version: 66.11
glider: 178
mission: 14
dive: 87
start: 7 3 112 3 6 42
data:
$ID,178
$MISSION,14
$DIVE,87
$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,-13535.14
$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,31
$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
$GPS1,030712,030100,4648.675,-12515.927,71,1.7,71,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.31
$_SM_ANGLEo,-71.5
$GPS2,030712,030631,4648.680,-12515.973,16,1.3,16,18.4
$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,54.0,3968,-15.5,-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,-0.67,-121.0,0.0,0.0,0,79,0.00,0.00,-65.43,0.000,2,0.000,0.000,152,2488,2878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.67,-121.0,3.8,-12.3,11,105,11.00,2.22,-6.25,0.000,4,0.269,0.075,2409,3774,3234,0,0,0,0,0,0,24.53,25.22,25.59
$GC,329,-0.62,-121.0,53.5,-13.0,60,337,0.00,2.03,0.00,0.000,6,0.000,0.034,2413,2500,3238,0,0,0,0,0,0,28.83,24.87,28.83
$GC,636,-0.60,-121.0,87.2,-9.2,121,643,0.12,2.15,0.00,0.000,4,0.165,0.057,2434,3770,3240,0,0,0,0,0,0,25.39,25.41,28.83
$GC,867,-0.62,-121.0,106.2,-7.9,167,874,0.00,2.00,0.00,0.000,6,0.000,0.034,2434,2499,3240,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1173,-0.64,-121.0,130.7,-9.1,228,1181,0.00,2.15,0.00,0.000,4,0.000,0.064,2425,3769,3240,0,0,0,0,0,0,28.83,25.25,28.83
$GC,1274,-0.66,-121.0,140.5,-9.4,248,1282,0.00,2.00,0.00,0.000,6,0.000,0.034,2425,2497,3240,0,0,0,0,0,0,28.83,25.72,28.83
$GC,1581,-0.68,-121.0,167.2,-8.0,309,1588,0.00,2.17,0.00,0.000,4,0.000,0.065,2416,3774,3240,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1632,-0.68,-121.0,171.8,-9.1,319,1639,0.00,2.03,0.00,0.000,6,0.000,0.034,2416,2491,3240,0,0,0,0,0,0,28.83,25.74,28.83
$GC,1938,-0.68,-121.0,198.8,-9.3,380,1946,0.00,2.17,0.00,0.000,4,0.000,0.057,2406,3775,3241,0,0,0,0,0,0,28.83,25.44,28.83
$GC,1985,-0.68,-121.0,202.5,-9.5,386,1992,0.00,2.00,0.00,0.000,6,0.000,0.033,2406,2502,3240,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2290,-0.68,-121.0,229.1,-8.3,417,2290,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2501,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2590,-0.68,-121.0,254.4,-9.2,447,2594,0.00,2.12,0.00,0.000,4,0.000,0.057,2397,3764,3240,0,0,0,0,0,0,28.83,25.44,28.83
$GC,2645,-0.68,-121.0,259.1,-9.7,452,2653,0.00,2.00,0.00,0.000,6,0.000,0.034,2397,2495,3240,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2950,-0.68,-121.0,289.0,-9.6,483,2954,0.00,2.15,0.00,0.000,4,0.000,0.058,2388,3776,3239,0,0,0,0,0,0,28.83,25.44,28.83
$GC,3010,-0.68,-121.0,294.8,-9.5,489,3014,0.10,2.00,0.00,0.000,6,0.136,0.034,2418,2501,3239,0,0,0,0,0,0,25.34,25.72,28.83
$GC,3320,-0.71,-126.5,318.3,-6.9,520,3321,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2501,3240,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3620,-0.73,-126.5,338.3,-6.4,550,3621,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2503,3239,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3921,-0.75,-126.5,356.5,-5.8,580,3924,0.00,2.12,0.00,0.000,4,0.000,0.059,2411,3776,3238,0,0,0,0,0,0,28.83,25.40,28.83
$GC,3955,-0.77,-126.5,358.3,-5.9,583,3962,0.00,2.03,0.00,0.000,6,0.000,0.034,2411,2497,3241,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4260,-0.78,-126.5,378.4,-6.4,614,4264,0.00,2.15,0.00,0.000,4,0.000,0.058,2401,3768,3238,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4315,-0.78,-126.5,381.9,-7.1,619,4322,0.00,2.00,0.00,0.000,6,0.000,0.034,2401,2502,3238,0,0,0,0,0,0,28.83,25.69,28.83
$GC,4620,-0.78,-126.5,402.4,-6.5,650,4624,0.00,2.15,0.00,0.000,4,0.000,0.058,2393,3780,3237,0,0,0,0,0,0,28.83,25.38,28.83
$GC,4665,-0.78,-126.5,405.2,-6.9,654,4672,0.00,2.00,0.00,0.000,6,0.000,0.033,2394,2503,3237,0,0,0,0,0,0,28.83,25.69,28.83
$GC,4970,-0.78,-126.5,428.4,-7.8,685,4974,0.00,2.25,0.00,0.000,4,0.000,0.039,2395,1103,3237,0,0,0,0,0,0,28.83,25.50,28.83
$GC,4990,-0.78,-126.5,430.0,-8.0,687,4994,0.00,2.30,0.00,0.000,6,0.000,0.043,2382,2500,3237,0,0,0,0,0,0,28.83,25.49,28.83
$GC,5300,-0.78,-126.5,457.6,-9.4,718,5304,0.00,2.12,0.00,0.000,4,0.000,0.057,2373,3765,3236,0,0,0,0,0,0,28.83,25.37,28.83
$GC,5380,-0.76,-126.5,465.9,-10.3,726,5384,0.00,2.00,0.00,0.000,6,0.000,0.034,2373,2505,3240,0,0,0,0,0,0,28.83,25.66,28.83
$GC,5690,-0.74,-126.5,498.2,-10.4,757,5691,0.00,0.00,0.00,0.000,6,0.000,0.000,2373,2509,3236,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5990,-0.72,-126.5,529.5,-10.1,787,5994,0.15,2.15,0.00,0.000,4,0.160,0.059,2402,3790,3236,0,0,0,0,0,0,25.31,25.33,28.83
$GC,6015,-0.72,-126.5,531.4,-9.9,789,6022,0.00,2.05,0.00,0.000,6,0.000,0.034,2402,2497,3235,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6320,-0.73,-126.5,557.2,-8.1,820,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2497,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6621,-0.75,-126.5,579.1,-7.0,850,6621,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2496,3235,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6920,-0.77,-126.5,599.4,-6.6,880,6924,0.00,2.17,0.00,0.000,4,0.000,0.060,2394,3774,3234,0,0,0,0,0,0,28.83,25.29,28.83
$GC,6960,-0.78,-126.5,602.1,-6.8,883,6964,0.00,2.03,0.00,0.000,6,0.000,0.035,2394,2500,3234,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7280,-0.78,-126.5,626.3,-7.5,899,7284,0.00,2.17,0.00,0.000,4,0.000,0.060,2385,3776,3234,0,0,0,0,0,0,28.83,25.29,28.83
$GC,7349,-0.78,-126.5,631.3,-8.3,902,7354,0.00,2.03,0.00,0.000,6,0.000,0.035,2384,2507,3233,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7660,-0.78,-126.5,659.2,-8.8,918,7664,0.00,2.15,0.00,0.000,4,0.000,0.060,2375,3771,3233,0,0,0,0,0,0,28.83,25.28,28.83
$GC,7720,-0.78,-126.5,664.7,-9.1,921,7724,0.00,2.05,0.00,0.000,6,0.000,0.036,2375,2491,3233,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8040,-0.78,-126.5,690.2,-8.0,937,8044,0.00,2.25,0.00,0.000,4,0.000,0.040,2375,1099,3233,0,0,0,0,0,0,28.83,25.42,28.83
$GC,8269,-0.78,-126.5,707.9,-7.9,948,8274,0.00,2.33,0.00,0.000,6,0.000,0.046,2365,2496,3232,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8580,-0.78,-126.5,731.8,-7.3,964,8584,0.00,2.17,0.00,0.000,4,0.000,0.061,2355,3771,3232,0,0,0,0,0,0,28.83,25.25,28.83
$GC,8744,-0.78,-126.5,744.3,-7.7,972,8749,0.10,2.03,0.00,0.000,6,0.147,0.037,2384,2507,3231,0,0,0,0,0,0,25.15,25.57,28.83
$GC,9060,-0.78,-126.5,765.5,-6.4,988,9064,0.00,2.28,0.00,0.000,4,0.000,0.041,2384,1101,3231,0,0,0,0,0,0,28.83,25.38,28.83
$GC,9290,-0.80,-126.5,780.5,-6.8,999,9294,0.00,2.33,0.00,0.000,6,0.000,0.046,2374,2495,3229,0,0,0,0,0,0,28.83,25.37,28.83
$GC,9600,-0.80,-126.5,803.6,-7.7,1015,9604,0.00,2.30,0.00,0.000,4,0.000,0.042,2373,1091,3229,0,0,0,0,0,0,28.83,25.36,28.83
$GC,9695,-0.80,-126.5,809.7,-7.7,1019,9702,0.00,2.35,0.00,0.000,6,0.000,0.046,2366,2501,3230,0,0,0,0,0,0,28.83,25.34,28.83
$GC,10000,-0.80,-126.5,836.0,-8.1,1035,10004,0.00,2.17,0.00,0.000,4,0.000,0.060,2356,3774,3230,0,0,0,0,0,0,28.83,25.21,28.83
$GC,10090,-0.78,-126.5,843.4,-9.2,1039,10094,0.10,2.05,0.00,0.000,6,0.148,0.036,2385,2494,3230,0,0,0,0,0,0,25.13,25.56,28.83
$GC,10400,-0.78,-126.5,867.4,-7.3,1055,10404,0.00,2.20,0.00,0.000,4,0.000,0.060,2378,3774,3229,0,0,0,0,0,0,28.83,25.19,28.83
$GC,10475,-0.78,-126.5,871.9,-7.4,1058,10482,0.00,2.05,0.00,0.000,6,0.000,0.037,2378,2497,3229,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10780,-0.78,-126.5,897.2,-7.7,1074,10784,0.00,2.28,0.00,0.000,4,0.000,0.041,2378,1097,3229,0,0,0,0,0,0,28.83,25.33,28.83
$GC,10805,-0.78,-126.5,898.9,-7.8,1075,10809,0.00,2.35,0.00,0.000,6,0.000,0.046,2368,2503,3229,0,0,0,0,0,0,28.83,25.32,28.83
$GC,11120,-0.78,-126.5,925.8,-8.8,1091,11124,0.00,2.17,0.00,0.000,4,0.000,0.060,2358,3773,3229,0,0,0,0,0,0,28.83,25.18,28.83
$GC,11175,-0.78,-126.5,929.3,-8.5,1093,11182,0.00,2.05,0.00,0.000,6,0.000,0.036,2358,2497,3228,0,0,0,0,0,0,28.83,25.52,28.83
$GC,11480,-0.76,-126.5,957.9,-9.5,1109,11481,0.15,0.00,0.00,0.000,6,0.164,0.000,2394,2497,3228,0,0,0,0,0,0,25.19,28.83,28.83
$GC,11780,-0.79,-126.5,980.5,-7.1,1124,11784,0.00,2.20,0.00,0.000,4,0.000,0.063,2387,3773,3228,0,0,0,0,0,0,28.83,25.15,28.83
$GC,11830,-0.82,-126.5,983.5,-7.1,1126,11834,0.00,2.05,0.00,0.000,6,0.000,0.037,2387,2501,3228,0,0,0,0,0,0,28.83,25.51,28.83
$STATE,11919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11919,begin apogee
$GC,11922,-0.17,0.0,990.5,-7.0,1131,12042,0.65,0.00,111.90,1.278,6,0.126,0.000,2583,2189,2737,0,0,0,0,0,0,24.81,28.83,22.65
$STATE,12043,end apogee,CONTROL_FINISHED_OK
$STATE,12043,begin climb
$GC,12044,0.67,126.5,994.1,0.0,1137,12175,0.80,2.50,123.47,1.260,4,0.062,0.044,2874,798,2220,0,0,0,0,0,0,24.14,23.63,22.25
$GC,12235,0.60,126.5,987.7,7.9,1146,12242,0.12,2.42,0.00,0.000,6,0.158,0.039,2839,2205,2215,0,0,0,0,0,0,24.18,24.42,28.83
$GC,12540,0.56,126.5,960.3,8.4,1162,12544,0.00,2.38,0.00,0.000,4,0.000,0.056,2839,3608,2210,0,0,0,0,0,0,28.83,25.27,28.83
$GC,12550,0.53,126.5,960.3,8.4,1162,12554,0.12,2.28,0.00,0.000,6,0.159,0.033,2813,2192,2209,0,0,0,0,0,0,25.04,25.42,28.83
$GC,12860,0.54,138.1,936.9,7.3,1178,12871,0.00,0.00,10.23,1.074,6,0.000,0.000,2813,2188,2173,0,0,0,0,0,0,28.83,28.83,23.75
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$STATE,23374,end climb,SURFACE_DEPTH_REACHED
$STATE,23374,begin surface coast
$FINISH,0.4,1.023610
$STATE,23399,end surface coast,CONTROL_FINISHED_OK
$STATE,23399,begin surface
$SM_CCo,23412,15.20,0.269,1,0,1310,350.04
$SM_GC,-0.01,8.02,0.50,15.20,0.067,0.056,0.269,166,2505,1310,-7.69,-0.79,350.04,0,0,0,0,1,0,25.15,25.32,24.02
$IRIDIUM_FIX,4632.36,-12452.05,020712,202005
$TT8_MAMPS,0.055426,0.055426
$HUMID,40.78
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,18.80
$XPDR_PINGS,117
$24V_AH,22.3,37.295
$10V_AH,9.8,31.122
$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
$DEVICE_SECS,22.525,226.825,429.650,15.200,0.000,28.985,37.663,158.223,29.250,0.000,17.355,0.000,17778.742,706.818,5062.373,183.188,0.000,2629.995,0.000,3798.095,0.000,0.529,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1551.054,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297452
$DATA_FILE_SIZE,93114,2246
$CAP_FILE_SIZE,253896,0
$CFSIZE,260165632,247889920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.087,330.3,1
$GPS,030712,094156,4650.262,-12513.300,244,99.0,263,18.4