version: 66.11
glider: 177
mission: 4
dive: 281
start: 5 12 113 1 24 31
data:
$ID,177
$MISSION,4
$DIVE,281
$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,-6
$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,-8295.6104
$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,76
$R_STBD_OVSHOOT,102
$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
$GPS1,120513,011506,1846.920,12259.135,30,0.9,31,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.61
$_SM_ANGLEo,-71.5
$GPS2,120513,012343,1846.991,12259.013,13,1.2,13,-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,145.5,4128,-13.1,-9.167,-13.59,606
$D_GRID,4553
$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,19,-0.60,-36.1,129,2409,478,447,0.0,0.0,0,125,0.00,0.00,-99.65,0.000,16390,0.000,0.000,129,2409,3139,3191,3088,0,0,0,0,0,0,28.83,28.83,26.47
$GC,129,-0.60,-36.1,129,2409,3191,3089,5.2,-18.0,14,145,10.62,1.88,0.00,0.000,2308,0.234,0.029,2722,3680,3142,3195,3089,0,0,0,0,0,0,25.50,26.10,28.83
$GC,183,-0.60,-36.1,2721,3680,3202,3086,35.4,-48.3,20,191,0.00,1.85,0.00,0.000,1030,0.000,0.021,2722,2363,3144,3204,3085,0,0,0,0,0,0,28.83,26.17,28.83
$GC,502,-0.60,-36.1,2721,2363,3206,3081,118.8,-25.5,39,508,0.00,1.95,0.00,0.000,516,0.000,0.030,2722,993,3143,3206,3080,0,0,0,0,0,0,28.83,26.23,28.83
$GC,592,-0.60,-36.1,1680,993,3167,3074,136.8,-20.7,43,598,0.10,1.88,0.00,0.000,3078,0.194,0.024,2733,2329,3143,3207,3079,0,0,0,0,0,0,26.03,26.32,28.83
$GC,913,-0.60,-36.1,2733,2330,3210,3079,192.9,-15.2,59,919,0.00,1.92,0.00,0.000,516,0.000,0.031,2733,987,3144,3210,3079,0,0,0,0,0,0,28.83,26.31,28.83
$GC,954,-0.60,-36.1,2733,986,3210,3079,196.8,-14.8,60,962,0.00,1.95,0.00,0.000,1030,0.000,0.025,2726,2375,3144,3210,3079,0,0,0,0,0,0,28.83,26.39,28.83
$GC,1258,-0.60,-36.1,2726,2375,3211,3079,243.9,-13.0,76,1265,0.00,1.98,0.00,0.000,516,0.000,0.029,2726,989,3145,3211,3079,0,0,0,0,0,0,28.83,26.36,28.83
$GC,1326,-0.60,-36.1,2725,989,3210,3079,252.5,-12.7,79,1333,0.00,1.95,0.00,0.000,1030,0.000,0.025,2718,2374,3145,3211,3079,0,0,0,0,0,0,28.83,26.41,28.83
$GC,1652,-0.60,-36.1,2717,2375,3211,3078,295.1,-12.9,95,1659,0.08,1.95,0.00,0.000,2308,0.199,0.037,2729,3708,3144,3210,3079,0,0,0,0,0,0,26.44,26.35,28.83
$GC,1740,-0.60,-36.1,2729,3708,3210,3078,306.0,-12.4,99,1746,0.00,1.85,0.00,0.000,1030,0.000,0.019,2729,2338,3144,3210,3078,0,0,0,0,0,0,28.83,26.55,28.83
$GC,2068,-0.60,-36.1,2729,2337,3210,3075,342.8,-10.9,115,2074,0.00,1.85,0.00,0.000,516,0.000,0.030,2729,1027,3143,3211,3075,0,0,0,0,0,0,28.83,26.38,28.83
$GC,2157,-0.60,-36.1,1712,1026,3173,3069,353.1,-11.4,119,2162,0.00,1.90,0.00,0.000,1030,0.000,0.026,2720,2377,3142,3211,3074,0,0,0,0,0,0,28.83,26.44,28.83
$GC,2479,-0.60,-36.1,2720,2377,3211,3070,391.2,-10.6,135,2484,0.00,1.95,0.00,0.000,260,0.000,0.041,2717,3706,3138,3207,3069,0,0,0,0,0,0,28.83,26.34,28.83
$GC,2518,-0.60,-36.1,2716,3706,3210,3069,394.2,-10.6,136,2528,0.08,1.80,0.00,0.000,3078,0.172,0.020,2732,2342,3141,3214,3069,0,0,0,0,0,0,26.32,26.56,28.83
$GC,2824,-0.62,-49.2,2732,2342,3211,3066,420.0,-6.9,152,2826,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2342,3138,3210,3066,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3123,-0.62,-49.2,2732,2342,3211,3062,445.8,-9.3,167,3129,0.00,2.03,0.00,0.000,260,0.000,0.041,2732,3702,3136,3211,3062,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3170,-0.62,-49.2,2732,3702,3211,3062,450.0,-9.3,169,3176,0.00,1.77,0.00,0.000,1030,0.000,0.021,2732,2377,3136,3210,3062,0,0,0,0,0,0,28.83,26.55,28.83
$GC,3496,-0.63,-54.6,2731,2376,3210,3057,478.6,-8.3,185,3502,0.00,1.90,0.00,0.000,516,0.000,0.030,2732,1039,3134,3211,3057,0,0,0,0,0,0,28.83,26.36,28.83
$GC,3687,-0.64,-58.9,1728,1038,3173,3049,495.0,-8.4,194,3693,0.00,1.90,0.00,0.000,1030,0.000,0.028,2726,2378,3132,3210,3054,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4009,-0.65,-60.7,2725,2378,3209,3050,524.4,-8.9,210,4015,0.00,1.98,0.00,0.000,260,0.000,0.041,2721,3714,3129,3209,3050,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4059,-0.65,-61.3,2721,3714,3209,3050,528.8,-9.1,212,4065,0.00,1.80,0.00,0.000,1030,0.000,0.021,2720,2374,3129,3209,3050,0,0,0,0,0,0,28.83,26.54,28.83
$GC,4381,-0.65,-61.8,2720,2373,3207,3047,558.3,-9.1,228,4387,0.00,1.90,0.00,0.000,516,0.000,0.031,2721,1039,3124,3201,3047,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4538,-0.66,-65.2,2720,1039,3205,3045,571.4,-8.6,235,4545,0.00,1.90,0.00,0.000,1030,0.000,0.028,2714,2375,3125,3205,3045,0,0,0,0,0,0,28.83,26.41,28.83
$GC,4853,-0.66,-65.2,2713,2379,3204,3042,600.4,-9.3,251,4859,0.00,1.92,0.00,0.000,516,0.000,0.030,2714,1037,3122,3203,3042,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4958,-0.66,-65.2,1736,1036,3167,3036,609.6,-9.5,254,4964,0.00,1.90,0.00,0.000,1030,0.000,0.028,2713,2374,3121,3202,3041,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5283,-0.66,-65.2,2712,2374,3201,3038,640.2,-9.3,265,5289,0.00,1.92,0.00,0.000,516,0.000,0.031,2713,1040,3119,3200,3038,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5414,-0.66,-65.2,2712,1040,3198,3037,652.5,-9.7,269,5420,0.00,1.90,0.00,0.000,1030,0.000,0.028,2708,2373,3118,3199,3038,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5744,-0.66,-65.2,2707,2374,3197,3035,685.2,-9.5,280,5750,0.00,1.92,0.00,0.000,516,0.000,0.031,2707,1035,3116,3197,3035,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5811,-0.66,-65.3,2708,1035,3195,3034,691.2,-9.2,282,5817,0.00,1.92,0.00,0.000,1030,0.000,0.028,2704,2375,3114,3195,3034,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6146,-0.67,-73.6,2704,2375,3195,3032,718.9,-7.8,293,6147,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2376,3113,3195,3032,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6446,-0.69,-83.5,2704,2375,3192,3030,741.5,-7.5,303,6451,0.00,1.95,0.00,0.000,516,0.000,0.031,2704,1032,3110,3191,3030,0,0,0,0,0,0,28.83,26.26,28.83
$GC,6592,-0.71,-91.1,2704,1032,3191,3029,751.5,-7.9,307,6598,0.00,1.92,0.00,0.000,1030,0.000,0.029,2701,2374,3110,3191,3029,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6908,-0.72,-98.5,2700,2375,3191,3027,777.3,-7.9,318,6910,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2375,3108,3190,3026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7207,-0.74,-106.9,2700,2375,3189,3025,800.3,-7.7,328,7213,0.00,2.00,0.00,0.000,260,0.000,0.045,2697,3707,3107,3189,3025,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7293,-0.76,-115.0,2699,3707,3188,3025,805.6,-7.8,330,7299,0.00,1.83,0.00,0.000,1030,0.000,0.024,2699,2376,3106,3188,3025,0,0,0,0,0,0,28.83,26.47,28.83
$GC,7611,-0.77,-121.6,2699,2375,3186,3023,833.3,-8.0,341,7618,0.08,1.95,0.00,0.000,4612,0.132,0.031,2667,1031,3104,3181,3028,0,0,0,0,0,0,26.52,26.21,28.83
$GC,7698,-0.77,-122.9,2661,1031,3184,3022,840.1,-9.0,343,7705,0.10,1.95,0.00,0.000,3078,0.190,0.029,2674,2383,3103,3184,3023,0,0,0,0,0,0,26.00,26.29,28.83
$GC,8014,-0.77,-122.9,2674,2383,3183,3021,871.0,-9.3,354,8020,0.00,1.98,0.00,0.000,516,0.000,0.034,2674,1033,3101,3182,3021,0,0,0,0,0,0,28.83,26.20,28.83
$GC,8140,-0.77,-122.9,2674,1033,3180,3021,883.1,-9.5,358,8147,0.00,1.98,0.00,0.000,1030,0.000,0.030,2666,2382,3101,3181,3021,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8476,-0.77,-123.4,2666,2382,3180,3019,914.0,-9.1,369,8482,0.00,1.98,0.00,0.000,516,0.000,0.034,2667,1033,3102,3180,3025,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8536,-0.77,-123.6,2666,1033,3180,3021,917.2,-9.1,370,8545,0.08,1.95,0.00,0.000,3078,0.206,0.030,2674,2379,3099,3180,3018,0,0,0,0,0,0,26.04,26.25,28.83
$GC,8843,-0.79,-131.2,2674,2379,3180,3017,944.2,-7.9,381,8849,0.00,1.98,0.00,0.000,516,0.000,0.034,2675,1033,3097,3179,3016,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8928,-0.80,-139.7,2675,1038,3179,3015,949.4,-7.7,383,8934,0.00,1.95,0.00,0.000,1030,0.000,0.030,2670,2381,3097,3180,3015,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9245,-0.82,-147.4,2667,2381,3180,3014,975.7,-7.9,394,9251,0.00,1.98,0.00,0.000,516,0.000,0.034,2667,1035,3096,3179,3014,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9281,-0.83,-154.9,2666,1035,3178,3014,978.8,-7.9,395,9287,0.00,1.95,0.00,0.000,1030,0.000,0.031,2660,2371,3096,3178,3014,0,0,0,0,0,0,28.83,26.21,28.83
$STATE,9433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9433,begin apogee
$GC,9440,-0.20,0.0,2659,2260,3178,3014,992.2,-8.5,400,9474,0.62,0.00,27.42,1.001,10246,0.141,0.000,2853,2261,2991,3083,2900,0,0,0,0,0,0,25.48,28.83,24.93
$STATE,9476,end apogee,CONTROL_FINISHED_OK
$STATE,9477,begin climb
$GC,9479,0.83,154.9,2853,2261,3083,2899,993.8,0.0,401,9640,0.98,0.00,149.80,1.245,10758,0.080,0.000,3196,2260,2359,2458,2261,0,0,0,0,1,0,25.79,28.83,23.75
$GC,9954,0.83,154.9,3195,2261,2458,2246,949.1,12.6,417,9955,0.00,0.00,0.00,0.000,6,0.000,0.000,3196,2260,2352,2458,2246,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10256,0.83,154.9,3196,2261,2457,2243,911.8,12.7,427,10262,0.00,2.12,0.00,0.000,516,0.000,0.043,3205,867,2350,2458,2243,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10331,0.83,154.9,3205,867,2458,2242,903.7,12.0,429,10337,0.00,2.03,0.00,0.000,1030,0.000,0.029,3205,2251,2349,2457,2242,0,0,0,0,0,0,28.83,26.03,28.83
$GC,10656,0.83,154.9,3205,2251,2457,2240,863.4,11.9,440,10662,0.00,2.10,0.00,0.000,516,0.000,0.043,3215,871,2348,2457,2240,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10701,0.83,154.9,3214,871,2457,2239,859.1,12.1,441,10708,0.10,2.03,0.00,0.000,5126,0.203,0.029,3196,2251,2348,2457,2239,0,0,0,0,0,0,25.77,26.11,28.83
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$STATE,19713,end climb,SURFACE_DEPTH_REACHED
$STATE,19713,begin surface coast
$FINISH,-0.1,1.021167
$STATE,19753,end surface coast,CONTROL_FINISHED_OK
$STATE,19753,begin surface
$SM_CCo,19772,118.78,0.048,0,0,464,619.87
$SM_GC,-1.52,8.50,0.17,118.78,0.064,0.063,0.048,136,2414,464,-8.62,-1.81,619.87,0,0,0,0,0,0,26.25,26.44,26.16
$IRIDIUM_FIX,1839.59,12255.33,110513,191957
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.43
$INTERNAL_PRESSURE,9.67811
$TCM_TEMP,26.40
$XPDR_PINGS,33
$SC_FREEKB,3912192
$24V_AH,23.7,35.685
$10V_AH,10.2,33.249
$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,22.250,154.275,297.675,118.775,0.000,0.000,0.000,297.825,8.250,0.000,16.104,4170.506,12126.062,722.610,2734.984,645.741,0.000,2262.229,0.000,2323.885,0.000,0.547,0.000
$DEVICE_MAMPS,234.090,78.795,1244.655,48.195,0.000,0.000,0.000,121.635,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,19778.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.191,0.000,0.000,0.000
$MEM,326628
$DATA_FILE_SIZE,33413,908
$CAP_FILE_SIZE,497644,0
$CFSIZE,260034560,216645632
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,1,1,0,0
$CURRENT,0.244,318.3,1
$GPS,120513,065729,1847.422,12258.961,35,1.1,42,-2.1