version: 66.11
glider: 177
mission: 4
dive: 295
start: 5 14 113 10 23 36
data:
$ID,177
$MISSION,4
$DIVE,295
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,660
$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,220
$T_MISSION,250
$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,-8383.0576
$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,63
$R_STBD_OVSHOOT,97
$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
$GPS1,140513,101536,1846.777,12307.146,26,2.0,26,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.59
$_SM_ANGLEo,-72.0
$GPS2,140513,102254,1846.915,12307.079,9,2.0,14,-2.1
$SPEED_LIMITS,0.173,0.782
$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,134.0,4891,-7.7,-10.000,-8.31,2147
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.59,-140.0,135,2411,472,448,0.0,0.0,0,126,0.00,0.00,-103.80,0.000,16386,0.000,0.000,135,2411,3331,3389,3274,0,0,0,0,0,0,28.83,28.83,28.83
$GC,129,-0.59,-140.0,135,2411,3388,3275,5.3,-18.6,14,154,10.85,1.88,-3.30,0.000,18692,0.244,0.050,2722,3669,3567,3646,3488,0,0,0,0,0,0,25.58,26.15,26.44
$GC,178,-0.59,-140.0,2722,3669,3649,3488,35.4,-57.5,19,186,0.00,1.83,0.00,0.000,1030,0.000,0.020,2722,2344,3568,3649,3488,0,0,0,0,0,0,28.83,26.25,28.83
$GC,488,-0.59,-140.0,2722,2343,3650,3488,115.5,-21.7,37,493,0.00,1.90,0.00,0.000,516,0.000,0.030,2722,1006,3569,3650,3488,0,0,0,0,0,0,28.83,26.27,28.83
$GC,574,-0.59,-140.0,2722,1006,3650,3488,134.2,-21.0,41,581,0.10,1.88,0.00,0.000,3078,0.181,0.037,2735,2330,3569,3651,3488,0,0,0,0,0,0,26.08,26.31,28.83
$GC,901,-0.59,-140.0,2735,2331,3653,3488,198.7,-19.3,57,907,0.00,1.90,0.00,0.000,516,0.000,0.030,2736,1003,3570,3653,3488,0,0,0,0,0,0,28.83,26.34,28.83
$GC,941,-0.59,-140.0,2736,1003,3652,3488,203.5,-18.9,58,949,0.00,1.95,0.00,0.000,1030,0.000,0.027,2732,2382,3570,3652,3488,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1247,-0.59,-140.0,2732,2382,3653,3488,257.1,-15.0,74,1253,0.00,1.98,0.00,0.000,516,0.000,0.030,2732,1004,3570,3653,3488,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1318,-0.59,-140.0,1696,1004,3642,3485,267.3,-15.1,77,1324,0.00,1.95,0.00,0.000,1030,0.000,0.027,2729,2386,3570,3653,3488,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1638,-0.59,-140.0,2729,2386,3653,3487,314.5,-15.1,93,1645,0.00,1.98,0.00,0.000,516,0.000,0.030,2729,1007,3569,3652,3487,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1685,-0.59,-140.0,2729,1007,3653,3486,321.4,-15.4,95,1692,0.00,1.95,0.00,0.000,1030,0.000,0.026,2723,2385,3569,3653,3486,0,0,0,0,0,0,28.83,26.43,28.83
$GC,2012,-0.59,-140.0,2723,2386,3652,3484,370.2,-15.1,111,2018,0.00,1.98,0.00,0.000,516,0.000,0.030,2723,1013,3567,3652,3483,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2068,-0.59,-140.0,2723,1012,3652,3481,376.8,-14.9,113,2075,0.08,1.92,0.00,0.000,3078,0.183,0.027,2735,2375,3567,3652,3483,0,0,0,0,0,0,26.25,26.42,28.83
$GC,2385,-0.59,-140.0,2735,2376,3652,3479,418.3,-12.0,129,2387,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,2376,3565,3652,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2684,-0.59,-140.0,2735,2375,3652,3476,451.4,-10.8,144,2689,0.00,1.98,0.00,0.000,516,0.000,0.030,2736,1004,3564,3653,3476,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2712,-0.59,-140.0,2736,1001,3652,3476,454.0,-11.0,145,2718,0.00,1.95,0.00,0.000,1030,0.000,0.027,2732,2378,3563,3652,3475,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3033,-0.59,-140.0,2732,2379,3652,3470,489.6,-11.5,161,3040,0.00,1.98,0.00,0.000,516,0.000,0.031,2732,1009,3561,3653,3470,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3080,-0.59,-140.0,2732,1008,3652,3470,495.2,-11.9,163,3087,0.00,1.95,0.00,0.000,1030,0.000,0.027,2731,2376,3561,3653,3469,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3409,-0.59,-140.0,2731,2376,3652,3463,532.1,-11.1,179,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2376,3558,3652,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3705,-0.59,-140.0,2731,2376,3652,3459,565.1,-11.5,194,3706,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2376,3555,3652,3459,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4007,-0.62,-155.0,2731,2376,3652,3454,595.6,-9.3,209,4012,0.00,1.98,0.00,0.000,516,0.000,0.031,2732,1013,3553,3652,3454,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4047,-0.66,-175.8,2731,1012,3650,3454,597.8,-9.0,210,4057,0.08,1.95,0.00,0.000,5126,0.127,0.028,2686,2381,3552,3650,3454,0,0,0,0,0,0,26.28,26.36,28.83
$GC,4373,-0.66,-175.8,2686,2381,3646,3452,635.5,-11.0,222,4375,0.10,0.00,0.00,0.000,2054,0.161,0.000,2711,2381,3549,3646,3452,0,0,0,0,0,0,26.36,28.83,28.83
$STATE,4641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4641,begin apogee
$GC,4647,-0.20,0.0,2711,2243,3644,3449,662.6,-10.2,231,4770,0.45,0.00,113.88,0.800,10246,0.119,0.000,2861,2242,2990,3097,2883,0,0,0,0,0,0,25.93,28.83,24.58
$STATE,4772,end apogee,CONTROL_FINISHED_OK
$STATE,4772,begin climb
$GC,4774,0.66,175.8,2861,2242,3097,2879,667.3,0.0,234,4930,0.77,2.25,147.35,0.786,10500,0.073,0.041,3141,3630,2271,2393,2149,0,0,1,0,0,0,25.32,25.05,24.46
$GC,4965,0.95,323.0,3141,3630,2391,2138,666.0,3.0,240,5093,0.25,2.03,117.45,0.770,11270,0.063,0.022,3247,2250,1670,1783,1558,0,0,0,0,0,0,25.44,25.48,24.47
$GC,5407,0.95,323.0,3246,2250,1773,1544,578.2,19.8,256,5413,0.00,2.10,0.00,0.000,516,0.000,0.042,3257,860,1659,1775,1544,0,0,0,0,0,0,28.83,25.94,28.83
$GC,5442,0.95,323.0,3256,860,1775,1544,573.1,19.6,257,5449,0.12,2.00,0.00,0.000,5126,0.197,0.028,3230,2245,1659,1775,1544,0,0,0,0,0,0,25.74,26.07,28.83
$GC,5760,0.95,323.0,3230,2245,1771,1537,512.6,18.5,273,5766,0.00,2.10,0.00,0.000,260,0.000,0.041,3230,3641,1656,1771,1541,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5816,0.95,323.0,3230,3640,1768,1541,503.7,18.7,275,5822,0.00,2.00,0.00,0.000,1030,0.000,0.024,3233,2244,1654,1768,1540,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6131,0.95,323.0,3232,2243,1766,1539,445.2,17.6,291,6132,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2243,1652,1765,1539,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6432,0.95,323.0,3233,2243,1764,1538,392.7,17.1,306,6433,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2243,1651,1764,1538,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6731,0.95,323.0,3233,2243,1763,1538,341.6,17.2,321,6732,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,2243,1649,1762,1537,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7031,0.95,323.0,3232,2243,1762,1537,292.4,16.2,336,7037,0.00,2.10,0.00,0.000,260,0.000,0.040,3233,3637,1649,1761,1537,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7066,0.95,323.0,3232,3637,1760,1536,288.3,16.2,337,7072,0.00,2.00,0.00,0.000,1030,0.000,0.022,3239,2231,1646,1760,1533,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7380,0.95,323.0,3239,2229,1761,1535,234.2,16.8,353,7387,0.00,2.03,0.00,0.000,516,0.000,0.041,3249,859,1648,1760,1536,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7442,0.95,323.0,3249,859,1761,1536,226.2,17.4,355,7450,0.00,1.95,0.00,0.000,1030,0.000,0.024,3249,2242,1648,1760,1536,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7749,0.95,323.0,3249,2242,1760,1536,174.6,16.3,371,7756,0.10,2.05,0.00,0.000,4356,0.184,0.037,3227,3634,1648,1760,1536,0,0,0,0,0,0,26.29,26.27,28.83
$GC,7779,0.95,323.0,3226,3634,1759,1535,170.6,16.0,372,7786,0.00,1.98,0.00,0.000,1030,0.000,0.022,3230,2240,1647,1760,1535,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8102,0.95,323.0,3230,2240,1759,1535,133.4,10.7,388,8107,0.00,2.03,0.00,0.000,516,0.000,0.041,3238,858,1650,1760,1540,0,0,0,0,0,0,28.83,26.22,28.83
$GC,8155,0.95,323.0,3238,858,1760,1534,128.5,10.8,390,8162,0.00,1.95,0.00,0.000,1030,0.000,0.024,3238,2246,1647,1759,1535,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8472,0.95,323.0,3237,2246,1759,1535,94.4,10.0,406,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,2246,1647,1760,1535,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8771,0.99,340.0,3237,2246,1760,1535,64.5,9.2,421,8787,0.00,2.05,10.55,0.404,8452,0.000,0.037,3238,3635,1600,1711,1490,0,0,0,0,0,0,28.83,26.34,25.75
$GC,8952,1.07,380.7,3238,3635,1709,1488,48.7,8.1,430,8993,0.10,1.98,30.80,0.373,11270,0.093,0.021,3303,2220,1435,1542,1329,0,0,0,0,0,0,26.32,26.40,25.70
$GC,9298,1.07,380.7,2304,2217,1497,1320,10.1,10.6,476,9307,0.12,2.10,0.00,0.000,4356,0.161,0.034,3266,3638,1434,1542,1326,0,0,0,0,0,0,26.11,26.22,28.83
$STATE,9366,end climb,SURFACE_DEPTH_REACHED
$STATE,9367,begin surface coast
$FINISH,1.1,1.021218
$STATE,9384,end surface coast,CONTROL_FINISHED_OK
$STATE,9384,begin surface
$SM_CCo,9406,89.65,0.050,0,0,463,619.87
$SM_GC,-1.59,8.43,1.77,89.65,0.062,0.020,0.050,143,2374,463,-8.61,2.63,619.87,0,0,1,0,0,0,26.22,26.39,26.15
$IRIDIUM_FIX,1837.32,12306.68,140513,060648
$TT8_MAMPS,0.027713,0.027713
$HUMID,48.97
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,25.00
$XPDR_PINGS,28
$SC_FREEKB,3906944
$24V_AH,24.5,37.130
$10V_AH,10.3,34.534
$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,21.550,71.425,420.025,89.650,0.000,0.000,0.000,245.150,7.000,0.000,16.724,1889.998,5696.408,613.193,1370.908,366.862,0.000,1512.639,0.000,1066.767,0.000,0.549,0.000
$DEVICE_MAMPS,244.035,67.320,800.190,49.725,0.000,0.000,0.000,119.340,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9411.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.618,0.000,0.000,0.000
$MEM,326660
$DATA_FILE_SIZE,16808,491
$CAP_FILE_SIZE,244257,0
$CFSIZE,260034560,215330816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.217,329.7,1
$GPS,140513,130304,1846.869,12308.025,13,1.0,28,-2.1