,0,0,26.32,26.46,26.27
$IRIDIUM_FIX,1832.77,12121.24,300513,222231
$TT8_MAMPS,0.027713,0.027713
$HUMID,54.88
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,24.70
$XPDR_PINGS,31
$SC_FREEKB,3863488
$24V_AH,25.2,48.818
$10V_AH,10.4,45.469
$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,21.300,31.125,413.775,47.000,0.000,0.000,0.000,609.125,7.750,0.000,303.644,1455.408,380.380,547.358,1712.313,359.568,0.000,1620.481,0.000,806.246,0.000,0.551,0.000
$DEVICE_MAMPS,257.805,86.445,436.050,45.135,0.000,0.000,0.000,94.095,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,3068.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.842,0.000,0.000,0.000
$MEM,323288
$DATA_FILE_SIZE,16768,506
$CAP_FILE_SIZE,193596,0
$CFSIZE,260034560,202883072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,1.110,307.9,1
$GPS,300513,234330,1841.938,12121.285,161,1.8,166,-2.0