version: 66.11
glider: 177
mission: 4
dive: 337
start: 5 22 113 19 3 40
data:
$ID,177
$MISSION,4
$DIVE,337
$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,-8443.6865
$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,90
$R_STBD_OVSHOOT,62
$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
$GPS1,220513,184305,1847.319,12206.577,35,0.9,41,-2.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.49
$_SM_ANGLEo,-72.0
$GPS2,220513,190254,1847.818,12206.627,45,1.7,50,-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,187.2,5402,-12.0,-9.167,-12.45,753
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.57,-44.9,133,2355,475,450,0.0,0.0,0,121,0.00,0.00,-95.90,0.000,16386,0.000,0.000,133,2354,3032,3076,2988,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-0.57,-44.9,133,2353,3076,2990,3.9,-14.3,13,150,11.12,2.03,-2.28,0.000,18692,0.245,0.048,2727,3710,3180,3244,3116,0,0,1,0,0,0,25.37,25.52,26.32
$GC,254,-0.57,-44.9,2727,3710,3247,3116,52.3,-27.2,26,263,0.08,1.85,0.00,0.000,3078,0.200,0.020,2740,2353,3181,3247,3116,0,0,0,0,0,0,25.94,26.19,28.83
$GC,560,-0.57,-44.9,2739,2352,3248,3115,120.9,-19.4,42,561,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2352,3181,3248,3115,0,0,0,0,0,0,28.83,28.83,28.83
$GC,860,-0.57,-44.9,2739,2352,3249,3114,162.2,-14.3,57,866,0.00,1.90,0.00,0.000,516,0.000,0.029,2740,1018,3182,3250,3114,0,0,0,0,0,0,28.83,26.23,28.83
$GC,1103,-0.57,-44.9,2739,1017,3250,3114,191.2,-9.7,68,1109,0.00,1.90,0.00,0.000,1030,0.000,0.025,2732,2366,3182,3250,3114,0,0,0,0,0,0,28.83,26.32,28.83
$GC,1418,-0.57,-44.9,2732,2367,3250,3114,230.6,-14.1,84,1423,0.00,1.92,0.00,0.000,516,0.000,0.028,2732,1017,3181,3250,3113,0,0,0,0,0,0,28.83,26.29,28.83
$GC,1487,-0.57,-44.9,2732,1017,3250,3113,240.5,-15.1,87,1494,0.08,1.92,0.00,0.000,3078,0.191,0.026,2741,2384,3181,3250,3113,0,0,0,0,0,0,26.15,26.34,28.83
$GC,1810,-0.57,-44.9,2741,2384,3250,3110,276.9,-10.4,103,1816,0.00,1.95,0.00,0.000,516,0.000,0.028,2741,1023,3179,3250,3109,0,0,0,0,0,0,28.83,26.28,28.83
$GC,1883,-0.57,-44.9,2741,1023,3250,3108,284.5,-10.6,106,1888,0.00,1.90,0.00,0.000,1030,0.000,0.026,2736,2374,3179,3250,3108,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2205,-0.60,-61.2,2736,2374,3250,3103,308.8,-6.9,122,2212,0.00,1.92,0.00,0.000,516,0.000,0.028,2736,1024,3177,3250,3104,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2257,-0.63,-76.9,2736,1024,3250,3101,312.2,-7.0,124,2262,0.00,1.90,0.00,0.000,1030,0.000,0.027,2730,2372,3175,3250,3101,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2578,-0.63,-76.9,2730,2373,3250,3096,340.4,-9.5,140,2583,0.00,1.92,0.00,0.000,516,0.000,0.028,2730,1023,3173,3250,3096,0,0,0,0,0,0,28.83,26.27,28.83
$GC,2710,-0.63,-76.9,2730,1024,3250,3094,353.3,-10.0,146,2717,0.00,1.92,0.00,0.000,1030,0.000,0.027,2726,2376,3171,3250,3093,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3033,-0.63,-76.9,2725,2377,3250,3089,386.8,-10.2,162,3039,0.00,1.98,0.00,0.000,260,0.000,0.041,2719,3712,3169,3250,3088,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3114,-0.63,-76.9,2719,3711,3250,3088,394.4,-10.7,165,3122,0.00,1.83,0.00,0.000,1030,0.000,0.021,2719,2358,3168,3250,3087,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3422,-0.63,-76.9,2719,2357,3250,3082,428.5,-10.4,181,3427,0.00,1.90,0.00,0.000,516,0.000,0.030,2719,1027,3165,3250,3081,0,0,0,0,0,0,28.83,26.24,28.83
$GC,3540,-0.63,-76.9,2718,1027,3247,3081,440.1,-10.2,186,3546,0.00,1.92,0.00,0.000,1030,0.000,0.028,2714,2376,3164,3247,3081,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3855,-0.63,-76.9,2713,2376,3246,3079,471.3,-9.7,202,3861,0.00,1.95,0.00,0.000,516,0.000,0.030,2713,1026,3161,3245,3078,0,0,0,0,0,0,28.83,26.23,28.83
$GC,3918,-0.63,-76.9,2713,1026,3244,3078,475.8,-9.8,204,3927,0.08,1.92,0.00,0.000,3078,0.188,0.028,2722,2374,3161,3244,3078,0,0,0,0,0,0,26.10,26.29,28.83
$GC,4224,-0.68,-101.8,2722,2375,3245,3074,499.0,-5.8,220,4226,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,2375,3159,3244,3075,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4523,-0.72,-121.7,2722,2374,3241,3073,517.0,-6.4,235,4530,0.10,1.95,0.00,0.000,4612,0.102,0.028,2670,1030,3156,3240,3072,0,0,0,0,0,0,26.51,26.21,28.83
$GC,4566,-0.75,-136.5,2670,1030,3238,3071,519.2,-7.2,236,4574,0.10,1.92,0.00,0.000,3078,0.186,0.028,2684,2375,3155,3239,3072,0,0,0,0,0,0,25.96,26.26,28.83
$GC,4870,-0.75,-136.5,2684,2374,3238,3069,551.7,-10.3,252,4875,0.00,1.98,0.00,0.000,260,0.000,0.043,2677,3705,3152,3237,3068,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4959,-0.75,-136.5,2676,3705,3237,3068,562.0,-11.5,256,4965,0.00,1.83,0.00,0.000,1030,0.000,0.022,2677,2384,3152,3237,3068,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5287,-0.75,-136.5,2676,2384,3234,3066,600.5,-11.3,272,5294,0.00,1.98,0.00,0.000,516,0.000,0.031,2677,1014,3149,3233,3066,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5347,-0.75,-136.5,2676,1013,3233,3066,604.9,-11.1,273,5355,0.00,1.95,0.00,0.000,1030,0.000,0.028,2669,2373,3149,3233,3066,0,0,0,0,0,0,28.83,26.22,28.83
$GC,5655,-0.75,-136.5,2667,2373,3232,3063,640.2,-10.7,284,5662,0.08,2.03,0.00,0.000,2308,0.213,0.042,2676,3713,3147,3232,3063,0,0,0,0,0,0,26.37,26.06,28.83
$GC,5716,-0.75,-136.5,2676,3713,3232,3063,643.7,-10.2,285,5724,0.00,1.85,0.00,0.000,1030,0.000,0.022,2676,2374,3148,3233,3064,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6024,-0.75,-136.5,2676,2374,3229,3060,674.7,-9.2,296,6030,0.00,1.95,0.00,0.000,516,0.000,0.032,2676,1022,3144,3229,3060,0,0,0,0,0,0,28.83,26.13,28.83
$GC,6048,-0.75,-136.5,2676,1022,3229,3060,674.7,-9.2,296,6055,0.00,1.95,0.00,0.000,1030,0.000,0.029,2670,2378,3144,3228,3060,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6366,-0.75,-136.5,2670,2378,3229,3058,710.3,-10.8,307,6373,0.00,2.00,0.00,0.000,516,0.000,0.032,2670,1014,3142,3227,3058,0,0,0,0,0,0,28.83,26.11,28.83
$GC,6416,-0.75,-136.5,2670,1014,3226,3058,714.8,-11.2,308,6423,0.10,1.98,0.00,0.000,3078,0.184,0.028,2685,2381,3142,3226,3058,0,0,0,0,0,0,25.89,26.19,28.83
$GC,6737,-0.76,-138.4,2685,2381,3226,3056,747.4,-8.9,319,6738,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2381,3141,3226,3056,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7037,-0.76,-142.9,2685,2381,3224,3055,773.8,-8.6,329,7044,0.00,2.00,0.00,0.000,516,0.000,0.031,2686,1021,3139,3223,3055,0,0,0,0,0,0,28.83,26.10,28.83
$GC,7092,-0.77,-146.9,2685,1021,3222,3054,777.1,-8.6,330,7098,0.00,1.95,0.00,0.000,1030,0.000,0.028,2677,2378,3138,3225,3051,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7408,-0.77,-146.9,2680,2378,3222,3053,808.0,-9.5,341,7414,0.00,2.00,0.00,0.000,516,0.000,0.033,2678,1014,3136,3221,3052,0,0,0,0,0,0,28.83,26.07,28.83
$GC,7569,-0.77,-146.9,2677,1014,3220,3051,824.5,-10.4,346,7575,0.00,1.98,0.00,0.000,1030,0.000,0.030,2673,2371,3135,3220,3051,0,0,0,0,0,0,28.83,26.14,28.83
$GC,7904,-0.79,-155.0,2673,2370,3220,3049,854.5,-8.1,357,7911,0.00,2.03,0.00,0.000,260,0.000,0.045,2664,3710,3135,3220,3050,0,0,0,0,0,0,28.83,25.95,28.83
$GC,7955,-0.81,-164.2,2663,3710,3220,3049,857.4,-7.9,358,7961,0.00,1.90,0.00,0.000,1030,0.000,0.023,2663,2380,3134,3220,3049,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8275,-0.84,-178.5,2663,2380,3220,3048,883.2,-7.2,369,8281,0.00,2.00,0.00,0.000,516,0.000,0.033,2660,1009,3133,3218,3048,0,0,0,0,0,0,28.83,26.03,28.83
$GC,8459,-0.86,-190.0,2663,1009,3218,3048,895.2,-7.6,374,8467,0.00,2.00,0.00,0.000,1030,0.000,0.031,2659,2380,3132,3218,3047,0,0,0,0,0,0,28.83,26.09,28.83
$GC,8768,-0.87,-194.6,2659,2380,3218,3046,921.0,-7.7,385,8769,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2380,3132,3218,3046,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9066,-0.87,-194.6,2659,2381,3217,3044,946.1,-8.8,395,9072,0.00,2.03,0.00,0.000,516,0.000,0.034,2659,1014,3130,3216,3045,0,0,0,0,0,0,28.83,25.98,28.83
$GC,9171,-0.87,-194.6,2659,1013,3215,3045,954.7,-8.8,398,9177,0.00,1.98,0.00,0.000,1030,0.000,0.030,2649,2378,3130,3215,3045,0,0,0,0,0,0,28.83,26.09,28.83
$STATE,9467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9467,begin apogee
$GC,9473,-0.20,0.0,2649,2250,3215,3044,982.5,-9.3,408,9516,0.68,0.00,36.62,0.994,10246,0.142,0.000,2855,2250,2988,3087,2890,0,0,0,0,0,0,25.06,28.83,24.67
$STATE,9520,end apogee,CONTROL_FINISHED_OK
$STATE,9520,begin climb
$GC,9522,0.87,194.6,2854,2250,3087,2889,984.4,0.0,409,9731,0.98,2.30,196.85,0.966,10500,0.082,0.046,3199,3624,2195,2303,2087,0,0,1,0,0,0,25.58,24.59,23.85
$GC,9759,0.87,194.6,3199,3624,2301,2080,969.3,10.4,416,9765,0.00,2.08,0.00,0.000,1030,0.000,0.025,3206,2266,2190,2301,2079,0,0,0,0,0,0,28.83,25.03,28.83
$GC,10079,0.87,194.6,3206,2266,2301,2068,914.4,16.7,427,10085,0.00,2.17,0.00,0.000,516,0.000,0.045,3215,856,2184,2301,2068,0,0,0,0,0,0,28.83,25.63,28.83
$GC,10128,0.87,194.6,3215,855,2301,2068,908.6,16.8,428,10135,0.00,2.05,0.00,0.000,1030,0.000,0.028,3215,2242,2184,2301,2068,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10449,0.87,194.6,3215,2243,2300,2066,853.2,16.4,439,10455,0.00,2.15,0.00,0.000,516,0.000,0.045,3224,846,2183,2300,2066,0,0,0,0,0,0,28.83,25.80,28.83
$GC,10551,0.87,194.6,3224,846,2307,2066,836.5,16.9,442,10559,0.10,2.05,0.00,0.000,5126,0.197,0.030,3205,2243,2183,2300,2066,0,0,0,0,0,0,25.65,25.98,28.83
$GC,10883,0.87,194.6,3205,2243,2300,2063,786.2,14.7,453,10889,0.00,2.12,0.00,0.000,516,0.000,0.044,3213,854,2181,2300,2063,0,0,0,0,0,0,28.83,25.85,28.83
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$STATE,17856,end climb,SURFACE_DEPTH_REACHED
$STATE,17857,begin surface coast
$FINISH,0.1,1.020794
$STATE,17891,end surface coast,CONTROL_FINISHED_OK
$STATE,17891,begin surface
$SM_CCo,17913,103.22,0.050,0,0,465,619.87
$SM_GC,-1.58,8.57,1.77,103.22,0.063,0.019,0.050,147,2378,465,-8.61,2.52,619.87,0,0,1,0,0,0,26.04,26.27,25.97
$IRIDIUM_FIX,1841.87,12207.32,220513,181854
$TT8_MAMPS,0.027713,0.027713
$HUMID,44.99
$INTERNAL_PRESSURE,9.63904
$TCM_TEMP,25.80
$XPDR_PINGS,74
$SC_FREEKB,3890944
$24V_AH,23.9,42.096
$10V_AH,10.0,39.260
$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,22.875,147.775,352.575,103.225,0.000,0.000,0.000,742.800,18.500,0.000,52.546,3655.333,11213.822,713.168,2916.870,696.358,0.000,2599.302,0.000,2050.550,0.000,0.549,0.000
$DEVICE_MAMPS,244.800,68.085,993.735,49.725,0.000,0.000,0.000,117.810,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17912.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.547,0.000,0.000,0.000
$MEM,320516
$DATA_FILE_SIZE,30075,826
$CAP_FILE_SIZE,452656,0
$CFSIZE,260034560,209629184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0
$CURRENT,0.180,299.5,1
$GPS,230513,000726,1846.530,12204.949,146,2.3,166,-2.1