version: 66.11
glider: 177
mission: 4
dive: 198
start: 4 24 113 13 15 52
data:
$ID,177
$MISSION,4
$DIVE,198
$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,-8115.0479
$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,55
$R_STBD_OVSHOOT,88
$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
$GPS1,240413,130735,1846.199,12219.542,38,1.4,44,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.80
$_SM_ANGLEo,-68.9
$GPS2,240413,131507,1846.412,12219.503,13,1.5,13,-2.1
$SPEED_LIMITS,0.159,0.756
$TGT_NAME,M2A
$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,233.1,8519,-12.5,-9.167,-12.94,684
$D_GRID,999
$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,-0.58,-40.8,133,2404,487,435,0.0,0.0,0,118,0.00,0.00,-95.60,0.000,16386,0.000,0.000,133,2405,3002,3037,2967,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-0.58,-40.8,133,2405,3037,2970,3.3,-13.9,13,146,11.10,2.10,-2.58,0.000,18948,0.253,0.041,2744,969,3161,3217,3105,0,0,0,0,0,0,25.61,26.08,26.33
$GC,226,-0.58,-40.8,2744,969,3229,3102,41.6,-25.6,25,235,0.00,1.95,0.00,0.000,1030,0.000,0.027,2736,2337,3164,3226,3102,0,0,0,0,0,0,28.83,26.16,28.83
$GC,545,-0.58,-40.8,2737,2337,3231,3099,110.5,-21.6,43,550,0.00,2.03,0.00,0.000,260,0.000,0.039,2726,3717,3166,3231,3101,0,0,0,0,0,0,28.83,26.27,28.83
$GC,599,-0.58,-40.8,2726,3717,3231,3102,121.1,-22.4,45,606,0.00,1.90,0.00,0.000,1030,0.000,0.019,2726,2323,3166,3231,3102,0,0,0,0,0,0,28.83,26.41,28.83
$GC,914,-0.58,-40.8,2726,2323,3233,3102,174.1,-14.6,61,920,0.00,1.92,0.00,0.000,516,0.000,0.031,2726,974,3167,3233,3102,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1031,-0.58,-40.8,2726,974,3237,3102,189.0,-14.1,66,1038,0.10,1.98,0.00,0.000,3078,0.181,0.026,2740,2379,3167,3233,3102,0,0,0,0,0,0,26.22,26.43,28.83
$GC,1347,-0.58,-40.8,2740,2380,3233,3102,230.6,-11.7,82,1354,0.00,2.00,0.00,0.000,516,0.000,0.031,2740,980,3168,3234,3102,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1478,-0.58,-40.8,2740,979,3234,3102,243.9,-10.2,88,1484,0.00,1.98,0.00,0.000,1030,0.000,0.026,2732,2382,3168,3234,3102,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1798,-0.58,-40.8,2732,2382,3233,3101,276.8,-10.3,104,1804,0.00,2.03,0.00,0.000,516,0.000,0.031,2732,968,3167,3234,3101,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1974,-0.58,-41.0,2732,969,3234,3100,292.5,-9.1,112,1981,0.00,2.00,0.00,0.000,1030,0.000,0.027,2729,2372,3167,3234,3100,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2289,-0.58,-41.0,2729,2373,3234,3096,324.2,-10.8,128,2295,0.00,2.00,0.00,0.000,516,0.000,0.031,2729,977,3165,3234,3096,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2527,-0.58,-41.0,2729,977,3233,3093,348.5,-9.9,139,2534,0.08,1.98,0.00,0.000,3078,0.197,0.026,2737,2377,3163,3233,3093,0,0,0,0,0,0,26.34,26.51,28.83
$GC,2843,-0.58,-41.0,2737,2377,3234,3090,377.8,-9.4,155,2849,0.00,2.00,0.00,0.000,516,0.000,0.031,2737,977,3161,3233,3089,0,0,0,0,0,0,28.83,26.47,28.83
$GC,3086,-0.58,-41.0,2737,977,3233,3085,400.0,-9.3,166,3092,0.00,1.98,0.00,0.000,1030,0.000,0.027,2733,2372,3159,3233,3085,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3400,-0.59,-43.7,2733,2373,3234,3081,427.8,-8.8,182,3407,0.00,1.98,0.00,0.000,260,0.000,0.043,2730,3712,3157,3234,3081,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3487,-0.59,-47.5,2729,3711,3233,3081,435.3,-8.6,186,3494,0.00,1.90,0.00,0.000,1030,0.000,0.021,2730,2323,3156,3233,3080,0,0,0,0,0,0,28.83,26.59,28.83
$GC,3814,-0.61,-55.1,2730,2322,3233,3075,463.8,-8.0,202,3819,0.00,1.92,0.00,0.000,516,0.000,0.032,2730,974,3154,3233,3075,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3933,-0.62,-58.7,2730,974,3233,3074,472.9,-8.6,207,3941,0.00,2.00,0.00,0.000,1030,0.000,0.028,2726,2377,3153,3233,3074,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4240,-0.64,-69.3,2725,2377,3233,3069,499.2,-7.6,223,4246,0.00,2.03,0.00,0.000,516,0.000,0.032,2726,974,3151,3234,3069,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4273,-0.66,-80.1,2725,974,3232,3069,500.9,-7.5,224,4280,0.00,2.00,0.00,0.000,1030,0.000,0.028,2720,2379,3150,3231,3069,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4589,-0.66,-83.0,2720,2378,3229,3067,527.4,-8.7,240,4591,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2378,3148,3229,3067,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4888,-0.68,-91.1,2720,2378,3227,3065,553.6,-8.0,255,4895,0.00,2.05,0.00,0.000,516,0.000,0.033,2720,974,3144,3226,3062,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4996,-0.69,-95.6,2720,974,3225,3064,562.7,-8.5,260,5003,0.00,2.03,0.00,0.000,1030,0.000,0.028,2717,2382,3144,3225,3064,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5325,-0.69,-96.2,2717,2382,3224,3061,591.0,-9.1,276,5330,0.00,2.03,0.00,0.000,516,0.000,0.033,2717,980,3142,3224,3060,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5410,-0.69,-96.2,2717,980,3222,3060,599.1,-9.3,280,5416,0.00,2.00,0.00,0.000,1030,0.000,0.029,2713,2378,3141,3223,3060,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5735,-0.71,-106.7,2713,2378,3222,3058,626.1,-7.6,291,5741,0.00,2.03,0.00,0.000,516,0.000,0.033,2713,980,3139,3221,3058,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5784,-0.74,-118.7,2713,980,3221,3058,628.6,-7.4,292,5790,0.08,2.00,0.00,0.000,5126,0.131,0.029,2668,2381,3139,3220,3058,0,0,0,0,0,0,26.39,26.48,28.83
$GC,6104,-0.75,-124.7,2667,2381,3218,3056,657.1,-8.3,303,6106,0.08,0.00,0.00,0.000,2054,0.207,0.000,2681,2381,3137,3218,3056,0,0,0,0,0,0,26.45,28.83,28.83
$GC,6406,-0.75,-125.3,2681,2381,3217,3055,685.2,-9.1,313,6412,0.00,2.05,0.00,0.000,516,0.000,0.034,2681,973,3136,3217,3055,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6490,-0.75,-125.3,2681,973,3215,3054,691.5,-9.2,315,6496,0.00,2.00,0.00,0.000,1030,0.000,0.029,2676,2369,3135,3215,3055,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6807,-0.76,-128.4,2676,2369,3215,3052,721.6,-8.7,326,6808,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2369,3133,3215,3052,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7105,-0.76,-128.4,2676,2369,3214,3051,748.8,-9.5,336,7111,0.00,2.03,0.00,0.000,516,0.000,0.034,2676,977,3132,3213,3051,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7205,-0.76,-128.4,2676,977,3212,3050,758.4,-10.1,339,7211,0.00,2.03,0.00,0.000,1030,0.000,0.029,2668,2386,3130,3211,3050,0,0,0,0,0,0,28.83,26.46,28.83
$GC,7534,-0.76,-128.4,2668,2387,3211,3049,800.5,-13.2,350,7536,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2387,3130,3211,3049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7834,-0.76,-128.4,2668,2387,3210,3048,837.4,-12.4,360,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2387,3129,3210,3048,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8134,-0.76,-128.4,2668,2387,3208,3048,873.0,-11.3,370,8140,0.00,2.05,0.00,0.000,516,0.000,0.034,2668,980,3128,3208,3048,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8253,-0.76,-128.4,2668,984,3207,3047,884.3,-11.7,373,8263,0.10,2.00,0.00,0.000,3078,0.194,0.029,2682,2374,3127,3207,3047,0,0,0,0,0,0,26.18,26.44,28.83
$GC,8561,-0.76,-128.4,2682,2374,3207,3046,919.2,-9.9,384,8567,0.00,2.00,0.00,0.000,260,0.000,0.046,2675,3707,3126,3207,3046,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8677,-0.76,-128.4,2674,3706,3206,3046,929.0,-10.0,387,8683,0.00,1.90,0.00,0.000,1030,0.000,0.024,2675,2337,3126,3206,3046,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8994,-0.76,-128.4,2675,2335,3207,3044,962.3,-9.9,398,9000,0.00,1.90,0.00,0.000,516,0.000,0.035,2675,1016,3124,3205,3043,0,0,0,0,0,0,28.83,26.37,28.83
$GC,9068,-0.76,-128.4,2675,1018,3205,3043,969.0,-9.8,400,9074,0.08,1.98,0.00,0.000,3078,0.207,0.031,2683,2377,3124,3205,3043,0,0,0,0,0,0,26.22,26.43,28.83
$STATE,9301,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9301,begin apogee
$GC,9306,-0.20,0.0,2679,2252,3205,3043,991.4,-9.2,408,9345,0.55,0.00,34.42,0.989,10246,0.142,0.000,2854,2251,2993,3085,2901,0,0,0,0,0,0,26.01,28.83,25.04
$STATE,9348,end apogee,CONTROL_FINISHED_OK
$STATE,9348,begin climb
$GC,9350,0.76,128.4,2854,2251,3085,2897,992.9,0.0,409,9487,0.88,0.00,131.75,0.968,10502,0.084,0.000,3166,2251,2468,2569,2367,0,0,0,0,0,0,25.76,28.83,24.22
$GC,9783,0.76,128.4,3166,2251,2565,2341,956.4,10.8,424,9784,0.00,0.00,0.00,0.000,6,0.000,0.000,3166,2251,2451,2565,2337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10083,0.77,137.5,3166,2252,2565,2337,930.7,7.8,434,10094,0.00,2.08,5.45,0.854,8708,0.000,0.044,3175,877,2432,2542,2322,0,0,0,0,0,0,28.83,25.98,25.13
$GC,10167,0.79,146.4,3175,877,2543,2322,925.4,7.8,436,10186,0.00,1.98,12.10,0.917,9222,0.000,0.030,3175,2239,2392,2503,2282,0,0,0,0,0,0,28.83,26.07,25.13
$GC,10516,0.79,146.4,3175,2242,2503,2274,888.3,10.3,448,10522,0.00,2.12,0.00,0.000,260,0.000,0.046,3175,3639,2388,2503,2274,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10612,0.79,146.4,3175,3639,2501,2273,874.9,13.3,451,10618,0.00,2.03,0.00,0.000,1030,0.000,0.028,3175,2264,2386,2500,2273,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10946,0.79,146.4,3175,2263,2501,2272,832.1,12.8,462,10947,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2263,2386,2501,2272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11246,0.79,146.4,3175,2263,2501,2270,794.0,12.9,472,11253,0.00,2.15,0.00,0.000,516,0.000,0.050,3180,843,2385,2501,2270,0,0,0,0,0,0,28.83,26.20,28.83
$GC,11305,0.79,146.4,3179,843,2501,2270,789.4,13.0,473,11313,0.00,2.03,0.00,0.000,1030,0.000,0.029,3179,2246,2385,2501,2269,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11613,0.79,146.4,3179,2246,2501,2268,750.0,11.0,484,11614,0.00,0.00,0.00,0.000,6,0.000,0.000,3178,2246,2384,2501,2268,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,19651,end climb,SURFACE_DEPTH_REACHED
$STATE,19651,begin surface coast
$FINISH,0.2,1.021241
$STATE,19690,end surface coast,CONTROL_FINISHED_OK
$STATE,19691,begin surface
$SM_CCo,19709,118.78,0.051,0,0,463,619.87
$SM_GC,-1.65,8.60,0.15,118.78,0.069,0.075,0.051,130,2412,463,-8.62,-1.72,619.87,0,0,0,0,0,0,26.33,26.43,26.24
$IRIDIUM_FIX,1837.32,12225.65,240413,070738
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.51
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.90
$XPDR_PINGS,19
$SC_FREEKB,3944096
$24V_AH,24.2,25.118
$10V_AH,10.0,23.294
$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,22.225,141.025,313.650,118.775,0.000,0.000,0.000,261.175,4.750,0.000,15.654,4152.895,12247.050,682.367,2695.840,499.231,0.000,2183.064,0.000,2318.944,0.000,0.547,0.000
$DEVICE_MAMPS,253.215,74.970,989.145,51.255,0.000,0.000,0.000,121.635,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19700.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.218,0.000,0.000,0.000
$MEM,320892
$DATA_FILE_SIZE,33317,919
$CAP_FILE_SIZE,495917,0
$CFSIZE,260034560,227971072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.138,324.4,1
$GPS,240413,184753,1846.027,12216.956,40,1.3,40,-2.1