version: 66.11
glider: 178
mission: 14
dive: 83
start: 7 2 112 0 23 58
data:
$ID,178
$MISSION,14
$DIVE,83
$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,-13530.091
$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,51
$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,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
$GPS1,020712,001826,4656.716,-12518.951,54,3.6,73,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-72.2
$GPS2,020712,002349,4656.714,-12518.951,13,1.3,13,18.4
$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,163.8,15292,-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,-126.5,0.0,0.0,0,81,0.00,0.00,-67.43,0.000,2,0.000,0.000,161,2500,2940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.66,-126.5,4.0,-12.6,11,107,10.93,2.17,-5.28,0.000,4,0.268,0.072,2414,3774,3257,0,0,0,0,0,0,24.56,25.28,25.60
$GC,331,-0.61,-126.5,56.2,-12.8,60,338,0.00,2.03,0.00,0.000,6,0.000,0.034,2414,2498,3265,0,0,0,0,0,0,28.83,25.59,28.83
$GC,637,-0.59,-126.5,90.7,-10.3,121,638,0.15,0.00,0.00,0.000,6,0.158,0.000,2450,2498,3264,0,0,0,0,0,0,25.33,28.83,28.83
$GC,937,-0.62,-126.5,114.2,-8.1,181,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2497,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1238,-0.67,-126.5,137.4,-7.0,241,1243,0.00,0.00,0.00,0.000,6,0.000,0.000,2451,2498,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1543,-0.71,-126.5,158.4,-7.0,302,1550,0.12,2.15,0.00,0.000,4,0.089,0.058,2383,3770,3265,0,0,0,0,0,0,25.70,25.48,28.83
$GC,1579,-0.67,-126.5,162.0,-10.6,309,1587,0.12,2.03,0.00,0.000,6,0.133,0.042,2421,2499,3264,0,0,0,0,0,0,25.27,25.60,28.83
$GC,1885,-0.67,-126.5,188.9,-9.0,370,1894,0.00,2.15,0.00,0.000,4,0.000,0.065,2414,3765,3264,0,0,0,0,0,0,28.83,24.13,28.83
$GC,1922,-0.67,-126.5,192.3,-9.1,377,1930,0.00,2.03,0.00,0.000,6,0.000,0.044,2414,2493,3264,0,0,0,0,0,0,28.83,25.61,28.83
$GC,2228,-0.67,-126.5,219.3,-8.4,416,2232,0.00,2.15,0.00,0.000,4,0.000,0.057,2404,3770,3264,0,0,0,0,0,0,28.83,25.45,28.83
$GC,2263,-0.67,-126.5,222.1,-9.1,419,2271,0.00,2.00,0.00,0.000,6,0.000,0.034,2404,2501,3264,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2568,-0.67,-126.5,250.6,-9.3,450,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2506,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2869,-0.67,-126.5,279.1,-9.6,480,2872,0.00,2.12,0.00,0.000,4,0.000,0.058,2396,3765,3264,0,0,0,0,0,0,28.83,25.43,28.83
$GC,2953,-0.67,-126.5,287.4,-10.1,488,2960,0.00,2.00,0.00,0.000,6,0.000,0.035,2395,2502,3263,0,0,0,0,0,0,28.83,25.71,28.83
$GC,3258,-0.67,-126.5,318.2,-9.8,519,3262,0.00,2.12,0.00,0.000,4,0.000,0.057,2386,3765,3262,0,0,0,0,0,0,28.83,25.41,28.83
$GC,3283,-0.66,-126.5,320.3,-10.3,521,3291,0.12,2.00,0.00,0.000,6,0.134,0.034,2424,2502,3262,0,0,0,0,0,0,25.28,25.70,28.83
$GC,3589,-0.69,-126.5,345.3,-7.6,552,3590,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2502,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3889,-0.71,-126.5,367.3,-7.2,582,3892,0.00,2.15,0.00,0.000,4,0.000,0.059,2417,3774,3262,0,0,0,0,0,0,28.83,25.39,28.83
$GC,3919,-0.74,-126.5,369.6,-7.6,585,3922,0.00,2.03,0.00,0.000,6,0.000,0.034,2417,2490,3262,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4229,-0.76,-126.5,392.9,-7.2,616,4232,0.00,2.17,0.00,0.000,4,0.000,0.058,2409,3778,3261,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4259,-0.78,-126.5,395.1,-7.5,619,4262,0.00,2.03,0.00,0.000,6,0.000,0.034,2409,2496,3261,0,0,0,0,0,0,28.83,25.68,28.83
$GC,4568,-0.78,-126.5,417.9,-7.0,650,4572,0.00,2.15,0.00,0.000,4,0.000,0.058,2400,3770,3261,0,0,0,0,0,0,28.83,25.41,28.83
$GC,4598,-0.78,-126.5,420.1,-7.2,653,4602,0.00,2.00,0.00,0.000,6,0.000,0.034,2400,2502,3261,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4908,-0.78,-126.5,442.9,-7.4,684,4909,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2503,3261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5209,-0.78,-126.5,465.0,-7.3,714,5210,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2501,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5509,-1.24,-126.5,476.9,-5.0,744,5511,0.60,0.00,0.00,0.000,6,0.185,0.000,2246,2502,3260,0,0,0,0,0,0,24.61,28.83,28.83
$GC,5808,-1.08,-126.5,501.9,-17.2,774,5813,0.20,2.25,0.00,0.000,4,0.201,0.041,2291,1112,3261,0,0,0,0,0,0,24.96,25.46,28.83
$GC,5858,-0.97,-126.5,509.4,-14.2,779,5863,0.12,2.30,0.00,0.000,6,0.161,0.045,2318,2496,3259,0,0,0,0,0,0,25.03,25.45,28.83
$GC,6168,-0.89,-126.5,547.6,-12.2,810,6170,0.12,0.00,0.00,0.000,6,0.190,0.000,2348,2496,3259,0,0,0,0,0,0,25.30,28.83,28.83
$GC,6468,-0.85,-126.5,578.9,-10.1,840,6472,0.00,2.17,0.00,0.000,4,0.000,0.060,2341,3779,3258,0,0,0,0,0,0,28.83,25.31,28.83
$GC,6489,-0.80,-126.5,581.1,-10.3,842,6493,0.12,2.03,0.00,0.000,6,0.147,0.037,2376,2510,3258,0,0,0,0,0,0,25.15,25.61,28.83
$GC,6808,-0.80,-126.5,608.7,-8.5,869,6812,0.00,2.15,0.00,0.000,4,0.000,0.060,2369,3774,3258,0,0,0,0,0,0,28.83,25.30,28.83
$GC,6838,-0.80,-126.5,610.5,-8.4,870,6843,0.00,2.03,0.00,0.000,6,0.000,0.036,2369,2505,3258,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7148,-0.80,-126.5,638.9,-9.1,886,7152,0.00,2.15,0.00,0.000,4,0.000,0.060,2366,3770,3259,0,0,0,0,0,0,28.83,25.27,28.83
$GC,7188,-0.78,-126.5,642.7,-9.3,888,7192,0.00,2.03,0.00,0.000,6,0.000,0.037,2360,2505,3257,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7509,-0.76,-126.5,673.3,-9.1,904,7513,0.15,2.17,0.00,0.000,4,0.162,0.061,2389,3779,3257,0,0,0,0,0,0,25.27,25.27,28.83
$GC,7578,-0.76,-126.5,678.3,-8.7,907,7583,0.00,2.08,0.00,0.000,6,0.000,0.037,2389,2491,3257,0,0,0,0,0,0,28.83,25.59,28.83
$GC,7889,-0.76,-126.5,703.2,-7.8,923,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2491,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8188,-0.76,-126.5,726.9,-8.0,938,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2491,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8488,-0.76,-126.5,751.8,-8.5,953,8493,0.00,2.20,0.00,0.000,4,0.000,0.061,2379,3779,3256,0,0,0,0,0,0,28.83,25.24,28.83
$GC,8553,-0.76,-126.5,757.4,-9.1,956,8557,0.00,2.05,0.00,0.000,6,0.000,0.037,2380,2503,3255,0,0,0,0,0,0,28.83,25.56,28.83
$GC,8868,-0.76,-126.5,784.8,-8.5,972,8873,0.00,2.17,0.00,0.000,4,0.000,0.061,2371,3769,3255,0,0,0,0,0,0,28.83,25.23,28.83
$GC,8943,-0.76,-126.5,790.1,-9.0,975,8951,0.00,2.05,0.00,0.000,6,0.000,0.038,2370,2503,3255,0,0,0,0,0,0,28.83,25.55,28.83
$GC,9249,-0.76,-126.5,817.4,-8.4,991,9249,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2503,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9548,-0.76,-126.5,842.4,-8.4,1006,9549,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2503,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9848,-0.76,-126.5,866.9,-8.1,1021,9852,0.00,2.17,0.00,0.000,4,0.000,0.062,2361,3768,3253,0,0,0,0,0,0,28.83,25.19,28.83
$GC,9883,-0.76,-126.5,868.6,-8.0,1022,9892,0.10,2.05,0.00,0.000,6,0.142,0.038,2391,2500,3254,0,0,0,0,0,0,25.13,25.53,28.83
$GC,10189,-0.78,-126.5,891.2,-6.9,1038,10192,0.00,2.20,0.00,0.000,4,0.000,0.062,2383,3779,3254,0,0,0,0,0,0,28.83,25.18,28.83
$GC,10224,-0.80,-126.5,892.5,-6.8,1039,10230,0.00,2.08,0.00,0.000,6,0.000,0.038,2383,2500,3254,0,0,0,0,0,0,28.83,25.52,28.83
$GC,10528,-0.80,-126.5,915.1,-7.2,1055,10532,0.00,2.20,0.00,0.000,4,0.000,0.062,2371,3779,3254,0,0,0,0,0,0,28.83,25.18,28.83
$GC,10598,-0.80,-126.5,919.4,-7.3,1058,10602,0.00,2.08,0.00,0.000,6,0.000,0.038,2374,2494,3254,0,0,0,0,0,0,28.83,25.51,28.83
$GC,10908,-0.80,-126.5,945.1,-8.2,1074,10912,0.00,2.20,0.00,0.000,4,0.000,0.062,2365,3772,3253,0,0,0,0,0,0,28.83,25.16,28.83
$GC,10978,-0.80,-126.5,950.4,-8.8,1077,10982,0.00,2.08,0.00,0.000,6,0.000,0.038,2365,2494,3253,0,0,0,0,0,0,28.83,25.50,28.83
$GC,11289,-0.80,-126.5,977.3,-8.2,1093,11292,0.00,2.20,0.00,0.000,4,0.000,0.061,2354,3771,3253,0,0,0,0,0,0,28.83,25.16,28.83
$GC,11353,-0.80,-126.5,982.4,-8.6,1096,11357,0.00,2.08,0.00,0.000,6,0.000,0.038,2355,2494,3253,0,0,0,0,0,0,28.83,25.48,28.83
$STATE,11447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11447,begin apogee
$GC,11451,-0.17,0.0,991.0,-8.6,1101,11572,0.75,0.00,117.70,1.271,6,0.134,0.000,2578,2200,2737,0,0,0,0,0,0,24.74,28.83,22.63
$STATE,11573,end apogee,CONTROL_FINISHED_OK
$STATE,11573,begin climb
$GC,11574,0.66,126.5,994.1,0.0,1107,11704,0.80,2.50,123.15,1.254,4,0.061,0.046,2866,795,2220,0,0,0,0,0,0,24.02,23.62,22.27
$GC,11838,0.59,126.5,979.2,10.1,1119,11846,0.10,2.38,0.00,0.000,6,0.155,0.040,2838,2201,2213,0,0,0,0,0,0,24.57,24.82,28.83
$GC,12144,0.55,126.5,949.3,9.3,1135,12145,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2201,2209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12443,0.50,126.5,923.5,8.2,1150,12445,0.15,0.00,0.00,0.000,6,0.172,0.000,2801,2203,2208,0,0,0,0,0,0,25.25,28.83,28.83
$GC,12743,0.52,137.4,902.1,7.4,1165,12758,0.00,2.38,9.32,1.047,4,0.000,0.056,2801,3613,2175,0,0,0,0,0,0,28.83,25.47,23.81
$GC,12788,0.52,141.4,898.9,7.7,1167,12798,0.00,2.28,5.60,0.887,6,0.000,0.034,2809,2188,2163,0,0,0,0,0,0,28.83,25.53,23.70
$GC,13104,0.53,144.5,873.9,7.7,1183,13113,0.00,2.28,4.00,0.734,4,0.000,0.045,2819,813,2148,0,0,0,0,0,0,28.83,25.53,23.72
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$STATE,23290,end climb,SURFACE_DEPTH_REACHED
$STATE,23290,begin surface coast
$FINISH,-0.3,1.023586
$STATE,23320,end surface coast,CONTROL_FINISHED_OK
$STATE,23320,begin surface
$SM_CCo,23334,17.98,0.337,1,0,1310,350.04
$SM_GC,0.62,7.80,1.80,17.98,0.047,0.034,0.337,161,2501,1310,-7.70,1.50,350.04,0,0,0,0,1,0,25.14,25.28,23.97
$IRIDIUM_FIX,4644.93,-12544.00,010712,171703
$TT8_MAMPS,0.054677,0.054677
$HUMID,40.43
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,18.60
$XPDR_PINGS,147
$24V_AH,22.3,36.701
$10V_AH,9.8,30.680
$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,23.650,185.450,438.225,17.975,0.000,29.155,36.114,152.840,36.750,0.000,14.326,0.000,17803.783,679.562,4978.215,184.095,0.000,2554.556,0.000,3739.003,0.000,0.529,0.000
$DEVICE_MAMPS,267.750,71.910,1271.430,337.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1572.998,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297408
$DATA_FILE_SIZE,93289,2278
$CAP_FILE_SIZE,246535,0
$CFSIZE,260165632,248311808
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.124, 50.8,1
$GPS,020712,065756,4655.007,-12517.636,242,99.0,261,18.4