version: 66.11
glider: 177
mission: 4
dive: 344
start: 5 24 113 11 1 10
data:
$ID,177
$MISSION,4
$DIVE,344
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,900
$D_ABORT,950
$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,300
$T_MISSION,320
$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,-15792.31
$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,85
$R_STBD_OVSHOOT,48
$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
$GPS1,240513,105426,1845.307,12158.979,245,3.6,264,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.54
$_SM_ANGLEo,-73.4
$GPS2,240513,110042,1845.324,12158.776,100,2.0,104,-2.1
$SPEED_LIMITS,0.173,0.782
$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,132.0,2228,-29.7,-10.000,-30.00,96
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.20,-6.2,155,2430,485,448,0.0,0.0,0,115,0.00,0.00,-94.07,0.000,16386,0.000,0.000,155,2431,2932,2961,2904,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-1.20,-6.2,155,2431,2961,2905,3.1,-12.5,13,138,10.12,1.95,-1.42,0.000,18692,0.246,0.048,2525,3733,3019,3058,2980,0,0,0,0,0,0,25.44,26.16,26.44
$GC,243,-1.20,-6.2,2525,3733,3063,2980,55.2,-39.1,25,249,0.00,1.90,0.00,0.000,1030,0.000,0.023,2525,2394,3021,3063,2980,0,0,0,0,0,0,28.83,26.23,28.83
$GC,558,-1.20,-6.2,2525,2393,3067,2977,160.3,-23.5,41,565,0.00,2.03,0.00,0.000,516,0.000,0.030,2525,974,3022,3067,2977,0,0,0,0,0,0,28.83,26.23,28.83
$GC,779,-1.20,-6.2,2525,974,3070,2979,195.4,-17.9,51,786,0.10,2.00,0.00,0.000,3078,0.213,0.025,2534,2388,3022,3070,2975,0,0,0,0,0,0,25.96,26.32,28.83
$GC,1097,-1.20,-6.2,2534,2388,3071,2975,246.3,-16.6,67,1103,0.00,2.03,0.00,0.000,516,0.000,0.028,2538,976,3021,3067,2975,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1310,-1.20,-6.2,2538,976,3071,2974,283.7,-17.4,77,1315,0.00,1.98,0.00,0.000,1030,0.000,0.026,2530,2375,3022,3071,2974,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1636,-1.20,-6.2,2530,2374,3072,2970,338.3,-16.8,93,1642,0.00,1.95,0.00,0.000,260,0.000,0.037,2520,3706,3020,3071,2970,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1739,-1.20,-6.2,2520,3706,3071,2969,353.9,-17.8,97,1748,0.10,1.88,0.00,0.000,3078,0.209,0.020,2539,2322,3020,3071,2969,0,0,0,0,0,0,26.03,26.47,28.83
$GC,2043,-1.20,-6.2,2539,2322,3071,2963,409.6,-16.3,113,2049,0.00,1.92,0.00,0.000,516,0.000,0.030,2546,971,3017,3071,2963,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2094,-1.20,-6.2,2545,971,3071,2961,416.5,-15.3,115,2100,0.00,2.00,0.00,0.000,1030,0.000,0.025,2537,2382,3016,3071,2961,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2417,-1.20,-6.2,2537,2383,3071,2955,459.8,-12.6,131,2423,0.00,2.03,0.00,0.000,516,0.000,0.030,2537,978,3012,3070,2954,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2658,-1.20,-6.2,2537,978,3070,2951,488.5,-11.7,142,2664,0.00,2.00,0.00,0.000,1030,0.000,0.026,2527,2377,3010,3071,2950,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2973,-1.20,-6.2,2527,2378,3071,2943,531.2,-14.4,158,2979,0.00,1.98,0.00,0.000,260,0.000,0.040,2517,3715,3007,3071,2944,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3066,-1.20,-6.2,2517,3715,3070,2943,545.0,-15.8,162,3073,0.10,1.90,0.00,0.000,3078,0.207,0.021,2537,2330,3006,3070,2943,0,0,0,0,0,0,26.04,26.46,28.83
$GC,3389,-1.20,-6.2,2536,2329,3070,2937,596.8,-17.5,178,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2537,2330,3004,3071,2938,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3710,-1.20,-6.2,2536,2330,3068,2935,647.0,-15.5,189,3716,0.00,1.88,0.00,0.000,516,0.000,0.031,2538,1018,3000,3066,2935,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3757,-1.20,-6.2,2538,1018,3067,2934,653.0,-15.6,190,3763,0.00,1.95,0.00,0.000,1030,0.000,0.027,2530,2383,2999,3065,2934,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4082,-1.20,-6.2,2530,2383,3064,2931,703.3,-13.8,201,4083,0.00,0.00,0.00,0.000,6,0.000,0.000,2530,2383,2997,3064,2931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4383,-1.20,-6.2,2530,2383,3061,2927,741.2,-12.4,211,4389,0.00,1.98,0.00,0.000,516,0.000,0.031,2532,1021,2994,3060,2928,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4485,-1.20,-6.2,2532,1021,3058,2925,752.3,-11.5,214,4492,0.08,1.95,0.00,0.000,3078,0.227,0.028,2536,2378,2991,3058,2925,0,0,0,0,0,0,26.00,26.25,28.83
$GC,4816,-1.20,-6.7,2535,2378,3057,2923,784.7,-9.4,225,4822,0.00,1.98,0.00,0.000,516,0.000,0.031,2536,1024,2990,3057,2923,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4883,-1.20,-7.9,2536,1023,3056,2922,790.3,-8.7,227,4889,0.00,1.95,0.00,0.000,1030,0.000,0.028,2528,2375,2989,3056,2923,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5218,-1.20,-7.9,2528,2376,3055,2919,823.4,-10.6,238,5224,0.00,1.98,0.00,0.000,516,0.000,0.031,2530,1021,2987,3054,2920,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5285,-1.20,-7.9,2530,1021,3054,2919,830.9,-11.2,240,5291,0.08,1.98,0.00,0.000,3078,0.228,0.028,2534,2379,2986,3053,2919,0,0,0,0,0,0,25.96,26.22,28.83
$GC,5620,-1.20,-7.9,2533,2379,3052,2916,869.2,-12.1,251,5626,0.00,2.00,0.00,0.000,260,0.000,0.042,2525,3710,2984,3053,2916,0,0,0,0,0,0,28.83,26.06,28.83
$GC,5664,-1.20,-7.9,2525,3710,3051,2916,873.7,-12.3,252,5670,0.00,1.85,0.00,0.000,1030,0.000,0.022,2525,2386,2984,3052,2916,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,5871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5871,begin apogee
$GC,5879,-0.20,0.0,2525,2244,3050,2915,903.3,-13.4,259,5884,1.17,0.00,0.00,0.000,2054,0.175,0.000,2855,2243,2982,3050,2915,0,0,0,0,0,0,25.03,28.83,28.83
$STATE,5887,end apogee,CONTROL_FINISHED_OK
$STATE,5887,begin climb
$GC,5889,1.20,7.9,2855,2244,3050,2915,903.3,0.0,259,5901,1.27,2.10,4.40,0.703,10500,0.080,0.041,3311,3635,2960,3032,2889,0,0,0,0,0,0,25.79,26.17,24.18
$GC,5978,1.20,7.9,3311,3635,3035,2904,906.3,-4.8,261,5987,0.00,1.98,1.42,0.061,9222,0.000,0.024,3319,2263,2959,3028,2890,0,0,0,0,0,0,28.83,26.26,25.89
$GC,6287,1.24,27.0,3319,2263,3037,2903,944.1,-10.5,272,6324,0.00,2.15,23.52,1.011,8452,0.000,0.044,3320,3632,2881,2956,2806,0,0,1,0,1,0,28.83,25.84,24.70
$STATE,6353,end climb,ABORT_DEPTH_EXCEEDED
$SM_CCo,6365,542.03,1.129,16,0,464,619.87
$SM_CCo,10162,3.22,0.040,0,0,463,619.87
$SM_GC,1.64,8.60,2.03,3.22,0.060,0.022,0.040,137,2246,463,-8.61,1.89,619.87,0,0,1,0,0,0,26.18,26.31,26.14
$IRIDIUM_FIX,1837.32,12201.05,240513,101000
$TT8_MAMPS,0.02996,0.02996
$HUMID,58.93
$INTERNAL_PRESSURE,9.55115
$TCM_TEMP,16.00
$XPDR_PINGS,71
$SC_FREEKB,3888448
$24V_AH,23.2,43.312
$10V_AH,10.3,40.250
$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,21.625,55.375,29.350,545.250,0.000,0.000,0.000,0.000,17.750,0.000,106.887,1474.746,6886.985,830.174,901.126,241.505,0.000,1317.340,0.000,775.765,0.000,0.547,0.000
$DEVICE_MAMPS,246.330,68.850,1011.330,1129.140,0.000,0.000,0.000,0.000,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,5873.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.522,0.000,0.000,0.000
$MEM,320660
$DATA_FILE_SIZE,10124,274
$CAP_FILE_SIZE,187924,0
$CFSIZE,260034560,208998400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,17,0,0
$EOP_CODE,ABORT_DEPTH_EXCEEDED
$RECOV_CODE,EXCEEDED_ABORT_DEPTH
$GPS,240513,135513,1844.707,12158.334,217,2.2,236,-2.1