version: 66.11
glider: 177
mission: 4
dive: 360
start: 5 26 113 17 16 0
data:
$ID,177
$MISSION,4
$DIVE,360
$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,-23915.309
$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,64
$R_STBD_OVSHOOT,100
$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
$GPS1,260513,165644,1843.812,12157.882,148,3.0,167,-2.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.53
$_SM_ANGLEo,-73.8
$GPS2,260513,171513,1843.688,12157.750,363,1.7,363,-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,57.7,4634,-6.4,-9.259,-7.02,3146
$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,20,-0.63,-190.2,124,2413,470,456,0.0,0.0,0,121,0.00,0.00,-95.88,0.000,16386,0.000,0.000,124,2413,3001,3044,2958,0,0,0,0,0,0,28.83,28.83,28.83
$GC,125,-0.63,-190.2,128,2413,3044,2960,3.6,-13.8,13,159,10.68,2.12,-11.27,0.000,18948,0.236,0.046,2717,986,3772,3865,3679,0,0,0,0,0,0,25.66,26.28,26.70
$GC,257,-0.63,-190.2,2717,986,3865,3679,52.8,-29.3,25,266,0.00,1.90,0.00,0.000,1030,0.000,0.028,2710,2329,3772,3865,3679,0,0,0,0,0,0,28.83,26.34,28.83
$GC,561,-0.63,-190.2,2709,2330,3865,3679,133.6,-17.8,41,568,0.00,1.92,0.00,0.000,516,0.000,0.028,2710,977,3771,3865,3678,0,0,0,0,0,0,28.83,26.33,28.83
$GC,693,-0.63,-190.2,2710,977,3865,3679,156.3,-18.4,47,700,0.08,1.98,0.00,0.000,3078,0.184,0.026,2720,2382,3771,3864,3679,0,0,0,0,0,0,26.20,26.38,28.83
$GC,1016,-0.63,-190.2,2719,2382,3865,3679,202.7,-15.1,63,1022,0.00,1.95,0.00,0.000,260,0.000,0.041,2713,3706,3773,3867,3679,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1093,-0.63,-190.2,2713,3706,3866,3679,213.4,-15.3,66,1099,0.00,1.90,0.00,0.000,1030,0.000,0.019,2713,2310,3772,3866,3679,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1408,-0.63,-190.2,2713,2309,3866,3677,259.6,-12.4,82,1413,0.00,1.88,0.00,0.000,516,0.000,0.030,2713,982,3771,3865,3677,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1469,-0.63,-190.2,2713,982,3865,3675,264.3,-11.2,84,1477,0.00,1.98,0.00,0.000,1030,0.000,0.027,2708,2380,3770,3865,3675,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1776,-0.63,-190.2,2708,2381,3865,3670,300.0,-11.4,100,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2381,3767,3865,3670,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2075,-0.63,-190.2,2708,2381,3866,3664,342.0,-17.1,115,2081,0.00,2.03,0.00,0.000,516,0.000,0.030,2708,979,3764,3865,3664,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2166,-0.63,-190.2,2708,979,3865,3662,356.0,-16.1,119,2173,0.08,1.98,0.00,0.000,3078,0.178,0.028,2722,2375,3764,3866,3662,0,0,0,0,0,0,26.17,26.34,28.83
$GC,2489,-0.63,-190.2,2722,2375,3863,3657,395.3,-10.9,135,2490,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2375,3760,3863,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2786,-0.63,-190.2,2722,2375,3859,3654,425.7,-10.3,150,2792,0.00,2.03,0.00,0.000,516,0.000,0.030,2723,975,3756,3858,3654,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2862,-0.63,-190.2,2722,975,3856,3653,433.1,-11.1,153,2869,0.00,2.00,0.00,0.000,1030,0.000,0.027,2720,2378,3755,3857,3653,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3178,-0.63,-190.2,2720,2379,3854,3649,473.8,-13.1,169,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2379,3751,3854,3649,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3396,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3396,begin apogee
$GC,3403,-0.20,0.0,2720,2195,3852,3646,502.6,-13.3,180,3555,0.43,0.00,146.80,0.698,10246,0.112,0.000,2861,2195,2992,3104,2880,0,0,0,0,0,0,25.87,28.83,24.65
$STATE,3557,end apogee,CONTROL_FINISHED_OK
$STATE,3560,begin climb
$GC,3562,0.63,190.2,2861,2195,3103,2876,512.5,0.0,186,3730,0.75,2.25,153.23,0.682,10500,0.074,0.041,3132,3640,2211,2339,2083,0,0,1,0,0,0,25.37,25.20,24.60
$GC,3791,0.78,261.2,3132,3640,2338,2074,510.0,6.9,196,3853,0.12,1.98,55.58,0.677,11270,0.080,0.021,3198,2258,1928,2053,1803,0,0,0,0,0,0,25.70,25.75,24.69
$GC,4173,0.78,261.2,3198,2258,2049,1784,447.1,18.2,215,4175,0.10,0.00,0.00,0.000,4102,0.187,0.000,3178,2258,1917,2049,1785,0,0,0,0,0,0,25.98,28.83,28.83
$GC,4472,0.78,261.2,3177,2258,2045,1781,402.9,13.2,230,4479,0.00,2.08,0.00,0.000,516,0.000,0.040,3180,874,1916,2047,1786,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4519,0.78,261.2,3179,874,2047,1781,397.0,13.1,232,4525,0.00,1.98,0.00,0.000,1030,0.000,0.025,3180,2250,1914,2047,1781,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4846,0.78,261.2,3179,2251,2044,1779,357.6,10.6,248,4847,0.00,0.00,0.00,0.000,6,0.000,0.000,3180,2251,1911,2043,1780,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5144,0.78,261.2,3179,2251,2043,1777,324.3,12.0,263,5145,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,2251,1909,2042,1777,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5445,0.78,261.2,3179,2251,2040,1775,281.2,15.1,278,5451,0.00,2.05,0.00,0.000,516,0.000,0.036,3187,869,1907,2040,1775,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5479,0.78,261.2,3186,869,2040,1776,277.2,14.9,279,5485,0.00,1.95,0.00,0.000,1030,0.000,0.024,3187,2241,1908,2040,1776,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5794,0.78,261.2,3186,2242,2039,1775,228.9,13.8,295,5800,0.00,2.08,0.00,0.000,260,0.000,0.040,3187,3636,1907,2039,1775,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5850,0.78,261.2,3187,3636,2038,1774,222.7,13.4,297,5857,0.00,1.98,0.00,0.000,1030,0.000,0.022,3188,2252,1905,2037,1774,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6166,0.82,281.0,3188,2252,2037,1773,191.5,8.6,313,6190,0.00,2.12,13.93,0.522,8452,0.000,0.039,3188,3633,1841,1968,1715,0,0,0,0,0,0,28.83,26.24,25.53
$GC,6204,0.86,302.3,3188,3636,1966,1714,189.4,8.6,314,6228,0.00,2.00,17.65,0.516,9222,0.000,0.022,3188,2234,1756,1880,1633,0,0,0,0,0,0,28.83,26.26,25.44
$GC,6542,0.86,302.3,3188,2234,1877,1624,149.5,10.7,331,6548,0.00,2.12,0.00,0.000,260,0.000,0.038,3188,3645,1750,1877,1624,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6614,0.86,302.3,3188,3645,1875,1623,141.0,12.1,334,6620,0.00,2.00,0.00,0.000,1030,0.000,0.021,3188,2238,1749,1875,1623,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6937,1.02,382.7,3188,2237,1875,1622,115.0,6.6,350,7008,0.17,2.08,61.42,0.444,10756,0.067,0.036,3300,853,1425,1536,1314,0,0,0,0,0,0,26.42,25.86,25.35
$GC,7191,1.02,382.7,3299,852,1532,1310,92.3,11.6,361,7200,0.17,2.00,0.00,0.000,5126,0.147,0.024,3253,2256,1420,1532,1309,0,0,0,0,0,0,25.70,26.08,28.83
$GC,7499,1.06,403.9,3252,2256,1532,1304,64.7,8.6,377,7522,0.00,2.05,15.15,0.413,8452,0.000,0.036,3252,3630,1339,1449,1229,0,0,0,0,0,0,28.83,26.15,25.60
$GC,7560,1.13,438.7,3252,3631,1449,1225,60.7,8.1,379,7592,0.12,1.98,26.00,0.395,11270,0.080,0.021,3328,2223,1201,1303,1100,0,0,0,0,0,0,26.14,26.21,25.46
$GC,7890,1.13,438.7,2304,2220,1264,1086,16.0,12.7,414,7900,0.12,1.98,0.00,0.000,4612,0.166,0.034,3299,877,1194,1297,1092,0,0,0,0,0,0,26.01,26.09,28.83
$GC,7930,1.13,438.7,3298,877,1297,1092,11.4,10.4,420,7938,0.00,1.92,0.00,0.000,1030,0.000,0.023,3299,2251,1195,1298,1092,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,8010,end climb,SURFACE_DEPTH_REACHED
$STATE,8010,begin surface coast
$FINISH,-0.1,1.021107
$STATE,8040,end surface coast,CONTROL_FINISHED_OK
$STATE,8040,begin surface
$SM_CCo,8060,67.47,0.049,0,0,464,619.87
$SM_GC,-1.63,8.55,0.12,67.47,0.062,0.083,0.049,138,2412,464,-8.62,-2.04,619.87,0,0,0,0,0,0,26.18,26.37,26.08
$IRIDIUM_FIX,1835.04,12155.98,260513,171721
$TT8_MAMPS,0.027713,0.027713
$HUMID,51.06
$INTERNAL_PRESSURE,9.7074
$TCM_TEMP,25.00
$XPDR_PINGS,38
$SC_FREEKB,3882304
$24V_AH,24.6,44.935
$10V_AH,10.3,41.985
$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,21.375,60.525,489.750,67.475,0.000,0.000,0.000,267.025,9.500,0.000,366.263,1714.642,4797.562,627.632,1710.262,390.804,0.000,1526.638,0.000,1011.467,0.000,0.548,0.000
$DEVICE_MAMPS,236.385,83.385,697.680,48.960,0.000,0.000,0.000,90.270,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8068.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.683,0.000,0.000,0.000
$MEM,321364
$DATA_FILE_SIZE,16766,439
$CAP_FILE_SIZE,225176,0
$CFSIZE,260034560,207237120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.275,238.1,1
$GPS,260513,193350,1843.915,12157.870,79,3.0,98,-2.1