version: 66.11
glider: 177
mission: 4
dive: 334
start: 5 22 113 2 35 35
data:
$ID,177
$MISSION,4
$DIVE,334
$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,-8439.916
$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,63
$R_STBD_OVSHOOT,93
$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
$GPS1,220513,022605,1848.226,12208.939,34,1.1,40,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.64
$_SM_ANGLEo,-72.4
$GPS2,220513,023448,1848.255,12208.793,8,1.1,14,-2.1
$SPEED_LIMITS,0.159,0.756
$TGT_NAME,M1A
$TGT_LATLONG,1845.000,12205.830
$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,197.0,7959,-11.8,-9.167,-12.25,784
$D_GRID,982
$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,-46.7,133,2412,470,452,0.0,0.0,0,119,0.00,0.00,-95.78,0.000,16386,0.000,0.000,133,2412,2967,2995,2940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.56,-46.7,133,2412,2995,2942,3.0,-12.4,13,148,11.10,1.85,-3.50,0.000,18692,0.243,0.045,2729,3675,3186,3241,3132,0,0,0,0,0,0,25.32,25.94,26.27
$GC,177,-0.56,-46.7,2728,3675,3245,3132,28.8,-43.8,19,185,0.00,1.85,0.00,0.000,1030,0.000,0.021,2729,2362,3188,3245,3132,0,0,0,0,0,0,28.83,26.03,28.83
$GC,495,-0.56,-46.7,2728,2361,3248,3131,109.7,-19.1,39,500,0.00,1.95,0.00,0.000,260,0.000,0.038,2719,3674,3189,3248,3131,0,0,0,0,0,0,28.83,26.03,28.83
$GC,733,-0.56,-46.7,2719,3674,3251,3131,153.7,-13.4,50,740,0.10,1.80,0.00,0.000,3078,0.174,0.019,2741,2338,3191,3251,3131,0,0,0,0,0,0,25.98,26.33,28.83
$GC,1051,-0.56,-46.7,2740,2338,3255,3131,186.8,-10.4,66,1056,0.00,2.00,0.00,0.000,260,0.000,0.041,2741,3663,3193,3255,3131,0,0,0,0,0,0,28.83,26.11,28.83
$GC,1182,-0.56,-46.7,2741,3663,3255,3131,199.2,-9.2,72,1188,0.00,1.73,0.00,0.000,1030,0.000,0.020,2741,2377,3193,3255,3131,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1509,-0.58,-53.8,2741,2376,3255,3129,226.9,-8.2,88,1516,0.00,1.92,0.00,0.000,516,0.000,0.030,2741,1026,3191,3255,3128,0,0,0,0,0,0,28.83,26.21,28.83
$GC,1687,-0.58,-55.9,2741,1026,3255,3126,242.0,-8.9,96,1693,0.00,1.85,0.00,0.000,1030,0.000,0.026,2734,2336,3190,3255,3126,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2003,-0.58,-55.9,2734,2336,3254,3122,274.5,-10.9,112,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2336,3188,3255,3122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2302,-0.58,-55.9,2733,2336,3254,3119,304.4,-9.9,127,2303,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,2336,3187,3255,3120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2603,-0.58,-56.3,2733,2335,3255,3114,332.4,-9.1,142,2608,0.00,2.03,0.00,0.000,260,0.000,0.041,2730,3703,3186,3255,3117,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2692,-0.58,-56.3,2730,3703,3254,3113,340.7,-9.2,146,2698,0.00,1.83,0.00,0.000,1030,0.000,0.021,2730,2373,3184,3255,3113,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3019,-0.60,-64.7,2730,2371,3255,3106,370.3,-8.1,162,3025,0.00,1.95,0.00,0.000,516,0.000,0.031,2730,1017,3180,3254,3106,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3157,-0.62,-73.5,2730,1018,3254,3104,381.0,-8.0,168,3163,0.00,1.95,0.00,0.000,1030,0.000,0.027,2721,2371,3179,3255,3104,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3473,-0.63,-79.5,2721,2372,3255,3100,409.2,-8.4,184,3478,0.00,1.95,0.00,0.000,516,0.000,0.031,2721,1026,3177,3255,3100,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3575,-0.63,-80.4,2721,1026,3255,3098,417.2,-9.0,188,3583,0.00,1.92,0.00,0.000,1030,0.000,0.028,2716,2374,3175,3254,3097,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3881,-0.63,-80.4,2716,2374,3254,3094,446.9,-9.6,204,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2374,3174,3254,3094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4181,-0.64,-83.4,2715,2374,3251,3092,475.3,-8.8,219,4186,0.00,1.98,0.00,0.000,516,0.000,0.031,2716,1018,3171,3250,3092,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4232,-0.65,-87.5,2715,1018,3250,3091,479.3,-8.6,221,4238,0.00,1.95,0.00,0.000,1030,0.000,0.028,2708,2376,3170,3249,3091,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4555,-0.65,-92.0,2708,2377,3248,3090,507.3,-8.6,237,4561,0.00,1.98,0.00,0.000,516,0.000,0.031,2708,1021,3168,3247,3090,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4687,-0.65,-92.0,2708,1021,3246,3088,519.9,-9.7,243,4693,0.00,1.95,0.00,0.000,1030,0.000,0.028,2703,2376,3167,3246,3089,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5009,-0.66,-96.8,2703,2376,3245,3086,548.0,-8.5,259,5014,0.00,1.98,0.00,0.000,516,0.000,0.031,2704,1019,3165,3245,3086,0,0,0,0,0,0,28.83,26.14,28.83
$GC,5061,-0.67,-100.9,2703,1018,3245,3086,552.2,-8.6,261,5067,0.00,1.95,0.00,0.000,1030,0.000,0.028,2700,2376,3165,3244,3086,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5383,-0.69,-111.3,2699,2375,3243,3083,577.7,-7.8,277,5388,0.00,1.98,0.00,0.000,516,0.000,0.031,2700,1025,3162,3242,3083,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5464,-0.71,-120.8,2699,1025,3241,3082,583.2,-7.9,280,5472,0.00,1.95,0.00,0.000,1030,0.000,0.028,2692,2376,3161,3241,3082,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5790,-0.71,-120.8,2692,2378,3240,3083,612.5,-9.2,295,5797,0.00,2.00,0.00,0.000,260,0.000,0.044,2690,3707,3160,3240,3080,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5851,-0.71,-120.8,2690,3707,3240,3080,616.0,-9.4,296,5859,0.00,1.85,0.00,0.000,1030,0.000,0.023,2690,2369,3160,3240,3080,0,0,0,0,0,0,28.83,26.40,28.83
$GC,6159,-0.72,-122.9,2690,2370,3238,3079,646.5,-8.9,307,6164,0.00,1.98,0.00,0.000,516,0.000,0.032,2690,1012,3158,3238,3079,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6198,-0.72,-125.6,2690,1012,3232,3079,649.7,-8.8,308,6204,0.00,1.98,0.00,0.000,1030,0.000,0.028,2681,2378,3158,3237,3079,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6527,-0.72,-125.6,2681,2379,3236,3076,681.8,-9.6,319,6534,0.00,2.00,0.00,0.000,516,0.000,0.032,2681,1018,3155,3235,3076,0,0,0,0,0,0,28.83,26.07,28.83
$GC,6658,-0.72,-125.6,2681,1018,3234,3075,694.3,-9.9,323,6665,0.08,1.98,0.00,0.000,3078,0.199,0.029,2691,2378,3154,3234,3075,0,0,0,0,0,0,25.94,26.15,28.83
$GC,6989,-0.72,-127.1,2691,2379,3234,3074,724.7,-9.0,334,6990,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2379,3154,3234,3074,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7290,-0.75,-138.4,2691,2379,3233,3072,747.9,-7.7,344,7296,0.00,1.98,0.00,0.000,516,0.000,0.032,2692,1028,3152,3233,3072,0,0,0,0,0,0,28.83,26.06,28.83
$GC,7359,-0.77,-148.0,2691,1028,3232,3072,753.2,-7.9,346,7365,0.00,1.95,0.00,0.000,1030,0.000,0.029,2687,2376,3152,3232,3072,0,0,0,0,0,0,28.83,26.13,28.83
$GC,7689,-0.77,-148.0,2687,2376,3232,3069,784.1,-9.8,357,7690,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2376,3150,3232,3069,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7990,-0.77,-148.0,2686,2376,3231,3068,815.1,-10.5,367,7996,0.00,1.98,0.00,0.000,516,0.000,0.033,2687,1029,3148,3229,3068,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8091,-0.77,-148.0,2687,1032,3229,3068,825.7,-10.8,370,8097,0.00,1.95,0.00,0.000,1030,0.000,0.029,2677,2377,3148,3229,3068,0,0,0,0,0,0,28.83,26.11,28.83
$GC,8420,-0.77,-148.0,2677,2378,3229,3067,862.6,-10.9,381,8426,0.00,2.03,0.00,0.000,260,0.000,0.046,2673,3714,3148,3229,3067,0,0,0,0,0,0,28.83,25.88,28.83
$GC,8474,-0.77,-148.0,2673,3711,3229,3067,866.3,-10.8,382,8481,0.00,1.85,0.00,0.000,1030,0.000,0.023,2673,2380,3147,3228,3067,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8794,-0.77,-148.8,2673,2383,3228,3066,898.3,-9.1,393,8795,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2383,3147,3228,3066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9090,-0.77,-148.8,2673,2383,3226,3066,925.4,-9.4,403,9096,0.00,2.00,0.00,0.000,516,0.000,0.033,2674,1019,3145,3226,3065,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9174,-0.77,-148.8,1696,1018,3190,3060,931.7,-9.6,405,9180,0.00,1.98,0.00,0.000,1030,0.000,0.030,2663,2376,3145,3225,3065,0,0,0,0,0,0,28.83,26.07,28.83
$GC,9491,-0.77,-148.8,2663,2376,3225,3064,963.7,-9.3,416,9497,0.05,2.03,0.00,0.000,2564,0.226,0.031,2675,1024,3144,3225,3064,0,0,0,0,0,0,26.43,25.96,28.83
$GC,9541,-0.77,-148.8,2674,1024,3224,3064,967.2,-9.3,417,9546,0.00,1.98,0.00,0.000,1030,0.000,0.031,2668,2377,3143,3224,3063,0,0,0,0,0,0,28.83,26.06,28.83
$STATE,9707,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9708,begin apogee
$GC,9714,-0.20,0.0,2668,2250,3224,3063,982.5,-8.3,423,9764,0.60,0.00,40.38,0.996,10246,0.133,0.000,2856,2250,2990,3081,2900,0,0,0,0,0,0,25.16,28.83,24.61
$STATE,9765,end apogee,CONTROL_FINISHED_OK
$STATE,9765,begin climb
$GC,9768,0.77,148.8,2855,2250,3081,2896,983.9,0.0,424,9927,0.90,0.00,154.27,0.976,10758,0.080,0.000,3174,2250,2385,2492,2278,0,0,0,0,0,0,25.53,28.83,23.85
$GC,10221,0.77,148.8,3179,2249,2487,2251,940.8,12.5,440,10222,0.00,0.00,0.00,0.000,6,0.000,0.000,3175,2250,2369,2487,2251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10521,0.77,148.8,3174,2249,2487,2247,902.8,13.1,450,10528,0.00,2.12,0.00,0.000,516,0.000,0.047,3176,877,2365,2486,2245,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10556,0.77,148.8,3175,876,2487,2247,898.0,13.2,451,10562,0.00,2.03,0.00,0.000,1030,0.000,0.029,3175,2244,2366,2487,2246,0,0,0,0,0,0,28.83,25.89,28.83
$GC,10891,0.77,148.8,3175,2245,2487,2244,856.3,12.3,462,10897,0.00,2.15,0.00,0.000,260,0.000,0.044,3175,3645,2365,2487,2244,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10960,0.77,148.8,3175,3645,2483,2243,847.1,13.3,464,10966,0.00,2.03,0.00,0.000,1030,0.000,0.027,3175,2271,2363,2483,2243,0,0,0,0,0,0,28.83,26.00,28.83
$GC,11289,0.77,148.8,3175,2271,2483,2241,808.4,11.2,475,11295,0.00,2.17,0.00,0.000,516,0.000,0.045,3183,847,2362,2483,2241,0,0,0,0,0,0,28.83,25.82,28.83
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$STATE,19863,end climb,SURFACE_DEPTH_REACHED
$STATE,19863,begin surface coast
$FINISH,-1.1,1.020867
$STATE,19896,end surface coast,CONTROL_FINISHED_OK
$STATE,19896,begin surface
$SM_CCo,19917,108.45,0.048,0,0,463,619.87
$SM_GC,-1.58,8.12,1.80,108.45,0.032,0.019,0.048,130,2344,463,-8.62,2.21,619.87,0,0,1,0,0,0,26.11,26.29,26.01
$IRIDIUM_FIX,1844.15,12213.60,210513,212110
$TT8_MAMPS,0.027713,0.027713
$HUMID,43.18
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,25.60
$XPDR_PINGS,30
$SC_FREEKB,3892096
$24V_AH,23.9,41.780
$10V_AH,10.1,38.876
$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,21.950,148.025,338.100,108.450,0.000,0.000,0.000,302.850,7.500,0.000,16.910,4147.883,12261.657,694.688,2728.299,712.339,0.000,2246.644,0.000,2320.253,0.000,0.548,0.000
$DEVICE_MAMPS,242.505,67.320,996.030,48.195,0.000,0.000,0.000,121.635,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19921.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.379,0.000,0.000,0.000
$MEM,320844
$DATA_FILE_SIZE,33332,927
$CAP_FILE_SIZE,498073,0
$CFSIZE,260034560,210026496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.161, 26.6,1
$GPS,220513,081036,1847.735,12209.281,31,1.0,32,-2.1