version: 66.11
glider: 178
mission: 14
dive: 85
start: 7 2 112 13 55 54
data:
$ID,178
$MISSION,14
$DIVE,85
$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,-13532.618
$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,52
$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
$GPS1,020712,134956,4651.741,-12517.397,47,4.8,66,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-74.8
$GPS2,020712,135545,4651.752,-12517.388,11,99.0,30,18.4
$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,108.3,6869,-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,-126.5,0.0,0.0,0,80,0.00,0.00,-65.97,0.000,2,0.000,0.000,162,2513,2927,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.66,-126.5,4.4,-14.0,11,106,10.90,2.15,-5.47,0.000,4,0.270,0.071,2412,3773,3256,0,0,0,0,0,0,24.53,25.27,25.60
$GC,315,-0.62,-126.5,48.0,-11.4,57,323,0.00,2.03,0.00,0.000,6,0.000,0.034,2412,2497,3262,0,0,0,0,0,0,28.83,25.59,28.83
$GC,622,-0.60,-126.5,80.6,-9.3,118,629,0.12,2.15,0.00,0.000,4,0.162,0.057,2434,3771,3263,0,0,0,0,0,0,25.39,25.44,28.83
$GC,673,-0.61,-126.5,85.3,-9.1,128,680,0.00,2.00,0.00,0.000,6,0.000,0.034,2434,2500,3263,0,0,0,0,0,0,28.83,25.69,28.83
$GC,979,-0.63,-126.5,111.8,-8.5,189,979,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2500,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1279,-0.65,-126.5,138.9,-9.4,249,1287,0.00,2.15,0.00,0.000,4,0.000,0.059,2425,3766,3267,0,0,0,0,0,0,28.83,24.89,28.83
$GC,1335,-0.65,-126.5,144.0,-8.9,260,1343,0.00,2.00,0.00,0.000,6,0.000,0.035,2425,2504,3263,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1642,-0.65,-126.5,169.7,-7.7,321,1642,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2504,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1942,-0.67,-126.5,193.0,-8.3,381,1950,0.00,2.15,0.00,0.000,4,0.000,0.059,2416,3773,3264,0,0,0,0,0,0,28.83,25.46,28.83
$GC,2018,-0.67,-126.5,199.6,-8.5,396,2026,0.00,2.03,0.00,0.000,6,0.000,0.034,2416,2497,3264,0,0,0,0,0,0,28.83,25.37,28.83
$GC,2329,-0.67,-126.5,224.5,-7.4,428,2334,0.00,2.15,0.00,0.000,4,0.000,0.058,2407,3777,3263,0,0,0,0,0,0,28.83,25.46,28.83
$GC,2359,-0.67,-126.5,226.7,-7.6,431,2363,0.00,2.03,0.00,0.000,6,0.000,0.034,2407,2493,3263,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2669,-0.67,-126.5,251.8,-8.4,462,2674,0.00,2.15,0.00,0.000,4,0.000,0.057,2398,3771,3262,0,0,0,0,0,0,28.83,25.45,28.83
$GC,2709,-0.67,-126.5,255.3,-8.9,466,2714,0.00,2.03,0.00,0.000,6,0.000,0.034,2398,2491,3263,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3019,-0.67,-126.5,284.0,-9.3,497,3023,0.00,2.15,0.00,0.000,4,0.000,0.058,2388,3770,3263,0,0,0,0,0,0,28.83,25.44,28.83
$GC,3074,-0.65,-126.5,288.9,-9.8,502,3082,0.12,2.00,0.00,0.000,6,0.132,0.034,2427,2502,3263,0,0,0,0,0,0,25.30,25.70,28.83
$GC,3380,-0.68,-126.5,311.3,-7.1,533,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2501,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3680,-0.71,-126.5,331.9,-7.1,563,3683,0.00,2.12,0.00,0.000,4,0.000,0.059,2420,3774,3262,0,0,0,0,0,0,28.83,25.41,28.83
$GC,3730,-0.74,-126.5,335.6,-7.8,568,3733,0.00,2.03,0.00,0.000,6,0.000,0.034,2420,2500,3262,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4039,-0.76,-126.5,361.3,-8.6,599,4044,0.00,2.15,0.00,0.000,4,0.000,0.058,2411,3771,3261,0,0,0,0,0,0,28.83,25.43,28.83
$GC,4084,-0.78,-126.5,364.8,-8.8,603,4092,0.00,2.03,0.00,0.000,6,0.000,0.034,2411,2494,3262,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4389,-0.78,-126.5,388.8,-7.0,634,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2494,3260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4690,-0.80,-126.5,409.4,-7.5,664,4693,0.00,2.15,0.00,0.000,4,0.000,0.059,2401,3770,3261,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4804,-0.80,-126.5,418.7,-8.5,675,4811,0.00,2.03,0.00,0.000,6,0.000,0.036,2401,2497,3261,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5109,-0.80,-126.5,445.4,-8.5,706,5110,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2497,3260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5410,-0.80,-126.5,469.7,-7.8,736,5413,0.00,2.15,0.00,0.000,4,0.000,0.059,2393,3765,3260,0,0,0,0,0,0,28.83,25.36,28.83
$GC,5444,-0.80,-126.5,472.2,-8.3,739,5452,0.00,2.00,0.00,0.000,6,0.000,0.038,2393,2512,3259,0,0,0,0,0,0,28.83,24.01,28.83
$GC,5749,-0.80,-126.5,498.1,-8.7,770,5750,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2512,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6050,-0.80,-126.5,523.4,-8.4,800,6053,0.00,2.12,0.00,0.000,4,0.000,0.059,2383,3768,3258,0,0,0,0,0,0,28.83,25.35,28.83
$GC,6104,-0.80,-126.5,528.1,-9.5,805,6112,0.00,2.03,0.00,0.000,6,0.000,0.036,2383,2495,3258,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6409,-0.80,-126.5,555.8,-8.8,836,6410,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2495,3257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6710,-0.80,-126.5,581.3,-8.4,866,6713,0.00,2.17,0.00,0.000,4,0.000,0.060,2374,3771,3257,0,0,0,0,0,0,28.83,25.32,28.83
$GC,6740,-0.78,-126.5,583.9,-8.5,869,6743,0.00,2.03,0.00,0.000,6,0.000,0.035,2374,2498,3257,0,0,0,0,0,0,28.83,25.64,28.83
$GC,7050,-0.76,-126.5,610.6,-8.7,894,7053,0.00,2.15,0.00,0.000,4,0.000,0.060,2365,3780,3257,0,0,0,0,0,0,28.83,25.30,28.83
$GC,7099,-0.74,-126.5,614.2,-9.0,896,7104,0.12,2.03,0.00,0.000,6,0.142,0.035,2401,2506,3256,0,0,0,0,0,0,25.16,25.63,28.83
$GC,7410,-0.76,-126.5,636.7,-6.7,912,7413,0.00,2.12,0.00,0.000,4,0.000,0.060,2395,3774,3256,0,0,0,0,0,0,28.83,25.29,28.83
$GC,7484,-0.76,-126.5,641.0,-7.1,915,7492,0.00,2.03,0.00,0.000,6,0.000,0.036,2395,2503,3255,0,0,0,0,0,0,28.83,25.62,28.83
$GC,7789,-0.76,-126.5,664.0,-7.0,931,7790,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2503,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8090,-0.78,-126.5,686.5,-7.8,946,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2502,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8390,-0.83,-126.5,708.3,-7.4,961,8394,0.00,2.15,0.00,0.000,4,0.000,0.060,2386,3770,3255,0,0,0,0,0,0,28.83,25.27,28.83
$GC,8440,-0.87,-126.5,711.3,-7.5,963,8443,0.00,2.05,0.00,0.000,6,0.000,0.037,2386,2491,3254,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8749,-0.87,-126.5,735.6,-7.5,979,8753,0.00,2.25,0.00,0.000,4,0.000,0.040,2386,1102,3254,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8784,-0.87,-126.5,737.0,-7.4,980,8792,0.00,2.33,0.00,0.000,6,0.000,0.044,2376,2503,3254,0,0,0,0,0,0,28.83,25.39,28.83
$GC,9089,-0.87,-126.5,761.5,-8.0,996,9093,0.00,2.17,0.00,0.000,4,0.000,0.060,2366,3778,3253,0,0,0,0,0,0,28.83,25.25,28.83
$GC,9184,-0.85,-126.5,768.3,-8.6,1000,9191,0.00,2.05,0.00,0.000,6,0.000,0.036,2366,2503,3253,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9490,-0.83,-126.5,795.8,-8.1,1016,9493,0.00,2.17,0.00,0.000,4,0.000,0.060,2357,3773,3252,0,0,0,0,0,0,28.83,25.22,28.83
$GC,9534,-0.80,-126.5,799.2,-8.3,1018,9538,0.00,2.05,0.00,0.000,6,0.000,0.036,2357,2492,3253,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9849,-0.77,-126.5,825.6,-8.3,1034,9851,0.15,0.00,0.00,0.000,6,0.161,0.000,2393,2491,3253,0,0,0,0,0,0,25.24,28.83,28.83
$GC,10150,-0.79,-126.5,845.8,-6.7,1049,10153,0.00,2.17,0.00,0.000,4,0.000,0.061,2386,3766,3252,0,0,0,0,0,0,28.83,25.21,28.83
$GC,10194,-0.79,-126.5,848.7,-7.0,1051,10198,0.00,2.05,0.00,0.000,6,0.000,0.037,2386,2490,3252,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10509,-0.79,-126.5,872.6,-8.2,1067,10510,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2489,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10809,-0.79,-126.5,895.5,-7.4,1082,10810,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2490,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11109,-0.79,-126.5,917.2,-7.3,1097,11113,0.00,2.20,0.00,0.000,4,0.000,0.060,2376,3774,3251,0,0,0,0,0,0,28.83,25.19,28.83
$GC,11170,-0.79,-126.5,922.0,-7.8,1100,11173,0.00,2.05,0.00,0.000,6,0.000,0.037,2379,2499,3251,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11489,-0.79,-126.5,945.5,-6.8,1116,11493,0.00,2.17,0.00,0.000,4,0.000,0.061,2367,3770,3250,0,0,0,0,0,0,28.83,25.18,28.83
$GC,11510,-0.79,-126.5,946.9,-6.8,1117,11513,0.00,2.05,0.00,0.000,6,0.000,0.037,2367,2496,3250,0,0,0,0,0,0,28.83,25.52,28.83
$GC,11830,-0.77,-126.5,970.8,-7.7,1133,11831,0.00,0.00,0.00,0.000,6,0.000,0.000,2367,2496,3251,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12088,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12088,begin apogee
$GC,12092,-0.17,0.0,991.0,-7.8,1146,12212,0.73,0.00,117.18,1.276,6,0.133,0.000,2581,2197,2737,0,0,0,0,0,0,24.75,28.83,22.63
$STATE,12213,end apogee,CONTROL_FINISHED_OK
$STATE,12213,begin climb
$GC,12214,0.66,126.5,994.4,0.0,1152,12345,0.77,2.50,123.25,1.258,4,0.060,0.046,2865,807,2219,0,0,0,0,0,0,24.02,23.63,22.27
$GC,12374,0.61,151.6,989.5,6.8,1160,12404,0.00,2.42,25.08,1.195,6,0.000,0.038,2865,2202,2119,0,0,0,0,0,0,28.83,24.18,22.51
$GC,12710,0.55,151.6,951.2,11.4,1177,12711,0.20,0.00,0.00,0.000,6,0.164,0.000,2816,2203,2109,0,0,0,0,0,0,24.97,28.83,28.83
$GC,13009,0.55,151.6,922.3,9.7,1192,13010,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2202,2107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13309,0.55,151.6,896.3,8.1,1207,13313,0.00,2.35,0.00,0.000,4,0.000,0.056,2821,3603,2107,0,0,0,0,0,0,28.83,25.46,28.83
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$STATE,23316,end climb,SURFACE_DEPTH_REACHED
$STATE,23317,begin surface coast
$FINISH,0.2,1.023563
$STATE,23347,end surface coast,CONTROL_FINISHED_OK
$STATE,23347,begin surface
$SM_CCo,23420,0.00,0.000,0,0,1222,371.38
$SM_GC,0.28,8.15,0.47,0.00,0.068,0.053,0.000,163,2506,1222,-7.70,-1.07,371.38,0,0,0,0,0,0,25.05,25.11,28.83
$IRIDIUM_FIX,4654.38,-12512.75,020712,060631
$TT8_MAMPS,0.054677,0.054677
$HUMID,39.99
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,18.70
$XPDR_PINGS,153
$24V_AH,22.3,37.005
$10V_AH,9.8,30.903
$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,22.250,185.275,464.850,0.000,0.000,30.301,41.881,154.326,38.250,0.000,32.250,0.000,17967.822,695.011,4898.172,169.766,0.000,2525.519,0.000,3641.463,0.000,0.530,0.000
$DEVICE_MAMPS,270.045,71.145,1276.020,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1574.704,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297428
$DATA_FILE_SIZE,93192,2282
$CAP_FILE_SIZE,241121,0
$CFSIZE,260165632,248107008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111, 52.9,1
$GPS,020712,203029,4650.741,-12512.581,232,2.0,238,18.4