version: 66.11
glider: 177
mission: 4
dive: 222
start: 4 29 113 13 20 6
data:
$ID,177
$MISSION,4
$DIVE,222
$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,-8152.7017
$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,61
$R_STBD_OVSHOOT,101
$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
$GPS1,290413,131129,1846.290,12202.781,39,1.1,45,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.83
$_SM_ANGLEo,-67.6
$GPS2,290413,131918,1846.332,12202.624,10,1.0,15,-2.1
$SPEED_LIMITS,0.159,0.756
$TGT_NAME,M1
$TGT_LATLONG,1845.000,12205.830
$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,140.2,6140,-19.1,-9.167,-19.45,253
$D_GRID,965
$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,19,-0.79,-15.1,123,2420,480,442,0.0,0.0,0,124,0.00,0.00,-97.30,0.000,16390,0.000,0.000,123,2420,3056,3092,3020,0,0,0,0,0,0,28.83,28.83,26.43
$GC,128,-0.79,-15.1,123,2423,3092,3020,5.6,-19.3,14,144,10.62,2.12,0.00,0.000,2564,0.246,0.021,2669,948,3058,3097,3019,0,0,0,0,0,0,25.58,26.10,28.83
$GC,162,-0.79,-15.1,2669,948,3108,3013,25.9,-58.6,18,170,0.00,1.98,0.00,0.000,1030,0.000,0.027,2661,2324,3060,3109,3012,0,0,0,0,0,0,28.83,26.10,28.83
$GC,470,-0.79,-15.1,2661,2325,3112,3011,116.8,-25.5,37,476,0.00,1.95,0.00,0.000,260,0.000,0.036,2651,3662,3061,3112,3011,0,0,0,0,0,0,28.83,26.24,28.83
$GC,600,-0.79,-15.1,1632,3661,3067,3006,146.7,-23.3,43,607,0.10,1.80,0.00,0.000,3078,0.191,0.020,2672,2325,3063,3115,3011,0,0,0,0,0,0,26.08,26.38,28.83
$GC,922,-0.79,-15.1,2672,2324,3117,3010,184.5,-11.6,59,927,0.00,1.85,0.00,0.000,516,0.000,0.031,2672,1029,3064,3117,3011,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1165,-0.79,-15.1,2672,1029,3118,3011,214.3,-11.2,70,1171,0.00,1.83,0.00,0.000,1030,0.000,0.025,2664,2334,3064,3117,3011,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1479,-0.79,-15.1,2664,2334,3117,3010,257.9,-13.3,86,1486,0.00,2.00,0.00,0.000,260,0.000,0.040,2659,3702,3065,3119,3011,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1529,-0.79,-15.1,2659,3702,3117,3010,263.5,-12.6,88,1535,0.00,1.77,0.00,0.000,1030,0.000,0.019,2659,2374,3066,3117,3015,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1849,-0.79,-15.1,2659,2373,3118,3007,301.2,-11.0,104,1855,0.00,1.90,0.00,0.000,516,0.000,0.030,2659,1029,3062,3118,3006,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2046,-0.79,-15.1,2659,1029,3117,3003,324.6,-12.8,113,2052,0.10,1.90,0.00,0.000,3078,0.190,0.026,2671,2380,3060,3118,3003,0,0,0,0,0,0,26.23,26.48,28.83
$GC,2362,-0.79,-15.1,2671,2381,3118,3001,366.0,-12.5,129,2368,0.00,1.92,0.00,0.000,516,0.000,0.029,2672,1029,3059,3118,3001,0,0,0,0,0,0,28.83,26.45,28.83
$GC,2523,-0.79,-15.1,2677,1029,3117,2998,384.4,-12.4,136,2531,0.00,1.90,0.00,0.000,1030,0.000,0.027,2664,2371,3058,3118,2998,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2829,-0.79,-15.1,2663,2371,3118,2993,429.0,-14.5,152,2830,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2371,3055,3117,2993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3129,-0.79,-15.1,2664,2371,3117,2990,469.0,-12.2,167,3135,0.00,1.95,0.00,0.000,516,0.000,0.031,2664,1022,3053,3117,2989,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3185,-0.79,-15.1,2663,1022,3117,2988,474.8,-12.2,169,3192,0.08,1.92,0.00,0.000,3078,0.206,0.028,2669,2377,3052,3117,2988,0,0,0,0,0,0,26.29,26.48,28.83
$GC,3502,-0.79,-15.1,2668,2377,3117,2984,510.8,-9.8,185,3508,0.00,1.98,0.00,0.000,260,0.000,0.042,2662,3715,3050,3117,2984,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3621,-0.79,-15.1,1700,3714,3077,2978,523.1,-11.8,190,3629,0.00,1.83,0.00,0.000,1030,0.000,0.021,2662,2370,3050,3117,2983,0,0,0,0,0,0,28.83,26.58,28.83
$GC,3928,-0.79,-15.1,2662,2370,3117,2978,559.9,-12.0,206,3934,0.00,1.92,0.00,0.000,516,0.000,0.031,2662,1023,3047,3117,2978,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4017,-0.79,-15.1,2662,1022,3117,2977,570.3,-12.1,210,4023,0.08,1.92,0.00,0.000,3078,0.212,0.028,2667,2377,3047,3117,2977,0,0,0,0,0,0,26.27,26.48,28.83
$GC,4327,-0.79,-15.1,2667,2378,3117,2974,603.1,-10.3,225,4334,0.00,1.95,0.00,0.000,516,0.000,0.032,2671,1027,3044,3115,2974,0,0,0,0,0,0,28.83,26.42,28.83
$GC,4431,-0.79,-15.1,2667,1027,3113,2973,613.7,-10.8,228,4437,0.00,1.92,0.00,0.000,1030,0.000,0.028,2660,2376,3043,3113,2974,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4756,-0.79,-15.1,2660,2376,3113,2968,647.7,-10.2,239,4761,0.00,1.98,0.00,0.000,260,0.000,0.043,2650,3712,3041,3113,2970,0,0,0,0,0,0,28.83,26.40,28.83
$GC,4803,-0.79,-15.1,2650,3712,3112,2970,651.2,-10.2,240,4810,0.03,1.88,0.00,0.000,3078,0.149,0.022,2673,2361,3041,3112,2970,0,0,0,0,0,0,26.22,26.57,28.83
$GC,5123,-0.79,-15.1,2672,2361,3110,2967,685.7,-10.5,251,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2361,3038,3110,2967,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5424,-0.79,-15.1,2672,2361,3109,2965,718.1,-10.9,261,5430,0.00,1.90,0.00,0.000,516,0.000,0.032,2672,1035,3036,3108,2965,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5451,-0.79,-15.1,2672,1035,3107,2965,718.1,-10.9,261,5459,0.00,1.92,0.00,0.000,1030,0.000,0.029,2664,2380,3036,3107,2965,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5759,-0.79,-15.1,2665,2380,3107,2962,753.1,-10.1,272,5765,0.00,1.95,0.00,0.000,516,0.000,0.032,2664,1034,3034,3106,2963,0,0,0,0,0,0,28.83,26.39,28.83
$GC,5934,-0.79,-15.1,2668,1033,3105,2961,768.4,-9.6,277,5940,0.00,1.92,0.00,0.000,1030,0.000,0.029,2656,2377,3033,3105,2961,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6251,-0.79,-15.7,2655,2377,3104,2959,799.6,-8.9,288,6258,0.00,1.95,0.00,0.000,516,0.000,0.033,2656,1033,3032,3106,2959,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6331,-0.79,-15.8,2655,1033,3103,2959,806.0,-9.1,290,6338,0.10,1.92,0.00,0.000,3078,0.193,0.029,2668,2375,3031,3103,2959,0,0,0,0,0,0,26.17,26.44,28.83
$GC,6651,-0.80,-18.9,2668,2375,3103,2957,833.1,-7.9,301,6657,0.00,2.00,0.00,0.000,260,0.000,0.045,2663,3714,3030,3103,2957,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6725,-0.81,-22.1,2663,3714,3102,2957,838.5,-7.9,303,6731,0.00,1.83,0.00,0.000,1030,0.000,0.023,2663,2384,3029,3102,2957,0,0,0,0,0,0,28.83,26.55,28.83
$GC,7050,-0.81,-25.0,2662,2382,3101,2955,864.3,-8.0,314,7051,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2382,3027,3100,2955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7350,-0.82,-26.1,2662,2382,3099,2954,890.3,-8.7,324,7356,0.00,2.00,0.00,0.000,260,0.000,0.046,2659,3708,3026,3099,2954,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7490,-0.82,-27.4,2659,3707,3099,2954,901.2,-8.6,328,7496,0.00,1.83,0.00,0.000,1030,0.000,0.023,2659,2378,3025,3098,2953,0,0,0,0,0,0,28.83,26.54,28.83
$GC,7810,-0.82,-28.2,2659,2377,3097,2952,927.9,-8.8,339,7816,0.00,1.95,0.00,0.000,516,0.000,0.034,2659,1024,3024,3096,2952,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8046,-0.82,-30.4,2659,1024,3095,2951,946.1,-8.3,346,8053,0.00,1.95,0.00,0.000,1030,0.000,0.030,2650,2378,3023,3095,2951,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,8269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8269,begin apogee
$GC,8275,-0.20,0.0,2649,2249,3095,2951,967.2,-8.4,354,8290,0.68,0.00,10.02,0.972,10246,0.146,0.000,2858,2249,2989,3067,2911,0,0,0,0,0,0,25.95,28.83,25.32
$STATE,8292,end apogee,CONTROL_FINISHED_OK
$STATE,8292,begin climb
$GC,8295,0.82,30.4,2858,2249,3068,2909,967.2,0.0,354,8336,0.90,2.17,32.85,0.975,10500,0.082,0.042,3187,3649,2864,2950,2779,0,0,0,0,0,0,26.18,25.65,24.90
$GC,8508,0.89,61.3,3186,3647,2950,2772,971.7,-3.4,361,8548,0.08,2.03,32.80,0.968,11270,0.135,0.028,3215,2238,2739,2826,2653,0,0,0,0,0,0,25.87,25.98,24.70
$GC,8873,0.92,77.2,3214,2239,2825,2642,967.3,2.8,373,8895,0.00,2.15,16.38,0.957,8708,0.000,0.044,3225,879,2675,2764,2587,0,0,0,0,0,0,28.83,25.70,24.98
$GC,8948,0.95,91.7,3225,879,2763,2585,964.7,3.3,375,8971,0.00,2.03,16.27,0.953,9222,0.000,0.029,3225,2249,2617,2704,2530,0,0,0,0,0,0,28.83,25.84,24.85
$GC,9270,0.95,95.6,3224,2249,2704,2522,941.4,7.6,386,9276,0.00,0.00,3.35,0.640,8198,0.000,0.000,3225,2250,2602,2691,2514,0,0,0,0,0,0,28.83,28.83,24.89
$GC,9570,0.96,97.9,3225,2249,2691,2514,916.9,8.2,396,9575,0.00,0.00,3.53,0.669,8198,0.000,0.000,3225,2249,2592,2679,2506,0,0,0,0,0,0,28.83,28.83,25.01
$GC,9870,0.96,97.9,3224,2249,2679,2506,890.2,9.3,406,9876,0.00,2.10,0.00,0.000,260,0.000,0.044,3225,3638,2592,2679,2506,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10108,0.96,97.9,3225,3638,2679,2506,866.8,11.0,413,10114,0.00,2.00,0.00,0.000,1030,0.000,0.027,3234,2249,2592,2679,2506,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10424,0.96,97.9,3233,2249,2679,2505,831.3,9.8,424,10430,0.00,2.12,0.00,0.000,260,0.000,0.044,3233,3647,2592,2679,2505,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10544,0.96,97.9,3233,3650,2680,2505,822.0,9.5,427,10552,0.00,2.03,0.00,0.000,1030,0.000,0.026,3243,2239,2592,2679,2505,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10852,0.97,101.7,3243,2239,2678,2504,795.0,7.6,438,10858,0.00,0.00,4.32,0.757,8198,0.000,0.000,3243,2239,2577,2665,2490,0,0,0,0,0,0,28.83,28.83,25.24
$GC,11152,0.97,106.0,3242,2239,2665,2491,772.8,7.4,448,11161,0.00,0.00,7.28,0.858,8198,0.000,0.000,3243,2239,2558,2645,2472,0,0,0,0,0,0,28.83,28.83,25.44
$GC,11452,0.98,109.8,3243,2239,2644,2467,750.8,7.6,458,11464,0.00,2.12,3.38,0.605,8708,0.000,0.046,3252,862,2546,2634,2458,0,0,0,0,0,0,28.83,26.22,25.18
$GC,11640,0.99,113.7,3252,862,2633,2458,736.5,7.6,464,11652,0.00,2.00,5.18,0.803,9222,0.000,0.028,3253,2242,2530,2619,2442,0,0,0,0,0,0,28.83,26.29,25.31
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$STATE,21262,end climb,SURFACE_DEPTH_REACHED
$STATE,21262,begin surface coast
$FINISH,0.6,1.021123
$STATE,21303,end surface coast,CONTROL_FINISHED_OK
$STATE,21304,begin surface
$SM_CCo,21322,130.40,0.048,0,0,463,619.87
$SM_GC,-1.68,8.82,0.12,130.40,0.076,0.079,0.048,136,2406,463,-8.62,-2.09,619.87,0,0,0,0,0,0,26.33,26.47,26.26
$IRIDIUM_FIX,1837.32,12155.98,290413,070740
$TT8_MAMPS,0.026964,0.026964
$HUMID,40.62
$INTERNAL_PRESSURE,9.66834
$TCM_TEMP,25.70
$XPDR_PINGS,20
$SC_FREEKB,3934880
$24V_AH,24.7,28.071
$10V_AH,10.1,26.200
$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,22.375,158.725,289.850,130.400,0.000,0.000,0.000,266.700,5.000,0.000,18.754,4767.128,12715.879,732.936,3093.424,609.975,0.000,2408.319,0.000,2700.817,0.000,0.547,0.000
$DEVICE_MAMPS,270.810,78.795,974.610,48.195,0.000,0.000,0.000,123.165,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21325.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.689,0.000,0.000,0.000
$MEM,320872
$DATA_FILE_SIZE,36701,1006
$CAP_FILE_SIZE,561629,0
$CFSIZE,260034560,224649216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.172,260.1,1
$GPS,290413,191859,1845.044,12201.730,35,1.8,36,-2.1