version: 66.11
glider: 178
mission: 14
dive: 113
start: 7 9 112 15 18 16
data:
$ID,178
$MISSION,14
$DIVE,113
$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,-14471.827
$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,52
$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
$GPS1,090712,151236,4649.891,-12513.910,30,1.7,30,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.26
$_SM_ANGLEo,-72.2
$GPS2,090712,151807,4649.874,-12513.944,14,1.6,14,18.4
$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,93.3,1295,-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,13,-0.92,-50.7,0.0,0.0,0,86,0.00,0.00,-71.30,0.000,2,0.000,0.000,160,2493,2284,0,0,0,0,0,0,28.83,28.83,28.83
$GC,88,-0.92,-50.7,3.6,-11.7,12,118,10.50,2.22,-13.00,0.000,4,0.266,0.051,2336,1096,2947,0,0,0,0,0,0,24.64,25.42,25.64
$GC,232,-0.92,-50.7,31.0,-15.0,40,239,0.00,2.30,0.00,0.000,6,0.000,0.041,2329,2499,2950,0,0,0,0,0,0,28.83,25.51,28.83
$GC,538,-0.92,-50.7,75.8,-14.6,101,545,0.00,2.12,0.00,0.000,4,0.000,0.056,2319,3774,2953,0,0,0,0,0,0,28.83,25.56,28.83
$GC,770,-0.92,-50.7,108.7,-12.7,147,776,0.00,2.00,0.00,0.000,6,0.000,0.033,2318,2500,2954,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1075,-0.94,-50.7,148.5,-13.0,208,1082,0.00,2.12,0.00,0.000,4,0.000,0.057,2312,3770,2954,0,0,0,0,0,0,28.83,24.92,28.83
$GC,1106,-0.94,-50.7,152.8,-14.3,214,1113,0.00,1.98,0.00,0.000,6,0.000,0.032,2309,2503,2954,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1412,-0.96,-50.7,193.2,-12.9,275,1418,0.00,0.00,0.00,0.000,6,0.000,0.000,2310,2503,2955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1717,-0.99,-50.7,229.6,-11.1,311,1721,0.00,2.10,0.00,0.000,4,0.000,0.055,2300,3771,2952,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1767,-0.99,-50.7,235.5,-11.7,316,1771,0.00,2.00,0.00,0.000,6,0.000,0.032,2300,2490,2954,0,0,0,0,0,0,28.83,25.83,28.83
$GC,2077,-1.01,-50.7,269.7,-10.8,347,2078,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2490,2954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2378,-1.02,-50.7,301.3,-10.2,377,2381,0.00,2.12,0.00,0.000,4,0.000,0.060,2290,3777,2953,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2412,-1.02,-50.7,304.6,-11.0,380,2419,0.00,2.00,0.00,0.000,6,0.000,0.031,2290,2493,2953,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2717,-1.02,-50.7,338.8,-11.2,411,2721,0.00,2.15,0.00,0.000,4,0.000,0.055,2280,3776,2952,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2747,-1.02,-50.7,342.4,-11.7,414,2751,0.00,2.00,0.00,0.000,6,0.000,0.031,2280,2491,2952,0,0,0,0,0,0,28.83,25.82,28.83
$GC,3057,-1.02,-50.7,379.3,-12.0,445,3058,0.12,0.00,0.00,0.000,6,0.200,0.000,2306,2490,2951,0,0,0,0,0,0,25.39,28.83,28.83
$GC,3357,-1.06,-50.7,412.5,-11.3,475,3361,0.00,2.15,0.00,0.000,4,0.000,0.056,2298,3774,2950,0,0,0,0,0,0,28.83,25.54,28.83
$GC,3397,-1.07,-50.7,417.3,-12.2,479,3401,0.00,2.00,0.00,0.000,6,0.000,0.032,2299,2496,2950,0,0,0,0,0,0,28.83,25.80,28.83
$GC,3707,-1.10,-50.7,453.7,-11.6,510,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2496,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4008,-1.12,-50.7,488.5,-10.8,540,4011,0.00,2.12,0.00,0.000,4,0.000,0.057,2289,3781,2949,0,0,0,0,0,0,28.83,25.51,28.83
$GC,4067,-1.12,-50.7,495.5,-12.2,546,4071,0.00,2.00,0.00,0.000,6,0.000,0.033,2289,2508,2948,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4377,-1.14,-50.7,530.6,-11.2,577,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2509,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4677,-1.16,-50.7,565.0,-11.9,607,4678,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2509,2947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4978,-1.19,-50.7,599.7,-11.7,637,4981,0.00,2.10,0.00,0.000,4,0.000,0.057,2279,3774,2946,0,0,0,0,0,0,28.83,25.47,28.83
$GC,5007,-1.19,-50.7,602.2,-11.9,639,5011,0.00,2.03,0.00,0.000,6,0.000,0.033,2279,2493,2946,0,0,0,0,0,0,28.83,25.76,28.83
$GC,5317,-1.19,-50.7,641.1,-11.8,655,5321,0.00,2.15,0.00,0.000,4,0.000,0.057,2270,3771,2946,0,0,0,0,0,0,28.83,25.46,28.83
$GC,5352,-1.19,-50.7,643.6,-12.0,656,5359,0.00,2.00,0.00,0.000,6,0.000,0.034,2270,2504,2945,0,0,0,0,0,0,28.83,25.75,28.83
$GC,5657,-1.19,-50.7,683.7,-12.6,672,5658,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2504,2944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5957,-1.19,-50.7,720.9,-12.2,687,5958,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2504,2944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6257,-1.19,-50.7,755.5,-11.3,702,6261,0.00,2.15,0.00,0.000,4,0.000,0.058,2260,3774,2943,0,0,0,0,0,0,28.83,25.41,28.83
$GC,6317,-1.19,-50.7,762.7,-11.9,705,6321,0.00,2.03,0.00,0.000,6,0.000,0.034,2260,2497,2943,0,0,0,0,0,0,28.83,25.72,28.83
$GC,6637,-1.19,-50.7,800.3,-11.2,721,6641,0.00,2.25,0.00,0.000,4,0.000,0.039,2260,1101,2943,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6667,-1.19,-50.7,802.6,-11.3,722,6671,0.00,2.30,0.00,0.000,6,0.000,0.044,2250,2498,2941,0,0,0,0,0,0,28.83,25.52,28.83
$GC,6977,-1.19,-50.7,839.3,-11.0,738,6981,0.00,2.15,0.00,0.000,4,0.000,0.057,2240,3782,2942,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7032,-1.17,-50.7,843.5,-10.4,740,7039,0.00,2.03,0.00,0.000,6,0.000,0.034,2239,2501,2942,0,0,0,0,0,0,28.83,25.70,28.83
$GC,7337,-1.15,-50.7,880.4,-12.2,756,7341,0.00,2.25,0.00,0.000,4,0.000,0.039,2240,1104,2942,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7397,-1.15,-50.7,887.7,-12.1,759,7401,0.12,2.30,0.00,0.000,6,0.189,0.044,2262,2500,2942,0,0,0,0,0,0,24.98,25.50,28.83
$GC,7717,-1.15,-50.7,920.8,-10.6,775,7721,0.00,2.15,0.00,0.000,4,0.000,0.058,2256,3776,2941,0,0,0,0,0,0,28.83,25.38,28.83
$GC,7767,-1.15,-50.7,925.0,-10.3,777,7771,0.00,2.03,0.00,0.000,6,0.000,0.034,2256,2506,2940,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8077,-1.15,-50.7,960.5,-11.0,793,8081,0.00,2.28,0.00,0.000,4,0.000,0.040,2256,1100,2940,0,0,0,0,0,0,28.83,25.49,28.83
$GC,8107,-1.15,-50.7,962.7,-11.0,794,8111,0.00,2.33,0.00,0.000,6,0.000,0.044,2245,2507,2940,0,0,0,0,0,0,28.83,25.48,28.83
$STATE,8356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8356,begin apogee
$GC,8359,-0.17,0.0,991.6,-10.8,807,8408,1.23,0.00,46.47,1.263,6,0.172,0.000,2575,2197,2737,0,0,0,0,0,0,24.63,28.83,23.18
$STATE,8409,end apogee,CONTROL_FINISHED_OK
$STATE,8409,begin climb
$GC,8410,0.92,50.7,992.4,0.0,809,8468,1.02,2.38,51.88,1.240,4,0.075,0.041,2946,798,2531,0,0,0,0,0,0,24.78,24.24,22.75
$GC,8662,0.92,74.7,982.1,5.3,821,8691,0.00,2.33,24.17,1.200,6,0.000,0.038,2946,2204,2432,0,0,0,0,0,0,28.83,25.22,23.23
$GC,8987,0.90,74.7,955.6,8.5,838,8991,0.00,2.30,0.00,0.000,4,0.000,0.054,2945,3613,2426,0,0,0,0,0,0,28.83,25.38,28.83
$GC,9107,0.85,74.7,943.9,10.0,844,9111,0.15,2.25,0.00,0.000,6,0.188,0.033,2918,2204,2426,0,0,0,0,0,0,25.03,25.58,28.83
$GC,9427,0.85,75.0,918.5,7.8,860,9431,0.00,2.28,0.00,0.000,4,0.000,0.042,2926,794,2424,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9542,0.85,75.0,910.7,7.9,865,9549,0.00,2.28,0.00,0.000,6,0.000,0.038,2926,2197,2423,0,0,0,0,0,0,28.83,25.61,28.83
$GC,9847,0.85,75.0,884.9,8.4,881,9851,0.00,2.28,0.00,0.000,4,0.000,0.042,2936,806,2422,0,0,0,0,0,0,28.83,25.59,28.83
$GC,9907,0.85,75.0,879.8,8.3,884,9911,0.00,2.28,0.00,0.000,6,0.000,0.038,2936,2205,2424,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10227,0.85,75.0,852.3,8.6,900,10231,0.00,2.35,0.00,0.000,4,0.000,0.054,2936,3612,2423,0,0,0,0,0,0,28.83,25.51,28.83
$GC,10272,0.83,75.0,848.7,8.9,902,10276,0.12,2.22,0.00,0.000,6,0.188,0.031,2914,2197,2422,0,0,0,0,0,0,25.13,25.71,28.83
$GC,10587,0.83,82.5,824.3,7.1,918,10598,0.00,2.30,7.47,0.976,4,0.000,0.042,2922,797,2399,0,0,0,0,0,0,28.83,25.63,23.77
$GC,10737,0.84,84.4,814.1,7.7,925,10744,0.00,2.30,0.00,0.000,6,0.000,0.038,2923,2206,2398,0,0,0,0,0,0,28.83,25.56,28.83
$GC,11043,0.84,84.7,788.6,7.8,941,11051,0.00,2.33,3.28,0.594,4,0.000,0.042,2933,800,2391,0,0,0,0,0,0,28.83,25.65,23.71
$GC,11082,0.84,85.5,785.6,7.8,943,11086,0.00,2.28,0.00,0.000,6,0.000,0.038,2933,2202,2391,0,0,0,0,0,0,28.83,25.60,28.83
$GC,11402,0.84,85.5,761.1,8.0,959,11403,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2202,2391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11703,0.84,85.5,737.2,8.5,974,11706,0.00,2.28,0.00,0.000,4,0.000,0.042,2943,811,2391,0,0,0,0,0,0,28.83,25.57,28.83
$GC,11862,0.84,85.5,724.0,8.0,982,11867,0.10,2.28,0.00,0.000,6,0.177,0.038,2917,2205,2390,0,0,0,0,0,0,25.19,25.59,28.83
$GC,12183,0.86,88.0,699.1,7.6,998,12189,0.00,0.00,4.75,0.777,6,0.000,0.000,2917,2206,2379,0,0,0,0,0,0,28.83,28.83,23.78
$GC,12483,0.90,98.6,677.7,6.7,1013,12498,0.00,2.25,12.00,0.996,4,0.000,0.041,2925,807,2333,0,0,0,0,0,0,28.83,25.52,23.87
$GC,12612,0.93,103.6,669.4,7.3,1018,12623,0.00,2.28,6.22,0.853,6,0.000,0.044,2925,2197,2316,0,0,0,0,0,0,28.83,25.47,23.70
$GC,12938,0.96,107.6,643.6,7.4,1035,12945,0.00,0.00,5.72,0.824,6,0.000,0.000,2925,2197,2298,0,0,0,0,0,0,28.83,28.83,23.74
$GC,13238,1.00,115.8,621.1,7.0,1050,13248,0.12,0.00,9.30,0.926,6,0.101,0.000,2973,2197,2265,0,0,0,0,0,0,25.59,28.83,23.84
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$STATE,21283,end climb,SURFACE_DEPTH_REACHED
$STATE,21283,begin surface coast
$FINISH,-0.6,1.014401
$STATE,21409,end surface coast,CONTROL_FINISHED_OK
$STATE,21409,begin surface
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$TT8_MAMPS,0.054677,0.054677
$HUMID,40.70
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,20.00
$XPDR_PINGS,96
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$10V_AH,9.8,33.795
$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
$DEVICE_SECS,22.375,169.125,380.900,0.000,0.000,34.761,41.517,151.292,24.000,0.000,15.035,0.000,16168.722,595.656,4834.442,180.420,0.000,2395.780,0.000,3650.233,0.000,0.530,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297412
$DATA_FILE_SIZE,89807,2178
$CAP_FILE_SIZE,226586,0
$CFSIZE,260165632,245387264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,158.409,119.2,1
$GPS,090712,151807,4649.874,-12513.944,901,99.0,901,18.4