version: 66.11
glider: 177
mission: 4
dive: 26
start: 3 21 113 12 45 22
data:
$ID,177
$MISSION,4
$DIVE,26
$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,-7686.8452
$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,50
$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
$GPS1,210313,123835,1859.488,12406.021,39,1.1,44,-2.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.87
$_SM_ANGLEo,-73.6
$GPS2,210313,124454,1859.531,12406.010,13,1.1,24,-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,242.9,118729,-13.8,-8.462,-18.11,2966
$D_GRID,5515
$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,-1.02,-165.5,126,2190,1155,1075,0.0,0.0,0,100,0.00,0.00,-80.78,0.000,16386,0.000,0.000,126,2190,3276,3331,3221,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-1.02,-165.5,126,2190,3331,3222,4.0,-15.3,11,128,10.52,2.00,-2.50,0.000,18948,0.256,0.053,2650,854,3431,3498,3364,0,0,0,0,0,0,26.00,26.20,26.44
$GC,346,-1.02,-165.5,2650,853,3502,3363,101.4,-36.7,29,352,0.00,2.00,0.00,0.000,1030,0.000,0.032,2642,2242,3432,3502,3363,0,0,0,0,0,0,28.83,26.35,28.83
$GC,670,-1.02,-165.5,2641,2242,3502,3363,207.2,-27.8,45,671,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2242,3434,3505,3364,0,0,0,0,0,0,28.83,28.83,28.83
$GC,970,-1.02,-165.5,2641,2242,3507,3363,276.9,-22.7,60,976,0.00,2.08,0.00,0.000,260,0.000,0.045,2633,3654,3435,3507,3364,0,0,0,0,0,0,28.83,26.51,28.83
$GC,1050,-1.02,-165.5,2631,3654,3507,3364,293.0,-24.3,63,1060,0.08,2.00,0.00,0.000,3078,0.199,0.024,2645,2209,3435,3507,3364,0,0,0,0,0,0,26.42,26.57,28.83
$GC,1357,-1.02,-165.5,2645,2208,3507,3364,361.9,-20.2,79,1364,0.00,1.90,0.00,0.000,516,0.000,0.037,2646,878,3436,3508,3364,0,0,0,0,0,0,28.83,26.55,28.83
$GC,1375,-1.02,-165.5,2645,877,3507,3364,361.9,-20.2,79,1383,0.00,1.95,0.00,0.000,1030,0.000,0.031,2637,2260,3435,3508,3363,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1681,-1.02,-165.5,2637,2260,3507,3363,423.9,-18.7,95,1687,0.00,1.98,0.00,0.000,516,0.000,0.037,2637,885,3437,3507,3368,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1780,-1.02,-165.5,2637,885,3507,3363,438.8,-17.6,99,1789,0.10,1.92,0.00,0.000,3078,0.184,0.032,2651,2249,3435,3507,3363,0,0,0,0,0,0,26.50,26.61,28.83
$GC,2087,-1.02,-165.5,2651,2249,3508,3363,488.0,-14.6,115,2092,0.00,2.05,0.00,0.000,260,0.000,0.046,2646,3647,3433,3507,3359,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2170,-1.02,-165.5,1664,3646,3492,3355,501.0,-15.7,119,2175,0.00,1.92,0.00,0.000,1030,0.000,0.024,2646,2246,3433,3507,3359,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2494,-1.02,-165.5,2646,2247,3507,3354,548.8,-14.7,135,2500,0.00,1.95,0.00,0.000,516,0.000,0.038,2647,882,3430,3507,3353,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2518,-1.02,-165.5,2646,881,3507,3353,552.5,-15.0,136,2524,0.00,1.92,0.00,0.000,1030,0.000,0.031,2637,2248,3430,3508,3353,0,0,0,0,0,0,28.83,26.65,28.83
$GC,2852,-1.02,-165.5,2636,2248,3502,3347,606.5,-16.4,152,2853,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2248,3427,3507,3347,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3151,-1.02,-165.5,2636,2248,3507,3342,656.2,-16.5,162,3157,0.00,2.08,0.00,0.000,260,0.000,0.047,2632,3652,3424,3507,3341,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3218,-1.02,-165.5,2632,3651,3507,3340,666.8,-16.4,164,3225,0.08,1.92,0.00,0.000,3078,0.193,0.025,2647,2237,3423,3507,3340,0,0,1,0,0,0,26.55,26.70,28.83
$GC,3547,-1.02,-165.5,2647,2236,3507,3335,717.1,-14.6,175,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2237,3419,3507,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3847,-1.02,-165.5,2647,2236,3505,3332,757.5,-13.3,185,3849,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2236,3418,3505,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4147,-1.02,-165.5,2647,2236,3502,3329,795.6,-12.7,195,4153,0.00,2.10,0.00,0.000,260,0.000,0.049,2646,3647,3415,3502,3329,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4210,-1.02,-165.5,1680,3646,3486,3325,803.8,-12.7,197,4216,0.00,1.92,0.00,0.000,1030,0.000,0.025,2646,2259,3415,3501,3329,0,0,0,0,0,0,28.83,26.71,28.83
$GC,4544,-1.02,-165.5,2646,2257,3498,3326,845.5,-12.2,208,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2257,3412,3498,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4844,-1.02,-165.5,2646,2257,3495,3323,882.6,-12.1,218,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2257,3409,3495,3323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5144,-1.02,-165.5,2645,2257,3489,3321,918.9,-12.1,228,5149,0.00,2.08,0.00,0.000,260,0.000,0.050,2636,3646,3407,3493,3321,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5182,-1.02,-165.5,2635,3646,3493,3321,923.2,-12.4,229,5188,0.00,1.92,0.00,0.000,1030,0.000,0.026,2636,2258,3406,3492,3321,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5510,-1.02,-165.5,2636,2257,3491,3318,967.4,-13.2,240,5517,0.00,2.08,0.00,0.000,260,0.000,0.051,2633,3645,3404,3491,3318,0,0,0,0,0,0,28.83,26.64,28.83
$GC,5549,-1.02,-165.5,2632,3645,3491,3317,972.1,-13.4,241,5554,0.00,1.95,0.00,0.000,1030,0.000,0.026,2633,2250,3404,3491,3318,0,0,0,0,0,0,28.83,26.70,28.83
$STATE,5696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5696,begin apogee
$GC,5699,-0.25,0.0,2632,2249,3489,3317,992.5,-13.4,246,5853,0.80,0.00,145.35,1.036,10246,0.148,0.000,2888,2249,2747,2860,2635,0,0,0,0,0,0,26.54,28.83,24.13
$STATE,5855,end apogee,CONTROL_FINISHED_OK
$STATE,5855,begin climb
$GC,5857,1.02,165.5,2888,2249,2860,2632,997.6,0.0,250,6011,1.23,2.35,145.10,1.027,10756,0.082,0.054,3315,812,2072,2185,1959,0,0,0,0,0,0,24.89,24.60,23.99
$GC,6043,1.02,165.5,3315,812,2179,1957,974.2,16.9,257,6049,0.00,2.08,0.00,0.000,1030,0.000,0.035,3315,2166,2067,2178,1956,0,0,0,0,0,0,28.83,25.10,28.83
$GC,6367,1.02,165.5,3315,2167,2176,1944,898.5,22.8,268,6372,0.00,2.17,0.00,0.000,260,0.000,0.050,3315,3576,2059,2175,1944,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6455,1.02,165.5,3315,3576,2173,1942,882.6,23.7,270,6464,0.10,2.05,0.00,0.000,5126,0.252,0.033,3308,2193,2057,2173,1942,0,0,0,0,0,0,25.86,26.03,28.83
$GC,6762,1.02,165.5,3307,2193,2173,1939,809.8,20.9,281,6763,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,2192,2056,2173,1939,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7062,1.02,165.5,3307,2193,2173,1935,746.4,21.4,291,7067,0.00,2.15,0.00,0.000,260,0.000,0.050,3307,3588,2052,2173,1931,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7195,1.02,165.5,3307,3589,2170,1935,716.8,23.8,295,7201,0.00,2.08,0.00,0.000,1030,0.000,0.033,3317,2167,2052,2170,1934,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7519,1.02,165.5,3316,2166,2170,1932,642.6,22.1,306,7525,0.00,2.15,0.00,0.000,260,0.000,0.047,3317,3583,2051,2170,1932,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7658,1.02,165.5,3317,3583,2168,1931,612.7,23.9,310,7665,0.12,2.05,0.00,0.000,5126,0.231,0.033,3301,2175,2049,2168,1931,0,0,0,0,0,0,26.26,26.44,28.83
$GC,7969,1.02,165.5,3301,2174,2168,1930,543.9,21.4,325,7974,0.00,2.12,0.00,0.000,260,0.000,0.047,3301,3584,2049,2169,1930,0,0,0,0,0,0,28.83,26.45,28.83
$GC,8028,1.02,165.5,3300,3584,2167,1930,533.5,22.0,327,8037,0.00,2.08,0.00,0.000,1030,0.000,0.032,3309,2160,2048,2167,1929,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8334,1.02,165.5,3309,2158,2167,1929,463.6,21.6,343,8341,0.00,2.15,0.00,0.000,260,0.000,0.046,3309,3588,2048,2167,1929,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8399,1.02,165.5,3309,3589,2166,1928,450.3,20.5,346,8406,0.00,2.05,0.00,0.000,1030,0.000,0.030,3317,2166,2047,2166,1929,0,0,0,0,0,0,28.83,26.52,28.83
$GC,8724,1.02,165.5,3317,2164,2166,1927,386.2,19.2,362,8725,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2165,2047,2166,1928,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9024,1.02,165.5,3317,2164,2166,1927,327.4,18.8,377,9025,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,2164,2047,2167,1927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9324,1.02,165.5,3317,2164,2167,1926,275.6,16.6,392,9330,0.00,2.12,0.00,0.000,260,0.000,0.045,3317,3584,2046,2166,1926,0,0,0,0,0,0,28.83,26.55,28.83
$GC,9486,1.02,165.5,3317,3584,2165,1925,246.0,19.1,399,9496,0.12,2.03,0.00,0.000,5126,0.215,0.030,3300,2160,2045,2165,1925,0,0,0,0,0,0,26.42,26.59,28.83
$GC,9793,1.02,165.5,3300,2160,2165,1925,198.6,13.4,415,9794,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,2160,2045,2165,1925,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10093,1.02,165.5,3300,2159,2165,1925,168.6,9.9,430,10099,0.00,2.00,0.00,0.000,516,0.000,0.045,3309,792,2045,2165,1925,0,0,0,0,0,0,28.83,26.58,28.83
$GC,10242,1.02,165.5,3308,792,2165,1925,152.3,11.7,437,10249,0.00,1.98,0.00,0.000,1030,0.000,0.028,3309,2200,2045,2165,1925,0,0,0,0,0,0,28.83,26.63,28.83
$GC,10563,1.15,229.7,3308,2201,2165,1925,127.2,6.2,453,10615,0.12,2.08,43.62,0.438,10500,0.093,0.043,3369,3562,1810,1929,1691,0,0,0,0,0,0,26.65,26.22,25.88
$GC,10724,1.15,229.7,3368,3564,1919,1686,108.3,16.2,460,10733,0.15,1.98,0.00,0.000,5126,0.213,0.027,3346,2185,1803,1920,1686,0,0,0,0,0,0,26.16,26.32,28.83
$GC,11030,1.15,229.7,3345,2184,1919,1686,60.3,14.3,476,11036,0.00,2.08,0.00,0.000,516,0.000,0.045,3354,775,1803,1920,1686,0,0,0,0,0,0,28.83,26.39,28.83
$GC,11115,1.15,229.7,3354,775,1920,1686,47.3,15.2,480,11121,0.00,1.98,0.00,0.000,1030,0.000,0.028,3354,2176,1803,1920,1686,0,0,0,0,0,0,28.83,26.46,28.83
$GC,11426,1.15,229.7,2336,2173,1848,1680,4.7,11.3,526,11434,0.00,2.05,0.00,0.000,516,0.000,0.043,3364,782,1802,1919,1686,0,0,0,0,0,0,28.83,26.48,28.83
$STATE,11440,end climb,SURFACE_DEPTH_REACHED
$STATE,11440,begin surface coast
$FINISH,-0.3,1.022255
$STATE,11463,end surface coast,CONTROL_FINISHED_OK
$STATE,11463,begin surface
$SM_CCo,11481,63.50,0.052,0,0,1119,400.08
$SM_GC,-2.01,8.93,2.15,63.50,0.084,0.028,0.052,128,2257,1119,-8.79,-1.36,400.08,0,0,0,0,0,0,26.51,26.53,26.44
$IRIDIUM_FIX,1853.26,12407.96,210313,090917
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.81
$INTERNAL_PRESSURE,9.59998
$TCM_TEMP,24.40
$XPDR_PINGS,10
$SC_FREEKB,4010144
$24V_AH,24.0,3.416
$10V_AH,10.5,4.659
$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,22.350,85.625,334.075,63.500,0.000,0.000,0.000,233.300,2.500,0.000,29.478,2303.932,7281.213,581.804,1609.375,145.119,0.000,1526.316,0.000,1275.658,0.000,0.547,0.000
$DEVICE_MAMPS,256.275,54.315,1035.810,52.020,0.000,0.000,0.000,116.280,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,11478.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.368,0.000,0.000,0.000
$MEM,326700
$DATA_FILE_SIZE,20138,532
$CAP_FILE_SIZE,281769,0
$CFSIZE,260034560,250568704
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.120,347.4,1
$GPS,210313,155906,1859.391,12404.297,31,1.1,31,-2.2