version: 66.11
glider: 177
mission: 4
dive: 164
start: 4 17 113 1 31 42
data:
$ID,177
$MISSION,4
$DIVE,164
$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,-8070.6016
$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,73
$R_STBD_OVSHOOT,91
$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
$GPS1,170413,012136,1853.406,12229.094,41,0.8,42,-2.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.93
$_SM_ANGLEo,-70.7
$GPS2,170413,013113,1853.551,12228.970,15,1.0,15,-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,153.2,17555,-6.2,-9.167,-6.92,3252
$D_GRID,1558
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-0.64,-194.6,138,2409,487,436,0.0,0.0,0,125,0.00,0.00,-103.95,0.000,16386,0.000,0.000,134,2409,3247,3301,3194,0,0,0,0,0,0,28.83,28.83,28.83
$GC,127,-0.64,-194.6,134,2409,3301,3196,3.5,-13.4,14,153,10.82,1.92,-8.10,0.000,18692,0.250,0.054,2705,3670,3789,3876,3703,0,0,0,0,0,0,25.70,26.09,26.39
$GC,207,-0.64,-194.6,2705,3670,3879,3703,42.3,-39.0,22,214,0.00,1.80,0.00,0.000,1030,0.000,0.021,2705,2373,3791,3879,3703,0,0,0,0,0,0,28.83,26.20,28.83
$GC,513,-0.64,-194.6,2704,2372,3879,3704,131.4,-27.8,39,520,0.00,1.98,0.00,0.000,516,0.000,0.035,2705,1000,3791,3879,3704,0,0,0,0,0,0,28.83,26.29,28.83
$GC,604,-0.64,-194.6,2705,1000,3880,3704,151.4,-22.8,43,610,0.10,1.88,0.00,0.000,3078,0.183,0.025,2720,2341,3791,3880,3703,0,0,0,0,0,0,26.17,26.37,28.83
$GC,924,-0.64,-194.6,2720,2342,3878,3704,204.7,-15.4,59,930,0.00,1.92,0.00,0.000,516,0.000,0.032,2721,999,3793,3882,3704,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1060,-0.64,-194.6,2721,998,3881,3704,223.6,-14.7,65,1066,0.00,1.92,0.00,0.000,1030,0.000,0.026,2717,2367,3792,3881,3704,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1374,-0.64,-194.6,2716,2368,3881,3704,276.4,-16.1,81,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2368,3792,3881,3704,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1675,-0.64,-194.6,2713,2368,3881,3701,317.8,-13.5,96,1680,0.00,1.98,0.00,0.000,516,0.000,0.031,2717,988,3791,3881,3701,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1773,-0.64,-194.6,2716,988,3881,3701,328.8,-12.5,100,1778,0.00,1.98,0.00,0.000,1030,0.000,0.027,2713,2384,3791,3881,3701,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2086,-0.64,-194.6,2713,2386,3881,3698,372.3,-14.5,116,2093,0.00,2.00,0.00,0.000,516,0.000,0.032,2713,989,3789,3881,3698,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2145,-0.64,-194.6,1736,989,3878,3695,379.2,-15.1,118,2154,0.00,1.95,0.00,0.000,1030,0.000,0.026,2708,2377,3789,3881,3697,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2453,-0.64,-194.6,2708,2377,3881,3692,426.5,-13.1,134,2459,0.00,1.98,0.00,0.000,516,0.000,0.031,2708,998,3786,3881,3692,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2562,-0.64,-194.6,1696,998,3878,3689,439.1,-11.8,139,2569,0.00,1.95,0.00,0.000,1030,0.000,0.027,2705,2377,3785,3881,3690,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2882,-0.64,-194.6,2705,2378,3882,3684,474.2,-11.3,155,2888,0.00,1.98,0.00,0.000,516,0.000,0.031,2705,996,3783,3881,3685,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2992,-0.64,-194.6,2711,997,3881,3683,485.9,-11.0,160,2999,0.08,1.95,0.00,0.000,3078,0.182,0.028,2720,2373,3781,3880,3682,0,0,0,0,0,0,26.39,26.53,28.83
$GC,3314,-0.64,-194.6,2720,2374,3877,3680,519.6,-10.6,176,3319,0.00,1.98,0.00,0.000,516,0.000,0.031,2720,998,3778,3877,3679,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3360,-0.64,-194.6,2720,998,3877,3679,524.8,-11.0,178,3366,0.00,1.98,0.00,0.000,1030,0.000,0.028,2719,2380,3778,3877,3680,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3684,-0.64,-194.6,2719,2381,3874,3675,562.4,-11.2,194,3691,0.00,2.00,0.00,0.000,516,0.000,0.032,2717,992,3774,3874,3675,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3795,-0.64,-194.6,2719,991,3871,3674,575.6,-12.5,199,3801,0.00,1.98,0.00,0.000,1030,0.000,0.028,2717,2380,3773,3872,3674,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4105,-0.64,-194.6,2717,2379,3869,3670,611.4,-11.4,213,4111,0.00,2.00,0.00,0.000,516,0.000,0.033,2717,995,3769,3869,3670,0,0,0,0,0,0,28.83,26.49,28.83
$GC,4149,-0.64,-194.6,2717,995,3868,3670,615.5,-11.5,214,4155,0.00,1.98,0.00,0.000,1030,0.000,0.028,2712,2378,3769,3868,3670,0,0,0,0,0,0,28.83,26.53,28.83
$GC,4473,-0.64,-194.6,2714,2380,3865,3667,653.1,-11.4,225,4479,0.00,2.00,0.00,0.000,516,0.000,0.033,2714,996,3767,3869,3666,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4570,-0.64,-194.6,2714,995,3864,3666,664.2,-11.7,228,4576,0.00,1.98,0.00,0.000,1030,0.000,0.029,2713,2373,3765,3864,3666,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4905,-0.64,-194.6,2713,2373,3861,3662,699.2,-10.1,239,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2373,3761,3861,3662,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5205,-0.64,-194.6,2713,2373,3858,3660,726.8,-9.0,249,5211,0.00,2.00,0.00,0.000,516,0.000,0.034,2713,992,3759,3858,3660,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5314,-0.64,-194.6,2713,992,3856,3660,735.6,-9.1,252,5321,0.00,2.00,0.00,0.000,1030,0.000,0.030,2713,2374,3758,3857,3660,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5635,-0.64,-194.6,2713,2375,3854,3656,765.2,-8.9,263,5640,0.00,2.00,0.00,0.000,516,0.000,0.034,2713,995,3755,3854,3656,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5710,-0.64,-194.6,2713,995,3854,3656,770.8,-8.6,265,5716,0.00,1.98,0.00,0.000,1030,0.000,0.030,2713,2373,3754,3853,3656,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6035,-0.64,-194.6,2712,2373,3853,3653,796.4,-7.6,276,6041,0.00,2.00,0.00,0.000,516,0.000,0.034,2713,995,3753,3853,3653,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6165,-0.64,-194.6,2712,995,3853,3651,806.6,-8.0,280,6171,0.00,1.98,0.00,0.000,1030,0.000,0.031,2712,2376,3752,3853,3651,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6495,-0.64,-194.6,2712,2376,3852,3647,834.6,-8.6,291,6501,0.00,2.00,0.00,0.000,516,0.000,0.034,2712,998,3749,3852,3647,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6554,-0.64,-194.6,2712,997,3850,3647,837.8,-8.8,292,6562,0.00,2.00,0.00,0.000,1030,0.000,0.031,2712,2387,3748,3850,3647,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6861,-0.64,-194.6,2712,2387,3847,3646,868.4,-9.7,303,6868,0.00,2.03,0.00,0.000,516,0.000,0.034,2712,997,3746,3847,3645,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6889,-0.64,-194.6,2712,997,3847,3646,868.4,-9.7,303,6898,0.00,1.98,0.00,0.000,1030,0.000,0.030,2708,2377,3746,3847,3646,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7198,-0.64,-194.6,2708,2377,3846,3644,899.4,-9.0,314,7204,0.03,2.03,0.00,0.000,2564,0.285,0.034,2717,995,3744,3845,3644,0,0,0,0,0,0,26.58,26.44,28.83
$GC,7287,-0.64,-194.6,2717,994,3844,3644,904.6,-8.3,316,7296,0.00,2.00,0.00,0.000,1030,0.000,0.031,2716,2381,3744,3844,3644,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7594,-0.64,-194.6,2716,2381,3844,3642,930.2,-7.6,327,7600,0.00,2.03,0.00,0.000,516,0.000,0.036,2717,995,3742,3843,3642,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7660,-0.64,-194.6,2716,994,3842,3642,935.0,-7.3,329,7665,0.00,2.00,0.00,0.000,1030,0.000,0.031,2713,2375,3742,3842,3642,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7994,-0.64,-194.6,2713,2375,3840,3640,959.4,-7.6,340,8000,0.00,2.00,0.00,0.000,516,0.000,0.037,2713,1003,3740,3840,3640,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8078,-0.64,-194.6,2713,1003,3840,3640,964.8,-7.9,342,8084,0.00,1.98,0.00,0.000,1030,0.000,0.031,2709,2373,3740,3840,3640,0,0,0,0,0,0,28.83,26.47,28.83
$STATE,8362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8362,begin apogee
$GC,8367,-0.20,0.0,2709,2233,3839,3639,991.1,-9.3,352,8549,0.45,0.00,174.02,0.992,10246,0.116,0.000,2860,2233,2989,3093,2885,0,0,0,0,0,0,26.25,28.83,24.22
$STATE,8550,end apogee,CONTROL_FINISHED_OK
$STATE,8550,begin climb
$GC,8552,0.64,194.6,2860,2232,3093,2880,998.3,0.0,357,8738,0.77,0.00,181.98,0.971,10502,0.080,0.000,3129,2232,2198,2317,2079,0,0,0,0,0,0,24.95,28.83,23.99
$GC,9022,0.64,194.6,3129,2232,2310,2052,965.6,9.6,374,9029,0.00,2.20,0.00,0.000,260,0.000,0.045,3129,3643,2180,2309,2052,0,0,0,0,0,0,28.83,25.73,28.83
$GC,9057,0.64,194.6,3129,3643,2306,2052,961.9,9.8,375,9063,0.00,2.05,0.00,0.000,1030,0.000,0.026,3136,2266,2179,2306,2052,0,0,0,0,0,0,28.83,25.82,28.83
$GC,9391,0.64,194.6,3136,2266,2306,2050,924.6,11.1,386,9392,0.00,0.00,0.00,0.000,6,0.000,0.000,3136,2267,2178,2306,2050,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9691,0.64,194.6,3136,2266,2305,2049,891.7,10.9,396,9698,0.00,2.15,0.00,0.000,516,0.000,0.048,3144,848,2177,2305,2049,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9720,0.64,194.6,3143,848,2305,2049,891.7,10.9,396,9728,0.00,2.03,0.00,0.000,1030,0.000,0.030,3143,2242,2177,2305,2049,0,0,0,0,0,0,28.83,26.22,28.83
$GC,10027,0.64,194.6,3143,2242,2303,2048,854.4,11.2,407,10033,0.00,2.12,0.00,0.000,260,0.000,0.046,3143,3644,2176,2305,2048,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10066,0.64,194.6,2144,3643,2225,2040,849.8,11.7,408,10073,0.10,2.05,0.00,0.000,5126,0.221,0.027,3131,2233,2175,2303,2047,0,0,0,0,0,0,26.05,26.27,28.83
$GC,10396,0.64,194.6,3131,2232,2303,2047,813.4,10.3,419,10401,0.00,2.15,0.00,0.000,260,0.000,0.045,3130,3643,2175,2303,2047,0,0,0,0,0,0,28.83,26.29,28.83
$GC,10434,0.64,194.6,3130,3643,2302,2046,809.4,10.7,420,10440,0.00,2.03,0.00,0.000,1030,0.000,0.025,3136,2238,2174,2302,2046,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10763,0.64,194.6,3136,2237,2302,2046,775.0,9.9,431,10770,0.00,2.08,0.00,0.000,516,0.000,0.045,3146,850,2173,2301,2046,0,0,0,0,0,0,28.83,26.29,28.83
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$STATE,18117,end climb,SURFACE_DEPTH_REACHED
$STATE,18117,begin surface coast
$FINISH,-0.3,1.021615
$STATE,18135,end surface coast,CONTROL_FINISHED_OK
$STATE,18135,begin surface
$SM_CCo,18153,63.05,0.051,0,0,464,619.87
$SM_GC,-1.81,8.70,0.15,63.05,0.070,0.073,0.051,126,2414,464,-8.63,-1.78,619.87,0,0,0,0,0,0,26.03,26.10,26.01
$IRIDIUM_FIX,1846.42,12230.02,160413,202040
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.46
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.70
$XPDR_PINGS,20
$SC_FREEKB,3957152
$24V_AH,24.0,21.333
$10V_AH,10.3,18.981
$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,22.150,149.375,563.300,63.050,0.000,0.000,0.000,332.450,5.000,0.000,17.915,3441.688,11656.714,873.134,2386.627,421.216,0.000,2317.826,0.000,1942.690,0.000,0.546,0.000
$DEVICE_MAMPS,285.345,73.440,992.205,51.255,0.000,0.000,0.000,119.340,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18157.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.934,0.000,0.000,0.000
$MEM,320876
$DATA_FILE_SIZE,30027,806
$CAP_FILE_SIZE,436039,0
$CFSIZE,260034560,232927232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.186,315.8,1
$GPS,170413,063636,1852.449,12229.802,35,1.0,35,-2.1