version: 66.11
glider: 178
mission: 14
dive: 9
start: 6 12 112 11 48 41
data:
$ID,178
$MISSION,14
$DIVE,9
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$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,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51867
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.0025937001
$HD_B,0.01134
$HD_C,1.234e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.700001
$TGT_DEFAULT_LON,-122.4
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,8
$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,-13165.124
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2660
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2250
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,30
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,2737
$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
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,61.200001
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-47.288708
$PRESSURE_SLOPE,0.0001161899
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$LOGGERDEVICE1,69
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043278597
$SEABIRD_T_H,0.00062587409
$SEABIRD_T_I,2.4307059e-05
$SEABIRD_T_J,2.6760367e-06
$SEABIRD_C_G,-9.9460888
$SEABIRD_C_H,1.1279132
$SEABIRD_C_I,-0.0015660153
$SEABIRD_C_J,0.00020359491
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,120612,114137,4650.806,-12502.015,73,1.5,79,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-72.8
$GPS2,120612,114755,4650.803,-12501.879,17,1.7,35,18.4
$SPEED_LIMITS,0.173,0.242
$TGT_NAME,SE
$TGT_LATLONG,4640.000,-12510.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.107,-0.217
$KALMAN_X,1792.6,-1361.2,-68.8,-7802.8,418.0
$KALMAN_Y,232.0,1265.8,-712.5,-8256.4,901.7
$MHEAD_RNG_PITCHd_Wd,186.1,22513,-17.8,-10.000
$D_GRID,539
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,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,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.77,-146.0,0.0,0.0,0,75,0.00,0.00,-60.55,0.000,2,0.000,0.000,159,2510,2697,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.77,-146.0,3.5,-7.8,10,104,10.65,2.15,-11.77,0.000,4,0.272,0.081,2397,3776,3337,0,0,0,0,0,0,24.84,25.35,25.92
$GC,112,-0.41,-146.0,17.5,-34.4,16,120,0.45,2.08,0.00,0.000,6,0.170,0.041,2520,2496,3339,0,0,0,0,0,0,24.92,25.56,28.83
$GC,419,-0.67,-146.0,41.5,-7.9,77,427,0.25,2.25,0.00,0.000,4,0.078,0.045,2433,1097,3346,0,0,0,0,0,0,25.67,25.57,28.83
$GC,466,-0.77,-146.0,45.5,-8.7,86,474,0.00,2.33,0.00,0.000,6,0.000,0.050,2424,2497,3343,0,0,0,0,0,0,28.83,25.55,28.83
$GC,773,-0.77,-146.0,79.2,-11.5,147,784,0.00,2.17,0.00,0.000,4,0.000,0.067,2415,3784,3343,0,0,0,0,0,0,28.83,25.51,28.83
$GC,923,-0.77,-146.0,98.2,-13.9,176,933,0.00,2.03,0.00,0.000,6,0.000,0.044,2415,2485,3344,0,0,0,0,0,0,28.83,25.88,28.83
$GC,1233,-0.80,-146.0,131.0,-9.7,237,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2486,3344,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1542,-0.85,-146.0,159.7,-9.0,298,1554,0.00,2.15,0.00,0.000,4,0.000,0.067,2405,3774,3344,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1563,-0.89,-146.0,161.8,-9.0,301,1573,0.00,1.98,0.00,0.000,6,0.000,0.042,2403,2496,3344,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1872,-0.93,-146.0,192.0,-10.2,362,1883,0.12,2.15,0.00,0.000,4,0.096,0.065,2338,3775,3344,0,0,0,0,0,0,26.22,25.62,28.83
$GC,1962,-0.89,-146.0,204.1,-14.6,376,1973,0.12,2.00,0.00,0.000,6,0.177,0.042,2362,2493,3344,0,0,0,0,0,0,25.62,26.05,28.83
$GC,2267,-0.89,-146.0,243.5,-12.4,407,2275,0.00,2.15,0.00,0.000,4,0.000,0.067,2359,3778,3344,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2314,-0.89,-146.0,249.4,-12.8,411,2321,0.00,2.00,0.00,0.000,6,0.000,0.043,2358,2493,3344,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2625,-0.89,-146.0,288.5,-11.5,442,2633,0.00,2.15,0.00,0.000,4,0.000,0.067,2349,3775,3346,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2686,-0.87,-146.0,295.5,-12.6,447,2697,0.12,2.00,0.00,0.000,6,0.172,0.042,2378,2491,3343,0,0,0,0,0,0,25.68,26.06,28.83
$GC,2992,-0.87,-146.0,328.3,-9.7,478,2999,0.00,2.15,0.00,0.000,4,0.000,0.067,2371,3777,3343,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3068,-0.87,-146.0,336.4,-10.5,485,3076,0.00,2.00,0.00,0.000,6,0.000,0.043,2370,2491,3343,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3374,-0.87,-146.0,368.1,-10.6,515,3381,0.00,2.15,0.00,0.000,4,0.000,0.067,2361,3776,3343,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3425,-0.87,-146.0,373.7,-11.9,519,3435,0.00,1.98,0.00,0.000,6,0.000,0.044,2361,2495,3342,0,0,0,0,0,0,28.83,26.08,28.83
$GC,3730,-0.87,-146.0,409.1,-11.6,550,3739,0.00,2.12,0.00,0.000,4,0.000,0.068,2352,3774,3342,0,0,0,0,0,0,28.83,25.62,28.83
$GC,3772,-0.87,-146.0,413.6,-12.1,553,3783,0.12,2.00,0.00,0.000,6,0.172,0.043,2380,2492,3342,0,0,0,0,0,0,25.70,26.08,28.83
$GC,4078,-0.89,-146.0,445.0,-10.1,584,4085,0.00,2.15,0.00,0.000,4,0.000,0.067,2373,3774,3341,0,0,0,0,0,0,28.83,25.62,28.83
$GC,4104,-0.91,-146.0,447.8,-10.2,586,4112,0.00,1.98,0.00,0.000,6,0.000,0.044,2372,2493,3341,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4409,-0.91,-146.0,480.0,-10.6,616,4417,0.00,2.15,0.00,0.000,4,0.000,0.067,2361,3774,3341,0,0,0,0,0,0,28.83,25.63,28.83
$GC,4486,-0.91,-146.0,488.4,-11.0,623,4493,0.00,1.98,0.00,0.000,6,0.000,0.044,2360,2500,3340,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4791,-0.91,-146.0,520.8,-10.9,653,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2495,3343,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,4960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4960,begin apogee
$GC,4963,-0.17,0.0,539.2,-11.1,670,5098,0.75,0.00,125.97,0.967,6,0.136,0.000,2593,2248,2738,0,0,0,0,0,0,25.31,28.83,23.27
$STATE,5099,end apogee,CONTROL_FINISHED_OK
$STATE,5099,begin climb
$GC,5100,0.77,146.0,544.9,0.0,683,5245,0.88,0.00,131.23,0.945,6,0.056,0.000,2909,2249,2140,0,0,0,0,0,0,24.49,28.83,22.95
$GC,5541,0.71,146.0,512.8,10.4,728,5549,0.00,2.33,0.00,0.000,4,0.000,0.050,2920,846,2131,0,0,0,0,0,0,28.83,25.16,28.83
$GC,5649,0.64,146.0,501.5,10.4,738,5663,0.20,2.30,0.00,0.000,6,0.168,0.045,2872,2254,2129,0,0,0,0,0,0,24.89,25.29,28.83
$GC,5959,0.62,149.7,471.5,9.8,769,5964,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2255,2130,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6259,0.62,170.9,442.1,9.0,799,6286,0.00,0.00,21.50,0.864,6,0.000,0.000,2871,2254,2040,0,0,0,0,0,0,28.83,28.83,24.29
$GC,6580,0.62,172.8,409.4,9.9,831,6588,0.00,2.33,0.00,0.000,4,0.000,0.050,2880,835,2035,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6627,0.62,172.8,404.5,10.4,835,6635,0.00,2.28,0.00,0.000,6,0.000,0.046,2880,2251,2034,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6933,0.60,172.8,371.8,10.8,865,6938,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2251,2033,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7233,0.58,172.8,340.5,10.6,895,7239,0.15,0.00,0.00,0.000,6,0.174,0.000,2844,2251,2033,0,0,0,0,0,0,25.65,28.83,28.83
$GC,7533,0.65,214.5,314.7,8.1,925,7582,0.00,2.42,38.25,0.822,4,0.000,0.063,2844,3651,1861,0,0,0,0,0,0,28.83,25.26,24.30
$GC,7610,0.69,236.8,308.4,9.0,932,7641,0.00,2.28,20.58,0.787,6,0.000,0.041,2853,2231,1771,0,0,0,0,0,0,28.83,25.44,24.08
$GC,7936,0.73,242.5,276.6,9.7,965,7952,0.12,2.28,5.57,0.633,4,0.098,0.050,2916,849,1749,0,0,0,0,0,0,25.62,25.47,24.26
$GC,8010,0.73,242.5,267.4,12.9,972,8018,0.00,2.30,0.00,0.000,6,0.000,0.046,2916,2253,1747,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8316,0.71,242.5,226.2,13.4,1002,8321,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,2253,1746,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8616,0.68,242.5,185.9,13.8,1042,8627,0.12,2.30,0.00,0.000,4,0.180,0.048,2891,846,1745,0,0,0,0,0,0,25.64,25.65,28.83
$GC,8686,0.71,242.5,177.4,12.1,1055,8697,0.00,2.25,0.00,0.000,6,0.000,0.045,2891,2253,1745,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8995,0.71,242.5,139.4,11.9,1116,9007,0.00,2.33,0.00,0.000,4,0.000,0.063,2895,3654,1744,0,0,0,0,0,0,28.83,25.59,28.83
$GC,9121,0.71,242.5,123.3,13.4,1140,9132,0.00,2.22,0.00,0.000,6,0.000,0.041,2902,2241,1744,0,0,0,0,0,0,28.83,25.87,28.83
$GC,9432,0.73,260.6,89.9,9.2,1201,9461,0.00,2.25,16.62,0.672,4,0.000,0.051,2909,857,1673,0,0,0,0,0,0,28.83,25.79,24.82
$GC,9566,0.75,269.5,77.1,9.6,1226,9583,0.00,2.22,8.95,0.622,6,0.000,0.045,2912,2256,1638,0,0,0,0,0,0,28.83,25.71,24.70
$GC,9883,0.78,269.5,43.8,10.2,1288,9890,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2251,1634,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10190,0.91,357.5,17.2,5.9,1349,10271,0.12,2.40,73.12,0.641,4,0.100,0.061,2964,3649,1276,0,0,0,0,0,0,26.09,24.99,24.22
$STATE,10358,end climb,SURFACE_DEPTH_REACHED
$STATE,10358,begin surface coast
$FINISH,0.1,1.023565
$STATE,10384,end surface coast,CONTROL_FINISHED_OK
$STATE,10384,begin surface
$SM_CCo,10459,0.00,0.000,0,0,1270,359.86
$SM_GC,1.00,7.78,1.90,0.00,0.048,0.041,0.000,163,2501,1270,-7.76,1.22,359.86,0,0,0,0,0,0,25.25,25.33,28.83
$IRIDIUM_FIX,4632.36,-12454.63,120612,080843
$TT8_MAMPS,0.121338,0.121338
$HUMID,40.51
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,17.90
$XPDR_PINGS,56
$24V_AH,23.0,24.326
$10V_AH,9.8,22.150
$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,21.975,86.975,441.800,0.000,0.000,26.811,41.813,168.996,14.000,0.000,35.905,0.000,6664.349,519.826,3607.357,93.720,33.223,1816.307,0.000,2122.592,0.000,0.529,0.000
$DEVICE_MAMPS,271.575,81.090,966.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,951.369,0.000,0.000,0.000,0.000,0.000,10972.420,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,109.334,0.000,0.000,0.000
$MEM,297224
$DATA_FILE_SIZE,56674,1385
$CAP_FILE_SIZE,134250,0
$CFSIZE,260165632,255926272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.058,286.5,1
$GPS,120612,144536,4649.630,-12503.382,58,1.9,70,18.4