version: 66.11
glider: 177
mission: 4
dive: 412
start: 5 31 113 4 53 38
data:
$ID,177
$MISSION,4
$DIVE,412
$N_DIVES,416
$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,-45436.332
$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,72
$R_STBD_OVSHOOT,52
$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
$GPS1,310513,042648,1846.390,12114.188,95,1.8,107,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.45
$_SM_ANGLEo,-70.8
$GPS2,310513,045305,1846.819,12113.184,219,1.5,219,-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,139.3,82172,-13.2,-9.524,-17.35,3487
$D_GRID,48
$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,21,-0.88,-219.4,140,2381,469,451,0.0,0.0,0,122,0.00,0.00,-95.53,0.000,16386,0.000,0.000,140,2382,3014,3050,2978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,126,-0.88,-219.4,140,2382,3050,2979,4.5,-15.3,13,152,11.10,2.08,-6.88,0.000,19204,0.250,0.051,2710,993,3486,3571,3402,0,0,1,0,0,0,25.63,25.63,26.73
$GC,188,-0.88,-219.4,1616,993,3560,3399,36.6,-34.3,22,196,0.00,1.95,0.00,0.000,1030,0.000,0.028,2703,2374,3487,3573,3402,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,238,begin apogee
$GC,246,-0.20,0.0,2703,2195,3573,3402,48.9,-22.8,31,417,0.77,0.00,164.35,0.324,10246,0.156,0.000,2934,2193,2584,2680,2489,0,0,0,0,0,0,25.88,28.83,25.41
$STATE,419,end apogee,CONTROL_FINISHED_OK
$STATE,419,begin climb
$GC,422,0.88,219.4,2934,2194,2680,2487,64.4,0.0,53,589,0.98,1.98,159.57,0.318,10756,0.089,0.037,3282,902,1688,1808,1569,0,0,0,0,0,0,25.82,25.85,25.41
$GC,654,0.88,219.4,3282,901,1808,1564,45.6,12.2,85,662,0.00,1.90,0.00,0.000,1030,0.000,0.024,3282,2261,1686,1808,1564,0,0,0,0,0,0,28.83,26.15,28.83
$GC,858,0.91,236.7,2224,2259,1741,1558,25.2,9.0,122,875,0.00,2.05,9.48,0.331,8452,0.000,0.035,3282,3631,1618,1736,1500,0,0,0,0,0,0,28.83,26.30,25.77
$GC,932,0.95,262.8,2208,3630,1674,1492,18.5,8.8,134,950,0.08,1.88,10.55,0.089,11270,0.122,0.021,3335,2265,1516,1627,1405,0,0,0,0,0,0,26.30,26.41,26.10
$GC,1019,0.95,262.8,2304,2263,1571,1406,10.0,9.7,148,1028,0.12,2.00,0.00,0.000,4612,0.163,0.033,3302,869,1518,1627,1409,0,0,0,0,0,0,26.20,26.33,28.83
$GC,1095,1.10,357.3,3303,869,1627,1409,5.0,6.7,160,1129,0.15,1.90,26.85,0.052,11266,0.070,0.022,3387,2262,1232,1329,1135,0,0,0,0,0,0,26.41,26.45,28.83
$STATE,1130,end climb,SURFACE_DEPTH_REACHED
$STATE,1130,begin surface coast
$FINISH,-2.0,1.007424
$STATE,1170,end surface coast,CONTROL_FINISHED_OK
$STATE,1170,begin surface
$SM_CCo,1190,69.03,0.042,0,0,464,520.77
$SM_GC,-1.26,8.20,0.10,69.03,0.033,0.093,0.042,127,2401,464,-8.85,-2.18,520.77,0,0,0,0,0,0,26.38,26.53,26.32
$IRIDIUM_FIX,1839.59,12111.10,310513,040432
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.52
$INTERNAL_PRESSURE,9.97109
$TCM_TEMP,26.00
$XPDR_PINGS,124
$SC_FREEKB,3862336
$24V_AH,25.4,49.109
$10V_AH,10.3,45.710
$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,21.400,15.975,370.800,69.025,0.000,0.000,0.000,936.075,31.000,0.000,222.165,437.731,272.426,483.693,1424.878,216.716,0.000,1647.458,0.000,276.036,0.000,0.553,0.000
$DEVICE_MAMPS,250.155,92.565,331.245,42.075,0.000,0.000,0.000,111.690,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,1182.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,5.052,0.000,0.000,0.000
$MEM,323284
$DATA_FILE_SIZE,3483,171
$CAP_FILE_SIZE,85026,0
$CFSIZE,260034560,202801152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,1.192,308.8,1
$GPS,310513,051806,1847.290,12112.517,164,2.0,164,-2.0