version: 66.11
glider: 177
mission: 4
dive: 6
start: 3 18 113 7 52 0
data:
$ID,177
$MISSION,4
$DIVE,6
$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,-7661.3721
$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,40
$R_STBD_OVSHOOT,49
$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
$GPS1,180313,074535,1902.848,12432.699,34,0.9,34,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-68.9
$GPS2,180313,075131,1902.831,12432.808,17,0.8,17,-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,274.5,165953,-14.9,-10.000,-18.74,2959
$D_GRID,5370
$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,15,begin dive
$GC,17,-0.84,-194.6,129,1932,509,418,0.0,0.0,0,121,0.00,0.00,-101.60,0.000,16386,0.000,0.000,129,1933,3033,3076,2991,0,0,0,0,0,0,28.83,28.83,28.83
$GC,124,-0.84,-194.6,129,1933,3077,2992,4.1,-9.8,14,150,10.68,2.12,-8.90,0.000,18948,0.250,0.061,2725,540,3546,3638,3455,0,0,0,0,0,0,26.06,26.29,26.62
$GC,229,-0.41,-194.6,2725,537,3641,3456,40.6,-27.1,27,237,0.50,2.00,0.00,0.000,3078,0.155,0.032,2865,1950,3548,3641,3456,0,0,0,0,0,0,26.24,26.41,28.83
$GC,544,-0.41,-194.6,2865,1950,3641,3456,82.0,-11.0,45,550,0.00,2.03,0.00,0.000,260,0.000,0.044,2865,3337,3548,3641,3456,0,0,0,0,0,0,28.83,26.52,28.83
$GC,759,-0.55,-194.6,2864,3337,3640,3457,100.7,-8.7,55,766,0.15,2.00,0.00,0.000,5126,0.070,0.028,2781,1912,3548,3640,3457,0,0,0,0,0,0,26.61,26.61,28.83
$GC,1074,-0.37,-194.6,2780,1909,3636,3457,155.3,-14.9,71,1081,0.30,2.10,0.00,0.000,2308,0.131,0.040,2877,3337,3549,3641,3457,0,0,0,0,0,0,26.51,26.63,28.83
$GC,1188,-0.65,-194.6,2877,3337,3641,3458,162.2,-5.0,76,1196,0.25,1.95,0.00,0.000,5126,0.054,0.028,2737,1929,3549,3641,3458,0,0,0,0,0,0,26.68,26.67,28.83
$GC,1505,-0.44,-194.6,2737,1929,3640,3458,207.7,-14.7,92,1512,0.38,2.05,0.00,0.000,2308,0.135,0.040,2853,3341,3550,3641,3459,0,0,0,0,0,0,26.52,26.66,28.83
$GC,1576,-0.51,-194.6,2853,3344,3641,3459,213.5,-9.8,95,1583,0.08,1.95,0.00,0.000,5126,0.135,0.028,2802,1943,3549,3640,3459,0,0,0,0,0,0,26.62,26.70,28.83
$GC,1897,-0.58,-194.6,2801,1942,3640,3459,242.5,-8.3,111,1903,0.00,2.03,0.00,0.000,260,0.000,0.043,2801,3335,3550,3641,3459,0,0,0,0,0,0,28.83,26.68,28.83
$GC,2072,-0.70,-194.6,2801,3335,3641,3459,257.2,-8.7,119,2079,0.10,1.95,0.00,0.000,5126,0.099,0.028,2730,1930,3549,3640,3459,0,0,0,0,0,0,26.69,26.72,28.83
$GC,2387,-0.54,-194.6,2730,1928,3640,3458,303.0,-14.1,135,2394,0.28,2.05,0.00,0.000,2308,0.134,0.041,2814,3337,3549,3641,3458,0,0,0,0,0,0,26.58,26.70,28.83
$GC,2506,-0.74,-194.6,1808,3336,3632,3452,311.5,-7.1,140,2514,0.17,1.92,0.00,0.000,5126,0.068,0.028,2723,1939,3549,3641,3458,0,0,0,0,0,0,26.73,26.73,28.83
$GC,2813,-0.60,-194.6,2722,1939,3640,3455,350.1,-12.2,156,2819,0.25,2.05,0.00,0.000,2308,0.135,0.042,2802,3332,3547,3640,3455,0,0,0,0,0,0,26.58,26.70,28.83
$GC,2947,-0.79,-194.6,2801,3332,3640,3454,358.9,-6.3,162,2954,0.17,1.95,0.00,0.000,5126,0.067,0.029,2713,1933,3547,3640,3454,0,0,0,0,0,0,26.74,26.74,28.83
$GC,3263,-0.66,-194.6,2713,1932,3639,3452,398.4,-13.2,178,3270,0.22,2.05,0.00,0.000,2308,0.135,0.044,2785,3332,3545,3640,3451,0,0,0,0,0,0,26.59,26.70,28.83
$GC,3448,-0.80,-194.6,2784,3332,3640,3450,413.9,-8.9,186,3457,0.15,1.95,0.00,0.000,5126,0.074,0.030,2707,1934,3545,3640,3450,0,0,0,0,0,0,26.73,26.74,28.83
$GC,3754,-0.68,-194.6,2706,1934,3640,3446,451.0,-11.2,202,3762,0.22,2.05,0.00,0.000,2308,0.132,0.045,2780,3330,3543,3640,3446,0,0,0,0,0,0,26.60,26.70,28.83
$GC,3992,-0.84,-194.6,2780,3331,3640,3443,467.7,-7.8,213,3998,0.15,1.95,0.00,0.000,5126,0.073,0.031,2703,1940,3541,3640,3443,0,0,0,0,0,0,26.73,26.74,28.83
$GC,4307,-0.72,-194.6,2701,1939,3640,3439,506.3,-11.7,229,4313,0.20,2.05,0.00,0.000,2308,0.136,0.046,2768,3329,3539,3640,3439,0,0,0,0,0,0,26.60,26.70,28.83
$GC,4401,-0.80,-194.6,2768,3329,3640,3435,513.3,-8.1,233,4408,0.10,1.92,0.00,0.000,5126,0.096,0.031,2711,1944,3538,3640,3437,0,0,0,0,0,0,26.70,26.74,28.83
$STATE,4654,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4654,begin apogee
$GC,4657,-0.20,0.0,2711,1943,3637,3435,540.5,-10.4,246,4813,0.65,0.00,150.07,0.708,10246,0.116,0.000,2932,1942,2750,2852,2648,0,0,0,0,0,0,26.58,28.83,24.76
$STATE,4815,end apogee,CONTROL_FINISHED_OK
$STATE,4815,begin climb
$GC,4816,0.84,194.6,2932,1942,2850,2643,545.0,0.0,253,4975,0.90,2.28,148.85,0.689,10756,0.052,0.067,3282,581,1951,2062,1840,0,0,0,0,0,0,25.39,25.15,24.65
$GC,5075,0.44,194.6,3282,581,2058,1833,512.3,19.2,264,5085,0.50,2.00,0.00,0.000,5126,0.167,0.037,3144,1932,1945,2059,1832,0,0,0,0,0,0,25.70,25.86,28.83
$GC,5382,0.50,238.9,3143,1935,2057,1821,480.4,8.5,280,5420,0.00,2.15,32.55,0.653,8452,0.000,0.047,3143,3341,1770,1884,1657,0,0,0,0,0,0,28.83,25.84,25.33
$GC,5585,0.51,249.1,3143,3341,1877,1646,462.3,9.6,289,5600,0.00,2.03,7.75,0.635,9222,0.000,0.037,3149,1977,1731,1845,1617,0,0,0,0,0,0,28.83,26.19,25.53
$GC,5918,0.56,249.1,3149,1977,1842,1611,426.5,11.5,306,5924,0.10,2.08,0.00,0.000,2308,0.098,0.047,3200,3346,1726,1842,1610,0,0,0,0,0,0,26.44,26.36,28.83
$GC,6012,0.43,249.1,3199,3347,1839,1610,413.1,15.8,310,6019,0.22,2.08,0.00,0.000,5126,0.157,0.039,3142,1934,1725,1840,1610,0,0,0,0,0,0,26.28,26.41,28.83
$GC,6328,0.53,259.2,3142,1934,1838,1608,377.8,9.7,326,6345,0.10,2.15,8.23,0.606,10500,0.095,0.047,3194,3331,1693,1807,1579,0,0,0,0,0,0,26.57,26.38,25.84
$GC,6454,0.40,259.2,2192,3329,1741,1570,360.9,13.8,332,6461,0.22,2.08,0.00,0.000,5126,0.153,0.038,3131,1934,1687,1800,1575,0,0,0,0,0,0,26.32,26.44,28.83
$GC,6780,0.59,286.0,3131,1933,1800,1572,332.3,9.1,348,6810,0.15,2.12,21.80,0.581,10500,0.075,0.046,3212,3344,1579,1688,1471,0,0,0,0,0,0,26.59,26.24,25.75
$GC,6967,0.45,286.0,3212,3344,1685,1465,307.1,15.3,356,6977,0.25,2.08,0.00,0.000,5126,0.151,0.037,3146,1939,1575,1685,1465,0,0,0,0,0,0,26.26,26.39,28.83
$GC,7274,0.64,320.9,3146,1939,1685,1463,276.8,8.8,372,7309,0.15,2.15,26.75,0.539,10500,0.075,0.045,3229,3336,1438,1546,1330,0,0,0,0,0,0,26.55,26.19,25.72
$GC,7384,0.49,320.9,3229,3335,1543,1325,260.9,15.3,377,7391,0.25,2.08,0.00,0.000,5126,0.152,0.037,3158,1939,1434,1543,1325,0,0,0,0,0,0,26.17,26.29,28.83
$GC,7710,0.68,355.6,3158,1938,1543,1323,231.6,8.8,393,7745,0.15,2.12,25.88,0.503,10500,0.076,0.042,3243,3346,1295,1400,1191,0,0,0,0,0,0,26.51,26.17,25.74
$GC,7802,0.59,355.6,3242,3346,1398,1187,217.6,16.0,397,7810,0.20,2.05,0.00,0.000,5126,0.156,0.035,3189,1939,1294,1398,1191,0,0,0,0,0,0,26.15,26.26,28.83
$GC,8124,0.69,355.6,3188,1939,1398,1184,180.9,10.5,413,8130,0.10,2.10,0.00,0.000,2308,0.099,0.041,3247,3345,1291,1399,1184,0,0,0,0,0,0,26.51,26.44,28.83
$GC,8188,0.69,355.6,2240,3343,1362,1182,171.6,13.6,416,8195,0.12,2.03,0.00,0.000,5126,0.178,0.034,3222,1947,1291,1398,1184,0,0,0,0,0,0,26.34,26.47,28.83
$GC,8514,0.74,355.6,3222,1945,1399,1184,133.3,11.4,432,8520,0.00,2.05,0.00,0.000,260,0.000,0.043,3222,3342,1290,1398,1183,0,0,0,0,0,0,28.83,26.54,28.83
$GC,8560,0.79,355.6,3222,3342,1398,1184,127.8,11.7,434,8566,0.12,2.05,0.00,0.000,3078,0.080,0.034,3286,1932,1290,1398,1183,0,0,0,0,0,0,26.57,26.55,28.83
$GC,8885,0.69,355.6,3285,1930,1398,1183,81.5,14.2,450,8892,0.20,2.08,0.00,0.000,4356,0.145,0.041,3222,3351,1290,1398,1183,0,0,0,0,0,0,26.48,26.60,28.83
$GC,8940,0.69,355.6,3222,3351,1398,1183,75.9,13.2,452,8946,0.00,2.03,0.00,0.000,1030,0.000,0.034,3222,1939,1289,1398,1181,0,0,0,0,0,0,28.83,26.61,28.83
$GC,9255,0.94,425.3,3222,1938,1398,1183,48.7,7.6,468,9312,0.20,2.08,48.65,0.347,10500,0.060,0.041,3328,3340,1011,1114,908,0,0,0,0,0,0,26.70,26.28,25.95
$GC,9449,0.72,425.3,2336,3339,1092,905,14.1,20.1,491,9458,0.35,2.05,0.00,0.000,5126,0.152,0.034,3231,1940,1008,1111,906,0,0,0,0,0,0,26.27,26.41,28.83
$STATE,9542,end climb,SURFACE_DEPTH_REACHED
$STATE,9542,begin surface coast
$FINISH,0.5,1.022264
$STATE,9575,end surface coast,CONTROL_FINISHED_OK
$STATE,9575,begin surface
$SM_CCo,9589,52.17,0.049,0,0,464,560.76
$SM_GC,0.35,7.97,0.00,52.17,0.047,0.000,0.049,133,1937,464,-8.84,-0.14,560.76,0,0,0,0,0,0,26.47,28.83,26.42
$IRIDIUM_FIX,1855.54,12435.80,180313,050501
$TT8_MAMPS,0.026964,0.026964
$HUMID,47.48
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,24.40
$XPDR_PINGS,12
$SC_FREEKB,4017824
$24V_AH,24.7,1.176
$10V_AH,10.5,2.861
$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,27.275,86.000,470.525,52.175,0.000,0.000,0.000,221.600,3.000,0.000,19.693,2383.349,5109.707,646.517,1724.104,132.931,0.000,1672.801,0.000,1407.007,0.000,0.547,0.000
$DEVICE_MAMPS,250.155,66.555,707.625,48.960,0.000,0.000,0.000,116.280,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,9577.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.842,0.000,0.000,0.000
$MEM,326784
$DATA_FILE_SIZE,20076,514
$CAP_FILE_SIZE,297769,0
$CFSIZE,260034560,252837888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.141, 91.7,1
$GPS,180313,103405,1902.944,12432.311,38,1.2,43,-2.3