version: 66.11
glider: 177
mission: 4
dive: 182
start: 4 20 113 23 39 33
data:
$ID,177
$MISSION,4
$DIVE,182
$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,360
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$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,0.001
$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,619.87311
$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,-8093.251
$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,2925
$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,2375
$C_ROLL_CLIMB,2240
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,72
$R_STBD_OVSHOOT,100
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,2992
$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
$GPS1,200413,233036,1845.822,12256.942,39,1.1,40,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.70
$_SM_ANGLEo,-71.0
$GPS2,200413,233848,1845.793,12256.861,10,1.1,15,-2.1
$SPEED_LIMITS,0.159,0.756
$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,104.6,5817,-15.7,-9.167,-16.17,396
$D_GRID,4507
$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,-0.68,-23.6,145,2416,484,442,0.0,0.0,0,124,0.00,0.00,-99.57,0.000,16390,0.000,0.000,145,2416,3094,3147,3041,0,0,0,0,0,0,28.83,28.83,26.46
$GC,127,-0.68,-23.6,145,2416,3141,3042,4.3,-16.8,14,144,10.77,2.12,0.00,0.000,2564,0.251,0.034,2711,995,3093,3144,3043,0,0,0,0,0,0,25.69,26.09,28.83
$GC,347,-0.68,-23.6,2710,995,3157,3033,69.3,-23.9,33,355,0.00,1.92,0.00,0.000,1030,0.000,0.027,2703,2332,3095,3157,3033,0,0,0,0,0,0,28.83,26.27,28.83
$GC,653,-0.68,-23.6,2703,2333,3160,3033,139.1,-19.3,49,658,0.00,1.92,0.00,0.000,516,0.000,0.030,2703,986,3096,3160,3033,0,0,0,0,0,0,28.83,26.34,28.83
$GC,721,-0.68,-23.6,2703,985,3160,3033,150.6,-17.5,52,728,0.00,1.98,0.00,0.000,1030,0.000,0.026,2693,2383,3096,3160,3033,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1041,-0.68,-23.6,2693,2384,3162,3033,206.0,-16.9,68,1047,0.00,2.00,0.00,0.000,516,0.000,0.031,2693,979,3097,3162,3033,0,0,0,0,0,0,28.83,26.42,28.83
$GC,1183,-0.68,-23.6,2693,981,3163,3033,225.5,-15.4,74,1191,0.10,1.98,0.00,0.000,3078,0.196,0.027,2703,2389,3097,3162,3033,0,0,0,0,0,0,26.25,26.48,28.83
$GC,1487,-0.68,-23.6,2705,2390,3162,3033,270.0,-13.4,90,1493,0.00,1.92,0.00,0.000,260,0.000,0.040,2700,3703,3097,3162,3033,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1537,-0.68,-23.6,2700,3703,3162,3033,276.8,-14.2,92,1543,0.00,1.83,0.00,0.000,1030,0.000,0.020,2700,2340,3097,3162,3033,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1858,-0.68,-23.6,2699,2338,3162,3031,321.2,-12.8,108,1864,0.00,2.00,0.00,0.000,260,0.000,0.041,2699,3704,3096,3162,3030,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1907,-0.68,-23.6,2699,3704,3162,3030,327.0,-12.5,110,1913,0.00,1.77,0.00,0.000,1030,0.000,0.020,2699,2360,3096,3162,3030,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2227,-0.68,-23.6,2699,2356,3162,3027,368.5,-12.1,126,2233,0.00,1.85,0.00,0.000,516,0.000,0.030,2699,1040,3094,3162,3027,0,0,0,0,0,0,28.83,26.49,28.83
$GC,2465,-0.68,-23.6,2699,1040,3162,3024,396.4,-11.5,137,2471,0.08,1.88,0.00,0.000,3078,0.204,0.027,2703,2373,3093,3163,3024,0,0,0,0,0,0,26.35,26.53,28.83
$GC,2781,-0.68,-23.6,2705,2374,3162,3022,428.8,-10.1,153,2787,0.00,1.95,0.00,0.000,260,0.000,0.041,2704,3705,3092,3162,3022,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2865,-0.68,-23.6,1680,3704,3121,3013,437.6,-10.3,157,2871,0.00,1.77,0.00,0.000,1030,0.000,0.021,2703,2370,3092,3162,3022,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3191,-0.68,-23.6,2703,2370,3162,3017,469.1,-9.6,173,3196,0.00,1.88,0.00,0.000,516,0.000,0.031,2704,1041,3089,3162,3017,0,0,0,0,0,0,28.83,26.51,28.83
$GC,3328,-0.68,-23.6,2703,1040,3162,3014,482.6,-10.6,179,3334,0.00,1.88,0.00,0.000,1030,0.000,0.027,2695,2374,3088,3162,3014,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3642,-0.68,-23.6,2695,2374,3162,3013,516.0,-10.0,195,3643,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2374,3087,3162,3013,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3942,-0.68,-24.7,2694,2375,3162,3009,544.0,-8.9,210,3948,0.00,1.90,0.00,0.000,516,0.000,0.031,2696,1041,3085,3162,3008,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4052,-0.68,-25.5,1680,1041,3121,3001,553.7,-9.0,215,4059,0.08,1.90,0.00,0.000,3078,0.208,0.028,2703,2383,3083,3161,3006,0,0,0,0,0,0,26.34,26.52,28.83
$GC,4373,-0.68,-25.7,2703,2383,3161,3004,582.0,-9.1,231,4379,0.00,1.95,0.00,0.000,260,0.000,0.043,2700,3708,3082,3161,3004,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4419,-0.68,-25.7,2700,3706,3160,3003,586.3,-9.5,233,4425,0.00,1.80,0.00,0.000,1030,0.000,0.021,2699,2372,3081,3160,3003,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4733,-0.68,-27.0,2699,2371,3157,3001,614.8,-8.8,246,4734,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2371,3081,3161,3001,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5033,-0.68,-27.0,2700,2371,3156,2999,642.1,-9.2,256,5040,0.00,1.90,0.00,0.000,516,0.000,0.032,2700,1039,3077,3155,2999,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5194,-0.68,-27.0,2699,1039,3153,2998,656.9,-9.4,261,5200,0.00,1.90,0.00,0.000,1030,0.000,0.028,2692,2376,3075,3153,2998,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5523,-0.68,-27.5,2691,2376,3151,2995,687.2,-9.0,272,5524,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2376,3074,3152,2996,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5823,-0.69,-31.0,2692,2376,3150,2993,712.7,-8.2,282,5824,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2376,3071,3150,2993,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6123,-0.70,-36.2,2692,2376,3149,2992,736.9,-7.8,292,6124,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2376,3070,3149,2992,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6423,-0.72,-45.0,2692,2375,3147,2990,758.1,-6.9,302,6430,0.00,1.98,0.00,0.000,260,0.000,0.044,2687,3707,3068,3146,2990,0,0,0,0,0,0,28.83,26.43,28.83
$GC,6477,-0.74,-54.1,2686,3707,3146,2990,760.5,-6.8,303,6483,0.00,1.80,0.00,0.000,1030,0.000,0.023,2686,2378,3068,3146,2990,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6795,-0.75,-61.0,2686,2377,3144,2988,784.0,-7.4,314,6800,0.00,1.92,0.00,0.000,516,0.000,0.033,2687,1035,3066,3144,2988,0,0,0,0,0,0,28.83,26.44,28.83
$GC,6875,-0.76,-66.9,2686,1035,3144,2987,788.9,-7.6,316,6881,0.00,1.92,0.00,0.000,1030,0.000,0.029,2677,2382,3065,3144,2987,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7194,-0.77,-69.4,2677,2383,3144,2986,816.3,-8.5,327,7200,0.00,1.95,0.00,0.000,516,0.000,0.034,2677,1037,3067,3143,2991,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7212,-0.77,-71.9,2677,1037,3143,2986,816.3,-8.5,327,7218,0.00,1.92,0.00,0.000,1030,0.000,0.029,2668,2382,3064,3143,2986,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7532,-0.77,-71.9,2668,2382,3142,2984,848.9,-9.5,338,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2383,3063,3142,2984,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7831,-0.77,-72.5,2668,2382,3141,2983,876.2,-9.0,348,7838,0.00,1.95,0.00,0.000,516,0.000,0.034,2668,1040,3061,3139,2983,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7996,-0.78,-73.4,2668,1040,3138,2981,890.2,-8.9,353,8003,0.08,1.92,0.00,0.000,3078,0.212,0.030,2673,2381,3060,3139,2981,0,0,0,0,0,0,26.27,26.48,28.83
$GC,8321,-0.78,-76.5,2673,2381,3138,2979,918.1,-8.4,364,8323,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2381,3058,3138,2979,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8622,-0.80,-83.7,2673,2381,3137,2978,940.7,-7.3,374,8623,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2381,3057,3137,2978,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8921,-0.81,-92.1,2673,2381,3136,2980,962.2,-7.0,384,8927,0.00,1.95,0.00,0.000,516,0.000,0.034,2674,1041,3056,3135,2978,0,0,0,0,0,0,28.83,26.40,28.83
$GC,9061,-0.83,-99.7,2674,1041,3135,2977,971.2,-7.2,388,9067,0.00,1.92,0.00,0.000,1030,0.000,0.031,2666,2377,3056,3135,2977,0,0,0,0,0,0,28.83,26.44,28.83
$STATE,9318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9318,begin apogee
$GC,9324,-0.20,0.0,2665,2267,3135,2976,991.5,-7.3,397,9345,0.60,0.00,17.05,0.989,10246,0.145,0.000,2853,2267,2992,3080,2905,0,0,0,0,0,0,26.05,28.83,25.32
$STATE,9346,end apogee,CONTROL_FINISHED_OK
$STATE,9346,begin climb
$GC,9348,0.83,99.7,2853,2267,3080,2903,991.5,0.0,397,9462,0.93,2.25,104.60,0.972,10500,0.084,0.046,3187,3636,2584,2673,2495,0,0,1,0,0,0,26.08,24.94,24.33
$GC,9515,0.87,117.7,3187,3636,2671,2485,986.2,4.5,402,9539,0.00,2.08,18.35,0.954,9222,0.000,0.028,3190,2257,2510,2604,2417,0,0,0,0,0,0,28.83,25.48,24.55
$GC,9863,0.87,117.7,3189,2257,2604,2401,944.3,11.8,414,9869,0.00,2.15,0.00,0.000,516,0.000,0.047,3199,850,2502,2604,2401,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9972,0.87,117.7,2240,849,2534,2392,932.7,12.0,417,9978,0.00,2.05,0.00,0.000,1030,0.000,0.031,3199,2249,2501,2604,2399,0,0,0,0,0,0,28.83,26.05,28.83
$GC,10292,0.87,117.7,3199,2249,2604,2395,895.2,10.5,428,10293,0.00,0.00,0.00,0.000,6,0.000,0.000,3199,2249,2499,2604,2395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10592,0.87,117.7,3199,2249,2604,2394,864.7,9.8,438,10598,0.00,2.10,0.00,0.000,260,0.000,0.046,3199,3639,2499,2604,2394,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10626,0.87,117.7,3199,3639,2600,2394,860.9,10.1,439,10632,0.00,2.05,0.00,0.000,1030,0.000,0.028,3206,2226,2497,2600,2394,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10960,0.87,117.7,3206,2226,2600,2393,826.2,10.8,450,10966,0.00,2.05,0.00,0.000,516,0.000,0.044,3216,856,2496,2600,2393,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11038,0.87,117.7,2304,856,2533,2385,819.4,10.5,452,11043,0.00,2.00,0.00,0.000,1030,0.000,0.030,3216,2241,2497,2601,2393,0,0,0,0,0,0,28.83,26.32,28.83
$GC,11357,0.87,117.7,3216,2241,2601,2391,784.8,11.0,463,11363,0.00,2.12,0.00,0.000,260,0.000,0.047,3216,3645,2495,2600,2391,0,0,0,0,0,0,28.83,26.28,28.83
$GC,11522,0.87,117.7,3216,3645,2599,2391,766.3,11.8,468,11529,0.10,2.00,0.00,0.000,5126,0.240,0.024,3207,2242,2494,2598,2391,0,0,0,0,0,0,26.03,26.39,28.83
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$STATE,20664,end climb,SURFACE_DEPTH_REACHED
$STATE,20664,begin surface coast
$FINISH,0.5,1.021616
$STATE,20708,end surface coast,CONTROL_FINISHED_OK
$STATE,20708,begin surface
$SM_CCo,20726,129.55,0.049,0,0,464,619.87
$SM_GC,-1.62,8.60,0.15,129.55,0.072,0.073,0.049,149,2416,464,-8.61,-1.75,619.87,0,0,0,0,0,0,26.34,26.45,26.27
$IRIDIUM_FIX,1837.32,12257.24,200413,181832
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.45
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,25.20
$XPDR_PINGS,25
$SC_FREEKB,3950240
$24V_AH,24.3,23.333
$10V_AH,10.0,21.235
$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,22.125,147.300,279.450,129.550,0.000,0.000,0.000,289.125,6.250,0.000,17.827,4683.000,12345.441,674.199,3121.674,516.292,0.000,2362.596,0.000,2699.635,0.000,0.548,0.000
$DEVICE_MAMPS,250.920,81.855,989.145,48.960,0.000,0.000,0.000,123.165,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,20738.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.219,0.000,0.000,0.000
$MEM,320916
$DATA_FILE_SIZE,36690,955
$CAP_FILE_SIZE,545853,0
$CFSIZE,260034560,230264832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.078,214.9,1
$GPS,210413,052853,1845.080,12258.222,41,1.5,60,-2.1