version: 66.11
glider: 177
mission: 4
dive: 313
start: 5 17 113 13 7 32
data:
$ID,177
$MISSION,4
$DIVE,313
$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,3390
$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,-8405.9932
$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,97
$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
$GPS1,170513,125635,1848.338,12241.075,38,0.9,39,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.60
$_SM_ANGLEo,-71.8
$GPS2,170513,130643,1848.561,12240.906,14,1.0,14,-2.1
$SPEED_LIMITS,0.159,0.756
$TGT_NAME,M5A
$TGT_LATLONG,1845.000,12242.270
$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,159.7,7015,-8.9,-9.167,-9.44,1497
$D_GRID,2027
$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,-0.53,-89.4,136,2417,464,458,0.0,0.0,0,125,0.00,0.00,-102.85,0.000,16386,0.000,0.000,139,2418,3312,3363,3261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,128,-0.53,-89.4,139,2418,3363,3263,5.3,-18.5,14,146,11.12,2.12,-0.70,0.000,18948,0.246,0.040,2757,970,3359,3418,3301,0,0,1,0,0,0,25.41,25.59,26.22
$GC,319,-0.53,-89.4,1744,969,3405,3294,67.4,-20.9,30,325,0.00,1.95,0.00,0.000,1030,0.000,0.027,2748,2331,3361,3426,3297,0,0,0,0,0,0,28.83,26.11,28.83
$GC,639,-0.53,-89.4,2748,2332,3428,3296,136.3,-20.6,46,645,0.00,1.92,0.00,0.000,516,0.000,0.029,2748,990,3361,3428,3294,0,0,0,0,0,0,28.83,26.18,28.83
$GC,727,-0.53,-89.4,2748,991,3428,3297,149.5,-15.1,50,733,0.00,1.98,0.00,0.000,1030,0.000,0.027,2742,2380,3364,3428,3301,0,0,0,0,0,0,28.83,26.25,28.83
$GC,1054,-0.53,-89.4,2742,2380,3429,3297,195.1,-15.2,66,1060,0.00,2.00,0.00,0.000,516,0.000,0.030,2742,988,3363,3429,3297,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1165,-0.53,-89.4,2741,988,3429,3297,209.1,-12.5,71,1172,0.10,2.00,0.00,0.000,3078,0.168,0.026,2756,2388,3363,3429,3297,0,0,0,0,0,0,26.08,26.32,28.83
$GC,1487,-0.53,-89.4,2756,2388,3429,3296,245.8,-11.3,87,1493,0.00,1.95,0.00,0.000,260,0.000,0.042,2755,3707,3362,3429,3296,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1516,-0.53,-89.4,2755,3707,3429,3296,248.9,-11.5,88,1522,0.00,1.85,0.00,0.000,1030,0.000,0.019,2755,2335,3362,3429,3296,0,0,0,0,0,0,28.83,26.49,28.83
$GC,1837,-0.53,-89.4,2755,2335,3429,3294,291.5,-13.0,104,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2335,3361,3429,3294,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2136,-0.53,-89.4,2755,2335,3429,3291,323.8,-9.8,119,2142,0.00,1.88,0.00,0.000,516,0.000,0.029,2755,1025,3360,3429,3291,0,0,0,0,0,0,28.83,26.30,28.83
$GC,2185,-0.53,-89.4,2755,1025,3429,3291,328.3,-9.9,121,2192,0.00,1.92,0.00,0.000,1030,0.000,0.027,2747,2385,3359,3429,3290,0,0,0,0,0,0,28.83,26.36,28.83
$GC,2508,-0.57,-109.0,2747,2383,3429,3287,355.2,-7.8,137,2514,0.00,1.95,0.00,0.000,516,0.000,0.030,2747,1025,3358,3429,3287,0,0,0,0,0,0,28.83,26.29,28.83
$GC,2536,-0.61,-127.1,2747,1025,3429,3286,357.5,-7.9,138,2542,0.00,1.92,0.00,0.000,1030,0.000,0.027,2745,2381,3357,3429,3286,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2858,-0.62,-132.4,2744,2381,3429,3283,386.0,-8.8,154,2860,0.08,0.00,0.00,0.000,4102,0.125,0.000,2699,2382,3355,3429,3282,0,0,0,0,0,0,26.55,28.83,28.83
$GC,3155,-0.62,-132.4,2699,2382,3429,3278,423.7,-12.2,169,3163,0.10,1.95,0.00,0.000,2564,0.161,0.028,2724,1031,3353,3429,3278,0,0,0,0,0,0,26.35,26.27,28.83
$GC,3193,-0.62,-132.4,2724,1031,3429,3277,426.7,-11.8,170,3198,0.00,1.92,0.00,0.000,1030,0.000,0.027,2721,2381,3353,3429,3277,0,0,0,0,0,0,28.83,26.34,28.83
$GC,3507,-0.62,-132.4,2720,2381,3429,3272,461.7,-10.9,186,3508,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2381,3350,3429,3272,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3807,-0.62,-132.4,2720,2381,3429,3268,493.3,-10.3,201,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2381,3348,3429,3268,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4107,-0.62,-132.4,2720,2381,3428,3263,521.9,-9.4,216,4113,0.00,1.95,0.00,0.000,516,0.000,0.031,2721,1033,3345,3429,3262,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4200,-0.62,-132.4,2720,1034,3429,3262,530.5,-9.6,220,4206,0.00,1.92,0.00,0.000,1030,0.000,0.028,2717,2377,3345,3429,3261,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4522,-0.62,-132.7,2717,2378,3426,3258,559.4,-9.1,236,4523,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2378,3342,3426,3258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4819,-0.62,-132.7,2717,2378,3423,3256,590.4,-10.5,251,4825,0.00,2.00,0.00,0.000,260,0.000,0.044,2714,3713,3339,3423,3256,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4875,-0.62,-132.7,2713,3713,3422,3255,595.1,-10.5,253,4881,0.00,1.88,0.00,0.000,1030,0.000,0.021,2714,2349,3338,3422,3255,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5200,-0.62,-132.7,2713,2348,3420,3253,630.5,-10.9,265,5206,0.00,1.90,0.00,0.000,516,0.000,0.032,2713,1029,3336,3419,3253,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5274,-0.62,-132.7,2713,1029,3418,3253,637.1,-10.7,267,5280,0.00,1.92,0.00,0.000,1030,0.000,0.029,2712,2373,3335,3418,3253,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5599,-0.62,-132.7,2712,2373,3417,3250,671.4,-10.0,278,5605,0.00,2.00,0.00,0.000,260,0.000,0.045,2712,3705,3333,3417,3250,0,0,0,0,0,0,28.83,26.09,28.83
$GC,5659,-0.62,-132.7,2712,3705,3416,3250,675.0,-9.9,279,5667,0.00,1.83,0.00,0.000,1030,0.000,0.022,2712,2372,3333,3417,3250,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5966,-0.62,-132.7,2712,2372,3415,3247,707.4,-9.3,290,5973,0.00,1.95,0.00,0.000,516,0.000,0.032,2712,1032,3330,3414,3247,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6016,-0.62,-132.7,2712,1032,3413,3247,710.9,-9.3,291,6022,0.10,1.92,0.00,0.000,3078,0.164,0.028,2731,2375,3330,3413,3247,0,0,0,0,0,0,26.01,26.24,28.83
$GC,6336,-0.66,-154.1,2731,2376,3411,3244,737.6,-7.7,302,6342,0.08,1.98,0.00,0.000,4612,0.125,0.031,2690,1028,3327,3410,3245,0,0,0,0,0,0,26.52,26.15,28.83
$GC,6373,-0.70,-172.0,2690,1027,3410,3244,740.6,-7.9,303,6381,0.10,1.95,0.00,0.000,3078,0.175,0.028,2701,2377,3327,3410,3244,0,0,0,0,0,0,25.96,26.25,28.83
$GC,6710,-0.72,-182.6,2704,2377,3409,3242,770.0,-8.4,314,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2377,3325,3408,3242,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7010,-0.72,-184.1,2704,2377,3406,3241,796.9,-9.1,324,7015,0.00,1.98,0.00,0.000,516,0.000,0.032,2704,1028,3323,3406,3240,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7078,-0.74,-191.2,1712,1027,3384,3236,802.4,-8.7,326,7084,0.00,1.95,0.00,0.000,1030,0.000,0.030,2701,2374,3322,3405,3240,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7408,-0.74,-194.6,2700,2375,3404,3238,831.8,-8.8,337,7414,0.00,2.03,0.00,0.000,260,0.000,0.047,2699,3710,3321,3404,3238,0,0,0,0,0,0,28.83,25.99,28.83
$GC,7454,-0.74,-194.6,2699,3710,3404,3238,835.0,-8.9,338,7460,0.00,1.85,0.00,0.000,1030,0.000,0.023,2703,2377,3322,3405,3239,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7779,-0.74,-194.6,2699,2376,3402,3238,862.2,-8.0,349,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2375,3318,3402,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8079,-0.74,-194.6,2699,2376,3402,3235,885.4,-7.9,359,8085,0.00,2.05,0.00,0.000,260,0.000,0.046,2699,3715,3318,3401,3235,0,0,0,0,0,0,28.83,25.96,28.83
$GC,8116,-0.74,-194.6,2699,3715,3401,3235,888.2,-7.9,360,8123,0.00,1.88,0.00,0.000,1030,0.000,0.023,2699,2371,3318,3401,3235,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8452,-0.74,-194.6,2699,2370,3399,3234,915.8,-8.3,371,8459,0.00,1.98,0.00,0.000,516,0.000,0.034,2699,1018,3316,3398,3234,0,0,0,0,0,0,28.83,26.05,28.83
$GC,8528,-0.74,-194.6,2699,1018,3397,3233,921.6,-8.5,373,8534,0.00,1.98,0.00,0.000,1030,0.000,0.030,2692,2375,3314,3397,3232,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8853,-0.74,-194.6,2692,2376,3397,3230,951.3,-8.9,384,8859,0.00,2.00,0.00,0.000,516,0.000,0.034,2692,1025,3314,3398,3230,0,0,0,0,0,0,28.83,26.02,28.83
$GC,8944,-0.74,-194.6,2692,1025,3397,3229,957.1,-8.9,386,8952,0.00,1.98,0.00,0.000,1030,0.000,0.031,2687,2376,3313,3397,3229,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9252,-0.74,-194.6,2686,2376,3397,3228,985.7,-8.7,397,9259,0.00,2.03,0.00,0.000,260,0.000,0.047,2678,3709,3312,3397,3228,0,0,0,0,0,0,28.83,25.91,28.83
$STATE,9317,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9317,begin apogee
$GC,9325,-0.20,0.0,2677,2244,3397,3227,992.2,-8.9,399,9411,0.57,0.00,80.70,1.005,10246,0.126,0.000,2859,2243,2990,3088,2892,0,0,0,0,0,0,25.37,28.83,24.23
$STATE,9413,end apogee,CONTROL_FINISHED_OK
$STATE,9413,begin climb
$GC,9415,0.74,194.6,2859,2243,3088,2889,994.5,0.0,401,9619,0.88,0.00,194.27,0.974,10758,0.080,0.000,3165,2243,2192,2303,2081,0,0,0,0,0,0,25.13,28.83,23.82
$GC,9928,0.74,194.6,3165,2243,2300,2061,940.3,14.1,418,9934,0.00,2.17,0.00,0.000,260,0.000,0.044,3165,3640,2180,2300,2061,0,0,0,0,0,0,28.83,25.65,28.83
$GC,9982,0.74,194.6,3165,3640,2298,2060,935.2,14.2,419,9988,0.00,2.03,0.00,0.000,1030,0.000,0.024,3173,2261,2179,2298,2060,0,0,0,0,0,0,28.83,25.84,28.83
$GC,10300,0.74,194.6,3173,2260,2298,2057,888.2,14.0,430,10306,0.00,2.15,0.00,0.000,516,0.000,0.049,3178,859,2178,2299,2057,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10411,0.74,194.6,3177,859,2298,2057,874.9,13.5,433,10418,0.00,2.05,0.00,0.000,1030,0.000,0.029,3178,2245,2177,2298,2057,0,0,0,0,0,0,28.83,26.01,28.83
$GC,10732,0.74,194.6,3177,2245,2298,2053,829.6,13.7,444,10738,0.00,2.12,0.00,0.000,260,0.000,0.044,3178,3638,2173,2293,2053,0,0,0,0,0,0,28.83,25.95,28.83
$GC,10802,0.74,194.6,3177,3638,2295,2053,819.6,14.4,446,10808,0.10,2.03,0.00,0.000,5126,0.223,0.024,3166,2242,2174,2295,2054,0,0,0,0,0,0,25.73,26.13,28.83
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$STATE,18371,end climb,SURFACE_DEPTH_REACHED
$STATE,18372,begin surface coast
$FINISH,-1.5,1.021217
$STATE,18412,end surface coast,CONTROL_FINISHED_OK
$STATE,18413,begin surface
$SM_CCo,18431,92.38,0.049,0,0,464,619.87
$SM_GC,-1.48,8.12,0.15,92.38,0.038,0.073,0.049,133,2419,464,-8.63,-1.75,619.87,0,0,0,0,0,0,26.04,26.28,26.01
$IRIDIUM_FIX,1841.87,12240.15,170513,070758
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.60
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,24.90
$XPDR_PINGS,36
$SC_FREEKB,3900032
$24V_AH,23.8,39.111
$10V_AH,10.1,36.372
$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
$DEVICE_SECS,22.325,156.600,414.675,92.375,0.000,0.000,0.000,328.925,9.000,0.000,17.010,3648.181,11635.896,743.477,2479.928,623.094,0.000,2236.493,0.000,2041.466,0.000,0.549,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18441.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.987,0.000,0.000,0.000
$MEM,320888
$DATA_FILE_SIZE,30114,832
$CAP_FILE_SIZE,454007,0
$CFSIZE,260034560,212942848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.239,336.6,1
$GPS,170513,181736,1848.430,12241.050,37,1.3,38,-2.1