version: 66.11
glider: 177
mission: 4
dive: 359
start: 5 26 113 13 41 43
data:
$ID,177
$MISSION,4
$DIVE,359
$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,-23914.047
$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,84
$R_STBD_OVSHOOT,104
$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
$GPS1,260513,132023,1845.018,12159.207,237,1.5,254,-2.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.45
$_SM_ANGLEo,-73.9
$GPS2,260513,134058,1844.683,12158.769,472,2.0,472,-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,66.5,2238,-15.5,-9.259,-15.95,412
$D_GRID,1057
$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,-0.67,-24.8,145,2414,475,455,0.0,0.0,0,119,0.00,0.00,-94.30,0.000,16386,0.000,0.000,145,2415,2976,3016,2937,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.67,-24.8,145,2415,3017,2937,3.8,-13.9,13,148,10.68,2.08,-1.90,0.000,18948,0.240,0.048,2710,1011,3097,3157,3038,0,0,1,0,0,0,25.68,25.79,26.63
$GC,167,-0.67,-24.8,2710,1009,3159,3037,27.2,-49.4,18,176,0.00,1.85,0.00,0.000,1030,0.000,0.025,2703,2326,3098,3159,3038,0,0,0,0,0,0,28.83,26.34,28.83
$GC,476,-0.67,-24.8,2703,2327,3160,3037,123.0,-29.7,37,482,0.00,1.92,0.00,0.000,516,0.000,0.029,2703,981,3098,3160,3037,0,0,0,0,0,0,28.83,26.31,28.83
$GC,580,-0.67,-24.8,2703,981,3161,3036,144.2,-23.9,41,589,0.08,1.95,0.00,0.000,3078,0.211,0.025,2706,2378,3098,3161,3036,0,0,0,0,0,0,26.17,26.41,28.83
$GC,884,-0.67,-24.8,2706,2376,3163,3036,190.4,-11.4,57,890,0.00,1.98,0.00,0.000,516,0.000,0.030,2707,994,3099,3163,3036,0,0,0,0,0,0,28.83,26.32,28.83
$GC,974,-0.67,-24.8,2707,993,3163,3036,199.6,-10.6,61,981,0.00,1.95,0.00,0.000,1030,0.000,0.025,2700,2376,3099,3163,3036,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1298,-0.67,-26.1,2700,2376,3163,3036,228.1,-8.9,77,1304,0.00,1.95,0.00,0.000,260,0.000,0.038,2691,3713,3099,3163,3036,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1518,-0.67,-26.1,2691,3713,3163,3034,251.2,-9.8,87,1524,0.08,1.83,0.00,0.000,3078,0.176,0.019,2706,2329,3098,3163,3034,0,0,0,0,0,0,26.29,26.54,28.83
$GC,1840,-0.68,-29.2,2706,2323,3163,3030,279.9,-8.5,103,1846,0.00,1.80,0.00,0.000,516,0.000,0.029,2706,1051,3096,3164,3029,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1866,-0.68,-31.2,1664,1047,3119,3023,282.3,-8.8,104,1872,0.00,1.88,0.00,0.000,1030,0.000,0.026,2700,2382,3095,3163,3028,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2192,-0.68,-31.2,2699,2381,3163,3023,315.0,-10.5,120,2198,0.00,1.95,0.00,0.000,260,0.000,0.039,2692,3713,3093,3163,3023,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2244,-0.68,-31.2,2692,3713,3163,3023,320.1,-10.8,122,2250,0.00,1.77,0.00,0.000,1030,0.000,0.020,2692,2381,3093,3163,3023,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2567,-0.68,-31.2,2692,2380,3163,3020,354.9,-10.4,138,2572,0.00,1.90,0.00,0.000,516,0.000,0.029,2692,1039,3089,3163,3016,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2657,-0.68,-31.2,1664,1039,3120,3009,364.3,-10.6,142,2664,0.10,1.90,0.00,0.000,3078,0.185,0.028,2709,2380,3089,3164,3014,0,0,0,0,0,0,26.06,26.34,28.83
$GC,2981,-0.68,-31.2,2709,2380,3163,3011,394.8,-9.8,158,2987,0.00,1.92,0.00,0.000,516,0.000,0.030,2709,1042,3087,3163,3011,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3153,-0.68,-31.2,2709,1041,3161,3009,412.5,-10.5,166,3159,0.00,1.90,0.00,0.000,1030,0.000,0.028,2705,2373,3085,3161,3009,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3480,-0.68,-31.2,2705,2373,3160,3005,444.1,-9.7,182,3481,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2373,3082,3160,3005,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3777,-0.68,-31.4,2704,2373,3157,3002,473.5,-9.2,197,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2373,3079,3157,3002,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4075,begin apogee
$GC,4080,-0.20,0.0,2704,2373,3155,3000,501.2,-8.7,212,4104,0.47,0.00,19.67,0.709,10246,0.131,0.000,2855,2373,2990,3078,2903,0,0,0,0,0,0,25.69,28.83,25.25
$STATE,4106,end apogee,CONTROL_FINISHED_OK
$STATE,4106,begin climb
$GC,4109,0.68,31.4,2855,2373,3078,2901,502.5,0.0,213,4146,0.80,1.92,28.98,0.700,10500,0.085,0.037,3146,3649,2860,2959,2762,0,0,0,0,0,0,26.01,25.81,25.04
$GC,4241,0.77,74.3,3146,3649,2958,2756,503.6,-1.4,218,4289,0.08,1.95,37.22,0.699,11270,0.118,0.021,3194,2253,2687,2783,2592,0,0,0,0,0,0,25.94,26.04,24.91
$GC,4598,0.81,96.2,3194,2253,2781,2584,496.1,3.8,236,4622,0.00,2.10,19.62,0.695,8708,0.000,0.036,3204,894,2599,2693,2505,0,0,0,0,0,0,28.83,25.91,25.20
$GC,4858,0.85,114.8,3204,893,2693,2498,484.6,4.6,248,4882,0.00,1.95,17.50,0.687,9222,0.000,0.025,3204,2258,2520,2618,2423,0,0,0,0,0,0,28.83,26.15,25.24
$GC,5202,0.87,122.4,3204,2258,2618,2413,460.3,7.4,265,5214,0.00,2.10,6.70,0.660,8708,0.000,0.036,3213,893,2492,2593,2392,0,0,0,0,0,0,28.83,26.14,25.32
$GC,5372,0.87,126.1,3213,893,2592,2389,446.8,8.3,273,5384,0.00,1.92,3.70,0.523,9222,0.000,0.025,3214,2239,2477,2578,2377,0,0,0,0,0,0,28.83,26.20,25.04
$GC,5699,0.87,126.1,3213,2238,2578,2376,413.4,11.0,289,5706,0.00,2.08,0.00,0.000,260,0.000,0.040,3213,3638,2477,2578,2376,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5771,0.87,126.1,3213,3638,2578,2376,405.5,11.6,292,5777,0.08,1.92,0.00,0.000,5126,0.233,0.021,3210,2262,2476,2578,2375,0,0,0,0,0,0,26.04,26.35,28.83
$GC,6095,0.88,129.6,3210,2262,2578,2374,375.5,8.4,308,6107,0.00,2.10,3.58,0.497,8452,0.000,0.039,3210,3631,2463,2565,2362,0,0,0,0,0,0,28.83,26.29,25.10
$GC,6141,0.88,131.6,3209,3631,2565,2362,370.9,8.8,310,6153,0.00,1.98,3.50,0.486,9222,0.000,0.021,3217,2237,2456,2557,2355,0,0,0,0,0,0,28.83,26.36,25.12
$GC,6467,0.89,135.9,3217,2237,2557,2356,345.5,8.2,326,6479,0.00,2.03,6.43,0.620,8708,0.000,0.037,3226,863,2436,2538,2334,0,0,0,0,0,0,28.83,26.25,25.45
$GC,6713,0.90,139.5,3226,862,2538,2332,325.2,8.4,337,6722,0.00,1.95,3.92,0.516,9222,0.000,0.025,3226,2240,2421,2525,2318,0,0,0,0,0,0,28.83,26.29,25.16
$GC,7020,0.92,149.3,3226,2240,2525,2320,300.6,6.8,353,7037,0.00,2.03,10.88,0.603,8708,0.000,0.035,3235,866,2383,2486,2281,0,0,0,0,0,0,28.83,26.21,25.50
$GC,7185,0.92,149.8,3235,866,2486,2278,287.6,9.1,360,7193,0.00,1.95,0.00,0.000,1030,0.000,0.025,3235,2238,2381,2486,2277,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7491,0.92,149.8,3235,2239,2487,2274,258.0,9.5,376,7496,0.00,2.08,0.00,0.000,260,0.000,0.040,3235,3638,2380,2486,2274,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7557,0.92,149.8,2240,3637,2407,2265,250.3,11.3,379,7563,0.10,1.98,0.00,0.000,5126,0.216,0.022,3224,2242,2379,2485,2274,0,0,0,0,0,0,25.91,26.32,28.83
$GC,7885,0.92,151.1,3224,2242,2485,2273,219.7,8.9,395,7891,0.00,2.03,0.00,0.000,516,0.000,0.037,3233,860,2379,2485,2273,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7919,0.93,154.9,3232,860,2485,2272,217.6,8.3,396,7933,0.00,1.98,5.03,0.542,9222,0.000,0.025,3233,2250,2360,2464,2256,0,0,0,0,0,0,28.83,26.29,25.35
$GC,8233,0.95,163.3,3233,2250,2464,2255,192.8,7.2,412,8250,0.00,2.10,9.23,0.539,8452,0.000,0.040,3232,3628,2325,2430,2221,0,0,0,0,0,0,28.83,26.27,25.55
$GC,8488,0.95,165.3,3229,3628,2429,2214,170.5,8.8,424,8494,0.00,1.95,0.00,0.000,1030,0.000,0.021,3242,2229,2322,2429,2216,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8816,0.98,181.3,3241,2226,2430,2215,154.2,5.3,440,8840,0.00,1.98,16.10,0.500,8708,0.000,0.036,3249,876,2249,2356,2143,0,0,0,0,0,0,28.83,26.20,25.60
$GC,9072,1.01,194.2,3249,876,2356,2139,140.2,6.0,452,9092,0.00,1.95,11.43,0.489,9222,0.000,0.024,3249,2253,2197,2305,2089,0,0,0,0,0,0,28.83,26.25,25.55
$GC,9391,1.04,209.6,3249,2253,2305,2083,121.9,5.4,468,9414,0.00,2.10,13.25,0.470,8452,0.000,0.038,3249,3632,2133,2245,2022,0,0,0,0,0,0,28.83,26.18,25.56
$GC,9475,1.06,220.6,3249,3632,2245,2019,117.0,6.5,471,9493,0.00,1.95,9.85,0.468,9222,0.000,0.021,3255,2249,2090,2203,1978,0,0,0,0,0,0,28.83,26.25,25.48
$GC,9807,1.11,243.9,3255,2249,2203,1973,104.4,3.5,488,9832,0.10,2.10,19.02,0.438,10756,0.096,0.036,3320,863,1995,2109,1881,0,0,0,0,0,0,26.39,26.12,25.56
$GC,9909,1.14,257.8,3320,863,2106,1879,99.1,5.8,492,9929,0.12,1.95,11.85,0.439,13318,0.174,0.023,3290,2253,1938,2053,1824,0,0,0,0,0,0,25.82,26.17,25.43
$GC,10250,1.17,275.9,3290,2252,2053,1817,78.7,4.7,509,10273,0.00,2.05,14.30,0.414,8708,0.000,0.034,3298,864,1865,1979,1752,0,0,0,0,0,0,28.83,26.15,25.59
$GC,10415,1.19,282.3,3298,864,1979,1752,68.8,7.7,516,10429,0.00,1.92,6.47,0.427,9222,0.000,0.024,3298,2233,1838,1950,1726,0,0,0,0,0,0,28.83,26.22,25.54
$GC,10749,1.23,304.4,3298,2234,1950,1724,49.4,3.7,533,10775,0.08,2.05,17.05,0.379,10500,0.119,0.035,3344,3631,1748,1862,1635,0,0,0,0,0,0,26.44,26.20,25.65
$GC,11020,1.23,304.4,3344,3631,1862,1632,26.2,10.8,557,11030,0.15,1.95,0.00,0.000,5126,0.186,0.021,3315,2248,1747,1862,1632,0,0,0,0,0,0,25.84,26.31,28.83
$STATE,11309,end climb,SURFACE_DEPTH_REACHED
$STATE,11309,begin surface coast
$FINISH,0.3,1.020982
$STATE,11351,end surface coast,CONTROL_FINISHED_OK
$STATE,11351,begin surface
$SM_CCo,11370,117.65,0.047,0,0,464,619.87
$SM_GC,-1.47,8.62,0.15,117.65,0.065,0.070,0.047,125,2413,464,-8.63,-1.89,619.87,0,0,0,0,0,0,26.24,26.46,26.14
$IRIDIUM_FIX,1837.32,12157.19,260513,131345
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.67
$INTERNAL_PRESSURE,9.75623
$TCM_TEMP,25.90
$XPDR_PINGS,45
$SC_FREEKB,3882688
$24V_AH,24.9,44.841
$10V_AH,10.1,41.905
$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,21.525,90.750,295.275,117.650,0.000,0.000,0.000,302.725,11.250,0.000,475.612,2821.772,6303.210,589.227,2489.735,526.120,0.000,1763.918,0.000,1633.383,0.000,0.548,0.000
$DEVICE_MAMPS,240.210,69.615,709.155,47.430,0.000,0.000,0.000,91.035,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11365.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.769,0.000,0.000,0.000
$MEM,321412
$DATA_FILE_SIZE,23400,617
$CAP_FILE_SIZE,338416,0
$CFSIZE,260034560,207265792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.323,232.0,1
$GPS,260513,165644,1843.812,12157.882,148,3.0,167,-2.1