version: 66.11
glider: 177
mission: 4
dive: 184
start: 4 21 113 12 13 0
data:
$ID,177
$MISSION,4
$DIVE,184
$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,-8095.8608
$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,81
$R_STBD_OVSHOOT,56
$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
$GPS1,210413,120305,1845.615,12258.033,38,1.0,43,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.78
$_SM_ANGLEo,-65.2
$GPS2,210413,121213,1845.599,12257.768,12,1.2,12,-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,105.9,4188,-17.9,-9.167,-18.34,292
$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,-0.75,-17.4,131,2374,491,431,0.0,0.0,0,124,0.00,0.00,-98.53,0.000,16390,0.000,0.000,132,2374,3066,3117,3015,0,0,0,0,0,0,28.83,28.83,26.48
$GC,127,-0.75,-17.4,132,2374,3117,3014,4.8,-17.5,14,144,10.80,2.03,0.00,0.000,2564,0.253,0.027,2687,992,3067,3121,3014,0,0,0,0,0,0,25.72,26.14,28.83
$GC,222,-0.75,-17.4,2686,991,3131,3006,40.9,-26.1,25,231,0.00,1.98,0.00,0.000,1030,0.000,0.027,2678,2370,3068,3131,3006,0,0,0,0,0,0,28.83,26.22,28.83
$GC,541,-0.75,-17.4,2678,2370,3133,3006,118.3,-21.2,43,547,0.00,1.95,0.00,0.000,260,0.000,0.038,2668,3709,3069,3133,3005,0,0,0,0,0,0,28.83,26.34,28.83
$GC,575,-0.75,-17.4,2668,3709,3134,3006,124.6,-22.1,44,581,0.08,1.83,0.00,0.000,3078,0.207,0.019,2682,2341,3069,3134,3005,0,0,0,0,0,0,26.22,26.44,28.83
$GC,890,-0.75,-17.4,2681,2340,3134,3006,187.3,-16.9,60,896,0.00,1.85,0.00,0.000,516,0.000,0.030,2681,1027,3070,3134,3006,0,0,0,0,0,0,28.83,26.42,28.83
$GC,960,-0.75,-17.4,2681,1027,3134,3005,198.0,-16.8,63,966,0.00,1.90,0.00,0.000,1030,0.000,0.025,2673,2383,3070,3135,3005,0,0,0,0,0,0,28.83,26.47,28.83
$GC,1280,-0.75,-17.4,2673,2383,3134,3004,249.7,-15.8,79,1286,0.00,1.92,0.00,0.000,260,0.000,0.039,2663,3710,3070,3135,3005,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1366,-0.75,-17.4,2663,3710,3135,3004,264.0,-16.6,83,1373,0.10,1.80,0.00,0.000,3078,0.181,0.020,2686,2370,3070,3135,3005,0,0,0,0,0,0,26.31,26.58,28.83
$GC,1692,-0.75,-17.4,2685,2370,3135,3002,305.9,-13.6,99,1698,0.00,1.92,0.00,0.000,516,0.000,0.031,2686,1014,3068,3135,3002,0,0,0,0,0,0,28.83,26.50,28.83
$GC,1879,-0.75,-17.4,1672,1013,3090,2996,330.9,-12.6,108,1885,0.00,1.92,0.00,0.000,1030,0.000,0.026,2677,2377,3068,3135,3001,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2205,-0.75,-17.4,2677,2377,3135,2998,368.6,-11.6,124,2210,0.00,1.92,0.00,0.000,516,0.000,0.031,2677,1026,3066,3135,2998,0,0,0,0,0,0,28.83,26.51,28.83
$GC,2244,-0.75,-17.4,2677,1025,3135,2997,371.6,-11.7,125,2252,0.00,1.90,0.00,0.000,1030,0.000,0.027,2669,2379,3066,3135,2997,0,0,0,0,0,0,28.83,26.54,28.83
$GC,2550,-0.75,-17.4,2668,2380,3135,2994,410.9,-12.3,141,2556,0.00,1.92,0.00,0.000,260,0.000,0.040,2660,3704,3064,3135,2994,0,0,0,0,0,0,28.83,26.50,28.83
$GC,2665,-0.75,-17.4,2660,3704,3135,2993,425.7,-14.0,146,2672,0.10,1.77,0.00,0.000,3078,0.182,0.020,2683,2363,3063,3134,2993,0,0,0,0,0,0,26.34,26.63,28.83
$GC,2981,-0.75,-17.4,2683,2362,3135,2989,463.6,-11.7,162,2986,0.00,1.98,0.00,0.000,260,0.000,0.041,2676,3702,3062,3135,2989,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3005,-0.75,-17.4,2676,3702,3134,2989,466.3,-11.5,163,3011,0.00,1.77,0.00,0.000,1030,0.000,0.021,2676,2381,3061,3134,2989,0,0,0,0,0,0,28.83,26.63,28.83
$GC,3330,-0.75,-17.4,2676,2379,3135,2985,499.9,-9.8,179,3336,0.00,1.90,0.00,0.000,516,0.000,0.031,2676,1033,3059,3134,2984,0,0,0,0,0,0,28.83,26.50,28.83
$GC,3415,-0.75,-17.4,1672,1033,3090,2981,508.1,-9.6,183,3421,0.08,1.90,0.00,0.000,3078,0.207,0.028,2682,2376,3058,3135,2982,0,0,0,0,0,0,26.36,26.54,28.83
$GC,3742,-0.75,-17.4,2682,2376,3135,2978,538.8,-10.3,199,3747,0.00,1.95,0.00,0.000,260,0.000,0.042,2677,3706,3056,3135,2978,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3781,-0.75,-17.4,2676,3706,3134,2978,541.4,-10.3,200,3790,0.00,1.80,0.00,0.000,1030,0.000,0.022,2676,2370,3056,3134,2978,0,0,0,0,0,0,28.83,26.61,28.83
$GC,4086,-0.75,-17.4,2676,2370,3131,2976,574.8,-10.6,216,4092,0.00,1.90,0.00,0.000,516,0.000,0.032,2676,1032,3052,3129,2976,0,0,0,0,0,0,28.83,26.50,28.83
$GC,4153,-0.75,-17.4,2676,1032,3129,2974,581.7,-10.4,219,4160,0.08,1.90,0.00,0.000,3078,0.205,0.028,2682,2377,3052,3129,2975,0,0,0,0,0,0,26.34,26.53,28.83
$GC,4489,-0.75,-17.4,2681,2377,3128,2972,617.9,-10.7,233,4495,0.00,1.95,0.00,0.000,260,0.000,0.043,2676,3704,3049,3127,2972,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4558,-0.75,-17.4,2676,3705,3126,2972,625.0,-10.7,235,4564,0.00,1.83,0.00,0.000,1030,0.000,0.022,2678,2357,3049,3126,2972,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4887,-0.75,-17.4,2676,2357,3126,2968,655.9,-9.3,246,4893,0.00,2.00,0.00,0.000,260,0.000,0.044,2673,3702,3046,3125,2968,0,0,0,0,0,0,28.83,26.46,28.83
$GC,5124,-0.75,-17.4,2673,3702,3124,2968,677.0,-9.7,253,5130,0.00,1.77,0.00,0.000,1030,0.000,0.023,2674,2384,3045,3124,2967,0,0,0,0,0,0,28.83,26.60,28.83
$GC,5440,-0.76,-18.6,2673,2383,3122,2964,705.2,-8.7,264,5446,0.00,1.92,0.00,0.000,516,0.000,0.033,2673,1036,3042,3121,2964,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5537,-0.76,-18.6,2673,1035,3120,2963,714.4,-9.4,267,5544,0.08,1.92,0.00,0.000,3078,0.201,0.028,2678,2382,3041,3120,2963,0,0,0,0,0,0,26.33,26.51,28.83
$GC,5873,-0.76,-19.2,2678,2382,3121,2961,743.9,-9.0,278,5879,0.00,1.95,0.00,0.000,516,0.000,0.032,2679,1031,3040,3119,2961,0,0,0,0,0,0,28.83,26.48,28.83
$GC,5941,-0.76,-19.2,2678,1030,3118,2960,749.9,-9.2,280,5947,0.00,1.92,0.00,0.000,1030,0.000,0.029,2672,2380,3039,3118,2960,0,0,0,0,0,0,28.83,26.50,28.83
$GC,6271,-0.76,-19.3,2671,2380,3118,2957,780.8,-9.1,291,6277,0.00,1.95,0.00,0.000,516,0.000,0.034,2671,1030,3037,3117,2957,0,0,0,0,0,0,28.83,26.46,28.83
$GC,6377,-0.76,-19.3,2671,1030,3116,2956,789.9,-9.3,294,6384,0.10,1.92,0.00,0.000,3078,0.190,0.029,2685,2378,3036,3116,2957,0,0,0,0,0,0,26.26,26.49,28.83
$GC,6702,-0.76,-22.5,2684,2380,3116,2954,817.6,-8.0,305,6703,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2380,3035,3116,2955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7003,-0.77,-24.9,2684,2379,3115,2953,841.8,-8.3,315,7008,0.00,1.95,0.00,0.000,516,0.000,0.034,2685,1028,3033,3113,2953,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7164,-0.77,-25.9,2684,1030,3113,2952,855.5,-8.8,320,7171,0.00,1.92,0.00,0.000,1030,0.000,0.029,2676,2377,3032,3112,2952,0,0,0,0,0,0,28.83,26.51,28.83
$GC,7494,-0.77,-26.9,2677,2377,3112,2951,884.3,-8.8,331,7495,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2377,3031,3112,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7795,-0.77,-26.9,2676,2377,3111,2949,913.0,-9.6,341,7801,0.00,1.95,0.00,0.000,516,0.000,0.034,2676,1032,3029,3110,2949,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7874,-0.77,-26.9,2676,1032,3110,2949,919.5,-10.0,343,7880,0.00,1.92,0.00,0.000,1030,0.000,0.030,2667,2376,3029,3110,2949,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8194,-0.77,-26.9,2667,2376,3110,2948,952.1,-9.3,354,8200,0.00,1.95,0.00,0.000,516,0.000,0.034,2667,1033,3028,3108,2948,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8260,-0.77,-27.0,2667,1033,3108,2947,958.2,-9.1,356,8267,0.08,1.95,0.00,0.000,3078,0.216,0.031,2673,2381,3028,3108,2948,0,0,0,0,0,0,26.26,26.46,28.83
$GC,8596,-0.78,-31.2,2673,2381,3108,2945,985.3,-7.7,367,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2381,3026,3108,2945,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8653,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8653,begin apogee
$GC,8659,-0.20,0.0,2674,2272,3108,2945,990.1,-7.8,369,8675,0.57,0.00,9.77,0.981,10246,0.142,0.000,2857,2272,2993,3080,2906,0,0,0,0,0,0,26.10,28.83,25.37
$STATE,8677,end apogee,CONTROL_FINISHED_OK
$STATE,8677,begin climb
$GC,8679,0.78,31.2,2856,2272,3080,2905,990.1,0.0,369,8718,0.88,0.00,34.12,0.990,10758,0.083,0.000,3175,2272,2860,2954,2766,0,0,0,0,0,0,26.22,28.83,24.92
$GC,9035,0.85,68.2,3175,2272,2959,2757,1001.3,-3.9,381,9083,0.10,2.20,38.55,0.983,11012,0.119,0.043,3222,880,2713,2809,2617,0,0,0,0,0,0,26.13,25.41,24.72
$GC,9318,0.87,75.5,3221,880,2805,2612,991.3,6.6,390,9334,0.08,2.00,8.05,0.939,13318,0.220,0.030,3209,2240,2683,2777,2589,0,0,0,0,0,0,25.75,25.98,25.04
$GC,9653,0.88,82.7,3208,2242,2777,2584,968.0,6.6,401,9669,0.00,2.12,8.30,0.936,8708,0.000,0.047,3216,879,2653,2748,2559,0,0,1,0,0,0,28.83,25.94,25.20
$GC,9904,0.89,84.8,3216,879,2748,2556,947.4,8.4,409,9910,0.00,2.00,0.00,0.000,1030,0.000,0.030,3216,2246,2652,2748,2556,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10240,0.89,85.5,3216,2246,2748,2553,918.5,8.9,420,10246,0.00,2.08,0.00,0.000,516,0.000,0.047,3224,876,2651,2748,2554,0,0,0,0,0,0,28.83,26.20,28.83
$GC,10341,0.89,86.5,3224,876,2746,2554,910.0,8.8,423,10353,0.00,1.98,4.18,0.777,9222,0.000,0.030,3224,2239,2638,2732,2545,0,0,0,0,0,0,28.83,26.29,25.20
$GC,10671,0.90,90.0,3224,2239,2732,2545,882.4,7.9,434,10683,0.00,2.08,4.47,0.804,8708,0.000,0.049,3230,877,2625,2718,2533,0,0,0,0,0,0,28.83,26.20,25.23
$GC,10779,0.91,94.4,3233,877,2717,2533,875.2,7.6,437,10792,0.08,1.98,6.80,0.887,13318,0.226,0.031,3221,2244,2606,2698,2515,0,0,0,0,0,0,26.05,26.27,25.39
$GC,11107,0.92,103.4,3221,2243,2697,2511,851.9,6.0,448,11119,0.00,0.00,10.90,0.897,8198,0.000,0.000,3221,2243,2570,2661,2479,0,0,0,0,0,0,28.83,28.83,25.34
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$STATE,21566,end climb,SURFACE_DEPTH_REACHED
$STATE,21566,begin surface coast
$FINISH,-1.1,1.021934
$STATE,21604,end surface coast,CONTROL_FINISHED_OK
$STATE,21604,begin surface
$SM_CCo,21622,137.07,0.049,0,0,463,619.87
$SM_GC,-1.66,8.62,0.12,137.07,0.073,0.086,0.049,150,2401,463,-8.61,-2.12,619.87,0,0,0,0,0,0,26.36,26.50,26.31
$IRIDIUM_FIX,1839.59,12256.56,210413,050515
$TT8_MAMPS,0.026964,0.026964
$HUMID,41.37
$INTERNAL_PRESSURE,9.61951
$TCM_TEMP,25.00
$XPDR_PINGS,34
$SC_FREEKB,3949472
$24V_AH,24.7,23.477
$10V_AH,10.3,21.565
$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,22.475,170.575,270.000,137.075,0.000,0.000,0.000,326.025,8.500,0.000,14.639,4913.192,12783.590,712.989,3296.391,581.847,0.000,2513.892,0.000,2841.932,0.000,0.549,0.000
$DEVICE_MAMPS,253.215,85.680,989.910,48.960,0.000,0.000,0.000,123.930,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,21636.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.143,0.000,0.000,0.000
$MEM,320924
$DATA_FILE_SIZE,36702,989
$CAP_FILE_SIZE,577119,0
$CFSIZE,260034560,229875712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.032,181.3,1
$GPS,210413,181659,1845.095,12259.538,35,1.2,36,-2.1