version: 66.11
glider: 177
mission: 4
dive: 411
start: 5 31 113 3 33 22
data:
$ID,177
$MISSION,4
$DIVE,411
$N_DIVES,415
$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,-45435.074
$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,80
$R_STBD_OVSHOOT,97
$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
$GPS1,310513,031245,1845.113,12116.664,91,5.0,110,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.28
$_SM_ANGLEo,-72.7
$GPS2,310513,033251,1845.396,12115.985,169,2.9,188,-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,47.5,77192,-13.2,-9.524,-17.35,3487
$D_GRID,369
$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,-219.4,135,2426,472,453,0.0,0.0,0,121,0.00,0.00,-96.40,0.000,16386,0.000,0.000,135,2427,3022,3061,2984,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-0.88,-219.4,135,2426,3061,2985,4.5,-15.1,13,151,11.15,1.88,-6.85,0.000,18692,0.251,0.050,2706,3679,3487,3572,3402,0,0,0,0,0,0,25.64,26.39,26.75
$GC,289,-0.88,-219.4,1600,3678,3560,3400,61.5,-25.5,41,297,0.00,1.80,0.00,0.000,1030,0.000,0.020,2706,2342,3488,3574,3403,0,0,0,0,0,0,28.83,26.54,28.83
$GC,495,-0.88,-219.4,1632,2338,3562,3400,107.6,-20.0,78,503,0.00,1.85,0.00,0.000,516,0.000,0.028,2707,1014,3488,3574,3402,0,0,0,0,0,0,28.83,26.44,28.83
$GC,534,-0.88,-219.4,2706,1014,3574,3402,115.1,-18.1,84,543,0.10,1.85,0.00,0.000,3078,0.177,0.027,2722,2344,3488,3574,3402,0,0,0,0,0,0,26.24,26.48,28.83
$GC,742,-0.88,-219.4,1608,2342,3561,3400,149.9,-16.6,121,750,0.00,1.95,0.00,0.000,260,0.000,0.036,2714,3708,3488,3574,3402,0,0,0,0,0,0,28.83,26.43,28.83
$GC,884,-0.88,-219.4,2714,3708,3574,3402,170.8,-11.6,146,892,0.00,1.80,0.00,0.000,1030,0.000,0.019,2714,2362,3488,3574,3402,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1090,-0.88,-219.4,2713,2362,3570,3401,197.4,-12.8,183,1099,0.00,1.98,0.00,0.000,260,0.000,0.038,2713,3714,3488,3574,3402,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,1110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1110,begin apogee
$GC,1119,-0.20,0.0,2716,2234,3574,3401,200.5,-12.8,186,1293,0.68,0.00,169.18,0.424,10246,0.127,0.000,2931,2233,2586,2685,2488,0,0,0,0,0,0,26.04,28.83,25.24
$STATE,1298,end apogee,CONTROL_FINISHED_OK
$STATE,1298,begin climb
$GC,1301,0.88,219.4,2931,2233,2685,2484,207.9,0.0,209,1476,0.93,2.10,162.52,0.416,11012,0.058,0.035,3285,3636,1687,1804,1571,0,0,0,0,0,0,25.84,25.79,25.25
$GC,1647,0.88,219.4,2240,3635,1735,1559,156.1,17.7,262,1656,0.00,1.90,0.00,0.000,1030,0.000,0.021,3293,2260,1682,1801,1563,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1855,0.88,219.4,2216,2257,1732,1556,129.1,13.6,299,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,2260,1681,1801,1561,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2062,0.88,219.4,3293,2260,1804,1559,98.5,15.1,336,2070,0.00,2.03,0.00,0.000,260,0.000,0.035,3293,3641,1679,1801,1558,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2186,0.88,219.4,3292,3641,1798,1558,79.6,13.6,358,2196,0.10,1.92,0.00,0.000,5126,0.205,0.021,3279,2249,1677,1797,1558,0,0,0,0,0,0,26.15,26.48,28.83
$GC,2394,0.88,219.4,2192,2246,1729,1551,55.8,13.5,395,2402,0.00,2.00,0.00,0.000,516,0.000,0.038,3285,861,1677,1798,1556,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2538,0.93,253.1,2208,860,1728,1551,41.3,8.5,420,2569,0.00,1.92,23.50,0.353,9222,0.000,0.031,3285,2243,1552,1668,1437,0,0,0,0,0,0,28.83,26.44,25.71
$GC,2768,0.98,279.8,2208,2241,1605,1424,20.8,8.7,460,2791,0.10,0.00,15.98,0.340,10502,0.095,0.000,3349,2244,1442,1554,1330,0,0,0,0,0,0,26.54,28.83,25.75
$GC,2861,0.98,279.8,2304,2248,1502,1322,8.9,17.1,475,2869,0.12,2.03,0.00,0.000,4612,0.181,0.034,3323,855,1439,1553,1325,0,0,0,0,0,0,26.13,26.29,28.83
$STATE,2909,end climb,SURFACE_DEPTH_REACHED
$STATE,2909,begin surface coast
$FINISH,0.4,1.020584
$STATE,2943,end surface coast,CONTROL_FINISHED_OK
$STATE,2943,begin surface
$SM_CCo,2965,88.07,0.044,0,0,464,520.77
$SM_GC,-1.37,8.55,2.20,88.07,0.063,0.023,0.044,141,2371,464,-8.86,-1.72,520.77,0,0,0,0,0,0,26.29,26.42,26.29
$IRIDIUM_FIX,1837.32,12116.17,310513,030347
$TT8_MAMPS,0.026964,0.026964
$HUMID,54.76
$INTERNAL_PRESSURE,9.88319
$TCM_TEMP,24.60
$XPDR_PINGS,535
$SC_FREEKB,3862720
$24V_AH,25.2,49.046
$10V_AH,10.5,45.671
$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,21.725,31.225,371.175,88.075,0.000,0.000,0.000,0.000,133.750,0.000,192.095,1410.185,132.469,553.579,957.451,260.975,0.000,989.559,0.000,784.461,0.000,0.553,0.000
$DEVICE_MAMPS,250.920,50.490,423.810,43.605,0.000,0.000,0.000,0.000,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2921.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.787,0.000,0.000,0.000
$MEM,323236
$DATA_FILE_SIZE,16795,489
$CAP_FILE_SIZE,237103,0
$CFSIZE,260034560,202706944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,1.213,292.8,1
$GPS,310513,042648,1846.390,12114.188,95,1.8,107,-2.0