version: 66.11
glider: 178
mission: 14
dive: 90
start: 7 3 112 22 11 14
data:
$ID,178
$MISSION,14
$DIVE,90
$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,-13538.935
$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,50
$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
$GPS1,030712,220514,4650.781,-12512.749,169,2.9,188,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-72.3
$GPS2,030712,221103,4650.804,-12512.685,14,99.0,33,18.4
$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,147.3,2466,-21.8,-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,-0.81,-68.7,0.0,0.0,0,79,0.00,0.00,-65.35,0.000,2,0.000,0.000,155,2516,2936,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.81,-68.7,4.4,-14.7,11,100,10.80,2.10,-1.40,0.000,4,0.271,0.068,2363,3779,3019,0,0,0,0,0,0,24.57,25.32,25.65
$GC,304,-0.78,-68.7,56.1,-14.7,55,311,0.00,2.03,0.00,0.000,6,0.000,0.033,2363,2499,3024,0,0,0,0,0,0,28.83,25.60,28.83
$GC,609,-0.78,-68.7,93.3,-10.6,116,616,0.00,2.15,0.00,0.000,4,0.000,0.056,2354,3771,3026,0,0,0,0,0,0,28.83,25.45,28.83
$GC,730,-0.78,-68.7,107.9,-12.5,140,738,0.10,2.00,0.00,0.000,6,0.163,0.034,2380,2500,3026,0,0,0,0,0,0,25.26,25.70,28.83
$GC,1037,-0.82,-68.7,140.7,-9.8,201,1037,0.00,0.00,0.00,0.000,6,0.000,0.000,2380,2497,3027,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1337,-0.85,-68.7,171.0,-10.7,261,1344,0.00,2.15,0.00,0.000,4,0.000,0.057,2373,3771,3027,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1353,-0.88,-68.7,172.7,-10.6,264,1360,0.00,2.00,0.00,0.000,6,0.000,0.032,2373,2497,3024,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1659,-0.92,-68.7,206.9,-11.4,319,1663,0.00,2.20,0.00,0.000,4,0.000,0.037,2373,1115,3027,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1679,-0.95,-68.7,209.1,-11.2,321,1683,0.05,2.25,0.00,0.000,6,0.077,0.043,2331,2492,3027,0,0,0,0,0,0,25.48,25.56,28.83
$GC,1989,-0.95,-68.7,245.8,-10.8,352,1993,0.00,2.15,0.00,0.000,4,0.000,0.057,2326,3779,3027,0,0,0,0,0,0,28.83,25.47,28.83
$GC,2029,-0.92,-68.7,250.5,-11.6,356,2033,0.00,2.00,0.00,0.000,6,0.000,0.033,2321,2504,3026,0,0,0,0,0,0,28.83,25.74,28.83
$GC,2339,-0.90,-68.7,283.8,-11.4,387,2343,0.00,2.12,0.00,0.000,4,0.000,0.057,2312,3770,3026,0,0,0,0,0,0,28.83,25.46,28.83
$GC,2369,-0.87,-68.7,287.6,-12.4,390,2373,0.15,2.00,0.00,0.000,6,0.174,0.032,2352,2495,3026,0,0,0,0,0,0,25.11,25.74,28.83
$GC,2679,-0.88,-68.7,321.2,-10.4,421,2683,0.00,2.22,0.00,0.000,4,0.000,0.037,2353,1102,3025,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2739,-0.91,-68.7,327.7,-10.9,427,2743,0.00,2.30,0.00,0.000,6,0.000,0.042,2344,2505,3025,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3049,-0.91,-68.7,361.4,-11.0,458,3053,0.00,2.12,0.00,0.000,4,0.000,0.057,2335,3776,3025,0,0,0,0,0,0,28.83,25.44,28.83
$GC,3069,-0.91,-68.7,363.6,-11.3,460,3073,0.00,2.00,0.00,0.000,6,0.000,0.032,2335,2498,3025,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3379,-0.91,-68.7,397.5,-10.7,491,3380,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2498,3026,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3680,-0.91,-68.7,429.2,-10.6,521,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,2334,2498,3024,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3980,-0.91,-68.7,460.8,-10.7,551,3980,0.00,0.00,0.00,0.000,6,0.000,0.000,2335,2499,3023,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4280,-0.91,-68.7,494.4,-11.1,581,4283,0.00,2.15,0.00,0.000,4,0.000,0.058,2325,3768,3023,0,0,0,0,0,0,28.83,25.40,28.83
$GC,4299,-0.91,-68.7,496.8,-11.4,583,4303,0.00,2.00,0.00,0.000,6,0.000,0.034,2325,2506,3022,0,0,0,0,0,0,28.83,25.70,28.83
$GC,4609,-0.91,-68.7,531.1,-10.4,614,4613,0.00,2.15,0.00,0.000,4,0.000,0.058,2316,3777,3022,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4654,-0.89,-68.7,535.6,-11.2,618,4661,0.12,2.03,0.00,0.000,6,0.164,0.034,2349,2493,3022,0,0,0,0,0,0,25.12,25.69,28.83
$GC,4959,-0.92,-70.7,561.9,-7.7,649,4960,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2493,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5260,-0.95,-73.3,585.6,-7.7,679,5260,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2493,3021,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5570,-0.99,-78.8,609.1,-7.4,704,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2493,3020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5869,-1.02,-82.5,631.4,-7.6,719,5873,0.12,2.22,0.00,0.000,4,0.101,0.039,2302,1110,3019,0,0,0,0,0,0,25.62,25.50,28.83
$GC,5894,-1.05,-84.0,633.2,-7.7,720,5898,0.00,2.30,0.00,0.000,6,0.000,0.044,2291,2500,3019,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6209,-1.02,-84.0,668.9,-11.8,736,6210,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2500,3017,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6509,-0.99,-84.0,704.2,-11.7,751,6510,0.12,0.00,0.00,0.000,6,0.195,0.000,2317,2500,3018,0,0,0,0,0,0,25.27,28.83,28.83
$GC,6809,-0.99,-84.0,736.3,-10.1,766,6810,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2500,3018,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7109,-0.99,-84.0,768.1,-10.4,781,7113,0.00,2.15,0.00,0.000,4,0.000,0.059,2309,3774,3018,0,0,0,0,0,0,28.83,25.31,28.83
$GC,7210,-0.97,-84.0,778.7,-10.6,786,7213,0.00,2.03,0.00,0.000,6,0.000,0.035,2309,2506,3017,0,0,0,0,0,0,28.83,25.62,28.83
$GC,7529,-0.97,-84.0,809.2,-9.4,802,7533,0.00,2.28,0.00,0.000,4,0.000,0.040,2309,1102,3016,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7544,-0.97,-84.0,809.2,-9.4,802,7551,0.00,2.30,0.00,0.000,6,0.000,0.044,2299,2494,3017,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7849,-0.95,-84.0,841.1,-9.9,818,7851,0.15,0.00,0.00,0.000,6,0.188,0.000,2333,2494,3020,0,0,0,0,0,0,25.15,28.83,28.83
$GC,8149,-0.98,-84.0,864.5,-7.9,833,8150,0.00,0.00,0.00,0.000,6,0.000,0.000,2332,2494,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8449,-1.00,-84.0,888.7,-8.0,848,8453,0.00,2.17,0.00,0.000,4,0.000,0.060,2325,3774,3016,0,0,0,0,0,0,28.83,25.29,28.83
$GC,8494,-1.02,-84.0,892.1,-8.4,850,8498,0.00,2.05,0.00,0.000,6,0.000,0.035,2325,2495,3016,0,0,0,0,0,0,28.83,25.59,28.83
$GC,8809,-1.03,-84.0,919.6,-8.4,866,8810,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2495,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9110,-1.07,-97.6,941.6,-6.8,881,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,2325,2497,3015,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9409,-1.09,-97.6,966.4,-8.4,896,9410,0.12,0.00,0.00,0.000,6,0.099,0.000,2278,2495,3014,0,0,0,0,0,0,25.56,28.83,28.83
$STATE,9628,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9628,begin apogee
$GC,9631,-0.17,0.0,992.0,-11.3,907,9698,1.10,0.00,64.25,1.274,6,0.162,0.000,2579,2197,2737,0,0,0,0,0,0,24.56,28.83,23.07
$STATE,9699,end apogee,CONTROL_FINISHED_OK
$STATE,9699,begin climb
$GC,9700,0.85,97.6,992.6,0.0,910,9800,0.95,0.00,96.97,1.256,6,0.066,0.000,2912,2197,2338,0,0,0,0,0,0,24.52,28.83,22.38
$GC,10089,0.81,97.6,955.4,9.9,930,10093,0.00,2.30,0.00,0.000,4,0.000,0.044,2920,808,2329,0,0,0,0,0,0,28.83,25.23,28.83
$GC,10164,0.78,97.6,949.4,9.8,933,10172,0.10,2.30,0.00,0.000,6,0.171,0.040,2896,2203,2328,0,0,0,0,0,0,25.02,25.34,28.83
$GC,10469,0.77,97.6,916.9,11.6,949,10470,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2202,2326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10769,0.77,97.6,884.2,10.0,964,10770,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2202,2325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11069,0.77,97.6,858.4,8.5,979,11070,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2202,2324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11369,0.77,97.6,831.1,9.0,994,11370,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2202,2323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11669,0.77,97.6,804.5,9.0,1009,11670,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2202,2323,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11969,0.77,97.6,777.7,8.5,1024,11970,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2203,2322,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12269,0.77,97.6,753.4,8.4,1039,12273,0.00,2.35,0.00,0.000,4,0.000,0.056,2896,3600,2322,0,0,0,0,0,0,28.83,25.42,28.83
$GC,12449,0.73,97.6,735.6,10.2,1048,12453,0.00,2.25,0.00,0.000,6,0.000,0.034,2904,2191,2322,0,0,0,0,0,0,28.83,25.62,28.83
$GC,12769,0.73,97.6,706.7,9.3,1064,12773,0.00,2.28,0.00,0.000,4,0.000,0.045,2916,802,2321,0,0,0,0,0,0,28.83,25.47,28.83
$GC,12914,0.71,97.6,693.2,9.8,1071,12918,0.15,2.30,0.00,0.000,6,0.167,0.040,2874,2206,2320,0,0,0,0,0,0,25.01,25.50,28.83
$GC,13230,0.73,97.6,665.9,8.5,1087,13233,0.00,2.35,0.00,0.000,4,0.000,0.055,2874,3619,2321,0,0,0,0,0,0,28.83,25.38,28.83
$GC,13289,0.73,97.6,660.3,9.1,1090,13293,0.00,2.25,0.00,0.000,6,0.000,0.034,2883,2199,2320,0,0,0,0,0,0,28.83,25.60,28.83
$GC,13609,0.73,97.6,632.7,8.3,1106,13610,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2197,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13909,0.73,97.6,608.5,8.2,1121,13910,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2197,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14209,0.73,102.6,585.4,7.5,1145,14210,0.00,0.00,0.00,0.000,6,0.000,0.000,2883,2197,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14510,0.75,117.5,564.7,6.7,1175,14531,0.00,0.00,16.55,0.956,6,0.000,0.000,2882,2197,2257,0,0,0,0,0,0,28.83,28.83,23.94
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$STATE,21452,end climb,SURFACE_DEPTH_REACHED
$STATE,21452,begin surface coast
$FINISH,-0.2,1.023604
$STATE,21477,end surface coast,CONTROL_FINISHED_OK
$STATE,21477,begin surface
$SM_CCo,21491,41.45,0.516,1,0,1310,350.29
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$TT8_MAMPS,0.054677,0.054677
$HUMID,39.64
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,18.60
$XPDR_PINGS,167
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$10V_AH,9.8,31.433
$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,22.325,137.750,338.800,41.450,0.000,25.266,45.219,157.314,41.750,0.000,34.990,0.000,16592.365,576.387,4527.429,159.824,0.000,2222.290,0.000,3355.546,0.000,0.530,0.000
$DEVICE_MAMPS,270.810,68.085,1274.490,515.610,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1462.123,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297448
$DATA_FILE_SIZE,86607,2117
$CAP_FILE_SIZE,215275,0
$CFSIZE,260165632,247627776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.031,220.0,1
$GPS,040712,041205,4648.465,-12512.427,95,1.8,95,18.4