version: 66.11
glider: 177
mission: 4
dive: 13
start: 3 19 113 7 51 18
data:
$ID,177
$MISSION,4
$DIVE,13
$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,330
$T_MISSION,360
$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,400
$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,-7670.1743
$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,2975
$PITCH_DBAND,0.050000001
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.029999999
$PITCH_GAIN,23
$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,2200
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,60
$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,0.0020000001
$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
$GPS1,190313,074535,1902.685,12425.582,12,1.8,28,-2.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.02
$_SM_ANGLEo,-73.5
$GPS2,190313,075049,1902.693,12425.633,9,2.0,9,-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,258.3,153588,-14.9,-10.000,-18.74,2959
$D_GRID,5262
$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,-1.04,-194.6,128,2218,1159,1070,0.0,0.0,0,92,0.00,0.00,-72.45,0.000,16386,0.000,0.000,128,2218,2929,2964,2895,0,0,0,0,0,0,28.83,28.83,28.83
$GC,95,-1.04,-194.6,128,2218,2961,2898,3.2,-8.4,10,127,10.40,2.12,-11.18,0.000,18948,0.254,0.056,2641,808,3548,3637,3459,0,0,0,0,0,0,26.01,26.20,26.51
$GC,231,-1.04,-194.6,2641,807,3639,3460,58.8,-42.5,24,236,0.00,1.98,0.00,0.000,1030,0.000,0.032,2633,2189,3550,3640,3460,0,0,0,0,0,0,28.83,26.31,28.83
$GC,544,-1.04,-194.6,2633,2189,3640,3461,177.9,-30.6,40,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2633,2188,3552,3640,3465,0,0,0,0,0,0,28.83,28.83,28.83
$GC,844,-1.04,-194.6,2633,2189,3642,3464,259.9,-25.2,55,850,0.00,2.10,0.00,0.000,260,0.000,0.044,2623,3607,3552,3641,3463,0,0,0,0,0,0,28.83,26.50,28.83
$GC,876,-1.04,-194.6,2622,3607,3642,3464,265.4,-24.5,56,883,0.10,2.03,0.00,0.000,3078,0.190,0.026,2644,2161,3552,3641,3464,0,0,0,0,0,0,26.39,26.54,28.83
$GC,1192,-1.04,-194.6,2644,2160,3641,3464,333.8,-19.6,72,1193,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2160,3553,3642,3464,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1491,-1.04,-194.6,2644,2159,3642,3464,389.2,-19.0,87,1498,0.00,2.15,0.00,0.000,260,0.000,0.044,2636,3604,3553,3642,3464,0,0,0,0,0,0,28.83,26.58,28.83
$GC,1530,-1.04,-194.6,2635,3604,3641,3464,393.6,-18.8,88,1538,0.00,1.98,0.00,0.000,1030,0.000,0.027,2635,2198,3553,3642,3464,0,0,0,0,0,0,28.83,26.63,28.83
$GC,1836,-1.04,-194.6,2635,2197,3642,3464,453.4,-18.0,104,1837,0.00,0.00,0.00,0.000,6,0.000,0.000,2635,2197,3552,3642,3463,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2136,-1.04,-194.6,2635,2197,3642,3460,506.4,-16.9,119,2141,0.00,2.10,0.00,0.000,260,0.000,0.047,2628,3601,3550,3641,3460,0,0,0,0,0,0,28.83,26.61,28.83
$GC,2283,-1.04,-194.6,1632,3600,3633,3455,531.6,-17.9,126,2288,0.00,1.98,0.00,0.000,1030,0.000,0.028,2628,2200,3550,3642,3458,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2602,-1.04,-194.6,2627,2198,3642,3453,587.7,-17.5,142,2604,0.05,0.00,0.00,0.000,2054,0.223,0.000,2639,2199,3547,3642,3453,0,0,0,0,0,0,26.64,28.83,28.83
$GC,2921,-1.04,-194.6,2638,2199,3644,3448,638.9,-15.5,154,2927,0.00,2.08,0.00,0.000,260,0.000,0.049,2632,3595,3545,3642,3448,0,0,0,0,0,0,28.83,26.63,28.83
$GC,2988,-1.04,-194.6,2632,3596,3642,3443,648.9,-15.6,156,2994,0.00,1.98,0.00,0.000,1030,0.000,0.029,2632,2188,3544,3642,3446,0,0,1,0,0,0,28.83,26.69,28.83
$GC,3317,-1.04,-194.6,2632,2186,3642,3441,699.2,-15.0,167,3323,0.00,2.12,0.00,0.000,260,0.000,0.049,2627,3601,3541,3642,3440,0,0,0,0,0,0,28.83,26.64,28.83
$GC,3445,-1.04,-194.6,2624,3601,3641,3439,719.2,-16.1,171,3451,0.05,1.98,0.00,0.000,3078,0.221,0.028,2638,2182,3540,3641,3439,0,0,1,0,0,0,26.55,26.70,28.83
$GC,3774,-1.04,-194.6,2638,2181,3637,3436,770.1,-15.1,182,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2181,3536,3637,3435,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4074,-1.04,-194.6,2638,2181,3634,3433,815.1,-14.6,192,4080,0.00,2.12,0.00,0.000,260,0.000,0.051,2633,3601,3533,3634,3433,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4138,-1.04,-194.6,2633,3601,3633,3433,824.5,-14.8,194,4144,0.00,1.98,0.00,0.000,1030,0.000,0.030,2634,2206,3532,3633,3432,0,0,0,0,0,0,28.83,26.70,28.83
$GC,4472,-1.04,-194.6,2633,2205,3631,3428,870.8,-13.6,205,4477,0.00,2.10,0.00,0.000,260,0.000,0.051,2625,3597,3529,3631,3428,0,0,0,0,0,0,28.83,26.64,28.83
$GC,4536,-1.04,-194.6,2625,3597,3631,3428,879.8,-13.7,207,4542,0.08,2.00,0.00,0.000,3078,0.199,0.031,2640,2195,3529,3631,3428,0,0,0,0,0,0,26.56,26.70,28.83
$GC,4870,-1.04,-194.6,2640,2194,3627,3425,921.6,-12.4,218,4876,0.00,2.12,0.00,0.000,260,0.000,0.053,2634,3596,3526,3627,3425,0,0,0,0,0,0,28.83,26.63,28.83
$GC,4913,-1.04,-194.6,2633,3595,3627,3425,925.9,-12.4,219,4919,0.00,1.98,0.00,0.000,1030,0.000,0.031,2633,2210,3526,3627,3425,0,0,0,0,0,0,28.83,26.69,28.83
$GC,5237,-1.04,-194.6,2633,2209,3625,3422,968.1,-12.8,230,5243,0.00,2.10,0.00,0.000,260,0.000,0.054,2626,3595,3523,3625,3422,0,0,0,0,0,0,28.83,26.63,28.83
$GC,5332,-1.04,-194.6,2626,3596,3622,3422,980.9,-13.4,233,5339,0.08,2.00,0.00,0.000,3078,0.196,0.031,2640,2195,3523,3624,3422,0,0,0,0,0,0,26.56,26.69,28.83
$STATE,5425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5425,begin apogee
$GC,5429,-0.22,0.0,2641,2118,3623,3421,992.7,-12.7,236,5609,0.80,0.00,169.85,1.022,10246,0.145,0.000,2900,2117,2747,2867,2627,0,0,0,0,0,0,26.54,28.83,24.06
$STATE,5610,end apogee,CONTROL_FINISHED_OK
$STATE,5611,begin climb
$GC,5612,1.04,194.6,2899,2117,2866,2624,996.5,0.0,241,5791,1.20,2.38,166.95,1.001,10756,0.082,0.063,3317,724,1950,2067,1834,0,0,0,0,0,0,24.84,24.58,23.98
$GC,5822,1.04,194.6,3317,724,2062,1832,961.9,21.0,248,5829,0.00,2.12,0.00,0.000,1030,0.000,0.037,3314,2090,1946,2061,1831,0,0,0,0,0,0,28.83,25.10,28.83
$GC,6152,1.04,194.6,3317,2090,2060,1818,877.2,25.0,259,6157,0.00,2.20,0.00,0.000,260,0.000,0.052,3317,3510,1938,2059,1818,0,0,0,0,0,0,28.83,25.92,28.83
$GC,6295,1.04,194.6,3317,3510,2056,1815,842.6,27.9,263,6301,0.10,2.12,0.00,0.000,5126,0.246,0.040,3308,2119,1935,2056,1815,0,0,0,0,0,0,25.91,26.06,28.83
$GC,6609,1.04,194.6,3308,2119,2056,1813,757.9,25.1,274,6615,0.00,2.15,0.00,0.000,260,0.000,0.053,3308,3508,1934,2056,1813,0,0,0,0,0,0,28.83,26.21,28.83
$GC,6657,1.04,194.6,3308,3507,2054,1812,749.1,25.2,275,6664,0.00,2.15,0.00,0.000,1030,0.000,0.041,3316,2079,1933,2055,1812,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6977,1.04,194.6,3315,2078,2055,1809,668.1,22.9,286,6983,0.00,2.22,0.00,0.000,260,0.000,0.052,3315,3515,1932,2055,1809,0,0,0,0,0,0,28.83,26.32,28.83
$GC,7034,1.04,194.6,3315,3515,2054,1809,660.1,22.9,287,7044,0.10,2.12,0.00,0.000,5126,0.249,0.037,3307,2093,1930,2052,1809,0,0,0,0,0,0,26.18,26.35,28.83
$GC,7350,1.04,194.6,3307,2092,2054,1807,587.3,20.7,299,7357,0.00,2.15,0.00,0.000,260,0.000,0.050,3307,3508,1930,2054,1807,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7430,1.04,194.6,3307,3508,2052,1807,572.5,22.0,302,7438,0.00,2.10,0.00,0.000,1030,0.000,0.037,3317,2082,1930,2053,1807,0,0,0,0,0,0,28.83,26.43,28.83
$GC,7736,1.04,194.6,3316,2081,2052,1806,503.0,21.3,318,7742,0.00,2.17,0.00,0.000,260,0.000,0.048,3316,3509,1929,2052,1806,0,0,0,0,0,0,28.83,26.44,28.83
$GC,7791,1.04,194.6,3316,3509,2051,1806,492.9,22.4,320,7797,0.10,2.08,0.00,0.000,5126,0.237,0.035,3308,2099,1928,2051,1806,0,0,0,0,0,0,26.29,26.47,28.83
$GC,8105,1.04,194.6,3308,2097,2051,1805,424.2,21.3,336,8111,0.00,2.15,0.00,0.000,260,0.000,0.047,3307,3516,1928,2051,1805,0,0,0,0,0,0,28.83,26.48,28.83
$GC,8184,1.04,194.6,3308,3516,2050,1805,409.5,22.6,339,8193,0.00,2.08,0.00,0.000,1030,0.000,0.035,3316,2091,1927,2050,1805,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8491,1.04,194.6,3316,2090,2050,1804,339.2,21.6,355,8497,0.00,2.12,0.00,0.000,260,0.000,0.047,3317,3511,1927,2050,1805,0,0,0,0,0,0,28.83,26.51,28.83
$GC,8607,1.04,194.6,3316,3510,2049,1804,313.5,24.2,360,8614,0.10,2.05,0.00,0.000,5126,0.226,0.034,3307,2107,1926,2049,1804,0,0,0,0,0,0,26.38,26.54,28.83
$GC,8922,1.04,194.6,3307,2106,2049,1804,253.1,17.9,376,8929,0.00,2.10,0.00,0.000,260,0.000,0.045,3306,3512,1926,2049,1804,0,0,0,0,0,0,28.83,26.53,28.83
$GC,9031,1.04,194.6,3306,3512,2049,1804,232.9,19.4,381,9037,0.00,2.08,0.00,0.000,1030,0.000,0.034,3315,2090,1926,2049,1804,0,0,0,0,0,0,28.83,26.57,28.83
$GC,9350,1.04,194.6,3315,2089,2049,1804,183.5,12.8,397,9351,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2089,1926,2048,1804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9650,1.04,194.6,3315,2089,2049,1804,140.1,13.7,412,9651,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,2089,1926,2049,1804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9950,1.07,210.1,3315,2089,2049,1806,103.3,9.5,427,9966,0.00,2.17,8.43,0.438,8452,0.000,0.045,3315,3514,1891,2013,1769,0,0,0,0,0,0,28.83,26.51,26.18
$GC,10112,1.07,210.1,3315,3515,2010,1767,89.4,10.0,434,10121,0.00,2.05,0.00,0.000,1030,0.000,0.031,3324,2084,1888,2010,1767,0,0,0,0,0,0,28.83,26.57,28.83
$GC,10419,1.07,211.2,3323,2086,2010,1767,57.9,10.0,450,10426,0.00,2.03,0.00,0.000,516,0.000,0.049,3333,717,1888,2010,1767,0,0,0,0,0,0,28.83,26.55,28.83
$GC,10489,1.08,216.4,3332,717,2010,1768,51.4,9.8,453,10500,0.00,2.00,6.38,0.410,9222,0.000,0.029,3332,2129,1866,1987,1746,0,0,0,0,0,0,28.83,26.60,26.20
$GC,10804,1.08,216.4,3333,2129,1986,1743,16.2,11.5,491,10811,0.00,0.00,0.00,0.000,6,0.000,0.000,3335,2129,1864,1986,1743,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10919,end climb,SURFACE_DEPTH_REACHED
$STATE,10919,begin surface coast
$FINISH,-0.3,1.022222
$STATE,10948,end surface coast,CONTROL_FINISHED_OK
$STATE,10948,begin surface
$SM_CCo,10963,69.35,0.051,0,0,1118,400.08
$SM_GC,0.30,8.20,0.08,69.35,0.044,0.119,0.051,128,2207,1118,-8.79,-1.53,400.08,0,0,0,0,0,0,26.58,26.65,26.51
$IRIDIUM_FIX,1857.82,12427.58,190313,040431
$TT8_MAMPS,0.026964,0.026964
$HUMID,43.06
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.60
$XPDR_PINGS,2
$SC_FREEKB,4015136
$24V_AH,24.0,1.929
$10V_AH,10.3,3.476
$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,21.350,87.925,351.600,69.350,0.000,0.000,0.000,191.075,0.500,0.000,12.138,2265.680,6812.688,557.973,1576.197,135.886,0.000,1501.157,0.000,1302.675,0.000,0.547,0.000
$DEVICE_MAMPS,253.980,119.340,1022.040,51.255,0.000,0.000,0.000,120.105,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,10955.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,8.527,0.000,0.000,0.000
$MEM,326748
$DATA_FILE_SIZE,20080,518
$CAP_FILE_SIZE,282160,0
$CFSIZE,260034560,252080128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0,0
$CURRENT,0.144, 73.0,1
$GPS,190313,105630,1902.568,12424.661,38,1.6,38,-2.3