version: 66.11
glider: 177
mission: 4
dive: 362
start: 5 26 113 23 57 26
data:
$ID,177
$MISSION,4
$DIVE,362
$N_DIVES,365
$D_SURF,3
$D_FLARE,3
$D_TGT,600
$D_ABORT,750
$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,210
$T_MISSION,240
$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,-24232.262
$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,72
$R_STBD_OVSHOOT,73
$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
$GPS1,260513,233656,1843.237,12156.662,159,3.7,178,-2.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.67
$_SM_ANGLEo,-70.0
$GPS2,260513,235659,1843.500,12156.766,286,2.2,305,-2.1
$SPEED_LIMITS,0.165,0.767
$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,63.9,6316,-6.4,-9.524,-7.08,3131
$D_GRID,1078
$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,-0.65,-194.6,145,2397,484,455,0.0,0.0,0,120,0.00,0.00,-96.90,0.000,16386,0.000,0.000,145,2398,3032,3068,2997,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-0.65,-194.6,146,2397,3068,2998,3.3,-11.3,13,159,10.82,1.92,-11.62,0.000,18692,0.245,0.060,2702,3694,3788,3880,3697,0,0,0,0,0,0,25.61,26.22,26.65
$GC,319,-0.65,-194.6,1664,3693,3877,3701,77.1,-32.2,29,326,0.08,1.83,0.00,0.000,3078,0.187,0.019,2716,2317,3791,3880,3702,0,0,0,0,0,0,26.17,26.41,28.83
$GC,647,-0.65,-194.6,2717,2317,3880,3704,142.4,-15.6,45,653,0.00,2.03,0.00,0.000,260,0.000,0.039,2711,3687,3790,3880,3700,0,0,0,0,0,0,28.83,26.24,28.83
$GC,709,-0.65,-194.6,2710,3687,3880,3704,150.8,-16.7,47,717,0.00,1.83,0.00,0.000,1030,0.000,0.019,2710,2320,3792,3880,3704,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1015,-0.65,-194.6,2710,2320,3880,3704,201.5,-16.9,63,1022,0.00,1.88,0.00,0.000,516,0.000,0.029,2711,990,3792,3880,3704,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1063,-0.65,-194.6,2711,990,3880,3705,208.9,-16.1,65,1070,0.00,1.95,0.00,0.000,1030,0.000,0.027,2704,2360,3792,3880,3704,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1390,-0.65,-194.6,2703,2360,3880,3702,265.7,-17.1,81,1396,0.00,1.98,0.00,0.000,260,0.000,0.040,2700,3707,3791,3880,3702,0,0,0,0,0,0,28.83,26.24,28.83
$GC,1419,-0.65,-194.6,2700,3709,3880,3702,269.8,-16.6,82,1426,0.08,1.85,0.00,0.000,3078,0.168,0.020,2717,2317,3791,3880,3702,0,0,0,0,0,0,26.28,26.51,28.83
$GC,1741,-0.65,-194.6,2716,2315,3880,3698,313.2,-12.0,98,1747,0.00,1.88,0.00,0.000,516,0.000,0.029,2716,991,3789,3880,3698,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1811,-0.65,-194.6,2716,990,3880,3697,320.1,-10.5,101,1817,0.00,1.98,0.00,0.000,1030,0.000,0.027,2716,2380,3788,3880,3697,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2134,-0.65,-194.6,2716,2381,3880,3690,347.9,-8.6,117,2135,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2381,3784,3880,3689,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2431,-0.65,-194.6,2716,2381,3880,3687,377.8,-11.3,132,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2382,3779,3877,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2732,-0.65,-194.6,2716,2381,3877,3680,413.2,-11.9,147,2738,0.00,1.98,0.00,0.000,260,0.000,0.043,2716,3707,3777,3877,3678,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2766,-0.65,-194.6,2716,3707,3877,3679,416.2,-12.1,148,2772,0.00,1.88,0.00,0.000,1030,0.000,0.021,2716,2330,3778,3877,3679,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3080,-0.65,-194.6,2716,2330,3874,3674,451.8,-10.0,164,3081,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2330,3774,3874,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3381,-0.65,-194.6,2716,2330,3870,3670,480.3,-10.6,179,3387,0.00,2.08,0.00,0.000,260,0.000,0.043,2716,3705,3770,3870,3670,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3452,-0.65,-194.6,2716,3705,3869,3670,487.8,-11.0,182,3458,0.00,1.83,0.00,0.000,1030,0.000,0.022,2716,2354,3769,3869,3670,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3773,-0.65,-194.6,2716,2354,3866,3666,523.9,-11.3,198,3779,0.00,1.88,0.00,0.000,516,0.000,0.031,2716,1043,3765,3865,3666,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3861,-0.65,-194.6,2716,1042,3864,3666,534.4,-11.8,202,3868,0.00,1.92,0.00,0.000,1030,0.000,0.029,2714,2376,3764,3863,3666,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4190,-0.65,-194.6,2714,2376,3861,3661,576.0,-13.0,218,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2376,3760,3860,3661,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4384,begin apogee
$GC,4392,-0.20,0.0,2714,2263,3859,3660,600.6,-12.0,228,4556,0.43,0.00,157.35,0.770,10246,0.110,0.000,2857,2264,2989,3098,2881,0,0,0,0,0,0,25.77,28.83,24.47
$STATE,4559,end apogee,CONTROL_FINISHED_OK
$STATE,4559,begin climb
$GC,4561,0.65,194.6,2857,2264,3097,2876,611.6,0.0,233,4731,0.77,2.22,160.82,0.751,11012,0.074,0.041,3137,3636,2193,2321,2066,0,0,1,0,0,0,25.25,25.06,24.42
$GC,4805,0.78,260.3,3137,3637,2316,2051,604.7,7.4,241,4869,0.10,2.00,53.53,0.733,11270,0.092,0.021,3195,2243,1925,2049,1802,0,0,0,0,0,0,25.60,25.68,24.56
$GC,5162,0.78,260.3,3194,2243,2044,1790,548.4,15.6,259,5168,0.10,2.03,0.00,0.000,4612,0.185,0.037,3182,881,1916,2044,1789,0,0,0,0,0,0,25.91,25.92,28.83
$GC,5198,0.78,260.3,3181,881,2043,1789,544.7,15.3,260,5204,0.00,1.98,0.00,0.000,1030,0.000,0.027,3181,2248,1916,2044,1789,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5513,0.78,260.3,3181,2247,2041,1786,498.9,13.9,276,5520,0.00,2.05,0.00,0.000,516,0.000,0.037,3190,877,1913,2041,1786,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5622,0.78,260.3,3190,876,2040,1786,484.1,13.5,281,5630,0.08,1.98,0.00,0.000,5126,0.189,0.027,3174,2245,1912,2039,1785,0,0,0,0,0,0,25.98,26.17,28.83
$GC,5951,0.78,260.3,3177,2245,2038,1784,441.2,13.2,297,5957,0.00,2.10,0.00,0.000,260,0.000,0.041,3176,3633,1911,2038,1784,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6011,0.78,260.3,3177,3633,2035,1784,434.0,13.9,299,6019,0.00,1.98,0.00,0.000,1030,0.000,0.024,3177,2250,1909,2035,1784,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6319,0.78,260.3,3177,2250,2034,1783,384.3,14.1,315,6320,0.00,0.00,0.00,0.000,6,0.000,0.000,3177,2250,1908,2034,1783,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6618,0.78,260.3,3177,2250,2032,1782,334.3,16.5,330,6624,0.00,2.05,0.00,0.000,516,0.000,0.038,3187,863,1907,2032,1782,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6647,0.78,260.3,3187,863,2032,1782,330.3,16.3,331,6653,0.00,1.98,0.00,0.000,1030,0.000,0.026,3187,2237,1907,2032,1782,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6968,0.78,260.3,3186,2241,2031,1782,285.7,12.5,347,6970,0.00,0.00,0.00,0.000,6,0.000,0.000,3186,2241,1906,2031,1782,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7267,0.78,260.3,3186,2241,2031,1781,247.9,13.2,362,7273,0.00,2.05,0.00,0.000,516,0.000,0.038,3190,862,1906,2031,1781,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7295,0.78,260.3,3190,862,2031,1781,244.8,13.0,363,7303,0.08,1.98,0.00,0.000,5126,0.179,0.026,3176,2248,1906,2031,1781,0,0,0,0,0,0,26.04,26.22,28.83
$GC,7618,0.84,291.1,3175,2249,2029,1780,212.0,8.5,379,7648,0.08,2.08,22.48,0.531,10756,0.123,0.037,3224,856,1801,1919,1683,0,0,0,0,0,0,26.49,26.12,25.42
$GC,7744,0.84,291.1,3223,856,1916,1680,198.7,12.4,384,7753,0.12,2.00,0.00,0.000,5126,0.162,0.027,3194,2248,1797,1915,1680,0,0,0,0,0,0,25.77,26.11,28.83
$GC,8050,0.84,291.1,3194,2249,1915,1676,162.7,10.7,400,8056,0.00,2.08,0.00,0.000,516,0.000,0.037,3202,859,1794,1914,1675,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8175,0.84,291.1,3202,859,1914,1676,149.2,12.2,405,8184,0.00,1.98,0.00,0.000,1030,0.000,0.025,3202,2245,1795,1915,1676,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8481,1.03,388.9,3202,2245,1914,1675,124.6,6.3,421,8567,0.15,2.15,76.38,0.439,10500,0.072,0.039,3288,3624,1399,1503,1296,0,0,0,0,0,0,26.44,25.76,25.22
$GC,8650,1.03,388.9,3288,3624,1498,1290,104.3,14.7,428,8656,0.15,2.03,0.00,0.000,5126,0.170,0.022,3252,2233,1394,1498,1290,0,0,0,0,0,0,25.50,25.90,28.83
$GC,8967,1.03,388.9,3252,2232,1498,1285,70.2,10.5,444,8973,0.00,2.05,0.00,0.000,516,0.000,0.036,3259,856,1391,1498,1285,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9150,1.03,388.9,3259,856,1498,1285,53.4,9.5,452,9158,0.00,1.98,0.00,0.000,1030,0.000,0.024,3260,2249,1391,1498,1285,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9459,1.15,447.4,3260,2250,1498,1285,29.3,7.6,482,9510,0.12,0.00,41.85,0.351,10246,0.080,0.000,3342,2250,1162,1261,1064,0,0,0,0,0,0,26.42,28.83,25.56
$STATE,9721,end climb,SURFACE_DEPTH_REACHED
$STATE,9721,begin surface coast
$FINISH,-0.2,1.020255
$STATE,9756,end surface coast,CONTROL_FINISHED_OK
$STATE,9756,begin surface
$SM_CCo,9776,64.72,0.050,0,0,464,619.87
$SM_GC,-1.52,8.70,0.15,64.72,0.061,0.073,0.050,136,2420,464,-8.62,-1.55,619.87,0,0,0,0,0,0,26.07,26.29,25.98
$IRIDIUM_FIX,1835.04,12155.98,260513,232345
$TT8_MAMPS,0.026964,0.026964
$HUMID,51.26
$INTERNAL_PRESSURE,9.65857
$TCM_TEMP,25.00
$XPDR_PINGS,41
$SC_FREEKB,3881536
$24V_AH,24.4,45.201
$10V_AH,10.2,42.206
$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,21.850,71.575,512.400,64.725,0.000,0.000,0.000,423.550,10.250,0.000,309.645,2100.774,5774.224,669.899,2021.255,467.073,0.000,1832.109,0.000,1233.748,0.000,0.548,0.000
$DEVICE_MAMPS,244.800,97.920,769.590,49.725,0.000,0.000,0.000,105.570,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9756.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.022,0.000,0.000,0.000
$MEM,320580
$DATA_FILE_SIZE,20069,532
$CAP_FILE_SIZE,270535,0
$CFSIZE,260034560,206995456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.413,246.6,1
$GPS,270513,024406,1843.253,12156.287,113,1.6,113,-2.1