version: 66.11
glider: 178
mission: 14
dive: 91
start: 7 4 112 4 17 54
data:
$ID,178
$MISSION,14
$DIVE,91
$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,-13540.195
$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,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
$GPS1,040712,041205,4648.465,-12512.427,95,1.8,95,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.46
$_SM_ANGLEo,-73.9
$GPS2,040712,041745,4648.435,-12512.479,12,2.9,31,18.4
$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,331.9,2115,-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,-50.7,0.0,0.0,0,78,0.00,0.00,-63.83,0.000,2,0.000,0.000,154,2486,2911,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.92,-50.7,4.5,-14.8,11,99,10.60,2.22,-0.60,0.000,4,0.270,0.053,2343,1105,2948,0,0,0,0,0,0,24.56,25.38,25.58
$GC,207,-0.92,-50.7,39.7,-17.2,36,215,0.00,2.30,0.00,0.000,6,0.000,0.043,2334,2499,2951,0,0,0,0,0,0,28.83,25.42,28.83
$GC,514,-0.94,-50.7,81.3,-12.2,97,521,0.00,2.15,0.00,0.000,4,0.000,0.057,2325,3776,2954,0,0,0,0,0,0,28.83,25.29,28.83
$GC,595,-0.94,-50.7,92.3,-12.4,113,603,0.00,2.00,0.00,0.000,6,0.000,0.032,2324,2501,2955,0,0,0,0,0,0,28.83,25.72,28.83
$GC,902,-0.96,-50.7,131.1,-12.7,174,909,0.00,2.15,0.00,0.000,4,0.000,0.063,2315,3773,2955,0,0,0,0,0,0,28.83,25.25,28.83
$GC,928,-0.96,-50.7,134.6,-13.2,179,935,0.00,2.00,0.00,0.000,6,0.000,0.032,2315,2498,2955,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1234,-0.98,-50.7,171.0,-11.7,240,1241,0.00,2.15,0.00,0.000,4,0.000,0.063,2305,3774,2955,0,0,0,0,0,0,28.83,25.25,28.83
$GC,1305,-0.98,-50.7,180.2,-13.9,254,1312,0.00,2.00,0.00,0.000,6,0.000,0.032,2305,2500,2955,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1615,-0.98,-50.7,218.0,-12.2,301,1619,0.00,2.12,0.00,0.000,4,0.000,0.056,2296,3771,2955,0,0,0,0,0,0,28.83,25.52,28.83
$GC,1645,-0.98,-50.7,222.2,-13.6,304,1649,0.00,2.00,0.00,0.000,6,0.000,0.033,2295,2493,2955,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1955,-0.98,-50.7,263.6,-13.6,335,1959,0.00,2.15,0.00,0.000,4,0.000,0.056,2286,3774,2955,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2036,-0.96,-50.7,274.8,-14.2,343,2040,0.12,2.00,0.00,0.000,6,0.181,0.031,2319,2496,2956,0,0,0,0,0,0,25.18,25.76,28.83
$GC,2345,-1.00,-50.7,311.1,-11.9,374,2346,0.00,0.00,0.00,0.000,6,0.000,0.000,2319,2496,2955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2646,-1.04,-50.7,346.1,-11.0,404,2649,0.00,2.12,0.00,0.000,4,0.000,0.056,2312,3796,2955,0,0,0,0,0,0,28.83,25.49,28.83
$GC,2710,-1.06,-50.7,353.2,-11.9,410,2718,0.00,2.03,0.00,0.000,6,0.000,0.032,2312,2502,2955,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3015,-1.09,-50.7,389.6,-11.4,441,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,2312,2502,2955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3316,-1.12,-50.7,423.2,-11.4,471,3319,0.00,2.15,0.00,0.000,4,0.000,0.057,2302,3782,2954,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3350,-1.14,-50.7,426.9,-12.0,474,3358,0.00,2.03,0.00,0.000,6,0.000,0.033,2302,2497,2954,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3655,-1.16,-50.7,460.1,-10.0,505,3660,0.12,2.15,0.00,0.000,4,0.099,0.058,2245,3773,2953,0,0,0,0,0,0,25.66,25.44,28.83
$GC,3720,-1.11,-50.7,467.5,-13.0,511,3728,0.12,2.00,0.00,0.000,6,0.193,0.033,2276,2503,2953,0,0,0,0,0,0,25.08,25.75,28.83
$GC,4025,-1.11,-50.7,502.7,-10.7,542,4029,0.00,2.25,0.00,0.000,4,0.000,0.038,2277,1102,2952,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4051,-1.11,-50.7,505.0,-11.2,544,4058,0.00,2.30,0.00,0.000,6,0.000,0.043,2268,2507,2952,0,0,0,0,0,0,28.83,25.53,28.83
$GC,4355,-1.11,-50.7,540.3,-11.0,575,4359,0.00,2.12,0.00,0.000,4,0.000,0.057,2259,3776,2951,0,0,0,0,0,0,28.83,25.43,28.83
$GC,4410,-1.07,-50.7,546.3,-12.2,580,4418,0.10,2.03,0.00,0.000,6,0.189,0.033,2284,2493,2952,0,0,0,0,0,0,25.16,25.70,28.83
$GC,4715,-1.07,-50.7,578.8,-10.6,611,4719,0.00,2.22,0.00,0.000,4,0.000,0.038,2284,1107,2951,0,0,0,0,0,0,28.83,25.54,28.83
$GC,4760,-1.07,-50.7,583.0,-10.4,615,4767,0.00,2.30,0.00,0.000,6,0.000,0.044,2276,2501,2950,0,0,0,0,0,0,28.83,25.46,28.83
$GC,5075,-1.07,-50.7,618.6,-10.9,639,5080,0.00,2.12,0.00,0.000,4,0.000,0.057,2266,3771,2950,0,0,0,0,0,0,28.83,25.41,28.83
$GC,5135,-1.07,-50.7,626.0,-12.1,642,5139,0.00,2.00,0.00,0.000,6,0.000,0.034,2266,2503,2950,0,0,0,0,0,0,28.83,25.68,28.83
$GC,5456,-1.07,-50.7,662.1,-10.8,658,5460,0.00,2.25,0.00,0.000,4,0.000,0.038,2266,1101,2950,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5485,-1.07,-50.7,664.4,-10.9,659,5490,0.12,2.30,0.00,0.000,6,0.182,0.043,2288,2500,2949,0,0,0,0,0,0,24.98,25.49,28.83
$GC,5796,-1.10,-50.7,696.3,-9.7,675,5796,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2500,2949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6096,-1.12,-50.7,724.4,-9.3,690,6099,0.00,2.25,0.00,0.000,4,0.000,0.040,2289,1110,2948,0,0,0,0,0,0,28.83,25.49,28.83
$GC,6175,-1.14,-50.7,732.3,-9.9,694,6179,0.00,2.30,0.00,0.000,6,0.000,0.044,2281,2504,2948,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6496,-1.16,-50.7,764.6,-10.1,710,6497,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2504,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6795,-1.16,-50.7,794.9,-9.7,725,6799,0.00,2.12,0.00,0.000,4,0.000,0.057,2271,3766,2948,0,0,0,0,0,0,28.83,25.32,28.83
$GC,6860,-1.16,-50.7,801.4,-10.6,728,6864,0.00,2.03,0.00,0.000,6,0.000,0.035,2271,2496,2947,0,0,0,0,0,0,28.83,25.64,28.83
$GC,7176,-1.16,-50.7,835.8,-10.8,744,7179,0.00,2.25,0.00,0.000,4,0.000,0.039,2271,1104,2947,0,0,0,0,0,0,28.83,25.43,28.83
$GC,7240,-1.16,-50.7,842.4,-10.8,747,7244,0.00,2.30,0.00,0.000,6,0.000,0.044,2261,2495,2946,0,0,0,0,0,0,28.83,25.42,28.83
$GC,7556,-1.16,-50.7,879.8,-11.8,763,7556,0.00,0.00,0.00,0.000,6,0.000,0.000,2261,2496,2946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7855,-1.16,-50.7,914.4,-11.3,778,7859,0.00,2.15,0.00,0.000,4,0.000,0.058,2251,3767,2945,0,0,0,0,0,0,28.83,25.29,28.83
$GC,7920,-1.14,-50.7,921.5,-11.7,781,7924,0.00,2.03,0.00,0.000,6,0.000,0.036,2247,2502,2945,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8236,-1.14,-50.7,958.1,-11.6,797,8236,0.00,0.00,0.00,0.000,6,0.000,0.000,2251,2501,2945,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8534,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8534,begin apogee
$GC,8537,-0.17,0.0,991.7,-10.9,812,8590,1.20,0.00,48.67,1.268,6,0.174,0.000,2575,2204,2736,0,0,0,0,0,0,24.57,28.83,23.24
$STATE,8590,end apogee,CONTROL_FINISHED_OK
$STATE,8590,begin climb
$GC,8591,0.92,50.7,992.8,0.0,814,8646,1.05,0.00,51.90,1.246,6,0.069,0.000,2942,2204,2530,0,0,0,0,0,0,24.72,28.83,22.81
$GC,8936,0.92,69.9,976.4,5.8,832,8958,0.00,2.38,19.02,1.183,4,0.000,0.044,2952,802,2449,0,0,0,0,0,0,28.83,25.01,23.47
$GC,8962,0.92,88.9,975.3,5.9,833,8987,0.00,2.35,19.88,1.167,6,0.000,0.038,2952,2205,2375,0,0,0,0,0,0,28.83,25.04,23.25
$GC,9298,0.92,88.9,940.9,10.9,850,9298,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2205,2368,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9597,0.92,88.9,906.4,11.3,865,9601,0.00,2.30,0.00,0.000,4,0.000,0.044,2963,809,2366,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9663,0.90,88.9,900.0,10.7,868,9667,0.10,2.28,0.00,0.000,6,0.184,0.039,2937,2204,2364,0,0,0,0,0,0,25.16,25.56,28.83
$GC,9977,0.90,88.9,868.5,9.5,884,9981,0.00,2.30,0.00,0.000,4,0.000,0.044,2945,805,2364,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10092,0.90,88.9,858.9,9.6,889,10100,0.00,2.25,0.00,0.000,6,0.000,0.039,2945,2184,2363,0,0,0,0,0,0,28.83,25.59,28.83
$GC,10397,0.90,88.9,827.6,9.3,905,10401,0.00,2.38,0.00,0.000,4,0.000,0.056,2946,3608,2362,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10437,0.88,88.9,823.4,9.8,907,10442,0.10,2.25,0.00,0.000,6,0.196,0.034,2932,2196,2362,0,0,0,0,0,0,25.17,25.67,28.83
$GC,10758,0.89,92.1,798.2,7.5,923,10761,0.00,2.25,0.00,0.000,4,0.000,0.044,2939,798,2362,0,0,0,0,0,0,28.83,25.54,28.83
$GC,10938,0.89,92.1,783.7,8.2,932,10941,0.00,2.30,0.00,0.000,6,0.000,0.041,2939,2202,2361,0,0,0,0,0,0,28.83,25.56,28.83
$GC,11257,0.89,92.1,757.5,8.2,948,11261,0.00,2.33,0.00,0.000,4,0.000,0.055,2939,3603,2361,0,0,0,0,0,0,28.83,25.45,28.83
$GC,11362,0.85,92.1,747.9,9.8,953,11367,0.12,2.25,0.00,0.000,6,0.184,0.034,2918,2196,2361,0,0,0,0,0,0,25.08,25.64,28.83
$GC,11678,0.88,97.9,722.7,7.2,969,11691,0.00,2.30,7.60,0.931,4,0.000,0.044,2926,802,2336,0,0,0,0,0,0,28.83,25.60,23.85
$GC,11753,0.91,100.2,718.1,7.6,972,11759,0.00,2.30,0.00,0.000,6,0.000,0.040,2925,2202,2335,0,0,0,0,0,0,28.83,25.53,28.83
$GC,12057,0.93,100.2,692.1,8.3,988,12061,0.00,2.30,0.00,0.000,4,0.000,0.044,2936,804,2335,0,0,0,0,0,0,28.83,25.50,28.83
$GC,12282,0.94,100.2,672.6,8.8,999,12286,0.00,2.30,0.00,0.000,6,0.000,0.039,2936,2205,2334,0,0,0,0,0,0,28.83,25.53,28.83
$GC,12597,0.94,100.2,645.7,8.4,1015,12601,0.00,2.35,0.00,0.000,4,0.000,0.055,2936,3611,2334,0,0,0,0,0,0,28.83,25.44,28.83
$GC,12637,0.94,100.2,642.1,8.9,1017,12641,0.00,2.25,0.00,0.000,6,0.000,0.033,2946,2196,2334,0,0,0,0,0,0,28.83,25.63,28.83
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$STATE,20278,end climb,SURFACE_DEPTH_REACHED
$STATE,20279,begin surface coast
$FINISH,-0.2,1.023651
$STATE,20309,end surface coast,CONTROL_FINISHED_OK
$STATE,20309,begin surface
$SM_CCo,20322,65.28,0.569,1,0,1308,350.04
$SM_GC,0.08,8.30,0.50,65.28,0.063,0.054,0.569,163,2509,1308,-7.69,-0.71,350.04,0,0,0,0,1,0,25.22,25.29,23.87
$IRIDIUM_FIX,4629.23,-12517.28,030712,222256
$TT8_MAMPS,0.055426,0.055426
$HUMID,39.44
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,18.60
$XPDR_PINGS,150
$24V_AH,22.8,37.774
$10V_AH,9.8,31.531
$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,22.750,201.650,300.400,65.275,0.000,27.573,41.610,153.703,37.500,0.000,33.073,0.000,15360.061,655.671,4522.200,163.397,0.000,2328.942,0.000,3365.678,0.000,0.529,0.000
$DEVICE_MAMPS,270.045,62.730,1267.605,569.160,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1382.113,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297436
$DATA_FILE_SIZE,83233,2003
$CAP_FILE_SIZE,224501,0
$CFSIZE,260165632,247529472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.057,304.7,1
$GPS,040712,095950,4650.545,-12513.485,85,99.0,104,18.4