version: 66.11
glider: 177
mission: 4
dive: 252
start: 5 5 113 22 39 59
data:
$ID,177
$MISSION,4
$DIVE,252
$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,-8251.6455
$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,74
$R_STBD_OVSHOOT,98
$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
$GPS1,050513,223154,1853.108,12230.335,39,1.3,40,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.74
$_SM_ANGLEo,-70.5
$GPS2,050513,223931,1853.454,12230.278,11,1.3,11,-2.1
$SPEED_LIMITS,0.159,0.756
$TGT_NAME,M4
$TGT_LATLONG,1845.000,12233.290
$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,162.4,16524,-6.2,-9.167,-6.92,3252
$D_GRID,1637
$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,-0.64,-194.6,150,2421,485,442,0.0,0.0,0,118,0.00,0.00,-95.68,0.000,16386,0.000,0.000,150,2421,3010,3041,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,121,-0.64,-194.6,150,2422,3041,2980,3.4,-13.0,13,155,10.90,2.05,-11.85,0.000,18948,0.248,0.041,2718,985,3789,3875,3704,0,0,1,0,0,0,25.48,25.64,26.36
$GC,207,-0.64,-194.6,1696,985,3872,3704,41.8,-35.5,22,216,0.00,1.92,0.00,0.000,1030,0.000,0.028,2712,2328,3790,3876,3705,0,0,0,0,0,0,28.83,26.08,28.83
$GC,517,-0.64,-194.6,2711,2329,3876,3707,129.4,-24.5,39,523,0.00,2.03,0.00,0.000,260,0.000,0.037,2704,3711,3791,3876,3707,0,0,0,0,0,0,28.83,26.19,28.83
$GC,542,-0.64,-194.6,2703,3711,3876,3707,135.6,-24.6,40,548,0.08,1.88,0.00,0.000,3078,0.181,0.019,2719,2316,3791,3876,3707,0,0,0,0,0,0,26.12,26.34,28.83
$GC,868,-0.64,-194.6,2718,2315,3876,3710,191.8,-15.0,56,875,0.00,2.08,0.00,0.000,260,0.000,0.039,2717,3717,3793,3876,3710,0,0,0,0,0,0,28.83,26.27,28.83
$GC,915,-0.64,-194.6,2716,3718,3876,3710,198.3,-14.3,58,921,0.00,1.85,0.00,0.000,1030,0.000,0.019,2717,2333,3795,3876,3714,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1243,-0.64,-194.6,2716,2333,3876,3710,252.8,-17.0,74,1249,0.00,1.83,0.00,0.000,516,0.000,0.028,2717,1029,3792,3876,3709,0,0,0,0,0,0,28.83,26.35,28.83
$GC,1267,-0.64,-194.6,2716,1032,3876,3710,257.0,-16.2,75,1273,0.00,1.90,0.00,0.000,1030,0.000,0.027,2713,2377,3793,3876,3710,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1594,-0.64,-194.6,2713,2377,3876,3709,309.3,-15.5,91,1600,0.00,1.92,0.00,0.000,516,0.000,0.029,2713,1029,3792,3876,3708,0,0,0,0,0,0,28.83,26.37,28.83
$GC,1618,-0.64,-194.6,2713,1029,3876,3708,313.5,-15.6,92,1624,0.00,1.92,0.00,0.000,1030,0.000,0.026,2707,2384,3792,3876,3708,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1946,-0.64,-194.6,2706,2384,3876,3704,361.5,-13.6,108,1952,0.00,1.92,0.00,0.000,516,0.000,0.029,2707,1034,3790,3876,3704,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2027,-0.64,-194.6,2706,1034,3876,3702,370.4,-12.8,111,2037,0.08,1.90,0.00,0.000,3078,0.185,0.028,2720,2379,3788,3876,3701,0,0,0,0,0,0,26.25,26.42,28.83
$GC,2334,-0.64,-194.6,2720,2379,3876,3698,407.6,-12.2,127,2341,0.00,1.92,0.00,0.000,516,0.000,0.030,2721,1033,3787,3877,3697,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2390,-0.64,-194.6,2720,1033,3876,3697,413.1,-11.9,129,2395,0.00,1.90,0.00,0.000,1030,0.000,0.028,2719,2374,3786,3876,3696,0,0,0,0,0,0,28.83,26.42,28.83
$GC,2704,-0.64,-194.6,2718,2374,3876,3690,455.4,-13.3,145,2709,0.00,1.92,0.00,0.000,516,0.000,0.029,2719,1027,3783,3876,3690,0,0,0,0,0,0,28.83,26.39,28.83
$GC,2770,-0.64,-194.6,2719,1027,3876,3688,463.8,-12.9,148,2776,0.00,1.92,0.00,0.000,1030,0.000,0.028,2717,2375,3782,3876,3688,0,0,0,0,0,0,28.83,26.42,28.83
$GC,3096,-0.64,-194.6,2717,2376,3876,3681,501.1,-11.4,164,3102,0.00,1.98,0.00,0.000,260,0.000,0.043,2717,3713,3778,3876,3681,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3119,-0.64,-194.6,1712,3712,3873,3679,503.7,-11.0,165,3125,0.00,1.83,0.00,0.000,1030,0.000,0.021,2716,2358,3778,3876,3681,0,0,0,0,0,0,28.83,26.54,28.83
$GC,3446,-0.64,-194.6,2716,2357,3871,3678,537.9,-10.6,181,3452,0.00,1.88,0.00,0.000,516,0.000,0.031,2716,1042,3774,3871,3678,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3568,-0.64,-194.6,2716,1041,3869,3677,549.9,-10.7,186,3577,0.00,1.90,0.00,0.000,1030,0.000,0.028,2714,2373,3773,3869,3677,0,0,0,0,0,0,28.83,26.41,28.83
$GC,3875,-0.64,-194.6,2713,2374,3866,3673,585.6,-10.9,202,3881,0.00,1.92,0.00,0.000,516,0.000,0.031,2714,1039,3769,3866,3673,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3904,-0.64,-194.6,2713,1039,3865,3673,588.3,-10.9,203,3910,0.00,1.92,0.00,0.000,1030,0.000,0.029,2713,2384,3769,3866,3673,0,0,0,0,0,0,28.83,26.43,28.83
$GC,4233,-0.64,-194.6,2713,2385,3862,3669,622.6,-10.4,216,4240,0.00,1.95,0.00,0.000,516,0.000,0.031,2713,1037,3765,3862,3669,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4273,-0.64,-194.6,2713,1036,3861,3669,626.3,-10.4,217,4279,0.00,1.92,0.00,0.000,1030,0.000,0.029,2713,2380,3765,3861,3669,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4602,-0.64,-194.6,2712,2380,3858,3665,659.5,-10.1,228,4608,0.00,1.92,0.00,0.000,516,0.000,0.032,2713,1046,3761,3858,3665,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4647,-0.64,-194.6,2713,1046,3857,3665,663.0,-10.1,229,4653,0.00,1.90,0.00,0.000,1030,0.000,0.030,2713,2376,3761,3857,3665,0,0,0,0,0,0,28.83,26.39,28.83
$GC,4971,-0.64,-194.6,2713,2376,3854,3661,697.5,-10.4,240,4978,0.00,1.92,0.00,0.000,516,0.000,0.032,2713,1046,3757,3854,3661,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5025,-0.64,-194.6,2713,1046,3853,3661,701.2,-10.6,241,5031,0.00,1.90,0.00,0.000,1030,0.000,0.029,2713,2376,3755,3849,3661,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5342,-0.64,-194.6,2712,2376,3852,3657,732.8,-9.1,252,5348,0.00,1.92,0.00,0.000,516,0.000,0.033,2713,1046,3754,3851,3658,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5379,-0.64,-194.6,2713,1046,3850,3657,736.3,-9.0,253,5385,0.00,1.92,0.00,0.000,1030,0.000,0.030,2713,2380,3753,3850,3657,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5714,-0.64,-194.6,2712,2380,3847,3654,765.3,-8.8,264,5721,0.00,1.95,0.00,0.000,516,0.000,0.032,2713,1037,3750,3847,3654,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5774,-0.64,-194.6,2713,1037,3846,3654,768.6,-8.9,265,5782,0.00,1.92,0.00,0.000,1030,0.000,0.030,2713,2375,3750,3846,3654,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6081,-0.64,-194.6,2712,2375,3846,3651,800.2,-10.1,276,6082,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2375,3748,3846,3651,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6380,-0.64,-194.6,2712,2375,3845,3647,830.0,-10.0,286,6386,0.00,1.92,0.00,0.000,516,0.000,0.033,2713,1047,3745,3844,3647,0,0,0,0,0,0,28.83,26.28,28.83
$GC,6434,-0.64,-194.6,2713,1047,3842,3644,833.7,-10.2,287,6440,0.00,1.92,0.00,0.000,1030,0.000,0.030,2713,2383,3745,3844,3647,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6751,-0.64,-194.6,2712,2383,3838,3643,868.5,-10.1,298,6756,0.00,1.95,0.00,0.000,516,0.000,0.033,2713,1045,3744,3843,3645,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6785,-0.64,-194.6,2712,1046,3842,3645,872.1,-9.8,299,6791,0.00,1.92,0.00,0.000,1030,0.000,0.030,2712,2374,3743,3842,3645,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7121,-0.64,-194.6,2712,2373,3840,3644,906.1,-10.2,310,7127,0.00,1.92,0.00,0.000,516,0.000,0.034,2712,1047,3742,3840,3644,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7169,-0.64,-194.6,1744,1046,3836,3642,909.9,-10.2,311,7175,0.00,1.92,0.00,0.000,1030,0.000,0.031,2712,2379,3741,3839,3644,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7489,-0.64,-194.6,2708,2380,3838,3642,943.4,-9.9,322,7495,0.00,1.95,0.00,0.000,516,0.000,0.034,2708,1046,3740,3838,3642,0,0,0,0,0,0,28.83,26.24,28.83
$GC,7554,-0.64,-194.6,2708,1046,3837,3642,949.9,-9.9,324,7560,0.00,1.95,0.00,0.000,1030,0.000,0.031,2705,2374,3739,3837,3642,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7888,-0.64,-194.6,2705,2375,3836,3640,981.1,-9.3,335,7894,0.00,1.95,0.00,0.000,516,0.000,0.035,2705,1044,3738,3836,3640,0,0,0,0,0,0,28.83,26.22,28.83
$GC,7952,-0.64,-194.6,1728,1043,3831,3638,987.2,-9.4,337,7959,0.08,1.95,0.00,0.000,3078,0.178,0.032,2721,2381,3737,3835,3640,0,0,0,0,0,0,26.14,26.29,28.83
$STATE,7987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7987,begin apogee
$GC,7992,-0.20,0.0,2721,2282,3838,3640,990.2,-9.3,338,8179,0.40,0.00,177.57,0.991,10246,0.112,0.000,2857,2282,2986,3094,2878,0,0,0,0,0,0,25.94,28.83,24.08
$STATE,8181,end apogee,CONTROL_FINISHED_OK
$STATE,8181,begin climb
$GC,8184,0.64,194.6,2857,2282,3094,2875,998.7,0.0,343,8381,0.77,2.28,182.98,0.978,10756,0.075,0.041,3138,877,2191,2315,2067,0,0,0,0,0,0,24.89,24.45,23.77
$GC,8418,0.75,250.7,3138,877,2313,2061,991.1,7.4,352,8481,0.10,2.10,51.62,0.957,11270,0.104,0.029,3175,2246,1964,2086,1843,0,0,0,0,0,0,24.91,24.95,23.91
$GC,8777,0.75,250.7,3175,2246,2081,1830,940.5,15.1,364,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2246,1955,2081,1829,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9076,0.75,250.7,3174,2246,2080,1827,895.0,15.5,374,9077,0.00,0.00,0.00,0.000,6,0.000,0.000,3174,2246,1953,2080,1827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9376,0.75,250.7,3174,2246,2078,1826,852.2,14.4,384,9377,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2246,1952,2078,1826,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9676,0.75,250.7,3174,2246,2076,1825,810.5,13.7,394,9681,0.00,2.12,0.00,0.000,260,0.000,0.046,3175,3643,1950,2076,1825,0,0,0,0,0,0,28.83,26.11,28.83
$GC,9731,0.75,250.7,3175,3643,2073,1825,805.3,13.7,395,9737,0.00,2.00,0.00,0.000,1030,0.000,0.028,3175,2277,1949,2074,1825,0,0,0,0,0,0,28.83,26.19,28.83
$GC,10047,0.75,250.7,3175,2277,2072,1825,757.1,14.6,406,10048,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2276,1949,2073,1825,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,16620,end climb,SURFACE_DEPTH_REACHED
$STATE,16620,begin surface coast
$FINISH,-0.6,1.020928
$STATE,16649,end surface coast,CONTROL_FINISHED_OK
$STATE,16649,begin surface
$SM_CCo,16668,64.62,0.050,0,0,462,619.87
$SM_GC,-1.65,8.57,0.15,64.62,0.066,0.073,0.050,133,2415,462,-8.61,-1.70,619.87,0,0,0,0,0,0,26.15,26.25,26.08
$IRIDIUM_FIX,1844.15,12230.02,050513,171748
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.25
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,25.30
$XPDR_PINGS,20
$SC_FREEKB,3923360
$24V_AH,23.8,31.870
$10V_AH,10.0,29.883
$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,21.975,142.950,560.800,64.625,0.000,0.000,0.000,257.825,5.000,0.000,13.670,3130.003,10559.474,820.881,2161.948,497.663,0.000,2163.704,0.000,1804.196,0.000,0.546,0.000
$DEVICE_MAMPS,247.860,97.155,991.440,49.725,0.000,0.000,0.000,121.635,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,16677.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.050,0.000,0.000,0.000
$MEM,320856
$DATA_FILE_SIZE,26712,753
$CAP_FILE_SIZE,401548,0
$CFSIZE,260034560,220655616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.254,336.2,1
$GPS,060513,032005,1852.847,12230.735,27,1.2,28,-2.1