version: 66.11
glider: 177
mission: 4
dive: 358
start: 5 26 113 10 22 35
data:
$ID,177
$MISSION,4
$DIVE,358
$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,-23912.689
$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,85
$R_STBD_OVSHOOT,59
$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
$GPS1,260513,095425,1846.817,12200.270,79,2.4,98,-2.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.54
$_SM_ANGLEo,-73.3
$GPS2,260513,102154,1846.664,12159.703,333,2.0,344,-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,189.4,3125,-12.4,-9.259,-12.93,690
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.58,-41.5,131,2427,479,455,0.0,0.0,0,119,0.00,0.00,-94.12,0.000,16386,0.000,0.000,131,2427,2931,2964,2898,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.58,-41.5,130,2427,2964,2900,3.2,-12.2,13,148,10.93,2.10,-3.72,0.000,18948,0.242,0.046,2742,994,3163,3223,3104,0,0,0,0,0,0,25.58,26.23,26.61
$GC,268,-0.58,-41.5,2742,993,3228,3103,53.1,-27.5,27,275,0.00,1.95,0.00,0.000,1030,0.000,0.026,2734,2368,3165,3228,3103,0,0,0,0,0,0,28.83,26.32,28.83
$GC,584,-0.58,-41.5,2734,2369,3229,3102,123.8,-17.0,43,590,0.00,1.95,0.00,0.000,516,0.000,0.028,2733,998,3165,3229,3102,0,0,0,0,0,0,28.83,26.32,28.83
$GC,598,-0.58,-41.5,2734,999,3229,3102,123.8,-17.0,43,604,0.00,1.95,0.00,0.000,1030,0.000,0.027,2725,2384,3165,3229,3101,0,0,0,0,0,0,28.83,26.37,28.83
$GC,912,-0.58,-41.5,2725,2386,3231,3101,176.6,-13.8,59,918,0.00,2.00,0.00,0.000,516,0.000,0.030,2725,993,3166,3231,3101,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1063,-0.58,-41.5,2724,993,3231,3101,196.2,-13.4,66,1069,0.10,1.95,0.00,0.000,3078,0.180,0.026,2739,2385,3166,3231,3101,0,0,0,0,0,0,26.13,26.40,28.83
$GC,1390,-0.59,-46.8,2738,2386,3232,3101,227.1,-8.5,82,1396,0.00,1.98,0.00,0.000,516,0.000,0.028,2739,1001,3166,3232,3100,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1458,-0.60,-52.1,2739,1000,3232,3100,233.0,-8.5,85,1464,0.00,1.92,0.00,0.000,1030,0.000,0.025,2732,2373,3166,3233,3100,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1786,-0.60,-52.1,2732,2374,3232,3095,270.3,-13.2,101,1792,0.00,1.98,0.00,0.000,516,0.000,0.028,2732,996,3163,3232,3095,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1899,-0.60,-52.1,1728,995,3197,3089,283.8,-11.8,106,1905,0.00,1.95,0.00,0.000,1030,0.000,0.027,2729,2375,3162,3232,3093,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2222,-0.60,-52.1,2729,2376,3232,3089,320.9,-10.5,122,2228,0.00,1.98,0.00,0.000,516,0.000,0.029,2729,996,3160,3232,3088,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2359,-0.60,-52.1,2729,996,3232,3086,335.1,-11.1,128,2365,0.00,1.95,0.00,0.000,1030,0.000,0.027,2726,2376,3158,3232,3085,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2674,-0.61,-55.3,2725,2376,3232,3080,366.9,-8.8,144,2680,0.00,1.95,0.00,0.000,260,0.000,0.040,2719,3707,3156,3232,3080,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2751,-0.62,-62.3,2719,3707,3232,3079,372.5,-8.2,147,2757,0.00,1.85,0.00,0.000,1030,0.000,0.021,2719,2333,3155,3232,3079,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3067,-0.64,-72.2,2719,2332,3231,3074,396.4,-7.8,163,3072,0.00,2.05,0.00,0.000,260,0.000,0.041,2717,3706,3153,3232,3074,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3137,-0.65,-77.0,2716,3706,3232,3073,402.2,-8.5,166,3143,0.00,1.80,0.00,0.000,1030,0.000,0.021,2717,2370,3152,3232,3073,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3460,-0.65,-77.0,2717,2369,3228,3068,434.0,-9.9,182,3465,0.00,1.90,0.00,0.000,516,0.000,0.031,2717,1037,3147,3227,3068,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3584,-0.65,-77.0,2717,1037,3226,3067,445.0,-9.7,187,3593,0.00,1.90,0.00,0.000,1030,0.000,0.027,2714,2376,3146,3226,3067,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3890,-0.66,-83.2,2713,2376,3224,3064,472.1,-8.3,203,3896,0.00,1.95,0.00,0.000,516,0.000,0.030,2713,1028,3143,3223,3064,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3968,-0.67,-87.5,2713,1028,3222,3064,478.2,-8.6,206,3974,0.00,1.92,0.00,0.000,1030,0.000,0.028,2706,2378,3142,3222,3063,0,0,0,0,0,0,28.83,26.31,28.83
$STATE,4182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4183,begin apogee
$GC,4189,-0.20,0.0,2705,2245,3222,3060,500.1,-10.3,217,4227,0.47,0.00,32.95,0.718,10246,0.122,0.000,2858,2245,2989,3083,2895,0,0,0,0,0,0,25.75,28.83,25.13
$STATE,4232,end apogee,CONTROL_FINISHED_OK
$STATE,4232,begin climb
$GC,4234,0.67,87.5,2858,2245,3083,2894,502.5,0.0,218,4319,0.77,2.05,76.03,0.705,10756,0.079,0.034,3151,889,2633,2725,2541,0,0,0,0,0,0,25.86,25.40,24.69
$GC,4385,0.79,145.1,3151,890,2727,2534,503.9,0.7,225,4444,0.10,1.98,49.38,0.694,11270,0.093,0.024,3198,2258,2398,2503,2294,0,0,0,0,0,0,25.71,25.78,24.73
$GC,4753,0.79,145.1,3198,2258,2502,2277,473.1,10.5,243,4760,0.10,2.05,0.00,0.000,4356,0.198,0.037,3178,3632,2388,2500,2277,0,0,0,0,0,0,25.96,26.01,28.83
$GC,4783,0.79,145.1,3178,3632,2499,2277,470.0,11.1,244,4789,0.00,1.92,0.00,0.000,1030,0.000,0.021,3182,2259,2387,2499,2276,0,0,0,0,0,0,28.83,26.19,28.83
$GC,5105,0.82,158.5,3186,2259,2499,2272,441.5,7.3,260,5122,0.00,2.05,10.88,0.661,8708,0.000,0.036,3192,872,2343,2454,2232,0,0,0,0,0,0,28.83,26.13,25.40
$GC,5196,0.83,167.6,3192,877,2454,2228,434.4,7.9,264,5212,0.00,1.95,9.10,0.659,9222,0.000,0.025,3192,2234,2305,2418,2192,0,0,0,0,0,0,28.83,26.16,25.31
$GC,5523,0.83,167.6,3192,2234,2418,2182,403.6,9.3,280,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2234,2300,2418,2183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5823,0.83,167.6,3192,2234,2416,2179,371.5,11.8,295,5829,0.00,2.10,0.00,0.000,260,0.000,0.040,3192,3641,2298,2416,2180,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5911,0.83,167.6,3192,3640,2414,2179,360.7,12.0,299,5917,0.00,1.95,0.00,0.000,1030,0.000,0.021,3200,2239,2294,2410,2179,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6239,0.83,167.6,3200,2238,2414,2177,319.8,13.0,315,6240,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,2238,2295,2414,2177,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6536,0.84,168.9,3200,2238,2414,2175,286.9,9.1,330,6542,0.00,2.03,0.00,0.000,516,0.000,0.038,3209,873,2294,2414,2175,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6690,0.84,168.9,3210,873,2412,2175,273.0,9.7,337,6698,0.08,1.95,0.00,0.000,5126,0.192,0.025,3197,2249,2293,2412,2175,0,0,0,0,0,0,26.11,26.30,28.83
$GC,7014,0.84,169.0,3197,2249,2411,2174,244.8,9.2,353,7016,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,2249,2293,2412,2174,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7312,0.84,169.0,3197,2249,2411,2173,216.7,10.0,368,7318,0.00,2.05,0.00,0.000,260,0.000,0.039,3196,3629,2291,2409,2173,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7419,0.84,169.0,3196,3630,2408,2173,208.0,9.7,372,7428,0.00,1.95,0.00,0.000,1030,0.000,0.021,3201,2228,2292,2408,2177,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7724,0.89,195.7,3201,2228,2408,2173,193.7,5.3,388,7753,0.00,2.00,21.48,0.522,8708,0.000,0.035,3210,876,2191,2306,2076,0,0,0,0,0,0,28.83,26.17,25.49
$GC,7875,0.93,217.4,3210,876,2305,2071,184.1,6.0,395,7900,0.00,1.92,18.60,0.511,9222,0.000,0.024,3211,2239,2102,2219,1986,0,0,0,0,0,0,28.83,26.19,25.44
$GC,8196,0.97,235.3,3211,2239,2219,1975,160.7,6.6,411,8221,0.10,2.08,14.80,0.496,10500,0.095,0.039,3274,3630,2028,2145,1911,0,0,0,0,0,0,26.36,26.11,25.48
$GC,8456,0.97,235.3,3273,3631,2143,1906,133.2,10.4,423,8464,0.17,1.95,0.00,0.000,5126,0.180,0.021,3237,2246,2024,2143,1906,0,0,0,0,0,0,25.69,26.24,28.83
$GC,8781,1.07,286.5,3237,2245,2143,1903,116.5,1.6,439,8830,0.10,2.15,38.40,0.435,10500,0.096,0.037,3293,3632,1820,1934,1706,0,0,0,0,0,0,26.45,26.03,25.48
$GC,8946,1.07,286.5,3292,3632,1931,1699,104.7,10.0,446,8954,0.12,1.98,0.00,0.000,5126,0.192,0.021,3271,2234,1815,1931,1699,0,0,0,0,0,0,25.73,26.15,28.83
$GC,9265,1.12,309.2,3271,2235,1928,1698,82.2,5.9,462,9289,0.00,2.15,17.15,0.409,8452,0.000,0.036,3271,3632,1727,1843,1611,0,0,0,0,0,0,28.83,26.15,25.59
$GC,9314,1.16,329.8,3271,3632,1842,1609,78.8,6.2,464,9339,0.10,1.95,16.73,0.403,11270,0.096,0.021,3325,2232,1643,1755,1531,0,0,0,0,0,0,26.11,26.20,25.49
$GC,9634,1.17,334.7,3324,2232,1755,1526,51.4,8.5,480,9643,0.12,2.05,3.40,0.334,12804,0.170,0.035,3296,877,1627,1740,1515,0,0,0,0,0,0,26.00,26.19,25.23
$GC,9684,1.17,338.3,3296,876,1740,1516,47.3,8.7,483,9699,0.00,1.98,4.55,0.394,9222,0.000,0.024,3296,2271,1611,1723,1500,0,0,0,0,0,0,28.83,26.25,25.29
$GC,10002,1.21,356.9,3296,2271,1723,1501,22.3,6.5,517,10020,0.05,2.12,11.98,0.357,10756,0.167,0.035,3351,875,1533,1644,1423,0,0,0,0,0,0,26.50,26.22,25.70
$GC,10078,1.21,356.9,3351,875,1644,1422,15.4,9.9,529,10087,0.15,1.92,0.00,0.000,5126,0.161,0.024,3312,2254,1533,1644,1422,0,0,0,0,0,0,25.91,26.29,28.83
$STATE,10217,end climb,SURFACE_DEPTH_REACHED
$STATE,10217,begin surface coast
$FINISH,-0.0,1.020725
$STATE,10250,end surface coast,CONTROL_FINISHED_OK
$STATE,10250,begin surface
$SM_CCo,10271,98.10,0.047,0,0,464,619.87
$SM_GC,-1.49,8.57,0.12,98.10,0.063,0.083,0.047,146,2415,464,-8.61,-1.95,619.87,0,0,0,0,0,0,26.17,26.42,26.13
$IRIDIUM_FIX,1837.32,12152.85,260513,101039
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.13
$INTERNAL_PRESSURE,9.74647
$TCM_TEMP,25.80
$XPDR_PINGS,92
$SC_FREEKB,3883072
$24V_AH,24.7,44.783
$10V_AH,10.1,41.793
$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,22.050,87.475,325.400,98.100,0.000,0.000,0.000,854.350,23.000,0.000,347.514,2406.502,5905.835,576.481,2607.690,526.111,0.000,2200.130,0.000,1362.312,0.000,0.550,0.000
$DEVICE_MAMPS,241.740,82.620,718.335,47.430,0.000,0.000,0.000,113.985,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10277.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.849,0.000,0.000,0.000
$MEM,320572
$DATA_FILE_SIZE,20083,560
$CAP_FILE_SIZE,301667,0
$CFSIZE,260034560,207458304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.126,227.2,1
$GPS,260513,132023,1845.018,12159.207,237,1.5,254,-2.1