version: 66.11
glider: 177
mission: 4
dive: 410
start: 5 30 113 23 55 58
data:
$ID,177
$MISSION,4
$DIVE,410
$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,-43265.273
$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,74
$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
$GPS1,300513,234330,1841.938,12121.285,161,1.8,166,-2.0
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.46
$_SM_ANGLEo,-71.3
$GPS2,300513,235525,1842.222,12121.153,73,2.4,92,-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,132.7,68320,-13.2,-9.524,-17.35,3487
$D_GRID,375
$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,-219.4,128,2388,458,458,0.0,0.0,0,113,0.00,0.00,-89.72,0.000,16386,0.000,0.000,129,2389,2821,2858,2785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,120,-0.88,-219.4,128,2389,2859,2786,3.5,-13.0,12,154,10.85,1.95,-10.35,0.000,18692,0.243,0.054,2705,3680,3487,3579,3396,0,0,0,0,0,0,25.64,26.27,26.66
$GC,228,-0.88,-219.4,1584,3679,3568,3394,46.0,-29.2,29,237,0.00,1.85,0.00,0.000,1030,0.000,0.020,2705,2354,3488,3580,3397,0,0,0,0,0,0,28.83,26.44,28.83
$GC,431,-0.88,-219.4,2705,2352,3580,3397,105.1,-30.1,66,440,0.00,1.90,0.00,0.000,516,0.000,0.031,2705,1009,3488,3580,3397,0,0,0,0,0,0,28.83,26.36,28.83
$GC,492,-0.88,-219.4,1600,1009,3568,3394,118.6,-17.3,76,501,0.10,1.88,0.00,0.000,3078,0.181,0.021,2718,2387,3488,3581,3396,0,0,0,0,0,0,26.19,26.48,28.83
$GC,699,-0.88,-219.4,1616,2385,3568,3394,152.9,-16.6,113,707,0.00,1.98,0.00,0.000,516,0.000,0.031,2718,1005,3489,3581,3397,0,0,0,0,0,0,28.83,26.37,28.83
$GC,741,-0.88,-219.4,1640,1005,3569,3394,160.7,-16.4,120,749,0.00,1.88,0.00,0.000,1030,0.000,0.026,2713,2349,3489,3582,3397,0,0,0,0,0,0,28.83,26.44,28.83
$GC,945,-0.88,-219.4,1664,2347,3570,3394,185.2,-11.4,157,953,0.00,1.98,0.00,0.000,260,0.000,0.038,2705,3707,3489,3581,3397,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1012,-0.88,-219.4,1600,3706,3569,3394,194.0,-13.6,168,1020,0.00,1.80,0.00,0.000,1030,0.000,0.019,2706,2355,3489,3581,3397,0,0,0,0,0,0,28.83,26.57,28.83
$STATE,1053,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1053,begin apogee
$GC,1059,-0.20,0.0,2705,2355,3581,3397,200.2,-13.3,175,1235,0.70,0.00,168.95,0.428,10246,0.127,0.000,2930,2354,2586,2684,2489,0,0,0,0,0,0,25.96,28.83,25.20
$STATE,1236,end apogee,CONTROL_FINISHED_OK
$STATE,1239,begin climb
$GC,1241,0.88,219.4,2930,2355,2684,2486,208.7,0.0,198,1417,0.95,1.92,163.85,0.415,10500,0.069,0.044,3283,3639,1687,1804,1570,0,0,0,0,0,0,25.74,25.71,25.20
$GC,1583,0.88,219.4,3283,3639,1800,1563,158.8,14.1,250,1591,0.00,1.90,0.00,0.000,1030,0.000,0.021,3288,2271,1681,1800,1563,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1791,0.88,219.4,2216,2268,1733,1556,125.6,13.6,287,1800,0.00,2.03,0.00,0.000,260,0.000,0.036,3288,3644,1680,1800,1560,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2004,0.93,252.2,2224,3643,1732,1554,99.9,8.6,325,2035,0.00,1.95,23.60,0.386,9222,0.000,0.021,3293,2240,1555,1668,1442,0,0,0,0,0,0,28.83,26.45,25.70
$GC,2234,0.93,252.2,2224,2237,1606,1429,71.9,12.4,365,2242,0.00,2.00,0.00,0.000,516,0.000,0.036,3303,860,1550,1668,1433,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2402,1.09,348.6,2240,859,1606,1429,57.8,6.7,395,2481,0.15,1.95,68.22,0.344,11270,0.072,0.023,3382,2267,1161,1257,1065,0,0,0,0,0,0,26.38,26.43,25.60
$GC,2679,1.09,348.6,2368,2264,1225,1056,12.5,19.0,441,2689,0.12,2.05,0.00,0.000,4612,0.185,0.034,3352,872,1155,1254,1057,0,0,0,0,0,0,26.03,26.20,28.83
$GC,2698,1.09,348.6,3351,872,1254,1057,9.6,16.9,443,2707,0.00,1.90,0.00,0.000,1030,0.000,0.023,3351,2236,1155,1254,1056,0,0,0,0,0,0,28.83,26.33,28.83
$STATE,2753,end climb,SURFACE_DEPTH_REACHED
$STATE,2753,begin surface coast
$FINISH,0.2,1.020317
$STATE,2782,end surface coast,CONTROL_FINISHED_OK
$STATE,2782,begin surface
$SM_CCo,2803,62.88,0.045,0,0,463,520.77
$SM_GC,-1.25,8.65,0.17,62.88,0.064,0.064,0.045,145,2425,463,-8.84,-1.47,520.77,0,0,0,0,0,0,26.28,26.44,26.24
$IRIDIUM_FIX,1835.04,12124.37,300513,232338
$TT8_MAMPS,0.026964,0.026964
$HUMID,53.81
$INTERNAL_PRESSURE,9.85389
$TCM_TEMP,24.80
$XPDR_PINGS,80
$SC_FREEKB,3863104
$24V_AH,25.2,48.882
$10V_AH,10.3,45.514
$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,21.525,31.075,424.625,62.875,0.000,0.000,0.000,386.875,20.000,0.000,96.308,1300.189,175.257,566.440,1211.953,331.746,0.000,1388.881,0.000,717.889,0.000,0.550,0.000
$DEVICE_MAMPS,242.505,64.260,428.400,45.135,0.000,0.000,0.000,112.455,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2793.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.797,0.000,0.000,0.000
$MEM,323268
$DATA_FILE_SIZE,16757,457
$CAP_FILE_SIZE,175233,0
$CFSIZE,260034560,202833920
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,11.999,114.6,1
$GPS,300513,235525,1842.222,12121.153,301,99.0,301,-2.0