version: 66.11
glider: 177
mission: 4
dive: 348
start: 5 24 113 23 28 0
data:
$ID,177
$MISSION,4
$DIVE,348
$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,-16986.154
$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,70
$R_STBD_OVSHOOT,86
$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
$GPS1,240513,230733,1843.860,12155.702,171,3.1,190,-2.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.49
$_SM_ANGLEo,-71.6
$GPS2,240513,232730,1844.001,12155.229,183,2.9,202,-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,74.3,8568,-6.3,-9.259,-6.96,3220
$D_GRID,1054
$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,-0.64,-194.6,141,2418,490,448,0.0,0.0,0,117,0.00,0.00,-93.70,0.000,16386,0.000,0.000,141,2418,2920,2954,2886,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-0.64,-194.6,141,2418,2954,2888,3.0,-11.8,13,155,10.62,1.83,-13.15,0.000,18692,0.236,0.045,2705,3682,3788,3877,3699,0,0,0,0,0,0,25.54,26.20,26.59
$GC,308,-0.64,-194.6,2705,3682,3877,3700,73.1,-32.7,28,314,0.00,1.83,0.00,0.000,1030,0.000,0.029,2705,2334,3788,3877,3700,0,0,0,0,0,0,28.83,26.39,28.83
$GC,622,-0.64,-194.6,2705,2332,3877,3704,154.7,-23.2,44,629,0.00,1.85,0.00,0.000,516,0.000,0.027,2705,1018,3788,3877,3700,0,0,0,0,0,0,28.83,26.29,28.83
$GC,675,-0.64,-194.6,2705,1018,3877,3700,162.2,-17.5,46,681,0.10,1.88,0.00,0.000,3078,0.172,0.026,2723,2351,3789,3878,3700,0,0,0,0,0,0,26.10,26.34,28.83
$GC,996,-0.64,-194.6,2723,2352,3877,3700,208.9,-15.8,62,1002,0.00,1.88,0.00,0.000,516,0.000,0.028,2724,1030,3788,3877,3700,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1066,-0.64,-194.6,2724,1029,3878,3700,218.0,-13.7,65,1073,0.00,1.90,0.00,0.000,1030,0.000,0.026,2719,2379,3789,3878,3700,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1389,-0.64,-194.6,2719,2384,3877,3698,257.1,-11.1,81,1395,0.00,1.95,0.00,0.000,260,0.000,0.041,2716,3707,3788,3878,3698,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1417,-0.64,-194.6,2716,3708,3877,3698,260.1,-11.1,82,1422,0.00,1.80,0.00,0.000,1030,0.000,0.020,2716,2354,3788,3878,3698,0,0,0,0,0,0,28.83,26.52,28.83
$GC,1739,-0.64,-194.6,2715,2353,3877,3691,297.6,-12.3,98,1745,0.00,1.90,0.00,0.000,516,0.000,0.028,2716,1025,3784,3878,3691,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1816,-0.64,-194.6,2716,1025,3877,3689,306.1,-12.2,101,1822,0.00,1.92,0.00,0.000,1030,0.000,0.027,2713,2372,3783,3877,3689,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2131,-0.64,-194.6,2713,2373,3877,3682,344.9,-11.6,117,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2373,3779,3877,3682,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2431,-0.64,-194.6,2713,2373,3877,3676,378.7,-10.6,132,2432,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2373,3776,3877,3676,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2732,-0.64,-194.6,2713,2373,3874,3673,409.3,-10.7,147,2738,0.00,1.98,0.00,0.000,260,0.000,0.043,2713,3705,3773,3874,3673,0,0,0,0,0,0,28.83,26.20,28.83
$GC,2759,-0.64,-194.6,2709,3705,3873,3673,412.1,-10.8,148,2765,0.00,1.80,0.00,0.000,1030,0.000,0.021,2713,2374,3773,3873,3673,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3082,-0.64,-194.6,2713,2374,3869,3669,449.9,-12.5,164,3088,0.00,1.92,0.00,0.000,516,0.000,0.030,2713,1040,3769,3869,3669,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3160,-0.64,-194.6,2713,1040,3867,3668,458.5,-12.3,167,3166,0.00,1.92,0.00,0.000,1030,0.000,0.028,2712,2380,3765,3867,3664,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3475,-0.64,-194.6,2712,2380,3864,3665,493.5,-10.1,183,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2380,3763,3863,3664,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3552,begin apogee
$GC,3559,-0.20,0.0,2712,2250,3859,3663,501.9,-10.5,187,3719,0.45,0.00,152.88,0.691,10246,0.113,0.000,2861,2250,2988,3096,2881,0,0,0,0,0,0,25.83,28.83,24.60
$STATE,3722,end apogee,CONTROL_FINISHED_OK
$STATE,3722,begin climb
$GC,3724,0.64,194.6,2861,2250,3096,2877,509.1,0.0,194,3892,0.75,2.15,157.43,0.675,10756,0.074,0.035,3141,893,2193,2324,2063,0,0,0,0,0,0,25.31,25.19,24.56
$GC,3986,0.68,214.0,3142,893,2319,2052,499.3,8.6,205,4010,0.00,1.98,15.82,0.665,9222,0.000,0.024,3142,2244,2114,2246,1983,0,0,0,0,0,0,28.83,25.76,24.87
$GC,4325,0.68,214.0,3141,2245,2242,1971,464.0,10.4,222,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,3141,2244,2106,2242,1971,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4624,0.68,214.0,3141,2244,2239,1968,433.4,10.0,237,4630,0.00,2.03,0.00,0.000,516,0.000,0.036,3149,891,2103,2239,1968,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4680,0.68,214.0,3149,891,2239,1968,428.7,10.2,239,4686,0.00,1.92,0.00,0.000,1030,0.000,0.025,3149,2241,2103,2239,1968,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4995,0.68,214.0,3149,2242,2236,1965,389.7,11.9,255,4996,0.00,0.00,0.00,0.000,6,0.000,0.000,3151,2242,2100,2236,1964,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5295,0.68,214.0,3149,2242,2234,1963,353.4,11.5,270,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2242,2098,2234,1963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5596,0.70,224.2,3149,2242,2232,1963,326.7,8.9,285,5608,0.00,2.12,4.78,0.568,8452,0.000,0.041,3149,3631,2078,2210,1947,0,0,0,0,0,0,28.83,26.29,25.17
$GC,5698,0.70,224.2,3149,3631,2210,1947,317.2,10.9,289,5706,0.00,1.92,0.00,0.000,1030,0.000,0.022,3150,2267,2078,2210,1947,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6005,0.70,224.2,3150,2267,2210,1947,282.7,11.0,305,6011,0.00,2.08,0.00,0.000,516,0.000,0.038,3159,859,2078,2210,1947,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6082,0.70,224.2,3158,859,2210,1947,274.3,12.3,308,6088,0.00,1.98,0.00,0.000,1030,0.000,0.024,3158,2250,2078,2210,1947,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6397,0.79,268.6,3158,2250,2210,1947,241.0,7.8,324,6445,0.08,2.15,40.47,0.547,10500,0.122,0.041,3204,3629,1892,2017,1767,0,0,0,0,0,0,26.50,25.96,25.37
$GC,6499,0.79,268.6,3204,3629,2011,1762,230.3,11.9,328,6507,0.12,2.00,0.00,0.000,5126,0.193,0.022,3179,2243,1886,2011,1762,0,0,0,0,0,0,25.64,26.03,28.83
$GC,6819,0.79,268.6,3179,2241,2008,1758,195.0,10.0,344,6825,0.00,2.05,0.00,0.000,516,0.000,0.038,3187,861,1883,2008,1758,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6971,0.79,268.6,3186,861,2007,1758,179.0,10.4,351,6977,0.00,1.98,0.00,0.000,1030,0.000,0.024,3187,2242,1882,2007,1758,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7298,0.79,268.6,3187,2243,2006,1757,145.5,10.0,367,7305,0.00,2.10,0.00,0.000,260,0.000,0.039,3186,3635,1880,2005,1756,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7457,0.90,324.6,3186,3634,2003,1755,132.2,7.5,374,7511,0.10,2.00,42.90,0.463,11270,0.100,0.021,3244,2211,1663,1779,1548,0,0,0,0,0,0,26.20,26.32,25.42
$GC,7820,0.97,359.5,3244,2211,1771,1539,100.4,8.1,392,7853,0.00,1.98,26.52,0.438,8708,0.000,0.036,3252,880,1520,1633,1408,0,0,0,0,0,0,28.83,25.99,25.46
$GC,8016,1.13,437.7,3252,880,1630,1405,88.3,6.8,401,8082,0.12,1.95,58.25,0.409,11270,0.080,0.024,3317,2249,1202,1301,1103,0,0,0,0,0,0,26.06,26.11,25.27
$GC,8373,1.13,437.7,3317,2249,1294,1096,45.6,13.6,420,8382,0.12,0.00,0.00,0.000,4102,0.166,0.000,3282,2249,1195,1294,1096,0,0,0,0,0,0,25.89,28.83,28.83
$GC,8688,1.13,439.5,2240,2247,1263,1093,13.7,9.2,462,8696,0.00,2.03,0.00,0.000,260,0.000,0.036,3281,3628,1194,1293,1095,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8731,1.13,439.5,2240,3627,1263,1093,9.4,10.3,469,8740,0.00,1.95,0.00,0.000,1030,0.000,0.021,3282,2256,1194,1294,1095,0,0,0,0,0,0,28.83,26.29,28.83
$STATE,8801,end climb,SURFACE_DEPTH_REACHED
$STATE,8801,begin surface coast
$FINISH,-0.0,1.020966
$STATE,8830,end surface coast,CONTROL_FINISHED_OK
$STATE,8830,begin surface
$SM_CCo,8850,67.93,0.050,0,0,464,619.87
$SM_GC,-1.63,8.45,0.15,67.93,0.058,0.069,0.050,134,2427,464,-8.62,-1.67,619.87,0,0,0,0,0,0,26.17,26.39,26.08
$IRIDIUM_FIX,1837.32,12154.05,240513,232332
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.76
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,25.00
$XPDR_PINGS,59
$SC_FREEKB,3886912
$24V_AH,24.6,43.674
$10V_AH,10.2,40.624
$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,20.925,62.950,499.050,67.925,0.000,0.000,0.000,564.500,14.750,0.000,206.090,1926.402,5179.695,633.355,1954.948,417.119,0.000,1892.373,0.000,1149.511,0.000,0.548,0.000
$DEVICE_MAMPS,236.385,78.030,690.795,49.725,0.000,0.000,0.000,110.925,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8840.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.498,0.000,0.000,0.000
$MEM,320616
$DATA_FILE_SIZE,16759,486
$CAP_FILE_SIZE,251336,0
$CFSIZE,260034560,208556032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.364,244.0,1
$GPS,250513,015856,1843.763,12154.949,74,4.9,93,-2.1