version: 66.11
glider: 177
mission: 4
dive: 289
start: 5 13 113 21 6 7
data:
$ID,177
$MISSION,4
$DIVE,289
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,360
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,163
$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,-8305.6758
$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,68
$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
$GPS1,130513,205630,1845.677,12308.078,37,1.5,37,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.53
$_SM_ANGLEo,-73.7
$GPS2,130513,210519,1845.657,12308.009,12,1.5,12,-2.1
$SPEED_LIMITS,0.159,0.756
$TGT_NAME,MEAST
$TGT_LATLONG,1845.000,12309.000
$TGT_RADIUS,2000.000
$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,119.2,2123,-25.4,-9.167,-25.73,130
$D_GRID,4260
$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,-1.03,-7.8,142,2417,465,452,0.0,0.0,0,120,0.00,0.00,-95.00,0.000,16386,0.000,0.000,142,2418,2948,2993,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-1.03,-7.8,142,2418,2993,2906,3.1,-12.6,13,140,10.43,1.90,-1.27,0.000,18692,0.248,0.049,2581,3676,3025,3080,2971,0,0,0,0,0,0,25.48,26.08,26.32
$GC,235,-1.03,-7.8,2581,3676,3086,2971,54.0,-36.5,25,241,0.00,1.83,0.00,0.000,1030,0.000,0.020,2581,2362,3028,3086,2971,0,0,0,0,0,0,28.83,26.21,28.83
$GC,561,-1.03,-7.8,2581,2361,3088,2969,153.4,-26.8,41,569,0.03,1.95,0.00,0.000,2564,0.267,0.028,2587,995,3028,3088,2969,0,0,0,0,0,0,26.38,26.25,28.83
$GC,802,-1.03,-7.8,2587,995,3089,2968,208.0,-22.2,52,808,0.00,1.88,0.00,0.000,1030,0.000,0.025,2580,2331,3030,3092,2968,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1117,-1.03,-7.8,2580,2334,3090,2968,274.8,-21.5,68,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2580,2334,3029,3090,2968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1416,-1.03,-7.8,2579,2334,3091,2968,332.0,-18.8,83,1422,0.00,1.90,0.00,0.000,516,0.000,0.030,2580,998,3029,3090,2968,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1452,-1.03,-7.8,2579,997,3090,2968,336.2,-18.4,84,1459,0.10,1.95,0.00,0.000,3078,0.213,0.025,2589,2391,3029,3090,2968,0,0,0,0,0,0,26.08,26.43,28.83
$GC,1769,-1.03,-7.8,2589,2391,3090,2966,390.0,-16.1,100,1775,0.00,1.90,0.00,0.000,260,0.000,0.038,2582,3702,3028,3090,2966,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1851,-1.03,-7.8,2581,3702,3091,2965,400.9,-15.5,103,1860,0.00,1.83,0.00,0.000,1030,0.000,0.019,2582,2349,3027,3090,2965,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2159,-1.03,-7.8,2581,2348,3090,2962,446.7,-13.4,119,2166,0.00,1.88,0.00,0.000,516,0.000,0.030,2582,1022,3026,3091,2961,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2214,-1.03,-7.8,2581,1022,3090,2961,453.6,-14.1,121,2221,0.10,1.90,0.00,0.000,3078,0.210,0.026,2592,2374,3025,3090,2961,0,0,0,0,0,0,26.10,26.43,28.83
$GC,2531,-1.03,-7.8,2592,2375,3090,2956,496.1,-12.5,137,2537,0.00,1.95,0.00,0.000,516,0.000,0.029,2592,1022,3023,3090,2956,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2581,-1.03,-7.8,2592,1022,3090,2955,502.3,-12.9,139,2588,0.00,1.90,0.00,0.000,1030,0.000,0.026,2584,2374,3022,3090,2955,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2902,-1.03,-7.8,2584,2374,3090,2948,548.0,-13.6,155,2908,0.00,1.95,0.00,0.000,516,0.000,0.029,2584,1014,3020,3090,2951,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2943,-1.03,-7.8,2584,1013,3090,2950,551.6,-13.8,156,2951,0.10,1.92,0.00,0.000,3078,0.205,0.027,2595,2375,3019,3090,2949,0,0,0,0,0,0,26.08,26.41,28.83
$GC,3247,-1.03,-7.8,2595,2375,3090,2944,592.7,-12.7,172,3253,0.00,1.98,0.00,0.000,260,0.000,0.041,2588,3710,3017,3090,2944,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3281,-1.03,-7.8,2587,3710,3090,2944,596.0,-12.8,173,3287,0.00,1.83,0.00,0.000,1030,0.000,0.021,2588,2373,3017,3090,2944,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3616,-1.03,-7.8,2588,2372,3088,2941,640.2,-12.7,185,3622,0.00,2.00,0.00,0.000,260,0.000,0.041,2580,3712,3014,3088,2941,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3645,-1.03,-7.8,2579,3713,3088,2945,640.2,-12.7,185,3653,0.00,1.88,0.00,0.000,1030,0.000,0.021,2579,2354,3014,3088,2941,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3954,-1.03,-7.8,2579,2354,3085,2937,680.6,-11.8,196,3960,0.00,1.92,0.00,0.000,516,0.000,0.031,2578,1007,3010,3083,2937,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4117,-1.03,-7.8,1556,1005,3030,2929,700.3,-12.3,201,4123,0.10,1.95,0.00,0.000,3078,0.212,0.028,2589,2376,3008,3082,2935,0,0,0,0,0,0,26.03,26.37,28.83
$GC,4447,-1.03,-7.8,2589,2377,3082,2931,737.7,-10.1,212,4453,0.00,1.98,0.00,0.000,516,0.000,0.031,2590,1016,3005,3080,2931,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4482,-1.03,-7.8,2590,1015,3080,2931,741.3,-10.2,213,4488,0.00,1.95,0.00,0.000,1030,0.000,0.027,2582,2376,3005,3080,2931,0,0,0,0,0,0,28.83,26.36,28.83
$GC,4816,-1.03,-7.8,2582,2377,3085,2927,777.4,-10.6,224,4823,0.00,1.98,0.00,0.000,516,0.000,0.031,2582,1015,3002,3077,2927,0,0,0,0,0,0,28.83,26.28,28.83
$GC,4914,-1.03,-7.8,2582,1015,3076,2926,788.0,-11.1,227,4920,0.10,1.95,0.00,0.000,3078,0.210,0.028,2592,2375,3001,3076,2926,0,0,0,0,0,0,26.00,26.34,28.83
$GC,5249,-1.03,-7.8,2592,2375,3076,2922,822.3,-10.0,238,5250,0.00,0.00,0.00,0.000,6,0.000,0.000,2593,2375,2999,3076,2923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5549,-1.03,-7.8,2592,2375,3073,2921,851.1,-9.5,248,5555,0.00,1.98,0.00,0.000,516,0.000,0.031,2593,1015,2996,3072,2921,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5599,-1.03,-7.8,2593,1015,3072,2920,854.6,-9.6,249,5605,0.00,1.95,0.00,0.000,1030,0.000,0.028,2585,2375,2995,3071,2920,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5920,-1.03,-7.8,2585,2375,3070,2917,886.3,-9.7,260,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,2375,2994,3071,2917,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6219,-1.03,-7.8,2585,2375,3068,2916,915.3,-9.8,270,6225,0.00,1.98,0.00,0.000,516,0.000,0.032,2585,1019,2995,3074,2916,0,0,0,0,0,0,28.83,26.23,28.83
$GC,6275,-1.03,-7.8,2585,1019,3067,2915,919.0,-10.0,271,6281,0.08,1.95,0.00,0.000,3078,0.223,0.028,2589,2375,2991,3067,2916,0,0,0,0,0,0,26.04,26.29,28.83
$GC,6590,-1.03,-8.0,2588,2375,3066,2914,951.0,-9.0,282,6591,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,2375,2990,3066,2914,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6891,-1.03,-8.9,2588,2375,3065,2912,977.3,-8.5,292,6897,0.00,2.00,0.00,0.000,260,0.000,0.044,2580,3705,2988,3065,2912,0,0,0,0,0,0,28.83,26.14,28.83
$GC,6956,-1.03,-9.3,1600,3705,3016,2906,983.3,-8.8,294,6962,0.00,1.85,0.00,0.000,1030,0.000,0.023,2580,2380,2988,3064,2913,0,0,0,0,0,0,28.83,26.46,28.83
$STATE,7049,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7049,begin apogee
$GC,7054,-0.20,0.0,2580,2252,3063,2912,991.5,-8.7,297,7061,0.95,0.00,0.00,0.000,2054,0.164,0.000,2858,2252,2988,3064,2912,0,0,0,0,0,0,25.39,28.83,28.83
$STATE,7062,end apogee,CONTROL_FINISHED_OK
$STATE,7063,begin climb
$GC,7065,1.03,9.3,2858,2252,3064,2912,991.5,0.0,297,7082,1.10,2.17,10.62,0.994,10500,0.077,0.044,3257,3636,2953,3034,2872,0,0,0,0,0,0,25.96,26.17,25.08
$GC,7161,1.03,9.3,3256,3638,3034,2871,992.7,-2.7,300,7168,0.00,2.03,0.00,0.000,1030,0.000,0.029,3260,2256,2952,3034,2871,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7496,1.08,29.6,3260,2256,3034,2868,1015.7,-6.8,311,7523,0.00,2.22,21.17,1.014,8708,0.000,0.049,3270,854,2872,2957,2787,0,0,0,0,0,0,28.83,25.84,24.96
$GC,7533,1.12,50.0,3270,854,2956,2784,1018.1,-6.9,312,7566,0.00,2.05,23.30,1.008,9222,0.000,0.029,3270,2248,2787,2878,2696,0,0,0,0,0,0,28.83,25.92,24.64
$STATE,7592,end climb,ABORT_DEPTH_EXCEEDED
$SM_CCo,7603,527.35,1.197,14,0,463,619.87
$SM_GC,-1.51,8.25,0.00,0.00,0.052,0.000,0.000,143,2249,458,-8.61,0.25,621.59,0,0,0,0,0,0,26.26,28.83,28.83
$IRIDIUM_FIX,1841.87,12306.68,130513,141458
$TT8_MAMPS,0.02996,0.02996
$HUMID,49.64
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,15.40
$XPDR_PINGS,28
$SC_FREEKB,3909248
$24V_AH,23.1,36.671
$10V_AH,10.4,34.173
$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,21.325,66.300,55.100,527.350,0.000,0.000,0.000,303.375,7.000,0.000,14.961,1609.142,8963.787,847.073,1167.186,311.148,0.000,1693.508,0.000,802.560,0.000,0.547,0.000
$DEVICE_MAMPS,266.985,78.795,1014.390,1197.225,0.000,0.000,0.000,122.400,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7103.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.124,0.000,0.000,0.000
$MEM,326612
$DATA_FILE_SIZE,10124,314
$CAP_FILE_SIZE,198327,0
$CFSIZE,260034560,215830528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,14,0,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,140513,003354,1845.656,12307.752,40,1.6,40,-2.1