version: 66.11
glider: 177
mission: 4
dive: 181
start: 4 20 113 18 10 45
data:
$ID,177
$MISSION,4
$DIVE,181
$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,-8091.9922
$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,67
$R_STBD_OVSHOOT,92
$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
$GPS1,200413,180224,1845.485,12255.064,38,1.3,39,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-1.83
$_SM_ANGLEo,-72.4
$GPS2,200413,181000,1845.511,12255.084,11,1.3,11,-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,91.8,8796,-12.1,-9.167,-12.62,728
$D_GRID,4443
$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,-0.57,-43.4,137,2408,486,439,0.0,0.0,0,125,0.00,0.00,-101.43,0.000,16390,0.000,0.000,137,2408,3170,3218,3122,0,0,0,0,0,0,28.83,28.83,26.45
$GC,127,-0.57,-43.4,137,2408,3219,3123,4.1,-15.8,14,144,11.02,1.90,0.00,0.000,2308,0.253,0.035,2727,3676,3172,3222,3123,0,0,0,0,0,0,25.67,26.10,28.83
$GC,316,-0.57,-43.4,1696,3675,3198,3115,70.0,-25.4,31,322,0.00,1.83,0.00,0.000,1030,0.000,0.020,2727,2339,3176,3234,3118,0,0,0,0,0,0,28.83,26.29,28.83
$GC,635,-0.57,-43.4,2730,2338,3239,3115,137.8,-18.1,47,641,0.00,1.88,0.00,0.000,516,0.000,0.031,2727,1015,3177,3239,3115,0,0,0,0,0,0,28.83,26.33,28.83
$GC,705,-0.57,-43.4,2727,1015,3240,3113,149.1,-17.6,50,712,0.10,1.88,0.00,0.000,3078,0.186,0.026,2740,2345,3176,3240,3113,0,0,0,0,0,0,26.17,26.39,28.83
$GC,1026,-0.57,-43.4,2740,2346,3241,3113,198.9,-13.3,66,1032,0.00,2.00,0.00,0.000,260,0.000,0.040,2732,3714,3177,3241,3113,0,0,0,0,0,0,28.83,26.40,28.83
$GC,1080,-0.57,-43.4,2732,3714,3241,3113,205.0,-13.4,68,1087,0.00,1.83,0.00,0.000,1030,0.000,0.020,2732,2359,3176,3240,3113,0,0,0,0,0,0,28.83,26.53,28.83
$GC,1396,-0.57,-43.4,2732,2360,3241,3113,247.7,-11.9,84,1401,0.00,1.88,0.00,0.000,516,0.000,0.029,2732,1022,3177,3241,3113,0,0,0,0,0,0,28.83,26.45,28.83
$GC,1456,-0.57,-43.4,2732,1022,3241,3113,253.0,-11.7,86,1465,0.08,1.90,0.00,0.000,3078,0.200,0.027,2738,2378,3177,3241,3113,0,0,0,0,0,0,26.32,26.49,28.83
$GC,1763,-0.57,-43.4,2738,2380,3240,3112,289.6,-11.1,102,1770,0.00,1.92,0.00,0.000,260,0.000,0.040,2732,3705,3176,3241,3112,0,0,0,0,0,0,28.83,26.46,28.83
$GC,1788,-0.57,-43.4,2732,3705,3241,3112,292.3,-11.0,103,1795,0.00,1.85,0.00,0.000,1030,0.000,0.020,2732,2356,3176,3241,3112,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2114,-0.57,-43.4,2732,2355,3240,3109,328.4,-11.5,119,2120,0.00,1.88,0.00,0.000,516,0.000,0.031,2732,1027,3174,3241,3108,0,0,0,0,0,0,28.83,26.48,28.83
$GC,2351,-0.57,-43.4,2732,1027,3241,3105,352.9,-9.6,130,2357,0.00,1.90,0.00,0.000,1030,0.000,0.027,2726,2374,3172,3240,3105,0,0,0,0,0,0,28.83,26.53,28.83
$GC,2665,-0.57,-43.4,2725,2375,3241,3103,384.5,-9.9,146,2671,0.08,1.95,0.00,0.000,2308,0.203,0.039,2733,3707,3172,3241,3103,0,0,0,0,0,0,26.48,26.48,28.83
$GC,2700,-0.57,-43.4,2732,3704,3241,3103,386.9,-10.0,147,2706,0.00,1.77,0.00,0.000,1030,0.000,0.021,2733,2370,3172,3241,3103,0,0,0,0,0,0,28.83,26.61,28.83
$GC,3016,-0.57,-44.5,2733,2370,3240,3100,415.7,-9.0,163,3017,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2370,3170,3241,3100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3314,-0.57,-44.5,2733,2375,3240,3095,443.3,-9.8,178,3321,0.00,1.88,0.00,0.000,516,0.000,0.031,2733,1044,3167,3241,3094,0,0,0,0,0,0,28.83,26.48,28.83
$GC,3485,-0.58,-45.4,2733,1044,3241,3093,459.0,-9.0,186,3491,0.00,1.90,0.00,0.000,1030,0.000,0.028,2729,2383,3167,3241,3093,0,0,0,0,0,0,28.83,26.53,28.83
$GC,3805,-0.58,-45.4,2729,2383,3240,3089,490.3,-10.0,202,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2383,3165,3241,3089,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4105,-0.58,-45.4,2729,2383,3240,3085,522.4,-11.2,217,4111,0.00,1.92,0.00,0.000,516,0.000,0.031,2729,1040,3162,3240,3085,0,0,0,0,0,0,28.83,26.48,28.83
$GC,4210,-0.58,-45.4,2729,1040,3239,3083,533.6,-10.1,222,4216,0.00,1.90,0.00,0.000,1030,0.000,0.028,2725,2376,3161,3239,3083,0,0,0,0,0,0,28.83,26.52,28.83
$GC,4536,-0.58,-49.8,2725,2376,3239,3080,561.9,-8.5,238,4541,0.00,1.98,0.00,0.000,260,0.000,0.043,2719,3718,3159,3239,3080,0,0,0,0,0,0,28.83,26.46,28.83
$GC,4603,-0.59,-54.6,2719,3717,3239,3080,567.8,-8.5,241,4609,0.00,1.80,0.00,0.000,1030,0.000,0.022,2719,2373,3160,3240,3080,0,0,0,0,0,0,28.83,26.60,28.83
$GC,4929,-0.60,-57.7,2719,2371,3237,3078,595.4,-8.7,257,4936,0.00,1.90,0.00,0.000,516,0.000,0.032,2719,1041,3156,3235,3078,0,0,0,0,0,0,28.83,26.47,28.83
$GC,4979,-0.60,-59.1,2719,1040,3234,3078,599.6,-9.0,259,4986,0.08,1.90,0.00,0.000,3078,0.194,0.028,2729,2378,3156,3234,3078,0,0,0,0,0,0,26.35,26.51,28.83
$GC,5300,-0.62,-67.2,2729,2380,3234,3075,626.1,-8.0,270,5306,0.00,1.92,0.00,0.000,516,0.000,0.032,2729,1042,3154,3233,3075,0,0,0,0,0,0,28.83,26.47,28.83
$GC,5526,-0.64,-78.9,2728,1041,3232,3074,642.8,-7.5,277,5532,0.00,1.90,0.00,0.000,1030,0.000,0.029,2726,2374,3153,3233,3074,0,0,0,0,0,0,28.83,26.51,28.83
$GC,5850,-0.67,-90.7,2725,2374,3236,3071,666.7,-7.5,288,5851,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,2374,3151,3232,3071,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6150,-0.68,-95.3,2725,2374,3229,3069,691.0,-8.5,298,6157,0.08,1.92,0.00,0.000,4612,0.127,0.031,2684,1041,3146,3225,3068,0,0,0,0,0,0,26.59,26.46,28.83
$GC,6219,-0.68,-95.3,2684,1041,3227,3068,697.7,-9.3,300,6226,0.12,1.90,0.00,0.000,3078,0.175,0.029,2708,2374,3148,3228,3068,0,0,0,0,0,0,26.25,26.49,28.83
$GC,6549,-0.68,-99.1,2708,2373,3227,3067,727.3,-8.6,311,6555,0.00,1.98,0.00,0.000,260,0.000,0.046,2705,3706,3147,3227,3067,0,0,0,0,0,0,28.83,26.42,28.83
$GC,6609,-0.69,-101.6,2705,3706,3227,3067,730.5,-8.8,312,6617,0.00,1.80,0.00,0.000,1030,0.000,0.024,2705,2378,3147,3227,3067,0,0,0,0,0,0,28.83,26.59,28.83
$GC,6915,-0.70,-108.6,2709,2377,3225,3065,759.6,-8.2,323,6922,0.00,1.92,0.00,0.000,516,0.000,0.034,2705,1034,3144,3224,3065,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7005,-0.72,-117.8,2705,1035,3223,3065,764.9,-7.9,325,7013,0.00,1.92,0.00,0.000,1030,0.000,0.030,2700,2380,3143,3223,3064,0,0,0,0,0,0,28.83,26.48,28.83
$GC,7312,-0.75,-131.8,2700,2380,3222,3063,788.9,-7.2,336,7319,0.00,1.95,0.00,0.000,516,0.000,0.033,2700,1033,3142,3222,3063,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7371,-0.78,-144.9,2700,1034,3221,3062,791.7,-7.3,337,7380,0.08,1.92,0.00,0.000,5126,0.128,0.030,2656,2379,3141,3221,3062,0,0,0,0,0,0,26.40,26.48,28.83
$GC,7678,-0.78,-144.9,2656,2380,3220,3060,824.0,-10.6,348,7685,0.10,1.98,0.00,0.000,2308,0.190,0.044,2673,3706,3140,3221,3060,0,0,0,0,0,0,26.36,26.41,28.83
$GC,7746,-0.78,-144.9,2673,3706,3220,3060,831.1,-10.7,350,7752,0.00,1.83,0.00,0.000,1030,0.000,0.024,2673,2376,3140,3220,3060,0,0,0,0,0,0,28.83,26.58,28.83
$GC,8076,-0.78,-144.9,2673,2374,3219,3059,863.4,-9.3,361,8081,0.00,1.95,0.00,0.000,516,0.000,0.034,2669,1024,3142,3223,3061,0,0,0,0,0,0,28.83,26.42,28.83
$GC,8172,-0.78,-144.9,2669,1024,3217,3059,873.1,-9.9,364,8178,0.00,1.95,0.00,0.000,1030,0.000,0.030,2663,2376,3137,3217,3058,0,0,0,0,0,0,28.83,26.47,28.83
$GC,8506,-0.78,-144.9,2663,2376,3216,3057,906.3,-9.7,375,8513,0.00,2.00,0.00,0.000,260,0.000,0.047,2659,3712,3137,3217,3057,0,0,0,0,0,0,28.83,26.39,28.83
$GC,8531,-0.78,-144.9,2659,3712,3215,3057,906.3,-9.7,375,8538,0.08,1.85,0.00,0.000,3078,0.194,0.024,2678,2362,3136,3216,3056,0,0,0,0,0,0,26.33,26.57,28.83
$GC,8846,-0.78,-144.9,2673,2361,3215,3056,937.9,-9.2,386,8847,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2361,3135,3215,3056,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9147,-0.78,-145.2,2673,2362,3214,3051,965.4,-9.1,396,9153,0.00,1.92,0.00,0.000,516,0.000,0.035,2674,1031,3134,3214,3055,0,0,0,0,0,0,28.83,26.39,28.83
$GC,9243,-0.78,-146.5,2674,1031,3213,3054,974.1,-9.0,399,9250,0.00,1.95,0.00,0.000,1030,0.000,0.031,2666,2379,3133,3213,3054,0,0,0,0,0,0,28.83,26.45,28.83
$STATE,9426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9426,begin apogee
$GC,9432,-0.20,0.0,2665,2268,3213,3054,990.6,-8.8,405,9475,0.60,0.00,37.15,0.989,10246,0.145,0.000,2854,2268,2989,3082,2897,0,0,0,0,0,0,26.08,28.83,25.03
$STATE,9477,end apogee,CONTROL_FINISHED_OK
$STATE,9477,begin climb
$GC,9479,0.78,146.5,2854,2269,3082,2895,992.1,0.0,406,9639,0.90,2.22,149.90,0.970,10756,0.082,0.047,3176,880,2389,2492,2286,0,0,0,0,0,0,25.74,24.84,24.21
$GC,9671,0.84,175.3,3175,880,2491,2278,985.5,5.1,412,9706,0.08,2.05,27.20,0.942,11270,0.135,0.029,3197,2237,2274,2380,2168,0,0,0,0,0,0,25.20,25.26,24.34
$GC,10016,0.84,175.3,3201,2237,2378,2151,936.1,13.6,424,10021,0.00,2.10,0.00,0.000,516,0.000,0.044,3210,871,2264,2378,2150,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10034,0.84,175.3,3210,871,2378,2151,936.1,13.6,424,10041,0.10,2.03,0.00,0.000,5126,0.203,0.029,3192,2249,2264,2378,2151,0,0,0,0,0,0,25.67,25.91,28.83
$GC,10354,0.84,175.3,3192,2249,2377,2147,892.0,12.9,435,10360,0.00,2.12,0.00,0.000,260,0.000,0.045,3191,3635,2262,2377,2147,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10389,0.84,175.3,3191,3635,2374,2146,887.0,13.3,436,10395,0.00,2.03,0.00,0.000,1030,0.000,0.026,3198,2250,2260,2374,2146,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10723,0.84,175.3,3198,2250,2374,2144,842.0,14.0,447,10724,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,2250,2259,2374,2144,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,18919,end climb,SURFACE_DEPTH_REACHED
$STATE,18919,begin surface coast
$FINISH,0.0,1.021768
$STATE,18963,end surface coast,CONTROL_FINISHED_OK
$STATE,18963,begin surface
$SM_CCo,18980,124.28,0.050,0,0,464,619.87
$SM_GC,-1.75,8.38,0.15,124.28,0.065,0.070,0.050,146,2416,464,-8.61,-1.81,619.87,0,0,0,0,0,0,26.34,26.46,26.26
$IRIDIUM_FIX,1837.32,12250.27,200413,121230
$TT8_MAMPS,0.026964,0.026964
$HUMID,42.63
$INTERNAL_PRESSURE,9.59021
$TCM_TEMP,24.80
$XPDR_PINGS,18
$SC_FREEKB,3950624
$24V_AH,24.2,23.262
$10V_AH,10.2,21.086
$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,22.575,157.900,307.225,124.275,0.000,0.000,0.000,267.175,4.500,0.000,13.973,4126.418,11511.043,723.118,2710.698,487.571,0.000,2232.302,0.000,2325.181,0.000,0.547,0.000
$DEVICE_MAMPS,253.215,80.325,989.145,50.490,0.000,0.000,0.000,122.400,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18980.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,9.229,0.000,0.000,0.000
$MEM,320928
$DATA_FILE_SIZE,33371,885
$CAP_FILE_SIZE,492621,0
$CFSIZE,260034560,230473728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$CURRENT,0.048,271.0,1
$GPS,200413,233036,1845.822,12256.942,39,1.1,40,-2.1