version: 66.11
glider: 177
mission: 4
dive: 356
start: 5 26 113 4 21 59
data:
$ID,177
$MISSION,4
$DIVE,356
$N_DIVES,360
$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,1
$NOCOMM_ACTION,161
$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,-23902.793
$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,60
$R_STBD_OVSHOOT,79
$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
$GPS1,260513,023205,1845.502,12157.981,901,99.0,901,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.35
$_SM_ANGLEo,-72.4
$GPS2,260513,042113,1847.046,12157.970,268,1.7,268,-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,107.6,5199,-7.1,-9.259,-7.78,2438
$D_GRID,1094
$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,17,begin dive
$GC,19,-0.58,-147.2,152,2404,486,448,0.0,0.0,0,127,0.00,0.00,-104.70,0.000,16386,0.000,0.000,152,2405,3288,3333,3244,0,0,0,0,0,0,28.83,28.83,28.83
$GC,131,-0.58,-147.2,152,2405,3333,3245,5.1,-17.1,14,156,10.73,1.85,-4.45,0.000,18692,0.242,0.044,2723,3695,3595,3669,3522,0,0,0,0,0,0,25.70,26.44,26.76
$GC,267,-0.58,-147.2,2723,3695,3670,3522,59.8,-29.5,26,273,0.08,1.83,0.00,0.000,3078,0.200,0.019,2736,2314,3596,3671,3521,0,0,0,0,0,0,26.31,26.56,28.83
$GC,583,-0.58,-147.2,2736,2310,3671,3521,138.5,-15.4,42,589,0.00,1.88,0.00,0.000,516,0.000,0.029,2736,973,3596,3671,3521,0,0,0,0,0,0,28.83,26.46,28.83
$GC,659,-0.58,-147.2,2736,973,3672,3521,145.8,-11.3,45,664,0.00,1.92,0.00,0.000,1030,0.000,0.025,2732,2355,3596,3672,3521,0,0,0,0,0,0,28.83,26.51,28.83
$GC,974,-0.58,-147.2,2732,2355,3672,3521,184.3,-11.3,61,980,0.00,1.95,0.00,0.000,260,0.000,0.037,2729,3707,3596,3672,3521,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1113,-0.58,-147.2,2729,3707,3672,3521,199.7,-12.6,67,1119,0.00,1.85,0.00,0.000,1030,0.000,0.019,2729,2322,3597,3673,3521,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1430,-0.58,-147.2,2729,2321,3672,3517,240.1,-11.6,83,1435,0.00,1.90,0.00,0.000,516,0.000,0.029,2730,974,3594,3672,3517,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1448,-0.58,-147.2,2729,973,3672,3516,240.1,-11.6,83,1457,0.00,1.98,0.00,0.000,1030,0.000,0.025,2725,2382,3594,3672,3516,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1755,-0.58,-147.2,2725,2383,3672,3511,275.4,-9.5,99,1762,0.00,1.92,0.00,0.000,260,0.000,0.038,2719,3710,3591,3672,3511,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1796,-0.58,-147.2,2719,3710,3672,3511,277.9,-9.6,100,1804,0.08,1.88,0.00,0.000,3078,0.159,0.019,2737,2307,3591,3672,3510,0,0,0,0,0,0,26.38,26.59,28.83
$GC,2101,-0.58,-147.2,2737,2307,3672,3503,305.0,-9.4,116,2107,0.00,1.88,0.00,0.000,516,0.000,0.031,2737,981,3587,3672,3503,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2182,-0.58,-147.2,2737,981,3672,3500,311.6,-9.7,119,2190,0.00,1.98,0.00,0.000,1030,0.000,0.027,2732,2381,3586,3672,3500,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2488,-0.65,-181.1,2732,2381,3672,3495,339.1,-7.8,135,2494,0.00,2.03,0.00,0.000,516,0.000,0.032,2732,981,3583,3672,3495,0,0,0,0,0,0,28.83,26.37,28.83
$GC,2576,-0.65,-184.0,2732,981,3672,3493,347.0,-9.1,139,2582,0.00,1.98,0.00,0.000,1030,0.000,0.027,2730,2373,3582,3672,3493,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2905,-0.67,-194.2,2730,2374,3678,3485,374.8,-8.8,155,2911,0.08,1.95,0.00,0.000,4356,0.122,0.039,2667,3707,3578,3672,3485,0,0,0,0,0,0,26.59,26.34,28.83
$GC,3001,-0.67,-194.2,2666,3707,3672,3483,386.6,-13.0,159,3008,0.15,1.88,0.00,0.000,3078,0.151,0.020,2708,2324,3577,3672,3483,0,0,0,0,0,0,26.14,26.55,28.83
$GC,3318,-0.67,-194.2,2708,2323,3669,3478,424.5,-11.5,175,3319,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2323,3573,3668,3479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3617,-0.67,-194.2,2708,2323,3665,3476,459.8,-11.9,190,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2323,3570,3665,3476,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3916,-0.67,-194.2,2708,2323,3661,3473,495.1,-12.0,205,3918,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2323,3567,3661,3473,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,3954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3954,begin apogee
$GC,3960,-0.20,0.0,2708,2199,3660,3472,500.0,-12.2,207,4082,0.45,0.00,116.10,0.699,10246,0.113,0.000,2860,2198,2989,3093,2885,0,0,0,0,0,0,26.01,28.83,24.79
$STATE,4084,end apogee,CONTROL_FINISHED_OK
$STATE,4084,begin climb
$GC,4087,0.67,194.2,2860,2197,3093,2882,506.8,0.0,212,4251,0.77,0.00,157.18,0.679,10502,0.077,0.000,3141,2198,2199,2325,2073,0,0,0,0,0,0,25.53,28.83,24.79
$GC,4540,0.67,194.2,3141,2197,2319,2048,473.1,11.2,236,4546,0.00,1.92,0.00,0.000,516,0.000,0.037,3150,897,2183,2319,2047,0,0,0,0,0,0,28.83,26.12,28.83
$GC,4587,0.67,194.2,3149,897,2319,2048,467.9,11.4,238,4593,0.00,1.92,0.00,0.000,1030,0.000,0.025,3150,2247,2183,2319,2048,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4915,0.67,194.2,3149,2248,2315,2043,427.7,12.3,254,4921,0.00,2.08,0.00,0.000,260,0.000,0.040,3150,3641,2178,2314,2043,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4957,0.67,194.2,3150,3641,2313,2043,423.8,12.9,255,4965,0.00,1.92,0.00,0.000,1030,0.000,0.022,3151,2258,2178,2313,2043,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5261,0.67,194.2,3151,2257,2311,2041,383.7,11.8,271,5267,0.00,2.05,0.00,0.000,516,0.000,0.037,3162,866,2175,2311,2040,0,0,0,0,0,0,28.83,26.23,28.83
$GC,5288,0.67,194.2,3161,866,2311,2040,380.7,11.4,272,5295,0.10,1.95,0.00,0.000,5126,0.181,0.025,3140,2243,2175,2311,2040,0,0,0,0,0,0,26.08,26.36,28.83
$GC,5615,0.67,194.2,3140,2243,2308,2039,348.3,9.7,288,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2243,2173,2308,2039,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5915,0.76,238.9,3140,2243,2307,2037,322.9,7.4,303,5956,0.10,2.12,34.17,0.597,10756,0.095,0.036,3208,869,2013,2141,1885,0,0,0,0,0,0,26.53,26.03,25.36
$GC,5980,0.76,238.9,3207,869,2140,1882,316.2,9.6,306,5987,0.15,1.98,0.00,0.000,5126,0.168,0.025,3171,2243,2010,2140,1881,0,0,0,0,0,0,25.71,26.08,28.83
$GC,6308,0.76,238.9,3171,2243,2137,1876,276.2,13.5,322,6315,0.00,2.03,0.00,0.000,516,0.000,0.037,3177,878,2006,2137,1875,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6408,0.76,238.9,3177,878,2137,1875,263.6,13.8,326,6413,0.00,1.92,0.00,0.000,1030,0.000,0.025,3177,2235,2005,2137,1874,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6722,0.76,238.9,3177,2236,2134,1872,221.7,12.9,342,6728,0.00,2.08,0.00,0.000,260,0.000,0.039,3177,3635,2003,2134,1872,0,0,0,0,0,0,28.83,26.22,28.83
$GC,6900,0.76,238.9,3177,3635,2129,1872,199.1,12.3,350,6906,0.00,1.98,0.00,0.000,1030,0.000,0.021,3182,2241,2000,2129,1872,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7216,0.79,252.9,3182,2240,2127,1871,167.4,8.7,366,7233,0.00,2.03,10.48,0.520,8708,0.000,0.037,3188,863,1957,2082,1832,0,0,0,0,0,0,28.83,26.27,25.56
$GC,7293,0.84,275.4,3188,863,2081,1830,161.8,8.3,369,7317,0.00,1.95,19.12,0.509,9222,0.000,0.024,3188,2242,1868,1989,1748,0,0,0,0,0,0,28.83,26.31,25.54
$GC,7632,0.90,308.8,3188,2243,1981,1735,133.0,7.9,386,7666,0.10,2.08,25.73,0.476,10500,0.098,0.039,3254,3632,1728,1845,1611,0,0,0,0,0,0,26.43,26.10,25.53
$GC,7910,0.90,308.8,3253,3632,1836,1605,103.3,10.4,398,7920,0.15,1.95,0.00,0.000,5126,0.166,0.021,3217,2250,1720,1836,1605,0,0,0,0,0,0,25.89,26.29,28.83
$GC,8218,1.20,459.4,3217,2248,1836,1604,84.1,2.9,414,8336,0.28,2.15,108.22,0.398,10756,0.048,0.037,3365,862,1114,1205,1023,0,0,0,0,0,0,26.43,25.72,25.26
$GC,8408,1.20,459.4,3365,862,1194,1021,61.5,15.6,422,8415,0.20,1.98,0.00,0.000,5126,0.159,0.024,3312,2243,1109,1198,1021,0,0,0,0,0,0,25.56,25.96,28.83
$GC,8721,1.20,459.4,3312,2243,1198,1017,22.3,10.0,452,8729,0.00,2.08,0.00,0.000,260,0.000,0.037,3312,3635,1107,1198,1017,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8760,1.20,459.4,2304,3634,1173,1015,17.7,11.8,458,8768,0.00,1.98,0.00,0.000,1030,0.000,0.021,3312,2245,1106,1197,1016,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,8903,end climb,SURFACE_DEPTH_REACHED
$STATE,8903,begin surface coast
$FINISH,-0.7,1.020773
$STATE,8937,end surface coast,CONTROL_FINISHED_OK
$STATE,8937,begin surface
$SM_CCo,8956,59.15,0.047,0,0,464,619.87
$SM_GC,-1.37,8.40,0.17,59.15,0.053,0.063,0.047,141,2424,464,-8.62,-1.50,619.87,0,0,0,0,0,0,26.22,26.42,26.15
$IRIDIUM_FIX,1839.59,12155.98,260513,030311
$TT8_MAMPS,0.026964,0.026964
$HUMID,55.86
$INTERNAL_PRESSURE,9.72694
$TCM_TEMP,25.00
$XPDR_PINGS,615
$SC_FREEKB,3883840
$24V_AH,24.8,44.623
$10V_AH,10.2,41.602
$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,21.800,71.000,471.000,59.150,0.000,0.000,0.000,0.000,153.750,0.000,269.378,1984.532,4971.286,654.248,1429.722,327.221,0.000,1315.892,0.000,1135.177,0.000,0.551,0.000
$DEVICE_MAMPS,241.740,100.215,699.210,47.430,0.000,0.000,0.000,0.000,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,8907.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.609,0.000,0.000,0.000
$MEM,320596
$DATA_FILE_SIZE,16774,490
$CAP_FILE_SIZE,322517,0
$CFSIZE,260034560,207691776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.094, 19.5,1
$GPS,260513,065405,1847.294,12159.490,62,1.7,68,-2.1