version: 66.11
glider: 177
mission: 4
dive: 193
start: 4 23 113 12 1 22
data:
$ID,177
$MISSION,4
$DIVE,193
$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,619.87311
$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,-8108.7603
$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,63
$R_STBD_OVSHOOT,84
$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
$GPS1,230413,115259,1845.005,12236.099,35,1.1,42,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.84
$_SM_ANGLEo,-67.4
$GPS2,230413,120054,1845.164,12235.999,11,1.5,11,-2.1
$SPEED_LIMITS,0.159,0.756
$TGT_NAME,M3A
$TGT_LATLONG,1845.000,12224.280
$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,265.6,20554,-6.2,-9.167,-6.92,3252
$D_GRID,1694
$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,-194.6,145,2396,490,434,0.0,0.0,0,127,0.00,0.00,-105.38,0.000,16386,0.000,0.000,145,2397,3405,3465,3345,0,0,0,0,0,0,28.83,28.83,28.83
$GC,130,-0.64,-194.6,144,2397,3465,3346,5.1,-18.4,14,154,10.82,2.08,-4.82,0.000,18948,0.250,0.041,2722,966,3789,3871,3707,0,0,0,0,0,0,25.64,26.08,26.38
$GC,382,-0.64,-194.6,2721,968,3874,3707,91.1,-24.4,31,389,0.00,1.95,0.00,0.000,1030,0.000,0.026,2714,2341,3790,3873,3707,0,0,0,0,0,0,28.83,26.26,28.83
$GC,702,-0.64,-194.6,2714,2343,3876,3707,168.9,-20.6,47,708,0.00,1.95,0.00,0.000,516,0.000,0.031,2714,981,3791,3876,3707,0,0,0,0,0,0,28.83,26.34,28.83
$GC,750,-0.64,-194.6,1680,979,3873,3705,177.2,-19.4,49,755,0.00,1.98,0.00,0.000,1030,0.000,0.026,2705,2377,3791,3876,3707,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1071,-0.64,-194.6,2703,2378,3876,3706,239.6,-18.7,65,1076,0.00,2.00,0.00,0.000,516,0.000,0.031,2705,981,3791,3876,3707,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1120,-0.64,-194.6,2705,981,3876,3707,248.0,-18.5,67,1127,0.10,2.00,0.00,0.000,3078,0.176,0.028,2723,2382,3791,3876,3707,0,0,0,0,0,0,26.25,26.44,28.83
$GC,1442,-0.64,-194.6,2723,2383,3876,3707,298.7,-14.0,83,1449,0.00,2.00,0.00,0.000,516,0.000,0.031,2724,985,3791,3876,3707,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1502,-0.64,-194.6,2723,985,3876,3706,304.9,-13.5,85,1510,0.00,1.98,0.00,0.000,1030,0.000,0.027,2720,2383,3791,3876,3706,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1809,-0.64,-194.6,2720,2383,3876,3703,351.1,-14.2,101,1815,0.00,2.00,0.00,0.000,516,0.000,0.031,2720,986,3789,3876,3703,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1875,-0.64,-194.6,2720,986,3876,3702,360.2,-14.0,104,1881,0.00,1.98,0.00,0.000,1030,0.000,0.028,2717,2375,3788,3876,3701,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2200,-0.64,-194.6,2717,2376,3876,3698,402.9,-13.0,120,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2376,3785,3876,3694,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2500,-0.64,-194.6,2717,2376,3876,3692,440.4,-11.5,135,2506,0.00,2.00,0.00,0.000,516,0.000,0.031,2717,986,3784,3876,3693,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2568,-0.64,-194.6,2717,987,3876,3691,448.2,-11.4,138,2573,0.00,1.98,0.00,0.000,1030,0.000,0.028,2714,2373,3783,3876,3691,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2895,-0.64,-194.6,2713,2373,3876,3685,487.0,-11.7,154,2901,0.00,2.00,0.00,0.000,516,0.000,0.032,2714,981,3780,3876,3685,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2986,-0.64,-194.6,2714,981,3876,3684,497.5,-11.7,158,2992,0.00,1.98,0.00,0.000,1030,0.000,0.028,2713,2375,3779,3875,3684,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3306,-0.64,-194.6,2713,2375,3872,3680,537.1,-12.3,174,3312,0.00,2.00,0.00,0.000,516,0.000,0.031,2713,984,3776,3872,3680,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3333,-0.64,-194.6,2713,984,3871,3680,540.3,-12.4,175,3340,0.00,1.98,0.00,0.000,1030,0.000,0.028,2713,2378,3775,3871,3680,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3655,-0.64,-194.6,2713,2373,3868,3676,578.2,-11.2,191,3661,0.00,2.00,0.00,0.000,516,0.000,0.031,2713,981,3772,3868,3676,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3750,-0.64,-194.6,2713,981,3866,3675,588.0,-11.2,195,3757,0.00,1.98,0.00,0.000,1030,0.000,0.029,2713,2371,3770,3866,3675,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4075,-0.64,-194.6,2713,2371,3863,3672,624.4,-10.8,208,4080,0.00,2.00,0.00,0.000,516,0.000,0.032,2713,984,3767,3863,3672,0,0,0,0,0,0,28.83,26.45,28.83
$GC,4133,-0.64,-194.6,2712,984,3863,3672,627.9,-10.6,209,4141,0.00,2.00,0.00,0.000,1030,0.000,0.030,2713,2373,3767,3863,3672,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4440,-0.64,-194.6,2713,2375,3861,3668,661.5,-9.9,220,4441,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2375,3764,3860,3668,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4739,-0.64,-194.6,2713,2375,3858,3666,690.1,-9.6,230,4745,0.00,2.00,0.00,0.000,260,0.000,0.046,2713,3717,3762,3858,3666,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4773,-0.64,-194.6,2712,3717,3856,3666,693.8,-9.8,231,4780,0.00,1.90,0.00,0.000,1030,0.000,0.023,2713,2336,3762,3858,3666,0,0,0,0,0,0,28.83,26.58,28.83
$GC,5108,-0.64,-194.6,2712,2336,3854,3662,727.5,-9.8,242,5114,0.00,1.88,0.00,0.000,516,0.000,0.033,2713,1024,3758,3854,3662,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5192,-0.64,-194.6,2713,1024,3854,3662,734.0,-9.7,244,5198,0.00,1.95,0.00,0.000,1030,0.000,0.030,2712,2383,3756,3854,3658,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5507,-0.64,-194.6,2712,2383,3853,3660,769.1,-11.0,255,5514,0.00,1.98,0.00,0.000,516,0.000,0.033,2712,1024,3756,3853,3660,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5593,-0.64,-194.6,2712,1024,3851,3660,776.9,-11.4,257,5600,0.00,1.95,0.00,0.000,1030,0.000,0.030,2712,2383,3755,3851,3659,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5909,-0.64,-194.6,2712,2383,3848,3656,810.1,-9.5,268,5915,0.00,1.98,0.00,0.000,516,0.000,0.033,2712,1018,3752,3848,3656,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5962,-0.64,-194.6,2712,1021,3847,3656,813.5,-9.5,269,5968,0.00,1.98,0.00,0.000,1030,0.000,0.031,2712,2383,3751,3847,3656,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6278,-0.64,-194.6,2711,2383,3846,3653,843.2,-8.8,280,6284,0.00,1.98,0.00,0.000,516,0.000,0.034,2712,1022,3749,3846,3653,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6326,-0.64,-194.6,2712,1022,3846,3653,846.5,-9.0,281,6332,0.00,1.95,0.00,0.000,1030,0.000,0.030,2709,2381,3749,3846,3652,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6647,-0.64,-194.6,2708,2381,3846,3649,878.2,-9.6,292,6653,0.00,1.98,0.00,0.000,516,0.000,0.034,2708,1022,3747,3846,3649,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6675,-0.64,-194.6,2708,1022,3845,3649,878.2,-9.6,292,6684,0.00,1.98,0.00,0.000,1030,0.000,0.031,2706,2381,3747,3845,3649,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6982,-0.64,-194.6,2705,2381,3843,3647,910.3,-9.3,303,6989,0.00,1.98,0.00,0.000,516,0.000,0.034,2706,1028,3745,3844,3647,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7056,-0.64,-194.6,2705,1027,3842,3647,916.5,-9.3,305,7063,0.08,1.95,0.00,0.000,3078,0.182,0.031,2720,2380,3744,3842,3647,0,0,0,0,0,0,26.29,26.44,28.83
$GC,7382,-0.64,-194.6,2720,2381,3841,3645,941.8,-7.4,316,7388,0.00,2.00,0.00,0.000,516,0.000,0.035,2720,1025,3742,3840,3645,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7435,-0.64,-194.6,2720,1025,3840,3645,944.6,-7.5,317,7441,0.00,1.95,0.00,0.000,1030,0.000,0.031,2720,2376,3742,3840,3645,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7751,-0.64,-194.6,2719,2376,3839,3643,970.0,-7.6,328,7756,0.00,1.98,0.00,0.000,516,0.000,0.035,2720,1024,3741,3839,3644,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7815,-0.64,-194.6,2719,1024,3838,3644,975.3,-7.9,330,7821,0.00,1.95,0.00,0.000,1030,0.000,0.031,2717,2373,3740,3838,3643,0,0,0,0,0,0,28.83,26.42,28.83
$STATE,8027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8027,begin apogee
$GC,8032,-0.20,0.0,2717,2265,3838,3642,992.3,-8.0,337,8219,0.43,0.00,178.35,0.970,10246,0.116,0.000,2859,2264,2988,3094,2882,0,0,0,0,0,0,26.15,28.83,24.21
$STATE,8221,end apogee,CONTROL_FINISHED_OK
$STATE,8221,begin climb
$GC,8223,0.64,194.6,2859,2264,3094,2878,1000.2,0.0,342,8417,0.77,2.28,186.10,0.954,10500,0.069,0.044,3135,3642,2193,2315,2072,0,0,0,0,0,0,24.96,24.60,23.96
$GC,8442,0.83,287.9,3135,3642,2311,2061,995.8,6.2,350,8537,0.17,2.10,87.07,0.942,11270,0.077,0.027,3200,2254,1815,1931,1700,0,0,1,0,0,0,24.93,24.96,23.94
$GC,8852,0.83,287.9,3200,2254,1922,1678,924.1,17.7,364,8858,0.00,2.15,0.00,0.000,516,0.000,0.047,3209,861,1798,1918,1678,0,0,0,0,0,0,28.83,25.72,28.83
$GC,8918,0.83,287.9,3209,860,1922,1677,912.6,17.7,366,8924,0.10,2.05,0.00,0.000,5126,0.175,0.030,3189,2245,1799,1922,1677,0,0,0,0,0,0,25.68,25.86,28.83
$GC,9253,0.83,287.9,3188,2245,1921,1675,855.9,16.6,377,9259,0.00,2.12,0.00,0.000,516,0.000,0.050,3195,863,1798,1921,1675,0,0,0,0,0,0,28.83,26.02,28.83
$GC,9281,0.83,287.9,3194,863,1921,1675,855.9,16.6,377,9289,0.00,2.00,0.00,0.000,1030,0.000,0.029,3195,2237,1798,1921,1675,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9589,0.83,287.9,3194,2238,1919,1674,800.9,16.2,388,9595,0.00,2.10,0.00,0.000,516,0.000,0.045,3204,858,1796,1920,1673,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9623,0.83,287.9,3204,858,1919,1674,795.1,16.0,389,9629,0.00,2.03,0.00,0.000,1030,0.000,0.029,3204,2245,1796,1919,1673,0,0,0,0,0,0,28.83,26.22,28.83
$GC,9957,0.83,287.9,3204,2246,1920,1673,739.7,17.2,400,9962,0.00,2.10,0.00,0.000,516,0.000,0.046,3213,860,1795,1918,1673,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10025,0.83,287.9,3213,863,1918,1673,729.2,16.8,402,10032,0.10,2.00,0.00,0.000,5126,0.188,0.029,3192,2246,1795,1918,1672,0,0,0,0,0,0,26.06,26.29,28.83
$GC,10356,0.83,287.9,3192,2246,1917,1672,675.1,16.8,413,10362,0.00,2.10,0.00,0.000,260,0.000,0.044,3192,3639,1795,1917,1673,0,0,0,0,0,0,28.83,26.27,28.83
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$STATE,15569,end climb,SURFACE_DEPTH_REACHED
$STATE,15569,begin surface coast
$FINISH,0.4,1.021607
$STATE,15586,end surface coast,CONTROL_FINISHED_OK
$STATE,15586,begin surface
$SM_CCo,15605,60.80,0.053,0,0,464,619.87
$SM_GC,-1.67,8.73,2.22,60.80,0.070,0.024,0.053,137,2363,464,-8.62,-1.58,619.87,0,0,0,0,0,0,26.27,26.34,26.20
$IRIDIUM_FIX,1839.59,12237.00,230413,060615
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.88
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.60
$XPDR_PINGS,25
$SC_FREEKB,3946016
$24V_AH,23.9,24.555
$10V_AH,10.0,22.665
$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,22.175,145.150,548.625,60.800,0.000,0.000,0.000,276.550,6.250,0.000,14.074,3018.992,9751.721,801.170,2133.915,412.174,0.000,2121.243,0.000,1754.062,0.000,0.547,0.000
$DEVICE_MAMPS,250.155,80.325,970.020,52.785,0.000,0.000,0.000,123.165,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15620.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.065,0.000,0.000,0.000
$MEM,320924
$DATA_FILE_SIZE,26748,708
$CAP_FILE_SIZE,384236,0
$CFSIZE,260034560,228773888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.022, 35.3,1
$GPS,230413,162353,1844.744,12233.048,23,1.0,40,-2.1