version: 66.11
glider: 178
mission: 14
dive: 84
start: 7 2 112 7 3 44
data:
$ID,178
$MISSION,14
$DIVE,84
$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,-13531.355
$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,48
$R_STBD_OVSHOOT,33
$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
$GPS1,020712,065756,4655.007,-12517.636,242,99.0,261,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-72.9
$GPS2,020712,070335,4655.020,-12517.607,15,0.9,32,18.4
$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,168.0,11723,-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,-62.90,0.000,2,0.000,0.000,158,2501,2812,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.66,-126.5,3.3,-10.9,11,103,10.82,2.12,-8.02,0.000,4,0.266,0.078,2411,3773,3258,0,0,0,0,0,0,24.56,25.27,25.62
$GC,282,-0.61,-126.5,42.2,-14.1,51,289,0.10,2.03,0.00,0.000,6,0.136,0.034,2440,2499,3262,0,0,0,0,0,0,25.23,25.58,28.83
$GC,588,-0.61,-126.5,73.0,-8.8,112,596,0.00,2.25,0.00,0.000,4,0.000,0.039,2440,1106,3264,0,0,0,0,0,0,28.83,25.54,28.83
$GC,615,-0.63,-126.5,75.3,-8.5,117,622,0.00,2.28,0.00,0.000,6,0.000,0.043,2434,2489,3264,0,0,0,0,0,0,28.83,24.84,28.83
$GC,921,-0.63,-126.5,102.3,-8.6,178,921,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2489,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1221,-0.64,-126.5,126.9,-7.2,238,1228,0.00,2.17,0.00,0.000,4,0.000,0.058,2425,3785,3264,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1282,-0.64,-126.5,132.0,-8.3,250,1289,0.00,2.03,0.00,0.000,6,0.000,0.034,2424,2500,3265,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1588,-0.64,-126.5,156.8,-8.9,311,1595,0.00,2.15,0.00,0.000,4,0.000,0.058,2416,3771,3264,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1624,-0.64,-126.5,160.1,-9.2,318,1631,0.00,2.03,0.00,0.000,6,0.000,0.037,2416,2499,3264,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1930,-0.64,-126.5,185.6,-7.9,379,1937,0.00,2.17,0.00,0.000,4,0.000,0.060,2407,3779,3264,0,0,0,0,0,0,28.83,25.26,28.83
$GC,2015,-0.64,-126.5,193.1,-8.3,396,2024,0.00,2.03,0.00,0.000,6,0.000,0.034,2407,2497,3264,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2327,-0.64,-126.5,221.8,-9.6,435,2331,0.00,2.15,0.00,0.000,4,0.000,0.058,2398,3774,3264,0,0,0,0,0,0,28.83,25.46,28.83
$GC,2367,-0.64,-126.5,225.9,-10.4,439,2372,0.10,2.03,0.00,0.000,6,0.131,0.034,2428,2488,3264,0,0,0,0,0,0,25.37,25.74,28.83
$GC,2677,-0.67,-126.5,252.4,-8.4,470,2682,0.00,2.15,0.00,0.000,4,0.000,0.058,2421,3770,3263,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2792,-0.69,-126.5,262.5,-9.1,481,2800,0.00,2.03,0.00,0.000,6,0.000,0.037,2421,2496,3263,0,0,0,0,0,0,28.83,25.44,28.83
$GC,3098,-0.71,-126.5,289.2,-8.2,512,3101,0.00,2.17,0.00,0.000,4,0.000,0.057,2412,3783,3263,0,0,0,0,0,0,28.83,25.44,28.83
$GC,3157,-0.71,-126.5,294.3,-8.5,518,3161,0.00,2.03,0.00,0.000,6,0.000,0.034,2412,2500,3263,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3467,-0.71,-126.5,319.2,-7.9,549,3468,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2499,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3768,-0.71,-126.5,343.2,-7.9,579,3771,0.00,2.15,0.00,0.000,4,0.000,0.058,2403,3774,3262,0,0,0,0,0,0,28.83,25.42,28.83
$GC,3818,-0.71,-126.5,347.4,-8.4,584,3822,0.00,2.03,0.00,0.000,6,0.000,0.034,2403,2493,3261,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4127,-0.71,-126.5,373.1,-8.3,615,4131,0.00,2.17,0.00,0.000,4,0.000,0.058,2394,3779,3261,0,0,0,0,0,0,28.83,25.40,28.83
$GC,4198,-0.71,-126.5,379.4,-9.0,622,4202,0.00,2.03,0.00,0.000,6,0.000,0.034,2394,2505,3261,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4507,-0.71,-126.5,406.4,-8.4,653,4511,0.00,2.15,0.00,0.000,4,0.000,0.059,2384,3774,3261,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4527,-0.71,-126.5,408.1,-8.5,655,4532,0.00,2.03,0.00,0.000,6,0.000,0.034,2385,2492,3260,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4837,-0.71,-126.5,435.2,-8.6,686,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2493,3260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5138,-0.71,-126.5,460.7,-8.5,716,5141,0.00,2.17,0.00,0.000,4,0.000,0.059,2375,3777,3259,0,0,0,0,0,0,28.83,25.37,28.83
$GC,5163,-0.69,-126.5,462.5,-8.8,718,5170,0.12,2.05,0.00,0.000,6,0.136,0.035,2413,2495,3262,0,0,0,0,0,0,25.21,25.61,28.83
$GC,5468,-0.71,-126.5,486.2,-7.8,749,5471,0.00,2.17,0.00,0.000,4,0.000,0.059,2405,3779,3259,0,0,0,0,0,0,28.83,25.36,28.83
$GC,5518,-0.73,-126.5,490.3,-8.3,754,5522,0.00,2.03,0.00,0.000,6,0.000,0.035,2405,2504,3259,0,0,0,0,0,0,28.83,25.66,28.83
$GC,5827,-0.73,-126.5,514.9,-7.6,785,5831,0.00,2.15,0.00,0.000,4,0.000,0.059,2396,3774,3258,0,0,0,0,0,0,28.83,25.35,28.83
$GC,5853,-0.73,-126.5,516.4,-7.6,787,5860,0.00,2.05,0.00,0.000,6,0.000,0.037,2396,2490,3258,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6157,-0.73,-126.5,541.4,-8.2,818,6161,0.00,2.17,0.00,0.000,4,0.000,0.060,2387,3772,3258,0,0,0,0,0,0,28.83,25.33,28.83
$GC,6252,-0.73,-126.5,548.9,-8.3,827,6260,0.00,2.03,0.00,0.000,6,0.000,0.036,2387,2501,3258,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6557,-0.73,-126.5,574.3,-8.5,858,6561,0.00,2.17,0.00,0.000,4,0.000,0.059,2377,3780,3257,0,0,0,0,0,0,28.83,25.32,28.83
$GC,6622,-0.73,-126.5,579.7,-9.1,864,6630,0.00,2.05,0.00,0.000,6,0.000,0.035,2377,2497,3259,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6928,-0.73,-126.5,608.0,-9.4,891,6932,0.00,2.17,0.00,0.000,4,0.000,0.060,2368,3777,3256,0,0,0,0,0,0,28.83,25.29,28.83
$GC,6978,-0.72,-126.5,611.7,-9.3,893,6982,0.12,2.05,0.00,0.000,6,0.138,0.035,2405,2491,3256,0,0,0,0,0,0,25.18,25.63,28.83
$GC,7288,-0.74,-126.5,634.1,-6.3,909,7289,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2491,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7588,-0.76,-126.5,653.1,-6.4,924,7592,0.00,2.20,0.00,0.000,4,0.000,0.060,2398,3779,3254,0,0,0,0,0,0,28.83,25.28,28.83
$GC,7628,-0.78,-126.5,655.9,-6.8,926,7632,0.00,2.05,0.00,0.000,6,0.000,0.036,2398,2498,3254,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7948,-0.78,-126.5,678.5,-7.2,942,7951,0.00,2.17,0.00,0.000,4,0.000,0.061,2389,3773,3254,0,0,0,0,0,0,28.83,25.27,28.83
$GC,7998,-0.78,-126.5,681.6,-7.3,944,8002,0.00,2.05,0.00,0.000,6,0.000,0.036,2391,2495,3257,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8307,-0.78,-126.5,705.8,-8.0,960,8311,0.00,2.20,0.00,0.000,4,0.000,0.060,2379,3781,3254,0,0,0,0,0,0,28.83,25.27,28.83
$GC,8402,-0.78,-126.5,712.7,-8.5,964,8410,0.00,2.05,0.00,0.000,6,0.000,0.036,2379,2499,3254,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8708,-0.78,-126.5,740.8,-8.9,980,8711,0.00,2.17,0.00,0.000,4,0.000,0.060,2370,3771,3253,0,0,0,0,0,0,28.83,25.25,28.83
$GC,8802,-0.78,-126.5,748.3,-9.3,984,8810,0.00,2.05,0.00,0.000,6,0.000,0.037,2370,2496,3253,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9108,-0.78,-126.5,776.5,-8.8,1000,9108,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2496,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9408,-0.76,-126.5,801.7,-8.2,1015,9408,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2496,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9707,-0.76,-126.5,827.3,-9.1,1030,9708,0.00,0.00,0.00,0.000,6,0.000,0.000,2370,2496,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10008,-0.76,-126.5,853.7,-8.9,1045,10012,0.00,2.17,0.00,0.000,4,0.000,0.061,2360,3768,3252,0,0,0,0,0,0,28.83,25.20,28.83
$GC,10058,-0.75,-126.5,857.4,-9.0,1047,10062,0.10,2.05,0.00,0.000,6,0.144,0.037,2390,2498,3251,0,0,0,0,0,0,25.13,25.54,28.83
$GC,10368,-0.75,-126.5,880.9,-7.5,1063,10371,0.00,2.20,0.00,0.000,4,0.000,0.062,2383,3779,3251,0,0,0,0,0,0,28.83,25.20,28.83
$GC,10412,-0.75,-126.5,884.0,-7.6,1065,10416,0.00,2.05,0.00,0.000,6,0.000,0.037,2383,2506,3251,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10728,-0.75,-126.5,908.6,-7.3,1081,10728,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2506,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11028,-0.75,-126.5,930.1,-7.1,1096,11031,0.00,2.17,0.00,0.000,4,0.000,0.062,2374,3770,3250,0,0,0,0,0,0,28.83,25.18,28.83
$GC,11062,-0.75,-126.5,931.7,-7.3,1097,11070,0.00,2.05,0.00,0.000,6,0.000,0.037,2374,2501,3250,0,0,0,0,0,0,28.83,25.52,28.83
$GC,11368,-0.75,-126.5,955.9,-7.5,1113,11371,0.00,2.17,0.00,0.000,4,0.000,0.061,2364,3768,3250,0,0,0,0,0,0,28.83,25.17,28.83
$GC,11387,-0.75,-126.5,957.5,-7.5,1114,11392,0.10,2.05,0.00,0.000,6,0.143,0.037,2393,2501,3250,0,0,0,0,0,0,25.11,25.54,28.83
$GC,11708,-0.77,-126.5,979.3,-7.1,1130,11711,0.00,2.17,0.00,0.000,4,0.000,0.062,2386,3769,3250,0,0,0,0,0,0,28.83,25.14,28.83
$GC,11743,-0.79,-126.5,980.7,-7.0,1131,11750,0.00,2.05,0.00,0.000,6,0.000,0.038,2386,2499,3250,0,0,0,0,0,0,28.83,25.49,28.83
$STATE,11866,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11866,begin apogee
$GC,11869,-0.17,0.0,991.2,-7.4,1138,11991,0.65,0.00,117.05,1.277,6,0.124,0.000,2583,2190,2736,0,0,0,0,0,0,24.83,28.83,22.62
$STATE,11992,end apogee,CONTROL_FINISHED_OK
$STATE,11992,begin climb
$GC,11993,0.66,126.5,995.0,0.0,1144,12123,0.77,2.47,123.12,1.256,4,0.061,0.045,2864,795,2220,0,0,0,0,0,0,24.04,23.63,22.27
$GC,12283,0.60,126.5,979.7,9.4,1158,12290,0.12,2.35,0.00,0.000,6,0.172,0.040,2837,2208,2210,0,0,0,0,0,0,24.68,24.92,28.83
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$STATE,24232,end climb,SURFACE_DEPTH_REACHED
$STATE,24232,begin surface coast
$FINISH,1.9,1.023592
$STATE,24247,end surface coast,CONTROL_FINISHED_OK
$STATE,24247,begin surface
$SM_CCo,24263,19.20,0.355,1,0,1309,350.04
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$TT8_MAMPS,0.054677,0.054677
$HUMID,40.35
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,18.70
$XPDR_PINGS,129
$24V_AH,22.3,36.849
$10V_AH,9.8,30.797
$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
$DEVICE_SECS,22.050,202.650,433.050,19.200,0.000,24.720,37.546,152.661,32.250,0.000,32.931,0.000,18539.709,722.627,5142.049,186.020,0.000,2653.117,0.000,3853.775,0.000,0.530,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1631.127,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,96507,2362
$CAP_FILE_SIZE,253126,0
$CFSIZE,260165632,248197120
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.062,129.4,1
$GPS,020712,134956,4651.741,-12517.397,47,4.8,66,18.4