version: 66.11
glider: 177
mission: 4
dive: 15
start: 3 19 113 14 15 30
data:
$ID,177
$MISSION,4
$DIVE,15
$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,-7672.6938
$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,2975
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,23
$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,62
$R_STBD_OVSHOOT,50
$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,0.0020000001
$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
$GPS1,190313,140906,1902.241,12423.108,34,0.9,34,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.10
$_SM_ANGLEo,-72.3
$GPS2,190313,141501,1902.241,12423.117,14,1.5,14,-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,256.8,149099,-14.9,-10.000,-18.74,2959
$D_GRID,5332
$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,-1.04,-194.6,127,2202,1158,1070,0.0,0.0,0,93,0.00,0.00,-73.53,0.000,16386,0.000,0.000,128,2203,2974,3009,2940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-1.04,-194.6,127,2203,3008,2942,3.6,-10.4,10,121,10.62,2.10,-10.02,0.000,18948,0.261,0.054,2641,816,3548,3634,3462,0,0,0,0,0,0,26.01,26.20,26.49
$GC,269,-1.04,-194.6,2639,816,3636,3464,73.7,-39.4,26,275,0.00,2.00,0.00,0.000,1030,0.000,0.031,2633,2203,3550,3637,3464,0,0,0,0,0,0,28.83,26.33,28.83
$GC,583,-1.04,-194.6,2633,2204,3637,3465,186.6,-29.4,42,589,0.00,2.05,0.00,0.000,260,0.000,0.044,2621,3601,3551,3637,3465,0,0,0,0,0,0,28.83,26.43,28.83
$GC,626,-1.04,-194.6,2622,3601,3637,3465,200.3,-30.6,44,633,0.10,2.00,0.00,0.000,3078,0.190,0.026,2644,2184,3551,3637,3465,0,0,0,0,0,0,26.33,26.48,28.83
$GC,951,-1.04,-194.6,2644,2182,3638,3467,276.4,-22.5,60,957,0.00,2.10,0.00,0.000,260,0.000,0.044,2635,3605,3552,3638,3466,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1009,-1.04,-194.6,2635,3605,3639,3466,286.6,-22.7,62,1017,0.00,1.98,0.00,0.000,1030,0.000,0.026,2635,2201,3553,3639,3467,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1316,-1.04,-194.6,2635,2200,3636,3467,356.4,-19.8,78,1322,0.00,2.00,0.00,0.000,516,0.000,0.041,2635,818,3553,3639,3467,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1343,-1.04,-194.6,2634,818,3638,3467,361.0,-19.7,79,1349,0.08,2.00,0.00,0.000,3078,0.211,0.031,2639,2212,3552,3638,3467,0,0,0,0,0,0,26.46,26.59,28.83
$GC,1662,-1.04,-194.6,2639,2212,3638,3467,419.5,-18.4,95,1669,0.00,2.05,0.00,0.000,260,0.000,0.045,2632,3598,3552,3639,3466,0,0,0,0,0,0,28.83,26.59,28.83
$GC,1736,-1.04,-194.6,2632,3598,3638,3467,430.6,-17.2,98,1742,0.00,1.98,0.00,0.000,1030,0.000,0.027,2633,2194,3552,3638,3466,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2049,-1.04,-194.6,2633,2192,3638,3464,489.9,-18.7,114,2055,0.00,2.10,0.00,0.000,260,0.000,0.045,2623,3601,3551,3638,3464,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2086,-1.04,-194.6,1664,3600,3630,3461,494.5,-18.8,115,2095,0.10,1.98,0.00,0.000,3078,0.182,0.028,2645,2185,3551,3638,3464,0,0,0,0,0,0,26.52,26.66,28.83
$GC,2393,-1.04,-194.6,2645,2184,3639,3460,551.1,-17.4,131,2399,0.00,2.10,0.00,0.000,260,0.000,0.047,2637,3604,3549,3639,3460,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2451,-1.04,-194.6,2636,3604,3638,3459,558.9,-17.4,133,2459,0.00,1.95,0.00,0.000,1030,0.000,0.028,2637,2200,3548,3638,3459,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2757,-1.04,-194.6,2637,2200,3638,3452,610.8,-15.3,148,2758,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2200,3546,3638,3454,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3057,-1.04,-194.6,2637,2200,3638,3449,655.1,-14.6,158,3063,0.00,2.10,0.00,0.000,260,0.000,0.048,2633,3597,3543,3638,3449,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3099,-1.04,-194.6,2632,3597,3638,3449,660.1,-14.6,159,3105,0.00,1.98,0.00,0.000,1030,0.000,0.029,2633,2195,3543,3638,3449,0,0,0,0,0,0,28.83,26.69,28.83
$GC,3423,-1.04,-194.6,2632,2194,3638,3443,711.4,-15.3,170,3430,0.00,2.10,0.00,0.000,260,0.000,0.049,2624,3598,3540,3638,3442,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3467,-1.04,-194.6,2624,3598,3638,3442,716.8,-15.1,171,3474,0.08,1.98,0.00,0.000,3078,0.196,0.028,2639,2193,3540,3638,3442,0,0,0,0,0,0,26.56,26.70,28.83
$GC,3792,-1.04,-194.6,2639,2188,3638,3436,762.8,-13.6,182,3798,0.00,2.12,0.00,0.000,260,0.000,0.049,2635,3597,3538,3642,3435,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3814,-1.04,-194.6,2635,3597,3638,3435,762.8,-13.6,182,3820,0.00,1.95,0.00,0.000,1030,0.000,0.029,2635,2200,3536,3638,3435,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4130,-1.04,-194.6,2635,2199,3634,3433,810.5,-14.0,193,4135,0.00,2.12,0.00,0.000,260,0.000,0.051,2632,3604,3533,3634,3433,0,0,0,0,0,0,28.83,26.62,28.83
$GC,4208,-1.04,-194.6,2632,3604,3633,3438,819.8,-14.1,195,4214,0.00,1.98,0.00,0.000,1030,0.000,0.029,2632,2204,3533,3633,3433,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4527,-1.04,-194.6,2632,2202,3631,3428,867.4,-14.2,206,4528,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,2202,3529,3630,3428,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4827,-1.04,-194.6,2632,2202,3628,3426,910.8,-14.3,216,4833,0.00,2.10,0.00,0.000,260,0.000,0.052,2624,3604,3526,3627,3425,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4932,-1.04,-194.6,2624,3604,3628,3425,925.0,-14.8,219,4939,0.08,2.00,0.00,0.000,3078,0.197,0.029,2639,2190,3526,3627,3425,0,0,0,0,0,0,26.56,26.70,28.83
$GC,5256,-1.04,-194.6,2638,2190,3621,3422,970.0,-13.3,230,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2190,3523,3625,3422,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,5435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5435,begin apogee
$GC,5439,-0.22,0.0,2639,2125,3623,3420,993.6,-13.1,236,5614,0.80,0.00,168.20,1.043,10246,0.147,0.000,2898,2125,2751,2873,2629,0,0,0,0,0,0,26.55,28.83,24.06
$STATE,5616,end apogee,CONTROL_FINISHED_OK
$STATE,5616,begin climb
$GC,5617,1.04,194.6,2898,2125,2871,2626,998.4,0.0,241,5797,1.20,2.35,166.48,1.019,10756,0.083,0.061,3312,719,1953,2073,1833,0,0,0,0,0,0,24.79,24.58,23.98
$GC,5895,1.04,194.6,3308,720,2060,1827,949.7,23.0,250,5902,0.00,2.10,0.00,0.000,1030,0.000,0.036,3312,2094,1943,2060,1826,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6224,1.04,194.6,3311,2095,2059,1816,872.0,23.2,261,6230,0.00,2.20,0.00,0.000,260,0.000,0.052,3312,3508,1937,2059,1816,0,0,0,0,0,0,28.83,26.00,28.83
$GC,6282,1.04,194.6,3312,3508,2055,1815,863.7,23.6,262,6290,0.00,2.10,0.00,0.000,1030,0.000,0.041,3315,2108,1932,2050,1815,0,0,0,0,0,0,28.83,26.06,28.83
$GC,6589,1.04,194.6,3314,2108,2054,1813,783.1,23.9,273,6595,0.00,2.17,0.00,0.000,260,0.000,0.051,3314,3508,1934,2056,1812,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6687,1.04,194.6,3314,3508,2055,1811,758.4,25.5,276,6695,0.08,2.10,0.00,0.000,5126,0.262,0.040,3312,2096,1932,2054,1811,0,0,0,0,0,0,26.11,26.27,28.83
$GC,7017,1.04,194.6,3311,2095,2054,1808,681.3,22.1,287,7019,0.00,0.00,0.00,0.000,6,0.000,0.000,3312,2095,1931,2054,1808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7318,1.04,194.6,3312,2095,2054,1806,614.9,22.3,297,7324,0.00,2.15,0.00,0.000,260,0.000,0.049,3312,3508,1930,2054,1806,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7391,1.04,194.6,3311,3508,2051,1806,599.3,23.6,299,7397,0.00,2.10,0.00,0.000,1030,0.000,0.037,3319,2093,1929,2052,1806,0,0,0,0,0,0,28.83,26.42,28.83
$GC,7704,1.04,194.6,3319,2092,2051,1805,523.9,22.9,315,7711,0.00,2.17,0.00,0.000,260,0.000,0.048,3319,3517,1928,2051,1805,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7763,1.04,194.6,3319,3517,2050,1805,513.3,23.1,317,7772,0.10,2.10,0.00,0.000,5126,0.236,0.036,3308,2089,1927,2050,1805,0,0,0,0,0,0,26.29,26.47,28.83
$GC,8070,1.04,194.6,3310,2088,2050,1805,440.6,23.4,333,8075,0.00,2.15,0.00,0.000,260,0.000,0.047,3310,3510,1927,2050,1805,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8096,1.04,194.6,3310,3510,2049,1804,435.2,23.5,334,8103,0.00,2.08,0.00,0.000,1030,0.000,0.035,3316,2092,1926,2049,1804,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8416,1.04,194.6,3315,2092,2049,1804,368.3,19.7,350,8422,0.00,2.15,0.00,0.000,260,0.000,0.046,3315,3512,1926,2049,1804,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8515,1.04,194.6,3315,3512,2048,1804,350.7,20.8,354,8524,0.10,2.05,0.00,0.000,5126,0.226,0.034,3306,2110,1926,2048,1804,0,0,0,0,0,0,26.39,26.54,28.83
$GC,8821,1.04,194.6,3305,2109,2048,1804,289.3,19.6,370,8827,0.00,2.12,0.00,0.000,516,0.000,0.053,3315,703,1926,2049,1803,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8845,1.04,194.6,3314,703,2048,1803,284.8,19.3,371,8851,0.00,2.03,0.00,0.000,1030,0.000,0.031,3315,2119,1925,2048,1803,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9169,1.04,194.6,3314,2119,2047,1803,225.0,17.4,387,9176,0.00,2.08,0.00,0.000,260,0.000,0.045,3315,3504,1927,2052,1803,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9295,1.04,194.6,3315,3504,2047,1803,200.8,19.4,393,9302,0.10,2.05,0.00,0.000,5126,0.228,0.033,3305,2095,1925,2047,1803,0,0,0,0,0,0,26.43,26.60,28.83
$GC,9620,1.04,194.6,3305,2093,2047,1803,150.5,15.4,409,9626,0.00,2.08,0.00,0.000,516,0.000,0.050,3314,707,1925,2047,1803,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9705,1.04,194.6,3314,707,2047,1803,138.0,14.8,413,9711,0.00,2.00,0.00,0.000,1030,0.000,0.030,3314,2114,1925,2047,1803,0,0,0,0,0,0,28.83,26.62,28.83
$GC,10029,1.04,194.6,3314,2114,2047,1803,101.0,10.5,429,10034,0.00,2.05,0.00,0.000,260,0.000,0.044,3314,3508,1925,2047,1803,0,0,0,0,0,0,28.83,26.60,28.83
$GC,10256,1.04,194.6,2344,3507,1977,1797,77.6,10.1,440,10262,0.00,2.00,0.00,0.000,1030,0.000,0.029,3322,2078,1925,2047,1803,0,0,1,0,0,0,28.83,26.64,28.83
$GC,10567,1.04,194.6,3322,2077,2047,1804,45.1,12.2,457,10572,0.00,2.10,0.00,0.000,260,0.000,0.042,3322,3501,1925,2047,1804,0,0,0,0,0,0,28.83,26.63,28.83
$GC,10796,1.04,194.6,3322,3501,2047,1805,16.8,12.1,485,10805,0.10,2.00,0.00,0.000,5126,0.213,0.031,3307,2097,1926,2047,1805,0,0,0,0,0,0,26.51,26.66,28.83
$STATE,10939,end climb,SURFACE_DEPTH_REACHED
$STATE,10939,begin surface coast
$FINISH,-0.4,1.022248
$STATE,10972,end surface coast,CONTROL_FINISHED_OK
$STATE,10972,begin surface
$SM_CCo,10988,75.00,0.051,0,0,1119,400.08
$SM_GC,0.21,8.07,0.12,75.00,0.043,0.083,0.051,128,2228,1119,-8.77,-1.61,400.08,0,0,0,0,0,0,26.65,26.69,26.56
$IRIDIUM_FIX,1855.54,12427.58,190313,101035
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.26
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.40
$XPDR_PINGS,7
$SC_FREEKB,4014368
$24V_AH,24.0,2.143
$10V_AH,10.4,3.629
$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,21.600,99.450,334.675,75.000,0.000,0.000,0.000,225.550,1.750,0.000,16.575,2290.315,6803.586,565.287,1627.787,132.113,0.000,1549.661,0.000,1313.309,0.000,0.546,0.000
$DEVICE_MAMPS,262.395,148.410,1042.695,51.255,0.000,0.000,0.000,115.515,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10978.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.459,0.000,0.000,0.000
$MEM,326756
$DATA_FILE_SIZE,20090,518
$CAP_FILE_SIZE,285305,0
$CFSIZE,260034560,251879424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.050, 38.6,1
$GPS,190313,172103,1902.012,12421.510,9,2.7,28,-2.3