version: 66.11
glider: 177
mission: 4
dive: 20
start: 3 20 113 12 21 34
data:
$ID,177
$MISSION,4
$DIVE,20
$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,390
$T_MISSION,420
$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,170
$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,-7679.3008
$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,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,161
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,2250
$C_ROLL_CLIMB,2175
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,65
$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
$GPS1,200313,121329,1900.338,12415.963,40,1.0,41,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.66
$_SM_ANGLEo,-72.5
$GPS2,200313,122106,1900.339,12416.011,12,1.1,18,-2.2
$SPEED_LIMITS,0.147,0.259
$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,272.5,136173,-13.8,-8.462,-18.11,2966
$D_GRID,5455
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,18,-0.93,-165.5,130,2264,1126,981,0.0,0.0,0,102,0.00,0.00,-81.10,0.000,16386,0.000,0.000,130,2265,3168,3223,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,104,-0.93,-165.5,130,2265,3224,3115,4.2,-13.1,11,129,10.55,2.10,-4.35,0.000,18948,0.253,0.047,2669,847,3429,3506,3353,0,0,0,0,0,0,25.92,26.13,26.39
$GC,294,-0.25,-165.5,2669,847,3508,3353,77.0,-35.2,27,300,0.80,2.00,0.00,0.000,3078,0.173,0.033,2891,2234,3431,3509,3353,0,0,0,0,0,0,26.11,26.27,28.83
$GC,609,-0.38,-165.5,2890,2234,3510,3353,120.8,-10.8,43,615,0.12,2.10,0.00,0.000,4356,0.085,0.044,2825,3651,3432,3510,3354,0,0,0,0,0,0,26.43,26.37,28.83
$GC,664,-0.44,-165.5,2825,3652,3510,3353,127.2,-12.5,45,670,0.00,2.00,0.00,0.000,1030,0.000,0.025,2825,2216,3431,3510,3353,0,0,0,0,0,0,28.83,26.45,28.83
$GC,978,-0.44,-165.5,2825,2215,3511,3353,178.9,-12.4,61,984,0.00,1.92,0.00,0.000,516,0.000,0.038,2825,882,3432,3512,3353,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1030,-0.44,-165.5,2825,881,3511,3353,183.6,-11.6,63,1037,0.00,1.95,0.00,0.000,1030,0.000,0.031,2824,2257,3432,3511,3353,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1346,-0.50,-165.5,2824,2257,3512,3353,214.5,-8.6,79,1352,0.00,2.05,0.00,0.000,260,0.000,0.046,2824,3648,3432,3512,3353,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1454,-0.63,-165.5,2824,3648,3512,3353,222.7,-7.6,84,1460,0.17,1.92,0.00,0.000,5126,0.068,0.025,2729,2231,3432,3512,3353,0,0,0,0,0,0,26.59,26.60,28.83
$GC,1779,-0.40,-165.5,2728,2231,3512,3353,268.4,-14.6,100,1786,0.35,1.90,0.00,0.000,2564,0.138,0.037,2842,904,3432,3512,3353,0,0,0,0,0,0,26.49,26.56,28.83
$GC,1834,-0.34,-165.5,2843,904,3512,3353,272.9,-12.2,102,1841,0.10,1.90,0.00,0.000,3078,0.149,0.031,2869,2251,3435,3512,3358,0,0,0,0,0,0,26.53,26.60,28.83
$GC,2150,-0.69,-165.5,2869,2253,3512,3352,289.8,-5.1,118,2156,0.30,2.05,0.00,0.000,4356,0.055,0.043,2724,3650,3432,3512,3352,0,0,0,0,0,0,26.65,26.60,28.83
$GC,2195,-0.82,-165.5,2725,3650,3512,3352,294.7,-7.8,120,2201,0.00,1.90,0.00,0.000,1030,0.000,0.026,2724,2266,3432,3513,3352,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2519,-0.63,-165.5,2724,2264,3512,3349,341.3,-13.9,136,2526,0.15,2.05,0.00,0.000,2308,0.153,0.046,2769,3647,3430,3512,3349,0,0,0,0,0,0,26.53,26.61,28.83
$GC,2559,-0.47,-165.5,2768,3647,3512,3349,344.4,-13.5,137,2567,0.17,1.92,0.00,0.000,3078,0.124,0.026,2823,2231,3430,3512,3349,0,0,0,0,0,0,26.56,26.67,28.83
$GC,2866,-0.69,-165.5,2823,2231,3512,3347,365.5,-5.8,153,2872,0.17,2.10,0.00,0.000,4356,0.069,0.044,2730,3649,3429,3512,3346,0,0,0,0,0,0,26.68,26.63,28.83
$GC,2906,-0.83,-165.5,2730,3649,3512,3346,367.6,-6.4,154,2916,0.08,1.90,0.00,0.000,5126,0.129,0.026,2689,2258,3429,3512,3346,0,0,0,0,0,0,26.61,26.68,28.83
$GC,3212,-0.58,-165.5,2688,2258,3512,3343,415.9,-15.4,170,3214,0.32,0.00,0.00,0.000,2054,0.139,0.000,2787,2258,3427,3512,3343,0,0,0,0,0,0,26.55,28.83,28.83
$GC,3512,-0.70,-165.5,2787,2258,3512,3336,439.2,-6.8,185,3514,0.12,0.00,0.00,0.000,4102,0.088,0.000,2729,2259,3423,3508,3339,0,0,0,0,0,0,26.70,28.83,28.83
$GC,3811,-0.61,-165.5,2729,2258,3512,3336,470.3,-11.1,200,3813,0.17,0.00,0.00,0.000,2054,0.138,0.000,2779,2258,3424,3512,3336,0,0,0,0,0,0,26.58,28.83,28.83
$GC,4112,-0.71,-165.5,2779,2258,3511,3332,493.1,-7.3,215,4118,0.12,2.08,0.00,0.000,4356,0.086,0.046,2715,3651,3422,3512,3332,0,0,0,0,0,0,26.70,26.65,28.83
$GC,4225,-0.59,-165.5,2714,3651,3510,3332,504.4,-10.9,220,4232,0.22,1.92,0.00,0.000,3078,0.135,0.028,2781,2247,3421,3511,3332,0,0,0,0,0,0,26.57,26.71,28.83
$GC,4545,-0.72,-165.5,2781,2247,3509,3329,527.9,-7.1,236,4553,0.12,1.95,0.00,0.000,4612,0.086,0.039,2720,894,3418,3508,3329,0,0,0,0,0,0,26.70,26.64,28.83
$GC,4590,-0.72,-165.5,1728,893,3492,3325,532.4,-8.5,238,4598,0.12,1.92,0.00,0.000,3078,0.161,0.033,2746,2250,3418,3507,3329,0,0,0,0,0,0,26.58,26.67,28.83
$GC,4916,-0.72,-165.5,2746,2249,3506,3326,561.4,-8.7,254,4922,0.00,2.08,0.00,0.000,260,0.000,0.048,2743,3647,3415,3506,3325,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5004,-0.72,-165.5,2743,3647,3505,3325,569.5,-9.4,258,5011,0.00,1.92,0.00,0.000,1030,0.000,0.027,2743,2246,3415,3505,3325,0,0,0,0,0,0,28.83,26.72,28.83
$GC,5324,-0.72,-165.5,2743,2246,3503,3322,602.0,-9.8,274,5325,0.00,0.00,0.00,0.000,6,0.000,0.000,2743,2246,3412,3503,3322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5623,-0.72,-165.5,2743,2246,3499,3320,627.7,-7.8,284,5630,0.00,2.10,0.00,0.000,260,0.000,0.050,2743,3651,3409,3499,3320,0,0,0,0,0,0,28.83,26.65,28.83
$GC,5718,-0.72,-165.5,1728,3650,3483,3316,634.4,-7.1,287,5724,0.00,1.98,0.00,0.000,1030,0.000,0.027,2743,2232,3409,3499,3319,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6052,-0.72,-165.5,2743,2235,3496,3317,659.5,-8.0,298,6058,0.00,2.12,0.00,0.000,260,0.000,0.050,2743,3655,3406,3496,3317,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6095,-0.72,-165.5,2742,3656,3495,3316,662.5,-8.2,299,6101,0.00,1.95,0.00,0.000,1030,0.000,0.026,2743,2236,3405,3495,3316,0,0,0,0,0,0,28.83,26.72,28.83
$GC,6419,-0.72,-165.5,2743,2239,3493,3314,693.6,-9.6,310,6426,0.00,2.12,0.00,0.000,260,0.000,0.050,2743,3654,3402,3493,3312,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6502,-0.72,-165.5,2743,3654,3493,3314,699.9,-9.7,312,6508,0.00,1.92,0.00,0.000,1030,0.000,0.027,2743,2253,3403,3493,3314,0,0,0,0,0,0,28.83,26.71,28.83
$GC,6816,-0.72,-165.5,2743,2252,3491,3312,731.3,-9.3,323,6823,0.00,2.10,0.00,0.000,260,0.000,0.050,2743,3653,3401,3491,3312,0,0,0,0,0,0,28.83,26.65,28.83
$GC,6889,-0.72,-165.5,2743,3653,3491,3312,737.6,-9.7,325,6895,0.00,1.95,0.00,0.000,1030,0.000,0.027,2743,2238,3401,3491,3312,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7213,-0.72,-165.5,2743,2242,3488,3310,767.8,-8.9,336,7220,0.00,2.12,0.00,0.000,260,0.000,0.050,2743,3654,3398,3487,3309,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7339,-0.77,-165.5,2743,3654,3487,3309,779.0,-8.9,340,7346,0.00,1.95,0.00,0.000,1030,0.000,0.028,2743,2253,3398,3488,3309,0,0,0,0,0,0,28.83,26.72,28.83
$GC,7674,-0.77,-165.5,2743,2252,3486,3306,807.6,-8.4,351,7681,0.00,2.10,0.00,0.000,260,0.000,0.051,2742,3650,3397,3489,3306,0,0,0,0,0,0,28.83,26.65,28.83
$GC,7733,-0.82,-165.5,2743,3650,3485,3306,810.5,-8.5,352,7742,0.10,1.95,0.00,0.000,5126,0.104,0.028,2697,2241,3395,3485,3306,0,0,0,0,0,0,26.66,26.71,28.83
$GC,8040,-0.70,-165.5,2696,2241,3483,3305,843.9,-10.1,363,8047,0.15,2.12,0.00,0.000,2308,0.152,0.050,2742,3648,3394,3483,3305,0,0,0,0,0,0,26.57,26.63,28.83
$GC,8095,-0.63,-165.5,2742,3648,3483,3305,847.0,-9.7,364,8102,0.12,1.95,0.00,0.000,3078,0.144,0.028,2778,2231,3394,3483,3305,0,0,0,0,0,0,26.58,26.71,28.83
$GC,8410,-0.82,-165.5,2777,2231,3481,3304,867.1,-5.8,375,8418,0.17,2.12,0.00,0.000,4356,0.079,0.049,2698,3646,3392,3482,3303,0,0,0,0,0,0,26.68,26.65,28.83
$GC,8486,-0.90,-165.5,2698,3646,3482,3304,873.1,-7.5,377,8492,0.00,1.92,0.00,0.000,1030,0.000,0.028,2698,2261,3392,3481,3304,0,0,0,0,0,0,28.83,26.70,28.83
$GC,8810,-0.81,-165.5,2698,2260,3481,3302,906.0,-9.9,388,8817,0.08,2.10,0.00,0.000,2308,0.183,0.051,2713,3650,3391,3480,3302,0,0,0,0,0,0,26.64,26.63,28.83
$GC,8860,-0.72,-165.5,2713,3649,3481,3301,909.4,-9.8,389,8866,0.12,1.95,0.00,0.000,3078,0.146,0.028,2747,2242,3391,3481,3302,0,0,0,0,0,0,26.58,26.71,28.83
$GC,9180,-0.80,-165.5,2747,2242,3481,3300,936.0,-8.0,400,9186,0.10,2.12,0.00,0.000,4356,0.109,0.050,2707,3651,3390,3481,3300,0,0,0,0,0,0,26.69,26.63,28.83
$GC,9203,-0.88,-165.5,2707,3651,3480,3300,936.0,-8.0,400,9209,0.00,1.95,0.00,0.000,1030,0.000,0.028,2707,2263,3390,3480,3300,0,0,0,0,0,0,28.83,26.70,28.83
$GC,9519,-0.83,-165.5,2707,2262,3479,3299,968.3,-9.5,411,9520,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2262,3389,3479,3299,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,9755,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9755,begin apogee
$GC,9760,-0.22,0.0,2707,2196,3477,3298,990.4,-9.2,419,9913,0.60,0.00,146.25,1.018,10246,0.133,0.000,2903,2196,2748,2865,2631,0,0,0,0,0,0,26.56,28.83,24.10
$STATE,9914,end apogee,CONTROL_FINISHED_OK
$STATE,9914,begin climb
$GC,9916,0.93,165.5,2902,2196,2865,2627,994.3,0.0,423,10076,1.10,2.40,147.45,1.001,10756,0.081,0.064,3282,792,2071,2185,1957,0,0,0,0,0,0,24.79,24.55,23.95
$GC,10175,0.32,165.5,3282,793,2173,1955,960.9,18.8,431,10184,0.77,2.08,0.00,0.000,5126,0.195,0.034,3080,2170,2063,2173,1954,0,0,0,0,0,0,25.26,25.42,28.83
$GC,10480,0.42,216.2,3080,2171,2172,1943,932.3,6.7,442,10534,0.10,2.28,43.80,0.941,10500,0.102,0.051,3120,3566,1863,1984,1743,0,0,0,0,0,0,25.99,25.19,24.61
$GC,10578,0.32,216.2,3120,3566,1980,1738,923.1,8.8,445,10585,0.17,2.12,0.00,0.000,5126,0.174,0.034,3078,2180,1858,1979,1737,0,0,0,0,0,0,25.35,25.46,28.83
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$STATE,17978,end climb,SURFACE_DEPTH_REACHED
$STATE,17978,begin surface coast
$FINISH,-0.3,1.022210
$STATE,18006,end surface coast,CONTROL_FINISHED_OK
$STATE,18006,begin surface
$SM_CCo,18082,0.00,0.000,0,0,599,527.64
$SM_GC,-1.08,8.30,0.10,0.00,0.058,0.095,0.000,126,2253,599,-8.79,-1.72,527.64,0,0,0,0,0,0,26.32,26.37,28.83
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.29
$INTERNAL_PRESSURE,9.54138
$TCM_TEMP,24.20
$XPDR_PINGS,15
$SC_FREEKB,4012448
$24V_AH,24.0,2.793
$10V_AH,10.5,4.148
$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
$DEVICE_SECS,33.275,143.250,587.975,0.000,0.000,0.000,0.000,285.525,3.750,0.000,20.911,3390.208,11843.320,803.851,2246.514,229.084,0.000,2149.840,0.000,1838.823,0.000,0.546,0.000
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$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18032.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.494,0.000,0.000,0.000
$MEM,326764
$DATA_FILE_SIZE,30045,789
$CAP_FILE_SIZE,436068,0
$CFSIZE,260034560,251088896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.061, 95.1,1
$GPS,200313,172405,1900.558,12413.467,29,1.0,30,-2.2