version: 66.11
glider: 177
mission: 4
dive: 233
start: 5 1 113 20 30 6
data:
$ID,177
$MISSION,4
$DIVE,233
$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,-8167.7466
$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,75
$R_STBD_OVSHOOT,60
$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
$GPS1,010513,202124,1846.752,12216.499,36,1.6,37,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.83
$_SM_ANGLEo,-67.7
$GPS2,010513,202919,1846.890,12216.476,15,1.0,15,-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,108.4,14128,-6.2,-9.167,-6.92,3246
$D_GRID,1043
$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,-194.3,125,2306,485,442,0.0,0.0,0,120,0.00,0.00,-97.05,0.000,16386,0.000,0.000,125,2306,3055,3094,3016,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.64,-194.3,124,2306,3094,3018,3.6,-13.6,13,156,10.98,1.95,-10.93,0.000,18948,0.249,0.044,2715,988,3788,3874,3703,0,0,0,0,0,0,25.51,26.04,26.36
$GC,186,-0.64,-194.3,2715,987,3875,3704,35.2,-40.7,20,192,0.00,2.00,0.00,0.000,1030,0.000,0.028,2707,2369,3789,3875,3704,0,0,0,0,0,0,28.83,26.08,28.83
$GC,512,-0.64,-194.3,2707,2369,3875,3706,117.9,-21.1,39,517,0.00,1.98,0.00,0.000,516,0.000,0.029,2707,998,3790,3875,3706,0,0,0,0,0,0,28.83,26.21,28.83
$GC,681,-0.64,-194.3,2707,997,3876,3707,150.2,-18.3,47,688,0.10,1.98,0.00,0.000,3078,0.181,0.027,2723,2384,3792,3877,3707,0,0,0,0,0,0,26.08,26.30,28.83
$GC,1008,-0.64,-194.3,2722,2384,3876,3708,206.6,-16.8,63,1014,0.00,1.95,0.00,0.000,260,0.000,0.041,2719,3713,3792,3876,3708,0,0,0,0,0,0,28.83,26.31,28.83
$GC,1041,-0.64,-194.3,2719,3713,3876,3708,211.3,-16.9,64,1047,0.00,1.85,0.00,0.000,1030,0.000,0.020,2719,2348,3792,3876,3708,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1356,-0.64,-194.3,2718,2347,3876,3708,263.2,-16.1,80,1362,0.00,1.88,0.00,0.000,516,0.000,0.030,2719,1024,3792,3876,3708,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1436,-0.64,-194.3,2719,1024,3876,3708,273.8,-16.0,83,1444,0.00,1.92,0.00,0.000,1030,0.000,0.027,2713,2383,3792,3876,3708,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1742,-0.64,-194.3,2713,2383,3876,3707,319.5,-13.2,99,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2383,3791,3876,3706,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2044,-0.64,-194.3,2713,2383,3876,3702,354.9,-10.7,114,2049,0.00,1.95,0.00,0.000,516,0.000,0.029,2713,1021,3789,3876,3702,0,0,0,0,0,0,28.83,26.41,28.83
$GC,2090,-0.64,-194.3,2713,1021,3876,3701,359.6,-10.4,116,2096,0.00,1.92,0.00,0.000,1030,0.000,0.028,2708,2381,3788,3876,3701,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2416,-0.64,-194.3,2708,2381,3876,3697,394.7,-11.0,132,2417,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2381,3786,3876,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2714,-0.64,-194.3,2708,2386,3876,3691,429.2,-12.0,147,2715,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2381,3783,3876,3691,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3014,-0.64,-194.3,2708,2382,3876,3685,464.3,-11.5,162,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2381,3780,3876,3685,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3315,-0.64,-194.3,2708,2381,3875,3681,498.6,-11.3,177,3316,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2381,3777,3874,3681,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3614,-0.64,-194.3,2708,2381,3869,3679,532.0,-11.5,192,3621,0.00,1.95,0.00,0.000,516,0.000,0.030,2708,1024,3774,3870,3679,0,0,0,0,0,0,28.83,26.40,28.83
$GC,3654,-0.64,-194.3,2708,1024,3869,3679,534.9,-11.7,193,3662,0.00,1.92,0.00,0.000,1030,0.000,0.029,2705,2372,3773,3869,3678,0,0,0,0,0,0,28.83,26.43,28.83
$GC,3959,-0.64,-194.3,2705,2373,3867,3675,573.1,-13.4,209,3965,0.00,1.95,0.00,0.000,516,0.000,0.031,2705,1023,3770,3866,3674,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4025,-0.64,-194.3,2705,1022,3866,3675,582.0,-13.6,212,4032,0.08,1.95,0.00,0.000,3078,0.182,0.029,2720,2384,3770,3865,3675,0,0,0,0,0,0,26.27,26.42,28.83
$GC,4340,-0.64,-194.3,2720,2384,3864,3671,619.6,-11.7,225,4346,0.00,1.98,0.00,0.000,516,0.000,0.031,2720,1018,3767,3864,3671,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4363,-0.64,-194.3,2720,1018,3864,3671,619.6,-11.7,225,4369,0.00,1.95,0.00,0.000,1030,0.000,0.028,2719,2382,3767,3863,3671,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4679,-0.64,-194.3,2719,2382,3862,3665,660.9,-12.5,236,4680,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2382,3765,3862,3669,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4979,-0.64,-194.3,2718,2382,3859,3666,697.6,-11.8,246,4985,0.00,1.98,0.00,0.000,516,0.000,0.032,2719,1024,3763,3859,3667,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5058,-0.64,-194.3,2718,1024,3858,3666,705.2,-11.5,248,5065,0.00,1.95,0.00,0.000,1030,0.000,0.029,2717,2382,3761,3856,3666,0,0,0,0,0,0,28.83,26.41,28.83
$GC,5380,-0.64,-194.3,2717,2382,3856,3663,739.3,-10.1,259,5381,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2382,3759,3856,3663,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5679,-0.64,-194.6,2717,2382,3854,3661,763.0,-7.2,269,5685,0.00,1.98,0.00,0.000,516,0.000,0.032,2717,1022,3757,3854,3661,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5780,-0.64,-194.6,2717,1021,3853,3661,768.9,-6.4,272,5786,0.00,1.95,0.00,0.000,1030,0.000,0.029,2716,2380,3757,3853,3661,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6111,-0.64,-194.6,2716,2381,3852,3658,788.6,-5.9,283,6112,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2385,3754,3851,3658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6410,-0.64,-194.6,2716,2381,3848,3656,814.1,-10.0,293,6416,0.00,1.98,0.00,0.000,516,0.000,0.032,2717,1021,3751,3848,3655,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6525,-0.64,-194.6,2716,1021,3847,3655,824.4,-10.8,296,6530,0.00,1.95,0.00,0.000,1030,0.000,0.030,2714,2376,3751,3847,3655,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6840,-0.64,-194.6,2713,2376,3846,3654,857.6,-9.7,307,6841,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2376,3750,3846,3654,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7139,-0.64,-194.6,2713,2376,3846,3651,881.6,-7.8,317,7140,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2376,3748,3846,3651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7439,-0.64,-194.6,2713,2376,3845,3648,907.6,-8.7,327,7445,0.00,1.98,0.00,0.000,516,0.000,0.034,2714,1020,3746,3845,3648,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7485,-0.64,-194.6,2713,1019,3844,3648,910.6,-8.7,328,7491,0.00,1.95,0.00,0.000,1030,0.000,0.030,2709,2372,3747,3845,3649,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7810,-0.64,-194.6,2708,2373,3844,3646,935.6,-6.9,339,7811,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2373,3745,3844,3646,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8110,-0.64,-194.6,2709,2373,3842,3645,965.8,-10.2,349,8116,0.00,1.98,0.00,0.000,516,0.000,0.034,2709,1022,3743,3841,3645,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8169,-0.64,-194.6,2708,1022,3840,3645,969.1,-9.7,350,8178,0.00,1.95,0.00,0.000,1030,0.000,0.031,2705,2375,3742,3840,3645,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,8384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8384,begin apogee
$GC,8390,-0.20,0.0,2705,2262,3840,3645,992.2,-9.3,358,8577,0.45,0.00,177.90,0.995,10246,0.113,0.000,2856,2262,2986,3092,2881,0,0,0,0,0,0,26.00,28.83,24.10
$STATE,8578,end apogee,CONTROL_FINISHED_OK
$STATE,8579,begin climb
$GC,8581,0.64,194.6,2856,2262,3092,2877,999.3,0.0,363,8780,0.77,2.30,185.73,0.975,10756,0.073,0.043,3137,881,2191,2315,2067,0,0,0,0,0,0,24.91,24.45,23.80
$GC,8803,0.81,278.4,3137,881,2311,2064,993.5,6.5,371,8891,0.15,2.10,77.80,0.961,11270,0.083,0.028,3191,2248,1852,1966,1738,0,0,0,0,0,0,24.82,24.84,23.79
$GC,9215,0.81,278.4,3191,2248,1958,1724,921.9,17.1,385,9221,0.00,2.15,0.00,0.000,260,0.000,0.044,3192,3640,1840,1957,1723,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9275,0.81,278.4,2208,3639,1888,1717,916.2,16.5,386,9283,0.00,2.03,0.00,0.000,1030,0.000,0.025,3199,2264,1838,1953,1723,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9582,0.81,278.4,3198,2264,1952,1723,852.4,19.9,397,9588,0.00,2.12,0.00,0.000,260,0.000,0.044,3199,3643,1837,1952,1723,0,0,0,0,0,0,28.83,25.99,28.83
$GC,9605,0.81,278.4,3199,3643,1950,1723,852.4,19.9,397,9612,0.10,2.05,0.00,0.000,5126,0.229,0.027,3189,2241,1836,1950,1722,0,0,0,0,0,0,25.77,26.07,28.83
$GC,9921,0.81,278.4,3189,2241,1950,1722,790.9,18.1,408,9927,0.00,2.15,0.00,0.000,260,0.000,0.044,3189,3643,1835,1949,1722,0,0,0,0,0,0,28.83,26.10,28.83
$GC,9956,0.81,278.4,3188,3643,1948,1721,784.1,18.5,409,9962,0.00,2.05,0.00,0.000,1030,0.000,0.028,3190,2237,1834,1948,1721,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10290,0.81,278.4,3190,2237,1948,1721,728.2,15.6,420,10296,0.00,2.08,0.00,0.000,516,0.000,0.044,3200,856,1835,1949,1721,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10335,0.81,278.4,3200,856,1948,1721,722.9,15.6,421,10342,0.08,2.00,0.00,0.000,5126,0.199,0.028,3187,2246,1834,1948,1721,0,0,0,0,0,0,26.06,26.24,28.83
$GC,10661,0.81,278.4,3187,2247,1948,1720,673.2,15.1,432,10667,0.00,2.10,0.00,0.000,260,0.000,0.044,3187,3638,1834,1948,1720,0,0,0,0,0,0,28.83,26.21,28.83
$GC,10746,0.81,278.4,3186,3638,1946,1720,662.0,16.0,434,10752,0.00,2.03,0.00,0.000,1030,0.000,0.027,3191,2239,1832,1946,1719,0,0,0,0,0,0,28.83,26.30,28.83
$GC,11063,0.81,278.4,3191,2239,1946,1720,607.1,16.6,445,11064,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2239,1832,1946,1719,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11360,0.81,278.4,3190,2239,1946,1720,553.0,18.0,459,11362,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2238,1833,1946,1720,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,15823,end climb,SURFACE_DEPTH_REACHED
$STATE,15824,begin surface coast
$FINISH,-0.1,1.021331
$STATE,15852,end surface coast,CONTROL_FINISHED_OK
$STATE,15854,begin surface
$SM_CCo,15872,75.10,0.052,0,0,464,619.87
$SM_GC,-1.85,8.57,0.15,75.10,0.066,0.074,0.052,133,2409,464,-8.62,-1.78,619.87,0,0,0,0,0,0,26.04,26.11,25.97
$IRIDIUM_FIX,1837.32,12215.53,010513,151523
$TT8_MAMPS,0.027713,0.027713
$HUMID,45.90
$INTERNAL_PRESSURE,9.53162
$TCM_TEMP,24.00
$XPDR_PINGS,11
$SC_FREEKB,3930656
$24V_AH,23.8,29.351
$10V_AH,10.3,27.505
$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
$DEVICE_SECS,21.975,116.700,548.175,75.100,0.000,0.000,0.000,277.600,2.750,0.000,19.602,2886.281,10322.577,772.048,2006.882,435.225,0.000,2026.521,0.000,1636.357,0.000,0.545,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,15879.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.150,0.000,0.000,0.000
$MEM,320820
$DATA_FILE_SIZE,26687,723
$CAP_FILE_SIZE,368322,0
$CFSIZE,260034560,223322112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.173,291.1,1
$GPS,020513,005705,1846.986,12218.162,27,1.3,27,-2.1