version: 66.11
glider: 177
mission: 4
dive: 350
start: 5 25 113 5 35 51
data:
$ID,177
$MISSION,4
$DIVE,350
$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,-17895.658
$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,93
$R_STBD_OVSHOOT,58
$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
$GPS1,250513,043713,1843.929,12156.028,901,99.0,901,-2.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.45
$_SM_ANGLEo,-73.3
$GPS2,250513,053508,1843.872,12156.016,176,1.7,176,-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,72.3,7293,-6.9,-9.259,-7.56,2618
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.59,-158.2,156,2348,482,447,0.0,0.0,0,120,0.00,0.00,-96.50,0.000,16386,0.000,0.000,156,2348,3030,3059,3002,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-0.59,-158.2,156,2348,3057,3002,4.1,-14.5,13,149,10.65,2.05,-9.15,0.000,19204,0.238,0.047,2723,3713,3639,3720,3559,0,0,0,0,0,0,25.59,26.25,26.61
$GC,323,-0.59,-158.2,2723,3713,3721,3560,74.9,-29.1,29,329,0.00,1.83,0.00,0.000,1030,0.000,0.019,2723,2365,3640,3721,3560,0,0,0,0,0,0,28.83,26.43,28.83
$GC,649,-0.59,-158.2,2723,2363,3721,3560,141.4,-18.1,45,655,0.00,1.90,0.00,0.000,516,0.000,0.028,2724,1016,3641,3722,3560,0,0,0,0,0,0,28.83,26.35,28.83
$GC,836,-0.59,-158.2,2723,1015,3722,3560,171.8,-16.3,53,846,0.10,1.92,0.00,0.000,3078,0.172,0.026,2739,2379,3640,3721,3560,0,0,0,0,0,0,26.17,26.41,28.83
$GC,1144,-0.59,-158.2,2739,2379,3721,3560,208.4,-10.8,69,1151,0.00,1.95,0.00,0.000,260,0.000,0.038,2735,3709,3641,3722,3560,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1173,-0.59,-158.2,2735,3709,3721,3559,211.4,-11.0,70,1179,0.00,1.83,0.00,0.000,1030,0.000,0.024,2736,2336,3640,3721,3559,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1495,-0.59,-158.2,2735,2335,3721,3555,251.6,-13.6,86,1501,0.00,1.85,0.00,0.000,516,0.000,0.028,2735,1022,3640,3726,3554,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1593,-0.59,-158.2,2735,1022,3721,3553,262.9,-12.7,90,1599,0.00,1.90,0.00,0.000,1030,0.000,0.026,2733,2373,3636,3721,3552,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1908,-0.59,-158.2,2732,2374,3721,3546,306.7,-13.9,106,1914,0.00,1.95,0.00,0.000,260,0.000,0.041,2732,3706,3633,3721,3546,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1978,-0.59,-158.2,1704,3705,3715,3543,315.2,-13.2,109,1984,0.00,1.77,0.00,0.000,1030,0.000,0.020,2732,2359,3633,3721,3545,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2301,-0.59,-158.2,2732,2359,3721,3538,354.8,-11.7,125,2307,0.00,1.88,0.00,0.000,516,0.000,0.029,2732,1051,3629,3721,3538,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2384,-0.59,-158.2,2732,1050,3721,3536,363.0,-11.4,128,2393,0.00,1.90,0.00,0.000,1030,0.000,0.028,2730,2382,3628,3721,3536,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2689,-0.60,-160.8,2729,2382,3721,3529,395.0,-9.2,144,2696,0.00,1.90,0.00,0.000,516,0.000,0.029,2730,1059,3625,3721,3529,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2737,-0.60,-161.5,2730,1059,3720,3529,399.2,-9.2,146,2745,0.00,1.92,0.00,0.000,1030,0.000,0.028,2729,2373,3624,3720,3528,0,0,0,0,0,0,28.83,26.37,28.83
$GC,3065,-0.61,-165.7,2729,2374,3716,3524,428.9,-9.1,162,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2374,3620,3716,3524,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3364,-0.61,-165.7,2728,2374,3713,3520,456.5,-9.3,177,3365,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2374,3616,3713,3520,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3664,-0.67,-194.6,2729,2374,3711,3516,481.5,-7.6,192,3671,0.08,1.90,0.00,0.000,4612,0.123,0.028,2674,1059,3612,3708,3516,0,0,0,0,0,0,26.55,26.29,28.83
$GC,3754,-0.67,-194.6,2673,1059,3706,3516,490.8,-10.6,196,3760,0.17,1.90,0.00,0.000,3078,0.146,0.028,2714,2383,3611,3706,3516,0,0,0,0,0,0,25.96,26.34,28.83
$STATE,3877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3877,begin apogee
$GC,3883,-0.20,0.0,2715,2383,3706,3514,501.1,-7.7,202,4013,0.43,0.00,123.78,0.697,10246,0.119,0.000,2857,2383,2991,3096,2887,0,0,0,0,0,0,25.89,28.83,24.69
$STATE,4014,end apogee,CONTROL_FINISHED_OK
$STATE,4014,begin climb
$GC,4017,0.67,194.6,2856,2383,3095,2884,503.4,0.0,207,4190,0.80,2.00,157.07,0.675,10500,0.079,0.041,3142,3636,2193,2322,2065,0,0,0,0,0,0,25.39,25.27,24.63
$GC,4246,0.67,194.6,3142,3637,2319,2054,491.8,10.1,217,4251,0.00,1.92,0.00,0.000,1030,0.000,0.021,3150,2301,2186,2319,2053,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4560,0.67,194.6,3150,2300,2317,2048,458.0,9.7,233,4567,0.00,2.03,0.00,0.000,516,0.000,0.035,3159,933,2182,2317,2048,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4677,0.67,194.6,3159,933,2315,2047,447.4,9.8,238,4683,0.10,1.88,0.00,0.000,5126,0.176,0.025,3137,2254,2181,2315,2047,0,0,0,0,0,0,25.92,26.20,28.83
$GC,4994,0.67,194.6,3137,2256,2314,2047,416.7,9.6,254,5000,0.00,2.05,0.00,0.000,260,0.000,0.040,3137,3631,2178,2314,2043,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5029,0.67,194.6,3137,3631,2312,2043,413.7,9.9,255,5035,0.00,1.88,0.00,0.000,1030,0.000,0.021,3138,2293,2176,2311,2042,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5345,0.67,194.6,3137,2292,2311,2041,380.9,9.7,271,5346,0.00,0.00,0.00,0.000,6,0.000,0.000,3138,2290,2175,2311,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5645,0.70,213.1,3137,2292,2308,2040,354.0,8.5,286,5668,0.00,2.05,12.70,0.612,8708,0.000,0.036,3153,934,2121,2252,1990,0,0,0,0,0,0,28.83,26.22,25.49
$GC,5780,0.80,260.7,3147,934,2251,1988,344.1,7.4,292,5828,0.12,1.85,41.08,0.600,11270,0.082,0.024,3207,2241,1929,2054,1805,0,0,0,0,0,0,26.20,26.24,25.22
$GC,6147,0.80,260.7,3207,2240,2045,1792,298.2,12.9,310,6155,0.12,1.95,0.00,0.000,4612,0.173,0.034,3177,933,1918,2045,1792,0,0,0,0,0,0,25.92,26.04,28.83
$GC,6173,0.80,260.7,3177,933,2045,1791,295.0,12.7,311,6180,0.00,1.88,0.00,0.000,1030,0.000,0.025,3177,2239,1918,2045,1791,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6503,0.80,260.7,3177,2239,2043,1788,258.7,10.6,327,6504,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2239,1915,2043,1788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6799,0.80,260.7,3177,2239,2041,1787,224.8,12.2,342,6805,0.00,2.08,0.00,0.000,260,0.000,0.039,3177,3634,1914,2041,1787,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6840,0.80,260.7,3177,3634,2038,1786,221.6,12.3,343,6848,0.00,1.88,0.00,0.000,1030,0.000,0.021,3181,2287,1912,2038,1787,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7144,0.80,260.7,3181,2286,2040,1786,184.3,10.0,359,7150,0.00,2.08,0.00,0.000,516,0.000,0.037,3189,883,1912,2038,1786,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7360,0.88,299.7,3189,882,2038,1786,165.1,7.7,369,7401,0.05,1.95,29.02,0.487,11270,0.164,0.024,3227,2250,1767,1884,1650,0,0,0,0,0,0,26.22,26.32,25.53
$GC,7710,0.88,299.7,3227,2250,1880,1640,131.1,9.6,386,7717,0.10,2.03,0.00,0.000,4612,0.163,0.034,3210,879,1760,1881,1640,0,0,0,0,0,0,26.19,26.09,28.83
$GC,7941,0.88,299.7,3210,878,1879,1640,109.8,10.6,397,7948,0.00,1.92,0.00,0.000,1030,0.000,0.024,3210,2247,1758,1876,1640,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8269,1.04,382.5,3210,2248,1878,1639,86.7,6.0,413,8340,0.12,2.08,61.35,0.400,10500,0.080,0.035,3294,3628,1427,1534,1320,0,0,0,0,0,0,26.48,25.95,25.45
$GC,8457,1.04,382.5,3294,3628,1530,1314,63.8,14.7,421,8464,0.15,1.95,0.00,0.000,5126,0.165,0.021,3262,2258,1421,1529,1313,0,0,0,0,0,0,25.70,26.10,28.83
$GC,8775,1.21,464.6,3257,2258,1529,1311,39.8,6.0,445,8841,0.15,2.15,57.80,0.348,10500,0.073,0.037,3349,3637,1091,1185,998,0,0,0,0,0,0,26.35,25.94,25.48
$GC,8919,1.21,464.6,2336,3636,1157,993,19.4,16.4,460,8927,0.15,2.00,0.00,0.000,5126,0.177,0.023,3314,2256,1087,1181,994,0,0,0,0,0,0,25.66,26.03,28.83
$STATE,9061,end climb,SURFACE_DEPTH_REACHED
$STATE,9061,begin surface coast
$FINISH,-0.2,1.020717
$STATE,9091,end surface coast,CONTROL_FINISHED_OK
$STATE,9091,begin surface
$SM_CCo,9110,57.92,0.049,0,0,463,619.87
$SM_GC,-1.45,8.57,0.15,57.92,0.060,0.065,0.049,141,2399,463,-8.62,-1.67,619.87,0,0,0,0,0,0,26.07,26.29,26.03
$IRIDIUM_FIX,1837.32,12159.12,250513,050526
$TT8_MAMPS,0.026964,0.026964
$HUMID,51.89
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,25.00
$XPDR_PINGS,181
$SC_FREEKB,3886144
$24V_AH,24.6,43.907
$10V_AH,10.3,40.825
$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,21.875,70.075,482.800,57.925,0.000,0.000,0.000,0.000,45.250,0.000,179.589,2071.010,4945.069,628.048,1449.117,335.060,0.000,1360.608,0.000,1236.171,0.000,0.549,0.000
$DEVICE_MAMPS,237.915,65.025,696.915,48.960,0.000,0.000,0.000,0.000,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9072.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.569,0.000,0.000,0.000
$MEM,320600
$DATA_FILE_SIZE,16815,491
$CAP_FILE_SIZE,277344,0
$CFSIZE,260034560,208355328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.190, 80.6,1
$GPS,250513,081119,1844.526,12158.281,96,3.7,115,-2.1