version: 66.11
glider: 177
mission: 4
dive: 364
start: 5 27 113 6 32 15
data:
$ID,177
$MISSION,4
$DIVE,364
$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,-25140.225
$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,81
$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
$GPS1,270513,061059,1844.093,12158.228,197,1.8,197,-2.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.64
$_SM_ANGLEo,-73.3
$GPS2,270513,063144,1843.994,12158.551,269,4.3,288,-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,48.5,3152,-29.7,-9.524,-30.00,93
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.20,-5.8,143,2426,488,450,0.0,0.0,0,128,0.00,0.00,-97.03,0.000,16390,0.000,0.000,143,2426,3016,3042,2991,0,0,0,0,0,0,28.83,28.83,26.67
$GC,132,-1.20,-5.8,142,2426,3042,2992,5.4,-18.3,14,149,10.18,1.83,0.00,0.000,2308,0.246,0.031,2524,3675,3018,3045,2992,0,0,0,0,0,0,25.53,26.25,28.83
$GC,313,-1.20,-5.8,2524,3674,3052,2989,83.2,-38.8,27,322,0.08,1.80,0.00,0.000,3078,0.225,0.021,2535,2355,3023,3057,2989,0,0,0,0,0,0,26.06,26.35,28.83
$GC,620,-1.20,-5.8,2535,2354,3058,2985,156.7,-15.4,43,626,0.00,1.90,0.00,0.000,516,0.000,0.031,2535,1015,3022,3059,2985,0,0,0,0,0,0,28.83,26.25,28.83
$GC,773,-1.20,-5.8,2535,1015,3060,2984,182.4,-17.3,50,780,0.00,1.85,0.00,0.000,1030,0.000,0.024,2528,2344,3022,3060,2984,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1096,-1.20,-5.8,2528,2345,3063,2984,231.2,-13.3,66,1102,0.00,2.00,0.00,0.000,260,0.000,0.037,2517,3707,3023,3062,2984,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1295,-1.20,-5.8,2518,3707,3061,2983,262.1,-16.3,75,1302,0.10,1.80,0.00,0.000,3078,0.207,0.019,2538,2364,3022,3062,2983,0,0,0,0,0,0,26.05,26.49,28.83
$GC,1613,-1.20,-5.8,2537,2364,3058,2979,307.8,-15.1,91,1619,0.00,1.90,0.00,0.000,516,0.000,0.029,2538,1026,3020,3062,2978,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1857,-1.20,-5.8,2538,1026,3062,2974,345.2,-16.0,102,1863,0.00,1.90,0.00,0.000,1030,0.000,0.026,2530,2375,3018,3062,2974,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2172,-1.20,-5.8,2530,2376,3062,2968,399.1,-15.1,118,2178,0.00,1.92,0.00,0.000,516,0.000,0.029,2530,1028,3015,3062,2968,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2408,-1.20,-5.8,2530,1028,3061,2962,432.5,-13.7,129,2415,0.10,1.90,0.00,0.000,3078,0.213,0.027,2540,2371,3012,3062,2962,0,0,0,0,0,0,25.93,26.29,28.83
$GC,2730,-1.20,-5.8,2539,2372,3061,2956,475.3,-14.7,145,2736,0.00,1.98,0.00,0.000,260,0.000,0.040,2531,3709,3008,3061,2956,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2846,-1.20,-5.8,2532,3709,3060,2955,491.6,-15.2,150,2852,0.00,1.80,0.00,0.000,1030,0.000,0.021,2532,2386,3007,3060,2955,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3162,-1.20,-5.8,2532,2385,3057,2951,540.6,-14.8,166,3167,0.00,1.98,0.00,0.000,260,0.000,0.040,2523,3708,3004,3057,2951,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3229,-1.20,-5.8,2523,3708,3056,2951,551.4,-15.6,169,3235,0.08,1.85,0.00,0.000,3078,0.218,0.021,2535,2363,3003,3056,2951,0,0,0,0,0,0,26.13,26.45,28.83
$GC,3556,-1.20,-5.8,2535,2362,3053,2947,597.1,-13.2,185,3557,0.00,0.00,0.00,0.000,6,0.000,0.000,2536,2362,3000,3053,2947,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3592,begin apogee
$GC,3599,-0.20,0.0,2535,2248,3052,2946,602.6,-13.4,187,3605,1.10,0.00,0.00,0.000,2054,0.171,0.000,2852,2247,2999,3052,2946,0,0,0,0,0,0,25.13,28.83,28.83
$STATE,3606,end apogee,CONTROL_FINISHED_OK
$STATE,3606,begin climb
$GC,3609,1.20,5.8,2852,2247,3052,2946,602.6,0.0,187,3625,1.30,0.00,9.77,0.734,10502,0.086,0.000,3310,2247,2965,3024,2907,0,0,0,0,0,0,25.80,28.83,25.08
$GC,3939,1.23,20.8,3310,2247,3022,2902,622.3,-7.1,198,3960,0.00,2.12,14.10,0.774,8452,0.000,0.041,3310,3640,2904,2972,2837,0,0,0,0,0,0,28.83,26.10,25.18
$GC,4028,1.26,35.8,3310,3641,2969,2837,626.7,-6.9,200,4048,0.00,1.98,14.65,0.776,9222,0.000,0.024,3319,2260,2846,2913,2779,0,0,0,0,0,0,28.83,26.14,25.08
$GC,4373,1.29,48.7,3320,2260,2909,2771,643.8,-4.7,212,4394,0.05,2.12,13.07,0.788,10756,0.169,0.039,3358,870,2791,2862,2721,0,0,0,0,0,0,26.34,26.00,25.15
$GC,4410,1.31,61.5,3358,870,2862,2720,645.3,-4.5,213,4431,0.00,2.00,13.70,0.788,9222,0.000,0.027,3358,2248,2739,2811,2668,0,0,0,0,0,0,28.83,26.01,24.98
$GC,4746,1.32,66.9,3358,2246,2808,2661,639.0,3.5,224,4757,0.00,2.08,4.10,0.633,8708,0.000,0.039,3368,863,2720,2793,2648,0,0,0,0,0,0,28.83,26.08,24.85
$GC,4831,1.33,72.3,3367,863,2792,2649,636.5,3.6,226,4845,0.08,2.00,7.85,0.767,13318,0.243,0.027,3356,2257,2695,2769,2622,0,0,0,0,0,0,25.83,26.11,25.10
$GC,5142,1.34,75.9,3357,2256,2768,2618,619.6,5.6,237,5153,0.00,2.10,3.55,0.570,8452,0.000,0.041,3356,3625,2682,2756,2608,0,0,0,0,0,0,28.83,26.15,24.87
$GC,5389,1.35,78.4,3356,3626,2756,2608,605.1,6.8,244,5398,0.00,1.98,3.47,0.555,9222,0.000,0.023,3365,2233,2672,2745,2600,0,0,0,0,0,0,28.83,26.27,24.91
$GC,5696,1.35,81.0,3365,2233,2745,2600,584.2,6.7,259,5707,0.00,2.15,4.05,0.627,8452,0.000,0.039,3365,3626,2661,2734,2588,0,0,0,0,0,0,28.83,26.23,24.97
$GC,5943,1.35,81.4,3365,3626,2734,2588,564.2,9.0,270,5951,0.00,1.98,0.00,0.000,1030,0.000,0.025,3370,2239,2661,2734,2588,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6251,1.36,83.9,3366,2239,2734,2587,540.6,6.8,286,6263,0.00,2.15,3.55,0.559,8452,0.000,0.040,3370,3631,2650,2723,2578,0,0,0,0,0,0,28.83,26.27,24.96
$GC,6495,1.36,87.9,2464,3630,2654,2570,529.0,5.1,297,6510,0.10,1.98,6.50,0.724,13318,0.262,0.024,3364,2244,2631,2705,2558,0,0,0,0,0,0,25.77,26.28,25.32
$GC,6829,1.37,89.3,3364,2245,2704,2555,505.9,8.0,314,6835,0.00,2.08,0.00,0.000,260,0.000,0.039,3364,3629,2629,2704,2555,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6905,1.37,89.9,3364,3630,2704,2555,500.0,8.8,317,6912,0.00,1.98,0.00,0.000,1030,0.000,0.024,3371,2235,2629,2704,2555,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7222,1.37,92.2,3371,2235,2704,2553,474.7,7.0,333,7232,0.00,2.03,4.12,0.606,8708,0.000,0.039,3382,865,2616,2690,2543,0,0,0,0,0,0,28.83,26.25,25.03
$GC,7451,1.38,94.0,3382,865,2690,2543,459.1,7.5,343,7461,0.08,1.98,0.00,0.000,5126,0.249,0.026,3371,2245,2615,2688,2543,0,0,0,0,0,0,25.94,26.24,28.83
$GC,7757,1.38,96.9,3371,2245,2690,2543,436.1,6.3,359,7769,0.00,2.05,6.65,0.683,8452,0.000,0.037,3371,3629,2596,2670,2523,0,0,0,0,0,0,28.83,26.26,25.35
$GC,8004,1.38,98.0,3371,3634,2669,2521,417.3,8.3,370,8012,0.00,1.98,0.00,0.000,1030,0.000,0.023,3380,2239,2595,2669,2521,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8310,1.39,100.5,3379,2239,2669,2519,394.3,6.8,386,8322,0.00,2.08,3.97,0.565,8452,0.000,0.039,3380,3628,2582,2656,2509,0,0,0,0,0,0,28.83,26.27,25.04
$GC,8484,1.39,102.0,3379,3628,2655,2509,380.3,7.8,394,8492,0.10,1.98,0.00,0.000,5126,0.256,0.023,3373,2238,2582,2655,2509,0,0,0,0,0,0,25.77,26.29,28.83
$GC,8808,1.40,104.5,3373,2238,2655,2509,356.4,6.9,410,8820,0.00,2.08,5.07,0.627,8452,0.000,0.037,3373,3628,2566,2640,2493,0,0,0,0,0,0,28.83,26.27,25.25
$GC,8900,1.40,105.7,3373,3628,2640,2492,349.1,8.2,414,8907,0.00,2.00,0.00,0.000,1030,0.000,0.024,3382,2231,2566,2640,2493,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9224,1.41,111.4,3381,2231,2640,2492,333.1,3.2,430,9240,0.00,0.00,9.25,0.637,8198,0.000,0.000,3382,2231,2535,2611,2459,0,0,0,0,0,0,28.83,28.83,25.40
$GC,9542,1.42,114.4,3381,2231,2610,2456,315.3,6.2,446,9548,0.00,2.00,0.00,0.000,516,0.000,0.037,3392,867,2533,2611,2456,0,0,0,0,0,0,28.83,26.04,28.83
$GC,9787,1.42,115.1,3392,867,2611,2456,295.9,8.8,457,9801,0.00,1.95,3.67,0.497,9222,0.000,0.025,3392,2237,2522,2599,2445,0,0,0,0,0,0,28.83,26.21,25.04
$GC,10101,1.43,118.5,3392,2241,2599,2445,274.8,5.8,473,10113,0.00,2.12,4.43,0.550,8452,0.000,0.039,3392,3632,2508,2586,2431,0,0,0,0,0,0,28.83,26.25,25.10
$GC,10148,1.43,122.6,3391,3632,2585,2431,272.4,5.0,475,10162,0.10,1.98,5.47,0.589,13318,0.252,0.022,3385,2232,2493,2572,2414,0,0,0,0,0,0,25.79,26.29,25.28
$GC,10476,1.44,125.1,3385,2232,2572,2412,252.2,6.9,491,10488,0.00,2.12,3.53,0.464,8452,0.000,0.038,3385,3625,2482,2563,2402,0,0,1,0,0,0,28.83,26.13,25.02
$GC,10526,1.44,127.0,2480,3624,2490,2394,248.4,7.4,493,10534,0.00,1.98,0.00,0.000,1030,0.000,0.022,3393,2234,2482,2562,2402,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10851,1.44,127.0,3393,2234,2562,2402,216.3,11.0,509,10857,0.00,2.00,0.00,0.000,516,0.000,0.038,3403,876,2482,2563,2402,0,0,0,0,0,0,28.83,26.06,28.83
$GC,11092,1.46,133.8,3403,875,2562,2402,202.7,2.0,520,11107,0.00,1.95,10.30,0.552,9222,0.000,0.025,3403,2247,2445,2528,2362,0,0,0,0,0,0,28.83,26.24,25.44
$GC,11406,1.46,137.5,3403,2248,2528,2358,190.3,5.5,536,11417,0.00,2.08,4.00,0.474,8708,0.000,0.037,3413,878,2431,2517,2346,0,0,0,0,0,0,28.83,26.22,25.09
$GC,11517,1.47,140.8,3413,878,2517,2346,183.8,5.9,541,11529,0.08,1.95,4.43,0.495,13318,0.239,0.025,3401,2255,2419,2504,2334,0,0,0,0,0,0,25.89,26.21,25.13
$GC,11838,1.48,144.9,3401,2255,2504,2333,165.5,5.0,557,11851,0.00,2.03,6.05,0.526,8452,0.000,0.036,3401,3628,2399,2486,2313,0,0,0,0,0,0,28.83,26.22,25.42
$GC,12002,1.49,149.5,3401,3628,2486,2312,159.0,4.4,564,12016,0.00,1.95,5.60,0.510,9222,0.000,0.022,3410,2237,2381,2469,2294,0,0,0,0,0,0,28.83,26.26,25.39
$GC,12337,1.50,157.5,3410,2238,2469,2292,149.5,0.7,581,12354,0.00,2.03,8.62,0.503,8708,0.000,0.035,3420,884,2348,2438,2258,0,0,0,0,0,0,28.83,26.19,25.46
$FREEZE,148.91,21.398,-2.013,0,9,0
$STATE,12444,end climb,NO_VERTICAL_VELOCITY
$STATE,12444,begin surface
$SM_CCo,12449,351.98,0.420,0,0,465,619.87
$SM_GC,-1.59,9.23,2.20,0.00,0.075,0.021,0.000,146,2371,449,-8.61,-1.78,623.55,0,0,0,0,0,0,25.88,25.96,28.83
$IRIDIUM_FIX,1839.59,12157.19,270513,060651
$TT8_MAMPS,0.026964,0.026964
$HUMID,54.01
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,21.10
$XPDR_PINGS,53
$SC_FREEKB,3880768
$24V_AH,24.8,45.397
$10V_AH,10.2,42.419
$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,22.725,99.625,183.550,351.975,0.000,0.000,0.000,455.325,13.250,0.000,291.695,3026.028,7399.242,761.303,2607.103,591.528,0.000,2150.819,0.000,1778.926,0.000,0.547,0.000
$DEVICE_MAMPS,262.395,100.215,787.950,419.985,0.000,0.000,0.000,93.330,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,12448.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.108,0.000,0.000,0.000
$MEM,321420
$DATA_FILE_SIZE,23388,586
$CAP_FILE_SIZE,356880,0
$CFSIZE,260034560,206618624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.338, 67.0,1
$GPS,270513,101525,1845.285,12201.165,180,2.1,199,-2.1