version: 66.11
glider: 177
mission: 4
dive: 241
start: 5 3 113 14 29 56
data:
$ID,177
$MISSION,4
$DIVE,241
$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,-8230.4268
$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,64
$R_STBD_OVSHOOT,99
$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
$GPS1,030513,142054,1848.151,12223.391,35,1.9,36,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.70
$_SM_ANGLEo,-72.3
$GPS2,030513,142906,1848.390,12223.183,10,1.3,10,-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,161.8,6566,-11.4,-9.167,-11.90,842
$D_GRID,1047
$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,-0.56,-50.2,142,2414,486,439,0.0,0.0,0,124,0.00,0.00,-100.05,0.000,16390,0.000,0.000,143,2415,3198,3249,3147,0,0,0,0,0,0,28.83,28.83,26.39
$GC,127,-0.56,-50.2,142,2415,3249,3148,5.3,-19.2,14,144,10.95,2.15,0.00,0.000,2564,0.247,0.033,2749,985,3200,3252,3149,0,0,0,0,0,0,25.51,26.01,28.83
$GC,367,-0.56,-50.2,2749,983,3267,3138,76.6,-20.8,32,373,0.00,1.92,0.00,0.000,1030,0.000,0.027,2741,2334,3202,3267,3138,0,0,0,0,0,0,28.83,26.19,28.83
$GC,681,-0.56,-50.2,2741,2335,3270,3138,135.2,-16.2,48,687,0.00,2.03,0.00,0.000,260,0.000,0.040,2733,3712,3204,3270,3138,0,0,0,0,0,0,28.83,26.25,28.83
$GC,730,-0.56,-50.2,2732,3712,3270,3138,142.5,-15.5,50,737,0.00,1.88,0.00,0.000,1030,0.000,0.020,2733,2323,3204,3270,3138,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1051,-0.56,-50.2,2733,2323,3272,3138,187.0,-13.8,66,1057,0.00,1.90,0.00,0.000,516,0.000,0.029,2733,978,3204,3271,3138,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1182,-0.56,-50.2,2733,978,3271,3138,205.1,-14.8,72,1189,0.10,2.00,0.00,0.000,3078,0.182,0.027,2748,2384,3204,3271,3138,0,0,0,0,0,0,26.17,26.40,28.83
$GC,1504,-0.56,-50.2,2748,2385,3272,3138,247.0,-11.2,88,1505,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,2385,3204,3271,3138,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1803,-0.56,-50.2,2748,2384,3268,3136,278.7,-9.9,103,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,2384,3203,3271,3136,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2102,-0.56,-50.2,2748,2384,3271,3133,307.6,-10.2,118,2108,0.00,2.00,0.00,0.000,516,0.000,0.029,2754,983,3202,3271,3133,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2204,-0.56,-50.2,2748,982,3271,3132,316.3,-10.2,122,2212,0.00,2.00,0.00,0.000,1030,0.000,0.027,2743,2385,3201,3271,3131,0,0,0,0,0,0,28.83,26.46,28.83
$GC,2508,-0.56,-50.2,2742,2385,3271,3128,350.1,-10.8,138,2510,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2384,3199,3271,3128,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2809,-0.56,-54.5,2742,2385,3271,3124,378.4,-8.6,153,2815,0.00,2.00,0.00,0.000,516,0.000,0.030,2743,987,3197,3271,3123,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3018,-0.59,-68.5,2742,985,3271,3121,393.6,-7.5,162,3026,0.00,1.98,0.00,0.000,1030,0.000,0.027,2736,2381,3196,3271,3121,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3322,-0.59,-68.5,2736,2381,3272,3119,420.3,-9.2,178,3329,0.00,1.95,0.00,0.000,260,0.000,0.042,2732,3707,3194,3271,3118,0,0,0,0,0,0,28.83,26.39,28.83
$GC,3383,-0.59,-68.5,2732,3707,3271,3118,424.5,-9.2,180,3391,0.00,1.88,0.00,0.000,1030,0.000,0.021,2733,2328,3194,3271,3117,0,0,0,0,0,0,28.83,26.56,28.83
$GC,3690,-0.59,-68.5,2732,2328,3272,3113,456.2,-10.2,196,3696,0.00,2.05,0.00,0.000,260,0.000,0.042,2730,3707,3192,3271,3113,0,0,0,0,0,0,28.83,26.38,28.83
$GC,3805,-0.59,-68.5,2730,3707,3271,3113,467.3,-10.4,201,3811,0.00,1.80,0.00,0.000,1030,0.000,0.021,2730,2368,3192,3271,3113,0,0,0,0,0,0,28.83,26.57,28.83
$GC,4119,-0.59,-68.5,2730,2367,3271,3107,500.5,-10.2,217,4125,0.00,1.90,0.00,0.000,516,0.000,0.031,2730,1030,3189,3272,3106,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4166,-0.59,-68.5,2730,1033,3271,3105,505.0,-10.2,219,4172,0.00,1.90,0.00,0.000,1030,0.000,0.028,2725,2376,3188,3271,3105,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4492,-0.59,-68.5,2725,2376,3270,3103,537.1,-9.4,235,4498,0.00,1.92,0.00,0.000,516,0.000,0.031,2726,1035,3186,3270,3103,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4604,-0.59,-68.5,1760,1032,3239,3098,548.0,-9.9,240,4610,0.00,1.90,0.00,0.000,1030,0.000,0.028,2720,2372,3185,3268,3102,0,0,0,0,0,0,28.83,26.44,28.83
$GC,4925,-0.59,-68.5,2719,2374,3267,3100,580.0,-10.4,256,4932,0.08,1.92,0.00,0.000,2564,0.200,0.029,2736,1035,3183,3266,3100,0,0,0,0,0,0,26.45,26.39,28.83
$GC,5052,-0.59,-68.5,2735,1035,3264,3099,592.7,-9.7,262,5059,0.00,1.92,0.00,0.000,1030,0.000,0.028,2732,2376,3182,3265,3099,0,0,0,0,0,0,28.83,26.43,28.83
$GC,5377,-0.59,-68.5,2732,2380,3264,3096,623.9,-9.6,274,5378,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2381,3180,3264,3096,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5678,-0.61,-75.3,2732,2381,3262,3095,649.5,-8.3,284,5684,0.00,1.95,0.00,0.000,516,0.000,0.031,2732,1029,3177,3260,3094,0,0,0,0,0,0,28.83,26.38,28.83
$GC,5916,-0.62,-80.8,2732,1029,3260,3093,668.2,-8.5,291,5922,0.00,1.95,0.00,0.000,1030,0.000,0.030,2729,2377,3176,3259,3093,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6232,-0.64,-93.5,2729,2377,3259,3091,693.5,-7.6,302,6238,0.00,1.95,0.00,0.000,516,0.000,0.031,2729,1028,3174,3258,3091,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6299,-0.66,-100.4,2729,1027,3252,3091,699.4,-8.3,304,6305,0.00,1.95,0.00,0.000,1030,0.000,0.029,2725,2383,3174,3257,3091,0,0,0,0,0,0,28.83,26.41,28.83
$GC,6633,-0.67,-106.7,2725,2383,3252,3089,727.5,-8.4,315,6639,0.00,1.95,0.00,0.000,516,0.000,0.032,2726,1037,3172,3256,3089,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6718,-0.68,-111.5,2725,1037,3255,3089,733.4,-8.6,317,6723,0.00,1.92,0.00,0.000,1030,0.000,0.029,2721,2383,3172,3255,3089,0,0,0,0,0,0,28.83,26.40,28.83
$GC,7035,-0.71,-129.3,2720,2387,3254,3082,758.5,-7.0,328,7042,0.10,1.95,0.00,0.000,4612,0.104,0.030,2667,1039,3169,3253,3086,0,0,0,0,0,0,26.53,26.34,28.83
$GC,7137,-0.72,-133.2,2667,1039,3251,3086,767.6,-8.7,331,7143,0.12,1.92,0.00,0.000,3078,0.180,0.029,2691,2381,3168,3251,3086,0,0,0,0,0,0,26.07,26.39,28.83
$GC,7467,-0.73,-139.1,2690,2381,3250,3084,795.6,-8.5,342,7473,0.00,1.95,0.00,0.000,516,0.000,0.032,2691,1035,3167,3250,3085,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7521,-0.74,-142.6,2691,1035,3249,3090,798.7,-8.7,343,7527,0.00,1.92,0.00,0.000,1030,0.000,0.030,2686,2375,3166,3249,3084,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7839,-0.74,-143.8,2686,2376,3249,3082,829.7,-9.0,354,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2376,3165,3249,3082,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8137,-0.74,-143.8,2684,2376,3248,3081,860.0,-10.3,364,8138,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2376,3164,3248,3081,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8437,-0.75,-145.0,2686,2376,3248,3080,888.6,-9.0,374,8442,0.00,2.00,0.00,0.000,260,0.000,0.046,2677,3709,3163,3247,3080,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8563,-0.75,-145.0,2676,3709,3247,3080,900.7,-9.5,378,8569,0.00,1.85,0.00,0.000,1030,0.000,0.024,2677,2374,3163,3247,3079,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8897,-0.75,-145.0,2677,2373,3245,3079,932.9,-9.8,389,8903,0.00,1.95,0.00,0.000,516,0.000,0.034,2677,1026,3162,3245,3079,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8957,-0.75,-145.0,2677,1027,3244,3079,936.4,-9.8,390,8964,0.00,1.95,0.00,0.000,1030,0.000,0.031,2669,2379,3161,3244,3079,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9266,-0.75,-145.0,2669,2380,3244,3078,969.1,-9.6,401,9272,0.08,1.98,0.00,0.000,2564,0.215,0.032,2684,1028,3161,3244,3078,0,0,0,0,0,0,26.39,26.29,28.83
$GC,9401,-0.75,-145.0,2684,1027,3243,3077,982.2,-10.3,405,9406,0.00,1.95,0.00,0.000,1030,0.000,0.030,2677,2376,3160,3243,3077,0,0,0,0,0,0,28.83,26.34,28.83
$STATE,9485,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9485,begin apogee
$GC,9491,-0.20,0.0,2676,2265,3244,3076,991.4,-9.8,408,9544,0.57,0.00,44.78,0.988,10246,0.135,0.000,2858,2265,2988,3085,2892,0,0,0,0,0,0,25.83,28.83,24.79
$STATE,9546,end apogee,CONTROL_FINISHED_OK
$STATE,9546,begin climb
$GC,9548,0.75,145.0,2858,2265,3085,2889,993.4,0.0,409,9707,0.85,0.00,154.68,0.963,10246,0.080,0.000,3162,2265,2400,2502,2299,0,0,0,0,0,0,25.58,28.83,24.10
$GC,9996,0.75,145.0,3162,2266,2497,2273,958.5,11.6,425,9997,0.00,0.00,0.00,0.000,6,0.000,0.000,3162,2265,2384,2497,2272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10295,0.75,145.0,3162,2265,2496,2268,924.8,10.9,435,10301,0.00,2.12,0.00,0.000,516,0.000,0.047,3163,879,2382,2496,2268,0,0,0,0,0,0,28.83,25.92,28.83
$GC,10350,0.75,145.0,3162,878,2496,2268,921.2,10.7,436,10356,0.00,2.00,0.00,0.000,1030,0.000,0.030,3162,2249,2382,2496,2268,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10665,0.75,145.0,3162,2249,2495,2266,887.6,10.0,447,10671,0.00,2.12,0.00,0.000,260,0.000,0.044,3162,3646,2380,2494,2266,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10766,0.75,145.0,3162,3646,2492,2266,876.6,11.1,450,10772,0.00,2.03,0.00,0.000,1030,0.000,0.028,3167,2255,2379,2492,2266,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11095,0.75,145.0,3162,2258,2487,2264,841.6,10.5,461,11101,0.00,2.10,0.00,0.000,260,0.000,0.044,3163,3639,2378,2492,2264,0,0,0,0,0,0,28.83,26.15,28.83
$GC,11150,0.75,145.0,3163,3639,2490,2264,837.7,10.7,462,11156,0.00,2.03,0.00,0.000,1030,0.000,0.027,3165,2231,2377,2490,2264,0,0,0,0,0,0,28.83,26.26,28.83
$GC,11465,0.75,145.0,3165,2231,2490,2264,805.7,9.3,473,11466,0.00,0.00,0.00,0.000,6,0.000,0.000,3165,2231,2377,2490,2264,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20062,end climb,SURFACE_DEPTH_REACHED
$STATE,20062,begin surface coast
$FINISH,-1.0,1.021302
$STATE,20102,end surface coast,CONTROL_FINISHED_OK
$STATE,20102,begin surface
$SM_CCo,20121,112.85,0.050,0,0,463,619.87
$SM_GC,-1.63,8.35,1.80,112.85,0.056,0.022,0.050,124,2370,463,-8.62,2.09,619.87,0,0,1,0,0,0,26.27,26.34,26.15
$IRIDIUM_FIX,1841.87,12220.59,030513,090921
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.51
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,25.00
$XPDR_PINGS,20
$SC_FREEKB,3927584
$24V_AH,24.1,30.322
$10V_AH,10.2,28.553
$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,21.900,155.475,344.000,112.850,0.000,0.000,0.000,293.000,5.000,0.000,12.893,4390.914,12097.415,733.355,2899.367,606.083,0.000,2334.106,0.000,2491.282,0.000,0.547,0.000
$DEVICE_MAMPS,247.095,78.795,987.615,50.490,0.000,0.000,0.000,120.870,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20129.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.146,0.000,0.000,0.000
$MEM,320860
$DATA_FILE_SIZE,33315,915
$CAP_FILE_SIZE,515094,0
$CFSIZE,260034560,222052352
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.230,331.3,1
$GPS,030513,200835,1848.724,12223.162,39,1.0,40,-2.1