version: 66.11
glider: 177
mission: 4
dive: 4
start: 3 18 113 3 38 2
data:
$ID,177
$MISSION,4
$DIVE,4
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,270
$D_ABORT,350
$D_NO_BLEED,150
$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,90
$T_MISSION,120
$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,0.0099999998
$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,560.7558
$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,-7658.7642
$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,2990
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,170
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,161
$ROLL_MAX,3723
$ROLL_DEG,40
$C_ROLL_DIVE,1942
$C_ROLL_CLIMB,1942
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,61
$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,0.0012300001
$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
$GPS1,180313,033237,1903.018,12432.201,6,1.6,6,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-67.5
$GPS2,180313,033733,1903.017,12432.266,9,4.0,28,-2.3
$SPEED_LIMITS,0.173,0.295
$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,253.5,165091,-14.9,-10.000,-18.74,2959
$D_GRID,5331
$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,17,-0.74,-194.6,130,1947,514,416,0.0,0.0,0,120,0.00,0.00,-99.50,0.000,16386,0.000,0.000,130,1947,2941,2974,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,123,-0.74,-194.6,130,1947,2975,2908,4.1,-9.5,13,155,11.12,2.12,-10.73,0.000,18948,0.262,0.063,2749,537,3549,3639,3460,0,0,0,0,0,0,26.13,26.41,26.74
$GC,262,-0.47,-194.6,2749,537,3640,3459,46.1,-21.8,29,269,0.32,2.00,0.00,0.000,3078,0.155,0.032,2837,1945,3550,3640,3460,0,0,0,0,0,0,26.37,26.54,28.83
$GC,587,-0.41,-194.6,2837,1945,3640,3460,93.6,-13.8,46,594,0.10,2.03,0.00,0.000,2308,0.171,0.041,2865,3342,3549,3640,3459,0,0,0,0,0,0,26.57,26.63,28.83
$GC,742,-0.58,-194.6,2864,3342,3640,3460,109.1,-9.3,53,748,0.17,2.00,0.00,0.000,5126,0.065,0.028,2768,1904,3550,3640,3460,0,0,0,0,0,0,26.69,26.69,28.83
$GC,1062,-0.39,-194.6,2768,1901,3640,3460,161.7,-15.1,69,1069,0.30,2.10,0.00,0.000,2308,0.137,0.040,2866,3337,3549,3640,3459,0,0,0,0,0,0,26.55,26.69,28.83
$GC,1188,-0.68,-194.6,2865,3337,3640,3460,169.3,-4.7,75,1196,0.28,1.95,0.00,0.000,5126,0.052,0.027,2726,1928,3550,3640,3460,0,0,0,0,0,0,26.74,26.74,28.83
$GC,1515,-0.46,-194.6,2725,1928,3640,3460,218.8,-15.7,91,1521,0.35,2.05,0.00,0.000,2308,0.138,0.040,2840,3333,3550,3640,3460,0,0,0,0,0,0,26.57,26.71,28.83
$GC,1553,-0.32,-194.6,1824,3331,3633,3457,222.1,-15.1,92,1562,0.17,1.90,0.00,0.000,3078,0.106,0.028,2895,1941,3550,3640,3460,0,0,0,0,0,0,26.63,26.74,28.83
$GC,1860,-1.01,-194.6,2895,1940,3640,3459,246.8,-8.7,108,1867,0.60,2.00,0.00,0.000,4356,0.061,0.038,2656,3337,3550,3640,3460,0,0,0,0,0,0,26.71,26.72,28.83
$GC,2020,-0.68,-194.6,2656,3337,3640,3459,269.7,-17.4,115,2026,0.38,1.92,0.00,0.000,3078,0.145,0.028,2770,1950,3552,3640,3465,0,0,0,0,0,0,26.56,26.75,28.83
$STATE,2033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2033,begin apogee
$GC,2036,-0.17,0.0,2770,1949,3640,3459,273.5,-17.0,116,2191,0.47,0.00,146.62,0.474,10246,0.116,0.000,2935,1948,2746,2844,2649,0,0,0,0,0,0,26.61,28.83,25.30
$STATE,2193,end apogee,CONTROL_FINISHED_OK
$STATE,2193,begin climb
$GC,2194,0.74,194.6,2934,1948,2842,2646,276.3,0.0,123,2346,0.80,2.20,143.93,0.464,10756,0.070,0.054,3239,567,1952,2062,1842,0,0,0,0,0,0,25.77,25.61,25.18
$GC,2447,0.56,194.6,3238,567,2059,1834,253.7,13.7,134,2453,0.25,1.98,0.00,0.000,5126,0.144,0.031,3170,1950,1945,2060,1830,0,0,0,0,0,0,26.00,26.15,28.83
$GC,2762,0.65,233.2,3169,1950,2059,1827,223.4,8.7,150,2797,0.10,2.05,27.45,0.450,10500,0.100,0.041,3221,3340,1793,1904,1683,0,0,0,0,0,0,26.53,26.22,25.77
$GC,3027,0.50,233.2,3220,3340,1907,1674,192.1,12.1,162,3036,0.28,2.00,0.00,0.000,5126,0.147,0.034,3148,1950,1787,1900,1674,0,0,0,0,0,0,26.35,26.48,28.83
$GC,3334,0.82,311.1,3148,1950,1900,1672,169.7,7.3,178,3397,0.28,2.12,55.60,0.418,10500,0.051,0.043,3282,3332,1477,1584,1370,0,0,0,0,0,0,26.65,26.15,25.73
$GC,3469,0.60,311.1,3282,3332,1582,1362,148.6,17.2,184,3477,0.35,2.03,0.00,0.000,5126,0.150,0.035,3180,1946,1472,1582,1362,0,0,0,0,0,0,26.18,26.32,28.83
$GC,3790,0.96,407.2,3180,1945,1581,1356,122.4,6.7,200,3865,0.30,2.08,66.80,0.381,10500,0.050,0.041,3320,3341,1084,1185,984,0,0,0,0,0,0,26.60,26.08,25.70
$GC,3978,0.78,407.2,3320,3341,1181,977,93.9,18.4,208,3986,0.30,2.05,0.00,0.000,5126,0.145,0.036,3236,1937,1079,1181,977,0,0,0,0,0,0,26.18,26.32,28.83
$GC,4285,0.94,429.2,3240,1937,1181,973,62.8,9.2,224,4310,0.15,2.12,15.55,0.360,10500,0.076,0.041,3319,3340,994,1098,890,0,0,0,0,0,0,26.60,26.41,26.04
$GC,4379,0.85,429.2,3319,3339,1097,888,48.0,16.5,228,4387,0.22,2.03,0.00,0.000,5126,0.145,0.035,3259,1943,992,1097,888,0,0,0,0,0,0,26.35,26.48,28.83
$GC,4690,0.95,429.2,2208,1941,1078,886,10.0,11.1,272,4698,0.12,2.03,0.00,0.000,2308,0.082,0.038,3336,3344,992,1097,887,0,0,0,0,0,0,26.67,26.60,28.83
$STATE,4734,end climb,SURFACE_DEPTH_REACHED
$STATE,4734,begin surface coast
$FINISH,-0.4,1.011952
$STATE,4752,end surface coast,CONTROL_FINISHED_OK
$STATE,4752,begin surface
$SM_CCo,4769,49.58,0.047,0,0,463,560.76
$SM_GC,0.53,8.10,2.05,49.58,0.039,0.031,0.047,130,1945,463,-8.83,1.44,560.76,0,0,0,0,0,0,26.61,26.62,26.56
$IRIDIUM_FIX,1855.54,12435.80,180313,020216
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.67
$INTERNAL_PRESSURE,9.75623
$TCM_TEMP,24.70
$XPDR_PINGS,18
$SC_FREEKB,4018592
$24V_AH,25.2,0.988
$10V_AH,10.5,2.701
$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,25.525,44.800,455.950,49.575,0.000,0.000,0.000,172.200,4.500,0.000,32.876,1246.334,2208.030,568.839,1032.114,74.174,0.000,1232.877,0.000,779.012,0.000,0.549,0.000
$DEVICE_MAMPS,261.630,62.730,474.300,46.665,0.000,0.000,0.000,115.515,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,4747.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,14.701,0.000,0.000,0.000
$MEM,326792
$DATA_FILE_SIZE,10172,283
$CAP_FILE_SIZE,166526,0
$CFSIZE,260034560,253153280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.363, 86.7,1
$GPS,180313,045913,1902.911,12432.567,11,1.4,11,-2.3