version: 66.11
glider: 177
mission: 4
dive: 166
start: 4 17 113 12 0 37
data:
$ID,177
$MISSION,4
$DIVE,166
$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,-8073.1157
$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,59
$R_STBD_OVSHOOT,79
$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
$GPS1,170413,115200,1851.272,12231.582,36,1.7,37,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.96
$_SM_ANGLEo,-67.5
$GPS2,170413,115949,1851.432,12231.604,12,1.6,12,-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,167.6,12274,-7.0,-9.167,-7.60,2567
$D_GRID,1590
$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,-0.59,-153.5,127,2400,484,434,0.0,0.0,0,124,0.00,0.00,-103.05,0.000,16386,0.000,0.000,127,2401,3242,3298,3186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,127,-0.59,-153.5,127,2401,3298,3190,3.8,-15.6,14,153,11.12,1.98,-5.62,0.000,18692,0.256,0.055,2722,3686,3620,3703,3538,0,0,0,0,0,0,25.70,26.08,26.38
$GC,170,-0.59,-153.5,2722,3686,3705,3544,29.7,-60.9,19,179,0.00,1.85,0.00,0.000,1030,0.000,0.021,2723,2365,3622,3705,3539,0,0,0,0,0,0,28.83,26.16,28.83
$GC,477,-0.59,-153.5,2722,2363,3707,3539,109.6,-24.7,38,483,0.00,1.98,0.00,0.000,516,0.000,0.033,2722,986,3624,3710,3539,0,0,0,0,0,0,28.83,26.27,28.83
$GC,566,-0.59,-153.5,2722,986,3707,3539,131.0,-24.8,42,573,0.10,1.95,0.00,0.000,3078,0.184,0.026,2736,2358,3623,3708,3539,0,0,0,0,0,0,26.15,26.34,28.83
$GC,888,-0.59,-153.5,2736,2360,3708,3539,194.1,-16.5,58,894,0.00,1.95,0.00,0.000,516,0.000,0.032,2736,992,3623,3708,3539,0,0,0,0,0,0,28.83,26.39,28.83
$GC,957,-0.59,-153.5,2736,991,3708,3540,204.0,-14.9,61,963,0.00,1.95,0.00,0.000,1030,0.000,0.027,2731,2375,3624,3708,3540,0,0,0,0,0,0,28.83,26.43,28.83
$GC,1277,-0.59,-153.5,2731,2375,3708,3539,249.6,-12.2,77,1283,0.00,1.98,0.00,0.000,516,0.000,0.031,2731,993,3623,3708,3539,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1327,-0.59,-153.5,2731,992,3708,3540,255.5,-12.5,79,1333,0.00,1.95,0.00,0.000,1030,0.000,0.027,2725,2376,3623,3708,3539,0,0,0,0,0,0,28.83,26.48,28.83
$GC,1647,-0.59,-153.5,2724,2377,3709,3539,301.4,-15.0,95,1654,0.00,1.98,0.00,0.000,516,0.000,0.032,2726,993,3623,3708,3539,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1696,-0.59,-153.5,2725,992,3708,3539,308.2,-14.8,97,1703,0.08,1.95,0.00,0.000,3078,0.194,0.027,2736,2376,3623,3708,3539,0,0,0,0,0,0,26.35,26.49,28.83
$GC,2017,-0.59,-153.5,2736,2377,3708,3536,349.9,-12.4,113,2023,0.00,1.98,0.00,0.000,516,0.000,0.031,2737,992,3622,3708,3536,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2092,-0.59,-153.5,2736,992,3708,3536,358.2,-12.5,116,2098,0.00,1.95,0.00,0.000,1030,0.000,0.027,2732,2375,3622,3709,3535,0,0,0,0,0,0,28.83,26.52,28.83
$GC,2406,-0.59,-153.5,2732,2375,3708,3531,394.6,-10.8,132,2411,0.00,1.98,0.00,0.000,516,0.000,0.032,2732,996,3619,3708,3531,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2471,-0.59,-153.5,1712,995,3702,3528,401.8,-10.8,135,2477,0.00,1.95,0.00,0.000,1030,0.000,0.028,2731,2376,3619,3708,3530,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2796,-0.59,-153.5,2731,2376,3708,3525,436.9,-10.9,151,2802,0.00,1.98,0.00,0.000,516,0.000,0.032,2731,992,3618,3708,3529,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2836,-0.59,-153.5,2731,992,3708,3524,439.7,-11.0,152,2844,0.00,1.95,0.00,0.000,1030,0.000,0.028,2730,2374,3615,3708,3523,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3141,-0.59,-153.5,2729,2375,3708,3519,476.1,-11.6,168,3147,0.00,2.00,0.00,0.000,516,0.000,0.032,2730,982,3613,3708,3519,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3170,-0.59,-153.5,2729,982,3708,3519,479.1,-12.0,169,3175,0.00,1.98,0.00,0.000,1030,0.000,0.028,2729,2375,3613,3708,3518,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3489,-0.59,-153.5,2728,2375,3706,3515,515.9,-11.2,185,3495,0.00,2.00,0.00,0.000,516,0.000,0.033,2729,985,3611,3706,3517,0,0,0,0,0,0,28.83,26.49,28.83
$GC,3554,-0.59,-153.5,2729,984,3705,3515,523.3,-11.1,188,3560,0.00,2.00,0.00,0.000,1030,0.000,0.028,2726,2377,3610,3705,3515,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3880,-0.59,-153.5,2725,2377,3702,3511,560.3,-10.9,204,3886,0.00,2.00,0.00,0.000,516,0.000,0.033,2726,991,3606,3702,3511,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3986,-0.59,-153.5,2726,990,3701,3510,573.1,-11.8,209,3992,0.08,1.98,0.00,0.000,3078,0.190,0.024,2738,2387,3605,3701,3510,0,0,0,0,0,0,26.38,26.53,28.83
$GC,4312,-0.59,-153.5,2738,2387,3699,3506,606.1,-10.1,224,4318,0.00,2.03,0.00,0.000,516,0.000,0.033,2739,984,3603,3700,3506,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4366,-0.59,-153.5,2738,984,3697,3506,609.8,-10.1,225,4372,0.00,1.98,0.00,0.000,1030,0.000,0.028,2736,2372,3601,3697,3506,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4681,-0.59,-153.5,2736,2372,3695,3502,644.9,-10.6,236,4687,0.00,2.00,0.00,0.000,516,0.000,0.034,2736,989,3598,3695,3502,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4720,-0.59,-153.5,2736,989,3694,3502,648.5,-10.6,237,4726,0.00,1.98,0.00,0.000,1030,0.000,0.029,2732,2376,3598,3694,3502,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5049,-0.59,-153.5,2732,2377,3691,3499,682.3,-9.8,248,5055,0.00,2.00,0.00,0.000,516,0.000,0.034,2732,993,3595,3691,3499,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5089,-0.59,-153.5,2732,993,3691,3499,685.9,-10.0,249,5094,0.00,1.98,0.00,0.000,1030,0.000,0.030,2730,2376,3594,3690,3499,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5418,-0.59,-153.5,2729,2377,3688,3498,718.3,-9.3,260,5423,0.00,2.00,0.00,0.000,516,0.000,0.034,2730,995,3593,3688,3498,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5470,-0.59,-153.5,2730,994,3687,3498,721.7,-9.2,261,5477,0.00,1.98,0.00,0.000,1030,0.000,0.030,2729,2375,3592,3687,3498,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5788,-0.61,-168.1,2729,2375,3686,3495,750.5,-8.6,272,5795,0.00,2.00,0.00,0.000,516,0.000,0.034,2729,995,3590,3686,3495,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5832,-0.64,-183.1,2729,995,3686,3495,753.6,-8.6,273,5839,0.00,1.98,0.00,0.000,1030,0.000,0.030,2726,2377,3590,3685,3495,0,0,0,0,0,0,28.83,26.51,28.83
$GC,6158,-0.67,-194.6,2726,2377,3684,3493,782.0,-8.6,284,6164,0.00,2.00,0.00,0.000,516,0.000,0.034,2726,996,3588,3684,3493,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6211,-0.67,-194.6,2726,996,3683,3493,784.9,-8.6,285,6218,0.00,1.98,0.00,0.000,1030,0.000,0.030,2722,2375,3588,3683,3493,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6528,-0.67,-194.6,2721,2375,3681,3495,814.0,-8.7,296,6535,0.00,2.00,0.00,0.000,516,0.000,0.034,2722,996,3585,3681,3490,0,0,0,0,0,0,28.83,26.45,28.83
$GC,6607,-0.67,-194.6,2722,996,3680,3489,820.1,-8.9,298,6613,0.00,1.98,0.00,0.000,1030,0.000,0.030,2719,2373,3583,3680,3486,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6926,-0.67,-194.6,2719,2374,3679,3487,852.0,-9.9,309,6933,0.00,2.00,0.00,0.000,516,0.000,0.034,2719,996,3583,3679,3487,0,0,0,0,0,0,28.83,26.45,28.83
$GC,7010,-0.67,-194.6,2719,996,3679,3487,858.5,-10.0,311,7016,0.00,1.98,0.00,0.000,1030,0.000,0.031,2716,2375,3583,3679,3487,0,0,0,0,0,0,28.83,26.49,28.83
$GC,7326,-0.67,-194.6,2716,2375,3678,3483,891.0,-9.3,322,7328,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2375,3580,3678,3483,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7625,-0.67,-194.6,2715,2375,3676,3483,917.9,-8.8,332,7631,0.00,2.03,0.00,0.000,516,0.000,0.036,2716,989,3579,3676,3482,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7673,-0.67,-194.6,2716,989,3676,3482,921.0,-8.6,333,7678,0.00,2.00,0.00,0.000,1030,0.000,0.031,2713,2375,3579,3675,3483,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7992,-0.67,-194.6,2713,2375,3674,3481,947.1,-7.5,344,7999,0.00,2.03,0.00,0.000,516,0.000,0.036,2713,989,3577,3674,3481,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8021,-0.67,-194.6,2712,989,3674,3481,947.1,-7.5,344,8029,0.00,2.03,0.00,0.000,1030,0.000,0.031,2708,2382,3577,3674,3481,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8328,-0.67,-194.6,2708,2382,3673,3479,974.0,-8.3,355,8329,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2382,3576,3673,3479,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8535,begin apogee
$GC,8540,-0.20,0.0,2708,2218,3673,3478,991.8,-8.6,362,8685,0.45,0.00,138.82,0.998,10246,0.122,0.000,2857,2218,2990,3094,2886,0,0,0,0,0,0,26.24,28.83,24.28
$STATE,8686,end apogee,CONTROL_FINISHED_OK
$STATE,8686,begin climb
$GC,8689,0.67,194.6,2857,2219,3094,2883,996.6,0.0,366,8880,0.82,2.22,182.75,0.979,10756,0.081,0.047,3148,882,2193,2311,2076,0,0,0,0,0,0,24.99,24.63,24.02
$GC,8930,0.72,219.4,3147,882,2306,2068,986.1,8.2,373,8959,0.00,2.08,22.77,0.949,9222,0.000,0.030,3148,2245,2093,2213,1974,0,0,0,0,0,0,28.83,25.16,24.26
$GC,9274,0.72,219.4,3148,2245,2211,1957,941.8,12.2,385,9280,0.00,2.15,0.00,0.000,260,0.000,0.047,3148,3642,2084,2211,1957,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9377,0.72,219.4,2192,3641,2138,1948,928.5,13.5,388,9383,0.00,2.03,0.00,0.000,1030,0.000,0.027,3150,2266,2080,2206,1955,0,0,0,0,0,0,28.83,25.95,28.83
$GC,9702,0.72,219.4,3150,2265,2206,1953,888.4,11.4,399,9703,0.00,0.00,0.00,0.000,6,0.000,0.000,3150,2265,2079,2206,1953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10003,0.72,219.4,3150,2267,2206,1952,852.3,12.0,409,10004,0.00,0.00,0.00,0.000,6,0.000,0.000,3149,2265,2079,2206,1952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10302,0.72,219.4,3146,2265,2205,1951,817.6,11.3,419,10308,0.00,2.12,0.00,0.000,516,0.000,0.047,3157,850,2078,2205,1951,0,0,0,0,0,0,28.83,26.22,28.83
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$STATE,17933,end climb,SURFACE_DEPTH_REACHED
$STATE,17933,begin surface coast
$FINISH,0.0,1.021658
$STATE,17971,end surface coast,CONTROL_FINISHED_OK
$STATE,17971,begin surface
$SM_CCo,17989,100.00,0.051,0,0,462,619.87
$SM_GC,-1.80,8.32,0.20,100.00,0.063,0.058,0.051,145,2394,462,-8.61,-1.58,619.87,0,0,0,0,0,0,26.36,26.48,26.29
$IRIDIUM_FIX,1846.42,12228.10,170413,060641
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.03
$INTERNAL_PRESSURE,9.58045
$TCM_TEMP,24.70
$XPDR_PINGS,21
$SC_FREEKB,3956384
$24V_AH,24.0,21.587
$10V_AH,10.2,19.228
$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,21.475,160.725,449.000,100.000,0.000,0.000,0.000,280.300,5.250,0.000,15.575,3540.784,11413.521,790.108,2379.417,434.105,0.000,2213.780,0.000,1980.630,0.000,0.546,0.000
$DEVICE_MAMPS,255.510,58.140,998.325,51.255,0.000,0.000,0.000,120.870,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,17992.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.037,0.000,0.000,0.000
$MEM,320848
$DATA_FILE_SIZE,30086,819
$CAP_FILE_SIZE,441641,0
$CFSIZE,260034560,232644608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.183,322.2,1
$GPS,170413,170330,1849.970,12231.805,40,1.2,40,-2.1