version: 66.11
glider: 177
mission: 4
dive: 343
start: 5 24 113 7 19 45
data:
$ID,177
$MISSION,4
$DIVE,343
$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,3390
$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,3
$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,-15260.185
$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,73
$R_STBD_OVSHOOT,76
$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
$GPS1,240513,065756,1845.434,12159.360,74,2.2,94,-2.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.63
$_SM_ANGLEo,-73.5
$GPS2,240513,071914,1845.423,12159.174,147,5.0,166,-2.1
$SPEED_LIMITS,0.159,0.756
$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,155.7,1648,-29.7,-9.167,-30.00,92
$D_GRID,1077
$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,-1.20,-5.4,137,2377,478,457,0.0,0.0,0,125,0.00,0.00,-96.50,0.000,16390,0.000,0.000,136,2378,3015,3046,2985,0,0,0,0,0,0,28.83,28.83,26.53
$GC,129,-1.20,-5.4,136,2378,3047,2986,5.4,-19.0,14,145,10.15,2.08,0.00,0.000,2564,0.243,0.028,2547,978,3020,3054,2986,0,0,0,0,0,0,25.42,26.10,28.83
$GC,263,-1.20,-5.4,2546,978,3065,2975,61.8,-36.6,26,269,0.00,1.95,0.00,0.000,1030,0.000,0.026,2539,2352,3020,3066,2975,0,0,0,0,0,0,28.83,26.15,28.83
$GC,578,-1.20,-5.4,2538,2353,3069,2974,142.1,-15.8,42,584,0.00,1.95,0.00,0.000,516,0.000,0.028,2539,989,3021,3068,2974,0,0,0,0,0,0,28.83,26.19,28.83
$GC,715,-1.20,-5.4,2538,989,3070,2974,167.7,-19.7,48,721,0.00,1.98,0.00,0.000,1030,0.000,0.025,2529,2387,3022,3070,2974,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1030,-1.20,-5.4,2528,2387,3072,2974,221.6,-16.3,64,1035,0.00,1.92,0.00,0.000,260,0.000,0.037,2519,3707,3023,3072,2974,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1268,-1.20,-5.4,2518,3707,3071,2974,261.9,-15.6,75,1275,0.10,1.85,0.00,0.000,3078,0.207,0.019,2538,2337,3023,3072,2974,0,0,0,0,0,0,26.01,26.45,28.83
$GC,1587,-1.20,-5.4,2538,2336,3071,2970,314.7,-15.1,91,1588,0.00,0.00,0.00,0.000,6,0.000,0.000,2538,2336,3021,3072,2970,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1883,-1.20,-5.4,2538,2336,3071,2965,360.9,-15.7,106,1890,0.00,2.03,0.00,0.000,260,0.000,0.037,2530,3704,3018,3072,2965,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2047,-1.20,-5.4,2529,3704,3072,2962,384.5,-16.1,113,2055,0.00,1.80,0.00,0.000,1030,0.000,0.020,2530,2377,3017,3072,2962,0,0,0,0,0,0,28.83,26.47,28.83
$GC,2354,-1.20,-5.4,2529,2376,3071,2955,432.2,-15.3,129,2359,0.00,1.95,0.00,0.000,516,0.000,0.029,2530,1013,3013,3071,2955,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2595,-1.20,-5.4,2530,1013,3071,2950,467.4,-15.6,140,2601,0.10,1.92,0.00,0.000,3078,0.213,0.026,2540,2372,3010,3071,2950,0,0,0,0,0,0,25.93,26.31,28.83
$GC,2911,-1.20,-5.4,2539,2370,3071,2944,511.1,-13.0,156,2917,0.00,1.95,0.00,0.000,516,0.000,0.029,2544,1018,3007,3071,2944,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2978,-1.20,-5.4,2544,1018,3069,2943,520.3,-13.3,159,2984,0.00,1.95,0.00,0.000,1030,0.000,0.026,2536,2378,3006,3069,2943,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3305,-1.20,-5.4,2536,2378,3067,2942,558.3,-12.0,175,3311,0.00,1.98,0.00,0.000,260,0.000,0.041,2526,3710,3004,3066,2942,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3388,-1.20,-5.4,2526,3710,3066,2941,567.9,-13.4,178,3397,0.00,1.88,0.00,0.000,1030,0.000,0.021,2526,2355,3001,3062,2941,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3704,-1.20,-5.4,2525,2355,3067,2937,614.2,-14.7,193,3709,0.00,1.92,0.00,0.000,516,0.000,0.031,2526,1016,2999,3062,2936,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3820,-1.20,-5.4,2526,1016,3060,2936,628.6,-14.9,196,3826,0.10,1.95,0.00,0.000,3078,0.213,0.027,2536,2379,2998,3060,2936,0,0,0,0,0,0,25.89,26.26,28.83
$GC,4136,-1.20,-5.4,2536,2379,3059,2932,675.7,-13.4,207,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2534,2379,2996,3056,2936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4435,-1.20,-5.4,2536,2379,3057,2929,714.8,-13.1,217,4441,0.00,1.98,0.00,0.000,516,0.000,0.031,2536,1018,2993,3058,2929,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4471,-1.20,-5.4,2536,1018,3056,2929,719.7,-13.4,218,4477,0.00,1.95,0.00,0.000,1030,0.000,0.027,2528,2370,2992,3056,2929,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4806,-1.20,-5.4,2528,2371,3054,2926,761.6,-11.5,229,4808,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2371,2990,3054,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5106,-1.20,-5.4,2528,2371,3051,2927,794.1,-10.4,239,5112,0.00,1.98,0.00,0.000,516,0.000,0.031,2532,1019,2987,3051,2924,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5337,-1.20,-5.4,2531,1018,3049,2921,819.3,-11.3,246,5343,0.08,1.98,0.00,0.000,3078,0.226,0.028,2535,2384,2984,3049,2920,0,0,0,0,0,0,25.94,26.20,28.83
$GC,5663,-1.20,-5.4,2535,2384,3048,2918,858.2,-11.4,257,5668,0.00,2.00,0.00,0.000,516,0.000,0.032,2535,1018,2983,3047,2919,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5716,-1.20,-5.4,2536,1018,3047,2918,861.8,-11.0,258,5722,0.00,1.98,0.00,0.000,1030,0.000,0.028,2528,2385,2982,3047,2918,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6034,-1.20,-5.4,2528,2385,3046,2916,894.9,-9.3,269,6035,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2385,2981,3046,2916,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6331,-1.20,-5.4,2528,2385,3046,2915,925.9,-10.5,279,6337,0.00,1.98,0.00,0.000,260,0.000,0.043,2518,3707,2980,3045,2915,0,0,0,0,0,0,28.83,25.98,28.83
$GC,6368,-1.20,-5.4,2517,3708,3045,2915,929.9,-10.7,280,6375,0.10,1.85,0.00,0.000,3078,0.207,0.022,2537,2372,2979,3044,2915,0,0,0,0,0,0,25.91,26.39,28.83
$GC,6704,-1.20,-5.5,2537,2372,3044,2914,963.4,-9.1,291,6710,0.00,1.98,0.00,0.000,516,0.000,0.033,2537,1019,2977,3042,2913,0,0,0,0,0,0,28.83,26.05,28.83
$GC,6822,-1.20,-5.5,2537,1019,3042,2912,972.8,-9.5,294,6827,0.00,1.98,0.00,0.000,1030,0.000,0.028,2529,2381,2977,3042,2912,0,0,0,0,0,0,28.83,26.14,28.83
$STATE,6983,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6984,begin apogee
$GC,6990,-0.20,0.0,2529,2250,3042,2911,990.3,-9.4,300,6996,1.15,0.00,0.00,0.000,2054,0.174,0.000,2851,2250,2976,3042,2911,0,0,0,0,0,0,24.82,28.83,28.83
$STATE,6998,end apogee,CONTROL_FINISHED_OK
$STATE,6998,begin climb
$GC,7000,1.20,5.5,2850,2250,3042,2911,990.3,0.0,300,7012,1.30,2.05,3.25,0.618,10756,0.084,0.039,3316,880,2970,3038,2902,0,0,0,0,0,0,25.61,26.13,24.03
$GC,7065,1.20,5.5,3316,879,3039,2904,990.3,-1.0,302,7070,0.00,1.98,0.00,0.000,1030,0.000,0.028,3316,2241,2971,3039,2904,0,0,0,0,0,0,28.83,26.19,28.83
$STATE,7397,end climb,ABORT_DEPTH_EXCEEDED
$SM_CCo,7410,586.28,1.175,18,0,463,619.87
$SM_GC,-1.57,8.62,0.00,0.00,0.060,0.000,0.000,127,2241,455,-8.63,0.03,622.33,0,0,0,0,0,0,26.17,28.83,28.83
$IRIDIUM_FIX,1839.59,12201.05,240513,070733
$TT8_MAMPS,0.02996,0.02996
$HUMID,55.86
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,15.60
$XPDR_PINGS,62
$SC_FREEKB,3888768
$24V_AH,23.0,43.102
$10V_AH,10.3,40.168
$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,21.700,54.825,3.250,586.275,0.000,0.000,0.000,645.050,15.500,0.000,170.055,1660.791,7686.379,868.775,1733.585,356.842,0.000,2045.186,0.000,878.443,0.000,0.547,0.000
$DEVICE_MAMPS,243.270,66.555,618.120,1175.040,0.000,0.000,0.000,111.690,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7036.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.415,0.000,0.000,0.000
$MEM,320476
$DATA_FILE_SIZE,10113,313
$CAP_FILE_SIZE,201084,0
$CFSIZE,260034560,209022976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,18,0,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,240513,102855,1845.060,12159.783,236,2.3,255,-2.1