version: 66.11
glider: 177
mission: 4
dive: 349
start: 5 25 113 2 12 31
data:
$ID,177
$MISSION,4
$DIVE,349
$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,-16987.412
$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,68
$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
$GPS1,250513,015856,1843.763,12154.949,74,4.9,93,-2.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.54
$_SM_ANGLEo,-70.0
$GPS2,250513,021202,1843.701,12154.985,139,1.7,139,-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,71.7,9118,-6.3,-9.259,-6.96,3220
$D_GRID,1054
$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,-0.64,-194.6,133,2428,486,445,0.0,0.0,0,119,0.00,0.00,-94.28,0.000,16386,0.000,0.000,133,2428,2932,2964,2901,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.64,-194.6,133,2428,2963,2904,3.1,-12.2,13,157,10.55,1.85,-12.88,0.000,18692,0.234,0.047,2706,3705,3788,3877,3699,0,0,0,0,0,0,25.58,26.22,26.63
$GC,284,-0.64,-194.6,2706,3705,3877,3700,65.6,-32.7,27,290,0.00,1.88,0.00,0.000,1030,0.000,0.019,2705,2349,3788,3877,3700,0,0,0,0,0,0,28.83,26.39,28.83
$GC,604,-0.64,-194.6,2706,2347,3877,3699,150.6,-20.3,43,611,0.00,1.90,0.00,0.000,516,0.000,0.028,2706,1005,3788,3876,3700,0,0,0,0,0,0,28.83,26.28,28.83
$GC,618,-0.64,-194.6,2705,1003,3877,3700,150.6,-20.3,43,625,0.10,1.92,0.00,0.000,3078,0.174,0.026,2721,2372,3788,3877,3700,0,0,0,0,0,0,26.08,26.33,28.83
$GC,933,-0.64,-194.6,2721,2372,3877,3701,203.4,-15.7,59,939,0.00,1.95,0.00,0.000,260,0.000,0.039,2717,3707,3789,3877,3701,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1105,-0.64,-194.6,2716,3707,3877,3701,228.5,-14.1,67,1112,0.00,1.85,0.00,0.000,1030,0.000,0.019,2716,2335,3789,3877,3701,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1429,-0.64,-194.6,2716,2335,3878,3701,270.4,-12.3,83,1434,0.00,1.83,0.00,0.000,516,0.000,0.028,2717,1040,3788,3878,3698,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1478,-0.64,-194.6,1672,1038,3874,3698,276.5,-12.8,85,1484,0.00,1.88,0.00,0.000,1030,0.000,0.027,2713,2372,3788,3877,3700,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1800,-0.64,-194.6,2713,2372,3877,3696,317.5,-11.9,101,1802,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2372,3786,3877,3695,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2097,-0.64,-194.6,2713,2372,3877,3689,351.1,-11.9,116,2099,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2372,3782,3877,3688,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2397,-0.64,-194.6,2713,2372,3877,3682,390.7,-13.1,131,2399,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2372,3779,3876,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2699,-0.64,-194.6,2713,2372,3877,3675,422.4,-9.7,146,2704,0.00,1.92,0.00,0.000,516,0.000,0.029,2714,1041,3776,3877,3675,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2732,-0.64,-194.6,2713,1041,3876,3675,424.7,-9.7,147,2739,0.00,1.90,0.00,0.000,1030,0.000,0.028,2713,2372,3775,3876,3675,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3049,-0.64,-194.6,2713,2372,3872,3672,458.3,-10.7,163,3054,0.00,1.92,0.00,0.000,516,0.000,0.029,2713,1040,3772,3872,3672,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3089,-0.64,-194.6,2713,1040,3871,3672,461.4,-11.0,164,3098,0.00,1.92,0.00,0.000,1030,0.000,0.028,2713,2383,3769,3867,3672,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3395,-0.64,-194.6,2712,2383,3867,3668,496.4,-10.3,180,3396,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2383,3767,3867,3668,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3432,begin apogee
$GC,3438,-0.20,0.0,2712,2251,3866,3668,500.3,-10.1,182,3596,0.45,0.00,153.32,0.701,10246,0.113,0.000,2862,2251,2991,3098,2885,0,0,0,0,0,0,25.82,28.83,24.59
$STATE,3600,end apogee,CONTROL_FINISHED_OK
$STATE,3600,begin climb
$GC,3602,0.64,194.6,2861,2251,3096,2877,507.3,0.0,189,3765,0.75,0.00,156.55,0.684,10758,0.068,0.000,3138,2251,2196,2326,2067,0,0,0,0,0,0,25.30,28.83,24.53
$GC,4055,0.64,194.6,3138,2251,2322,2042,466.7,11.8,213,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2251,2182,2322,2043,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4355,0.64,194.6,3138,2251,2319,2039,431.9,11.2,228,4361,0.00,2.03,0.00,0.000,516,0.000,0.036,3147,887,2179,2319,2039,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4426,0.64,194.6,3147,887,2319,2039,424.5,11.3,231,4433,0.08,1.98,0.00,0.000,5126,0.177,0.025,3133,2258,2180,2320,2040,0,0,0,0,0,0,26.01,26.20,28.83
$GC,4748,0.64,194.6,3133,2256,2316,2037,391.7,9.5,247,4755,0.00,2.03,0.00,0.000,516,0.000,0.035,3141,895,2176,2316,2037,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4805,0.64,194.6,3141,895,2316,2037,387.2,9.6,249,4811,0.00,1.92,0.00,0.000,1030,0.000,0.025,3141,2237,2176,2316,2037,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5121,0.69,220.3,3141,2238,2314,2035,358.0,8.4,265,5142,0.00,0.00,19.67,0.614,8198,0.000,0.000,3141,2238,2093,2227,1959,0,0,0,0,0,0,28.83,28.83,25.43
$GC,5440,0.78,264.8,3141,2238,2220,1947,331.4,7.8,281,5481,0.12,0.00,38.38,0.597,10246,0.080,0.000,3203,2238,1910,2038,1783,0,0,0,0,0,0,26.35,28.83,25.22
$GC,5782,0.78,264.8,3203,2239,2032,1770,289.4,12.2,298,5784,0.12,0.00,0.00,0.000,4102,0.171,0.000,3174,2239,1901,2032,1770,0,0,0,0,0,0,25.94,28.83,28.83
$GC,6080,0.78,264.8,3174,2238,2029,1768,256.9,11.2,313,6085,0.00,2.08,0.00,0.000,260,0.000,0.040,3174,3634,1898,2029,1768,0,0,0,0,0,0,28.83,26.09,28.83
$GC,6104,0.78,264.8,3174,3634,2027,1767,253.7,11.7,314,6110,0.00,1.95,0.00,0.000,1030,0.000,0.022,3175,2267,1897,2027,1767,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6431,0.78,264.8,3175,2267,2026,1767,215.0,10.4,330,6437,0.00,2.12,0.00,0.000,516,0.000,0.039,3182,850,1896,2026,1767,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6589,0.78,264.8,3182,850,2025,1767,198.7,11.0,337,6596,0.00,1.98,0.00,0.000,1030,0.000,0.025,3182,2242,1896,2025,1767,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6905,0.80,275.6,3182,2242,2024,1766,167.1,8.9,353,6921,0.00,2.12,7.53,0.518,8452,0.000,0.040,3182,3634,1864,1989,1740,0,0,0,0,0,0,28.83,26.27,25.55
$GC,7104,0.86,306.5,3182,3635,1985,1737,150.3,8.3,362,7137,0.00,2.00,25.23,0.487,9222,0.000,0.021,3188,2225,1735,1854,1616,0,0,0,0,0,0,28.83,26.32,25.52
$GC,7446,0.99,367.5,3188,2225,1854,1609,122.2,7.3,379,7504,0.12,2.08,47.85,0.448,10756,0.084,0.037,3278,868,1488,1599,1377,0,0,0,0,0,0,26.34,25.86,25.34
$GC,7592,0.99,367.5,3277,868,1596,1371,106.8,11.8,385,7599,0.15,1.98,0.00,0.000,5126,0.162,0.024,3241,2251,1483,1596,1371,0,0,0,0,0,0,25.63,25.99,28.83
$GC,7910,1.24,495.8,3240,2251,1596,1365,82.7,5.2,401,8014,0.22,2.15,92.80,0.393,10756,0.058,0.036,3371,870,962,1054,870,0,0,0,0,0,0,26.27,25.66,25.20
$GC,8052,1.24,495.8,3371,869,1053,868,59.8,18.8,407,8059,0.20,1.98,0.00,0.000,5126,0.164,0.024,3320,2239,960,1053,867,0,0,0,0,0,0,25.45,25.82,28.83
$GC,8370,1.24,495.8,3319,2240,1052,863,11.6,12.8,444,8379,0.00,2.08,0.00,0.000,260,0.000,0.037,3319,3632,957,1052,863,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,8434,end climb,SURFACE_DEPTH_REACHED
$STATE,8434,begin surface coast
$FINISH,-0.0,1.020766
$STATE,8455,end surface coast,CONTROL_FINISHED_OK
$STATE,8456,begin surface
$SM_CCo,8476,46.03,0.049,0,0,464,619.87
$SM_GC,-1.68,8.60,1.80,46.03,0.060,0.019,0.049,140,2351,464,-8.61,2.18,619.87,0,0,1,0,0,0,26.10,26.25,26.04
$IRIDIUM_FIX,1835.04,12155.98,240513,232351
$TT8_MAMPS,0.026964,0.026964
$HUMID,51.37
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,24.50
$XPDR_PINGS,21
$SC_FREEKB,3886528
$24V_AH,24.5,43.771
$10V_AH,10.1,40.698
$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,21.475,55.075,541.325,46.025,0.000,0.000,0.000,215.300,5.250,0.000,142.477,1761.365,5077.566,641.905,1455.375,369.055,0.000,1500.284,0.000,1042.533,0.000,0.546,0.000
$DEVICE_MAMPS,234.090,78.030,700.740,48.960,0.000,0.000,0.000,94.860,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8466.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.264,0.000,0.000,0.000
$MEM,321456
$DATA_FILE_SIZE,16740,459
$CAP_FILE_SIZE,230466,0
$CFSIZE,260034560,208445440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.045,193.6,1
$GPS,250513,043713,1843.929,12156.028,95,2.8,114,-2.1