version: 66.11
glider: 178
mission: 14
dive: 65
start: 6 26 112 21 6 13
data:
$ID,178
$MISSION,14
$DIVE,65
$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,420
$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,-13507.349
$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,47
$R_STBD_OVSHOOT,29
$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
$GPS1,260612,210020,4724.611,-12537.859,253,99.0,272,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.56
$_SM_ANGLEo,-72.3
$GPS2,260612,210604,4724.604,-12537.844,17,99.0,36,18.6
$SPEED_LIMITS,0.136,0.209
$TGT_NAME,HOLDING
$TGT_LATLONG,4649.500,-12513.080
$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,133.5,72189,-15.1,-7.857
$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,-0.66,-126.5,0.0,0.0,0,77,0.00,0.00,-63.33,0.000,2,0.000,0.000,163,2508,2804,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.66,-126.5,3.4,-10.7,11,104,10.98,2.12,-8.20,0.000,4,0.272,0.069,2415,3776,3254,0,0,0,0,0,0,24.58,25.22,25.50
$GC,318,-0.68,-126.5,47.7,-8.9,58,325,0.00,2.05,0.00,0.000,6,0.000,0.035,2415,2496,3259,0,0,0,0,0,0,28.83,25.51,28.83
$GC,624,-0.63,-126.5,80.3,-13.7,119,631,0.00,2.25,0.00,0.000,4,0.000,0.040,2414,1107,3260,0,0,0,0,0,0,28.83,25.44,28.83
$GC,709,-0.60,-126.5,92.1,-13.5,136,717,0.12,2.30,0.00,0.000,6,0.132,0.044,2443,2501,3261,0,0,0,0,0,0,25.16,25.44,28.83
$GC,1016,-0.62,-126.5,117.5,-6.8,197,1024,0.00,2.15,0.00,0.000,4,0.000,0.060,2435,3771,3262,0,0,0,0,0,0,28.83,25.38,28.83
$GC,1063,-0.64,-126.5,121.2,-7.6,206,1070,0.00,2.03,0.00,0.000,6,0.000,0.036,2435,2504,3262,0,0,0,0,0,0,28.83,25.32,28.83
$GC,1369,-0.66,-126.5,144.1,-8.0,267,1376,0.00,2.17,0.00,0.000,4,0.000,0.067,2426,3776,3262,0,0,0,0,0,0,28.83,25.35,28.83
$GC,1405,-0.68,-126.5,147.1,-8.7,274,1412,0.00,2.03,0.00,0.000,6,0.000,0.035,2426,2502,3262,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1710,-0.68,-126.5,171.9,-8.0,335,1718,0.00,2.17,0.00,0.000,4,0.000,0.059,2417,3778,3261,0,0,0,0,0,0,28.83,25.38,28.83
$GC,1731,-0.68,-126.5,173.7,-8.6,339,1738,0.00,2.05,0.00,0.000,6,0.000,0.035,2417,2492,3261,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2037,-0.68,-126.5,201.0,-9.0,399,2038,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2492,3261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2338,-0.68,-126.5,226.3,-8.6,429,2341,0.00,2.12,0.00,0.000,4,0.000,0.060,2407,3777,3260,0,0,0,0,0,0,28.83,25.36,28.83
$GC,2412,-0.68,-126.5,233.0,-9.9,436,2419,0.00,2.05,0.00,0.000,6,0.000,0.038,2407,2498,3260,0,0,0,0,0,0,28.83,24.00,28.83
$GC,2717,-0.68,-126.5,262.8,-9.2,467,2721,0.00,2.17,0.00,0.000,4,0.000,0.060,2397,3779,3260,0,0,0,0,0,0,28.83,25.38,28.83
$GC,2777,-0.68,-126.5,268.7,-9.8,473,2781,0.00,2.05,0.00,0.000,6,0.000,0.035,2397,2490,3259,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3087,-0.68,-126.5,296.7,-8.6,504,3091,0.00,2.17,0.00,0.000,4,0.000,0.059,2388,3771,3259,0,0,0,0,0,0,28.83,25.34,28.83
$GC,3132,-0.65,-126.5,300.3,-9.1,508,3140,0.12,2.03,0.00,0.000,6,0.134,0.035,2427,2500,3257,0,0,0,0,0,0,25.20,25.63,28.83
$GC,3437,-0.68,-126.5,321.5,-6.8,539,3438,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2500,3258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3738,-0.71,-126.5,345.3,-8.6,569,3741,0.00,2.17,0.00,0.000,4,0.000,0.060,2419,3778,3258,0,0,0,0,0,0,28.83,25.32,28.83
$GC,3803,-0.73,-126.5,350.7,-9.2,575,3809,0.00,2.05,0.00,0.000,6,0.000,0.036,2419,2494,3258,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4107,-0.75,-126.5,377.5,-8.2,606,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2494,3258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4408,-0.77,-126.5,401.1,-7.5,636,4411,0.00,2.15,0.00,0.000,4,0.000,0.060,2410,3777,3257,0,0,0,0,0,0,28.83,25.29,28.83
$GC,4442,-0.79,-126.5,403.2,-7.2,639,4449,0.00,2.05,0.00,0.000,6,0.000,0.036,2410,2500,3257,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4747,-0.79,-126.5,426.8,-7.4,670,4748,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2500,3257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5048,-0.79,-126.5,447.4,-6.6,700,5051,0.00,2.17,0.00,0.000,4,0.000,0.061,2400,3775,3256,0,0,0,0,0,0,28.83,25.27,28.83
$GC,5102,-0.79,-126.5,450.9,-7.1,705,5110,0.00,2.05,0.00,0.000,6,0.000,0.036,2400,2493,3258,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5407,-0.79,-126.5,472.8,-7.4,736,5408,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2493,3258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5708,-0.79,-126.5,496.2,-7.9,766,5711,0.00,2.20,0.00,0.000,4,0.000,0.062,2391,3779,3254,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5782,-0.79,-126.5,502.1,-8.8,773,5790,0.00,2.05,0.00,0.000,6,0.000,0.035,2391,2499,3251,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6087,-0.79,-126.5,527.8,-7.9,804,6091,0.00,2.17,0.00,0.000,4,0.000,0.060,2381,3773,3254,0,0,0,0,0,0,28.83,25.24,28.83
$GC,6147,-0.79,-126.5,532.9,-8.9,810,6151,0.00,2.03,0.00,0.000,6,0.000,0.037,2381,2507,3253,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6457,-0.78,-126.5,560.5,-9.3,841,6461,0.00,2.17,0.00,0.000,4,0.000,0.061,2372,3777,3251,0,0,0,0,0,0,28.83,25.22,28.83
$GC,6492,-0.75,-126.5,563.4,-9.8,844,6499,0.00,2.05,0.00,0.000,6,0.000,0.036,2372,2500,3253,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6797,-0.73,-126.5,595.7,-10.6,875,6801,0.12,2.20,0.00,0.000,4,0.166,0.060,2394,3771,3252,0,0,0,0,0,0,25.28,25.22,28.83
$GC,6832,-0.73,-126.5,598.6,-9.9,878,6839,0.00,2.05,0.00,0.000,6,0.000,0.036,2394,2493,3252,0,0,0,0,0,0,28.83,25.54,28.83
$GC,7147,-0.73,-126.5,628.5,-9.1,895,7148,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2493,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7447,-0.73,-126.5,653.4,-7.8,910,7451,0.00,2.20,0.00,0.000,4,0.000,0.061,2385,3776,3251,0,0,0,0,0,0,28.83,25.20,28.83
$GC,7497,-0.73,-126.5,656.7,-8.1,912,7501,0.00,2.05,0.00,0.000,6,0.000,0.036,2384,2500,3251,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7807,-0.73,-126.5,682.6,-7.9,928,7811,0.00,2.20,0.00,0.000,4,0.000,0.061,2375,3782,3251,0,0,0,0,0,0,28.83,25.18,28.83
$GC,7852,-0.73,-126.5,685.9,-8.3,930,7857,0.08,2.05,0.00,0.000,6,0.144,0.036,2398,2508,3251,0,0,0,0,0,0,25.18,25.51,28.83
$GC,8167,-0.73,-126.5,710.8,-7.8,946,8168,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2508,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8468,-0.73,-126.5,733.3,-7.5,961,8468,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2508,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8767,-0.74,-126.5,755.0,-7.0,976,8771,0.00,2.17,0.00,0.000,4,0.000,0.062,2391,3774,3250,0,0,0,0,0,0,28.83,25.17,28.83
$GC,8857,-0.74,-126.5,760.8,-7.3,980,8861,0.00,2.05,0.00,0.000,6,0.000,0.037,2390,2505,3249,0,0,0,0,0,0,28.83,25.49,28.83
$GC,9167,-0.74,-126.5,783.3,-6.9,996,9171,0.00,2.17,0.00,0.000,4,0.000,0.062,2381,3773,3249,0,0,0,0,0,0,28.83,25.15,28.83
$GC,9217,-0.74,-126.5,786.4,-7.1,998,9221,0.00,2.05,0.00,0.000,6,0.000,0.038,2381,2500,3249,0,0,0,0,0,0,28.83,25.48,28.83
$GC,9527,-0.74,-126.5,811.5,-8.2,1014,9528,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2500,3249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9827,-0.74,-126.5,835.4,-8.1,1029,9828,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2500,3249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10127,-0.74,-126.5,858.9,-7.7,1044,10131,0.00,2.20,0.00,0.000,4,0.000,0.062,2372,3778,3248,0,0,0,0,0,0,28.83,25.13,28.83
$GC,10167,-0.74,-126.5,862.1,-7.9,1046,10171,0.00,2.08,0.00,0.000,6,0.000,0.038,2371,2495,3248,0,0,0,0,0,0,28.83,25.47,28.83
$GC,10487,-0.74,-126.5,886.7,-7.6,1062,10491,0.00,2.20,0.00,0.000,4,0.000,0.062,2362,3771,3247,0,0,0,0,0,0,28.83,25.13,28.83
$GC,10528,-0.73,-126.5,889.9,-7.8,1064,10532,0.12,2.05,0.00,0.000,6,0.141,0.037,2399,2500,3247,0,0,0,0,0,0,24.98,25.44,28.83
$GC,10848,-0.75,-126.5,908.7,-5.4,1080,10849,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2500,3247,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11148,-0.78,-126.5,925.1,-5.4,1095,11151,0.00,2.20,0.00,0.000,4,0.000,0.063,2392,3776,3247,0,0,0,0,0,0,28.83,25.11,28.83
$GC,11172,-0.80,-126.5,926.5,-5.7,1096,11176,0.00,2.05,0.00,0.000,6,0.000,0.037,2393,2503,3247,0,0,0,0,0,0,28.83,25.46,28.83
$GC,11487,-0.80,-126.5,945.3,-5.9,1112,11491,0.00,2.20,0.00,0.000,4,0.000,0.063,2383,3780,3247,0,0,0,0,0,0,28.83,25.10,28.83
$GC,11522,-0.80,-126.5,946.4,-5.9,1113,11530,0.00,2.08,0.00,0.000,6,0.000,0.037,2383,2493,3247,0,0,0,0,0,0,28.83,25.46,28.83
$GC,11827,-0.80,-126.5,967.3,-6.7,1129,11831,0.00,2.20,0.00,0.000,4,0.000,0.063,2373,3769,3247,0,0,0,0,0,0,28.83,25.10,28.83
$GC,11857,-0.80,-126.5,968.7,-6.6,1130,11862,0.00,2.05,0.00,0.000,6,0.000,0.037,2373,2500,3246,0,0,0,0,0,0,28.83,25.44,28.83
$STATE,12166,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12166,begin apogee
$GC,12169,-0.17,0.0,990.6,-7.0,1146,12290,0.70,0.00,116.18,1.269,6,0.130,0.000,2582,2192,2737,0,0,0,0,0,0,24.77,28.83,22.71
$STATE,12291,end apogee,CONTROL_FINISHED_OK
$STATE,12291,begin climb
$GC,12292,0.66,126.5,993.6,0.0,1152,12422,0.77,2.50,122.00,1.258,4,0.062,0.045,2864,805,2219,0,0,0,0,0,0,24.02,23.62,22.37
$GC,12477,0.58,126.5,986.3,8.1,1161,12482,0.10,2.40,0.00,0.000,6,0.155,0.041,2836,2197,2215,0,0,0,0,0,0,24.14,24.36,28.83
$GC,12788,0.54,126.5,957.8,8.7,1177,12791,0.00,2.38,0.00,0.000,4,0.000,0.058,2837,3607,2210,0,0,0,0,0,0,28.83,25.16,28.83
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$STATE,23820,end climb,SURFACE_DEPTH_REACHED
$STATE,23820,begin surface coast
$FINISH,-0.0,1.023480
$STATE,23875,end surface coast,CONTROL_FINISHED_OK
$STATE,23875,begin surface
$SM_CCo,23887,20.55,0.381,1,0,1308,350.04
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$TT8_MAMPS,0.054677,0.054677
$HUMID,40.23
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,18.80
$XPDR_PINGS,183
$24V_AH,22.4,33.963
$10V_AH,9.8,28.652
$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
$DEVICE_SECS,21.525,190.625,429.200,20.550,0.000,28.302,36.210,153.970,45.750,0.000,38.745,0.000,18349.693,710.457,4995.474,167.780,0.000,2571.679,0.000,3719.473,0.000,0.528,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1600.791,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297436
$DATA_FILE_SIZE,93278,2317
$CAP_FILE_SIZE,246905,0
$CFSIZE,260165632,250212352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.080,348.9,1
$GPS,270612,034957,4723.056,-12536.440,273,7.1,292,18.6