version: 66.11
glider: 177
mission: 4
dive: 5
start: 3 18 113 5 4 41
data:
$ID,177
$MISSION,4
$DIVE,5
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,540
$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,180
$T_MISSION,220
$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,-7660.1143
$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,3000
$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,0.039999999
$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,42
$R_STBD_OVSHOOT,59
$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
$GPS1,180313,045913,1902.911,12432.567,11,1.4,11,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-68.2
$GPS2,180313,050412,1902.937,12432.632,15,1.4,32,-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,271.0,165690,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,17,-0.84,-194.6,130,1942,509,419,0.0,0.0,0,116,0.00,0.00,-95.82,0.000,16386,0.000,0.000,130,1942,2824,2858,2791,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.84,-194.6,130,1942,2858,2792,3.4,-8.6,13,152,10.75,2.12,-13.88,0.000,18948,0.253,0.061,2726,539,3548,3642,3454,0,0,0,0,0,0,26.14,26.40,26.74
$GC,246,-0.54,-194.6,2727,539,3642,3454,38.9,-23.1,30,253,0.38,1.98,0.00,0.000,3078,0.155,0.032,2828,1939,3548,3642,3454,0,0,0,0,0,0,26.34,26.53,28.83
$GC,571,-0.42,-194.6,2828,1941,3642,3454,89.8,-14.2,49,578,0.12,2.05,0.00,0.000,2308,0.162,0.041,2869,3340,3548,3642,3454,0,0,0,0,0,0,26.51,26.62,28.83
$GC,746,-0.59,-194.6,2869,3340,3643,3454,106.6,-9.8,57,753,0.17,1.98,0.00,0.000,5126,0.066,0.028,2770,1907,3548,3642,3454,0,0,0,0,0,0,26.68,26.68,28.83
$GC,1061,-0.40,-194.6,2770,1905,3642,3455,165.4,-16.4,73,1068,0.30,2.10,0.00,0.000,2308,0.134,0.039,2864,3341,3548,3643,3454,0,0,0,0,0,0,26.55,26.68,28.83
$GC,1139,-0.50,-194.6,2865,3341,3643,3454,171.3,-10.4,76,1148,0.10,1.95,0.00,0.000,5126,0.105,0.027,2795,1926,3548,3642,3454,0,0,0,0,0,0,26.67,26.72,28.83
$GC,1446,-0.50,-194.6,2795,1926,3643,3455,203.5,-10.1,92,1452,0.12,2.05,0.00,0.000,2308,0.148,0.041,2837,3337,3549,3643,3455,0,0,0,0,0,0,26.63,26.70,28.83
$GC,1534,-0.68,-194.6,1792,3335,3633,3452,209.8,-7.4,96,1541,0.17,1.92,0.00,0.000,5126,0.070,0.027,2736,1944,3549,3643,3455,0,0,0,0,0,0,26.74,26.74,28.83
$GC,1855,-0.53,-194.6,2735,1942,3642,3455,255.0,-13.7,112,1861,0.28,2.03,0.00,0.000,2308,0.133,0.040,2824,3341,3548,3642,3455,0,0,0,0,0,0,26.59,26.72,28.83
$GC,2015,-0.76,-194.6,2824,3341,3642,3455,265.7,-6.0,119,2022,0.20,1.92,0.00,0.000,5126,0.065,0.028,2717,1938,3551,3642,3460,0,0,0,0,0,0,26.76,26.75,28.83
$GC,2330,-0.58,-194.6,2716,1935,3643,3454,309.7,-14.2,135,2337,0.28,2.03,0.00,0.000,2308,0.137,0.041,2807,3333,3548,3642,3454,0,0,0,0,0,0,26.61,26.72,28.83
$GC,2450,-0.76,-194.6,2806,3333,3642,3454,318.1,-7.0,140,2459,0.15,1.92,0.00,0.000,5126,0.076,0.028,2720,1930,3548,3642,3454,0,0,0,0,0,0,26.75,26.75,28.83
$GC,2757,-0.63,-194.6,2719,1929,3642,3451,357.5,-12.1,156,2763,0.22,2.05,0.00,0.000,2308,0.135,0.042,2794,3339,3547,3643,3451,0,0,0,0,0,0,26.60,26.70,28.83
$GC,2897,-0.79,-194.6,2794,3338,3642,3451,365.9,-5.8,162,2906,0.15,1.92,0.00,0.000,5126,0.075,0.028,2710,1941,3546,3642,3450,0,0,0,0,0,0,26.75,26.76,28.83
$GC,3203,-0.66,-194.6,2709,1940,3643,3447,400.9,-12.5,178,3210,0.22,2.03,0.00,0.000,2308,0.136,0.044,2783,3333,3544,3642,3447,0,0,0,0,0,0,26.60,26.72,28.83
$GC,3358,-0.81,-194.6,2783,3333,3642,3445,412.4,-7.6,185,3365,0.15,1.95,0.00,0.000,5126,0.073,0.030,2706,1933,3543,3642,3444,0,0,0,0,0,0,26.75,26.75,28.83
$GC,3674,-0.69,-194.6,2705,1931,3644,3441,449.9,-12.0,201,3680,0.20,2.05,0.00,0.000,2308,0.137,0.044,2772,3332,3541,3642,3440,0,0,0,0,0,0,26.60,26.71,28.83
$GC,3890,-0.83,-194.6,2771,3332,3642,3439,467.2,-8.1,211,3896,0.12,1.95,0.00,0.000,5126,0.083,0.031,2706,1938,3540,3642,3438,0,0,0,0,0,0,26.73,26.74,28.83
$GC,4210,-0.72,-194.6,2705,1936,3640,3436,506.2,-11.9,227,4217,0.17,2.05,0.00,0.000,2308,0.138,0.045,2756,3331,3538,3640,3436,0,0,0,0,0,0,26.60,26.70,28.83
$GC,4325,-0.81,-194.6,2756,3332,3640,3434,516.1,-8.8,232,4331,0.00,1.95,0.00,0.000,1030,0.000,0.031,2756,1946,3537,3640,3434,0,0,0,0,0,0,28.83,26.74,28.83
$STATE,4577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4577,begin apogee
$GC,4580,-0.20,0.0,2756,1944,3637,3433,540.8,-9.5,245,4740,0.52,0.00,150.88,0.711,10246,0.109,0.000,2938,1944,2746,2849,2643,0,0,0,0,0,0,26.60,28.83,24.82
$STATE,4741,end apogee,CONTROL_FINISHED_OK
$STATE,4741,begin climb
$GC,4742,0.84,194.6,2938,1944,2848,2640,548.8,0.0,252,4902,0.90,2.22,148.93,0.701,10756,0.051,0.068,3282,578,1950,2061,1839,0,0,0,0,0,0,25.51,25.25,24.74
$GC,4971,0.43,194.6,3282,578,2058,1832,524.4,17.4,262,4978,0.52,2.00,0.00,0.000,5126,0.169,0.038,3138,1943,1944,2057,1832,0,0,0,0,0,0,25.70,25.86,28.83
$GC,5286,0.44,201.0,3137,1944,2056,1819,491.0,9.8,278,5292,0.00,2.08,0.00,0.000,260,0.000,0.049,3137,3335,1937,2056,1818,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5486,0.44,201.0,3137,3339,2054,1816,471.5,10.1,287,5494,0.00,2.03,0.00,0.000,1030,0.000,0.040,3137,1964,1934,2054,1815,0,0,0,0,0,0,28.83,26.44,28.83
$GC,5793,0.56,251.7,3137,1964,2054,1813,444.4,8.2,303,5845,0.12,2.15,41.97,0.647,10500,0.083,0.050,3201,3333,1717,1829,1605,0,0,0,0,0,0,26.60,25.97,25.44
$GC,5948,0.40,251.7,3201,3333,1823,1598,424.5,14.3,310,5955,0.28,2.08,0.00,0.000,5126,0.158,0.040,3133,1938,1710,1823,1598,0,0,0,0,0,0,26.09,26.22,28.83
$GC,6269,0.54,263.0,3133,1937,1823,1593,393.0,9.6,326,6286,0.12,2.10,8.40,0.612,10500,0.083,0.047,3203,3336,1673,1784,1563,0,0,0,0,0,0,26.51,26.33,25.79
$GC,6418,0.41,263.0,2208,3334,1723,1554,371.1,15.8,333,6425,0.28,2.05,0.00,0.000,5126,0.148,0.037,3129,1936,1670,1781,1559,0,0,0,0,0,0,26.31,26.43,28.83
$GC,6739,0.61,298.3,3129,1935,1781,1556,339.2,8.8,349,6774,0.17,2.10,27.73,0.588,10500,0.067,0.044,3218,3337,1529,1637,1422,0,0,0,0,0,0,26.60,26.18,25.67
$GC,6887,0.48,298.3,3218,3337,1634,1412,319.2,16.3,355,6896,0.25,2.05,0.00,0.000,5126,0.147,0.037,3156,1939,1523,1634,1412,0,0,0,0,0,0,26.22,26.34,28.83
$GC,7193,0.63,322.7,3156,1939,1634,1410,287.9,9.2,371,7218,0.12,2.17,18.85,0.555,10500,0.084,0.045,3228,3341,1429,1537,1322,0,0,0,0,0,0,26.55,26.25,25.77
$GC,7331,0.51,322.7,3228,3341,1535,1315,268.5,15.8,377,7338,0.25,2.03,0.00,0.000,5126,0.148,0.037,3158,1949,1425,1535,1315,0,0,0,0,0,0,26.25,26.38,28.83
$GC,7647,0.72,375.2,3157,1948,1535,1314,238.7,8.2,393,7695,0.22,2.15,39.15,0.506,10500,0.059,0.047,3265,3332,1215,1315,1115,0,0,0,0,0,0,26.56,26.10,25.64
$GC,7734,0.61,375.2,3265,3333,1313,1112,224.8,16.1,397,7741,0.28,2.05,0.00,0.000,5126,0.155,0.037,3193,1938,1212,1313,1111,0,0,0,0,0,0,26.08,26.20,28.83
$GC,8059,0.72,375.2,3192,1937,1313,1106,185.9,11.6,413,8067,0.12,2.10,0.00,0.000,2308,0.083,0.041,3263,3346,1209,1313,1106,0,0,0,0,0,0,26.51,26.44,28.83
$GC,8146,0.65,375.2,3263,3346,1312,1106,170.9,17.5,417,8154,0.22,2.08,0.00,0.000,5126,0.148,0.037,3204,1938,1210,1314,1106,0,0,0,0,0,0,26.36,26.46,28.83
$GC,8473,0.80,399.7,3204,1937,1313,1106,137.9,9.1,433,8498,0.15,2.15,17.83,0.438,10500,0.074,0.044,3283,3339,1115,1217,1013,0,0,0,0,0,0,26.62,26.38,25.96
$GC,8593,0.68,399.7,3283,3339,1215,1009,120.5,17.0,438,8599,0.22,2.05,0.00,0.000,5126,0.148,0.036,3220,1942,1112,1216,1009,0,0,0,0,0,0,26.33,26.45,28.83
$GC,8909,0.90,442.8,3219,1942,1215,1008,89.5,8.5,454,8949,0.17,2.08,30.85,0.386,10500,0.067,0.042,3311,3342,939,1040,838,0,0,0,0,0,0,26.62,26.29,25.93
$GC,8985,0.90,442.8,3311,3342,1039,836,79.4,13.2,457,8993,0.10,2.08,0.00,0.000,5126,0.183,0.037,3288,1934,937,1039,835,0,0,0,0,0,0,26.23,26.34,28.83
$GC,9301,0.90,442.8,3288,1933,1039,834,32.2,13.5,479,9306,0.00,2.08,0.00,0.000,260,0.000,0.041,3288,3346,936,1039,834,0,0,0,0,0,0,28.83,26.51,28.83
$GC,9427,0.90,442.8,2240,3345,1022,834,13.1,15.4,498,9436,0.00,2.05,0.00,0.000,1030,0.000,0.035,3288,1936,936,1038,834,0,0,0,0,0,0,28.83,26.54,28.83
$STATE,9497,end climb,SURFACE_DEPTH_REACHED
$STATE,9497,begin surface coast
$FINISH,0.1,1.022238
$STATE,9519,end surface coast,CONTROL_FINISHED_OK
$STATE,9519,begin surface
$SM_CCo,9534,45.35,0.050,0,0,464,560.76
$SM_GC,0.35,8.00,0.00,45.35,0.040,0.000,0.050,129,1933,464,-8.85,-0.23,560.76,0,0,0,0,0,0,26.56,28.83,26.51
$IRIDIUM_FIX,1900.10,12432.62,180313,030321
$TT8_MAMPS,0.026964,0.026964
$HUMID,49.25
$INTERNAL_PRESSURE,9.64881
$TCM_TEMP,24.40
$XPDR_PINGS,18
$SC_FREEKB,4018208
$24V_AH,24.7,1.083
$10V_AH,10.4,2.780
$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,27.325,85.900,484.575,45.350,0.000,0.000,0.000,173.075,4.500,0.000,34.796,2372.846,5051.003,659.495,1673.185,137.709,0.000,1629.897,0.000,1396.162,0.000,0.549,0.000
$DEVICE_MAMPS,253.215,68.085,711.450,50.490,0.000,0.000,0.000,115.515,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9519.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.728,0.000,0.000,0.000
$MEM,326744
$DATA_FILE_SIZE,20084,515
$CAP_FILE_SIZE,296293,0
$CFSIZE,260034560,252940288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.241, 95.3,1
$GPS,180313,074535,1902.848,12432.699,34,0.9,34,-2.3