version: 66.11
glider: 178
mission: 14
dive: 64
start: 6 26 112 14 10 43
data:
$ID,178
$MISSION,14
$DIVE,64
$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,-13506.08
$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,48
$R_STBD_OVSHOOT,25
$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
$GPS1,260612,140450,4726.436,-12538.978,105,2.9,124,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.64
$_SM_ANGLEo,-73.6
$GPS2,260612,141034,4726.450,-12538.995,14,99.0,33,18.6
$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,134.7,75903,-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,-65.68,0.000,2,0.000,0.000,159,2500,2785,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.66,-126.5,3.3,-8.9,11,106,11.02,2.15,-8.57,0.000,4,0.272,0.070,2413,3778,3255,0,0,0,0,0,0,24.54,25.21,25.51
$GC,330,-0.61,-126.5,48.8,-11.2,60,337,0.10,2.05,0.00,0.000,6,0.144,0.043,2441,2500,3261,0,0,0,0,0,0,24.58,24.90,28.83
$GC,636,-0.61,-126.5,76.8,-10.5,121,644,0.00,2.17,0.00,0.000,4,0.000,0.059,2433,3780,3263,0,0,0,0,0,0,28.83,25.35,28.83
$GC,688,-0.61,-126.5,82.4,-11.0,131,695,0.00,2.05,0.00,0.000,6,0.000,0.035,2433,2494,3263,0,0,0,0,0,0,28.83,25.60,28.83
$GC,993,-0.61,-126.5,110.3,-9.0,192,994,0.00,0.00,0.00,0.000,6,0.000,0.000,2432,2494,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1294,-0.62,-126.5,135.1,-7.0,252,1301,0.00,2.20,0.00,0.000,4,0.000,0.060,2423,3779,3263,0,0,0,0,0,0,28.83,25.39,28.83
$GC,1335,-0.62,-126.5,137.9,-6.4,260,1342,0.00,2.03,0.00,0.000,6,0.000,0.044,2423,2505,3264,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1640,-0.62,-126.5,160.4,-8.3,321,1648,0.00,2.15,0.00,0.000,4,0.000,0.060,2413,3774,3266,0,0,0,0,0,0,28.83,25.39,28.83
$GC,1672,-0.62,-126.5,163.3,-9.5,327,1679,0.00,2.03,0.00,0.000,6,0.000,0.035,2414,2497,3263,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1978,-0.62,-126.5,190.4,-8.9,388,1985,0.00,2.17,0.00,0.000,4,0.000,0.060,2404,3771,3263,0,0,0,0,0,0,28.83,25.33,28.83
$GC,2019,-0.62,-126.5,194.2,-9.4,396,2026,0.10,2.03,0.00,0.000,6,0.131,0.044,2434,2500,3263,0,0,0,0,0,0,25.10,25.20,28.83
$GC,2325,-0.65,-126.5,216.9,-7.3,434,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2500,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2626,-0.68,-126.5,239.2,-7.5,464,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2500,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2926,-0.72,-126.5,260.9,-7.4,494,2929,0.00,2.15,0.00,0.000,4,0.000,0.060,2427,3783,3262,0,0,0,0,0,0,28.83,25.34,28.83
$GC,2955,-0.75,-126.5,263.0,-7.2,497,2959,0.00,2.05,0.00,0.000,6,0.000,0.036,2427,2497,3262,0,0,0,0,0,0,28.83,25.63,28.83
$GC,3265,-0.77,-126.5,286.7,-7.7,528,3267,0.12,0.00,0.00,0.000,6,0.087,0.000,2372,2497,3260,0,0,0,0,0,0,25.62,28.83,28.83
$GC,3565,-0.73,-126.5,319.6,-11.5,558,3569,0.12,2.17,0.00,0.000,4,0.166,0.060,2394,3780,3261,0,0,0,0,0,0,25.34,25.33,28.83
$GC,3595,-0.70,-126.5,322.7,-10.5,561,3599,0.00,2.05,0.00,0.000,6,0.000,0.036,2394,2499,3261,0,0,0,0,0,0,28.83,25.62,28.83
$GC,3905,-0.68,-126.5,352.6,-9.2,592,3909,0.00,2.25,0.00,0.000,4,0.000,0.040,2394,1110,3261,0,0,0,0,0,0,28.83,25.44,28.83
$GC,3925,-0.68,-126.5,354.4,-9.3,594,3930,0.10,2.30,0.00,0.000,6,0.134,0.044,2415,2502,3261,0,0,0,0,0,0,25.16,25.42,28.83
$GC,4235,-0.70,-126.5,378.9,-7.4,625,4239,0.00,2.15,0.00,0.000,4,0.000,0.060,2406,3776,3260,0,0,0,0,0,0,28.83,25.30,28.83
$GC,4265,-0.70,-126.5,381.3,-8.0,628,4269,0.00,2.03,0.00,0.000,6,0.000,0.035,2407,2500,3260,0,0,0,0,0,0,28.83,25.61,28.83
$GC,4575,-0.70,-126.5,405.6,-7.9,659,4579,0.00,2.25,0.00,0.000,4,0.000,0.039,2408,1106,3260,0,0,0,0,0,0,28.83,25.42,28.83
$GC,4600,-0.70,-126.5,407.3,-7.9,661,4608,0.00,2.30,0.00,0.000,6,0.000,0.044,2398,2497,3259,0,0,0,0,0,0,28.83,25.39,28.83
$GC,4905,-0.70,-126.5,434.0,-8.7,692,4906,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2497,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5206,-0.70,-126.5,460.4,-9.1,722,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2497,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5505,-0.70,-126.5,486.7,-8.8,752,5510,0.00,2.28,0.00,0.000,4,0.000,0.041,2398,1104,3259,0,0,0,0,0,0,28.83,25.39,28.83
$GC,5535,-0.70,-126.5,489.4,-8.9,755,5539,0.00,2.30,0.00,0.000,6,0.000,0.044,2388,2494,3258,0,0,0,0,0,0,28.83,25.38,28.83
$GC,5845,-0.70,-126.5,515.8,-8.2,786,5846,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2494,3257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6146,-0.70,-126.5,539.3,-7.3,816,6149,0.00,2.28,0.00,0.000,4,0.000,0.041,2388,1085,3257,0,0,0,0,0,0,28.83,25.34,28.83
$GC,6170,-0.70,-126.5,540.8,-7.5,818,6178,0.10,2.35,0.00,0.000,6,0.136,0.044,2408,2499,3257,0,0,0,0,0,0,25.08,25.37,28.83
$GC,6476,-0.72,-126.5,560.7,-6.5,849,6479,0.00,2.30,0.00,0.000,4,0.000,0.041,2408,1095,3257,0,0,0,0,0,0,28.83,25.37,28.83
$GC,6515,-0.74,-126.5,563.3,-6.6,853,6519,0.00,2.33,0.00,0.000,6,0.000,0.044,2403,2497,3256,0,0,0,0,0,0,28.83,25.35,28.83
$GC,6825,-0.74,-126.5,584.7,-7.0,884,6830,0.00,2.28,0.00,0.000,4,0.000,0.041,2403,1110,3256,0,0,0,0,0,0,28.83,25.37,28.83
$GC,6850,-0.74,-126.5,586.1,-7.5,886,6857,0.00,2.30,0.00,0.000,6,0.000,0.044,2394,2499,3256,0,0,0,0,0,0,28.83,25.34,28.83
$GC,7165,-0.74,-126.5,611.2,-7.9,911,7169,0.00,2.28,0.00,0.000,4,0.000,0.041,2394,1106,3256,0,0,0,0,0,0,28.83,25.35,28.83
$GC,7195,-0.74,-126.5,613.0,-8.1,912,7200,0.00,2.33,0.00,0.000,6,0.000,0.044,2383,2503,3256,0,0,0,0,0,0,28.83,25.34,28.83
$GC,7505,-0.74,-126.5,640.4,-8.5,928,7506,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2503,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7805,-0.74,-126.5,665.9,-8.6,943,7809,0.00,2.30,0.00,0.000,4,0.000,0.041,2383,1102,3258,0,0,0,0,0,0,28.83,25.34,28.83
$GC,7825,-0.74,-126.5,667.7,-8.5,944,7829,0.00,2.33,0.00,0.000,6,0.000,0.045,2373,2501,3254,0,0,0,0,0,0,28.83,25.34,28.83
$GC,8145,-0.72,-126.5,694.3,-8.3,960,8146,0.15,0.00,0.00,0.000,6,0.165,0.000,2409,2501,3254,0,0,0,0,0,0,25.18,28.83,28.83
$GC,8446,-0.75,-126.5,713.7,-6.4,975,8449,0.00,2.17,0.00,0.000,4,0.000,0.061,2402,3777,3254,0,0,0,0,0,0,28.83,25.20,28.83
$GC,8470,-0.78,-126.5,715.1,-6.5,976,8474,0.00,2.05,0.00,0.000,6,0.000,0.037,2402,2504,3255,0,0,0,0,0,0,28.83,25.51,28.83
$GC,8785,-0.80,-126.5,736.9,-6.9,992,8786,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2504,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9086,-0.82,-126.5,757.8,-6.9,1007,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2505,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9385,-0.84,-126.5,779.3,-7.6,1022,9386,0.00,0.00,0.00,0.000,6,0.000,0.000,2402,2504,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9686,-0.86,-126.5,801.7,-7.4,1037,9687,0.12,0.00,0.00,0.000,6,0.093,0.000,2354,2504,3252,0,0,0,0,0,0,25.51,28.83,28.83
$GC,9985,-0.82,-126.5,829.8,-9.3,1052,9986,0.00,0.00,0.00,0.000,6,0.000,0.000,2354,2504,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10285,-0.79,-126.5,857.5,-9.3,1067,10286,0.12,0.00,0.00,0.000,6,0.178,0.000,2381,2504,3252,0,0,0,0,0,0,25.20,28.83,28.83
$GC,10585,-0.79,-126.5,881.2,-7.9,1082,10586,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2504,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10885,-0.79,-126.5,905.7,-8.1,1097,10886,0.00,0.00,0.00,0.000,6,0.000,0.000,2381,2504,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11185,-0.79,-126.5,930.2,-8.0,1112,11190,0.00,2.30,0.00,0.000,4,0.000,0.043,2381,1105,3251,0,0,0,0,0,0,28.83,25.25,28.83
$GC,11240,-0.79,-126.5,933.2,-7.7,1114,11247,0.00,2.35,0.00,0.000,6,0.000,0.047,2374,2504,3250,0,0,0,0,0,0,28.83,25.24,28.83
$GC,11545,-0.79,-126.5,958.9,-7.8,1130,11549,0.00,2.30,0.00,0.000,4,0.000,0.042,2374,1103,3250,0,0,0,0,0,0,28.83,25.26,28.83
$GC,11575,-0.79,-126.5,960.5,-7.7,1131,11579,0.00,2.35,0.00,0.000,6,0.000,0.047,2364,2504,3251,0,0,0,0,0,0,28.83,25.24,28.83
$GC,11885,-0.77,-126.5,985.3,-7.9,1147,11886,0.00,0.00,0.00,0.000,6,0.000,0.000,2364,2504,3250,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11944,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11944,begin apogee
$GC,11947,-0.17,0.0,990.1,-7.9,1150,12068,0.73,0.00,117.10,1.273,6,0.134,0.000,2578,2204,2737,0,0,0,0,0,0,24.75,28.83,22.73
$STATE,12070,end apogee,CONTROL_FINISHED_OK
$STATE,12070,begin climb
$GC,12071,0.66,126.5,993.6,0.0,1156,12200,0.80,2.53,122.10,1.260,4,0.060,0.046,2869,802,2220,0,0,0,0,0,0,24.03,23.63,22.40
$GC,12255,0.58,128.0,986.5,7.8,1165,12259,0.12,2.42,0.00,0.000,6,0.158,0.040,2835,2207,2215,0,0,0,0,0,0,24.13,24.37,28.83
$GC,12565,0.53,128.0,959.9,8.2,1181,12566,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2208,2210,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12865,0.49,128.0,935.6,7.9,1196,12867,0.15,0.00,0.00,0.000,6,0.178,0.000,2798,2207,2207,0,0,0,0,0,0,25.16,28.83,28.83
$GC,13165,0.52,148.1,914.7,7.0,1211,13188,0.00,0.00,19.02,1.147,6,0.000,0.000,2798,2206,2134,0,0,0,0,0,0,28.83,28.83,23.87
$GC,13485,0.53,162.1,891.0,7.3,1227,13508,0.00,2.40,14.68,1.110,4,0.000,0.059,2798,3610,2075,0,0,0,0,0,0,28.83,25.19,23.82
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$STATE,24185,end climb,SURFACE_DEPTH_REACHED
$STATE,24185,begin surface coast
$FINISH,0.9,1.023325
$STATE,24210,end surface coast,CONTROL_FINISHED_OK
$STATE,24211,begin surface
$SM_CCo,24286,0.00,0.000,0,0,1297,353.23
$SM_GC,0.52,8.12,2.85,0.00,0.073,0.041,0.000,163,2507,1297,-7.69,-0.74,353.23,0,0,0,0,0,0,25.07,25.20,28.83
$IRIDIUM_FIX,4713.38,-12538.93,260612,070701
$TT8_MAMPS,0.054677,0.054677
$HUMID,40.39
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,17.90
$XPDR_PINGS,180
$24V_AH,22.4,33.812
$10V_AH,9.9,28.538
$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,22.550,140.825,451.275,0.000,0.000,25.738,43.860,152.022,45.000,0.000,35.278,0.000,18930.994,630.771,4878.163,154.231,0.000,2421.545,0.000,3612.439,0.000,0.529,0.000
$DEVICE_MAMPS,271.575,69.615,1272.960,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1638.069,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297408
$DATA_FILE_SIZE,96657,2369
$CAP_FILE_SIZE,235014,0
$CFSIZE,260165632,250322944
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.065,327.4,1
$GPS,260612,210020,4724.611,-12537.859,253,99.0,272,18.6