version: 66.11
glider: 177
mission: 4
dive: 347
start: 5 24 113 20 35 33
data:
$ID,177
$MISSION,4
$DIVE,347
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,650
$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,180
$T_MISSION,230
$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,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52151
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.003
$HD_B,0.001
$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,619.87311
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,3
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-16984.893
$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,2925
$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,63
$R_STBD_OVSHOOT,61
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,2992
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0020000001
$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,0
$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
$GPS1,240513,202626,1844.334,12156.765,33,4.1,52,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.54
$_SM_ANGLEo,-70.1
$GPS2,240513,203505,1844.395,12156.504,44,1.7,55,-2.1
$SPEED_LIMITS,0.160,0.759
$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,79.8,6233,-6.3,-9.259,-6.96,3220
$D_GRID,1078
$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,-0.64,-194.6,127,2391,483,442,0.0,0.0,0,119,0.00,0.00,-94.43,0.000,16386,0.000,0.000,127,2391,2990,3028,2953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.64,-194.6,127,2391,3027,2954,4.3,-15.9,13,156,10.48,1.98,-11.38,0.000,18692,0.230,0.046,2703,3706,3789,3878,3700,0,0,0,0,0,0,25.47,26.13,26.50
$GC,258,-0.64,-194.6,2703,3706,3878,3701,58.8,-28.5,26,265,0.08,1.88,0.00,0.000,3078,0.198,0.019,2716,2332,3789,3878,3701,0,0,0,0,0,0,26.04,26.29,28.83
$GC,586,-0.64,-194.6,2716,2330,3878,3701,140.4,-22.2,42,593,0.00,1.88,0.00,0.000,516,0.000,0.028,2716,1012,3789,3878,3700,0,0,0,0,0,0,28.83,26.18,28.83
$GC,634,-0.64,-194.6,2716,1012,3878,3701,150.0,-19.9,44,641,0.00,1.90,0.00,0.000,1030,0.000,0.026,2710,2367,3789,3878,3700,0,0,0,0,0,0,28.83,26.32,28.83
$GC,961,-0.64,-194.6,2710,2367,3880,3701,203.7,-16.1,60,967,0.00,1.92,0.00,0.000,516,0.000,0.028,2710,1014,3790,3880,3701,0,0,0,0,0,0,28.83,26.31,28.83
$GC,989,-0.64,-194.6,2710,1014,3880,3700,208.0,-16.4,61,996,0.00,1.92,0.00,0.000,1030,0.000,0.026,2704,2375,3790,3880,3701,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1311,-0.64,-194.6,2704,2376,3880,3701,257.6,-13.7,77,1317,0.00,1.98,0.00,0.000,260,0.000,0.041,2700,3717,3790,3880,3701,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1358,-0.64,-194.6,2700,3717,3881,3700,263.7,-13.2,79,1365,0.03,1.88,0.00,0.000,3078,0.109,0.019,2727,2330,3790,3880,3701,0,0,0,0,0,0,26.20,26.51,28.83
$GC,1686,-0.64,-194.6,2726,2328,3880,3698,300.6,-11.5,95,1691,0.00,1.80,0.00,0.000,516,0.000,0.028,2727,1053,3788,3880,3697,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1720,-0.64,-194.6,2726,1052,3880,3697,303.5,-11.3,96,1726,0.00,1.88,0.00,0.000,1030,0.000,0.028,2726,2376,3788,3881,3696,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2035,-0.64,-194.6,2727,2376,3880,3690,341.7,-12.2,112,2041,0.00,1.98,0.00,0.000,260,0.000,0.042,2721,3710,3785,3881,3690,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2065,-0.64,-194.6,2720,3710,3880,3690,344.6,-12.0,113,2070,0.00,1.75,0.00,0.000,1030,0.000,0.021,2720,2370,3784,3880,3689,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2386,-0.64,-194.6,2720,2370,3880,3683,386.2,-13.9,129,2391,0.00,1.85,0.00,0.000,516,0.000,0.029,2721,1073,3781,3880,3683,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2432,-0.64,-194.6,2720,1073,3880,3682,392.6,-13.9,131,2438,0.00,1.88,0.00,0.000,1030,0.000,0.028,2717,2376,3781,3880,3682,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2759,-0.64,-194.6,2717,2377,3880,3676,432.3,-10.9,147,2765,0.00,1.98,0.00,0.000,260,0.000,0.042,2717,3707,3778,3880,3676,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2814,-0.64,-194.6,2717,3707,3880,3676,437.3,-10.8,149,2820,0.00,1.75,0.00,0.000,1030,0.000,0.021,2716,2396,3778,3880,3676,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3131,-0.64,-194.6,2717,2396,3876,3678,467.7,-7.9,165,3136,0.00,1.92,0.00,0.000,516,0.000,0.029,2717,1049,3774,3875,3674,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3213,-0.64,-194.6,2717,1049,3874,3674,472.6,-7.3,168,3222,0.00,1.90,0.00,0.000,1030,0.000,0.028,2713,2381,3774,3874,3674,0,0,0,0,0,0,28.83,26.33,28.83
$STATE,3516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3516,begin apogee
$GC,3523,-0.20,0.0,2714,2270,3871,3670,501.9,-10.2,184,3681,0.45,0.00,153.93,0.693,10246,0.113,0.000,2862,2269,2991,3100,2882,0,0,0,0,0,0,25.84,28.83,24.62
$STATE,3685,end apogee,CONTROL_FINISHED_OK
$STATE,3686,begin climb
$GC,3688,0.64,194.6,2862,2269,3098,2874,509.7,0.0,191,3859,0.75,2.17,157.60,0.672,10500,0.070,0.041,3137,3629,2190,2320,2061,0,0,1,0,0,0,25.32,25.14,24.56
$GC,3916,0.67,209.5,3137,3629,2317,2050,502.8,8.8,201,3939,0.00,2.00,12.23,0.662,9222,0.000,0.021,3147,2250,2131,2263,2000,0,0,0,0,0,0,28.83,25.67,24.78
$GC,4238,0.67,209.5,3147,2250,2262,1990,466.7,11.8,217,4244,0.00,2.05,0.00,0.000,516,0.000,0.037,3156,874,2126,2262,1990,0,0,0,0,0,0,28.83,25.98,28.83
$GC,4305,0.67,209.5,3156,874,2261,1986,458.7,11.6,220,4313,0.08,1.98,0.00,0.000,5126,0.187,0.024,3142,2249,2125,2261,1990,0,0,0,0,0,0,25.93,26.12,28.83
$GC,4633,0.67,209.5,3143,2249,2260,1985,423.5,10.3,236,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,3143,2249,2122,2260,1985,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4932,0.67,209.5,3142,2248,2257,1983,393.7,9.5,251,4938,0.00,2.08,0.00,0.000,260,0.000,0.041,3142,3632,2120,2257,1983,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4973,0.67,209.5,3142,3632,2255,1983,391.3,9.6,252,4981,0.00,1.95,0.00,0.000,1030,0.000,0.021,3145,2240,2119,2255,1983,0,0,0,0,0,0,28.83,26.33,28.83
$GC,5278,0.67,209.5,3145,2240,2255,1981,357.4,10.4,268,5284,0.00,2.00,0.00,0.000,516,0.000,0.038,3155,873,2118,2254,1982,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5334,0.67,209.5,3154,873,2254,1981,352.3,10.9,270,5340,0.00,1.95,0.00,0.000,1030,0.000,0.025,3155,2243,2117,2254,1981,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5650,0.67,209.5,3154,2243,2252,1980,313.6,12.8,286,5656,0.00,2.05,0.00,0.000,516,0.000,0.037,3163,871,2116,2252,1980,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5706,0.67,209.5,3162,871,2254,1980,307.2,13.4,288,5712,0.10,1.95,0.00,0.000,5126,0.177,0.025,3141,2244,2116,2252,1980,0,0,0,0,0,0,25.99,26.29,28.83
$GC,6025,0.67,209.5,3141,2244,2250,1979,270.1,9.6,304,6031,0.00,2.08,0.00,0.000,260,0.000,0.040,3141,3632,2114,2250,1978,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6052,0.67,209.5,3141,3632,2249,1979,267.3,9.6,305,6059,0.00,1.95,0.00,0.000,1030,0.000,0.021,3145,2240,2113,2249,1978,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6376,0.69,219.4,3145,2239,2248,1979,239.3,8.9,321,6382,0.00,0.00,4.18,0.492,8198,0.000,0.000,3145,2239,2096,2228,1964,0,0,0,0,0,0,28.83,28.83,25.01
$GC,6674,0.78,264.0,3145,2239,2229,1967,211.5,7.8,336,6723,0.10,2.17,40.58,0.519,10500,0.098,0.039,3203,3628,1912,2039,1785,0,0,0,0,0,0,26.48,25.96,25.37
$GC,6761,0.78,264.0,3203,3628,2035,1780,203.0,10.7,339,6772,0.15,1.98,0.00,0.000,5126,0.184,0.021,3174,2243,1907,2035,1780,0,0,0,0,0,0,25.60,26.05,28.83
$GC,7068,0.78,264.0,3174,2242,2034,1775,168.1,9.9,355,7075,0.00,2.10,0.00,0.000,260,0.000,0.039,3174,3629,1904,2034,1775,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7103,0.78,265.1,3173,3629,2029,1773,165.9,9.2,356,7109,0.00,1.98,0.00,0.000,1030,0.000,0.021,3175,2251,1903,2032,1774,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7418,1.04,396.6,3175,2251,2032,1772,148.8,5.1,372,7534,0.22,2.10,102.60,0.448,10756,0.060,0.036,3301,858,1367,1474,1260,0,0,0,0,0,0,26.34,25.58,25.08
$GC,7614,1.04,396.6,3300,858,1470,1256,121.8,17.9,380,7623,0.15,2.00,0.00,0.000,5126,0.171,0.024,3264,2240,1362,1470,1255,0,0,0,0,0,0,25.44,25.83,28.83
$GC,7920,1.04,396.6,3264,2241,1469,1253,79.8,11.4,396,7926,0.00,2.10,0.00,0.000,260,0.000,0.038,3264,3641,1358,1469,1248,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8112,1.04,396.6,3264,3641,1466,1246,58.9,11.4,405,8118,0.00,2.00,0.00,0.000,1030,0.000,0.021,3269,2232,1356,1466,1246,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8423,1.05,400.4,3268,2231,1466,1245,31.6,9.1,431,8430,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,2230,1355,1466,1245,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8743,end climb,SURFACE_DEPTH_REACHED
$STATE,8743,begin surface coast
$FINISH,0.0,1.020971
$STATE,8784,end surface coast,CONTROL_FINISHED_OK
$STATE,8784,begin surface
$SM_CCo,8803,82.93,0.050,0,0,464,619.87
$SM_GC,-1.44,8.38,0.20,82.93,0.057,0.056,0.050,142,2417,464,-8.61,-1.39,619.87,0,0,0,0,0,0,26.17,26.46,26.08
$IRIDIUM_FIX,1837.32,12155.98,240513,171712
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.72
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,25.00
$XPDR_PINGS,20
$SC_FREEKB,3887296
$24V_AH,24.6,43.570
$10V_AH,10.2,40.537
$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,20.950,74.875,471.100,82.925,0.000,0.000,0.000,281.550,5.000,0.000,57.634,1906.054,4935.206,658.109,1496.401,404.509,0.000,1626.748,0.000,1118.411,0.000,0.548,0.000
$DEVICE_MAMPS,229.500,137.700,693.090,49.725,0.000,0.000,0.000,117.810,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8797.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.591,0.000,0.000,0.000
$MEM,320600
$DATA_FILE_SIZE,16782,493
$CAP_FILE_SIZE,248845,0
$CFSIZE,260034560,208658432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.487,249.2,1
$GPS,240513,230733,1843.860,12155.702,171,3.1,190,-2.1