version: 66.11
glider: 177
mission: 4
dive: 232
start: 5 1 113 15 30 47
data:
$ID,177
$MISSION,4
$DIVE,232
$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,-8166.4897
$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,86
$R_STBD_OVSHOOT,55
$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
$GPS1,010513,152159,1846.666,12214.359,37,1.6,38,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.73
$_SM_ANGLEo,-70.4
$GPS2,010513,153019,1846.615,12214.280,11,1.4,11,-2.1
$SPEED_LIMITS,0.159,0.756
$TGT_NAME,M3
$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,108.8,17790,-6.2,-9.167,-6.92,3252
$D_GRID,1032
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-0.64,-194.6,134,2387,481,441,0.0,0.0,0,126,0.00,0.00,-103.57,0.000,16386,0.000,0.000,134,2387,3344,3402,3286,0,0,0,0,0,0,28.83,28.83,28.83
$GC,129,-0.64,-194.6,134,2387,3402,3287,5.2,-19.8,14,154,11.00,2.10,-5.95,0.000,18948,0.250,0.050,2725,1010,3791,3876,3706,0,0,0,0,0,0,25.52,26.01,26.35
$GC,212,-0.64,-194.6,2725,1010,3877,3706,42.5,-24.9,23,218,0.00,1.95,0.00,0.000,1030,0.000,0.027,2717,2371,3791,3877,3706,0,0,0,0,0,0,28.83,26.10,28.83
$GC,528,-0.64,-194.6,2717,2372,3878,3706,122.2,-22.5,40,534,0.00,1.98,0.00,0.000,516,0.000,0.029,2718,997,3792,3878,3706,0,0,0,0,0,0,28.83,26.23,28.83
$GC,713,-0.64,-194.6,2717,998,3879,3706,155.7,-19.3,48,722,0.00,1.98,0.00,0.000,1030,0.000,0.027,2710,2388,3790,3875,3706,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1019,-0.64,-194.6,2710,2388,3879,3706,215.5,-18.7,64,1026,0.00,1.92,0.00,0.000,260,0.000,0.040,2707,3706,3792,3879,3706,0,0,0,0,0,0,28.83,26.33,28.83
$GC,1054,-0.64,-194.6,2703,3706,3879,3706,220.0,-18.5,65,1060,0.08,1.83,0.00,0.000,3078,0.174,0.019,2719,2340,3793,3879,3707,0,0,0,0,0,0,26.27,26.50,28.83
$GC,1370,-0.64,-194.6,2719,2339,3879,3706,274.6,-16.8,81,1376,0.00,1.83,0.00,0.000,516,0.000,0.029,2719,1040,3792,3879,3706,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1436,-0.64,-194.6,2719,1040,3879,3706,285.7,-16.7,84,1443,0.00,1.92,0.00,0.000,1030,0.000,0.027,2717,2366,3792,3879,3706,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1762,-0.64,-194.6,2716,2366,3879,3704,332.0,-11.9,100,1768,0.00,1.98,0.00,0.000,260,0.000,0.041,2717,3714,3791,3879,3703,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1796,-0.64,-194.6,2713,3714,3879,3703,335.4,-12.4,101,1802,0.00,1.80,0.00,0.000,1030,0.000,0.020,2713,2365,3791,3879,3704,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2111,-0.64,-194.6,2713,2363,3879,3699,374.1,-11.4,117,2117,0.00,2.00,0.00,0.000,260,0.000,0.041,2714,3714,3789,3879,3699,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2158,-0.64,-194.6,2713,3714,3880,3699,378.9,-10.9,119,2164,0.00,1.80,0.00,0.000,1030,0.000,0.021,2713,2371,3788,3878,3699,0,0,0,0,0,0,28.83,26.56,28.83
$GC,2484,-0.64,-194.6,2713,2370,3875,3692,417.3,-12.8,135,2491,0.00,1.90,0.00,0.000,516,0.000,0.030,2713,1031,3786,3879,3693,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2582,-0.64,-194.6,2713,1031,3879,3690,428.8,-13.1,139,2588,0.00,1.90,0.00,0.000,1030,0.000,0.028,2713,2372,3784,3879,3690,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2897,-0.64,-194.6,2713,2373,3879,3684,469.1,-10.5,155,2903,0.00,1.90,0.00,0.000,516,0.000,0.030,2712,1040,3781,3879,3684,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2952,-0.64,-194.6,2713,1040,3878,3684,474.1,-10.9,157,2958,0.00,1.90,0.00,0.000,1030,0.000,0.028,2708,2380,3780,3878,3683,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3266,-0.64,-194.6,2708,2380,3876,3681,511.1,-12.2,173,3272,0.00,1.92,0.00,0.000,516,0.000,0.031,2708,1038,3778,3876,3681,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3299,-0.64,-194.6,2708,1037,3875,3681,514.1,-12.4,174,3306,0.00,1.90,0.00,0.000,1030,0.000,0.028,2705,2375,3778,3875,3681,0,0,0,0,0,0,28.83,26.45,28.83
$GC,3614,-0.64,-194.6,2705,2375,3872,3678,555.8,-12.9,190,3620,0.00,1.92,0.00,0.000,516,0.000,0.031,2705,1037,3775,3872,3678,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3664,-0.64,-194.6,2705,1036,3871,3678,561.6,-12.8,192,3671,0.08,1.92,0.00,0.000,3078,0.185,0.028,2720,2387,3773,3870,3677,0,0,0,0,0,0,26.28,26.44,28.83
$GC,3986,-0.64,-194.6,2720,2388,3869,3674,596.3,-10.4,208,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2389,3771,3868,3674,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4298,-0.64,-194.6,2720,2388,3865,3670,628.9,-9.9,219,4303,0.00,1.95,0.00,0.000,516,0.000,0.031,2720,1037,3767,3865,3670,0,0,0,0,0,0,28.83,26.38,28.83
$GC,4351,-0.64,-194.6,2720,1038,3865,3670,632.6,-9.8,220,4357,0.00,1.90,0.00,0.000,1030,0.000,0.028,2719,2375,3767,3865,3670,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4667,-0.64,-194.6,2719,2380,3863,3667,664.1,-9.2,231,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2375,3765,3863,3667,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4965,-0.64,-194.6,2719,2375,3860,3665,689.3,-7.9,241,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2375,3762,3860,3665,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5266,-0.64,-194.6,2719,2375,3857,3662,711.5,-7.6,251,5272,0.00,1.92,0.00,0.000,516,0.000,0.032,2719,1045,3759,3857,3662,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5346,-0.64,-194.6,2719,1045,3856,3662,717.0,-8.0,253,5352,0.00,1.90,0.00,0.000,1030,0.000,0.029,2717,2372,3759,3856,3662,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5667,-0.64,-194.6,2717,2374,3854,3660,748.9,-9.9,264,5673,0.00,1.92,0.00,0.000,516,0.000,0.032,2717,1043,3756,3854,3659,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5702,-0.64,-194.6,2717,1044,3854,3660,752.5,-10.0,265,5707,0.00,1.92,0.00,0.000,1030,0.000,0.030,2714,2378,3756,3853,3660,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6036,-0.64,-194.6,2713,2379,3853,3656,788.9,-11.3,276,6037,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2378,3754,3853,3656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6336,-0.64,-194.6,2713,2379,3850,3654,818.4,-9.5,286,6342,0.00,1.95,0.00,0.000,516,0.000,0.032,2713,1037,3752,3850,3654,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6406,-0.64,-194.6,2713,1038,3849,3653,824.6,-9.3,288,6412,0.00,1.92,0.00,0.000,1030,0.000,0.031,2713,2374,3751,3849,3653,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6736,-0.64,-194.6,2713,2376,3849,3650,851.0,-7.1,299,6741,0.00,1.92,0.00,0.000,516,0.000,0.031,2713,1044,3749,3849,3650,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6771,-0.64,-194.6,2713,1044,3848,3650,853.6,-6.9,300,6776,0.00,1.92,0.00,0.000,1030,0.000,0.030,2712,2375,3749,3848,3650,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7105,-0.64,-194.6,2712,2376,3846,3648,878.7,-8.4,311,7111,0.00,1.92,0.00,0.000,516,0.000,0.031,2712,1044,3747,3846,3648,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7140,-0.64,-194.6,2712,1044,3846,3648,881.6,-8.3,312,7146,0.00,1.92,0.00,0.000,1030,0.000,0.030,2708,2377,3747,3846,3648,0,0,0,0,0,0,28.83,26.38,28.83
$GC,7476,-0.64,-194.6,2708,2377,3844,3646,908.7,-7.5,323,7482,0.00,1.95,0.00,0.000,516,0.000,0.033,2708,1039,3745,3844,3646,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7515,-0.64,-194.6,2708,1039,3843,3641,911.4,-7.5,324,7521,0.00,1.92,0.00,0.000,1030,0.000,0.031,2705,2376,3745,3844,3646,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7846,-0.64,-194.6,2704,2376,3842,3644,939.3,-8.5,335,7851,0.00,1.95,0.00,0.000,516,0.000,0.034,2705,1039,3743,3842,3644,0,0,0,0,0,0,28.83,26.30,28.83
$GC,7900,-0.64,-194.6,2705,1038,3841,3645,942.2,-8.7,336,7906,0.08,1.92,0.00,0.000,3078,0.185,0.031,2720,2372,3743,3842,3644,0,0,0,0,0,0,26.19,26.35,28.83
$GC,8216,-0.64,-194.6,2719,2373,3841,3643,970.1,-8.2,347,8222,0.00,1.95,0.00,0.000,516,0.000,0.034,2720,1040,3741,3840,3643,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8255,-0.64,-194.6,2720,1040,3840,3643,973.6,-9.1,348,8262,0.00,1.92,0.00,0.000,1030,0.000,0.031,2719,2375,3741,3840,3643,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,8434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8434,begin apogee
$GC,8440,-0.20,0.0,2719,2274,3840,3642,990.2,-8.3,354,8625,0.43,0.00,175.45,0.989,10246,0.114,0.000,2861,2274,2989,3096,2882,0,0,0,0,0,0,26.01,28.83,24.17
$STATE,8627,end apogee,CONTROL_FINISHED_OK
$STATE,8627,begin climb
$GC,8630,0.64,194.6,2860,2274,3096,2879,994.5,0.0,359,8823,0.75,2.28,184.00,0.969,10500,0.063,0.044,3134,3636,2193,2315,2071,0,0,1,0,0,0,24.96,24.48,23.86
$GC,8943,0.64,194.6,3133,3636,2310,2052,965.6,14.4,369,8949,0.00,2.05,0.00,0.000,1030,0.000,0.026,3138,2272,2181,2310,2052,0,0,0,0,0,0,28.83,25.37,28.83
$GC,9265,0.64,194.6,3137,2272,2310,2048,926.7,10.1,380,9271,0.00,2.17,0.00,0.000,516,0.000,0.044,3147,845,2178,2310,2047,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9288,0.64,194.6,3147,846,2310,2048,926.7,10.1,380,9295,0.08,2.05,0.00,0.000,5126,0.186,0.028,3134,2247,2179,2310,2048,0,0,0,0,0,0,25.78,25.94,28.83
$GC,9604,0.64,194.6,3134,2249,2310,2046,890.5,12.4,391,9610,0.00,2.15,0.00,0.000,516,0.000,0.046,3140,845,2178,2310,2046,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9639,0.64,194.6,3140,845,2310,2046,885.9,12.7,392,9645,0.00,2.05,0.00,0.000,1030,0.000,0.028,3140,2248,2178,2310,2046,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9973,0.64,194.6,3140,2249,2309,2044,844.7,12.0,403,9979,0.00,2.10,0.00,0.000,260,0.000,0.044,3140,3637,2176,2309,2044,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10013,0.64,194.6,3140,3637,2306,2043,840.4,12.1,404,10019,0.08,2.03,0.00,0.000,5126,0.232,0.024,3135,2236,2174,2306,2043,0,0,0,0,0,0,25.99,26.24,28.83
$GC,10343,0.64,194.6,3134,2231,2306,2043,802.6,11.4,415,10349,0.00,2.15,0.00,0.000,260,0.000,0.043,3134,3639,2174,2306,2043,0,0,0,0,0,0,28.83,26.19,28.83
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$STATE,17279,end climb,SURFACE_DEPTH_REACHED
$STATE,17279,begin surface coast
$FINISH,-0.9,1.021432
$STATE,17297,end surface coast,CONTROL_FINISHED_OK
$STATE,17297,begin surface
$SM_CCo,17316,39.55,0.052,0,0,465,619.87
$SM_GC,-1.63,8.43,1.80,39.55,0.043,0.020,0.052,125,2309,465,-8.61,2.09,619.87,0,0,1,0,0,0,26.21,26.29,26.10
$IRIDIUM_FIX,1839.59,12209.25,010513,101010
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.51
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,23.20
$XPDR_PINGS,24
$SC_FREEKB,3931040
$24V_AH,23.9,29.206
$10V_AH,10.1,27.396
$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,21.875,155.475,565.025,39.550,0.000,0.000,0.000,294.100,6.000,0.000,13.860,3261.458,10990.267,805.490,2277.496,496.446,0.000,2212.751,0.000,1882.158,0.000,0.545,0.000
$DEVICE_MAMPS,250.155,97.920,989.145,52.020,0.000,0.000,0.000,123.165,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17330.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.893,0.000,0.000,0.000
$MEM,320848
$DATA_FILE_SIZE,30046,771
$CAP_FILE_SIZE,420293,0
$CFSIZE,260034560,223399936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.104,298.9,1
$GPS,010513,202124,1846.752,12216.499,36,1.6,37,-2.1