version: 66.11
glider: 178
mission: 14
dive: 112
start: 7 9 112 9 22 28
data:
$ID,178
$MISSION,14
$DIVE,112
$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,-14470.565
$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,58
$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
$GPS1,090712,091624,4649.100,-12511.159,110,1.5,110,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.49
$_SM_ANGLEo,-74.9
$GPS2,090712,092219,4649.139,-12511.154,17,1.5,17,18.4
$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,274.5,2530,-25.8,-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,-0.92,-50.7,0.0,0.0,0,62,0.00,0.00,-47.60,0.000,2,0.000,0.000,161,2500,2343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,63,-0.92,-50.7,4.3,-14.3,8,88,10.57,2.30,-9.95,0.000,4,0.269,0.055,2343,1115,2948,0,0,0,0,0,0,24.58,25.39,25.65
$GC,107,-0.80,-50.7,22.8,-30.5,16,114,0.15,2.28,0.00,0.000,6,0.174,0.041,2374,2499,2950,0,0,0,0,0,0,24.97,25.41,28.83
$GC,414,-0.84,-50.7,62.1,-13.6,77,419,0.00,0.00,0.00,0.000,6,0.000,0.000,2374,2498,2954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,718,-0.91,-50.7,100.3,-11.5,138,726,0.00,2.12,0.00,0.000,4,0.000,0.055,2367,3779,2956,0,0,0,0,0,0,28.83,25.56,28.83
$GC,771,-0.97,-50.7,106.6,-12.7,148,777,0.08,1.98,0.00,0.000,6,0.072,0.032,2323,2506,2956,0,0,0,0,0,0,25.64,25.82,28.83
$GC,1077,-1.00,-50.7,146.4,-12.9,209,1083,0.00,2.22,0.00,0.000,4,0.000,0.043,2323,1109,2956,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1102,-1.03,-50.7,149.8,-13.1,214,1110,0.00,2.28,0.00,0.000,6,0.000,0.041,2313,2510,2956,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1409,-1.05,-50.7,186.7,-11.5,275,1416,0.00,2.10,0.00,0.000,4,0.000,0.059,2303,3768,2956,0,0,0,0,0,0,28.83,24.02,28.83
$GC,1535,-1.05,-50.7,201.6,-11.8,298,1543,0.00,1.98,0.00,0.000,6,0.000,0.032,2303,2501,2956,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1840,-1.07,-50.7,238.2,-11.5,329,1844,0.00,2.22,0.00,0.000,4,0.000,0.037,2303,1104,2955,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1870,-1.09,-50.7,241.6,-11.4,332,1874,0.00,2.28,0.00,0.000,6,0.000,0.047,2293,2500,2956,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2180,-1.09,-50.7,279.4,-12.2,363,2184,0.00,2.10,0.00,0.000,4,0.000,0.054,2283,3771,2955,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2290,-1.09,-50.7,293.5,-12.9,374,2294,0.00,1.98,0.00,0.000,6,0.000,0.031,2283,2507,2955,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2600,-1.09,-50.7,334.5,-13.3,405,2604,0.00,2.22,0.00,0.000,4,0.000,0.036,2283,1108,2954,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2614,-1.09,-50.7,335.6,-12.8,406,2623,0.00,2.25,0.00,0.000,6,0.000,0.039,2272,2498,2954,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2920,-1.09,-50.7,375.7,-12.9,437,2924,0.00,2.22,0.00,0.000,4,0.000,0.037,2272,1109,2953,0,0,0,0,0,0,28.83,25.66,28.83
$GC,2945,-1.09,-50.7,378.3,-12.8,439,2952,0.00,2.28,0.00,0.000,6,0.000,0.039,2262,2510,2954,0,0,0,0,0,0,28.83,25.65,28.83
$GC,3250,-1.07,-50.7,418.3,-12.6,470,3254,0.15,2.10,0.00,0.000,4,0.194,0.056,2286,3774,2952,0,0,0,0,0,0,25.27,25.53,28.83
$GC,3310,-1.07,-50.7,425.7,-11.9,476,3314,0.00,2.00,0.00,0.000,6,0.000,0.031,2286,2498,2952,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3620,-1.07,-50.7,461.4,-12.0,507,3624,0.00,2.20,0.00,0.000,4,0.000,0.037,2286,1114,2951,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3640,-1.07,-50.7,463.8,-11.9,509,3644,0.00,2.28,0.00,0.000,6,0.000,0.042,2276,2502,2951,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3950,-1.07,-50.7,500.3,-12.4,540,3954,0.00,2.12,0.00,0.000,4,0.000,0.056,2266,3779,2950,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4005,-1.05,-50.7,507.0,-13.5,545,4012,0.10,2.03,0.00,0.000,6,0.181,0.032,2292,2493,2950,0,0,0,0,0,0,25.24,25.77,28.83
$GC,4310,-1.07,-50.7,544.1,-11.6,576,4311,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2493,2949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4610,-1.10,-50.7,578.0,-10.3,606,4614,0.00,2.15,0.00,0.000,4,0.000,0.057,2285,3772,2948,0,0,0,0,0,0,28.83,25.47,28.83
$GC,4630,-1.11,-50.7,580.2,-10.4,608,4634,0.00,2.03,0.00,0.000,6,0.000,0.032,2285,2491,2948,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4940,-1.13,-50.7,612.8,-10.8,633,4944,0.00,2.17,0.00,0.000,4,0.000,0.058,2275,3782,2948,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4955,-1.15,-50.7,612.8,-10.8,633,4962,0.00,2.03,0.00,0.000,6,0.000,0.032,2275,2498,2947,0,0,0,0,0,0,28.83,25.74,28.83
$GC,5260,-1.15,-50.7,651.0,-12.4,649,5264,0.00,2.15,0.00,0.000,4,0.000,0.057,2265,3774,2947,0,0,0,0,0,0,28.83,25.44,28.83
$GC,5295,-1.15,-50.7,653.7,-12.6,650,5303,0.00,2.00,0.00,0.000,6,0.000,0.033,2265,2501,2946,0,0,0,0,0,0,28.83,25.73,28.83
$GC,5600,-1.15,-50.7,693.9,-12.4,666,5604,0.00,2.22,0.00,0.000,4,0.000,0.038,2265,1111,2946,0,0,0,0,0,0,28.83,25.56,28.83
$GC,5635,-1.15,-50.7,696.3,-12.2,667,5642,0.00,2.28,0.00,0.000,6,0.000,0.043,2255,2497,2946,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5940,-1.15,-50.7,735.3,-12.1,683,5944,0.00,2.12,0.00,0.000,4,0.000,0.057,2246,3767,2945,0,0,0,0,0,0,28.83,25.41,28.83
$GC,5980,-1.13,-50.7,740.5,-12.5,685,5984,0.10,2.00,0.00,0.000,6,0.186,0.034,2270,2500,2945,0,0,0,0,0,0,25.17,25.70,28.83
$GC,6300,-1.13,-50.7,775.7,-10.8,701,6304,0.00,2.15,0.00,0.000,4,0.000,0.058,2263,3776,2945,0,0,0,0,0,0,28.83,25.41,28.83
$GC,6335,-1.13,-50.7,778.1,-11.1,702,6343,0.00,2.03,0.00,0.000,6,0.000,0.041,2263,2503,2944,0,0,0,0,0,0,28.83,24.60,28.83
$GC,6640,-1.13,-50.7,814.7,-11.5,718,6641,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2503,2944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6940,-1.13,-50.7,848.4,-11.2,733,6941,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2503,2944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7240,-1.13,-50.7,883.2,-11.4,748,7241,0.00,0.00,0.00,0.000,6,0.000,0.000,2263,2503,2943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7540,-1.13,-50.7,914.6,-10.2,763,7544,0.00,2.15,0.00,0.000,4,0.000,0.059,2254,3771,2942,0,0,0,0,0,0,28.83,25.37,28.83
$GC,7565,-1.13,-50.7,916.7,-10.4,764,7569,0.00,2.03,0.00,0.000,6,0.000,0.035,2253,2496,2942,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7880,-1.13,-50.7,950.1,-10.5,780,7884,0.00,2.25,0.00,0.000,4,0.000,0.039,2253,1104,2942,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7915,-1.13,-50.7,952.3,-10.6,781,7922,0.10,2.30,0.00,0.000,6,0.185,0.044,2269,2495,2942,0,0,0,0,0,0,25.03,25.46,28.83
$GC,8220,-1.15,-50.7,983.3,-9.7,797,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,2268,2496,2942,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8299,begin apogee
$GC,8302,-0.17,0.0,991.6,-10.4,801,8354,1.10,0.00,47.33,1.264,6,0.164,0.000,2575,2201,2738,0,0,0,0,0,0,24.65,28.83,23.17
$STATE,8354,end apogee,CONTROL_FINISHED_OK
$STATE,8354,begin climb
$GC,8356,0.92,50.7,992.5,0.0,803,8415,1.02,2.42,52.28,1.242,4,0.067,0.043,2944,805,2529,0,0,0,0,0,0,24.77,24.24,22.75
$GC,8505,0.94,90.9,988.9,3.7,811,8550,0.00,2.33,40.50,1.232,6,0.000,0.037,2945,2197,2366,0,0,0,0,0,0,28.83,24.91,22.82
$GC,8855,0.94,90.9,957.8,9.3,829,8856,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2197,2357,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9155,0.94,90.9,930.2,9.0,844,9159,0.00,2.30,0.00,0.000,4,0.000,0.044,2955,796,2355,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9315,0.94,90.9,915.7,9.0,852,9319,0.00,2.30,0.00,0.000,6,0.000,0.039,2955,2206,2354,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9635,0.93,90.9,889.0,8.3,868,9636,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2207,2353,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9935,0.93,92.2,865.5,7.7,883,9939,0.00,2.30,0.00,0.000,4,0.000,0.043,2965,801,2352,0,0,0,0,0,0,28.83,25.59,28.83
$GC,10090,0.91,92.2,853.5,8.7,890,10098,0.10,2.28,0.00,0.000,6,0.184,0.038,2940,2203,2352,0,0,0,0,0,0,25.17,25.60,28.83
$GC,10395,0.91,92.2,826.1,8.7,906,10396,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2202,2349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10695,0.91,92.2,798.5,9.3,921,10699,0.00,2.35,0.00,0.000,4,0.000,0.054,2940,3609,2351,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10775,0.88,92.2,790.7,9.8,925,10779,0.00,2.25,0.00,0.000,6,0.000,0.033,2948,2187,2351,0,0,0,0,0,0,28.83,25.68,28.83
$GC,11095,0.88,92.2,761.9,9.1,941,11099,0.00,2.25,0.00,0.000,4,0.000,0.043,2959,807,2350,0,0,0,0,0,0,28.83,25.55,28.83
$GC,11170,0.88,92.2,756.5,9.0,944,11177,0.12,2.28,0.00,0.000,6,0.171,0.037,2926,2204,2350,0,0,0,0,0,0,25.10,25.58,28.83
$GC,11475,0.90,92.2,730.0,8.0,960,11479,0.00,2.30,0.00,0.000,4,0.000,0.042,2934,805,2350,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11510,0.92,92.3,728.4,7.8,961,11517,0.00,2.28,0.00,0.000,6,0.000,0.037,2934,2204,2349,0,0,0,0,0,0,28.83,25.56,28.83
$GC,11815,0.92,93.7,703.2,7.7,977,11816,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2204,2349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12115,0.93,99.4,681.3,7.3,992,12125,0.00,2.25,6.57,0.880,4,0.000,0.042,2944,801,2331,0,0,0,0,0,0,28.83,25.63,23.76
$GC,12250,0.93,99.4,670.6,8.1,999,12254,0.00,2.30,0.00,0.000,6,0.000,0.038,2943,2207,2330,0,0,0,0,0,0,28.83,25.54,28.83
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$STATE,20588,end climb,SURFACE_DEPTH_REACHED
$STATE,20588,begin surface coast
$FINISH,4.0,1.021142
$STATE,20643,end surface coast,CONTROL_FINISHED_OK
$STATE,20643,begin surface
$SM_CCo,20644,210.55,0.630,0,0,424,567.13
$SM_GC,0.15,8.30,1.83,0.00,0.048,0.032,0.000,161,2493,420,-7.70,1.41,568.36,0,0,0,0,0,0,24.68,24.75,28.83
$IRIDIUM_FIX,4629.23,-12517.28,090712,030329
$TT8_MAMPS,0.054677,0.054677
$HUMID,40.39
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,18.70
$XPDR_PINGS,97
$24V_AH,22.7,40.295
$10V_AH,9.8,33.693
$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,22.450,191.400,315.050,210.550,0.000,29.183,42.152,172.469,24.250,0.000,20.526,0.000,15716.888,790.063,4612.283,161.849,0.000,2494.082,0.000,3420.266,0.000,0.530,0.000
$DEVICE_MAMPS,269.280,58.905,1263.780,629.595,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1433.578,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297420
$DATA_FILE_SIZE,86495,2077
$CAP_FILE_SIZE,225361,0
$CFSIZE,260165632,245489664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.033,253.1,1
$GPS,090712,151236,4649.891,-12513.910,30,1.7,30,18.4