version: 66.11
glider: 177
mission: 4
dive: 422
start: 5 31 113 13 17 48
data:
$ID,177
$MISSION,4
$DIVE,422
$N_DIVES,423
$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,-47021.883
$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,66
$R_STBD_OVSHOOT,115
$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
$GPS1,310513,125824,1845.785,12113.639,275,1.4,275,-2.0
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.43
$_SM_ANGLEo,-69.8
$GPS2,310513,125824,1845.785,12113.639,301,99.0,301,-2.0
$SPEED_LIMITS,0.165,0.305
$TGT_NAME,DOGLEG
$TGT_LATLONG,1847.000,12121.000
$TGT_RADIUS,2000.000
$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,71.7,13102,-13.2,-9.524,-17.35,3487
$D_GRID,326
$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,20,-0.88,-219.4,121,2425,467,451,0.0,0.0,0,129,0.00,0.00,-105.80,0.000,16386,0.000,0.000,121,2426,3349,3407,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,133,-0.88,-219.4,121,2426,3407,3293,5.2,-17.5,14,158,11.55,1.80,-1.92,0.000,18692,0.260,0.047,2704,3664,3486,3565,3408,0,0,1,0,0,0,25.66,25.70,26.67
$GC,168,-0.88,-219.4,2704,3664,3566,3407,29.5,-57.2,18,176,0.00,1.80,0.00,0.000,1030,0.000,0.020,2704,2324,3487,3566,3408,0,0,0,0,0,0,28.83,26.52,28.83
$GC,373,-0.88,-219.4,2704,2324,3566,3408,79.5,-18.5,55,381,0.00,1.92,0.00,0.000,260,0.000,0.037,2696,3650,3487,3567,3407,0,0,0,0,0,0,28.83,26.39,28.83
$GC,627,-0.88,-219.4,1600,3649,3553,3405,128.3,-19.0,101,636,0.03,1.80,0.00,0.000,3078,0.131,0.020,2716,2322,3488,3568,3408,0,0,0,0,0,0,26.27,26.53,28.83
$GC,834,-0.88,-219.4,1616,2319,3558,3405,162.7,-14.6,138,842,0.00,1.95,0.00,0.000,260,0.000,0.039,2709,3646,3488,3569,3407,0,0,0,0,0,0,28.83,26.38,28.83
$GC,864,-0.88,-219.4,2709,3646,3569,3411,166.8,-14.0,142,872,0.00,1.80,0.00,0.000,1030,0.000,0.019,2710,2334,3488,3569,3407,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1070,-0.88,-219.4,1600,2330,3555,3404,197.6,-16.8,179,1077,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2333,3488,3570,3407,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,1083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,1083,begin apogee
$GC,1089,-0.20,0.0,2709,2333,3569,3407,200.6,-17.2,181,1267,0.68,0.00,169.27,0.435,10246,0.121,0.000,2931,2332,2585,2682,2489,0,0,0,0,0,0,26.01,28.83,25.21
$STATE,1270,end apogee,CONTROL_FINISHED_OK
$STATE,1270,begin climb
$GC,1273,0.88,219.4,2930,2332,2682,2487,211.7,0.0,204,1450,0.98,1.88,163.55,0.428,11012,0.070,0.037,3288,3571,1689,1803,1576,0,0,1,0,0,0,25.78,25.71,25.22
$GC,1537,0.88,219.4,3287,3572,1800,1569,172.8,20.7,241,1546,0.00,1.83,0.00,0.000,1030,0.000,0.029,3301,2264,1684,1800,1569,0,0,0,0,0,0,28.83,26.14,28.83
$GC,1746,0.88,219.4,2240,2260,1731,1562,136.0,16.9,278,1754,0.00,1.95,0.00,0.000,260,0.000,0.035,3297,3590,1683,1800,1567,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1883,0.88,219.4,2224,3589,1730,1559,111.7,16.7,302,1892,0.10,1.88,0.00,0.000,5126,0.206,0.022,3280,2244,1682,1800,1564,0,0,0,0,0,0,26.10,26.42,28.83
$GC,2091,0.88,219.4,3279,2243,1799,1563,86.1,9.6,339,2099,0.00,2.03,0.00,0.000,516,0.000,0.039,3288,850,1681,1799,1563,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2266,0.88,220.7,2208,849,1731,1559,71.1,9.5,370,2274,0.00,1.85,0.00,0.000,1030,0.000,0.023,3287,2194,1681,1799,1563,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2474,1.04,320.1,2208,2192,1731,1555,55.1,6.6,407,2552,0.12,2.05,70.50,0.356,10756,0.082,0.038,3372,857,1277,1374,1180,0,0,0,0,0,0,26.56,26.06,25.57
$GC,2621,1.04,320.1,3371,857,1374,1177,38.5,13.5,429,2631,0.15,1.92,0.00,0.000,5126,0.167,0.024,3334,2241,1275,1374,1176,0,0,0,0,0,0,25.87,26.22,28.83
$GC,2828,1.04,320.1,2272,2242,1335,1170,13.1,12.1,466,2836,0.00,2.00,0.00,0.000,260,0.000,0.035,3335,3628,1272,1374,1171,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,2898,end climb,SURFACE_DEPTH_REACHED
$STATE,2898,begin surface coast
$FINISH,0.1,1.021253
$STATE,2915,end surface coast,CONTROL_FINISHED_OK
$STATE,2915,begin surface
$SM_CCo,2936,73.45,0.044,0,0,464,520.77
$SM_GC,-1.39,8.12,1.77,73.45,0.034,0.020,0.044,119,2365,464,-8.86,2.06,520.77,0,0,1,0,0,0,26.34,26.44,26.27
$IRIDIUM_FIX,1837.32,12116.17,310513,131311
$TT8_MAMPS,0.027713,0.027713
$HUMID,56.97
$INTERNAL_PRESSURE,9.86366
$TCM_TEMP,24.50
$XPDR_PINGS,98
$SC_FREEKB,3858496
$24V_AH,25.2,49.618
$10V_AH,10.5,46.103
$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,21.725,30.225,403.325,73.450,0.000,0.000,0.000,406.575,24.500,0.000,303.512,1376.832,371.452,566.543,1485.248,345.265,0.000,1421.720,0.000,775.005,0.000,0.551,0.000
$DEVICE_MAMPS,260.100,46.665,435.285,43.605,0.000,0.000,0.000,95.625,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,2929.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,4.814,0.000,0.000,0.000
$MEM,323404
$DATA_FILE_SIZE,16741,481
$CAP_FILE_SIZE,180975,0
$CFSIZE,260034560,202174464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$CURRENT,0.353,278.9,1
$GPS,310513,141250,1845.993,12113.363,225,2.8,244,-2.0