version: 66.11
glider: 177
mission: 4
dive: 353
start: 5 25 113 16 29 42
data:
$ID,177
$MISSION,4
$DIVE,353
$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,-17948.268
$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,71
$R_STBD_OVSHOOT,94
$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
$GPS1,250513,160526,1843.391,12157.376,24,3.0,43,-2.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.42
$_SM_ANGLEo,-70.1
$GPS2,250513,162914,1843.550,12157.253,117,2.6,136,-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,56.5,5515,-6.3,-9.259,-6.96,3220
$D_GRID,1026
$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,-0.64,-194.6,151,2399,485,448,0.0,0.0,0,128,0.00,0.00,-104.53,0.000,16386,0.000,0.000,152,2399,3349,3406,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,132,-0.64,-194.6,151,2399,3407,3292,5.4,-18.5,14,157,10.68,1.90,-6.00,0.000,18692,0.241,0.046,2705,3679,3790,3875,3705,0,0,0,0,0,0,25.57,26.25,26.58
$GC,345,-0.64,-194.6,2704,3679,3876,3705,89.1,-30.0,30,351,0.00,1.80,0.00,0.000,1030,0.000,0.018,2704,2330,3790,3876,3705,0,0,0,0,0,0,28.83,26.46,28.83
$GC,665,-0.64,-194.6,2705,2329,3876,3704,168.5,-21.4,46,671,0.00,1.83,0.00,0.000,516,0.000,0.028,2705,1026,3790,3876,3705,0,0,0,0,0,0,28.83,26.36,28.83
$GC,732,-0.64,-194.6,2704,1026,3876,3705,179.7,-16.2,49,738,0.10,1.83,0.00,0.000,3078,0.168,0.026,2722,2341,3793,3882,3705,0,0,0,0,0,0,26.17,26.41,28.83
$GC,1059,-0.64,-194.6,2722,2342,3876,3705,224.3,-12.8,65,1065,0.00,2.00,0.00,0.000,260,0.000,0.039,2719,3709,3790,3876,3705,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1111,-0.64,-194.6,2719,3709,3876,3704,229.5,-11.5,67,1117,0.00,1.77,0.00,0.000,1030,0.000,0.019,2719,2354,3791,3877,3705,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1432,-0.64,-194.6,2719,2354,3876,3700,268.3,-12.0,83,1438,0.00,1.85,0.00,0.000,516,0.000,0.028,2719,1044,3788,3876,3700,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1484,-0.64,-194.6,2719,1044,3876,3699,273.8,-11.9,85,1490,0.00,1.88,0.00,0.000,1030,0.000,0.034,2716,2366,3787,3876,3698,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1805,-0.64,-194.6,2716,2367,3876,3691,312.9,-12.4,101,1812,0.00,1.88,0.00,0.000,516,0.000,0.028,2716,1055,3783,3876,3690,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1853,-0.64,-194.6,2716,1055,3876,3690,318.6,-12.2,103,1860,0.00,1.88,0.00,0.000,1030,0.000,0.026,2713,2378,3782,3876,3689,0,0,0,0,0,0,28.83,26.40,28.83
$GC,2181,-0.64,-194.6,2713,2378,3876,3681,360.0,-12.3,119,2183,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2378,3778,3876,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2479,-0.64,-194.6,2713,2378,3874,3677,397.0,-12.6,134,2485,0.00,1.90,0.00,0.000,516,0.000,0.029,2713,1055,3775,3874,3677,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2561,-0.64,-194.6,2713,1054,3873,3676,404.6,-11.6,137,2569,0.00,1.88,0.00,0.000,1030,0.000,0.028,2713,2378,3773,3872,3675,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2867,-0.64,-194.6,2713,2378,3869,3671,439.3,-10.4,153,2872,0.00,1.98,0.00,0.000,260,0.000,0.042,2713,3711,3770,3869,3671,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2908,-0.64,-194.6,2713,3711,3869,3671,441.9,-10.4,154,2917,0.00,1.77,0.00,0.000,1030,0.000,0.021,2713,2377,3770,3869,3671,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3212,-0.64,-194.6,2713,2377,3865,3663,478.2,-12.5,170,3218,0.00,1.90,0.00,0.000,516,0.000,0.031,2713,1049,3766,3865,3667,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3265,-0.64,-194.6,2713,1048,3864,3667,483.9,-12.4,172,3270,0.00,1.90,0.00,0.000,1030,0.000,0.028,2712,2382,3765,3864,3666,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,3402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3402,begin apogee
$GC,3408,-0.20,0.0,2712,2383,3863,3665,501.0,-11.5,179,3568,0.45,0.00,150.80,0.693,10246,0.116,0.000,2861,2382,2988,3100,2877,0,0,0,0,0,0,25.91,28.83,24.68
$STATE,3571,end apogee,CONTROL_FINISHED_OK
$STATE,3571,begin climb
$GC,3574,0.64,194.6,2861,2383,3099,2873,509.9,0.0,186,3741,0.75,1.95,155.55,0.679,10500,0.076,0.037,3132,3647,2193,2325,2061,0,0,0,0,0,0,25.39,25.27,24.64
$GC,3804,0.68,215.4,3133,3647,2321,2050,501.8,8.6,196,3828,0.00,1.95,16.88,0.663,9222,0.000,0.021,3136,2299,2109,2242,1977,0,0,0,0,0,0,28.83,25.77,24.85
$GC,4125,0.72,231.9,3136,2299,2240,1963,472.1,8.7,212,4149,0.08,2.10,13.30,0.656,10756,0.119,0.037,3199,925,2043,2175,1911,0,0,0,0,0,0,26.26,25.98,25.29
$GC,4174,0.72,231.9,3198,922,2175,1910,466.6,9.9,214,4182,0.17,1.90,0.00,0.000,5126,0.164,0.024,3154,2253,2042,2175,1909,0,0,0,0,0,0,25.72,26.06,28.83
$GC,4504,0.72,231.9,3154,2253,2173,1902,430.3,11.1,230,4510,0.00,2.05,0.00,0.000,260,0.000,0.039,3154,3626,2037,2173,1902,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4560,0.72,231.9,3153,3627,2170,1901,424.5,11.7,232,4566,0.00,1.88,0.00,0.000,1030,0.000,0.021,3159,2285,2035,2170,1901,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4875,0.72,231.9,3159,2284,2171,1899,389.6,10.1,248,4881,0.00,2.08,0.00,0.000,516,0.000,0.038,3169,876,2035,2170,1901,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4925,0.72,231.9,3169,876,2169,1899,385.2,9.8,250,4931,0.00,1.95,0.00,0.000,1030,0.000,0.025,3169,2243,2034,2169,1899,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5248,0.76,254.7,3168,2243,2166,1898,356.4,8.5,266,5273,0.00,2.12,18.73,0.614,8708,0.000,0.037,3175,870,1950,2081,1819,0,0,0,0,0,0,28.83,26.13,25.48
$GC,5298,0.80,272.3,3175,870,2080,1817,351.8,8.7,268,5321,0.00,1.95,15.88,0.609,9222,0.000,0.024,3175,2238,1878,2006,1751,0,0,0,0,0,0,28.83,26.17,25.31
$GC,5618,0.80,272.3,3175,2238,2001,1742,314.7,12.9,284,5619,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2239,1872,2002,1743,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5919,0.80,272.3,3175,2238,2000,1740,274.5,12.8,299,5924,0.00,2.05,0.00,0.000,516,0.000,0.039,3176,870,1870,2000,1740,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5980,0.80,272.3,3175,870,2000,1740,268.6,13.0,301,5988,0.00,1.95,0.00,0.000,1030,0.000,0.024,3176,2242,1870,2000,1740,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6285,0.80,272.3,3175,2243,1998,1739,231.0,11.0,317,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,3176,2243,1868,1998,1739,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6586,0.80,272.3,3175,2243,1997,1738,198.7,10.0,332,6592,0.00,2.08,0.00,0.000,260,0.000,0.039,3176,3638,1867,1997,1738,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6687,0.80,272.3,3175,3638,1995,1738,188.9,11.0,336,6693,0.00,1.95,0.00,0.000,1030,0.000,0.021,3176,2258,1866,1995,1738,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7003,0.86,302.2,3175,2258,1991,1737,158.6,8.3,352,7033,0.10,2.08,22.35,0.494,10756,0.095,0.035,3246,854,1756,1879,1633,0,0,0,0,0,0,26.52,26.17,25.56
$GC,7268,0.86,302.2,3245,853,1877,1630,130.6,12.4,364,7274,0.17,1.98,0.00,0.000,5126,0.142,0.025,3198,2243,1753,1877,1630,0,0,0,0,0,0,25.88,26.25,28.83
$GC,7585,1.15,450.2,3197,2243,1875,1625,107.9,4.5,380,7706,0.28,2.15,109.47,0.421,10500,0.049,0.037,3326,3627,1149,1246,1053,0,0,0,0,0,0,26.42,25.67,25.16
$GC,7761,1.15,450.2,3325,3627,1238,1050,83.0,16.4,388,7769,0.15,2.00,0.00,0.000,5126,0.178,0.021,3292,2235,1143,1237,1049,0,0,0,0,0,0,25.49,25.88,28.83
$GC,8080,1.15,450.2,3292,2234,1238,1047,49.0,11.1,404,8086,0.00,2.03,0.00,0.000,516,0.000,0.037,3300,862,1141,1237,1046,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8117,1.15,450.2,3300,862,1237,1046,45.3,10.0,407,8123,0.00,1.95,0.00,0.000,1030,0.000,0.023,3300,2246,1142,1238,1046,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8432,1.15,450.2,2304,2243,1211,1045,15.3,9.4,447,8440,0.00,2.05,0.00,0.000,516,0.000,0.036,3305,859,1141,1237,1046,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8471,1.15,450.2,2304,859,1211,1044,11.6,9.3,453,8479,0.00,1.92,0.00,0.000,1030,0.000,0.023,3305,2240,1141,1237,1046,0,0,0,0,0,0,28.83,26.30,28.83
$STATE,8555,end climb,SURFACE_DEPTH_REACHED
$STATE,8555,begin surface coast
$FINISH,-0.3,1.020893
$STATE,8584,end surface coast,CONTROL_FINISHED_OK
$STATE,8585,begin surface
$SM_CCo,8604,62.60,0.049,0,0,463,619.87
$SM_GC,-1.50,8.45,0.15,62.60,0.057,0.072,0.049,147,2422,463,-8.61,-1.81,619.87,0,0,0,0,0,0,26.19,26.43,26.12
$IRIDIUM_FIX,1835.04,12150.91,250513,161626
$TT8_MAMPS,0.026964,0.026964
$HUMID,50.55
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,25.10
$XPDR_PINGS,167
$SC_FREEKB,3884992
$24V_AH,24.6,44.197
$10V_AH,10.2,41.151
$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,21.375,74.175,502.950,62.600,0.000,0.000,0.000,0.000,41.750,0.000,139.765,1870.982,4727.143,658.608,1285.474,329.288,0.000,1344.229,0.000,1122.767,0.000,0.549,0.000
$DEVICE_MAMPS,240.975,71.910,693.090,48.960,0.000,0.000,0.000,0.000,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8551.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.534,0.000,0.000,0.000
$MEM,320536
$DATA_FILE_SIZE,16732,473
$CAP_FILE_SIZE,262001,0
$CFSIZE,260034560,208023552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.231,230.7,1
$GPS,250513,185719,1843.680,12157.565,127,2.4,146,-2.1