version: 66.11
glider: 177
mission: 4
dive: 345
start: 5 24 113 14 41 40
data:
$ID,177
$MISSION,4
$DIVE,345
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,650
$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,180
$T_MISSION,230
$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,-16982.373
$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,55
$R_STBD_OVSHOOT,81
$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
$GPS1,240513,143436,1844.442,12157.354,35,2.0,35,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.50
$_SM_ANGLEo,-70.1
$GPS2,240513,144056,1844.378,12157.188,76,2.4,95,-2.1
$SPEED_LIMITS,0.160,0.759
$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,81.1,5065,-14.5,-9.259,-14.98,481
$D_GRID,1026
$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,-0.64,-28.9,154,2412,510,453,0.0,0.0,0,119,0.00,0.00,-94.18,0.000,16386,0.000,0.000,154,2413,2968,3004,2932,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.64,-28.9,154,2413,3004,2933,3.7,-14.0,13,148,10.82,1.90,-2.30,0.000,18692,0.245,0.047,2705,3695,3113,3169,3058,0,0,0,0,0,0,25.53,26.22,26.51
$GC,333,-0.64,-28.9,2705,3695,3171,3057,78.9,-28.8,29,338,0.00,1.88,0.00,0.000,1030,0.000,0.029,2705,2317,3113,3171,3056,0,0,0,0,0,0,28.83,26.37,28.83
$GC,647,-0.64,-28.9,2704,2316,3173,3055,144.2,-14.9,45,649,0.08,0.00,0.00,0.000,2054,0.201,0.000,2717,2316,3114,3173,3055,0,0,0,0,0,0,26.30,28.83,28.83
$GC,948,-0.64,-28.9,2717,2316,3174,3055,182.1,-13.9,60,954,0.00,2.03,0.00,0.000,260,0.000,0.038,2710,3687,3114,3174,3054,0,0,0,0,0,0,28.83,26.28,28.83
$GC,972,-0.64,-28.9,2710,3687,3173,3055,185.6,-14.2,61,978,0.00,1.85,0.00,0.000,1030,0.000,0.019,2710,2324,3114,3174,3054,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1300,-0.64,-28.9,2710,2323,3174,3053,221.3,-10.4,77,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2323,3112,3174,3051,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1598,-0.64,-28.9,2710,2323,3174,3049,257.1,-11.7,92,1599,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2323,3111,3175,3048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1897,-0.64,-28.9,2710,2324,3174,3044,292.0,-11.9,107,1904,0.00,1.92,0.00,0.000,516,0.000,0.029,2710,969,3108,3174,3043,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2035,-0.64,-28.9,2710,969,3174,3040,307.9,-12.3,113,2042,0.08,1.98,0.00,0.000,3078,0.196,0.026,2716,2351,3109,3174,3044,0,0,0,0,0,0,26.16,26.36,28.83
$GC,2352,-0.64,-28.9,2718,2351,3174,3035,342.5,-10.5,129,2358,0.00,2.03,0.00,0.000,260,0.000,0.041,2713,3707,3104,3174,3035,0,0,0,0,0,0,28.83,26.23,28.83
$GC,2371,-0.64,-28.9,2713,3707,3174,3035,342.5,-10.5,129,2379,0.00,1.90,0.00,0.000,1030,0.000,0.020,2713,2310,3104,3174,3035,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2677,-0.64,-28.9,2713,2310,3174,3032,377.1,-9.9,145,2678,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2310,3102,3174,3030,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2978,-0.65,-34.8,2713,2310,3174,3025,403.5,-8.0,160,2984,0.00,2.08,0.00,0.000,260,0.000,0.041,2705,3703,3099,3174,3024,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3019,-0.66,-41.2,2705,3703,3174,3024,405.5,-7.9,161,3028,0.00,1.88,0.00,0.000,1030,0.000,0.021,2710,2325,3099,3174,3024,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3325,-0.67,-42.7,2705,2325,3174,3020,433.2,-8.9,177,3331,0.00,1.85,0.00,0.000,516,0.000,0.030,2705,1022,3096,3174,3019,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3359,-0.67,-42.9,2705,1022,3173,3018,435.9,-9.2,178,3365,0.00,1.92,0.00,0.000,1030,0.000,0.028,2700,2372,3095,3173,3018,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3674,-0.67,-42.9,2699,2372,3172,3014,470.5,-11.0,194,3680,0.00,2.00,0.00,0.000,260,0.000,0.042,2692,3717,3093,3172,3014,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3812,-0.67,-42.9,2692,3717,3171,3014,484.9,-11.4,200,3818,0.08,1.85,0.00,0.000,3078,0.178,0.021,2707,2352,3092,3171,3014,0,0,0,0,0,0,26.23,26.48,28.83
$STATE,3964,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3964,begin apogee
$GC,3970,-0.20,0.0,2707,2352,3170,3013,500.8,-9.1,208,4008,0.47,0.00,30.17,0.545,10246,0.134,0.000,2859,2352,2992,3081,2903,0,0,0,0,1,0,25.71,28.83,25.03
$STATE,4012,end apogee,CONTROL_FINISHED_OK
$STATE,4013,begin climb
$GC,4015,0.67,42.9,2857,2351,3081,2908,502.4,0.0,209,4073,0.77,2.05,43.05,0.806,10500,0.083,0.039,3140,3642,2818,2913,2723,0,0,0,0,1,0,25.98,25.55,24.71
$GC,4142,0.79,106.4,3139,3642,2913,2726,506.9,-4.3,215,4207,0.10,1.95,58.08,0.690,11270,0.093,0.021,3199,2248,2555,2646,2465,0,0,0,0,0,0,25.79,25.88,24.72
$GC,4499,0.82,119.5,3199,2248,2646,2449,493.1,6.4,233,4516,0.00,2.03,11.27,0.677,8708,0.000,0.034,3208,888,2502,2599,2405,0,0,0,0,0,0,28.83,25.95,25.24
$GC,4700,0.83,125.6,3208,888,2598,2398,478.1,8.0,242,4714,0.08,1.95,4.82,0.610,13318,0.209,0.024,3197,2256,2479,2577,2382,0,0,0,0,0,0,25.89,26.12,25.11
$GC,5011,0.84,129.6,3196,2256,2577,2381,452.6,8.4,258,5024,0.00,2.08,4.40,0.584,8452,0.000,0.040,3196,3628,2463,2561,2366,0,0,0,0,0,0,28.83,26.19,25.14
$GC,5217,0.84,129.6,3196,3628,2561,2367,432.9,11.2,267,5225,0.00,1.92,0.00,0.000,1030,0.000,0.021,3204,2262,2463,2561,2366,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5521,0.85,135.3,3204,2262,2561,2363,404.7,8.0,283,5538,0.00,2.08,7.40,0.647,8452,0.000,0.039,3204,3625,2437,2537,2338,0,0,1,0,0,0,28.83,26.20,25.44
$GC,5705,0.85,136.0,3203,3625,2537,2334,389.3,9.1,291,5713,0.00,1.95,0.00,0.000,1030,0.000,0.021,3211,2230,2435,2537,2334,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6013,0.87,144.8,3211,2231,2537,2332,363.2,7.4,307,6029,0.00,2.00,9.70,0.631,8708,0.000,0.034,3221,880,2399,2499,2299,0,0,0,0,0,0,28.83,26.22,25.49
$GC,6080,0.89,153.4,3221,880,2500,2296,358.2,7.4,310,6096,0.00,1.95,9.20,0.623,9222,0.000,0.025,3221,2241,2364,2465,2264,0,0,0,0,0,0,28.83,26.23,25.39
$GC,6406,0.91,163.0,3221,2240,2465,2255,331.8,7.2,326,6425,0.00,0.00,9.30,0.614,8198,0.000,0.000,3221,2240,2324,2428,2221,0,0,0,0,0,0,28.83,28.83,25.44
$GC,6725,0.91,165.1,3221,2240,2428,2214,304.0,8.8,342,6726,0.00,0.00,0.00,0.000,6,0.000,0.000,3221,2241,2321,2428,2214,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7024,0.91,165.1,3220,2240,2428,2212,273.4,10.3,357,7030,0.00,2.03,0.00,0.000,516,0.000,0.036,3230,874,2320,2428,2212,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7266,0.92,168.8,3230,874,2428,2212,252.8,8.5,368,7279,0.00,1.95,4.35,0.514,9222,0.000,0.025,3230,2242,2303,2408,2198,0,0,0,0,0,0,28.83,26.30,25.27
$GC,7577,0.92,168.8,3230,2242,2408,2197,225.7,9.3,384,7583,0.00,2.05,0.00,0.000,260,0.000,0.039,3230,3634,2303,2408,2198,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7775,0.92,168.8,3233,3634,2408,2198,199.8,14.8,393,7782,0.00,1.95,0.00,0.000,1030,0.000,0.021,3234,2241,2301,2408,2194,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8092,0.97,194.0,3233,2241,2408,2197,176.3,3.9,409,8121,0.00,2.00,22.85,0.505,8708,0.000,0.033,3243,873,2198,2304,2093,0,0,0,0,0,0,28.83,26.16,25.56
$GC,8184,0.99,205.8,3243,878,2304,2089,170.3,6.7,413,8200,0.00,1.95,11.05,0.508,9222,0.000,0.024,3243,2242,2152,2258,2046,0,0,0,0,0,0,28.83,26.18,25.45
$GC,8510,1.01,212.0,3243,2242,2257,2034,145.9,7.9,429,8523,0.00,2.12,4.62,0.476,8452,0.000,0.039,3243,3636,2127,2236,2018,0,0,0,0,0,0,28.83,26.20,25.25
$GC,8702,1.04,228.9,3243,3636,2235,2017,130.4,5.7,438,8725,0.00,1.95,15.90,0.469,9222,0.000,0.021,3246,2216,2055,2164,1947,0,0,0,0,0,0,28.83,26.32,25.54
$GC,9024,1.09,255.8,3245,2217,2164,1938,123.3,3.5,454,9053,0.10,1.95,21.52,0.446,10756,0.098,0.035,3312,896,1946,2057,1835,0,0,0,0,0,0,26.37,26.09,25.53
$GC,9156,1.13,273.5,3312,896,2056,1832,116.5,5.5,460,9181,0.12,1.92,14.57,0.441,13318,0.180,0.024,3284,2251,1873,1984,1762,0,0,0,0,0,0,25.79,26.16,25.47
$GC,9476,1.13,274.4,3284,2251,1983,1756,93.2,9.1,476,9481,0.00,2.03,0.00,0.000,260,0.000,0.037,3283,3625,1869,1983,1756,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9619,1.13,275.5,3283,3625,1982,1755,81.7,9.0,482,9627,0.00,1.90,0.00,0.000,1030,0.000,0.021,3283,2275,1868,1982,1755,0,0,0,0,0,0,28.83,26.30,28.83
$GC,9924,1.17,293.6,3283,2275,1982,1755,63.2,5.4,498,9946,0.00,0.00,15.38,0.389,8454,0.000,0.000,3283,2276,1790,1904,1677,0,0,0,0,0,0,28.83,28.83,25.71
$GC,10245,1.23,323.7,3283,2274,1904,1674,43.9,2.8,520,10276,0.12,2.03,23.35,0.360,10500,0.085,0.037,3358,3619,1667,1778,1557,0,0,1,0,0,0,26.42,26.15,25.70
$GC,10520,1.23,323.7,3358,3618,1777,1553,14.5,11.2,554,10529,0.20,1.92,0.00,0.000,5126,0.187,0.021,3316,2249,1664,1776,1553,0,0,0,0,0,0,25.77,26.31,28.83
$STATE,10675,end climb,SURFACE_DEPTH_REACHED
$STATE,10675,begin surface coast
$FINISH,-0.3,1.020926
$STATE,10716,end surface coast,CONTROL_FINISHED_OK
$STATE,10716,begin surface
$SM_CCo,10736,110.15,0.048,0,0,464,619.87
$SM_GC,-1.48,8.68,0.15,110.15,0.069,0.066,0.048,137,2398,464,-8.62,-1.87,619.87,0,0,0,0,0,0,26.25,26.45,26.14
$IRIDIUM_FIX,1837.32,12204.18,240513,141459
$TT8_MAMPS,0.027713,0.027713
$HUMID,45.94
$INTERNAL_PRESSURE,9.71717
$TCM_TEMP,25.60
$XPDR_PINGS,62
$SC_FREEKB,3888064
$24V_AH,24.7,43.389
$10V_AH,10.3,40.381
$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,21.700,74.900,321.000,110.150,0.000,0.000,0.000,0.000,15.500,0.000,99.084,2537.661,5932.255,591.069,1589.513,376.721,0.000,1385.947,0.000,1452.500,0.000,0.550,0.000
$DEVICE_MAMPS,244.800,65.790,805.545,48.195,0.000,0.000,0.000,0.000,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10696.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.858,0.000,0.000,0.000
$MEM,320600
$DATA_FILE_SIZE,20115,589
$CAP_FILE_SIZE,320013,0
$CFSIZE,260034560,208785408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,2,0,0
$CURRENT,0.178,261.2,1
$GPS,240513,174545,1844.418,12157.043,133,2.7,152,-2.1