version: 66.11
glider: 177
mission: 4
dive: 47
start: 3 26 113 4 29 27
data:
$ID,177
$MISSION,4
$DIVE,47
$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,310
$T_MISSION,340
$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,0.001
$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,-7720.7373
$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,25
$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,2250
$C_ROLL_CLIMB,2175
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,64
$ROLL_AD_RATE,400
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,465
$VBD_MAX,3960
$C_VBD,2992
$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
$GPS1,260313,042206,1835.018,12333.972,37,0.9,38,-2.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,-3.32
$_SM_ANGLEo,-71.4
$GPS2,260313,042900,1835.067,12333.938,9,1.1,14,-2.1
$SPEED_LIMITS,0.184,0.802
$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,310.2,62179,-7.0,-10.645,-7.56,2804
$D_GRID,4892
$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
$STATE,16,begin dive
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$GC,2285,-0.67,-194.6,2755,3648,3876,3709,384.4,-9.6,123,2293,0.00,1.90,0.00,0.000,1030,0.000,0.022,2755,2241,3792,3876,3709,0,0,0,0,0,0,28.83,26.66,28.83
$GC,2591,-0.67,-194.6,2755,2241,3876,3705,413.0,-9.1,139,2597,0.00,2.08,0.00,0.000,260,0.000,0.044,2755,3647,3790,3876,3705,0,0,0,0,0,0,28.83,26.60,28.83
$GC,2650,-0.67,-194.6,2752,3647,3876,3705,417.0,-9.0,141,2658,0.00,1.90,0.00,0.000,1030,0.000,0.023,2754,2237,3790,3876,3704,0,0,0,0,0,0,28.83,26.67,28.83
$GC,2956,-0.67,-194.6,2755,2237,3876,3700,445.3,-9.0,157,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2237,3788,3876,3700,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3256,-0.67,-194.6,2755,2237,3876,3697,473.9,-9.5,172,3257,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2237,3786,3876,3697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3556,-0.67,-194.6,2755,2237,3876,3692,500.2,-7.9,187,3562,0.00,2.10,0.00,0.000,260,0.000,0.045,2755,3647,3784,3876,3692,0,0,0,0,0,0,28.83,26.62,28.83
$GC,3663,-0.67,-194.6,1744,3646,3873,3689,507.6,-7.0,192,3670,0.00,1.90,0.00,0.000,1030,0.000,0.023,2755,2236,3783,3876,3690,0,0,0,0,0,0,28.83,26.70,28.83
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$GC,5041,-0.67,-194.6,2755,3646,3864,3677,614.1,-7.5,257,5047,0.00,1.90,0.00,0.000,1030,0.000,0.024,2755,2246,3770,3864,3677,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5375,-0.67,-194.6,2754,2245,3861,3674,638.3,-7.3,268,5381,0.00,2.08,0.00,0.000,260,0.000,0.046,2755,3644,3767,3861,3674,0,0,0,0,0,0,28.83,26.62,28.83
$GC,5429,-0.67,-194.6,2755,3645,3861,3674,640.8,-7.1,269,5435,0.00,1.90,0.00,0.000,1030,0.000,0.024,2755,2245,3767,3861,3674,0,0,0,0,0,0,28.83,26.70,28.83
$GC,5744,-0.67,-194.6,2755,2245,3858,3670,665.5,-7.7,280,5746,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2245,3764,3858,3671,0,0,0,0,0,0,28.83,28.83,28.83
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$GC,9806,-0.67,-194.6,2755,2241,3841,3650,953.0,-7.6,413,9812,0.00,2.10,0.00,0.000,260,0.000,0.049,2755,3643,3745,3841,3650,0,0,0,0,0,0,28.83,26.58,28.83
$GC,9874,-0.67,-194.6,2755,3643,3841,3650,958.0,-7.6,415,9880,0.00,1.92,0.00,0.000,1030,0.000,0.025,2755,2246,3745,3841,3650,0,0,0,0,0,0,28.83,26.68,28.83
$GC,10203,-0.67,-194.6,2755,2245,3840,3649,984.2,-7.7,426,10209,0.00,1.98,0.00,0.000,516,0.000,0.044,2755,893,3744,3840,3649,0,0,0,0,0,0,28.83,26.59,28.83
$GC,10227,-0.67,-194.6,2755,893,3836,3649,984.2,-7.7,426,10233,0.00,1.92,0.00,0.000,1030,0.000,0.031,2755,2246,3744,3839,3649,0,0,0,0,0,0,28.83,26.63,28.83
$STATE,10239,end dive,HALF_MISSION_TIME_EXCEEDED
$STATE,10239,begin apogee
$GC,10242,-0.20,0.0,2754,2246,3840,3649,987.0,-7.7,427,10419,0.45,0.00,170.75,0.993,10246,0.106,0.000,2912,2247,2993,3108,2878,0,0,0,0,0,0,26.55,28.83,24.12
$STATE,10421,end apogee,CONTROL_FINISHED_OK
$STATE,10421,begin climb
$GC,10422,0.67,194.6,2912,2247,3106,2872,996.8,0.0,432,10610,0.77,2.35,175.93,0.986,10756,0.063,0.050,3201,838,2193,2319,2067,0,0,1,0,0,0,24.82,24.55,23.96
$GC,10774,0.67,194.6,3200,838,2314,2059,966.7,14.7,443,10780,0.00,2.00,0.00,0.000,1030,0.000,0.032,3201,2176,2186,2314,2058,0,0,0,0,0,0,28.83,25.56,28.83
$GC,11088,0.67,194.6,3200,2177,2313,2050,917.5,14.7,454,11094,0.00,2.15,0.00,0.000,260,0.000,0.047,3201,3576,2181,2312,2050,0,0,0,0,0,0,28.83,25.95,28.83
$GC,11192,0.67,194.6,3200,3576,2310,2049,902.1,15.8,457,11198,0.10,2.00,0.00,0.000,5126,0.229,0.029,3190,2211,2179,2310,2049,0,0,0,0,0,0,25.89,26.06,28.83
$GC,11516,0.67,194.6,3189,2210,2310,2048,853.8,14.5,468,11518,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,2210,2178,2310,2047,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11816,0.67,194.6,3190,2210,2310,2046,811.7,14.1,478,11822,0.00,2.08,0.00,0.000,260,0.000,0.047,3189,3578,2178,2310,2046,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11875,0.67,194.6,3189,3578,2310,2045,806.5,14.5,479,11883,0.00,2.05,0.00,0.000,1030,0.000,0.030,3191,2168,2177,2310,2044,0,0,0,0,0,0,28.83,26.32,28.83
$GC,12182,0.67,194.6,3191,2168,2310,2044,759.7,13.8,490,12187,0.00,2.15,0.00,0.000,260,0.000,0.047,3191,3582,2177,2310,2044,0,0,0,0,0,0,28.83,26.34,28.83
$GC,12208,0.67,194.6,2240,3580,2239,2036,759.7,13.8,490,12216,0.00,2.03,0.00,0.000,1030,0.000,0.028,3199,2175,2176,2309,2043,0,0,0,0,0,0,28.83,26.37,28.83
$GC,12517,0.67,194.6,3199,2175,2309,2043,712.4,14.0,501,12522,0.00,2.12,0.00,0.000,260,0.000,0.045,3199,3578,2176,2310,2043,0,0,0,0,0,0,28.83,26.39,28.83
$GC,12590,0.67,194.6,3199,3577,2309,2042,702.5,14.4,503,12596,0.10,2.03,0.00,0.000,5126,0.224,0.028,3189,2174,2175,2309,2042,0,0,0,0,0,0,26.26,26.42,28.83
$GC,12914,0.67,194.6,3189,2173,2309,2042,658.6,13.1,514,12915,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,2173,2175,2309,2042,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13214,0.67,194.6,3189,2173,2309,2042,618.4,13.5,524,13220,0.00,2.12,0.00,0.000,260,0.000,0.046,3189,3580,2175,2309,2041,0,0,0,0,0,0,28.83,26.45,28.83
$GC,13268,0.67,194.6,3189,3580,2309,2041,613.3,13.9,525,13274,0.00,2.03,0.00,0.000,1030,0.000,0.029,3191,2174,2175,2309,2041,0,0,0,0,0,0,28.83,26.49,28.83
$GC,13582,0.67,194.6,3191,2173,2309,2041,567.6,13.0,540,13583,0.00,0.00,0.00,0.000,6,0.000,0.000,3191,2173,2174,2309,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13882,0.67,194.6,3191,2173,2309,2040,530.1,11.8,555,13883,0.00,0.00,0.00,0.000,6,0.000,0.000,3192,2173,2174,2309,2040,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14182,0.67,194.6,3191,2173,2309,2040,496.1,11.2,570,14188,0.00,2.12,0.00,0.000,260,0.000,0.044,3191,3586,2174,2309,2040,0,0,0,0,0,0,28.83,26.51,28.83
$GC,14205,0.67,194.6,3191,3586,2309,2040,493.2,11.5,571,14211,0.00,2.03,0.00,0.000,1030,0.000,0.026,3198,2165,2174,2309,2040,0,0,0,0,0,0,28.83,26.55,28.83
$GC,14530,0.67,194.6,3198,2165,2309,2040,456.0,11.2,587,14535,0.00,2.05,0.00,0.000,516,0.000,0.048,3208,788,2174,2309,2040,0,0,0,0,0,0,28.83,26.50,28.83
$GC,14613,0.67,194.6,2240,787,2234,2032,446.7,11.2,591,14619,0.10,2.00,0.00,0.000,5126,0.186,0.028,3187,2195,2174,2309,2040,0,0,0,0,0,0,26.41,26.55,28.83
$GC,14938,0.71,216.5,3186,2196,2308,2039,414.4,9.8,607,14963,0.08,2.12,16.67,0.626,10500,0.131,0.044,3219,3574,2105,2238,1973,0,0,0,0,0,0,26.59,26.32,25.83
$GC,15000,0.71,216.5,3218,3573,2234,1971,408.4,11.2,609,15009,0.12,2.00,0.00,0.000,5126,0.202,0.025,3201,2172,2102,2234,1971,0,0,0,0,0,0,26.20,26.36,28.83
$GC,15306,0.71,216.5,3200,2171,2234,1968,369.3,11.9,625,15307,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,2172,2100,2234,1967,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15606,0.71,216.5,3200,2172,2234,1966,332.3,12.1,640,15612,0.00,2.10,0.00,0.000,260,0.000,0.044,3200,3569,2100,2234,1966,0,0,0,0,0,0,28.83,26.45,28.83
$GC,15701,0.71,216.5,3200,3569,2232,1965,321.4,12.8,644,15707,0.00,1.98,0.00,0.000,1030,0.000,0.026,3205,2176,2099,2232,1966,0,0,0,0,0,0,28.83,26.49,28.83
$GC,16015,0.71,216.5,3205,2176,2232,1965,285.3,11.2,660,16021,0.00,2.05,0.00,0.000,516,0.000,0.045,3215,789,2098,2232,1965,0,0,0,0,0,0,28.83,26.47,28.83
$GC,16068,0.71,216.5,3215,790,2231,1965,280.1,11.4,662,16075,0.00,1.95,0.00,0.000,1030,0.000,0.027,3215,2176,2098,2231,1965,0,0,0,0,0,0,28.83,26.52,28.83
$GC,16383,0.71,216.5,3215,2178,2232,1965,243.0,11.1,678,16389,0.00,2.05,0.00,0.000,260,0.000,0.044,3215,3570,2096,2227,1965,0,0,0,0,0,0,28.83,26.51,28.83
$GC,16512,0.71,216.5,3215,3569,2231,1965,227.5,12.1,684,16518,0.08,1.98,0.00,0.000,5126,0.229,0.025,3207,2170,2098,2231,1965,0,0,0,0,0,0,26.40,26.56,28.83
$GC,16837,0.85,284.1,3206,2166,2231,1965,198.7,8.2,700,16901,0.12,2.08,53.47,0.489,10756,0.089,0.046,3281,788,1827,1953,1702,0,0,0,0,0,0,26.58,25.98,25.62
$GC,16932,0.85,284.1,3281,788,1950,1701,188.7,11.4,704,16940,0.15,2.00,0.00,0.000,5126,0.180,0.026,3245,2189,1826,1951,1701,0,0,0,0,0,0,25.93,26.06,28.83
$GC,17249,0.86,289.9,3245,2190,1948,1695,149.4,10.4,720,17260,0.00,2.10,3.12,0.347,8452,0.000,0.041,3245,3565,1810,1935,1685,0,0,0,0,0,0,28.83,26.23,25.70
$GC,17298,0.86,291.8,3245,3565,1936,1686,144.1,10.6,722,17309,0.00,2.00,3.00,0.337,9222,0.000,0.026,3245,2177,1802,1926,1678,0,0,0,0,0,0,28.83,26.27,25.70
$GC,17617,1.08,399.2,3244,2176,1926,1679,112.8,6.7,738,17706,0.22,2.20,81.05,0.415,10500,0.062,0.040,3345,3574,1359,1465,1254,0,0,0,0,0,0,26.38,25.72,25.39
$GC,17733,1.08,399.2,3344,3570,1460,1251,98.5,14.6,743,17739,0.12,2.05,0.00,0.000,5126,0.203,0.026,3324,2183,1355,1459,1251,0,0,0,0,0,0,25.67,25.84,28.83
$GC,18047,1.08,399.2,3324,2182,1459,1247,41.8,18.6,761,18053,0.00,2.08,0.00,0.000,260,0.000,0.040,3324,3566,1353,1459,1247,0,0,0,0,0,0,28.83,26.15,28.83
$GC,18075,1.08,399.2,3323,3566,1457,1247,37.3,18.7,763,18083,0.00,2.03,0.00,0.000,1030,0.000,0.027,3325,2166,1352,1457,1247,0,0,1,0,0,0,28.83,26.17,28.83
$STATE,18280,end climb,SURFACE_DEPTH_REACHED
$STATE,18280,begin surface coast
$FINISH,0.2,1.022097
$STATE,18298,end surface coast,CONTROL_FINISHED_OK
$STATE,18298,begin surface
$SM_CCo,18375,0.00,0.000,0,0,1349,402.78
$SM_GC,-3.27,8.80,0.10,0.00,0.078,0.086,0.000,129,2261,1349,-8.78,-1.53,402.78,0,0,0,0,0,0,26.26,26.35,28.83
$IRIDIUM_FIX,1828.22,12333.84,250313,232309
$TT8_MAMPS,0.026964,0.026964
$HUMID,44.76
$INTERNAL_PRESSURE,9.60974
$TCM_TEMP,24.10
$XPDR_PINGS,13
$SC_FREEKB,4002080
$24V_AH,24.0,5.805
$10V_AH,10.4,7.136
$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,22.125,161.700,504.000,0.000,0.000,0.000,0.000,254.750,3.250,0.000,16.785,3428.425,12073.452,739.392,2276.773,250.919,0.000,2097.813,0.000,1906.395,0.000,0.545,0.000
$DEVICE_MAMPS,248.625,85.680,992.970,0.000,0.000,0.000,0.000,121.635,420.000,0.000,30.710,17.210,2.190,17.210,43.420,54.660,0.000,15.000,0.000,7.490,0.000,5.000,0.000
$SENSORS,nil,nil,nil,nil,nil,nil,SciCon,nil,nil,nil
$SENSOR_SECS,0.000,0.000,0.000,0.000,0.000,0.000,18311.000,0.000,0.000,0.000
$SENSOR_MAMPS,0.000,0.000,0.000,0.000,0.000,0.000,7.348,0.000,0.000,0.000
$MEM,326692
$DATA_FILE_SIZE,30077,800
$CAP_FILE_SIZE,435772,0
$CFSIZE,260034560,247369728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0,0
$CURRENT,0.392,166.8,1
$GPS,260313,093700,1833.645,12332.464,38,1.3,39,-2.1