version: 66.11
glider: 177
mission: 4
dive: 322
start: 5 19 113 11 13 57
data:
$ID,177
$MISSION,4
$DIVE,322
$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,-8417.3291
$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,100
$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
$GPS1,190513,110226,1849.170,12234.276,274,2.5,294,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.63
$_SM_ANGLEo,-72.2
$GPS2,190513,111306,1849.248,12234.122,30,1.1,30,-2.1
$SPEED_LIMITS,0.159,0.756
$TGT_NAME,M4A
$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,177.0,8002,-7.8,-9.167,-8.41,1993
$D_GRID,1913
$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,-0.55,-119.1,131,2412,481,447,0.0,0.0,0,119,0.00,0.00,-96.47,0.000,16386,0.000,0.000,131,2412,3001,3031,2971,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.55,-119.1,131,2412,3031,2973,3.3,-13.4,13,148,11.12,1.90,-7.50,0.000,18692,0.246,0.050,2733,3664,3482,3560,3404,0,0,0,0,0,0,25.40,26.01,26.38
$GC,221,-0.55,-119.1,2732,3665,3562,3404,42.8,-26.9,23,229,0.00,1.83,0.00,0.000,1030,0.000,0.020,2733,2339,3483,3562,3404,0,0,0,0,0,0,28.83,26.17,28.83
$GC,528,-0.55,-119.1,2732,2338,3558,3404,116.2,-22.8,40,535,0.08,1.90,0.00,0.000,2564,0.198,0.028,2746,1011,3483,3562,3404,0,0,0,0,0,0,26.25,26.15,28.83
$GC,649,-0.55,-119.1,2746,1011,3563,3404,137.1,-19.0,45,657,0.00,1.88,0.00,0.000,1030,0.000,0.027,2742,2333,3483,3563,3404,0,0,0,0,0,0,28.83,26.23,28.83
$GC,956,-0.55,-119.1,2741,2334,3563,3404,194.3,-16.6,61,962,0.00,1.90,0.00,0.000,516,0.000,0.029,2742,1004,3483,3563,3404,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1002,-0.55,-119.1,2741,1004,3563,3404,201.2,-15.9,63,1008,0.00,1.95,0.00,0.000,1030,0.000,0.026,2733,2378,3483,3563,3404,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1331,-0.55,-119.1,2732,2378,3564,3404,247.0,-14.1,79,1337,0.05,1.95,0.00,0.000,2564,0.228,0.027,2743,1016,3483,3563,3404,0,0,0,0,0,0,26.45,26.26,28.83
$GC,1373,-0.55,-119.1,2744,1016,3563,3404,251.3,-14.3,80,1382,0.00,1.92,0.00,0.000,1030,0.000,0.027,2742,2373,3483,3563,3404,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1676,-0.55,-119.1,2741,2373,3569,3402,295.9,-14.1,96,1683,0.00,1.95,0.00,0.000,516,0.000,0.028,2742,1012,3482,3563,3402,0,0,0,0,0,0,28.83,26.27,28.83
$GC,1753,-0.55,-119.1,2741,1012,3563,3401,305.1,-14.0,99,1759,0.00,1.95,0.00,0.000,1030,0.000,0.027,2741,2384,3482,3563,3401,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2067,-0.55,-119.1,2741,2384,3563,3397,340.9,-10.0,115,2073,0.00,1.98,0.00,0.000,516,0.000,0.028,2741,1007,3480,3563,3397,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2096,-0.55,-119.1,2741,1007,3563,3397,343.3,-9.8,116,2103,0.00,1.95,0.00,0.000,1030,0.000,0.027,2736,2380,3479,3563,3396,0,0,0,0,0,0,28.83,26.33,28.83
$GC,2418,-0.55,-119.1,2735,2380,3563,3392,376.5,-10.7,132,2424,0.00,1.98,0.00,0.000,260,0.000,0.042,2732,3713,3480,3569,3392,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2442,-0.55,-119.1,1680,3712,3551,3389,379.3,-10.9,133,2449,0.08,1.85,0.00,0.000,3078,0.163,0.021,2749,2337,3477,3563,3392,0,0,0,0,0,0,26.27,26.49,28.83
$GC,2770,-0.60,-142.9,2749,2335,3563,3386,408.2,-7.9,149,2772,0.08,0.00,0.00,0.000,4102,0.129,0.000,2705,2335,3476,3563,3390,0,0,0,0,0,0,26.53,28.83,28.83
$GC,3068,-0.60,-142.9,2704,2335,3563,3379,438.8,-10.3,164,3076,0.12,1.85,0.00,0.000,2564,0.149,0.028,2743,1045,3471,3563,3379,0,0,0,0,0,0,26.22,26.26,28.83
$GC,3176,-0.60,-142.9,2742,1044,3563,3377,449.0,-9.3,169,3182,0.00,1.90,0.00,0.000,1030,0.000,0.028,2742,2375,3470,3563,3377,0,0,0,0,0,0,28.83,26.30,28.83
$GC,3503,-0.60,-142.9,2742,2375,3563,3372,479.7,-9.2,185,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2375,3467,3563,3371,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3801,-0.62,-151.7,2742,2375,3563,3365,505.8,-8.7,200,3807,0.00,2.00,0.00,0.000,260,0.000,0.045,2742,3707,3463,3562,3365,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3871,-0.64,-161.5,1728,3706,3549,3362,511.5,-8.7,203,3878,0.08,1.80,0.00,0.000,5126,0.122,0.021,2699,2374,3464,3561,3367,0,0,0,0,0,0,26.32,26.47,28.83
$GC,4193,-0.64,-161.5,2699,2374,3556,3362,548.7,-11.9,219,4200,0.10,1.92,0.00,0.000,2564,0.158,0.028,2724,1039,3459,3556,3363,0,0,0,0,0,0,26.34,26.21,28.83
$GC,4261,-0.64,-161.5,2724,1039,3555,3363,556.1,-11.1,222,4267,0.00,1.92,0.00,0.000,1030,0.000,0.028,2719,2377,3458,3554,3362,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4588,-0.64,-161.5,2719,2377,3553,3358,591.0,-10.9,238,4595,0.00,1.98,0.00,0.000,516,0.000,0.031,2719,1028,3455,3553,3358,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4640,-0.64,-161.5,2719,1028,3552,3358,596.4,-10.9,240,4646,0.00,1.95,0.00,0.000,1030,0.000,0.028,2716,2381,3454,3551,3358,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4949,-0.64,-161.5,2716,2381,3550,3355,632.4,-11.9,251,4955,0.00,2.00,0.00,0.000,260,0.000,0.046,2716,3706,3452,3549,3355,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4995,-0.64,-161.5,2716,3706,3549,3355,636.6,-12.0,252,5001,0.00,1.80,0.00,0.000,1030,0.000,0.022,2717,2383,3451,3549,3354,0,0,0,0,0,0,28.83,26.45,28.83
$GC,5319,-0.64,-161.5,2716,2382,3546,3352,675.2,-11.4,263,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2382,3449,3546,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5619,-0.64,-161.5,2716,2382,3544,3349,710.9,-11.8,273,5625,0.00,1.95,0.00,0.000,516,0.000,0.031,2716,1033,3445,3543,3348,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5659,-0.64,-161.5,2720,1033,3543,3348,714.9,-11.5,274,5665,0.00,1.95,0.00,0.000,1030,0.000,0.029,2713,2384,3445,3543,3348,0,0,0,0,0,0,28.83,26.21,28.83
$GC,5989,-0.64,-161.5,2713,2384,3541,3346,751.0,-10.2,285,5995,0.00,1.98,0.00,0.000,516,0.000,0.031,2713,1036,3443,3541,3346,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6029,-0.64,-161.5,1672,1035,3526,3342,754.4,-10.1,286,6035,0.00,1.92,0.00,0.000,1030,0.000,0.028,2707,2375,3443,3540,3346,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6358,-0.64,-161.5,2707,2375,3538,3343,786.9,-9.7,297,6360,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2375,3440,3538,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6659,-0.64,-161.5,2707,2375,3536,3341,816.4,-9.9,307,6660,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2375,3438,3536,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6959,-0.64,-161.5,2705,2375,3533,3339,847.5,-10.6,317,6961,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2375,3436,3534,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7259,-0.64,-161.5,2707,2375,3532,3336,878.8,-9.9,327,7266,0.00,1.98,0.00,0.000,516,0.000,0.033,2707,1032,3433,3531,3336,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7313,-0.64,-161.5,2707,1032,3531,3336,882.4,-10.0,328,7320,0.08,2.00,0.00,0.000,3078,0.181,0.031,2720,2396,3433,3531,3336,0,0,0,0,0,0,25.98,26.15,28.83
$GC,7630,-0.70,-194.6,2720,2396,3531,3334,908.9,-7.3,339,7632,0.10,0.00,0.00,0.000,4102,0.106,0.000,2671,2396,3432,3531,3334,0,0,0,0,0,0,26.47,28.83,28.83
$GC,7930,-0.70,-194.6,2671,2396,3530,3332,938.6,-10.0,349,7937,0.12,2.00,0.00,0.000,2564,0.160,0.031,2709,1044,3431,3530,3332,0,0,0,0,0,0,26.10,26.03,28.83
$GC,8100,-0.70,-194.6,2714,1044,3529,3332,953.2,-9.0,354,8107,0.00,1.95,0.00,0.000,1030,0.000,0.031,2706,2380,3430,3529,3332,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8427,-0.70,-194.6,2705,2380,3528,3330,982.8,-8.6,365,8433,0.00,2.03,0.00,0.000,260,0.000,0.048,2704,3708,3428,3528,3329,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8516,-0.70,-194.6,2703,3709,3528,3329,988.4,-8.3,367,8524,0.00,1.83,0.00,0.000,1030,0.000,0.024,2704,2394,3428,3528,3329,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,8551,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8551,begin apogee
$GC,8558,-0.20,0.0,2703,2262,3527,3329,993.5,-8.4,369,8673,0.47,0.00,108.57,0.988,10246,0.120,0.000,2857,2262,2990,3092,2888,0,0,0,0,0,0,25.48,28.83,24.13
$STATE,8675,end apogee,CONTROL_FINISHED_OK
$STATE,8675,begin climb
$GC,8677,0.70,194.6,2856,2262,3089,2883,997.2,0.0,372,8880,0.85,2.28,188.75,0.968,10756,0.079,0.041,3162,879,2190,2303,2078,0,0,0,0,0,0,25.01,24.54,23.80
$GC,8949,0.70,194.6,3162,880,2298,2067,984.3,9.6,381,8955,0.00,2.08,0.00,0.000,1030,0.000,0.030,3162,2244,2182,2298,2067,0,0,0,0,0,0,28.83,25.19,28.83
$GC,9267,0.70,194.6,3162,2244,2295,2058,945.1,11.4,392,9273,0.00,2.17,0.00,0.000,260,0.000,0.046,3162,3648,2176,2295,2058,0,0,0,0,0,0,28.83,25.74,28.83
$GC,9342,0.70,194.6,3161,3648,2293,2056,936.5,11.9,394,9349,0.00,2.05,0.00,0.000,1030,0.000,0.027,3164,2264,2174,2293,2056,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9667,0.70,194.6,3163,2263,2293,2052,895.0,12.2,405,9673,0.00,2.17,0.00,0.000,516,0.000,0.049,3171,854,2173,2293,2053,0,0,0,0,0,0,28.83,25.85,28.83
$GC,9753,0.70,194.6,3171,854,2293,2052,887.8,11.6,407,9760,0.10,2.03,0.00,0.000,5126,0.187,0.029,3150,2247,2172,2293,2052,0,0,0,0,0,0,25.74,26.03,28.83
$GC,10068,0.70,194.6,3150,2248,2293,2050,853.7,10.0,418,10074,0.00,2.12,0.00,0.000,260,0.000,0.044,3150,3635,2171,2293,2050,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10137,0.70,194.6,2144,3634,2218,2042,845.9,11.0,420,10143,0.00,2.05,0.00,0.000,1030,0.000,0.026,3152,2231,2170,2291,2050,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10466,0.70,194.6,3152,2230,2290,2049,810.8,10.7,431,10468,0.00,0.00,0.00,0.000,6,0.000,0.000,3152,2230,2169,2290,2049,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10767,0.70,194.6,3152,2230,2290,2048,778.4,10.8,441,10774,0.00,2.17,0.00,0.000,260,0.000,0.043,3152,3643,2169,2290,2048,0,0,0,0,0,0,28.83,25.97,28.83
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$STATE,18357,end climb,SURFACE_DEPTH_REACHED
$STATE,18357,begin surface coast
$FINISH,0.1,1.021252
$STATE,18382,end surface coast,CONTROL_FINISHED_OK
$STATE,18382,begin surface
$SM_CCo,18401,88.32,0.049,0,0,464,619.87
$SM_GC,-1.57,8.68,0.15,88.32,0.067,0.072,0.049,147,2428,464,-8.61,-1.75,619.87,0,0,0,0,0,0,26.05,26.25,25.99
$IRIDIUM_FIX,1844.15,12235.08,190513,060605
$TT8_MAMPS,0.027713,0.027713
$HUMID,44.99
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,24.90
$XPDR_PINGS,34
$SC_FREEKB,3896704
$24V_AH,23.8,40.176
$10V_AH,10.2,37.428
$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,22.850,140.350,450.125,88.325,0.000,0.000,0.000,350.300,8.500,0.000,33.338,3559.383,11732.009,759.693,2425.275,656.806,0.000,2233.180,0.000,1975.660,0.000,0.548,0.000
$DEVICE_MAMPS,245.565,71.910,987.615,48.960,0.000,0.000,0.000,119.340,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18401.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.996,0.000,0.000,0.000
$MEM,321468
$DATA_FILE_SIZE,30106,829
$CAP_FILE_SIZE,442087,0
$CFSIZE,260034560,211738624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.240,327.3,1
$GPS,190513,162520,1848.495,12233.030,129,2.4,149,-2.1