version: 66.11
glider: 177
mission: 4
dive: 11
start: 3 19 113 1 29 32
data:
$ID,177
$MISSION,4
$DIVE,11
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-6
$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,0.0099999998
$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,400
$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,-7667.6611
$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,2980
$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,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,2751
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0021200001
$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
$GPS1,190313,012221,1903.476,12428.080,9,4.1,28,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.11
$_SM_ANGLEo,-72.5
$GPS2,190313,012903,1903.465,12428.121,14,4.1,33,-2.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,MEAST
$TGT_LATLONG,1845.000,12300.070
$TGT_RADIUS,2000.000
$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,252.4,158157,-14.9,-10.000,-18.74,2959
$D_GRID,5293
$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,15,begin dive
$GC,17,-1.01,-194.6,132,2177,1162,1068,0.0,0.0,0,92,0.00,0.00,-72.68,0.000,16386,0.000,0.000,132,2177,2950,2995,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-1.01,-194.6,132,2177,2995,2908,3.6,-10.2,10,127,10.48,2.05,-10.62,0.000,18948,0.254,0.057,2656,814,3547,3644,3451,0,0,0,0,0,0,25.98,26.19,26.48
$GC,232,-1.01,-194.6,2655,815,3646,3451,63.3,-40.5,25,238,0.00,2.03,0.00,0.000,1030,0.000,0.032,2647,2217,3548,3646,3451,0,0,0,0,0,0,28.83,26.29,28.83
$GC,556,-1.01,-194.6,2647,2217,3647,3451,183.3,-33.0,41,562,0.00,2.03,0.00,0.000,260,0.000,0.044,2636,3601,3549,3647,3451,0,0,0,0,0,0,28.83,26.41,28.83
$GC,603,-1.01,-194.6,2636,3601,3647,3452,196.7,-31.2,43,610,0.10,1.98,0.00,0.000,3078,0.199,0.028,2657,2199,3550,3648,3452,0,0,1,0,0,0,26.30,26.46,28.83
$GC,923,-1.01,-194.6,2657,2198,3650,3452,272.1,-20.5,59,929,0.00,2.10,0.00,0.000,260,0.000,0.044,2648,3612,3550,3649,3452,0,0,0,0,0,0,28.83,26.50,28.83
$GC,961,-1.01,-194.6,2648,3612,3649,3453,277.2,-20.4,60,971,0.00,2.00,0.00,0.000,1030,0.000,0.027,2648,2193,3551,3649,3453,0,0,0,0,0,0,28.83,26.54,28.83
$GC,1267,-1.01,-194.6,2648,2191,3650,3453,349.4,-23.0,76,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2191,3551,3649,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1567,-1.01,-194.6,2648,2191,3651,3453,410.1,-19.1,91,1568,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2192,3551,3650,3453,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1867,-1.01,-194.6,2648,2191,3649,3452,466.0,-18.5,106,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2191,3550,3649,3452,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2168,-1.01,-194.6,2648,2191,3649,3449,516.5,-16.5,121,2174,0.00,2.08,0.00,0.000,260,0.000,0.047,2646,3597,3549,3649,3449,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2213,-1.01,-194.6,2645,3597,3649,3449,523.8,-16.4,123,2219,0.00,1.95,0.00,0.000,1030,0.000,0.028,2646,2194,3549,3649,3449,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2537,-1.01,-194.6,2646,2193,3649,3444,576.2,-16.7,139,2543,0.00,2.10,0.00,0.000,260,0.000,0.047,2638,3598,3546,3649,3443,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2711,-1.01,-194.6,2638,3598,3649,3441,603.1,-17.2,147,2718,0.08,1.95,0.00,0.000,3078,0.198,0.030,2653,2191,3545,3649,3441,0,0,0,0,0,0,26.54,26.68,28.83
$GC,3025,-1.01,-194.6,2653,2190,3646,3438,654.3,-15.0,158,3031,0.00,2.10,0.00,0.000,260,0.000,0.048,2647,3596,3542,3646,3438,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3068,-1.01,-194.6,2646,3595,3646,3437,659.4,-15.0,159,3074,0.00,1.95,0.00,0.000,1030,0.000,0.029,2646,2199,3541,3645,3438,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3391,-1.01,-194.6,2646,2197,3643,3434,708.4,-14.3,170,3398,0.00,2.10,0.00,0.000,260,0.000,0.049,2637,3597,3538,3642,3434,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3449,-1.01,-194.6,2638,3597,3642,3434,713.4,-14.2,171,3458,0.08,1.98,0.00,0.000,3078,0.197,0.029,2653,2190,3538,3642,3434,0,0,0,0,0,0,26.55,26.70,28.83
$GC,3756,-1.01,-194.6,2653,2190,3641,3431,759.2,-14.0,182,3762,0.00,2.12,0.00,0.000,260,0.000,0.050,2647,3601,3535,3640,3431,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3789,-1.01,-194.6,2647,3601,3640,3430,764.1,-14.3,183,3796,0.00,1.98,0.00,0.000,1030,0.000,0.029,2647,2210,3535,3640,3430,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4123,-1.01,-194.6,2647,2210,3636,3427,814.4,-15.0,194,4130,0.00,2.10,0.00,0.000,260,0.000,0.052,2646,3597,3531,3635,3427,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4176,-1.01,-194.6,2645,3597,3635,3427,819.6,-15.1,195,4182,0.00,1.98,0.00,0.000,1030,0.000,0.031,2646,2202,3531,3636,3427,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4491,-1.01,-194.6,2646,2200,3633,3423,868.5,-14.4,206,4492,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2200,3528,3633,3423,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4790,-1.01,-194.6,2646,2200,3631,3421,910.6,-14.0,216,4796,0.00,2.12,0.00,0.000,260,0.000,0.055,2646,3594,3525,3630,3421,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4864,-1.01,-194.6,2646,3595,3630,3420,919.4,-13.7,218,4870,0.00,1.98,0.00,0.000,1030,0.000,0.031,2646,2203,3524,3629,3420,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5187,-1.01,-194.6,2648,2206,3627,3418,962.6,-12.7,229,5194,0.00,2.12,0.00,0.000,260,0.000,0.054,2639,3601,3522,3626,3418,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5235,-1.01,-194.6,2638,3601,3626,3418,967.0,-12.8,230,5242,0.08,2.00,0.00,0.000,3078,0.200,0.031,2653,2200,3522,3626,3418,0,0,0,0,0,0,26.54,26.68,28.83
$STATE,5433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5433,begin apogee
$GC,5437,-0.20,0.0,2653,2111,3626,3415,992.6,-11.9,237,5616,0.80,0.00,170.10,1.030,10246,0.145,0.000,2912,2110,2748,2869,2628,0,0,0,0,0,0,26.53,28.83,24.05
$STATE,5618,end apogee,CONTROL_FINISHED_OK
$STATE,5618,begin climb
$GC,5619,1.01,194.6,2912,2110,2867,2622,997.2,0.0,242,5795,1.12,2.40,167.00,1.009,10756,0.070,0.065,3312,717,1952,2067,1838,0,0,0,0,0,0,24.83,24.58,23.99
$GC,5811,1.01,194.6,3311,717,2062,1839,971.8,17.8,248,5818,0.00,2.15,0.00,0.000,1030,0.000,0.037,3311,2089,1947,2061,1833,0,0,0,0,0,0,28.83,24.96,28.83
$GC,6131,1.01,194.6,3312,2090,2060,1818,887.8,24.9,259,6137,0.00,2.20,0.00,0.000,260,0.000,0.054,3312,3506,1939,2060,1818,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6208,1.01,194.6,3312,3506,2058,1816,871.0,25.6,261,6215,0.00,2.12,0.00,0.000,1030,0.000,0.042,3314,2110,1937,2058,1816,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6528,1.01,194.6,3314,2110,2058,1814,789.0,23.8,272,6534,0.00,2.17,0.00,0.000,260,0.000,0.053,3314,3508,1936,2058,1814,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6596,1.01,194.6,3314,3508,2055,1813,772.7,24.5,274,6603,0.10,2.10,0.00,0.000,5126,0.252,0.039,3305,2096,1934,2055,1813,0,0,0,0,0,0,26.06,26.23,28.83
$GC,6926,1.01,194.6,3305,2095,2055,1809,698.5,21.5,285,6931,0.00,2.20,0.00,0.000,260,0.000,0.054,3305,3517,1932,2055,1809,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7021,1.01,194.6,3305,3518,2054,1809,675.9,23.3,288,7027,0.00,2.12,0.00,0.000,1030,0.000,0.039,3314,2102,1931,2054,1808,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7354,1.01,194.6,3313,2100,2054,1806,600.6,23.0,299,7360,0.00,2.17,0.00,0.000,260,0.000,0.053,3314,3516,1931,2055,1807,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7388,1.01,194.6,3313,3516,2054,1806,592.5,23.2,300,7395,0.10,2.12,0.00,0.000,5126,0.240,0.037,3306,2085,1929,2053,1806,0,0,0,0,0,0,26.26,26.42,28.83
$GC,7703,1.01,194.6,3305,2084,2053,1805,524.4,21.3,316,7708,0.00,2.17,0.00,0.000,260,0.000,0.049,3306,3511,1930,2054,1806,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7855,1.01,194.6,3305,3510,2052,1805,490.2,24.0,323,7862,0.00,2.05,0.00,0.000,1030,0.000,0.036,3315,2093,1928,2052,1805,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8170,1.01,194.6,3314,2092,2052,1808,422.4,20.4,339,8176,0.00,2.12,0.00,0.000,260,0.000,0.048,3315,3508,1928,2052,1804,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8203,1.01,194.6,3314,3508,2052,1804,417.4,20.1,340,8210,0.10,2.05,0.00,0.000,5126,0.235,0.036,3305,2094,1928,2052,1805,0,0,0,0,0,0,26.35,26.51,28.83
$GC,8518,1.01,194.6,3306,2093,2052,1804,353.3,20.4,356,8525,0.00,2.15,0.00,0.000,260,0.000,0.047,3305,3514,1928,2052,1804,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8546,1.01,194.6,3305,3514,2051,1804,347.8,20.6,357,8551,0.00,2.08,0.00,0.000,1030,0.000,0.036,3314,2097,1927,2051,1804,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8864,1.01,194.6,3314,2096,2050,1804,285.1,19.1,373,8870,0.00,2.15,0.00,0.000,260,0.000,0.047,3314,3521,1927,2051,1804,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8969,1.01,194.6,3314,3521,2050,1804,263.1,21.4,378,8976,0.10,2.08,0.00,0.000,5126,0.229,0.034,3304,2095,1927,2050,1804,0,0,0,0,0,0,26.40,26.57,28.83
$GC,9294,1.01,194.6,3303,2094,2050,1803,208.1,15.9,394,9300,0.00,2.12,0.00,0.000,260,0.000,0.045,3303,3517,1927,2050,1804,0,0,0,0,0,0,28.83,26.56,28.83
$GC,9340,1.01,194.6,2336,3516,1981,1797,200.6,16.8,396,9346,0.00,2.03,0.00,0.000,1030,0.000,0.033,3310,2094,1926,2049,1804,0,0,1,0,0,0,28.83,26.59,28.83
$GC,9659,1.01,194.6,3310,2095,2050,1804,157.0,14.3,412,9665,0.00,2.10,0.00,0.000,260,0.000,0.045,3310,3513,1927,2050,1804,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9900,1.01,194.6,3310,3513,2049,1804,125.2,13.2,423,9906,0.00,2.03,0.00,0.000,1030,0.000,0.031,3317,2099,1927,2050,1804,0,0,0,0,0,0,28.83,26.63,28.83
$GC,10214,1.01,194.6,3317,2099,2050,1804,89.6,11.3,439,10221,0.00,2.12,0.00,0.000,260,0.000,0.044,3317,3522,1927,2051,1804,0,0,0,0,0,0,28.83,26.61,28.83
$GC,10323,1.01,194.6,3317,3521,2050,1804,76.1,12.7,444,10329,0.10,2.05,0.00,0.000,5126,0.213,0.031,3307,2088,1927,2050,1805,0,0,0,0,0,0,26.48,26.64,28.83
$GC,10632,1.12,246.8,3307,2086,2050,1806,47.5,8.2,461,10677,0.12,2.17,34.72,0.360,10500,0.091,0.044,3371,3509,1737,1858,1617,0,0,0,0,0,0,26.68,26.36,26.07
$GC,10726,1.12,246.8,3371,3509,1854,1616,35.0,15.8,469,10734,0.17,2.03,0.00,0.000,5126,0.198,0.032,3337,2117,1735,1854,1616,0,0,0,0,0,0,26.26,26.41,28.83
$STATE,10959,end climb,SURFACE_DEPTH_REACHED
$STATE,10959,begin surface coast
$FINISH,-0.6,1.022191
$STATE,10982,end surface coast,CONTROL_FINISHED_OK
$STATE,10982,begin surface
$SM_CCo,10998,57.75,0.050,0,0,1119,400.08
$SM_GC,0.27,8.25,0.12,57.75,0.046,0.084,0.050,132,2239,1119,-8.78,-1.07,400.08,0,0,0,0,0,0,26.48,26.52,26.43
$IRIDIUM_FIX,1855.54,12427.58,180313,222201
$TT8_MAMPS,0.026215,0.026215
$HUMID,43.77
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.50
$XPDR_PINGS,7
$SC_FREEKB,4015904
$24V_AH,24.0,1.716
$10V_AH,10.5,3.326
$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,21.775,100.275,371.825,57.750,0.000,0.000,0.000,252.525,1.750,0.000,36.569,2257.353,6835.672,569.818,1647.468,147.667,0.000,1586.065,0.000,1303.642,0.000,0.546,0.000
$DEVICE_MAMPS,253.980,98.685,1029.690,49.725,0.000,0.000,0.000,114.750,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10993.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.460,0.000,0.000,0.000
$MEM,327652
$DATA_FILE_SIZE,20108,511
$CAP_FILE_SIZE,284004,0
$CFSIZE,260034560,252272640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.062, 40.3,1
$GPS,190313,043506,1903.058,12426.530,37,0.9,37,-2.3