version: 66.11
glider: 177
mission: 4
dive: 346
start: 5 24 113 17 56 17
data:
$ID,177
$MISSION,4
$DIVE,346
$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,-16983.637
$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,84
$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
$GPS1,240513,174545,1844.418,12157.043,133,2.7,152,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.47
$_SM_ANGLEo,-72.6
$GPS2,240513,175533,1844.475,12156.834,91,2.7,110,-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,82.5,5636,-6.9,-9.259,-7.53,2640
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.59,-159.5,136,2399,481,441,0.0,0.0,0,120,0.00,0.00,-95.38,0.000,16386,0.000,0.000,136,2399,3011,3054,2969,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-0.59,-159.5,136,2399,3054,2971,4.2,-15.0,13,150,10.90,1.92,-9.10,0.000,18692,0.242,0.045,2722,3690,3645,3732,3558,0,0,0,0,0,0,25.51,26.19,26.54
$GC,284,-0.59,-159.5,2721,3690,3734,3559,62.0,-25.8,27,290,0.00,1.85,0.00,0.000,1030,0.000,0.019,2722,2331,3646,3734,3559,0,0,0,0,0,0,28.83,26.35,28.83
$GC,610,-0.59,-159.5,2722,2330,3733,3558,142.1,-19.1,43,616,0.00,1.88,0.00,0.000,516,0.000,0.037,2722,1009,3646,3734,3559,0,0,0,0,0,0,28.83,26.22,28.83
$GC,657,-0.59,-159.5,2722,1008,3729,3558,150.7,-18.1,45,665,0.10,1.88,0.00,0.000,3078,0.175,0.025,2737,2344,3646,3734,3558,0,0,0,0,0,0,26.10,26.36,28.83
$GC,985,-0.59,-159.5,2737,2344,3735,3558,195.1,-11.5,61,991,0.00,1.90,0.00,0.000,516,0.000,0.027,2737,1006,3646,3735,3558,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1046,-0.59,-159.5,2737,1006,3735,3559,200.7,-11.9,63,1054,0.00,1.92,0.00,0.000,1030,0.000,0.025,2732,2375,3646,3735,3558,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1353,-0.59,-159.5,2732,2375,3735,3558,240.7,-12.4,79,1359,0.00,1.95,0.00,0.000,260,0.000,0.040,2729,3706,3646,3735,3558,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1413,-0.59,-159.5,2729,3706,3735,3558,246.0,-11.8,81,1422,0.00,1.80,0.00,0.000,1030,0.000,0.019,2729,2343,3646,3735,3557,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1721,-0.59,-159.5,2726,2343,3735,3552,281.8,-11.2,97,1722,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2342,3643,3735,3552,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2020,-0.59,-159.5,2729,2343,3735,3546,314.2,-11.6,112,2026,0.00,1.83,0.00,0.000,516,0.000,0.028,2729,1048,3640,3735,3546,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2097,-0.59,-159.5,2729,1048,3735,3545,321.9,-11.4,115,2102,0.00,1.88,0.00,0.000,1030,0.000,0.027,2722,2375,3639,3735,3544,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2412,-0.59,-159.5,2722,2374,3735,3540,361.5,-12.5,131,2417,0.00,1.90,0.00,0.000,516,0.000,0.028,2722,1047,3637,3735,3540,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2452,-0.59,-159.5,2726,1047,3730,3539,364.4,-12.3,132,2460,0.00,1.88,0.00,0.000,1030,0.000,0.027,2719,2372,3636,3735,3538,0,0,0,0,0,0,28.83,26.35,28.83
$GC,2758,-0.59,-159.5,2719,2372,3735,3533,399.0,-10.4,148,2764,0.08,1.98,0.00,0.000,2308,0.187,0.040,2732,3706,3634,3735,3533,0,0,0,0,0,0,26.45,26.22,28.83
$GC,2798,-0.59,-159.5,2732,3706,3734,3533,401.5,-10.2,149,2806,0.00,1.77,0.00,0.000,1030,0.000,0.021,2732,2373,3634,3735,3533,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3104,-0.61,-166.7,2732,2373,3731,3530,430.3,-9.0,165,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2373,3630,3731,3530,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3403,-0.61,-166.7,2732,2372,3729,3527,460.9,-10.5,180,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2372,3628,3729,3527,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3703,-0.61,-166.7,2732,2372,3725,3524,494.7,-10.8,195,3704,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2373,3625,3726,3524,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3760,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3760,begin apogee
$GC,3767,-0.20,0.0,2732,2373,3724,3523,501.2,-10.8,198,3897,0.38,0.00,124.68,0.698,10246,0.116,0.000,2857,2372,2989,3101,2878,0,0,0,0,0,0,25.89,28.83,24.67
$STATE,3898,end apogee,CONTROL_FINISHED_OK
$STATE,3898,begin climb
$GC,3901,0.61,166.7,2856,2372,3101,2875,507.8,0.0,203,4046,0.75,2.03,136.75,0.679,10500,0.076,0.041,3125,3635,2307,2429,2185,0,0,1,0,0,0,25.34,25.17,24.58
$GC,4098,0.74,232.7,3124,3635,2427,2174,505.4,6.7,212,4163,0.10,1.92,52.47,0.668,11270,0.093,0.020,3189,2273,2036,2163,1910,0,0,0,0,0,0,25.59,25.67,24.67
$GC,4453,0.74,232.7,3189,2273,2160,1897,453.5,14.6,230,4455,0.12,0.00,0.00,0.000,4102,0.179,0.000,3159,2273,2029,2161,1897,0,0,0,0,0,0,25.86,28.83,28.83
$GC,4754,0.74,232.7,3159,2273,2159,1889,417.7,12.0,245,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2273,2025,2159,1892,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5054,0.74,232.7,3159,2273,2157,1890,381.4,12.4,260,5055,0.00,0.00,0.00,0.000,6,0.000,0.000,3159,2273,2023,2157,1890,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5354,0.74,232.7,3159,2273,2155,1889,344.6,11.6,275,5360,0.00,2.05,0.00,0.000,516,0.000,0.036,3170,885,2022,2155,1889,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5438,0.74,232.7,3169,885,2155,1889,336.6,11.7,278,5447,0.00,1.92,0.00,0.000,1030,0.000,0.025,3169,2245,2022,2155,1889,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5744,0.74,232.7,3169,2244,2152,1886,298.1,12.0,294,5751,0.00,2.08,0.00,0.000,260,0.000,0.041,3169,3634,2019,2152,1886,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5778,0.74,232.7,3169,3634,2150,1886,294.6,12.4,295,5784,0.00,1.92,0.00,0.000,1030,0.000,0.021,3175,2268,2018,2151,1886,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6094,0.74,232.7,3175,2267,2151,1885,257.3,10.9,311,6100,0.00,2.08,0.00,0.000,516,0.000,0.040,3179,867,2018,2151,1885,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6261,0.77,248.3,3179,867,2151,1885,241.7,8.7,319,6278,0.00,1.95,10.30,0.553,9222,0.000,0.024,3179,2240,1976,2105,1848,0,0,0,0,0,0,28.83,26.31,25.53
$GC,6589,0.77,248.3,3179,2242,2103,1842,205.6,11.9,335,6595,0.00,2.08,0.00,0.000,260,0.000,0.040,3179,3636,1972,2103,1842,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6639,0.77,248.3,2144,3635,2029,1835,199.7,12.2,337,6645,0.00,1.98,0.00,0.000,1030,0.000,0.021,3181,2228,1972,2102,1842,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6961,0.86,294.1,3181,2227,2102,1843,169.5,7.5,353,7010,0.08,2.00,36.62,0.486,10756,0.126,0.034,3233,874,1790,1911,1669,0,0,0,0,0,0,26.49,26.03,25.47
$GC,7065,0.91,314.9,3233,874,1911,1665,161.4,8.5,357,7090,0.08,1.95,17.92,0.486,13318,0.178,0.025,3219,2244,1703,1822,1585,0,0,0,0,0,0,25.89,26.08,25.37
$GC,7404,0.94,334.6,3218,2245,1819,1576,123.5,8.5,374,7427,0.00,2.08,15.75,0.463,8452,0.000,0.037,3219,3629,1621,1738,1504,0,0,0,0,0,0,28.83,26.07,25.50
$GC,7486,0.94,334.6,3218,3629,1736,1501,116.7,9.4,377,7494,0.00,1.98,0.00,0.000,1030,0.000,0.021,3218,2253,1618,1736,1501,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7794,1.04,384.4,3218,2252,1735,1498,92.5,7.3,393,7841,0.12,2.15,37.65,0.412,10756,0.080,0.036,3306,854,1418,1530,1307,0,0,0,0,0,0,26.37,25.98,25.50
$GC,7950,1.04,384.4,3306,854,1528,1304,75.6,11.8,400,7956,0.17,1.98,0.00,0.000,5126,0.158,0.024,3261,2242,1416,1528,1304,0,0,0,0,0,0,25.70,26.10,28.83
$GC,8277,1.04,384.4,3260,2243,1528,1300,49.4,9.7,416,8283,0.00,2.08,0.00,0.000,260,0.000,0.037,3260,3631,1414,1528,1300,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8431,1.06,394.5,3260,3630,1527,1298,35.1,8.9,430,8445,0.00,1.98,7.72,0.401,9222,0.000,0.021,3262,2216,1379,1491,1268,0,0,0,0,0,0,28.83,26.32,25.67
$GC,8755,1.23,479.6,3261,2217,1491,1264,9.9,5.9,480,8802,0.15,2.17,33.67,0.074,10500,0.074,0.035,3363,3630,1035,1135,936,0,0,0,0,0,0,26.44,26.19,26.03
$STATE,8813,end climb,SURFACE_DEPTH_REACHED
$STATE,8814,begin surface coast
$FINISH,-1.0,1.020893
$STATE,8838,end surface coast,CONTROL_FINISHED_OK
$STATE,8838,begin surface
$SM_CCo,8859,53.12,0.049,0,0,464,619.87
$SM_GC,-1.58,8.30,1.77,53.12,0.037,0.021,0.049,128,2394,464,-8.62,2.60,619.87,0,0,1,0,0,0,26.22,26.33,26.13
$IRIDIUM_FIX,1839.59,12159.12,240513,141400
$TT8_MAMPS,0.026964,0.026964
$HUMID,48.74
$INTERNAL_PRESSURE,9.68787
$TCM_TEMP,25.10
$XPDR_PINGS,27
$SC_FREEKB,3887680
$24V_AH,24.6,43.477
$10V_AH,10.2,40.461
$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,21.325,66.450,473.550,53.125,0.000,0.000,0.000,284.250,6.750,0.000,113.985,1908.026,5039.078,615.265,1541.027,400.008,0.000,1571.566,0.000,1109.194,0.000,0.549,0.000
$DEVICE_MAMPS,241.740,45.135,698.445,48.960,0.000,0.000,0.000,117.810,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8866.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.836,0.000,0.000,0.000
$MEM,320632
$DATA_FILE_SIZE,16747,492
$CAP_FILE_SIZE,246911,0
$CFSIZE,260034560,208752640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.305,254.8,1
$GPS,240513,202626,1844.334,12156.765,33,4.1,52,-2.1