version: 66.11
glider: 177
mission: 4
dive: 352
start: 5 25 113 12 47 41
data:
$ID,177
$MISSION,4
$DIVE,352
$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,-17898.182
$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,88
$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
$GPS1,250513,122755,1844.310,12158.332,117,3.4,136,-2.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.52
$_SM_ANGLEo,-72.8
$GPS2,250513,124704,1844.173,12158.191,209,2.2,228,-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,56.7,3522,-13.1,-9.259,-13.53,616
$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,-0.60,-37.1,143,2363,475,433,0.0,0.0,0,120,0.00,0.00,-95.82,0.000,16386,0.000,0.000,143,2363,3002,3037,2968,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-0.60,-37.1,143,2363,3037,2969,3.8,-13.8,13,149,10.98,2.03,-2.30,0.000,18948,0.247,0.047,2735,1009,3148,3204,3092,0,0,0,0,0,0,25.61,26.25,26.56
$GC,391,-0.60,-37.1,2735,1008,3209,3089,93.0,-28.3,33,397,0.00,1.95,0.00,0.000,1030,0.000,0.026,2727,2388,3148,3209,3088,0,0,0,0,0,0,28.83,26.33,28.83
$GC,712,-0.60,-37.1,2727,2389,3211,3089,153.1,-11.7,49,718,0.00,1.98,0.00,0.000,516,0.000,0.028,2728,999,3150,3211,3089,0,0,0,0,0,0,28.83,26.32,28.83
$GC,905,-0.60,-37.1,2727,998,3212,3089,177.2,-11.7,58,911,0.00,1.92,0.00,0.000,1030,0.000,0.024,2718,2377,3151,3213,3089,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1227,-0.60,-38.4,2718,2378,3214,3088,206.4,-9.0,74,1233,0.00,1.95,0.00,0.000,516,0.000,0.028,2718,1004,3150,3213,3088,0,0,0,0,0,0,28.83,26.34,28.83
$GC,1274,-0.61,-41.4,2718,1004,3213,3087,210.3,-8.8,76,1281,0.08,1.95,0.00,0.000,3078,0.194,0.026,2728,2379,3150,3214,3086,0,0,0,0,0,0,26.19,26.39,28.83
$GC,1602,-0.61,-41.9,2728,2379,3213,3085,239.1,-9.2,92,1608,0.00,1.98,0.00,0.000,516,0.000,0.028,2730,996,3149,3214,3085,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1652,-0.61,-43.6,2728,996,3209,3084,243.3,-9.0,94,1657,0.00,1.95,0.00,0.000,1030,0.000,0.026,2722,2380,3151,3219,3083,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1974,-0.61,-43.6,2721,2381,3213,3080,276.7,-12.0,110,1980,0.00,1.98,0.00,0.000,260,0.000,0.041,2716,3711,3149,3219,3080,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2105,-0.61,-43.6,2716,3711,3218,3079,292.2,-11.6,116,2111,0.00,1.83,0.00,0.000,1030,0.000,0.020,2716,2334,3145,3213,3078,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2433,-0.61,-44.4,2716,2333,3213,3073,325.1,-9.1,132,2439,0.00,1.83,0.00,0.000,516,0.000,0.029,2717,1045,3143,3214,3072,0,0,0,0,0,0,28.83,26.32,28.83
$GC,2565,-0.61,-45.5,2716,1045,3213,3069,336.9,-9.1,138,2571,0.00,1.90,0.00,0.000,1030,0.000,0.027,2713,2373,3140,3213,3068,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2889,-0.61,-45.5,2714,2373,3219,3064,372.0,-12.1,154,2895,0.00,1.90,0.00,0.000,516,0.000,0.028,2713,1047,3138,3213,3064,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2916,-0.61,-45.5,2713,1047,3213,3060,375.5,-12.3,155,2924,0.10,1.90,0.00,0.000,3078,0.168,0.027,2731,2382,3138,3213,3063,0,0,0,0,0,0,26.10,26.35,28.83
$GC,3240,-0.61,-45.5,2730,2382,3213,3059,414.1,-12.0,171,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,2383,3136,3213,3059,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3538,-0.64,-57.0,2730,2383,3213,3054,441.8,-7.3,186,3544,0.00,1.92,0.00,0.000,516,0.000,0.029,2731,1047,3133,3213,3054,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3586,-0.66,-70.4,2731,1047,3211,3054,445.1,-7.0,188,3593,0.08,1.90,0.00,0.000,5126,0.125,0.028,2687,2385,3132,3211,3054,0,0,0,0,0,0,26.25,26.32,28.83
$GC,3913,-0.68,-79.3,2687,2386,3207,3051,470.1,-7.8,204,3915,0.10,0.00,0.00,0.000,2054,0.172,0.000,2710,2386,3129,3208,3051,0,0,0,0,0,0,26.32,28.83,28.83
$GC,4213,-0.71,-94.1,2710,2386,3206,3049,489.8,-6.8,219,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2386,3128,3207,3049,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4349,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4349,begin apogee
$GC,4356,-0.20,0.0,2710,2267,3206,3049,500.1,-7.5,226,4389,0.45,0.00,30.02,0.691,10246,0.130,0.000,2856,2267,2991,3080,2903,0,0,0,0,0,0,25.72,28.83,25.25
$STATE,4393,end apogee,CONTROL_FINISHED_OK
$STATE,4393,begin climb
$GC,4395,0.71,94.1,2855,2267,3078,2899,501.6,0.0,227,4485,0.82,2.12,81.95,0.685,10500,0.082,0.037,3154,3634,2604,2696,2513,0,0,0,0,0,0,25.94,25.39,24.74
$GC,4634,0.74,108.0,3154,3634,2692,2505,491.4,6.9,238,4654,0.00,1.95,12.27,0.670,9222,0.000,0.021,3163,2263,2549,2642,2456,0,0,0,0,0,0,28.83,25.97,25.07
$GC,4952,0.77,125.9,3163,2263,2643,2445,469.1,6.3,254,4976,0.00,2.08,15.95,0.669,8708,0.000,0.036,3171,866,2475,2575,2375,0,0,0,0,0,0,28.83,25.96,25.28
$GC,5106,0.81,143.4,3171,866,2576,2369,458.8,6.3,261,5130,0.00,1.98,16.27,0.663,9222,0.000,0.024,3171,2246,2405,2511,2299,0,0,0,0,0,0,28.83,26.10,25.24
$GC,5424,0.84,159.4,3171,2246,2510,2289,440.5,6.6,277,5448,0.10,2.10,14.50,0.661,10500,0.100,0.040,3217,3636,2340,2449,2232,0,0,0,0,0,0,26.28,26.02,25.34
$GC,5520,0.84,159.4,3217,3636,2448,2228,431.8,9.5,281,5527,0.12,1.98,0.00,0.000,5126,0.201,0.021,3199,2240,2337,2448,2227,0,0,0,0,0,0,25.72,26.14,28.83
$GC,5845,0.84,159.4,3199,2240,2448,2222,398.4,10.4,297,5850,0.00,2.03,0.00,0.000,516,0.000,0.037,3207,865,2335,2448,2222,0,0,0,0,0,0,28.83,26.10,28.83
$GC,5921,0.84,159.4,3207,865,2448,2221,390.8,11.0,300,5928,0.00,1.95,0.00,0.000,1030,0.000,0.025,3208,2241,2334,2448,2221,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6238,0.84,159.4,3207,2242,2448,2219,353.3,10.7,316,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,3207,2241,2333,2448,2218,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6537,0.84,159.4,3208,2246,2448,2216,321.4,11.6,331,6543,0.00,2.08,0.00,0.000,260,0.000,0.040,3207,3634,2330,2448,2213,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6588,0.84,159.4,3207,3634,2440,2216,315.5,12.3,333,6595,0.08,1.95,0.00,0.000,5126,0.236,0.021,3199,2239,2330,2445,2215,0,0,0,0,0,0,26.06,26.37,28.83
$GC,6911,0.84,159.4,3198,2239,2444,2214,279.2,11.1,349,6917,0.00,2.03,0.00,0.000,516,0.000,0.037,3207,871,2329,2444,2214,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7033,0.84,159.4,3207,871,2444,2214,266.9,11.3,354,7040,0.00,1.95,0.00,0.000,1030,0.000,0.025,3207,2244,2329,2444,2214,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7340,0.86,170.8,3206,2244,2444,2213,236.7,7.4,370,7357,0.00,2.08,8.98,0.558,8452,0.000,0.040,3207,3634,2293,2406,2180,0,0,0,0,0,0,28.83,26.28,25.51
$GC,7457,0.88,179.2,3207,3634,2405,2178,228.4,7.9,375,7471,0.00,1.95,8.38,0.553,9222,0.000,0.021,3211,2238,2258,2369,2148,0,0,0,0,0,0,28.83,26.34,25.49
$GC,7771,0.91,193.9,3214,2236,2369,2140,205.7,6.8,391,7795,0.00,2.05,13.07,0.535,8708,0.000,0.037,3224,881,2198,2311,2086,0,0,0,0,0,0,28.83,26.17,25.52
$GC,8033,0.92,199.5,3223,881,2311,2081,183.3,8.3,403,8044,0.00,1.95,4.68,0.503,9222,0.000,0.024,3224,2258,2178,2291,2066,0,0,0,0,0,0,28.83,26.25,25.23
$GC,8355,0.92,199.5,3223,2258,2290,2066,153.9,11.8,419,8362,0.00,2.05,0.00,0.000,260,0.000,0.039,3223,3629,2178,2291,2065,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8598,0.92,199.5,3223,3629,2290,2064,126.3,10.3,430,8604,0.00,1.95,0.00,0.000,1030,0.000,0.021,3230,2240,2177,2290,2064,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8914,1.04,256.6,3231,2240,2290,2062,113.3,-0.3,446,8971,0.10,2.08,45.72,0.434,10756,0.099,0.036,3299,870,1942,2059,1826,0,0,0,0,0,0,26.48,26.01,25.48
$GC,9207,1.05,265.7,3299,870,2059,1821,99.6,7.7,459,9221,0.15,1.95,7.93,0.449,13318,0.166,0.024,3261,2254,1906,2024,1789,0,0,0,0,0,0,25.76,26.17,25.49
$GC,9541,1.07,273.3,3261,2254,2023,1784,73.9,8.0,476,9558,0.00,2.10,7.07,0.431,8708,0.000,0.034,3269,869,1873,1991,1756,0,0,0,0,0,0,28.83,26.21,25.58
$GC,9783,1.11,293.2,3268,869,1991,1755,57.7,5.9,487,9806,0.00,1.92,15.90,0.390,9222,0.000,0.023,3269,2249,1791,1907,1675,0,0,0,0,0,0,28.83,26.28,25.65
$GC,10110,1.22,347.8,3268,2249,1907,1671,48.5,0.2,511,10164,0.12,2.08,40.20,0.356,10500,0.081,0.036,3343,3619,1568,1681,1455,0,0,0,0,0,0,26.41,26.07,25.58
$GC,10246,1.22,347.8,3343,3619,1679,1453,38.1,12.2,522,10255,0.15,1.92,0.00,0.000,5126,0.184,0.020,3315,2250,1566,1679,1453,0,0,0,0,0,0,25.74,26.17,28.83
$STATE,10514,end climb,SURFACE_DEPTH_REACHED
$STATE,10514,begin surface coast
$FINISH,0.7,1.020962
$STATE,10555,end surface coast,CONTROL_FINISHED_OK
$STATE,10555,begin surface
$SM_CCo,10575,100.57,0.047,0,0,463,619.87
$SM_GC,-1.57,8.68,0.12,100.57,0.067,0.077,0.047,143,2399,463,-8.62,-2.21,619.87,0,0,0,0,0,0,26.18,26.40,26.10
$IRIDIUM_FIX,1837.32,12201.05,250513,121204
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.32
$INTERNAL_PRESSURE,9.72694
$TCM_TEMP,25.70
$XPDR_PINGS,43
$SC_FREEKB,3885376
$24V_AH,24.7,44.062
$10V_AH,10.1,41.048
$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,22.100,79.300,322.900,100.575,0.000,0.000,0.000,456.725,10.750,0.000,232.099,2579.882,5908.827,572.124,2256.929,494.900,0.000,1850.613,0.000,1512.064,0.000,0.548,0.000
$DEVICE_MAMPS,247.095,97.155,690.795,47.430,0.000,0.000,0.000,105.570,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10576.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.814,0.000,0.000,0.000
$MEM,320632
$DATA_FILE_SIZE,20105,570
$CAP_FILE_SIZE,312432,0
$CFSIZE,260034560,208019456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.317,225.2,1
$GPS,250513,155022,1843.351,12157.348,220,3.9,239,-2.1