version: 66.11
glider: 178
mission: 14
dive: 63
start: 6 26 112 7 31 13
data:
$ID,178
$MISSION,14
$DIVE,63
$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,-13504.813
$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,29
$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
$GPS1,260612,072526,4727.607,-12539.791,300,99.0,319,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.54
$_SM_ANGLEo,-72.5
$GPS2,260612,073104,4727.577,-12539.780,13,99.0,32,18.6
$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,129.4,78215,-15.1,-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,-0.66,-126.5,0.0,0.0,0,79,0.00,0.00,-65.07,0.000,2,0.000,0.000,162,2513,2818,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.66,-126.5,3.6,-10.5,11,105,10.93,2.10,-7.97,0.000,4,0.269,0.072,2414,3774,3256,0,0,0,0,0,0,24.60,25.22,25.56
$GC,329,-0.60,-126.5,53.2,-14.5,60,338,0.10,2.03,0.00,0.000,6,0.149,0.044,2442,2511,3260,0,0,0,0,0,0,24.79,24.24,28.83
$GC,636,-0.60,-126.5,85.6,-10.2,121,644,0.00,2.15,0.00,0.000,4,0.000,0.058,2434,3778,3262,0,0,0,0,0,0,28.83,25.37,28.83
$GC,817,-0.60,-126.5,105.2,-9.7,157,824,0.00,2.05,0.00,0.000,6,0.000,0.035,2435,2491,3263,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1124,-0.61,-126.5,129.2,-7.4,218,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2491,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1429,-0.63,-126.5,149.3,-6.7,279,1435,0.00,2.17,0.00,0.000,4,0.000,0.060,2425,3765,3263,0,0,0,0,0,0,28.83,25.39,28.83
$GC,1454,-0.63,-126.5,151.3,-7.6,284,1462,0.00,2.03,0.00,0.000,6,0.000,0.036,2425,2494,3263,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1761,-0.63,-126.5,175.7,-8.3,345,1768,0.00,2.17,0.00,0.000,4,0.000,0.059,2416,3776,3263,0,0,0,0,0,0,28.83,25.41,28.83
$GC,1792,-0.63,-126.5,178.5,-9.5,351,1799,0.00,2.03,0.00,0.000,6,0.000,0.034,2416,2500,3263,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2098,-0.63,-126.5,205.2,-8.7,406,2102,0.00,2.15,0.00,0.000,4,0.000,0.058,2406,3774,3263,0,0,0,0,0,0,28.83,25.39,28.83
$GC,2118,-0.63,-126.5,207.1,-8.9,408,2122,0.00,2.03,0.00,0.000,6,0.000,0.034,2406,2497,3262,0,0,0,0,0,0,28.83,25.65,28.83
$GC,2428,-0.63,-126.5,235.8,-9.5,439,2432,0.00,2.15,0.00,0.000,4,0.000,0.059,2396,3767,3262,0,0,0,0,0,0,28.83,25.38,28.83
$GC,2492,-0.63,-126.5,241.7,-10.0,445,2500,0.10,2.03,0.00,0.000,6,0.133,0.036,2428,2497,3262,0,0,0,0,0,0,25.27,25.65,28.83
$GC,2798,-0.66,-126.5,265.2,-7.3,476,2802,0.00,2.17,0.00,0.000,4,0.000,0.060,2421,3774,3259,0,0,0,0,0,0,28.83,25.35,28.83
$GC,2833,-0.68,-126.5,267.6,-7.8,479,2840,0.00,2.03,0.00,0.000,6,0.000,0.035,2421,2502,3261,0,0,0,0,0,0,28.83,25.64,28.83
$GC,3138,-0.70,-126.5,292.0,-8.2,510,3142,0.00,2.15,0.00,0.000,4,0.000,0.060,2411,3768,3261,0,0,0,0,0,0,28.83,25.34,28.83
$GC,3188,-0.70,-126.5,296.3,-8.8,515,3192,0.00,2.03,0.00,0.000,6,0.000,0.036,2411,2498,3260,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3498,-0.70,-126.5,322.9,-8.6,546,3502,0.00,2.17,0.00,0.000,4,0.000,0.060,2402,3776,3260,0,0,0,0,0,0,28.83,25.34,28.83
$GC,3523,-0.70,-126.5,324.7,-8.9,548,3531,0.00,2.03,0.00,0.000,6,0.000,0.035,2402,2500,3260,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3828,-0.70,-126.5,351.4,-8.3,579,3828,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2500,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4128,-0.70,-126.5,375.1,-7.8,609,4132,0.00,2.15,0.00,0.000,4,0.000,0.060,2393,3767,3256,0,0,0,0,0,0,28.83,25.32,28.83
$GC,4203,-0.70,-126.5,381.1,-8.5,616,4211,0.00,2.05,0.00,0.000,6,0.000,0.038,2393,2493,3259,0,0,0,0,0,0,28.83,25.20,28.83
$GC,4508,-0.70,-126.5,407.7,-9.0,647,4512,0.00,2.17,0.00,0.000,4,0.000,0.060,2383,3770,3258,0,0,0,0,0,0,28.83,25.30,28.83
$GC,4538,-0.68,-126.5,410.7,-9.8,650,4542,0.10,2.03,0.00,0.000,6,0.138,0.036,2413,2498,3258,0,0,0,0,0,0,25.22,25.60,28.83
$GC,4848,-0.69,-126.5,435.7,-8.1,681,4849,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2498,3258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5149,-0.71,-126.5,458.6,-7.5,711,5152,0.00,2.15,0.00,0.000,4,0.000,0.061,2406,3776,3257,0,0,0,0,0,0,28.83,25.27,28.83
$GC,5183,-0.71,-126.5,461.1,-8.3,714,5190,0.00,2.05,0.00,0.000,6,0.000,0.035,2406,2497,3257,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5488,-0.71,-126.5,486.5,-8.4,745,5492,0.00,2.17,0.00,0.000,4,0.000,0.061,2397,3768,3260,0,0,0,0,0,0,28.83,25.26,28.83
$GC,5522,-0.71,-126.5,489.1,-8.6,748,5531,0.00,2.03,0.00,0.000,6,0.000,0.037,2397,2504,3256,0,0,0,0,0,0,28.83,25.57,28.83
$GC,5828,-0.71,-126.5,515.6,-8.4,779,5832,0.00,2.17,0.00,0.000,4,0.000,0.061,2388,3776,3256,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5858,-0.71,-126.5,518.5,-9.3,782,5862,0.00,2.05,0.00,0.000,6,0.000,0.036,2387,2500,3256,0,0,0,0,0,0,28.83,25.57,28.83
$GC,6168,-0.70,-126.5,544.8,-8.3,813,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2499,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6469,-0.70,-126.5,568.8,-7.3,843,6472,0.00,2.17,0.00,0.000,4,0.000,0.061,2378,3768,3256,0,0,0,0,0,0,28.83,25.22,28.83
$GC,6493,-0.68,-126.5,570.6,-8.1,845,6501,0.12,2.03,0.00,0.000,6,0.138,0.037,2413,2511,3258,0,0,0,0,0,0,25.10,25.56,28.83
$GC,6798,-0.71,-126.5,590.2,-6.0,876,6802,0.00,2.15,0.00,0.000,4,0.000,0.061,2405,3769,3252,0,0,0,0,0,0,28.83,25.22,28.83
$GC,6833,-0.73,-126.5,592.2,-6.3,879,6840,0.00,2.05,0.00,0.000,6,0.000,0.037,2410,2490,3254,0,0,0,0,0,0,28.83,25.54,28.83
$GC,7149,-0.75,-126.5,613.5,-6.8,901,7152,0.00,2.17,0.00,0.000,4,0.000,0.062,2399,3776,3254,0,0,0,0,0,0,28.83,25.21,28.83
$GC,7243,-0.77,-126.5,619.3,-7.3,905,7250,0.00,2.05,0.00,0.000,6,0.000,0.036,2400,2502,3254,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7548,-0.77,-126.5,642.1,-7.3,921,7549,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2501,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7848,-0.77,-126.5,663.2,-7.1,936,7849,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2502,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8148,-0.77,-126.5,685.4,-7.6,951,8152,0.00,2.17,0.00,0.000,4,0.000,0.061,2390,3771,3252,0,0,0,0,0,0,28.83,25.19,28.83
$GC,8178,-0.77,-126.5,686.9,-7.6,952,8182,0.00,2.05,0.00,0.000,6,0.000,0.037,2391,2499,3251,0,0,0,0,0,0,28.83,25.52,28.83
$GC,8488,-0.77,-126.5,713.4,-8.1,968,8492,0.00,2.17,0.00,0.000,4,0.000,0.062,2381,3766,3252,0,0,0,0,0,0,28.83,25.18,28.83
$GC,8512,-0.77,-126.5,715.2,-8.2,969,8517,0.00,2.05,0.00,0.000,6,0.000,0.037,2381,2499,3252,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8828,-0.77,-126.5,743.4,-9.2,985,8832,0.00,2.20,0.00,0.000,4,0.000,0.063,2371,3774,3252,0,0,0,0,0,0,28.83,25.17,28.83
$GC,8883,-0.77,-126.5,747.4,-9.6,987,8890,0.00,2.08,0.00,0.000,6,0.000,0.037,2371,2491,3252,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9188,-0.75,-126.5,778.4,-9.3,1003,9189,0.00,0.00,0.00,0.000,6,0.000,0.000,2371,2492,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9488,-0.72,-126.5,806.5,-9.4,1018,9489,0.15,0.00,0.00,0.000,6,0.159,0.000,2408,2490,3251,0,0,0,0,0,0,25.17,28.83,28.83
$GC,9788,-0.75,-126.5,828.3,-7.0,1033,9792,0.00,2.20,0.00,0.000,4,0.000,0.063,2400,3766,3251,0,0,0,0,0,0,28.83,25.14,28.83
$GC,9818,-0.78,-126.5,829.8,-7.1,1034,9822,0.00,2.05,0.00,0.000,6,0.000,0.038,2401,2498,3254,0,0,0,0,0,0,28.83,25.47,28.83
$GC,10128,-0.80,-126.5,852.5,-6.9,1050,10129,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2498,3249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10428,-0.82,-126.5,873.4,-7.2,1065,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2498,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10728,-0.84,-126.5,895.6,-7.6,1080,10732,0.00,2.20,0.00,0.000,4,0.000,0.063,2393,3770,3250,0,0,0,0,0,0,28.83,25.10,28.83
$GC,10768,-0.86,-126.5,898.7,-7.6,1082,10772,0.00,2.05,0.00,0.000,6,0.000,0.039,2393,2505,3250,0,0,0,0,0,0,28.83,25.46,28.83
$GC,11088,-0.86,-126.5,922.5,-7.1,1098,11092,0.00,2.17,0.00,0.000,4,0.000,0.063,2382,3767,3249,0,0,0,0,0,0,28.83,25.11,28.83
$GC,11128,-0.86,-126.5,925.7,-7.3,1100,11132,0.00,2.05,0.00,0.000,6,0.000,0.039,2383,2502,3249,0,0,0,0,0,0,28.83,25.46,28.83
$GC,11448,-0.86,-126.5,948.2,-6.7,1116,11452,0.00,2.20,0.00,0.000,4,0.000,0.063,2373,3776,3251,0,0,0,0,0,0,28.83,25.09,28.83
$GC,11473,-0.86,-126.5,949.7,-6.7,1117,11477,0.00,2.08,0.00,0.000,6,0.000,0.037,2373,2492,3249,0,0,0,0,0,0,28.83,25.45,28.83
$GC,11788,-0.86,-126.5,972.3,-6.9,1133,11792,0.00,2.20,0.00,0.000,4,0.000,0.062,2363,3769,3249,0,0,0,0,0,0,28.83,25.11,28.83
$GC,11833,-0.86,-126.5,975.3,-7.1,1135,11837,0.00,2.05,0.00,0.000,6,0.000,0.038,2364,2506,3249,0,0,0,0,0,0,28.83,25.44,28.83
$STATE,12027,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12027,begin apogee
$GC,12030,-0.17,0.0,990.5,-7.5,1145,12151,0.73,0.00,116.60,1.272,6,0.136,0.000,2577,2194,2737,0,0,0,0,0,0,24.74,28.83,22.73
$STATE,12152,end apogee,CONTROL_FINISHED_OK
$STATE,12152,begin climb
$GC,12153,0.66,126.5,993.5,0.0,1151,12283,0.80,2.50,122.15,1.256,4,0.063,0.047,2865,811,2220,0,0,0,0,0,0,24.03,23.63,22.40
$GC,12338,0.59,129.9,986.1,7.7,1160,12342,0.15,2.40,0.00,0.000,6,0.168,0.041,2832,2198,2215,0,0,0,0,0,0,24.18,24.37,28.83
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$STATE,23377,end climb,SURFACE_DEPTH_REACHED
$STATE,23377,begin surface coast
$FINISH,-0.3,1.013598
$STATE,23403,end surface coast,CONTROL_FINISHED_OK
$STATE,23403,begin surface
$SM_CCo,23475,0.00,0.000,0,0,1251,364.52
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$TT8_MAMPS,0.053928,0.053928
$HUMID,40.78
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,18.40
$XPDR_PINGS,206
$24V_AH,22.4,33.660
$10V_AH,9.8,28.429
$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
$DEVICE_SECS,22.550,185.225,458.800,0.000,0.000,27.460,36.054,152.957,51.500,0.000,34.262,0.000,18059.998,696.081,4841.968,178.821,0.000,2522.899,0.000,3606.867,0.000,0.530,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1561.906,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297372
$DATA_FILE_SIZE,93185,2262
$CAP_FILE_SIZE,243749,0
$CFSIZE,260165632,250421248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.122,332.6,1
$GPS,260612,140450,4726.436,-12538.978,105,2.9,124,18.6