version: 66.11
glider: 177
mission: 4
dive: 7
start: 3 18 113 10 40 0
data:
$ID,177
$MISSION,4
$DIVE,7
$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,-7662.6299
$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,38
$R_STBD_OVSHOOT,47
$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
$GPS1,180313,103405,1902.944,12432.311,38,1.2,43,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.24
$_SM_ANGLEo,-70.0
$GPS2,180313,103931,1902.924,12432.344,10,1.8,10,-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,267.0,165191,-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,15,begin dive
$GC,17,-0.84,-194.6,130,1937,506,420,0.0,0.0,0,117,0.00,0.00,-96.97,0.000,16386,0.000,0.000,130,1937,2880,2918,2843,0,0,0,0,0,0,28.83,28.83,28.83
$GC,119,-0.84,-194.6,130,1937,2919,2843,3.1,-7.0,13,152,10.57,2.08,-12.35,0.000,18948,0.247,0.059,2730,533,3546,3641,3451,0,0,0,0,0,0,26.05,26.26,26.59
$GC,264,-0.32,-194.6,2729,534,3642,3452,50.0,-29.3,30,271,0.57,2.03,0.00,0.000,3078,0.155,0.032,2892,1956,3547,3642,3452,0,0,0,0,0,0,26.22,26.41,28.83
$GC,579,-0.50,-194.6,2892,1955,3641,3453,82.3,-8.6,46,587,0.15,2.03,0.00,0.000,4356,0.072,0.041,2804,3335,3547,3642,3452,0,0,0,0,0,0,26.58,26.51,28.83
$GC,800,-0.39,-194.6,2804,3334,3642,3452,114.6,-15.7,56,809,0.22,2.00,0.00,0.000,3078,0.130,0.028,2872,1913,3545,3639,3452,0,0,0,0,0,0,26.46,26.60,28.83
$GC,1107,-0.60,-194.6,2872,1910,3642,3453,141.4,-5.5,72,1114,0.17,2.10,0.00,0.000,4356,0.065,0.041,2768,3339,3551,3649,3453,0,0,0,0,0,0,26.68,26.61,28.83
$GC,1196,-0.53,-194.6,2768,3339,3642,3453,151.5,-11.8,76,1203,0.20,1.95,0.00,0.000,3078,0.135,0.028,2829,1932,3547,3642,3453,0,0,0,0,0,0,26.52,26.65,28.83
$GC,1517,-0.65,-194.6,2829,1929,3642,3454,183.5,-10.1,92,1523,0.12,2.05,0.00,0.000,4356,0.083,0.041,2744,3337,3548,3642,3454,0,0,0,0,0,0,26.72,26.65,28.83
$GC,1630,-0.49,-194.6,2744,3337,3642,3454,197.2,-13.8,97,1638,0.32,1.95,0.00,0.000,3078,0.127,0.026,2847,1932,3548,3642,3454,0,0,0,0,0,0,26.55,26.70,28.83
$GC,1947,-0.73,-194.6,2847,1930,3642,3457,219.0,-6.5,113,1954,0.20,2.05,0.00,0.000,4356,0.059,0.041,2730,3339,3548,3642,3454,0,0,0,0,0,0,26.74,26.67,28.83
$GC,2091,-0.58,-194.6,2730,3339,3642,3454,236.9,-14.7,119,2101,0.28,1.92,0.00,0.000,3078,0.132,0.028,2814,1946,3548,3642,3454,0,0,0,0,0,0,26.57,26.72,28.83
$GC,2398,-0.71,-194.6,2814,1944,3642,3454,265.0,-7.7,135,2406,0.12,2.05,0.00,0.000,4356,0.083,0.042,2734,3344,3548,3642,3454,0,0,0,0,0,0,26.76,26.68,28.83
$GC,2504,-0.59,-194.6,2737,3344,3642,3454,278.1,-13.0,140,2512,0.25,1.98,0.00,0.000,3078,0.129,0.028,2810,1934,3548,3642,3454,0,0,0,0,0,0,26.59,26.72,28.83
$GC,2831,-0.74,-194.6,2810,1931,3642,3452,304.5,-7.9,156,2837,0.12,2.05,0.00,0.000,4356,0.083,0.041,2729,3337,3547,3642,3452,0,0,0,0,0,0,26.77,26.70,28.83
$GC,3010,-0.63,-194.6,1736,3336,3634,3448,325.8,-13.0,164,3018,0.22,1.95,0.00,0.000,3078,0.132,0.028,2797,1935,3546,3642,3450,0,0,0,0,0,0,26.60,26.73,28.83
$GC,3317,-0.76,-194.6,2797,1933,3642,3448,347.9,-5.5,180,3324,0.12,2.05,0.00,0.000,4356,0.082,0.041,2717,3340,3545,3642,3448,0,0,0,0,0,0,26.77,26.70,28.83
$GC,3477,-0.64,-194.6,2717,3340,3642,3447,362.1,-10.4,187,3486,0.25,1.95,0.00,0.000,3078,0.129,0.028,2794,1941,3543,3639,3447,0,0,0,0,0,0,26.60,26.74,28.83
$GC,3784,-0.78,-194.6,2794,1938,3642,3444,386.5,-7.5,203,3791,0.12,2.05,0.00,0.000,4356,0.081,0.043,2715,3341,3542,3642,3443,0,0,0,0,0,0,26.78,26.70,28.83
$GC,3970,-0.69,-194.6,2715,3343,3642,3442,405.9,-11.3,211,3980,0.20,1.95,0.00,0.000,3078,0.132,0.029,2775,1938,3541,3641,3442,0,0,0,0,0,0,26.63,26.74,28.83
$GC,4277,-0.78,-194.6,2775,1936,3642,3438,429.8,-8.3,227,4285,0.10,2.05,0.00,0.000,4356,0.097,0.043,2716,3335,3540,3642,3438,0,0,0,0,0,0,26.78,26.70,28.83
$GC,4499,-0.70,-194.6,2716,3334,3641,3436,457.5,-13.7,237,4508,0.20,1.95,0.00,0.000,3078,0.133,0.029,2776,1938,3539,3642,3436,0,0,0,0,0,0,26.60,26.74,28.83
$GC,4806,-0.81,-194.6,2776,1936,3641,3434,488.2,-8.4,253,4812,0.12,2.05,0.00,0.000,4356,0.083,0.044,2699,3332,3537,3641,3433,0,0,0,0,0,0,26.77,26.70,28.83
$GC,4934,-0.70,-194.6,2699,3332,3638,3434,502.3,-11.3,259,4942,0.25,1.95,0.00,0.000,3078,0.128,0.029,2776,1936,3535,3637,3433,0,0,0,0,0,0,26.60,26.74,28.83
$GC,5255,-0.82,-194.6,2776,1933,3637,3431,523.1,-5.8,275,5262,0.12,2.05,0.00,0.000,4356,0.081,0.044,2699,3332,3534,3637,3431,0,0,0,0,0,0,26.77,26.70,28.83
$STATE,5418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5418,begin apogee
$GC,5424,-0.20,0.0,2699,1944,3634,3431,540.3,-10.8,283,5579,0.70,0.00,150.68,0.708,10246,0.117,0.000,2938,1942,2749,2851,2648,0,0,0,0,0,0,26.60,28.83,24.72
$STATE,5581,end apogee,CONTROL_FINISHED_OK
$STATE,5582,begin climb
$GC,5583,0.84,194.6,2937,1942,2850,2642,545.2,0.0,290,5741,0.88,0.00,149.55,0.698,10758,0.047,0.000,3278,1941,1950,2061,1840,0,0,0,0,0,0,25.37,28.83,24.60
$GC,6029,0.42,194.6,3278,1942,2059,1824,476.2,18.8,312,6037,0.47,2.10,0.00,0.000,4356,0.170,0.045,3140,3333,1940,2058,1822,0,0,0,0,0,0,25.98,26.15,28.83
$GC,6109,0.24,194.6,3139,3332,2055,1819,467.9,14.0,315,6118,0.22,2.03,0.00,0.000,5126,0.152,0.035,3080,1956,1937,2055,1819,0,0,0,0,0,0,26.10,26.22,28.83
$GC,6416,0.57,284.3,3080,1955,2056,1815,444.7,6.9,331,6491,0.25,2.12,66.43,0.648,10500,0.055,0.044,3202,3334,1587,1696,1478,0,0,0,0,0,0,26.44,25.62,25.11
$GC,6603,0.43,284.3,2240,3332,1640,1464,420.1,15.6,339,6612,0.25,2.08,0.00,0.000,5126,0.151,0.037,3135,1949,1578,1690,1467,0,0,0,0,0,0,25.88,26.00,28.83
$GC,6912,0.60,317.0,3135,1948,1690,1462,390.3,8.9,355,6945,0.15,2.15,25.08,0.616,10500,0.074,0.045,3214,3326,1451,1560,1342,0,0,0,0,0,0,26.37,25.99,25.48
$GC,7039,0.44,317.0,2216,3325,1514,1332,371.2,16.0,361,7045,0.28,2.05,0.00,0.000,5126,0.150,0.036,3140,1943,1447,1559,1335,0,0,0,0,0,0,26.03,26.17,28.83
$GC,7365,0.64,354.3,3139,1943,1559,1331,340.8,8.7,377,7399,0.17,2.17,28.23,0.588,10500,0.067,0.044,3228,3336,1301,1406,1196,0,0,0,0,0,0,26.43,26.03,25.53
$GC,7517,0.49,354.3,2240,3334,1368,1185,315.9,17.1,384,7524,0.30,2.08,0.00,0.000,5126,0.151,0.034,3153,1943,1295,1403,1188,0,0,0,0,0,0,26.09,26.22,28.83
$GC,7843,0.67,373.0,3153,1942,1403,1184,284.9,9.4,400,7867,0.15,2.10,14.27,0.554,10500,0.074,0.044,3237,3332,1224,1329,1120,0,0,0,0,0,0,26.46,26.22,25.75
$GC,7923,0.67,373.0,3237,3332,1328,1117,274.3,14.4,403,7932,0.12,2.05,0.00,0.000,5126,0.172,0.034,3212,1939,1220,1328,1113,0,0,0,0,0,0,26.17,26.28,28.83
$GC,8230,0.67,373.0,3212,1939,1328,1115,226.4,14.1,419,8236,0.00,2.10,0.00,0.000,260,0.000,0.042,3211,3341,1221,1328,1115,0,0,0,0,0,0,28.83,26.44,28.83
$GC,8288,0.67,373.0,3211,3342,1328,1115,220.0,14.3,421,8296,0.00,2.05,0.00,0.000,1030,0.000,0.033,3213,1941,1221,1328,1115,0,0,0,0,0,0,28.83,26.46,28.83
$GC,8594,0.67,373.0,3213,1941,1328,1114,177.2,12.5,437,8600,0.00,2.05,0.00,0.000,260,0.000,0.042,3213,3333,1220,1326,1114,0,0,0,0,0,0,28.83,26.53,28.83
$GC,8753,0.72,373.0,3213,3333,1327,1114,160.0,11.7,444,8762,0.05,2.03,0.00,0.000,3078,0.166,0.033,3260,1932,1218,1327,1110,0,0,0,0,0,0,26.50,26.55,28.83
$GC,9059,0.72,373.0,3259,1930,1327,1114,120.8,12.0,460,9061,0.12,0.00,0.00,0.000,4102,0.161,0.000,3228,1930,1221,1328,1114,0,0,0,0,0,0,26.49,28.83,28.83
$GC,9360,0.82,373.0,3227,1929,1328,1114,89.2,10.2,475,9367,0.12,2.05,0.00,0.000,2308,0.085,0.039,3298,3339,1221,1328,1114,0,0,0,0,0,0,26.68,26.62,28.83
$GC,9480,0.65,373.0,3300,3339,1328,1115,72.7,16.3,480,9488,0.30,2.00,0.00,0.000,5126,0.148,0.034,3209,1941,1221,1328,1114,0,0,0,0,0,0,26.50,26.63,28.83
$GC,9787,0.97,454.2,3214,1938,1328,1116,46.0,7.2,498,9852,0.25,2.12,56.53,0.348,10500,0.054,0.040,3336,3333,893,995,791,0,0,0,0,0,0,26.70,26.25,25.92
$GC,9968,0.78,454.2,2320,3331,978,788,12.1,22.0,519,9977,0.30,2.03,0.00,0.000,5126,0.151,0.035,3250,1948,890,992,789,0,0,0,0,0,0,26.25,26.36,28.83
$STATE,10035,end climb,SURFACE_DEPTH_REACHED
$STATE,10035,begin surface coast
$FINISH,-0.3,1.022269
$STATE,10063,end surface coast,CONTROL_FINISHED_OK
$STATE,10063,begin surface
$SM_CCo,10077,40.72,0.050,0,0,464,560.76
$SM_GC,0.24,7.90,0.00,40.72,0.036,0.000,0.050,131,1944,464,-8.84,0.03,560.76,0,0,0,0,0,0,26.42,28.83,26.39
$IRIDIUM_FIX,1857.82,12430.75,180313,070750
$TT8_MAMPS,0.026964,0.026964
$HUMID,46.81
$INTERNAL_PRESSURE,9.62928
$TCM_TEMP,24.60
$XPDR_PINGS,10
$SC_FREEKB,4017440
$24V_AH,24.6,1.272
$10V_AH,10.3,2.945
$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,28.050,85.575,490.750,40.725,0.000,0.000,0.000,198.825,2.500,0.000,13.532,2495.721,5371.729,667.261,1771.985,137.409,0.000,1706.934,0.000,1482.235,0.000,0.547,0.000
$DEVICE_MAMPS,247.095,58.905,707.625,49.725,0.000,0.000,0.000,120.105,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10064.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,10.865,0.000,0.000,0.000
$MEM,326776
$DATA_FILE_SIZE,20106,536
$CAP_FILE_SIZE,310592,0
$CFSIZE,260034560,252723200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.017,237.5,1
$GPS,180313,132951,1902.871,12430.910,12,3.0,31,-2.3