version: 66.11
glider: 178
mission: 14
dive: 44
start: 6 21 112 7 54 47
data:
$ID,178
$MISSION,14
$DIVE,44
$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,440
$T_MISSION,480
$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,130
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51867
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$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,-13447.131
$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,2640
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,45
$R_STBD_OVSHOOT,31
$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,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,1
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,99
$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,0
$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
$GPS1,210612,074854,4731.633,-12619.676,340,0.9,358,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-73.4
$GPS2,210612,075438,4731.622,-12619.749,13,1.2,13,18.7
$SPEED_LIMITS,0.130,0.205
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4730.030,-12630.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.125,-0.168
$KALMAN_X,15525.4,-319.5,282.4,-75395.2,-979.9
$KALMAN_Y,6878.8,-1189.9,-880.1,58416.4,4359.2
$MHEAD_RNG_PITCHd_Wd,202.0,13161,-14.3,-7.500
$D_GRID,1000
$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,12,-0.63,-126.5,0.0,0.0,0,79,0.00,0.00,-65.43,0.000,2,0.000,0.000,160,2504,2759,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.63,-126.5,3.1,-7.6,11,106,10.75,2.17,-9.65,0.000,4,0.266,0.073,2420,3777,3257,0,0,0,0,0,0,24.79,25.44,25.96
$GC,125,-0.41,-126.5,17.8,-25.4,19,132,0.28,2.05,0.00,0.000,6,0.157,0.037,2498,2493,3259,0,0,0,0,0,0,25.02,25.65,28.83
$GC,431,-0.46,-126.5,45.1,-6.9,80,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2493,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,731,-0.51,-126.5,69.0,-7.7,140,732,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2493,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1031,-0.64,-126.5,90.4,-7.1,200,1038,0.20,2.12,0.00,0.000,4,0.069,0.060,2410,3765,3264,0,0,0,0,0,0,26.09,25.66,28.83
$GC,1082,-0.61,-126.5,95.4,-10.2,210,1090,0.10,2.00,0.00,0.000,6,0.132,0.039,2441,2503,3264,0,0,0,0,0,0,25.59,25.94,28.83
$GC,1389,-0.61,-126.5,122.6,-7.7,271,1389,0.00,0.00,0.00,0.000,6,0.000,0.000,2441,2503,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1689,-0.61,-126.5,146.0,-7.1,331,1696,0.00,2.12,0.00,0.000,4,0.000,0.061,2434,3773,3264,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1774,-0.61,-126.5,152.7,-7.7,348,1782,0.00,2.00,0.00,0.000,6,0.000,0.038,2434,2497,3264,0,0,0,0,0,0,28.83,26.07,28.83
$GC,2080,-0.61,-126.5,175.7,-7.3,409,2088,0.00,2.12,0.00,0.000,4,0.000,0.061,2425,3765,3264,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2117,-0.61,-126.5,178.5,-7.5,416,2124,0.00,1.98,0.00,0.000,6,0.000,0.038,2424,2507,3264,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2423,-0.61,-126.5,203.7,-8.2,473,2427,0.00,2.10,0.00,0.000,4,0.000,0.060,2416,3765,3263,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2448,-0.61,-126.5,205.2,-8.0,475,2455,0.00,1.98,0.00,0.000,6,0.000,0.037,2415,2500,3263,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2753,-0.61,-126.5,230.5,-7.9,506,2757,0.00,2.22,0.00,0.000,4,0.000,0.044,2415,1104,3263,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2773,-0.61,-126.5,232.1,-7.7,508,2778,0.10,2.25,0.00,0.000,6,0.129,0.045,2438,2495,3263,0,0,0,0,0,0,25.58,25.84,28.83
$GC,3083,-0.63,-126.5,252.2,-6.7,539,3087,0.00,2.12,0.00,0.000,4,0.000,0.061,2431,3778,3262,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3098,-0.66,-126.5,252.8,-6.6,540,3105,0.00,2.00,0.00,0.000,6,0.000,0.037,2431,2491,3262,0,0,0,0,0,0,28.83,26.11,28.83
$GC,3403,-0.67,-126.5,274.2,-6.4,571,3407,0.00,2.15,0.00,0.000,4,0.000,0.061,2423,3777,3262,0,0,0,0,0,0,28.83,25.69,28.83
$GC,3443,-0.67,-126.5,277.2,-7.6,575,3447,0.00,2.00,0.00,0.000,6,0.000,0.036,2422,2493,3262,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3753,-0.67,-126.5,298.3,-6.6,606,3754,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2493,3261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4054,-0.67,-126.5,319.0,-7.3,636,4057,0.00,2.15,0.00,0.000,4,0.000,0.062,2413,3783,3261,0,0,0,0,0,0,28.83,25.68,28.83
$GC,4073,-0.67,-126.5,320.5,-7.6,638,4077,0.00,2.00,0.00,0.000,6,0.000,0.037,2413,2500,3260,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4383,-0.67,-126.5,345.3,-8.0,669,4387,0.00,2.12,0.00,0.000,4,0.000,0.062,2403,3776,3260,0,0,0,0,0,0,28.83,25.68,28.83
$GC,4408,-0.67,-126.5,347.1,-8.6,671,4415,0.00,2.00,0.00,0.000,6,0.000,0.036,2403,2496,3260,0,0,0,0,0,0,28.83,26.13,28.83
$GC,4713,-0.66,-126.5,374.0,-8.7,702,4717,0.00,2.15,0.00,0.000,4,0.000,0.062,2394,3783,3259,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4738,-0.64,-126.5,375.6,-8.3,704,4746,0.12,2.00,0.00,0.000,6,0.130,0.039,2432,2504,3259,0,0,0,0,0,0,24.89,24.30,28.83
$GC,5043,-0.66,-126.5,396.9,-6.7,735,5044,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2504,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5344,-0.68,-126.5,416.7,-6.6,765,5345,0.00,0.00,0.00,0.000,6,0.000,0.000,2431,2504,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5644,-0.71,-126.5,436.7,-6.6,795,5647,0.00,2.12,0.00,0.000,4,0.000,0.063,2424,3771,3258,0,0,0,0,0,0,28.83,25.65,28.83
$GC,5669,-0.73,-126.5,438.0,-6.6,797,5676,0.00,2.00,0.00,0.000,6,0.000,0.045,2425,2497,3258,0,0,0,0,0,0,28.83,26.00,28.83
$GC,5973,-0.75,-126.5,457.5,-5.9,828,5977,0.00,2.12,0.00,0.000,4,0.000,0.063,2415,3773,3258,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5999,-0.75,-126.5,458.6,-6.0,830,6005,0.00,2.00,0.00,0.000,6,0.000,0.044,2414,2506,3258,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6303,-0.75,-126.5,478.7,-6.5,861,6304,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2506,3257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6604,-0.75,-126.5,498.8,-6.5,891,6605,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2506,3257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6904,-0.75,-126.5,519.4,-7.0,921,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2506,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7204,-0.75,-126.5,540.5,-6.9,951,7205,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2506,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7504,-0.75,-126.5,560.5,-6.6,981,7504,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2506,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7804,-0.75,-126.5,581.1,-6.6,1011,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2506,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8104,-0.75,-126.5,602.0,-7.1,1040,8105,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2506,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8403,-0.75,-126.5,622.2,-6.7,1055,8404,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2506,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8704,-0.77,-126.5,642.5,-6.8,1070,8704,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2506,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9004,-0.78,-126.5,663.2,-7.1,1085,9004,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2506,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9303,-0.80,-126.5,685.1,-7.6,1100,9304,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2506,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9604,-0.82,-126.5,707.4,-7.4,1115,9605,0.12,0.00,0.00,0.000,6,0.093,0.000,2364,2506,3253,0,0,0,0,0,0,26.44,28.83,28.83
$GC,9903,-0.77,-126.5,735.4,-9.2,1130,9904,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2506,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10203,-0.73,-126.5,761.9,-8.7,1145,10204,0.15,0.00,0.00,0.000,6,0.165,0.000,2402,2506,3252,0,0,0,0,0,0,26.00,28.83,28.83
$GC,10503,-0.73,-126.5,782.0,-6.4,1160,10507,0.00,2.15,0.00,0.000,4,0.000,0.065,2395,3779,3251,0,0,0,0,0,0,28.83,25.55,28.83
$GC,10528,-0.73,-126.5,783.3,-6.5,1161,10532,0.00,2.03,0.00,0.000,6,0.000,0.040,2395,2495,3251,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10843,-0.73,-126.5,805.2,-6.9,1177,10844,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2495,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11143,-0.73,-126.5,825.7,-6.8,1192,11144,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2495,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11443,-0.73,-126.5,846.6,-6.8,1207,11447,0.00,2.17,0.00,0.000,4,0.000,0.065,2385,3779,3250,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11478,-0.73,-126.5,848.2,-7.1,1208,11485,0.00,2.03,0.00,0.000,6,0.000,0.041,2385,2500,3251,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11783,-0.73,-126.5,871.5,-7.3,1224,11784,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2500,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12084,-0.73,-126.5,892.8,-7.3,1239,12084,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2500,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12383,-0.73,-126.5,914.9,-7.4,1254,12384,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2500,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12683,-0.73,-126.5,937.2,-7.6,1269,12684,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2500,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12983,-0.73,-126.5,958.8,-7.1,1284,12984,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2500,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13283,-0.73,-126.5,979.5,-6.9,1299,13284,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2500,3249,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,13442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13442,begin apogee
$GC,13445,-0.17,0.0,990.2,-6.7,1307,13566,0.62,0.00,115.28,1.271,6,0.129,0.000,2578,2200,2736,0,0,0,0,0,0,25.11,28.83,22.94
$STATE,13567,end apogee,CONTROL_FINISHED_OK
$STATE,13567,begin climb
$GC,13568,0.63,126.5,993.1,0.0,1313,13698,0.75,2.55,121.40,1.252,4,0.065,0.051,2852,805,2219,0,0,0,0,0,0,24.31,23.69,22.47
$GC,13813,0.56,126.5,979.5,9.4,1325,13818,0.10,2.40,0.00,0.000,6,0.146,0.044,2824,2208,2212,0,0,0,0,0,0,24.48,24.72,28.83
$GC,14124,0.51,126.5,952.0,8.5,1341,14127,0.00,2.38,0.00,0.000,4,0.000,0.060,2824,3607,2208,0,0,0,0,0,0,28.83,25.27,28.83
$GC,14188,0.45,126.5,946.5,8.9,1344,14193,0.15,2.28,0.00,0.000,6,0.154,0.038,2790,2191,2207,0,0,0,0,0,0,25.06,25.51,28.83
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$STATE,25995,end climb,SURFACE_DEPTH_REACHED
$STATE,25995,begin surface coast
$FINISH,-0.1,1.023894
$STATE,26035,end surface coast,CONTROL_FINISHED_OK
$STATE,26035,begin surface
$SM_CCo,26047,26.92,0.444,1,0,1309,350.04
$SM_GC,0.78,7.62,0.50,26.92,0.054,0.060,0.444,160,2503,1309,-7.71,-0.88,350.04,0,0,0,0,1,0,25.59,25.67,24.60
$IRIDIUM_FIX,4713.38,-12606.33,210612,000052
$TT8_MAMPS,0.05243,0.05243
$HUMID,42.40
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,18.50
$XPDR_PINGS,1337
$24V_AH,22.5,30.908
$10V_AH,9.8,26.326
$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
$DEVICE_SECS,21.650,164.400,411.350,26.925,0.000,33.056,43.951,161.189,334.250,0.000,14.169,0.000,20229.961,692.091,5284.251,178.835,0.000,2643.492,0.000,3945.484,0.000,0.528,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1770.057,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297272
$DATA_FILE_SIZE,103019,2559
$CAP_FILE_SIZE,258262,0
$CFSIZE,260165632,252231680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.037,336.4,1
$GPS,210612,151520,4729.934,-12622.868,316,99.0,335,18.7