version: 66.11
glider: 177
mission: 4
dive: 336
start: 5 22 113 13 33 23
data:
$ID,177
$MISSION,4
$DIVE,336
$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,-8442.4287
$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,56
$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
$GPS1,220513,132406,1847.425,12208.005,37,2.0,38,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.55
$_SM_ANGLEo,-73.9
$GPS2,220513,133235,1847.642,12207.977,14,1.2,30,-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,210.7,6173,-11.8,-9.167,-12.28,779
$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,-46.4,135,2340,458,465,0.0,0.0,0,119,0.00,0.00,-95.30,0.000,16386,0.000,0.000,135,2341,3080,3122,3038,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.56,-46.4,135,2341,3122,3039,4.7,-16.7,13,148,11.10,2.00,-1.60,0.000,18948,0.244,0.043,2750,996,3188,3248,3128,0,0,0,0,0,0,25.34,26.00,26.27
$GC,195,-0.56,-46.4,2750,995,3253,3124,37.1,-29.1,21,201,0.00,1.98,0.00,0.000,1030,0.000,0.027,2742,2365,3189,3254,3125,0,0,0,0,0,0,28.83,25.99,28.83
$GC,512,-0.56,-46.4,2742,2366,3256,3124,109.1,-21.9,39,513,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,2366,3190,3256,3124,0,0,0,0,0,0,28.83,28.83,28.83
$GC,810,-0.56,-46.4,2741,2366,3259,3124,155.0,-11.4,54,816,0.00,1.95,0.00,0.000,516,0.000,0.027,2742,1006,3191,3259,3124,0,0,0,0,0,0,28.83,26.16,28.83
$GC,849,-0.56,-46.4,2742,1006,3259,3124,157.6,-10.9,55,857,0.00,1.95,0.00,0.000,1030,0.000,0.026,2733,2381,3191,3259,3124,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1155,-0.56,-46.4,2733,2382,3259,3124,191.8,-10.7,71,1161,0.00,2.00,0.00,0.000,516,0.000,0.029,2733,999,3192,3259,3125,0,0,0,0,0,0,28.83,26.20,28.83
$GC,1242,-0.56,-46.4,2733,999,3259,3124,201.1,-10.7,75,1248,0.00,1.95,0.00,0.000,1030,0.000,0.027,2730,2374,3191,3259,3124,0,0,0,0,0,0,28.83,26.26,28.83
$GC,1570,-0.57,-50.2,2729,2375,3265,3124,232.8,-8.7,91,1576,0.00,1.95,0.00,0.000,516,0.000,0.029,2729,1009,3191,3259,3124,0,0,0,0,0,0,28.83,26.22,28.83
$GC,1618,-0.57,-50.8,2729,1008,3259,3123,237.3,-9.1,93,1625,0.08,1.95,0.00,0.000,3078,0.189,0.026,2738,2387,3191,3259,3123,0,0,0,0,0,0,26.09,26.29,28.83
$GC,1946,-0.58,-55.2,2738,2387,3260,3121,265.1,-8.6,109,1948,0.00,0.00,0.00,0.000,6,0.000,0.000,2738,2387,3190,3259,3121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2244,-0.58,-55.2,2738,2387,3259,3117,293.3,-9.3,124,2249,0.00,2.00,0.00,0.000,516,0.000,0.030,2739,1001,3187,3259,3116,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2332,-0.58,-55.2,2739,1001,3259,3115,302.0,-9.9,128,2337,0.00,1.98,0.00,0.000,1030,0.000,0.027,2732,2382,3187,3259,3115,0,0,0,0,0,0,28.83,26.28,28.83
$GC,2660,-0.58,-55.9,2732,2382,3259,3109,334.1,-9.1,144,2661,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2382,3182,3259,3106,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2957,-0.58,-55.9,2733,2382,3259,3105,360.8,-9.7,159,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2382,3182,3259,3105,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3256,-0.58,-55.9,2733,2382,3259,3100,389.1,-9.5,174,3263,0.00,1.98,0.00,0.000,260,0.000,0.042,2730,3705,3179,3259,3100,0,0,0,0,0,0,28.83,26.12,28.83
$GC,3286,-0.58,-55.9,2730,3705,3259,3100,391.6,-9.7,175,3292,0.00,1.85,0.00,0.000,1030,0.000,0.021,2730,2353,3180,3260,3100,0,0,0,0,0,0,28.83,26.46,28.83
$GC,3607,-0.58,-55.9,2730,2352,3259,3093,424.1,-10.6,191,3612,0.00,1.90,0.00,0.000,516,0.000,0.031,2730,1029,3176,3259,3094,0,0,0,0,0,0,28.83,26.18,28.83
$GC,3775,-0.58,-55.9,2730,1029,3258,3093,441.7,-10.0,199,3781,0.00,1.92,0.00,0.000,1030,0.000,0.028,2725,2372,3178,3264,3093,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4104,-0.60,-62.5,2725,2372,3257,3090,470.8,-8.3,215,4105,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2372,3173,3257,3090,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4400,-0.64,-83.4,2725,2372,3255,3088,493.6,-6.4,230,4406,0.00,1.95,0.00,0.000,516,0.000,0.031,2725,1029,3171,3254,3088,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4524,-0.67,-98.3,2725,1029,3253,3086,501.3,-7.2,235,4533,0.00,1.92,0.00,0.000,1030,0.000,0.028,2720,2375,3170,3253,3088,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4831,-0.69,-108.3,2720,2374,3251,3084,525.4,-7.8,251,4838,0.00,1.95,0.00,0.000,516,0.000,0.031,2720,1028,3167,3250,3085,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4865,-0.71,-120.3,2720,1028,3249,3084,527.3,-7.6,252,4872,0.08,1.92,0.00,0.000,5126,0.126,0.028,2672,2379,3167,3250,3084,0,0,0,0,0,0,26.13,26.22,28.83
$GC,5184,-0.71,-120.3,2672,2379,3248,3082,559.9,-10.6,268,5191,0.10,1.98,0.00,0.000,2564,0.178,0.029,2694,1027,3165,3248,3082,0,0,0,0,0,0,26.29,26.14,28.83
$GC,5251,-0.71,-120.3,2693,1028,3247,3082,566.8,-10.1,271,5257,0.00,1.95,0.00,0.000,1030,0.000,0.028,2689,2375,3164,3247,3082,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5579,-0.71,-120.3,2689,2375,3246,3079,601.3,-10.9,287,5584,0.00,1.98,0.00,0.000,516,0.000,0.031,2690,1019,3162,3245,3079,0,0,0,0,0,0,28.83,26.12,28.83
$GC,5685,-0.71,-120.3,2689,1020,3244,3079,611.8,-10.5,290,5691,0.08,1.95,0.00,0.000,3078,0.195,0.028,2696,2379,3161,3244,3079,0,0,0,0,0,0,25.98,26.19,28.83
$GC,6011,-0.71,-121.3,2696,2379,3243,3077,643.5,-9.0,301,6012,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2379,3160,3244,3077,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6312,-0.72,-122.9,2696,2379,3242,3075,670.3,-9.0,311,6318,0.00,1.98,0.00,0.000,516,0.000,0.031,2696,1029,3158,3241,3076,0,0,0,0,0,0,28.83,26.10,28.83
$GC,6427,-0.72,-122.9,2697,1029,3240,3075,679.3,-9.3,314,6433,0.00,1.95,0.00,0.000,1030,0.000,0.028,2692,2378,3157,3240,3075,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6744,-0.72,-122.9,2692,2378,3239,3073,711.5,-9.6,325,6751,0.00,1.98,0.00,0.000,516,0.000,0.032,2692,1029,3156,3239,3073,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6785,-0.72,-122.9,2692,1029,3239,3073,715.1,-9.5,326,6791,0.00,1.95,0.00,0.000,1030,0.000,0.029,2686,2378,3155,3239,3072,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7114,-0.72,-125.8,2685,2378,3238,3070,746.0,-8.8,337,7116,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2378,3154,3238,3070,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7415,-0.75,-140.5,2686,2378,3237,3069,769.3,-7.2,347,7422,0.00,2.03,0.00,0.000,260,0.000,0.044,2677,3717,3153,3237,3069,0,0,0,0,0,0,28.83,25.94,28.83
$GC,7483,-0.78,-152.1,2677,3717,3237,3069,774.7,-7.6,349,7490,0.00,1.88,0.00,0.000,1030,0.000,0.023,2677,2379,3153,3237,3069,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7819,-0.78,-153.7,2677,2379,3234,3067,803.9,-9.0,360,7826,0.00,1.98,0.00,0.000,516,0.000,0.033,2677,1018,3151,3234,3068,0,0,0,0,0,0,28.83,26.05,28.83
$GC,7950,-0.78,-153.7,2677,1018,3233,3067,816.2,-9.7,364,7955,0.00,1.98,0.00,0.000,1030,0.000,0.030,2673,2376,3150,3233,3067,0,0,0,0,0,0,28.83,26.10,28.83
$GC,8279,-0.78,-153.7,2673,2376,3233,3066,850.2,-10.0,375,8285,0.00,2.03,0.00,0.000,260,0.000,0.045,2664,3714,3153,3233,3073,0,0,0,0,0,0,28.83,25.89,28.83
$GC,8339,-0.78,-153.7,2663,3714,3233,3066,853.6,-9.9,376,8347,0.00,1.90,0.00,0.000,1030,0.000,0.023,2663,2364,3149,3232,3066,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8648,-0.78,-153.7,2663,2364,3232,3065,886.5,-9.8,387,8654,0.00,1.98,0.00,0.000,516,0.000,0.034,2664,1013,3148,3231,3065,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8733,-0.78,-153.7,2663,1013,3230,3065,893.9,-10.4,389,8740,0.08,1.98,0.00,0.000,3078,0.207,0.031,2670,2377,3147,3230,3064,0,0,0,0,0,0,25.85,26.08,28.83
$GC,9048,-0.78,-153.7,2669,2377,3229,3063,926.9,-9.6,400,9054,0.00,2.05,0.00,0.000,260,0.000,0.045,2663,3714,3146,3229,3063,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9163,-0.78,-153.7,2663,3714,3229,3063,936.8,-10.2,403,9170,0.00,1.88,0.00,0.000,1030,0.000,0.023,2663,2379,3146,3229,3063,0,0,0,0,0,0,28.83,26.33,28.83
$GC,9482,-0.78,-153.7,2663,2378,3229,3061,970.6,-9.8,414,9489,0.00,2.00,0.00,0.000,516,0.000,0.034,2663,1017,3144,3229,3060,0,0,0,0,0,0,28.83,25.94,28.83
$STATE,9607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9607,begin apogee
$GC,9615,-0.20,0.0,2654,2250,3229,3060,983.4,-9.8,418,9665,0.65,0.00,40.30,0.995,10246,0.143,0.000,2852,2250,2989,3086,2893,0,0,0,0,0,0,25.02,28.83,24.60
$STATE,9666,end apogee,CONTROL_FINISHED_OK
$STATE,9666,begin climb
$GC,9669,0.78,153.7,2852,2249,3086,2890,985.4,0.0,419,9830,0.90,2.28,147.35,1.235,10756,0.083,0.043,3175,892,2366,2469,2263,0,0,1,0,1,0,25.52,24.41,23.49
$GC,9855,0.87,197.8,3173,892,2468,2261,981.3,3.3,425,9908,0.10,2.08,44.55,0.952,11270,0.113,0.028,3209,2238,2182,2290,2075,0,0,0,0,0,0,24.76,24.83,23.80
$GC,10232,0.87,197.8,3209,2238,2289,2057,924.7,14.8,438,10238,0.00,2.17,0.00,0.000,260,0.000,0.045,3210,3640,2173,2289,2057,0,0,0,0,0,0,28.83,25.62,28.83
$GC,10321,0.87,197.8,3209,3641,2288,2055,914.3,15.3,440,10330,0.00,2.05,0.00,0.000,1030,0.000,0.026,3218,2268,2171,2288,2055,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10630,0.87,197.8,3218,2272,2288,2052,861.1,16.7,451,10635,0.00,2.17,0.00,0.000,516,0.000,0.045,3229,855,2170,2288,2052,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10732,0.87,197.8,3229,854,2288,2052,845.2,16.3,454,10739,0.12,2.05,0.00,0.000,5126,0.195,0.031,3203,2251,2170,2288,2052,0,0,0,0,0,0,25.53,25.96,28.83
$GC,11062,0.87,197.8,3203,2251,2288,2050,796.8,14.4,465,11064,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,2250,2169,2288,2050,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18340,end climb,SURFACE_DEPTH_REACHED
$STATE,18340,begin surface coast
$FINISH,0.3,1.020797
$STATE,18375,end surface coast,CONTROL_FINISHED_OK
$STATE,18375,begin surface
$SM_CCo,18395,101.95,0.049,0,0,464,619.87
$SM_GC,-1.40,8.52,1.80,101.95,0.060,0.020,0.049,134,2357,464,-8.63,2.15,619.87,0,0,1,0,0,0,26.06,26.29,25.99
$IRIDIUM_FIX,1839.59,12205.39,220513,080824
$TT8_MAMPS,0.027713,0.027713
$HUMID,43.42
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,25.60
$XPDR_PINGS,28
$SC_FREEKB,3891328
$24V_AH,23.5,41.990
$10V_AH,10.0,39.127
$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,22.550,140.100,344.400,101.950,0.000,0.000,0.000,269.625,7.000,0.000,32.669,3824.889,11299.226,699.037,2508.259,670.137,0.000,2109.276,0.000,2112.816,0.000,0.547,0.000
$DEVICE_MAMPS,244.035,45.135,1234.710,48.960,0.000,0.000,0.000,123.165,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18398.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.592,0.000,0.000,0.000
$MEM,320748
$DATA_FILE_SIZE,30153,851
$CAP_FILE_SIZE,457660,0
$CFSIZE,260034560,209772544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,1,0,0
$CURRENT,0.172,350.5,1
$GPS,220513,184305,1847.319,12206.577,35,0.9,41,-2.1