version: 66.11
glider: 177
mission: 4
dive: 22
start: 3 20 113 23 8 23
data:
$ID,177
$MISSION,4
$DIVE,22
$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,-7681.8135
$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,20
$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,2250
$C_ROLL_CLIMB,2175
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,53
$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
$GPS1,200313,230136,1900.361,12411.403,32,1.2,33,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.47
$_SM_ANGLEo,-71.2
$GPS2,200313,230755,1900.390,12411.412,11,1.8,11,-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,259.8,128318,-13.8,-8.462,-18.11,2966
$D_GRID,5593
$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,18,-1.02,-165.5,125,2258,970,834,0.0,0.0,0,107,0.00,0.00,-86.80,0.000,16386,0.000,0.000,125,2259,3148,3202,3094,0,0,0,0,0,0,28.83,28.83,28.83
$GC,110,-1.02,-165.5,125,2258,3203,3095,3.2,-12.3,12,135,10.45,2.10,-4.72,0.000,18948,0.253,0.050,2654,838,3429,3504,3354,0,0,0,0,0,0,25.93,26.12,26.39
$GC,354,-1.02,-165.5,2654,837,3507,3354,97.6,-34.8,31,360,0.00,2.03,0.00,0.000,1030,0.000,0.033,2647,2240,3430,3507,3354,0,0,0,0,0,0,28.83,26.28,28.83
$GC,669,-1.02,-165.5,2646,2240,3510,3354,195.8,-26.1,47,675,0.00,2.05,0.00,0.000,516,0.000,0.038,2646,835,3434,3515,3354,0,0,0,0,0,0,28.83,26.36,28.83
$GC,693,-1.02,-165.5,2645,835,3510,3353,202.1,-25.6,48,698,0.00,2.03,0.00,0.000,1030,0.000,0.031,2635,2253,3432,3511,3354,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1016,-1.02,-165.5,2635,2254,3512,3355,279.4,-22.7,64,1023,0.00,2.05,0.00,0.000,516,0.000,0.039,2635,839,3433,3512,3355,0,0,0,0,0,0,28.83,26.44,28.83
$GC,1065,-1.02,-165.5,2635,839,3512,3355,289.9,-23.1,66,1072,0.10,2.03,0.00,0.000,3078,0.198,0.031,2647,2260,3433,3512,3355,0,0,0,0,0,0,26.34,26.48,28.83
$GC,1385,-1.02,-165.5,2646,2260,3512,3355,355.3,-18.8,82,1391,0.00,2.05,0.00,0.000,260,0.000,0.045,2637,3656,3433,3512,3355,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1470,-1.02,-165.5,2637,3657,3512,3351,372.2,-19.9,86,1476,0.00,2.03,0.00,0.000,1030,0.000,0.025,2638,2210,3433,3512,3355,0,0,0,0,0,0,28.83,26.56,28.83
$GC,1794,-1.02,-165.5,2637,2208,3512,3355,429.5,-16.9,102,1795,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2208,3433,3512,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2094,-1.02,-165.5,2637,2208,3512,3353,477.4,-16.1,117,2100,0.00,2.15,0.00,0.000,260,0.000,0.046,2633,3656,3432,3512,3353,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2202,-1.02,-165.5,2632,3656,3512,3353,494.4,-15.8,122,2208,0.00,1.98,0.00,0.000,1030,0.000,0.026,2632,2240,3432,3512,3353,0,0,0,0,0,0,28.83,26.62,28.83
$GC,2526,-1.02,-165.5,2632,2239,3512,3348,546.3,-16.6,138,2533,0.08,1.95,0.00,0.000,2564,0.195,0.038,2647,881,3430,3512,3348,0,0,0,0,0,0,26.55,26.57,28.83
$GC,2551,-1.02,-165.5,2646,881,3517,3348,550.5,-16.6,139,2557,0.00,1.95,0.00,0.000,1030,0.000,0.032,2639,2249,3429,3512,3347,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2875,-1.02,-165.5,2638,2249,3512,3342,602.6,-15.9,155,2881,0.00,2.08,0.00,0.000,260,0.000,0.047,2633,3656,3427,3512,3342,0,0,0,0,0,0,28.83,26.58,28.83
$GC,2959,-1.02,-165.5,2632,3656,3512,3340,613.3,-16.1,157,2965,0.05,1.95,0.00,0.000,3078,0.219,0.026,2643,2241,3426,3512,3341,0,0,0,0,0,0,26.52,26.65,28.83
$GC,3273,-1.02,-165.5,2643,2239,3512,3335,664.7,-15.2,168,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2239,3423,3512,3335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3574,-1.02,-165.5,2643,2239,3509,3333,709.0,-14.5,178,3579,0.00,2.10,0.00,0.000,260,0.000,0.047,2635,3647,3421,3509,3333,0,0,0,0,0,0,28.83,26.60,28.83
$GC,3657,-1.02,-165.5,1672,3646,3494,3329,718.7,-14.7,180,3663,0.00,1.95,0.00,0.000,1030,0.000,0.027,2635,2247,3420,3508,3332,0,0,0,0,0,0,28.83,26.67,28.83
$GC,3971,-1.02,-165.5,2635,2246,3505,3329,764.7,-13.6,191,3973,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2246,3417,3506,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4270,-1.02,-165.5,2635,2246,3505,3326,803.7,-13.3,201,4271,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2246,3415,3504,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4571,-1.02,-165.5,2635,2246,3501,3323,844.3,-13.6,211,4572,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2246,3412,3501,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4870,-1.02,-165.5,2635,2246,3498,3322,883.0,-12.4,221,4876,0.00,2.12,0.00,0.000,260,0.000,0.052,2632,3646,3409,3498,3321,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4998,-1.02,-165.5,2636,3646,3497,3321,899.1,-12.9,225,5005,0.08,1.92,0.00,0.000,3078,0.196,0.027,2647,2245,3409,3497,3321,0,0,1,0,0,0,26.54,26.67,28.83
$GC,5328,-1.02,-165.5,2647,2244,3495,3317,938.4,-11.8,236,5329,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2244,3406,3495,3317,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5628,-1.02,-165.5,2646,2244,3493,3315,972.7,-11.3,246,5634,0.00,1.98,0.00,0.000,516,0.000,0.047,2647,893,3403,3492,3315,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5662,-1.02,-165.5,2647,892,3492,3315,976.5,-11.3,247,5668,0.00,1.95,0.00,0.000,1030,0.000,0.035,2639,2242,3403,3491,3315,0,0,0,0,0,0,28.83,26.64,28.83
$STATE,5784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5784,begin apogee
$GC,5787,-0.25,0.0,2638,2242,3491,3314,990.7,-11.4,251,5941,0.80,0.00,145.88,1.030,10246,0.153,0.000,2891,2242,2746,2862,2631,0,0,0,0,0,0,26.51,28.83,24.06
$STATE,5943,end apogee,CONTROL_FINISHED_OK
$STATE,5943,begin climb
$GC,5945,1.02,165.5,2891,2242,2862,2629,992.9,0.0,255,6099,1.23,2.35,143.93,1.016,10756,0.085,0.054,3313,822,2071,2185,1958,0,0,0,0,0,0,24.79,24.53,23.92
$GC,6141,1.02,165.5,2408,821,2109,1947,966.4,18.0,261,6149,0.00,2.08,0.00,0.000,1030,0.000,0.035,3313,2172,2065,2177,1953,0,0,0,0,0,0,28.83,25.11,28.83
$GC,6449,1.02,165.5,3313,2172,2174,1944,886.9,24.3,272,6455,0.00,2.20,0.00,0.000,260,0.000,0.053,3313,3587,2059,2174,1944,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6476,1.02,165.5,3313,3587,2173,1944,886.9,24.3,272,6485,0.08,2.08,0.00,0.000,5126,0.274,0.037,3308,2203,2058,2173,1943,0,0,0,0,0,0,25.75,25.91,28.83
$GC,6784,1.02,165.5,3308,2203,2173,1939,805.7,25.2,283,6789,0.00,2.12,0.00,0.000,260,0.000,0.052,3308,3580,2056,2173,1939,0,0,0,0,0,0,28.83,26.12,28.83
$GC,6836,1.02,165.5,3307,3580,2171,1935,797.0,25.1,284,6841,0.00,2.08,0.00,0.000,1030,0.000,0.035,3314,2176,2054,2171,1938,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7151,1.02,165.5,3314,2176,2171,1935,714.6,24.3,295,7152,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2176,2053,2171,1935,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7450,1.02,165.5,3314,2176,2171,1932,646.8,22.0,305,7456,0.00,2.15,0.00,0.000,260,0.000,0.051,3314,3580,2052,2172,1932,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7524,1.02,165.5,3314,3580,2169,1931,631.1,23.1,307,7531,0.10,2.05,0.00,0.000,5126,0.252,0.034,3308,2178,2049,2170,1929,0,0,0,0,0,0,26.20,26.36,28.83
$GC,7848,1.02,165.5,3307,2177,2169,1930,559.9,21.5,321,7855,0.00,2.12,0.00,0.000,260,0.000,0.048,3308,3581,2047,2165,1930,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7995,1.02,165.5,3307,3581,2168,1928,525.7,23.7,328,8002,0.00,2.05,0.00,0.000,1030,0.000,0.034,3316,2170,2048,2168,1928,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8320,1.02,165.5,3316,2168,2168,1927,459.2,19.4,344,8326,0.00,2.08,0.00,0.000,516,0.000,0.051,3327,784,2047,2168,1927,0,0,0,0,0,0,28.83,26.43,28.83
$GC,8353,1.02,165.5,3326,784,2164,1925,454.7,19.0,345,8359,0.10,2.00,0.00,0.000,5126,0.217,0.032,3307,2188,2047,2168,1927,0,0,0,0,0,0,26.32,26.48,28.83
$GC,8667,1.02,165.5,3307,2188,2168,1926,393.2,18.7,361,8673,0.00,2.08,0.00,0.000,260,0.000,0.047,3307,3575,2047,2168,1926,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8791,1.02,165.5,3307,3575,2166,1925,367.8,20.4,367,8797,0.00,2.05,0.00,0.000,1030,0.000,0.032,3316,2158,2045,2166,1925,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9116,1.02,165.5,3316,2156,2166,1924,310.4,17.6,383,9122,0.00,2.12,0.00,0.000,260,0.000,0.047,3316,3572,2045,2167,1924,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9244,1.02,165.5,3316,3572,2166,1924,284.1,21.1,389,9251,0.10,2.03,0.00,0.000,5126,0.233,0.031,3307,2175,2045,2166,1924,0,0,0,0,0,0,26.38,26.54,28.83
$GC,9569,1.02,165.5,3306,2173,2166,1923,230.3,15.9,405,9570,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2173,2044,2165,1924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9868,1.02,165.5,3306,2173,2166,1923,188.8,11.9,420,9869,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,2173,2044,2166,1923,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10168,1.02,165.5,3310,2173,2165,1924,155.7,10.9,435,10175,0.00,2.10,0.00,0.000,260,0.000,0.045,3306,3581,2045,2166,1924,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10402,1.02,165.5,3306,3581,2166,1924,130.2,10.4,446,10408,0.00,2.03,0.00,0.000,1030,0.000,0.030,3314,2151,2044,2165,1924,0,0,0,0,0,0,28.83,26.62,28.83
$GC,10717,1.13,217.6,3313,2151,2165,1923,107.2,6.7,462,10763,0.08,2.05,34.83,0.410,10756,0.129,0.047,3357,799,1858,1981,1736,0,0,0,0,0,0,26.65,26.29,25.99
$GC,10869,1.13,217.6,2432,798,1912,1729,88.8,13.5,469,10875,0.10,1.95,0.00,0.000,5126,0.200,0.029,3337,2183,1856,1979,1734,0,0,0,0,0,0,26.24,26.39,28.83
$GC,11193,1.13,217.6,3337,2183,1978,1733,49.0,12.3,485,11200,0.00,2.05,0.00,0.000,260,0.000,0.044,3337,3572,1854,1978,1731,0,0,0,0,0,0,28.83,26.45,28.83
$GC,11242,1.13,217.6,3336,3572,1977,1731,43.3,12.7,489,11250,0.00,2.00,0.00,0.000,1030,0.000,0.030,3338,2181,1854,1978,1731,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,11546,end climb,SURFACE_DEPTH_REACHED
$STATE,11546,begin surface coast
$FINISH,0.3,1.022280
$STATE,11570,end surface coast,CONTROL_FINISHED_OK
$STATE,11570,begin surface
$SM_CCo,11586,67.62,0.051,0,0,1120,400.08
$SM_GC,-1.10,8.80,0.05,67.62,0.081,0.150,0.051,125,2245,1120,-8.79,-1.87,400.08,0,0,0,0,0,0,26.51,26.60,26.45
$IRIDIUM_FIX,1853.26,12413.02,200313,171737
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.28
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.60
$XPDR_PINGS,0
$SC_FREEKB,4011680
$24V_AH,23.9,3.030
$10V_AH,10.4,4.343
$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,22.125,86.275,324.625,67.625,0.000,0.000,0.000,223.075,0.000,0.000,14.041,2360.483,7310.551,537.161,1657.289,146.581,0.000,1524.568,0.000,1342.301,0.000,0.545,0.000
$DEVICE_MAMPS,273.870,149.940,1030.455,51.255,0.000,0.000,0.000,124.695,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11591.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.502,0.000,0.000,0.000
$MEM,326716
$DATA_FILE_SIZE,20149,539
$CAP_FILE_SIZE,291237,0
$CFSIZE,260034560,250961920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.087, 60.0,1
$GPS,210313,022353,1900.231,12410.226,35,1.7,35,-2.2