version: 66.11
glider: 178
mission: 14
dive: 86
start: 7 2 112 20 36 17
data:
$ID,178
$MISSION,14
$DIVE,86
$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,-13533.879
$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,53
$R_STBD_OVSHOOT,35
$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
$GPS1,020712,203029,4650.741,-12512.581,232,2.0,238,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-72.3
$GPS2,020712,203606,4650.741,-12512.551,35,0.9,35,18.4
$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,197.7,2395,-16.5,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.68,-109.8,0.0,0.0,0,83,0.00,0.00,-69.28,0.000,2,0.000,0.000,162,2507,2920,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.68,-109.8,4.1,-14.0,12,104,10.88,2.30,-4.53,0.000,4,0.269,0.051,2421,1105,3188,0,0,0,0,0,0,24.53,25.39,25.64
$GC,148,-0.62,-109.8,26.8,-18.5,24,155,0.00,2.30,0.00,0.000,6,0.000,0.045,2413,2492,3192,0,0,0,0,0,0,28.83,25.36,28.83
$GC,454,-0.60,-109.8,62.5,-11.6,85,461,0.12,2.17,0.00,0.000,4,0.173,0.064,2434,3779,3195,0,0,0,0,0,0,25.33,25.25,28.83
$GC,495,-0.62,-109.8,67.1,-10.8,93,502,0.00,2.00,0.00,0.000,6,0.000,0.033,2434,2506,3195,0,0,0,0,0,0,28.83,25.66,28.83
$GC,801,-0.65,-109.8,91.9,-8.2,154,802,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2506,3196,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1101,-0.68,-109.8,116.6,-8.2,214,1109,0.00,2.15,0.00,0.000,4,0.000,0.059,2425,3779,3196,0,0,0,0,0,0,28.83,25.22,28.83
$GC,1133,-0.71,-109.8,119.2,-8.8,220,1140,0.00,2.03,0.00,0.000,6,0.000,0.034,2424,2493,3196,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1439,-0.73,-109.8,144.8,-8.5,281,1446,0.00,2.17,0.00,0.000,4,0.000,0.057,2415,3783,3196,0,0,0,0,0,0,28.83,25.46,28.83
$GC,1480,-0.75,-109.8,148.4,-9.3,289,1487,0.00,2.03,0.00,0.000,6,0.000,0.034,2415,2500,3196,0,0,0,0,0,0,28.83,25.73,28.83
$GC,1786,-0.76,-109.8,176.4,-9.1,350,1793,0.00,2.15,0.00,0.000,4,0.000,0.058,2402,3770,3196,0,0,0,0,0,0,28.83,25.21,28.83
$GC,1857,-0.76,-109.8,183.7,-10.1,364,1864,0.00,2.00,0.00,0.000,6,0.000,0.034,2406,2501,3196,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2168,-0.76,-109.8,213.2,-9.3,412,2172,0.00,2.15,0.00,0.000,4,0.000,0.057,2396,3782,3195,0,0,0,0,0,0,28.83,25.45,28.83
$GC,2198,-0.76,-109.8,216.1,-9.6,415,2202,0.00,2.03,0.00,0.000,6,0.000,0.034,2396,2491,3195,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2508,-0.76,-109.8,244.9,-9.3,446,2512,0.00,2.15,0.00,0.000,4,0.000,0.057,2387,3770,3195,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2538,-0.76,-109.8,247.8,-9.6,449,2542,0.00,2.00,0.00,0.000,6,0.000,0.034,2386,2497,3194,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2848,-0.76,-109.8,279.9,-10.7,480,2852,0.00,2.15,0.00,0.000,4,0.000,0.057,2377,3776,3194,0,0,0,0,0,0,28.83,25.43,28.83
$GC,2913,-0.74,-109.8,286.5,-11.0,486,2921,0.00,2.00,0.00,0.000,6,0.000,0.033,2377,2502,3194,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3218,-0.72,-109.8,319.1,-10.4,517,3222,0.12,2.15,0.00,0.000,4,0.166,0.058,2399,3777,3194,0,0,0,0,0,0,25.42,25.42,28.83
$GC,3279,-0.72,-109.8,324.4,-8.7,523,3282,0.00,2.03,0.00,0.000,6,0.000,0.034,2398,2494,3193,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3588,-0.72,-109.8,349.7,-8.3,554,3592,0.00,2.15,0.00,0.000,4,0.000,0.058,2390,3767,3193,0,0,0,0,0,0,28.83,25.40,28.83
$GC,3608,-0.72,-109.8,351.3,-8.2,556,3612,0.00,2.00,0.00,0.000,6,0.000,0.034,2389,2500,3193,0,0,0,0,0,0,28.83,25.70,28.83
$GC,3918,-0.72,-109.8,378.1,-9.1,587,3922,0.00,2.15,0.00,0.000,4,0.000,0.057,2380,3776,3193,0,0,0,0,0,0,28.83,25.41,28.83
$GC,3983,-0.72,-109.8,383.8,-9.8,593,3990,0.00,2.03,0.00,0.000,6,0.000,0.034,2379,2493,3193,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4288,-0.72,-109.8,412.6,-8.9,624,4289,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2493,3191,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4589,-0.72,-109.8,438.9,-9.0,654,4592,0.00,2.17,0.00,0.000,4,0.000,0.058,2370,3777,3191,0,0,0,0,0,0,28.83,25.34,28.83
$GC,4653,-0.70,-109.8,444.4,-9.1,660,4661,0.12,2.03,0.00,0.000,6,0.141,0.034,2407,2497,3191,0,0,0,0,0,0,25.22,25.68,28.83
$GC,4958,-0.74,-117.4,467.2,-7.5,691,4962,0.00,2.15,0.00,0.000,4,0.000,0.059,2400,3771,3192,0,0,0,0,0,0,28.83,25.37,28.83
$GC,4988,-0.77,-117.4,469.7,-8.0,694,4992,0.00,2.03,0.00,0.000,6,0.000,0.034,2400,2496,3191,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5298,-0.79,-122.8,494.0,-7.6,725,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2495,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5599,-0.81,-122.8,517.8,-7.9,755,5599,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2498,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5899,-0.84,-122.8,541.2,-7.9,785,5900,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2495,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6199,-0.86,-122.8,565.0,-8.1,815,6200,0.12,0.00,0.00,0.000,6,0.090,0.000,2350,2496,3188,0,0,0,0,0,0,25.65,28.83,28.83
$GC,6498,-0.83,-122.8,596.9,-10.8,845,6502,0.00,2.17,0.00,0.000,4,0.000,0.060,2340,3773,3187,0,0,0,0,0,0,28.83,25.31,28.83
$GC,6528,-0.78,-122.8,600.2,-11.1,848,6533,0.15,2.03,0.00,0.000,6,0.155,0.034,2383,2497,3188,0,0,0,0,0,0,25.06,25.64,28.83
$GC,6838,-0.78,-122.8,626.2,-8.0,864,6842,0.00,2.17,0.00,0.000,4,0.000,0.060,2376,3775,3187,0,0,0,0,0,0,28.83,25.31,28.83
$GC,6903,-0.78,-122.8,631.4,-8.5,867,6907,0.00,2.03,0.00,0.000,6,0.000,0.035,2376,2506,3187,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7219,-0.79,-124.9,656.7,-7.8,883,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2506,3190,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7518,-0.79,-126.5,680.7,-7.8,898,7523,0.00,2.17,0.00,0.000,4,0.000,0.060,2366,3779,3186,0,0,0,0,0,0,28.83,25.28,28.83
$GC,7563,-0.79,-126.5,684.1,-8.1,900,7567,0.00,2.05,0.00,0.000,6,0.000,0.035,2366,2497,3185,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7878,-0.79,-126.5,712.4,-8.3,916,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,2366,2497,3185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8178,-0.79,-126.5,738.1,-9.0,931,8183,0.00,2.17,0.00,0.000,4,0.000,0.060,2356,3772,3185,0,0,0,0,0,0,28.83,25.24,28.83
$GC,8208,-0.79,-126.5,740.1,-9.3,932,8212,0.00,2.03,0.00,0.000,6,0.000,0.035,2356,2500,3185,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8519,-0.77,-126.5,771.2,-9.1,948,8522,0.15,2.20,0.00,0.000,4,0.164,0.060,2385,3777,3184,0,0,0,0,0,0,25.24,25.26,28.83
$GC,8578,-0.77,-126.5,776.1,-8.5,951,8582,0.00,2.05,0.00,0.000,6,0.000,0.036,2385,2497,3184,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8899,-0.79,-126.5,800.5,-7.7,967,8902,0.00,2.17,0.00,0.000,4,0.000,0.061,2375,3768,3183,0,0,0,0,0,0,28.83,25.23,28.83
$GC,8948,-0.79,-126.5,803.7,-7.8,969,8952,0.00,2.03,0.00,0.000,6,0.000,0.037,2375,2501,3183,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9258,-0.79,-126.5,828.4,-7.5,985,9262,0.00,2.28,0.00,0.000,4,0.000,0.041,2376,1098,3183,0,0,0,0,0,0,28.83,25.40,28.83
$GC,9268,-0.79,-126.5,828.4,-7.5,985,9272,0.00,2.33,0.00,0.000,6,0.000,0.044,2365,2497,3183,0,0,0,0,0,0,28.83,25.37,28.83
$GC,9578,-0.79,-126.5,854.3,-8.2,1001,9579,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2497,3183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9878,-0.79,-126.5,877.6,-7.8,1016,9879,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2497,3183,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10179,-0.79,-126.5,900.4,-7.4,1031,10179,0.00,0.00,0.00,0.000,6,0.000,0.000,2365,2497,3182,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10478,-0.79,-126.5,923.7,-7.6,1046,10482,0.00,2.17,0.00,0.000,4,0.000,0.060,2356,3771,3182,0,0,0,0,0,0,28.83,25.20,28.83
$GC,10533,-0.79,-126.5,927.2,-8.3,1048,10540,0.00,2.05,0.00,0.000,6,0.000,0.038,2356,2495,3182,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10839,-0.77,-126.5,953.8,-8.7,1064,10840,0.15,0.00,0.00,0.000,6,0.163,0.000,2392,2495,3182,0,0,0,0,0,0,25.20,28.83,28.83
$GC,11139,-0.81,-126.5,973.8,-6.5,1079,11139,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2496,3181,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11397,begin apogee
$GC,11400,-0.17,0.0,991.0,-6.7,1092,11507,0.60,0.00,102.03,1.272,6,0.127,0.000,2576,2201,2736,0,0,0,0,0,0,24.79,28.83,22.78
$STATE,11507,end apogee,CONTROL_FINISHED_OK
$STATE,11507,begin climb
$GC,11509,0.71,126.5,993.8,0.0,1097,11642,0.88,2.47,122.93,1.256,4,0.062,0.045,2891,804,2221,0,0,0,0,0,0,24.20,23.63,22.28
$GC,11770,0.64,126.5,979.2,10.4,1110,11775,0.15,2.38,0.00,0.000,6,0.159,0.040,2850,2205,2214,0,0,0,0,0,0,24.50,24.82,28.83
$GC,12081,0.60,126.5,949.6,9.2,1126,12082,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,2205,2210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12381,0.57,126.5,924.5,8.1,1141,12381,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2205,2209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12681,0.55,126.5,898.6,8.5,1156,12682,0.12,0.00,0.00,0.000,6,0.184,0.000,2820,2205,2208,0,0,0,0,0,0,25.33,28.83,28.83
$GC,12981,0.57,144.7,876.3,7.0,1171,13003,0.00,2.33,16.27,1.121,4,0.000,0.056,2820,3613,2145,0,0,0,0,0,0,28.83,25.37,23.86
$GC,13037,0.59,161.8,873.3,7.0,1173,13058,0.00,2.28,17.67,1.115,6,0.000,0.034,2829,2188,2077,0,0,0,0,0,0,28.83,25.44,23.61
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$STATE,22911,end climb,SURFACE_DEPTH_REACHED
$STATE,22912,begin surface coast
$FINISH,-0.5,1.012324
$STATE,22952,end surface coast,CONTROL_FINISHED_OK
$STATE,22952,begin surface
$SM_CCo,22965,23.05,0.405,1,0,1309,350.04
$SM_GC,-0.14,7.85,1.83,23.05,0.050,0.035,0.405,160,2490,1309,-7.70,1.19,350.04,0,0,0,0,1,0,25.08,25.21,23.94
$IRIDIUM_FIX,4635.50,-12453.85,020712,131343
$TT8_MAMPS,0.055426,0.055426
$HUMID,39.95
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,18.70
$XPDR_PINGS,175
$24V_AH,22.3,37.147
$10V_AH,9.8,31.013
$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,22.350,189.575,402.775,23.050,0.000,25.007,35.934,151.348,43.750,0.000,36.752,0.000,17606.861,669.300,4847.794,173.559,0.000,2481.419,0.000,3609.957,0.000,0.530,0.000
$DEVICE_MAMPS,269.280,64.260,1272.195,405.450,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1553.271,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93106,2250
$CAP_FILE_SIZE,240577,0
$CFSIZE,260165632,248004608
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.050,268.2,1
$GPS,030712,030100,4648.675,-12515.927,71,1.7,71,18.4