version: 66.11
glider: 177
mission: 4
dive: 354
start: 5 25 113 19 20 19
data:
$ID,177
$MISSION,4
$DIVE,354
$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,-17949.531
$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,106
$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
$GPS1,250513,185719,1843.680,12157.565,127,2.4,146,-2.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.50
$_SM_ANGLEo,-71.3
$GPS2,250513,191936,1843.776,12157.956,313,1.6,313,-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,57.2,4241,-7.9,-9.259,-8.45,1980
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.55,-119.5,146,2422,480,454,0.0,0.0,0,118,0.00,0.00,-94.68,0.000,16386,0.000,0.000,146,2423,2935,2971,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.55,-119.5,146,2423,2970,2901,3.3,-12.6,13,148,10.77,2.12,-8.65,0.000,19204,0.239,0.043,2742,982,3483,3568,3398,0,0,1,0,0,0,25.63,25.76,26.65
$GC,389,-0.55,-119.5,2742,981,3570,3398,83.8,-26.6,35,395,0.00,1.90,0.00,0.000,1030,0.000,0.026,2735,2331,3484,3570,3398,0,0,0,0,0,0,28.83,26.36,28.83
$GC,711,-0.59,-136.5,2735,2332,3572,3398,143.9,-8.4,51,719,0.00,1.95,-0.38,0.000,16900,0.000,0.041,2735,983,3553,3646,3461,0,0,0,0,0,0,28.83,26.34,26.47
$GC,799,-0.59,-136.5,2735,979,3646,3459,155.7,-13.0,55,806,0.00,1.98,0.00,0.000,1030,0.000,0.025,2730,2377,3553,3645,3462,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1126,-0.59,-136.5,2729,2377,3646,3463,200.5,-12.8,71,1132,0.00,1.98,0.00,0.000,516,0.000,0.028,2730,988,3554,3646,3463,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1161,-0.59,-136.5,2729,988,3646,3463,203.7,-12.6,72,1167,0.00,1.95,0.00,0.000,1030,0.000,0.025,2722,2374,3554,3646,3463,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1475,-0.59,-136.5,2722,2374,3645,3461,243.0,-12.7,88,1481,0.00,1.95,0.00,0.000,260,0.000,0.041,2717,3706,3553,3645,3461,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1527,-0.59,-136.5,2717,3706,3646,3461,249.1,-13.6,90,1533,0.10,1.85,0.00,0.000,3078,0.148,0.019,2742,2320,3553,3646,3461,0,0,0,0,0,0,26.25,26.54,28.83
$GC,1849,-0.59,-136.5,2742,2319,3646,3454,283.5,-10.1,106,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2320,3550,3646,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2147,-0.59,-136.5,2742,2320,3646,3449,316.8,-11.6,121,2148,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2320,3547,3646,3449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2447,-0.59,-136.5,2742,2318,3646,3443,349.7,-11.3,136,2453,0.00,1.90,0.00,0.000,516,0.000,0.031,2742,989,3544,3646,3442,0,0,0,0,0,0,28.83,26.31,28.83
$GC,2487,-0.59,-136.5,2742,989,3645,3442,352.5,-11.4,137,2496,0.00,1.98,0.00,0.000,1030,0.000,0.028,2742,2372,3543,3645,3442,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2791,-0.59,-136.5,2742,2372,3642,3438,384.8,-9.3,153,2793,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2372,3540,3642,3438,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3093,-0.59,-136.5,2741,2372,3639,3435,412.9,-9.5,168,3099,0.00,2.00,0.00,0.000,516,0.000,0.029,2742,987,3537,3639,3435,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3143,-0.59,-136.5,2742,986,3637,3435,417.6,-9.8,170,3149,0.00,2.00,0.00,0.000,1030,0.000,0.028,2742,2383,3536,3637,3435,0,0,0,0,0,0,28.83,26.33,28.83
$GC,3465,-0.59,-136.5,2741,2384,3635,3432,456.4,-12.8,186,3472,0.00,1.98,0.00,0.000,260,0.000,0.043,2742,3710,3533,3635,3432,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3499,-0.59,-136.5,2741,3710,3635,3432,459.6,-12.7,187,3505,0.00,1.88,0.00,0.000,1030,0.000,0.021,2741,2323,3533,3634,3432,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3815,-0.59,-136.5,2741,2322,3631,3427,493.4,-9.5,203,3820,0.00,2.10,0.00,0.000,260,0.000,0.042,2741,3716,3529,3631,3428,0,0,0,0,0,0,28.83,26.17,28.83
$GC,3875,-0.59,-136.5,2741,3716,3631,3427,497.7,-9.5,205,3883,0.00,1.90,0.00,0.000,1030,0.000,0.021,2741,2317,3529,3631,3427,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,3898,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3899,begin apogee
$GC,3905,-0.20,0.0,2741,2316,3631,3427,501.5,-9.3,207,4020,0.35,0.00,107.85,0.698,10246,0.112,0.000,2859,2316,2989,3099,2880,0,0,0,0,0,0,25.93,28.83,24.71
$STATE,4022,end apogee,CONTROL_FINISHED_OK
$STATE,4022,begin climb
$GC,4024,0.59,136.5,2859,2316,3099,2876,505.9,0.0,212,4147,0.70,2.10,112.57,0.684,10500,0.081,0.038,3110,3647,2429,2547,2312,0,0,0,0,0,0,25.41,25.27,24.61
$GC,4170,0.82,254.5,3109,3647,2546,2307,503.1,3.1,218,4274,0.20,2.05,92.70,0.669,11270,0.057,0.020,3205,2213,1950,2074,1827,0,0,0,0,0,0,25.56,25.60,24.64
$GC,4582,0.82,254.5,3205,2211,2070,1809,439.9,15.8,238,4590,0.08,2.15,0.00,0.000,4356,0.204,0.037,3192,3640,1939,2070,1809,0,0,0,0,0,0,26.08,26.01,28.83
$GC,4643,0.82,254.5,3192,3640,2066,1807,431.8,16.6,240,4651,0.00,1.95,0.00,0.000,1030,0.000,0.021,3199,2255,1936,2065,1807,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4950,0.82,254.5,3199,2254,2064,1805,380.1,15.2,256,4955,0.00,2.10,0.00,0.000,260,0.000,0.039,3199,3650,1934,2064,1805,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4979,0.82,254.5,3199,3650,2063,1805,376.2,15.2,257,4987,0.08,2.00,0.00,0.000,5126,0.230,0.022,3193,2245,1934,2063,1805,0,0,0,0,0,0,26.01,26.28,28.83
$GC,5303,0.82,254.5,3193,2244,2061,1804,330.3,13.6,273,5309,0.00,2.05,0.00,0.000,516,0.000,0.039,3200,862,1933,2062,1804,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5393,0.82,254.5,2208,861,1991,1797,318.1,13.8,277,5399,0.00,1.98,0.00,0.000,1030,0.000,0.025,3200,2249,1932,2061,1804,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5716,0.82,254.5,3200,2250,2059,1803,274.4,13.8,293,5722,0.00,2.08,0.00,0.000,260,0.000,0.040,3200,3633,1931,2059,1803,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5734,0.82,254.5,3200,3633,2058,1802,274.4,13.8,293,5743,0.08,1.98,0.00,0.000,5126,0.216,0.022,3191,2236,1932,2058,1807,0,0,0,0,0,0,26.09,26.35,28.83
$GC,6041,0.82,254.5,3191,2235,2058,1801,236.4,10.3,309,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2235,1929,2058,1801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6340,0.82,254.5,3191,2235,2056,1800,205.3,11.1,324,6346,0.00,2.10,0.00,0.000,260,0.000,0.037,3191,3634,1926,2056,1796,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6407,0.82,254.5,3191,3634,2054,1799,196.7,12.6,327,6413,0.00,1.98,0.00,0.000,1030,0.000,0.021,3192,2242,1926,2054,1799,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6733,0.82,254.5,3191,2240,2055,1799,157.4,12.8,343,6739,0.00,2.03,0.00,0.000,516,0.000,0.037,3202,858,1926,2054,1799,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6974,0.82,254.5,3201,860,2054,1799,129.2,13.1,354,6981,0.00,1.95,0.00,0.000,1030,0.000,0.024,3201,2244,1926,2054,1799,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7290,0.89,287.5,3201,2244,2053,1798,104.1,7.5,370,7319,0.00,2.05,21.88,0.443,8708,0.000,0.035,3208,860,1816,1937,1696,0,0,0,0,0,0,28.83,26.19,25.56
$GC,7497,0.89,287.5,3208,860,1936,1692,89.8,9.3,379,7503,0.00,1.95,0.00,0.000,1030,0.000,0.024,3208,2243,1813,1936,1691,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7812,1.06,372.5,3208,2243,1935,1689,75.4,4.8,395,7883,0.15,2.15,62.88,0.389,10500,0.067,0.037,3300,3632,1468,1579,1357,0,0,0,0,0,0,26.47,25.94,25.43
$GC,7980,1.06,372.5,3299,3632,1575,1351,54.2,15.9,402,7986,0.15,1.98,0.00,0.000,5126,0.172,0.021,3266,2232,1463,1575,1351,0,0,0,0,0,0,25.67,26.10,28.83
$GC,8294,1.12,401.2,3266,2232,1575,1349,22.8,7.8,434,8318,0.08,2.08,17.25,0.354,10756,0.122,0.036,3322,867,1350,1456,1244,0,0,0,0,0,0,26.39,26.13,25.64
$GC,8418,1.12,401.2,3322,867,1454,1243,10.2,10.4,455,8427,0.15,1.92,0.00,0.000,5126,0.148,0.023,3282,2244,1347,1454,1241,0,0,0,0,0,0,25.86,26.21,28.83
$STATE,8515,end climb,SURFACE_DEPTH_REACHED
$STATE,8515,begin surface coast
$FINISH,-0.9,1.020909
$STATE,8564,end surface coast,CONTROL_FINISHED_OK
$STATE,8564,begin surface
$SM_CCo,8584,81.22,0.048,0,0,464,619.87
$SM_GC,-1.53,8.43,0.15,81.22,0.057,0.070,0.048,140,2432,464,-8.61,-1.72,619.87,0,0,0,0,0,0,26.13,26.37,26.08
$IRIDIUM_FIX,1837.32,12159.12,250513,191941
$TT8_MAMPS,0.026964,0.026964
$HUMID,50.47
$INTERNAL_PRESSURE,9.69764
$TCM_TEMP,24.90
$XPDR_PINGS,67
$SC_FREEKB,3884608
$24V_AH,24.6,44.287
$10V_AH,10.2,41.239
$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,21.300,72.150,415.125,81.225,0.000,0.000,0.000,587.575,16.750,0.000,317.483,1948.451,4980.888,597.533,2090.994,392.725,0.000,1858.822,0.000,1128.164,0.000,0.549,0.000
$DEVICE_MAMPS,239.445,69.615,698.445,48.195,0.000,0.000,0.000,93.330,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8575.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,11.046,0.000,0.000,0.000
$MEM,320568
$DATA_FILE_SIZE,16787,481
$CAP_FILE_SIZE,249071,0
$CFSIZE,260034560,207904768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.361,234.9,1
$GPS,250513,214830,1843.609,12157.624,182,1.9,182,-2.1