version: 66.11
glider: 177
mission: 4
dive: 149
start: 4 13 113 21 49 53
data:
$ID,177
$MISSION,4
$DIVE,149
$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,-7857.1836
$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,81
$R_STBD_OVSHOOT,52
$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
$GPS1,130413,214136,1848.606,12214.073,39,1.1,39,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.80
$_SM_ANGLEo,-73.9
$GPS2,130413,214925,1849.012,12213.845,14,1.2,14,-2.1
$SPEED_LIMITS,0.159,0.756
$TGT_NAME,M4
$TGT_LATLONG,1845.000,12233.290
$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,117.1,34902,-6.2,-9.167,-6.92,3252
$D_GRID,1075
$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,-0.64,-194.6,133,2343,1327,1211,0.0,0.0,0,93,0.00,0.00,-72.78,0.000,16386,0.000,0.000,133,2344,3263,3318,3209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.64,-194.6,133,2344,3318,3211,4.0,-15.7,10,122,10.93,2.00,-7.70,0.000,18948,0.253,0.042,2718,989,3790,3870,3711,0,0,0,0,0,0,25.64,26.05,26.32
$GC,166,-0.64,-194.6,2718,989,3873,3712,42.8,-40.6,18,173,0.00,2.00,0.00,0.000,1030,0.000,0.030,2711,2368,3792,3873,3712,0,0,0,0,0,0,28.83,26.08,28.83
$GC,482,-0.64,-194.6,2710,2369,3876,3713,132.6,-25.2,35,488,0.00,2.00,0.00,0.000,260,0.000,0.040,2701,3719,3794,3876,3712,0,0,0,0,0,0,28.83,26.24,28.83
$GC,531,-0.64,-194.6,2701,3720,3876,3713,142.9,-22.0,37,538,0.08,1.88,0.00,0.000,3078,0.176,0.020,2721,2334,3794,3876,3713,0,0,0,0,0,0,26.17,26.36,28.83
$GC,852,-0.64,-194.6,2716,2332,3877,3714,193.4,-14.8,53,859,0.00,1.85,0.00,0.000,516,0.000,0.031,2716,1034,3796,3878,3715,0,0,0,0,0,0,28.83,26.36,28.83
$GC,897,-0.64,-194.6,2716,1034,3878,3715,199.9,-14.4,55,904,0.00,1.92,0.00,0.000,1030,0.000,0.028,2713,2388,3796,3878,3715,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1225,-0.64,-194.6,2713,2388,3878,3715,248.6,-16.6,71,1231,0.00,1.95,0.00,0.000,516,0.000,0.031,2713,1028,3796,3878,3715,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1279,-0.64,-194.6,2713,1028,3878,3715,256.5,-16.8,73,1285,0.00,1.90,0.00,0.000,1030,0.000,0.027,2708,2377,3796,3878,3715,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1593,-0.64,-194.6,2708,2377,3878,3713,307.7,-15.3,89,1599,0.00,1.92,0.00,0.000,516,0.000,0.030,2708,1031,3795,3878,3713,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1652,-0.64,-194.6,2708,1031,3878,3713,314.6,-15.7,91,1660,0.00,1.95,0.00,0.000,1030,0.000,0.028,2705,2397,3795,3878,3712,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1958,-0.64,-194.6,2704,2397,3878,3709,359.7,-11.9,107,1965,0.08,1.92,0.00,0.000,2308,0.194,0.041,2719,3709,3793,3878,3709,0,0,0,0,0,0,26.46,26.45,28.83
$GC,1987,-0.64,-194.6,2718,3709,3878,3708,362.5,-11.8,108,1993,0.00,1.80,0.00,0.000,1030,0.000,0.021,2719,2377,3793,3878,3709,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2306,-0.64,-194.6,2718,2372,3877,3703,395.0,-10.2,124,2313,0.00,1.92,0.00,0.000,516,0.000,0.031,2719,1021,3790,3878,3703,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2362,-0.64,-194.6,2719,1020,3878,3701,399.7,-10.2,126,2367,0.00,1.92,0.00,0.000,1030,0.000,0.028,2717,2375,3789,3878,3701,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2676,-0.64,-194.6,2717,2375,3883,3697,433.9,-10.2,142,2681,0.00,1.92,0.00,0.000,516,0.000,0.031,2717,1030,3787,3878,3697,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2764,-0.64,-194.6,2717,1030,3878,3699,441.9,-9.3,146,2771,0.00,1.90,0.00,0.000,1030,0.000,0.028,2713,2374,3786,3877,3695,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3085,-0.64,-194.6,2714,2374,3878,3689,473.9,-10.1,162,3091,0.00,1.92,0.00,0.000,516,0.000,0.031,2714,1030,3783,3878,3689,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3154,-0.64,-194.6,2714,1030,3876,3689,481.4,-11.0,165,3160,0.00,1.92,0.00,0.000,1030,0.000,0.029,2713,2380,3782,3876,3689,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3474,-0.64,-194.6,2713,2381,3875,3686,523.7,-13.1,181,3480,0.00,1.95,0.00,0.000,516,0.000,0.031,2713,1025,3779,3873,3686,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3499,-0.64,-194.6,2713,1025,3873,3686,526.8,-13.0,182,3505,0.00,1.95,0.00,0.000,1030,0.000,0.028,2709,2376,3779,3873,3686,0,0,0,0,0,0,28.83,26.52,28.83
$GC,3824,-0.64,-194.6,2709,2376,3871,3683,562.9,-10.4,198,3825,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2376,3776,3870,3683,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4123,-0.64,-194.6,2709,2376,3868,3681,592.3,-10.2,213,4129,0.00,1.95,0.00,0.000,516,0.000,0.031,2709,1024,3774,3868,3681,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4191,-0.64,-194.6,2708,1024,3866,3681,599.0,-10.2,216,4198,0.00,1.92,0.00,0.000,1030,0.000,0.029,2706,2375,3773,3866,3681,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4512,-0.64,-194.6,2705,2376,3865,3678,630.8,-9.0,227,4518,0.00,1.95,0.00,0.000,516,0.000,0.032,2706,1030,3772,3865,3679,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4586,-0.64,-194.6,2702,1030,3864,3679,636.3,-8.3,229,4592,0.08,1.92,0.00,0.000,3078,0.190,0.030,2720,2378,3771,3864,3678,0,0,0,0,0,0,26.36,26.51,28.83
$GC,4911,-0.64,-194.6,2720,2378,3862,3675,659.5,-7.1,240,4917,0.00,1.98,0.00,0.000,260,0.000,0.047,2718,3710,3768,3862,3675,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4936,-0.64,-194.6,2717,3709,3862,3675,659.5,-7.1,240,4942,0.00,1.83,0.00,0.000,1030,0.000,0.023,2717,2359,3768,3862,3675,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5252,-0.64,-194.6,2717,2359,3860,3674,693.2,-11.4,251,5257,0.00,1.90,0.00,0.000,516,0.000,0.033,2717,1032,3767,3860,3674,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5299,-0.64,-194.6,2717,1032,3859,3673,697.4,-11.7,252,5305,0.00,1.92,0.00,0.000,1030,0.000,0.030,2717,2378,3765,3858,3673,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5618,-0.64,-194.6,2716,2378,3857,3670,732.5,-10.0,263,5624,0.00,1.92,0.00,0.000,516,0.000,0.032,2716,1042,3764,3857,3671,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5697,-0.64,-194.6,1728,1041,3853,3669,739.5,-10.5,265,5703,0.00,1.90,0.00,0.000,1030,0.000,0.030,2714,2374,3763,3856,3671,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6017,-0.64,-194.6,2714,2375,3854,3668,776.9,-11.2,276,6023,0.00,1.92,0.00,0.000,516,0.000,0.033,2715,1042,3761,3855,3668,0,0,0,0,0,0,28.83,26.48,28.83
$GC,6072,-0.64,-194.6,2714,1042,3854,3668,781.1,-11.4,277,6078,0.00,1.90,0.00,0.000,1030,0.000,0.031,2713,2373,3761,3854,3669,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6388,-0.64,-194.6,2713,2373,3853,3666,817.5,-10.5,288,6389,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2373,3759,3853,3666,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6687,-0.64,-194.6,2713,2373,3853,3665,847.7,-9.8,298,6688,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2374,3758,3852,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6987,-0.64,-194.6,2713,2373,3851,3663,874.9,-8.5,308,6993,0.00,1.92,0.00,0.000,516,0.000,0.033,2713,1044,3756,3850,3663,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7053,-0.64,-194.6,2713,1044,3849,3663,880.5,-8.4,310,7058,0.00,1.92,0.00,0.000,1030,0.000,0.031,2713,2376,3755,3848,3663,0,0,0,0,0,0,28.83,26.50,28.83
$GC,7388,-0.64,-194.6,2713,2376,3848,3661,910.7,-9.7,321,7393,0.00,1.95,0.00,0.000,516,0.000,0.034,2713,1035,3754,3848,3661,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7415,-0.64,-194.6,2712,1035,3848,3660,910.7,-9.7,321,7423,0.00,1.95,0.00,0.000,1030,0.000,0.031,2709,2382,3754,3848,3660,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7724,-0.64,-194.6,2709,2382,3848,3658,942.0,-8.3,332,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2382,3752,3848,3657,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8022,-0.64,-194.6,2709,2379,3847,3656,968.4,-9.3,342,8027,0.00,1.95,0.00,0.000,516,0.000,0.034,2709,1041,3749,3847,3651,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8075,-0.64,-194.6,2708,1041,3846,3655,971.7,-9.5,343,8081,0.00,1.92,0.00,0.000,1030,0.000,0.031,2706,2378,3751,3847,3655,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,8238,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8238,begin apogee
$GC,8243,-0.20,0.0,2705,2274,3846,3655,990.3,-10.0,349,8428,0.47,0.00,177.12,0.985,10246,0.119,0.000,2863,2274,2989,3106,2872,0,0,0,0,0,0,26.27,28.83,24.18
$STATE,8429,end apogee,CONTROL_FINISHED_OK
$STATE,8429,begin climb
$GC,8431,0.64,194.6,2863,2274,3106,2868,997.5,0.0,354,8623,0.77,2.33,182.05,0.969,10756,0.076,0.044,3140,880,2191,2326,2057,0,0,0,0,0,0,24.90,24.56,23.96
$GC,8676,0.64,194.6,3140,880,2320,2050,985.7,9.2,362,8682,0.00,2.08,0.00,0.000,1030,0.000,0.029,3140,2241,2185,2320,2050,0,0,0,0,0,0,28.83,25.10,28.83
$GC,9000,0.64,194.6,3140,2242,2318,2039,946.6,12.0,373,9001,0.00,0.00,0.00,0.000,6,0.000,0.000,3140,2242,2179,2318,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9300,0.64,194.6,3140,2242,2317,2037,910.6,11.9,383,9305,0.00,2.15,0.00,0.000,260,0.000,0.046,3140,3649,2176,2316,2037,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9338,0.64,194.6,3140,3649,2314,2036,906.1,12.2,384,9345,0.10,2.00,0.00,0.000,5126,0.223,0.025,3128,2266,2175,2314,2037,0,0,0,0,0,0,25.86,26.10,28.83
$GC,9668,0.64,194.6,3128,2266,2314,2034,869.7,10.7,395,9674,0.00,2.10,0.00,0.000,260,0.000,0.045,3128,3642,2174,2314,2034,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9721,0.64,194.6,3127,3643,2314,2036,865.6,11.1,396,9727,0.00,2.03,0.00,0.000,1030,0.000,0.025,3134,2232,2173,2314,2033,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10037,0.64,194.6,3133,2231,2314,2032,828.0,10.9,407,10043,0.00,2.05,0.00,0.000,516,0.000,0.045,3143,861,2172,2313,2032,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10091,0.64,194.6,3143,861,2314,2032,823.6,11.2,408,10096,0.00,2.00,0.00,0.000,1030,0.000,0.029,3144,2245,2170,2308,2032,0,0,0,0,0,0,28.83,26.30,28.83
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$STATE,17899,end climb,SURFACE_DEPTH_REACHED
$STATE,17899,begin surface coast
$FINISH,-0.0,1.021658
$STATE,17928,end surface coast,CONTROL_FINISHED_OK
$STATE,17928,begin surface
$SM_CCo,18005,0.00,0.000,0,0,1271,421.92
$SM_GC,-1.60,8.48,0.17,0.00,0.065,0.063,0.000,132,2422,1271,-8.63,-1.67,421.92,0,0,0,0,0,0,26.23,26.33,28.83
$IRIDIUM_FIX,1841.87,12215.53,130413,161658
$TT8_MAMPS,0.026964,0.026964
$HUMID,45.39
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.40
$XPDR_PINGS,7
$SC_FREEKB,3962912
$24V_AH,24.0,19.225
$10V_AH,10.3,17.191
$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,21.825,159.600,542.750,0.000,0.000,0.000,0.000,287.475,1.750,0.000,17.476,3394.287,11623.553,726.291,2305.120,402.879,0.000,2144.399,0.000,1916.216,0.000,0.545,0.000
$DEVICE_MAMPS,253.215,99.450,984.555,0.000,0.000,0.000,0.000,120.870,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17953.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.882,0.000,0.000,0.000
$MEM,321460
$DATA_FILE_SIZE,30064,799
$CAP_FILE_SIZE,432447,0
$CFSIZE,260034560,234942464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.306,307.8,1
$GPS,140413,025106,1849.788,12214.559,28,1.6,28,-2.1