version: 66.11
glider: 177
mission: 4
dive: 357
start: 5 26 113 7 9 38
data:
$ID,177
$MISSION,4
$DIVE,357
$N_DIVES,360
$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,1
$NOCOMM_ACTION,161
$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,-23904.049
$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,61
$R_STBD_OVSHOOT,97
$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
$GPS1,260513,065405,1847.294,12159.490,62,1.7,68,-2.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.61
$_SM_ANGLEo,-73.2
$GPS2,260513,070851,1847.365,12159.546,70,1.7,70,-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,177.2,4451,-10.0,-9.259,-10.58,1132
$D_GRID,1077
$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,-0.54,-68.2,140,2424,481,450,0.0,0.0,0,118,0.00,0.00,-95.15,0.000,16386,0.000,0.000,140,2425,2970,2994,2947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,122,-0.54,-68.2,140,2425,2994,2949,3.4,-12.6,13,147,10.85,2.10,-4.70,0.000,18948,0.242,0.044,2754,976,3272,3330,3215,0,0,0,0,0,0,25.65,26.25,26.63
$GC,322,-0.54,-68.2,2754,975,3335,3215,69.0,-23.2,30,328,0.00,1.92,0.00,0.000,1030,0.000,0.028,2746,2336,3275,3335,3215,0,0,0,0,0,0,28.83,26.33,28.83
$GC,649,-0.54,-68.2,2745,2338,3337,3215,135.4,-16.4,46,650,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2337,3274,3335,3214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,946,-0.54,-68.2,2746,2338,3339,3215,179.6,-15.5,61,952,0.00,2.00,0.00,0.000,260,0.000,0.039,2741,3707,3276,3339,3214,0,0,0,0,0,0,28.83,26.29,28.83
$GC,975,-0.54,-68.2,2741,3707,3339,3214,183.5,-15.7,62,982,0.00,1.85,0.00,0.000,1030,0.000,0.019,2742,2329,3276,3339,3214,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1297,-0.54,-68.2,2739,2330,3340,3214,219.0,-10.2,78,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2330,3277,3339,3215,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1597,-0.54,-68.2,2741,2330,3339,3213,251.5,-11.1,93,1602,0.00,1.85,0.00,0.000,516,0.000,0.029,2741,1019,3276,3339,3213,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1696,-0.54,-68.2,2741,1019,3339,3212,261.7,-11.4,97,1703,0.08,1.92,0.00,0.000,3078,0.184,0.026,2749,2383,3276,3340,3212,0,0,0,0,0,0,26.21,26.40,28.83
$GC,2015,-0.59,-91.7,2749,2383,3340,3208,288.4,-7.1,113,2022,0.00,1.95,0.00,0.000,516,0.000,0.029,2747,1023,3273,3339,3207,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2166,-0.64,-118.4,2749,1023,3339,3205,298.9,-6.8,120,2174,0.10,1.92,0.00,0.000,5126,0.100,0.027,2691,2385,3271,3339,3204,0,0,0,0,0,0,26.30,26.37,28.83
$GC,2495,-0.64,-118.4,2691,2385,3339,3198,332.4,-10.6,136,2501,0.12,1.98,0.00,0.000,2564,0.160,0.028,2728,1024,3268,3339,3198,0,0,0,0,0,0,26.20,26.31,28.83
$GC,2553,-0.64,-118.4,1728,1023,3313,3193,336.6,-9.7,138,2561,0.00,1.90,0.00,0.000,1030,0.000,0.027,2723,2368,3268,3339,3197,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2861,-0.66,-127.7,2722,2369,3339,3190,364.5,-8.4,154,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2368,3264,3339,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3161,-0.66,-127.7,2722,2368,3339,3185,395.2,-11.8,169,3167,0.00,1.92,0.00,0.000,516,0.000,0.030,2722,1027,3262,3339,3185,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3234,-0.66,-127.7,2722,1027,3339,3184,403.7,-12.2,172,3240,0.00,1.92,0.00,0.000,1030,0.000,0.028,2717,2379,3261,3339,3183,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3556,-0.66,-127.7,2717,2379,3339,3179,442.0,-10.6,188,3562,0.00,1.98,0.00,0.000,260,0.000,0.042,2713,3712,3258,3339,3178,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3637,-0.66,-127.7,2713,3712,3339,3179,449.4,-10.7,191,3645,0.00,1.83,0.00,0.000,1030,0.000,0.021,2713,2365,3259,3339,3180,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3944,-0.66,-127.7,2713,2364,3334,3176,482.3,-9.8,207,3950,0.00,2.00,0.00,0.000,260,0.000,0.042,2713,3704,3255,3335,3175,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4024,-0.67,-134.3,1696,3703,3306,3171,488.0,-8.7,210,4032,0.00,1.80,0.00,0.000,1030,0.000,0.021,2713,2374,3255,3335,3175,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,4188,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4188,begin apogee
$GC,4195,-0.20,0.0,2713,2255,3333,3174,500.3,-6.7,219,4257,0.45,0.00,55.45,0.708,10246,0.124,0.000,2858,2255,2989,3083,2895,0,0,0,0,0,0,25.75,28.83,24.97
$STATE,4259,end apogee,CONTROL_FINISHED_OK
$STATE,4259,begin climb
$GC,4262,0.67,134.3,2857,2255,3083,2893,501.1,0.0,221,4381,0.77,0.00,114.93,0.692,10502,0.080,0.000,3138,2255,2442,2547,2337,0,0,0,0,0,0,25.68,28.83,24.64
$GC,4673,0.72,157.5,3138,2255,2546,2313,470.4,7.2,243,4697,0.05,2.17,19.27,0.673,10500,0.156,0.039,3185,3635,2347,2461,2233,0,0,0,0,0,0,26.25,25.89,25.18
$GC,4736,0.76,179.0,3185,3637,2459,2226,466.4,7.3,245,4761,0.10,1.95,18.40,0.671,13318,0.213,0.022,3171,2260,2260,2377,2143,0,0,0,0,0,0,25.67,26.01,25.06
$GC,5071,0.76,179.5,3171,2260,2376,2128,435.8,9.2,262,5077,0.00,2.10,0.00,0.000,260,0.000,0.040,3172,3646,2251,2375,2128,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5118,0.76,179.5,3171,3646,2373,2128,430.9,10.1,264,5124,0.00,2.00,0.00,0.000,1030,0.000,0.022,3176,2256,2251,2374,2128,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5445,0.76,179.5,3175,2255,2374,2124,395.5,13.2,280,5450,0.00,2.10,0.00,0.000,516,0.000,0.042,3179,850,2249,2374,2124,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5491,0.76,179.5,2120,849,2289,2116,389.6,12.8,282,5497,0.00,2.00,0.00,0.000,1030,0.000,0.025,3179,2245,2249,2374,2124,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5819,0.76,179.5,3179,2245,2371,2121,355.3,9.5,298,5825,0.00,2.08,0.00,0.000,260,0.000,0.040,3179,3634,2246,2371,2122,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5919,0.76,179.5,3179,3634,2368,2121,345.4,10.9,302,5925,0.08,1.98,0.00,0.000,5126,0.222,0.021,3173,2225,2244,2368,2121,0,0,0,0,0,0,26.09,26.38,28.83
$GC,6237,0.76,179.5,3172,2225,2368,2120,312.1,10.6,318,6243,0.00,2.00,0.00,0.000,516,0.000,0.038,3179,872,2244,2368,2120,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6331,0.77,182.5,3179,872,2368,2120,303.8,9.0,322,6337,0.00,1.95,0.00,0.000,1030,0.000,0.025,3180,2244,2244,2368,2120,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6652,0.80,201.4,3180,2244,2368,2118,274.8,7.5,338,6676,0.00,2.12,17.12,0.584,8708,0.000,0.037,3188,865,2168,2289,2048,0,0,0,0,0,0,28.83,26.17,25.47
$GC,6891,0.83,216.2,3188,865,2289,2042,255.8,7.9,349,6911,0.00,1.98,13.38,0.575,9222,0.000,0.025,3188,2244,2108,2228,1988,0,0,0,0,0,0,28.83,26.22,25.46
$GC,7209,0.83,216.2,3188,2244,2227,1978,215.3,13.5,365,7214,0.00,2.08,0.00,0.000,260,0.000,0.041,3188,3631,2102,2227,1978,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7269,0.83,216.2,2192,3630,2152,1970,209.0,13.4,367,7277,0.00,1.98,0.00,0.000,1030,0.000,0.022,3188,2249,2101,2226,1977,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7576,0.89,241.7,3188,2249,2226,1974,184.3,6.9,383,7605,0.08,2.12,21.00,0.525,10756,0.124,0.037,3238,852,2002,2122,1883,0,0,0,0,0,0,26.46,26.13,25.51
$GC,7668,0.89,241.7,3238,852,2122,1880,174.8,10.4,387,7675,0.12,1.98,0.00,0.000,5126,0.171,0.025,3210,2237,2000,2122,1879,0,0,0,0,0,0,25.79,26.15,28.83
$GC,7996,0.94,269.4,3209,2237,2122,1874,148.1,6.7,403,8026,0.00,2.08,22.75,0.492,8452,0.000,0.037,3209,3634,1888,2007,1769,0,0,0,0,0,0,28.83,26.09,25.48
$GC,8071,0.97,284.6,3209,3634,2006,1765,142.2,7.9,406,8090,0.10,2.00,12.50,0.492,11270,0.096,0.021,3271,2216,1828,1941,1715,0,0,0,0,0,0,26.06,26.15,25.37
$GC,8386,1.00,299.8,3271,2216,1939,1706,109.6,7.9,422,8404,0.12,2.05,12.05,0.470,12804,0.179,0.037,3242,873,1765,1880,1651,0,0,0,0,0,0,25.94,26.11,25.50
$GC,8641,1.11,352.6,3242,874,1880,1646,94.1,4.5,434,8691,0.12,1.95,40.30,0.428,11270,0.078,0.024,3311,2256,1551,1659,1443,0,0,0,0,0,0,26.18,26.22,25.44
$GC,8980,1.15,372.9,3312,2255,1658,1431,64.0,7.4,451,9004,0.10,2.05,15.43,0.410,12804,0.175,0.034,3295,870,1467,1576,1358,0,0,0,0,0,0,26.10,26.09,25.54
$GC,9038,1.19,392.7,3294,870,1576,1357,60.0,7.5,453,9062,0.00,1.95,15.55,0.403,9222,0.000,0.023,3295,2246,1386,1493,1280,0,0,0,0,0,0,28.83,26.14,25.44
$GC,9367,1.20,398.4,3294,2246,1492,1275,29.2,8.7,480,9381,0.00,2.08,3.53,0.340,8708,0.000,0.037,3296,880,1368,1474,1263,0,0,0,0,0,0,28.83,26.17,25.27
$GC,9407,1.22,410.7,3295,881,1474,1264,26.1,8.1,483,9422,0.08,1.92,7.75,0.393,11270,0.119,0.024,3351,2249,1314,1415,1213,0,0,0,0,0,0,26.16,26.25,25.56
$STATE,9612,end climb,SURFACE_DEPTH_REACHED
$STATE,9612,begin surface coast
$FINISH,-0.3,1.020790
$STATE,9634,end surface coast,CONTROL_FINISHED_OK
$STATE,9634,begin surface
$SM_CCo,9656,77.93,0.048,0,0,464,619.87
$SM_GC,-1.50,8.32,0.15,77.93,0.041,0.073,0.048,131,2426,464,-8.63,-1.58,619.87,0,0,0,0,0,0,26.20,26.37,26.12
$IRIDIUM_FIX,1839.59,12157.19,260513,070706
$TT8_MAMPS,0.026964,0.026964
$HUMID,52.32
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,25.30
$XPDR_PINGS,35
$SC_FREEKB,3883456
$24V_AH,24.6,44.699
$10V_AH,10.1,41.687
$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,21.650,79.700,389.400,77.925,0.000,0.000,0.000,376.125,8.750,0.000,73.561,2214.221,5608.223,599.808,1766.293,438.872,0.000,1693.085,0.000,1252.601,0.000,0.548,0.000
$DEVICE_MAMPS,241.740,136.170,707.625,48.195,0.000,0.000,0.000,89.505,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9660.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.694,0.000,0.000,0.000
$MEM,320624
$DATA_FILE_SIZE,20108,523
$CAP_FILE_SIZE,277339,0
$CFSIZE,260034560,207589376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.152, 40.9,1
$GPS,260513,095425,1846.817,12200.270,79,2.4,98,-2.1