version: 66.11
glider: 177
mission: 4
dive: 355
start: 5 25 113 22 16 51
data:
$ID,177
$MISSION,4
$DIVE,355
$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,-18853.789
$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,78
$R_STBD_OVSHOOT,64
$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
$GPS1,250513,214830,1843.609,12157.624,182,1.9,182,-2.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.53
$_SM_ANGLEo,-70.0
$GPS2,250513,214830,1843.609,12157.624,901,99.0,901,-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,58.8,4898,-6.3,-9.259,-6.96,3220
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-0.64,-194.6,138,2433,485,450,0.0,0.0,0,126,0.00,0.00,-104.35,0.000,16386,0.000,0.000,138,2433,3348,3402,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-0.64,-194.6,138,2434,3402,3295,5.1,-17.5,14,155,10.70,2.12,-6.20,0.000,18948,0.239,0.044,2720,992,3791,3875,3707,0,0,1,0,0,0,25.65,25.76,26.72
$GC,391,-0.64,-194.6,2720,992,3876,3707,96.5,-27.9,32,397,0.00,1.95,0.00,0.000,1030,0.000,0.027,2713,2371,3792,3877,3707,0,0,0,0,0,0,28.83,26.36,28.83
$GC,705,-0.64,-194.6,2713,2372,3877,3707,154.7,-14.1,48,711,0.00,1.95,0.00,0.000,516,0.000,0.024,2713,987,3792,3877,3707,0,0,0,0,0,0,28.83,26.36,28.83
$GC,782,-0.64,-194.6,2712,986,3877,3707,164.4,-14.8,51,787,0.00,1.98,0.00,0.000,1030,0.000,0.026,2705,2384,3792,3878,3707,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1097,-0.64,-194.6,2705,2385,3878,3706,217.9,-13.1,67,1103,0.00,1.98,0.00,0.000,516,0.000,0.028,2705,997,3792,3877,3707,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1265,-0.64,-194.6,2705,996,3877,3705,237.9,-11.2,75,1272,0.08,1.95,0.00,0.000,3078,0.185,0.026,2717,2383,3791,3877,3705,0,0,0,0,0,0,26.20,26.39,28.83
$GC,1593,-0.64,-194.6,2716,2384,3877,3700,274.4,-11.5,91,1594,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2384,3788,3877,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1891,-0.64,-194.6,2716,2384,3877,3694,308.0,-10.5,106,1897,0.00,2.00,0.00,0.000,516,0.000,0.029,2717,998,3785,3877,3694,0,0,0,0,0,0,28.83,26.30,28.83
$GC,1926,-0.64,-194.6,2717,998,3878,3693,310.6,-10.3,107,1932,0.00,1.98,0.00,0.000,1030,0.000,0.027,2716,2378,3785,3877,3693,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2241,-0.64,-194.6,2716,2379,3877,3685,343.7,-10.6,123,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2379,3781,3877,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2541,-0.64,-194.6,2716,2379,3877,3680,374.1,-9.7,138,2547,0.00,2.00,0.00,0.000,516,0.000,0.030,2716,1000,3777,3876,3679,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2566,-0.64,-194.6,2716,1000,3876,3679,376.7,-10.0,139,2572,0.00,1.98,0.00,0.000,1030,0.000,0.027,2713,2381,3777,3875,3679,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2895,-0.64,-194.6,2713,2381,3873,3675,413.8,-12.4,155,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2381,3773,3872,3675,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3190,-0.64,-194.6,2714,2380,3869,3672,449.4,-11.3,170,3197,0.00,2.00,0.00,0.000,516,0.000,0.030,2713,1000,3770,3869,3672,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3238,-0.64,-194.6,2713,1000,3868,3672,454.3,-11.1,172,3245,0.00,2.00,0.00,0.000,1030,0.000,0.028,2713,2377,3769,3867,3672,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3565,-0.64,-194.6,2713,2377,3864,3668,493.0,-13.3,188,3571,0.00,1.98,0.00,0.000,260,0.000,0.043,2713,3706,3766,3864,3668,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3600,-0.64,-194.6,2713,3706,3864,3668,496.4,-13.3,189,3606,0.00,1.88,0.00,0.000,1030,0.000,0.021,2713,2331,3765,3864,3667,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,3632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3633,begin apogee
$GC,3638,-0.20,0.0,2713,2330,3864,3663,502.7,-13.7,191,3796,0.45,0.00,152.43,0.700,10246,0.112,0.000,2862,2333,2989,3096,2883,0,0,0,0,0,0,25.84,28.83,24.63
$STATE,3801,end apogee,CONTROL_FINISHED_OK
$STATE,3801,begin climb
$GC,3803,0.64,194.6,2862,2330,3096,2878,516.5,0.0,198,3969,0.75,2.25,156.27,0.685,10756,0.071,0.034,3146,905,2193,2325,2061,0,0,0,0,0,0,25.36,25.23,24.60
$GC,4034,0.94,346.4,3146,905,2324,2053,517.6,4.4,210,4159,0.25,1.95,117.38,0.672,11270,0.056,0.025,3256,2247,1578,1687,1469,0,0,0,0,0,0,25.70,25.70,24.63
$GC,4470,0.94,346.4,3256,2247,1678,1452,434.5,22.4,231,4472,0.12,0.00,0.00,0.000,4102,0.187,0.000,3229,2248,1565,1678,1452,0,0,0,0,0,0,25.86,28.83,28.83
$GC,4768,0.94,346.4,3230,2248,1675,1450,374.0,19.4,246,4773,0.00,2.08,0.00,0.000,260,0.000,0.040,3229,3632,1562,1675,1450,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4814,0.94,346.4,3229,3632,1673,1449,365.4,19.6,248,4820,0.00,1.95,0.00,0.000,1030,0.000,0.023,3227,2294,1561,1673,1449,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5140,0.94,346.4,3230,2293,1671,1447,304.0,19.0,264,5146,0.00,2.05,0.00,0.000,516,0.000,0.037,3238,906,1558,1671,1446,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5215,0.94,346.4,3237,906,1671,1446,291.8,18.4,267,5222,0.00,1.90,0.00,0.000,1030,0.000,0.025,3237,2240,1560,1675,1446,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5531,0.94,346.4,3237,2241,1668,1445,236.0,16.6,283,5532,0.00,0.00,0.00,0.000,6,0.000,0.000,3237,2240,1556,1668,1445,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5831,0.94,346.4,3237,2241,1667,1443,183.8,17.2,298,5838,0.00,1.98,0.00,0.000,516,0.000,0.037,3245,904,1557,1671,1443,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5969,0.94,346.4,3245,904,1667,1444,161.5,17.3,304,5976,0.08,1.90,0.00,0.000,5126,0.186,0.025,3231,2249,1555,1667,1443,0,0,0,0,0,0,26.11,26.32,28.83
$GC,6287,0.94,346.4,3231,2246,1666,1441,117.7,9.8,320,6293,0.00,2.08,0.00,0.000,260,0.000,0.039,3231,3634,1553,1666,1441,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6321,0.94,346.4,3230,3634,1666,1440,114.2,11.0,321,6327,0.00,1.90,0.00,0.000,1030,0.000,0.021,3231,2285,1554,1666,1442,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6637,1.19,467.5,3231,2284,1665,1439,83.8,5.4,337,6735,0.20,2.12,87.05,0.400,11012,0.060,0.037,3339,3641,1078,1170,987,0,0,0,0,0,0,26.47,25.82,25.32
$GC,6797,1.19,467.5,2352,3640,1144,981,62.6,14.9,344,6803,0.15,2.03,0.00,0.000,5126,0.177,0.023,3305,2247,1073,1165,982,0,0,0,0,0,0,25.55,25.95,28.83
$GC,7109,1.26,505.7,3305,2245,1165,979,23.6,8.0,371,7142,0.10,2.12,24.12,0.356,10756,0.094,0.035,3374,850,923,1011,835,0,0,0,0,0,0,26.33,26.06,25.58
$GC,7197,1.26,505.7,2368,850,994,832,12.7,14.2,385,7206,0.17,1.98,0.00,0.000,5126,0.161,0.024,3328,2244,919,1008,831,0,0,0,0,0,0,25.71,26.13,28.83
$STATE,7276,end climb,SURFACE_DEPTH_REACHED
$STATE,7276,begin surface coast
$FINISH,-1.1,1.020900
$STATE,7306,end surface coast,CONTROL_FINISHED_OK
$STATE,7306,begin surface
$SM_CCo,7325,42.92,0.050,0,0,463,619.87
$SM_GC,-1.57,8.25,0.15,42.92,0.038,0.075,0.050,144,2397,463,-8.61,-1.75,619.87,0,0,0,0,0,0,26.08,26.27,26.04
$IRIDIUM_FIX,1837.32,12201.05,250513,212114
$TT8_MAMPS,0.026964,0.026964
$HUMID,54.41
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,24.20
$XPDR_PINGS,42
$SC_FREEKB,3884224
$24V_AH,24.6,44.391
$10V_AH,10.1,41.327
$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,21.300,56.150,537.250,42.925,0.000,0.000,0.000,331.350,10.500,0.000,903.627,1570.240,4241.756,633.447,2238.368,354.083,0.000,1565.378,0.000,945.657,0.000,0.547,0.000
$DEVICE_MAMPS,238.680,74.970,699.975,49.725,0.000,0.000,0.000,90.270,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,7331.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.601,0.000,0.000,0.000
$MEM,321384
$DATA_FILE_SIZE,13482,404
$CAP_FILE_SIZE,209287,0
$CFSIZE,260034560,207818752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.365,242.4,1
$GPS,260513,002150,1843.710,12157.246,66,2.4,85,-2.1