version: 66.11
glider: 178
mission: 14
dive: 106
start: 7 7 112 19 53 15
data:
$ID,178
$MISSION,14
$DIVE,106
$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,-13559.145
$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,32
$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
$GPS1,070712,194724,4648.104,-12511.262,171,1.4,171,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.48
$_SM_ANGLEo,-74.2
$GPS2,070712,195305,4648.083,-12511.270,16,0.9,32,18.4
$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,312.0,3485,-18.7,-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,13,-0.73,-89.7,0.0,0.0,0,68,0.00,0.00,-53.58,0.000,2,0.000,0.000,157,2489,2658,0,0,0,0,0,0,28.83,28.83,28.83
$GC,69,-0.73,-89.7,3.9,-12.4,9,94,10.77,2.12,-7.90,0.000,4,0.265,0.069,2390,3771,3106,0,0,0,0,0,0,24.58,25.31,25.64
$GC,123,-0.56,-89.7,24.8,-27.2,19,130,0.22,2.00,0.00,0.000,6,0.159,0.031,2451,2501,3108,0,0,0,0,0,0,24.80,25.52,28.83
$GC,430,-0.61,-89.7,59.1,-10.1,80,436,0.00,2.15,0.00,0.000,4,0.000,0.060,2444,3766,3112,0,0,0,0,0,0,28.83,25.24,28.83
$GC,520,-0.64,-89.7,67.7,-9.2,98,527,0.00,2.00,0.00,0.000,6,0.000,0.033,2444,2494,3112,0,0,0,0,0,0,28.83,25.72,28.83
$GC,827,-0.70,-89.7,95.3,-8.2,159,834,0.00,2.20,0.00,0.000,4,0.000,0.044,2444,1106,3114,0,0,0,0,0,0,28.83,25.63,28.83
$GC,853,-0.77,-90.3,97.3,-7.8,164,860,0.10,2.28,0.00,0.000,6,0.052,0.041,2378,2496,3114,0,0,0,0,0,0,25.23,24.49,28.83
$GC,1159,-0.77,-90.3,125.2,-8.9,225,1167,0.00,2.12,0.00,0.000,4,0.000,0.057,2368,3776,3114,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1191,-0.75,-90.3,128.3,-10.4,231,1198,0.10,2.00,0.00,0.000,6,0.155,0.033,2397,2503,3114,0,0,0,0,0,0,25.38,25.79,28.83
$GC,1498,-0.77,-90.3,156.0,-10.1,292,1503,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2503,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1802,-0.80,-90.3,184.5,-9.0,353,1810,0.00,2.15,0.00,0.000,4,0.000,0.065,2389,3774,3114,0,0,0,0,0,0,28.83,25.15,28.83
$GC,1864,-0.80,-90.3,190.3,-10.2,365,1872,0.00,2.00,0.00,0.000,6,0.000,0.033,2389,2498,3114,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2171,-0.82,-90.3,220.5,-10.6,406,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2499,3114,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2471,-0.84,-90.3,248.9,-8.5,436,2475,0.00,2.12,0.00,0.000,4,0.000,0.057,2380,3768,3116,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2546,-0.84,-90.3,255.8,-10.4,443,2553,0.00,2.00,0.00,0.000,6,0.000,0.034,2380,2492,3113,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2850,-0.84,-90.3,287.0,-10.2,474,2855,0.00,2.20,0.00,0.000,4,0.000,0.037,2380,1107,3112,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2881,-0.86,-90.3,290.2,-10.1,477,2885,0.00,2.28,0.00,0.000,6,0.000,0.041,2370,2504,3112,0,0,0,0,0,0,28.83,25.62,28.83
$GC,3190,-0.86,-90.3,323.1,-10.7,508,3195,0.00,2.12,0.00,0.000,4,0.000,0.057,2360,3779,3112,0,0,0,0,0,0,28.83,25.50,28.83
$GC,3290,-0.86,-90.3,334.3,-11.2,518,3295,0.00,2.00,0.00,0.000,6,0.000,0.033,2360,2503,3112,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3600,-0.86,-90.3,365.9,-10.4,549,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2359,2503,3111,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3901,-0.86,-90.3,397.1,-10.4,579,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2502,3110,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4201,-0.86,-90.3,426.3,-9.2,609,4205,0.00,2.15,0.00,0.000,4,0.000,0.057,2351,3776,3110,0,0,0,0,0,0,28.83,25.47,28.83
$GC,4235,-0.86,-90.3,429.3,-9.8,612,4243,0.00,2.00,0.00,0.000,6,0.000,0.033,2351,2504,3110,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4540,-0.86,-90.3,459.0,-9.3,643,4545,0.00,2.22,0.00,0.000,4,0.000,0.037,2351,1112,3109,0,0,0,0,0,0,28.83,25.59,28.83
$GC,4605,-0.86,-90.3,464.9,-9.7,649,4614,0.00,2.28,0.00,0.000,6,0.000,0.042,2340,2501,3108,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4911,-0.83,-90.3,494.9,-9.6,680,4915,0.12,2.12,0.00,0.000,4,0.186,0.057,2360,3774,3110,0,0,0,0,0,0,25.39,25.45,28.83
$GC,4950,-0.83,-90.3,498.7,-9.7,684,4955,0.00,2.00,0.00,0.000,6,0.000,0.033,2359,2503,3109,0,0,0,0,0,0,28.83,25.74,28.83
$GC,5260,-0.83,-90.3,526.5,-8.4,715,5261,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2503,3108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5561,-0.83,-90.3,552.6,-9.3,745,5562,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2504,3107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5861,-0.83,-90.3,579.1,-8.8,775,5862,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2503,3107,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6171,-0.83,-90.3,607.4,-8.9,802,6172,0.00,0.00,0.00,0.000,6,0.000,0.000,2360,2503,3106,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6471,-0.83,-90.3,633.2,-8.5,817,6475,0.00,2.15,0.00,0.000,4,0.000,0.059,2350,3774,3105,0,0,0,0,0,0,28.83,25.39,28.83
$GC,6515,-0.83,-90.3,636.8,-8.8,819,6520,0.00,2.00,0.00,0.000,6,0.000,0.034,2350,2505,3105,0,0,0,0,0,0,28.83,25.70,28.83
$GC,6830,-0.83,-90.3,664.6,-8.6,835,6835,0.00,2.25,0.00,0.000,4,0.000,0.038,2350,1102,3105,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6865,-0.83,-90.3,666.2,-8.4,836,6873,0.10,2.30,0.00,0.000,6,0.154,0.043,2368,2499,3105,0,0,0,0,0,0,25.15,25.50,28.83
$GC,7171,-0.88,-111.3,688.1,-6.6,852,7175,0.00,2.17,0.00,0.000,4,0.000,0.060,2361,3784,3105,0,0,0,0,0,0,28.83,25.37,28.83
$GC,7241,-0.90,-124.2,692.4,-7.1,855,7245,0.00,2.05,0.00,0.000,6,0.000,0.035,2361,2493,3104,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7551,-0.90,-126.5,714.9,-7.2,871,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2493,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7851,-0.90,-126.5,738.4,-8.3,886,7851,0.00,0.00,0.00,0.000,6,0.000,0.000,2361,2493,3103,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8151,-0.90,-126.5,763.8,-8.3,901,8155,0.00,2.20,0.00,0.000,4,0.000,0.060,2352,3782,3102,0,0,0,0,0,0,28.83,25.33,28.83
$GC,8195,-0.90,-126.5,767.4,-8.8,903,8200,0.00,2.05,0.00,0.000,6,0.000,0.034,2352,2496,3103,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8510,-0.90,-126.5,795.5,-8.1,919,8515,0.00,2.17,0.00,0.000,4,0.000,0.060,2342,3774,3102,0,0,0,0,0,0,28.83,25.33,28.83
$GC,8591,-0.90,-126.5,802.0,-8.1,923,8595,0.00,2.03,0.00,0.000,6,0.000,0.035,2342,2500,3102,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8910,-0.90,-126.5,827.9,-8.1,939,8915,0.00,2.25,0.00,0.000,4,0.000,0.039,2342,1104,3102,0,0,0,0,0,0,28.83,25.46,28.83
$GC,8996,-0.90,-126.5,834.4,-8.2,943,9000,0.00,2.33,0.00,0.000,6,0.000,0.044,2336,2508,3102,0,0,0,0,0,0,28.83,25.43,28.83
$GC,9311,-0.88,-126.5,860.0,-7.8,959,9315,0.00,2.15,0.00,0.000,4,0.000,0.060,2322,3774,3101,0,0,0,0,0,0,28.83,25.29,28.83
$GC,9346,-0.86,-126.5,861.7,-7.8,960,9353,0.12,2.03,0.00,0.000,6,0.156,0.034,2358,2504,3101,0,0,0,0,0,0,25.09,25.63,28.83
$GC,9652,-0.88,-126.5,883.3,-6.5,976,9652,0.00,0.00,0.00,0.000,6,0.000,0.000,2357,2504,3099,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9951,-0.89,-126.5,902.7,-6.1,991,9955,0.00,2.25,0.00,0.000,4,0.000,0.039,2358,1112,3101,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9986,-0.91,-126.5,903.8,-5.8,992,9993,0.00,2.30,0.00,0.000,6,0.000,0.045,2350,2499,3100,0,0,0,0,0,0,28.83,25.40,28.83
$GC,10290,-0.91,-126.5,926.4,-8.2,1008,10291,0.00,0.00,0.00,0.000,6,0.000,0.000,2350,2499,3100,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10591,-0.91,-126.5,951.6,-7.4,1023,10595,0.00,2.28,0.00,0.000,4,0.000,0.040,2350,1098,3100,0,0,0,0,0,0,28.83,25.42,28.83
$GC,10626,-0.91,-126.5,952.9,-7.0,1024,10633,0.00,2.33,0.00,0.000,6,0.000,0.045,2340,2503,3100,0,0,0,0,0,0,28.83,25.41,28.83
$GC,10930,-0.91,-126.5,978.2,-9.0,1040,10935,0.00,2.17,0.00,0.000,4,0.000,0.060,2331,3782,3100,0,0,0,0,0,0,28.83,25.25,28.83
$GC,11021,-0.89,-126.5,986.0,-9.7,1044,11025,0.00,2.05,0.00,0.000,6,0.000,0.037,2330,2504,3099,0,0,0,0,0,0,28.83,25.58,28.83
$STATE,11069,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11069,begin apogee
$GC,11072,-0.17,0.0,991.7,-9.7,1047,11160,0.85,0.00,83.45,1.275,6,0.142,0.000,2576,2189,2737,0,0,0,0,0,0,24.70,28.83,22.82
$STATE,11160,end apogee,CONTROL_FINISHED_OK
$STATE,11160,begin climb
$GC,11162,0.78,126.5,992.9,0.0,1051,11294,0.93,0.00,126.10,1.262,6,0.066,0.000,2896,2189,2220,0,0,0,0,0,0,24.34,28.83,22.18
$GC,11591,0.72,126.5,956.2,10.7,1073,11591,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,2189,2211,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11891,0.67,126.5,924.7,10.7,1088,11892,0.17,0.00,0.00,0.000,6,0.181,0.000,2855,2190,2208,0,0,0,0,0,0,25.16,28.83,28.83
$GC,12190,0.67,126.5,896.9,9.5,1103,12191,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2189,2207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12491,0.67,126.5,868.8,9.1,1118,12491,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2190,2206,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12791,0.67,126.5,843.5,8.5,1133,12792,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2190,2205,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13091,0.67,127.3,818.2,7.8,1148,13095,0.00,2.28,0.00,0.000,4,0.000,0.044,2864,800,2205,0,0,0,0,0,0,28.83,25.54,28.83
$GC,13155,0.67,127.3,813.2,8.3,1151,13160,0.00,2.30,0.00,0.000,6,0.000,0.039,2863,2216,2205,0,0,0,0,0,0,28.83,25.58,28.83
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$STATE,22635,end climb,SURFACE_DEPTH_REACHED
$STATE,22635,begin surface coast
$FINISH,-0.7,1.001090
$STATE,22747,end surface coast,CONTROL_FINISHED_OK
$STATE,22747,begin surface
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$TT8_MAMPS,0.054677,0.054677
$HUMID,40.51
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,19.50
$XPDR_PINGS,120
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$10V_AH,9.8,33.042
$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
$DEVICE_SECS,22.275,177.775,462.225,0.000,0.000,29.525,42.262,151.060,30.000,0.000,33.232,0.000,17495.924,701.659,4746.488,185.241,0.000,2467.477,0.000,3525.816,0.000,0.530,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297404
$DATA_FILE_SIZE,93187,2249
$CAP_FILE_SIZE,232680,0
$CFSIZE,260165632,246083584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.012,222.4,1
$GPS,080712,021550,4650.091,-12512.866,98,99.0,117,18.4