version: 66.11
glider: 177
mission: 4
dive: 145
start: 4 13 113 0 28 20
data:
$ID,177
$MISSION,4
$DIVE,145
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1020
$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,360
$T_MISSION,380
$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,400
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$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,-7852.1533
$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,73
$R_STBD_OVSHOOT,41
$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
$GPS1,130413,001938,1847.911,12214.737,22,1.7,25,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.68
$_SM_ANGLEo,-69.3
$GPS2,130413,002731,1848.283,12214.508,12,1.7,12,-2.1
$SPEED_LIMITS,0.159,0.756
$TGT_NAME,M2
$TGT_LATLONG,1845.000,12214.880
$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,170.8,6114,-10.4,-9.167,-10.93,1039
$D_GRID,1042
$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,18,-0.54,-62.0,132,2383,1393,1304,0.0,0.0,0,88,0.00,0.00,-67.95,0.000,16386,0.000,0.000,132,2383,3216,3268,3164,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.54,-62.0,131,2383,3268,3165,3.8,-14.6,9,109,11.02,2.10,-0.47,0.000,18948,0.251,0.045,2757,979,3247,3307,3188,0,0,0,0,0,0,25.67,26.08,26.22
$GC,198,-0.54,-62.0,2757,979,3318,3182,44.1,-23.4,21,206,0.00,2.03,0.00,0.000,1030,0.000,0.028,2747,2387,3250,3318,3182,0,0,0,0,0,0,28.83,26.16,28.83
$GC,505,-0.54,-62.0,2747,2388,3322,3182,108.7,-17.4,38,512,0.00,2.00,0.00,0.000,516,0.000,0.031,2748,995,3251,3322,3181,0,0,0,0,0,0,28.83,26.29,28.83
$GC,559,-0.54,-62.0,2747,992,3322,3182,116.3,-16.4,40,565,0.00,1.98,0.00,0.000,1030,0.000,0.027,2742,2381,3252,3322,3182,0,0,0,0,0,0,28.83,26.34,28.83
$GC,873,-0.54,-62.0,2741,2382,3325,3181,171.0,-15.0,56,879,0.00,2.00,0.00,0.000,516,0.000,0.031,2742,994,3253,3325,3182,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1064,-0.54,-62.0,2741,994,3326,3182,196.5,-13.3,65,1071,0.10,1.95,0.00,0.000,3078,0.173,0.026,2756,2380,3254,3326,3182,0,0,0,0,0,0,26.28,26.46,28.83
$GC,1385,-0.54,-62.0,2755,2381,3326,3181,229.8,-10.3,81,1391,0.00,1.95,0.00,0.000,260,0.000,0.042,2755,3710,3254,3327,3182,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1434,-0.54,-62.0,2755,3711,3327,3182,234.4,-10.1,83,1440,0.00,1.85,0.00,0.000,1030,0.000,0.021,2756,2325,3254,3327,3182,0,0,0,0,0,0,28.83,26.57,28.83
$GC,1755,-0.54,-62.0,2755,2324,3327,3181,265.5,-9.6,99,1760,0.00,1.83,0.00,0.000,516,0.000,0.032,2755,1036,3254,3327,3181,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1924,-0.54,-62.0,2755,1036,3332,3181,281.9,-9.7,107,1930,0.00,1.88,0.00,0.000,1030,0.000,0.028,2747,2372,3255,3330,3181,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2250,-0.54,-62.0,2747,2372,3327,3178,314.6,-9.9,123,2257,0.00,1.95,0.00,0.000,260,0.000,0.042,2744,3707,3252,3327,3177,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2317,-0.54,-62.0,2744,3708,3327,3176,321.6,-10.0,126,2323,0.00,1.80,0.00,0.000,1030,0.000,0.021,2744,2371,3251,3327,3176,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2642,-0.56,-70.4,2744,2371,3326,3171,350.3,-8.3,142,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,2371,3248,3326,3171,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2942,-0.58,-81.6,2744,2371,3326,3167,373.9,-8.1,157,2948,0.00,1.90,0.00,0.000,516,0.000,0.034,2744,1034,3246,3326,3167,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3108,-0.59,-85.0,1728,1034,3298,3159,388.3,-8.8,165,3114,0.00,1.90,0.00,0.000,1030,0.000,0.029,2742,2372,3244,3326,3163,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3434,-0.62,-103.7,2742,2372,3326,3159,415.2,-7.3,181,3440,0.00,1.92,0.00,0.000,516,0.000,0.032,2742,1034,3242,3326,3159,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3584,-0.66,-123.5,2742,1033,3326,3157,426.1,-7.2,188,3591,0.10,1.92,0.00,0.000,5126,0.106,0.029,2692,2381,3241,3326,3157,0,0,0,0,0,0,26.49,26.54,28.83
$GC,3910,-0.66,-123.5,2691,2381,3326,3152,460.1,-11.1,204,3917,0.10,1.95,0.00,0.000,2564,0.170,0.031,2715,1029,3239,3326,3152,0,0,0,0,0,0,26.44,26.51,28.83
$GC,3939,-0.66,-123.5,2715,1029,3325,3152,463.1,-11.3,205,3945,0.00,1.92,0.00,0.000,1030,0.000,0.029,2713,2381,3242,3333,3152,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4259,-0.66,-123.5,2713,2381,3320,3150,496.7,-10.6,221,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2381,3237,3324,3150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4559,-0.66,-123.5,2712,2381,3322,3148,527.5,-9.7,236,4564,0.00,1.95,0.00,0.000,516,0.000,0.033,2713,1027,3234,3321,3147,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4611,-0.66,-123.5,2713,1027,3320,3147,532.0,-9.9,238,4618,0.00,1.92,0.00,0.000,1030,0.000,0.028,2707,2378,3233,3320,3147,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4927,-0.66,-123.5,2707,2378,3319,3151,567.3,-11.0,254,4928,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2378,3232,3319,3146,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5226,-0.67,-129.4,2707,2378,3317,3144,595.6,-8.6,269,5227,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2378,3230,3317,3144,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5527,-0.69,-136.8,2707,2378,3315,3142,620.6,-8.4,280,5528,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2378,3228,3315,3142,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5826,-0.69,-136.8,2711,2378,3314,3140,651.0,-10.6,290,5832,0.00,1.95,0.00,0.000,516,0.000,0.034,2707,1031,3226,3313,3140,0,0,0,0,0,0,28.83,26.49,28.83
$GC,5879,-0.69,-136.8,2707,1031,3313,3140,654.8,-10.6,291,5885,0.00,1.92,0.00,0.000,1030,0.000,0.030,2703,2375,3226,3313,3139,0,0,0,0,0,0,28.83,26.53,28.83
$GC,6196,-0.69,-136.8,2703,2375,3313,3139,690.5,-11.0,302,6202,0.00,1.95,0.00,0.000,516,0.000,0.034,2704,1027,3225,3312,3139,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6279,-0.69,-136.8,2703,1027,3310,3139,697.8,-10.9,304,6285,0.00,1.92,0.00,0.000,1030,0.000,0.030,2700,2372,3224,3310,3139,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6595,-0.69,-136.8,2699,2373,3310,3136,733.0,-10.5,315,6600,0.00,1.92,0.00,0.000,516,0.000,0.033,2700,1034,3222,3308,3136,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6639,-0.69,-136.8,2700,1034,3308,3133,736.7,-10.5,316,6645,0.00,1.92,0.00,0.000,1030,0.000,0.029,2694,2379,3222,3308,3136,0,0,0,0,0,0,28.83,26.52,28.83
$GC,6963,-0.69,-136.8,2694,2379,3308,3135,771.3,-10.4,327,6969,0.00,1.98,0.00,0.000,260,0.000,0.046,2691,3710,3221,3308,3135,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7028,-0.69,-136.8,2690,3710,3308,3135,778.6,-10.8,329,7034,0.00,1.83,0.00,0.000,1030,0.000,0.024,2691,2372,3221,3308,3135,0,0,0,0,0,0,28.83,26.60,28.83
$GC,7362,-0.69,-136.8,2690,2372,3306,3134,811.8,-9.3,340,7368,0.00,1.92,0.00,0.000,516,0.000,0.034,2690,1030,3219,3305,3133,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7427,-0.69,-136.8,2690,1030,3303,3133,817.9,-9.3,342,7434,0.08,1.95,0.00,0.000,3078,0.205,0.030,2701,2377,3218,3303,3133,0,0,0,0,0,0,26.34,26.51,28.83
$GC,7763,-0.69,-139.1,2700,2377,3303,3132,847.0,-8.9,353,7768,0.00,1.95,0.00,0.000,516,0.000,0.034,2701,1030,3217,3302,3132,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7817,-0.70,-140.6,2701,1030,3302,3131,850.2,-9.0,354,7823,0.00,1.92,0.00,0.000,1030,0.000,0.031,2700,2375,3217,3302,3132,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8132,-0.70,-140.6,2700,2375,3302,3130,881.7,-9.4,365,8138,0.00,2.00,0.00,0.000,260,0.000,0.047,2700,3716,3216,3302,3130,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8170,-0.70,-140.6,2699,3715,3302,3130,885.1,-9.5,366,8176,0.00,1.83,0.00,0.000,1030,0.000,0.024,2700,2376,3216,3302,3130,0,0,0,0,0,0,28.83,26.60,28.83
$GC,8499,-0.70,-140.6,2700,2375,3301,3128,917.7,-10.1,377,8505,0.00,1.92,0.00,0.000,516,0.000,0.034,2700,1036,3214,3300,3128,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8660,-0.70,-140.6,2700,1036,3300,3128,934.2,-10.5,382,8666,0.00,1.92,0.00,0.000,1030,0.000,0.031,2693,2377,3214,3300,3128,0,0,0,0,0,0,28.83,26.50,28.83
$GC,8989,-0.70,-140.6,2693,2373,3299,3126,966.7,-9.7,393,8995,0.00,1.95,0.00,0.000,516,0.000,0.035,2693,1038,3215,3299,3131,0,0,0,0,0,0,28.83,26.44,28.83
$GC,9089,-0.70,-140.6,2693,1037,3298,3125,975.3,-9.2,396,9095,0.00,1.92,0.00,0.000,1030,0.000,0.031,2687,2376,3212,3298,3126,0,0,0,0,0,0,28.83,26.49,28.83
$STATE,9266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9266,begin apogee
$GC,9271,-0.20,0.0,2686,2260,3298,3125,991.6,-8.7,402,9331,0.52,0.00,54.38,1.001,10246,0.135,0.000,2856,2265,2992,3096,2888,0,0,0,0,0,0,26.22,28.83,24.79
$STATE,9333,end apogee,CONTROL_FINISHED_OK
$STATE,9333,begin climb
$GC,9334,0.70,140.6,2855,2260,3095,2885,993.1,0.0,403,9482,0.82,0.00,142.70,0.982,10246,0.083,0.000,3147,2260,2419,2533,2305,0,0,0,0,0,0,25.47,28.83,24.18
$GC,9779,0.70,140.6,3147,2260,2528,2282,956.1,10.4,419,9784,0.00,2.10,0.00,0.000,516,0.000,0.044,3154,884,2405,2528,2282,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9837,0.70,140.6,3154,884,2528,2282,952.5,10.4,420,9845,0.00,2.00,0.00,0.000,1030,0.000,0.029,3154,2246,2405,2528,2282,0,0,0,0,0,0,28.83,25.92,28.83
$GC,10145,0.70,140.6,3154,2246,2527,2279,915.2,11.4,431,10151,0.00,2.08,0.00,0.000,516,0.000,0.044,3162,883,2403,2527,2279,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10224,0.70,140.6,3162,884,2527,2279,907.7,11.2,433,10231,0.00,1.98,0.00,0.000,1030,0.000,0.029,3162,2240,2403,2527,2279,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10544,0.70,140.6,3162,2241,2524,2277,871.3,11.1,444,10550,0.00,2.12,0.00,0.000,260,0.000,0.046,3162,3643,2400,2524,2277,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10603,0.70,140.6,3162,3643,2523,2277,867.1,11.6,445,10612,0.00,2.00,0.00,0.000,1030,0.000,0.028,3163,2265,2400,2523,2277,0,0,0,0,0,0,28.83,26.27,28.83
$GC,10910,0.70,140.6,3163,2265,2523,2275,827.9,11.5,456,10916,0.00,2.10,0.00,0.000,260,0.000,0.044,3164,3644,2399,2523,2276,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,19514,end climb,SURFACE_DEPTH_REACHED
$STATE,19514,begin surface coast
$FINISH,0.1,1.021753
$STATE,19542,end surface coast,CONTROL_FINISHED_OK
$STATE,19542,begin surface
$SM_CCo,19559,29.08,0.053,0,0,1361,400.08
$SM_GC,-2.07,8.43,0.15,29.08,0.067,0.072,0.053,136,2419,1361,-8.62,-1.41,400.08,0,0,0,0,0,0,26.30,26.39,26.29
$IRIDIUM_FIX,1839.59,12215.53,120413,191910
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.05
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.90
$XPDR_PINGS,18
$SC_FREEKB,3964448
$24V_AH,24.2,18.771
$10V_AH,10.3,16.694
$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,21.625,154.875,357.300,29.075,0.000,0.000,0.000,285.900,4.500,0.000,15.236,4120.152,12145.776,649.305,2704.616,442.472,0.000,2163.953,0.000,2293.829,0.000,0.546,0.000
$DEVICE_MAMPS,250.920,78.795,1001.385,52.785,0.000,0.000,0.000,123.165,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19576.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.114,0.000,0.000,0.000
$MEM,320800
$DATA_FILE_SIZE,33333,889
$CAP_FILE_SIZE,490567,0
$CFSIZE,260034560,235458560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.246,331.9,1
$GPS,130413,055606,1848.298,12213.993,34,1.3,35,-2.1