version: 66.11
glider: 178
mission: 14
dive: 48
start: 6 22 112 1 9 11
data:
$ID,178
$MISSION,14
$DIVE,48
$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,-13485.83
$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,44
$R_STBD_OVSHOOT,30
$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
$GPS1,220612,010537,4730.816,-12628.703,36,1.2,36,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.88
$_SM_ANGLEo,-73.1
$GPS2,220612,010901,4730.827,-12628.727,11,1.2,11,18.7
$SPEED_LIMITS,0.136,0.209
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4730.030,-12630.000
$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,176.8,2173,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.92,-50.7,0.0,0.0,0,76,0.00,0.00,-62.45,0.000,2,0.000,0.000,162,2503,2744,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.92,-50.7,3.3,-8.8,11,97,10.10,2.17,-4.12,0.000,4,0.260,0.068,2329,3784,2946,0,0,0,0,0,0,24.76,25.34,25.60
$GC,151,-0.83,-50.7,26.9,-25.1,25,159,0.12,2.08,0.00,0.000,6,0.184,0.044,2364,2498,2949,0,0,0,0,0,0,24.96,25.10,28.83
$GC,458,-0.86,-50.7,74.5,-14.0,86,465,0.00,2.28,0.00,0.000,4,0.000,0.044,2365,1101,2951,0,0,0,0,0,0,28.83,25.49,28.83
$GC,484,-0.89,-50.7,78.1,-13.8,91,491,0.00,2.30,0.00,0.000,6,0.000,0.044,2356,2497,2951,0,0,0,0,0,0,28.83,25.51,28.83
$GC,790,-0.93,-50.7,114.9,-10.7,152,791,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2497,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1090,-0.99,-50.7,146.5,-10.2,212,1097,0.00,2.12,0.00,0.000,4,0.000,0.058,2347,3768,2952,0,0,0,0,0,0,28.83,25.50,28.83
$GC,1261,-1.03,-50.7,165.1,-11.6,246,1268,0.08,2.03,0.00,0.000,6,0.070,0.036,2309,2488,2952,0,0,0,0,0,0,25.58,25.69,28.83
$GC,1572,-1.03,-50.7,204.6,-13.5,305,1572,0.00,0.00,0.00,0.000,6,0.000,0.000,2303,2489,2952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1872,-1.03,-50.7,242.0,-11.8,335,1876,0.00,2.15,0.00,0.000,4,0.000,0.058,2293,3774,2951,0,0,0,0,0,0,28.83,25.48,28.83
$GC,1896,-1.03,-50.7,244.5,-12.0,337,1905,0.00,2.03,0.00,0.000,6,0.000,0.034,2293,2493,2951,0,0,0,0,0,0,28.83,25.71,28.83
$GC,2202,-1.03,-50.7,283.2,-13.4,368,2206,0.00,2.15,0.00,0.000,4,0.000,0.058,2284,3771,2951,0,0,0,0,0,0,28.83,25.47,28.83
$GC,2232,-1.01,-50.7,287.3,-13.7,371,2237,0.10,2.00,0.00,0.000,6,0.184,0.035,2310,2503,2951,0,0,0,0,0,0,25.22,25.71,28.83
$GC,2542,-1.03,-50.7,325.8,-13.0,402,2546,0.00,2.25,0.00,0.000,4,0.000,0.042,2310,1109,2948,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2587,-1.04,-50.7,330.9,-13.0,406,2594,0.00,2.28,0.00,0.000,6,0.000,0.044,2302,2495,2950,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2892,-1.04,-50.7,369.6,-12.2,437,2893,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2495,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3192,-1.04,-50.7,405.7,-11.3,467,3196,0.00,2.15,0.00,0.000,4,0.000,0.060,2292,3774,2949,0,0,0,0,0,0,28.83,25.41,28.83
$GC,3222,-1.04,-50.7,409.3,-11.9,470,3226,0.00,2.03,0.00,0.000,6,0.000,0.036,2292,2495,2949,0,0,0,0,0,0,28.83,25.66,28.83
$GC,3532,-1.04,-50.7,444.1,-10.9,501,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2291,2494,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3832,-1.04,-50.7,475.8,-10.4,531,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2496,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4133,-1.04,-50.7,507.4,-10.5,561,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2496,2947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4432,-1.04,-50.7,539.1,-10.4,591,4436,0.00,2.17,0.00,0.000,4,0.000,0.060,2282,3776,2947,0,0,0,0,0,0,28.83,25.34,28.83
$GC,4496,-1.04,-50.7,546.0,-11.6,597,4505,0.00,2.05,0.00,0.000,6,0.000,0.037,2282,2501,2946,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4802,-1.04,-50.7,580.8,-11.2,628,4802,0.00,0.00,0.00,0.000,6,0.000,0.000,2283,2501,2946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5112,-1.04,-50.7,616.3,-11.3,652,5113,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2501,2945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5412,-1.04,-50.7,649.9,-10.9,667,5412,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2500,2944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5712,-1.04,-50.7,680.7,-10.0,682,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2501,2944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6012,-1.04,-50.7,711.0,-10.3,697,6012,0.00,0.00,0.00,0.000,6,0.000,0.000,2282,2502,2944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6312,-1.04,-50.7,741.9,-10.4,712,6316,0.00,2.17,0.00,0.000,4,0.000,0.062,2273,3770,2943,0,0,0,0,0,0,28.83,25.25,28.83
$GC,6342,-1.04,-50.7,744.1,-10.7,713,6346,0.10,2.05,0.00,0.000,6,0.187,0.040,2298,2497,2943,0,0,0,0,0,0,25.03,25.55,28.83
$GC,6652,-1.07,-50.7,776.9,-10.3,729,6653,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2497,2943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6952,-1.10,-50.7,808.1,-10.4,744,6956,0.00,2.20,0.00,0.000,4,0.000,0.063,2290,3776,2942,0,0,0,0,0,0,28.83,25.25,28.83
$GC,6997,-1.12,-50.7,812.6,-10.9,746,7001,0.00,2.08,0.00,0.000,6,0.000,0.039,2290,2491,2942,0,0,0,0,0,0,28.83,25.52,28.83
$GC,7312,-1.13,-50.7,846.1,-10.3,762,7316,0.00,2.20,0.00,0.000,4,0.000,0.062,2281,3774,2941,0,0,0,0,0,0,28.83,25.21,28.83
$GC,7357,-1.13,-50.7,850.4,-10.4,764,7361,0.00,2.05,0.00,0.000,6,0.000,0.038,2281,2504,2941,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7672,-1.13,-50.7,882.2,-9.8,780,7676,0.00,2.17,0.00,0.000,4,0.000,0.062,2271,3768,2941,0,0,0,0,0,0,28.83,25.20,28.83
$GC,7706,-1.13,-50.7,884.4,-9.9,781,7715,0.00,2.05,0.00,0.000,6,0.000,0.040,2271,2496,2940,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8012,-1.13,-50.7,916.5,-10.1,797,8016,0.00,2.20,0.00,0.000,4,0.000,0.063,2262,3774,2940,0,0,0,0,0,0,28.83,25.20,28.83
$GC,8087,-1.12,-50.7,923.2,-10.9,800,8094,0.00,2.05,0.00,0.000,6,0.000,0.038,2262,2504,2942,0,0,0,0,0,0,28.83,25.49,28.83
$GC,8392,-1.12,-50.7,957.2,-10.5,816,8396,0.00,2.17,0.00,0.000,4,0.000,0.063,2253,3773,2940,0,0,0,0,0,0,28.83,25.18,28.83
$GC,8512,-1.08,-50.7,970.7,-11.4,822,8516,0.10,2.08,0.00,0.000,6,0.192,0.040,2279,2496,2939,0,0,0,0,0,0,24.93,25.48,28.83
$STATE,8731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8731,begin apogee
$GC,8734,-0.17,0.0,990.9,-8.8,833,8786,1.08,0.00,46.90,1.254,6,0.167,0.000,2576,2203,2737,0,0,0,0,0,0,24.66,28.83,23.39
$STATE,8786,end apogee,CONTROL_FINISHED_OK
$STATE,8786,begin climb
$GC,8787,0.92,50.7,991.7,0.0,835,8846,1.02,2.50,51.28,1.227,4,0.068,0.050,2944,801,2528,0,0,0,0,0,0,24.68,24.18,23.03
$GC,8927,0.92,74.0,986.0,5.4,842,8955,0.00,2.38,23.08,1.187,6,0.000,0.042,2944,2197,2435,0,0,0,0,0,0,28.83,24.73,23.20
$GC,9252,0.90,74.0,954.8,9.4,859,9253,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2197,2427,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9552,0.88,74.0,926.9,9.3,874,9553,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2197,2425,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9852,0.86,74.0,899.5,9.1,889,9856,0.00,2.38,0.00,0.000,4,0.000,0.059,2944,3600,2424,0,0,0,0,0,0,28.83,25.35,28.83
$GC,9922,0.82,74.0,893.6,9.7,892,9926,0.17,2.28,0.00,0.000,6,0.189,0.037,2910,2194,2424,0,0,0,0,0,0,24.94,25.51,28.83
$GC,10232,0.82,75.4,867.5,7.7,908,10236,0.00,2.30,0.00,0.000,4,0.000,0.050,2918,807,2423,0,0,0,0,0,0,28.83,25.40,28.83
$GC,10286,0.82,76.8,864.4,7.7,910,10294,0.00,2.30,0.00,0.000,6,0.000,0.042,2918,2204,2422,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10592,0.82,81.3,840.2,7.4,926,10599,0.00,0.00,6.15,0.924,6,0.000,0.000,2918,2206,2406,0,0,0,0,0,0,28.83,28.83,24.03
$GC,10892,0.83,84.5,817.6,7.5,941,10898,0.00,0.00,4.75,0.820,6,0.000,0.000,2918,2205,2392,0,0,0,0,0,0,28.83,28.83,23.99
$GC,11192,0.83,84.5,794.3,8.0,956,11192,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2205,2391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11492,0.83,86.7,771.1,7.6,971,11496,0.00,2.35,0.00,0.000,4,0.000,0.051,2928,804,2390,0,0,0,0,0,0,28.83,25.38,28.83
$GC,11566,0.83,86.7,766.2,8.1,974,11574,0.00,2.30,0.00,0.000,6,0.000,0.042,2928,2198,2389,0,0,0,0,0,0,28.83,25.44,28.83
$GC,11872,0.83,86.7,740.8,7.9,990,11876,0.00,2.38,0.00,0.000,4,0.000,0.059,2928,3607,2389,0,0,0,0,0,0,28.83,25.34,28.83
$GC,11942,0.81,86.7,735.6,8.7,993,11946,0.12,2.28,0.00,0.000,6,0.184,0.038,2907,2201,2389,0,0,0,0,0,0,24.98,25.51,28.83
$GC,12252,0.84,90.8,711.8,7.4,1009,12261,0.00,0.00,7.45,0.921,6,0.000,0.000,2909,2201,2367,0,0,0,0,0,0,28.83,28.83,24.13
$GC,12552,0.88,90.8,687.6,8.2,1024,12556,0.00,2.33,0.00,0.000,4,0.000,0.050,2916,804,2363,0,0,0,0,0,0,28.83,25.35,28.83
$GC,12647,0.90,90.8,681.0,8.3,1028,12654,0.00,2.33,0.00,0.000,6,0.000,0.043,2915,2208,2363,0,0,0,0,0,0,28.83,25.41,28.83
$GC,12952,0.92,90.8,654.0,8.4,1044,12953,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2207,2363,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13252,0.94,90.8,629.7,8.1,1059,13253,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,2208,2363,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13552,0.96,90.8,605.2,8.1,1074,13553,0.10,0.00,0.00,0.000,6,0.110,0.000,2954,2207,2363,0,0,0,0,0,0,25.51,28.83,28.83
$GC,13852,0.95,90.8,578.2,8.5,1101,13856,0.00,2.35,0.00,0.000,4,0.000,0.059,2954,3600,2363,0,0,0,0,0,0,28.83,25.26,28.83
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$STATE,21205,end climb,SURFACE_DEPTH_REACHED
$STATE,21205,begin surface coast
$FINISH,0.7,1.023833
$STATE,21231,end surface coast,CONTROL_FINISHED_OK
$STATE,21231,begin surface
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$TT8_MAMPS,0.054677,0.054677
$HUMID,40.58
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,18.50
$XPDR_PINGS,153
$24V_AH,23.0,31.381
$10V_AH,9.8,26.727
$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,22.100,144.375,292.675,56.925,0.000,23.324,37.475,79.287,38.250,0.000,12.445,0.000,16346.814,584.757,4423.310,153.819,0.000,2236.150,0.000,3369.677,0.000,0.530,0.000
$DEVICE_MAMPS,260.100,68.085,1253.835,545.445,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1455.913,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297232
$DATA_FILE_SIZE,86565,2107
$CAP_FILE_SIZE,214677,0
$CFSIZE,260165632,252002304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.031,318.0,1
$GPS,220612,070915,4729.340,-12629.991,260,99.0,279,18.7