version: 66.11
glider: 178
mission: 14
dive: 92
start: 7 4 112 10 5 38
data:
$ID,178
$MISSION,14
$DIVE,92
$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,-13541.459
$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,51
$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
$GPS1,040712,095950,4650.545,-12513.485,85,99.0,104,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-72.8
$GPS2,040712,100529,4650.504,-12513.522,36,1.2,40,18.4
$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,129.7,1943,-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,-50.7,0.0,0.0,0,79,0.00,0.00,-64.72,0.000,2,0.000,0.000,162,2510,2910,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.92,-50.7,4.2,-14.6,11,100,10.38,2.12,-0.65,0.000,4,0.267,0.068,2325,3772,2949,0,0,0,0,0,0,24.61,25.33,25.60
$GC,324,-0.92,-50.7,60.1,-15.4,59,332,0.00,2.00,0.00,0.000,6,0.000,0.033,2326,2500,2954,0,0,0,0,0,0,28.83,25.64,28.83
$GC,631,-0.94,-50.7,96.1,-13.2,120,638,0.00,2.15,0.00,0.000,4,0.000,0.057,2316,3779,2956,0,0,0,0,0,0,28.83,25.50,28.83
$GC,842,-0.94,-50.7,126.7,-14.0,162,849,0.00,2.00,0.00,0.000,6,0.000,0.033,2316,2501,2956,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1148,-0.96,-50.7,167.9,-13.1,223,1154,0.00,0.00,0.00,0.000,6,0.000,0.000,2316,2501,2956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1453,-0.98,-50.7,207.6,-12.6,278,1457,0.00,2.22,0.00,0.000,4,0.000,0.040,2316,1115,2956,0,0,0,0,0,0,28.83,24.17,28.83
$GC,1488,-1.00,-50.7,211.5,-13.1,281,1495,0.00,2.25,0.00,0.000,6,0.000,0.042,2306,2495,2956,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1793,-1.01,-50.7,251.2,-12.1,312,1794,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2495,2956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2094,-1.03,-50.7,287.1,-11.9,342,2094,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2495,2956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2394,-1.05,-50.7,322.7,-10.9,372,2397,0.00,2.22,0.00,0.000,4,0.000,0.041,2306,1104,2956,0,0,0,0,0,0,28.83,25.09,28.83
$GC,2418,-1.07,-50.7,325.0,-11.4,374,2425,0.00,2.28,0.00,0.000,6,0.000,0.042,2296,2494,2956,0,0,0,0,0,0,28.83,25.54,28.83
$GC,2723,-1.07,-50.7,361.4,-12.3,405,2727,0.00,2.12,0.00,0.000,4,0.000,0.056,2286,3768,2956,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2758,-1.07,-50.7,365.2,-12.7,408,2765,0.00,2.00,0.00,0.000,6,0.000,0.034,2286,2495,2956,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3063,-1.07,-50.7,402.1,-11.1,439,3067,0.00,2.22,0.00,0.000,4,0.000,0.039,2286,1104,2955,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3088,-1.07,-50.7,404.4,-11.0,441,3095,0.00,2.30,0.00,0.000,6,0.000,0.042,2276,2511,2954,0,0,0,0,0,0,28.83,25.59,28.83
$GC,3393,-1.07,-50.7,440.4,-11.5,472,3394,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2511,2952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3693,-1.07,-50.7,474.9,-12.0,502,3694,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2511,2954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3993,-1.07,-50.7,510.6,-12.1,532,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2276,2511,2953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4294,-1.07,-50.7,546.6,-11.8,562,4297,0.00,2.10,0.00,0.000,4,0.000,0.058,2266,3780,2953,0,0,0,0,0,0,28.83,25.45,28.83
$GC,4323,-1.06,-50.7,550.3,-12.3,565,4327,0.10,2.03,0.00,0.000,6,0.184,0.034,2292,2498,2952,0,0,0,0,0,0,25.20,25.72,28.83
$GC,4633,-1.08,-50.7,583.1,-10.6,596,4634,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2498,2952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4943,-1.10,-50.7,615.3,-10.7,620,4944,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2499,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5243,-1.12,-50.7,647.1,-10.2,635,5244,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2499,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5543,-1.15,-50.7,676.2,-9.3,650,5547,0.00,2.15,0.00,0.000,4,0.000,0.059,2285,3770,2949,0,0,0,0,0,0,28.83,25.40,28.83
$GC,5573,-1.17,-50.7,678.1,-9.4,651,5577,0.00,2.03,0.00,0.000,6,0.000,0.035,2285,2494,2950,0,0,0,0,0,0,28.83,25.68,28.83
$GC,5883,-1.17,-50.7,709.2,-9.9,667,5884,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2494,2949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6183,-1.18,-50.7,739.8,-10.7,682,6187,0.00,2.25,0.00,0.000,4,0.000,0.041,2285,1102,2950,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6278,-1.20,-50.7,748.4,-10.7,686,6285,0.00,2.30,0.00,0.000,6,0.000,0.044,2274,2497,2949,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6583,-1.20,-50.7,784.3,-10.5,702,6584,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2497,2949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6883,-1.20,-50.7,817.2,-11.3,717,6884,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2497,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7184,-1.20,-50.7,850.8,-10.8,732,7187,0.00,2.15,0.00,0.000,4,0.000,0.060,2264,3771,2947,0,0,0,0,0,0,28.83,25.34,28.83
$GC,7268,-1.20,-50.7,860.0,-11.6,736,7272,0.00,2.03,0.00,0.000,6,0.000,0.036,2264,2504,2947,0,0,0,0,0,0,28.83,25.64,28.83
$GC,7583,-1.20,-50.7,894.5,-10.6,752,7587,0.00,2.28,0.00,0.000,4,0.000,0.041,2264,1102,2947,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7603,-1.20,-50.7,896.5,-10.6,753,7607,0.00,2.33,0.00,0.000,6,0.000,0.045,2255,2503,2947,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7923,-1.20,-50.7,932.6,-11.5,769,7927,0.00,2.15,0.00,0.000,4,0.000,0.058,2246,3778,2946,0,0,0,0,0,0,28.83,25.32,28.83
$GC,7968,-1.19,-50.7,937.6,-12.1,771,7972,0.00,2.05,0.00,0.000,6,0.000,0.035,2245,2497,2944,0,0,0,0,0,0,28.83,25.62,28.83
$GC,8283,-1.19,-50.7,975.3,-11.4,787,8287,0.00,2.28,0.00,0.000,4,0.000,0.041,2245,1097,2943,0,0,0,0,0,0,28.83,25.42,28.83
$GC,8328,-1.19,-50.7,979.9,-11.6,789,8332,0.00,2.33,0.00,0.000,6,0.000,0.045,2234,2495,2945,0,0,0,0,0,0,28.83,25.41,28.83
$STATE,8422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8422,begin apogee
$GC,8425,-0.17,0.0,991.0,-11.1,794,8477,1.27,0.00,48.28,1.269,6,0.176,0.000,2576,2206,2738,0,0,0,0,0,0,24.57,28.83,23.25
$STATE,8478,end apogee,CONTROL_FINISHED_OK
$STATE,8478,begin climb
$GC,8479,0.92,50.7,991.8,0.0,796,8538,1.02,2.45,51.80,1.242,4,0.067,0.044,2947,804,2530,0,0,0,0,0,0,24.73,24.20,22.82
$GC,8613,0.93,83.7,987.0,4.4,803,8652,0.00,2.38,33.45,1.219,6,0.000,0.038,2946,2205,2395,0,0,0,0,0,0,28.83,24.79,22.84
$GC,8963,0.93,83.7,953.3,9.9,821,8967,0.00,2.38,0.00,0.000,4,0.000,0.055,2946,3612,2386,0,0,0,0,0,0,28.83,25.30,28.83
$GC,9094,0.88,83.7,940.1,10.9,827,9097,0.15,2.25,0.00,0.000,6,0.203,0.034,2927,2190,2385,0,0,0,0,0,0,25.05,25.53,28.83
$GC,9403,0.88,83.7,910.3,9.2,843,9407,0.00,2.28,0.00,0.000,4,0.000,0.045,2932,807,2383,0,0,0,0,0,0,28.83,25.52,28.83
$GC,9483,0.88,83.7,902.9,9.2,847,9487,0.00,2.28,0.00,0.000,6,0.000,0.039,2935,2201,2382,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9803,0.88,83.7,872.7,9.5,863,9804,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2201,2382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10103,0.88,83.7,844.1,9.3,878,10107,0.00,2.30,0.00,0.000,4,0.000,0.045,2945,811,2382,0,0,0,0,0,0,28.83,25.55,28.83
$GC,10183,0.88,83.7,836.8,9.2,882,10187,0.00,2.28,0.00,0.000,6,0.000,0.039,2945,2207,2380,0,0,0,0,0,0,28.83,25.58,28.83
$GC,10503,0.88,83.7,808.8,8.5,898,10504,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2207,2381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10803,0.88,83.7,783.8,8.4,913,10807,0.00,2.35,0.00,0.000,4,0.000,0.055,2945,3612,2381,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10888,0.85,83.7,776.1,9.7,917,10893,0.15,2.25,0.00,0.000,6,0.188,0.034,2917,2201,2384,0,0,0,0,0,0,25.01,25.67,28.83
$GC,11203,0.88,94.4,753.3,6.7,933,11218,0.00,2.30,8.75,0.977,4,0.000,0.045,2925,800,2351,0,0,0,0,0,0,28.83,25.58,23.84
$GC,11329,0.92,103.5,745.0,6.9,939,11346,0.00,2.28,9.98,0.991,6,0.000,0.040,2925,2202,2316,0,0,0,0,0,0,28.83,25.50,23.82
$GC,11644,0.94,105.3,721.1,7.7,955,11647,0.00,2.30,0.00,0.000,4,0.000,0.045,2935,794,2314,0,0,0,0,0,0,28.83,25.46,28.83
$GC,11763,0.96,105.6,711.9,7.8,961,11767,0.00,2.30,0.00,0.000,6,0.000,0.041,2935,2194,2310,0,0,0,0,0,0,28.83,25.53,28.83
$GC,12078,0.96,105.6,684.4,8.3,977,12082,0.00,2.38,0.00,0.000,4,0.000,0.055,2935,3616,2312,0,0,0,0,0,0,28.83,25.46,28.83
$GC,12203,0.94,105.6,673.1,9.7,983,12207,0.00,2.28,0.00,0.000,6,0.000,0.034,2946,2191,2311,0,0,0,0,0,0,28.83,25.63,28.83
$GC,12518,0.94,105.6,644.6,8.8,999,12522,0.00,2.28,0.00,0.000,4,0.000,0.046,2957,801,2311,0,0,0,0,0,0,28.83,25.51,28.83
$GC,12627,0.94,105.6,635.9,8.7,1004,12632,0.00,2.30,0.00,0.000,6,0.000,0.039,2957,2206,2310,0,0,0,0,0,0,28.83,25.56,28.83
$GC,12938,0.94,105.6,606.0,9.3,1020,12942,0.00,2.33,0.00,0.000,4,0.000,0.054,2957,3603,2311,0,0,0,0,0,0,28.83,25.46,28.83
$GC,12983,0.92,105.6,601.8,9.7,1022,12987,0.10,2.25,0.00,0.000,6,0.195,0.034,2943,2196,2310,0,0,0,0,0,0,25.13,25.63,28.83
$GC,13288,0.92,105.6,574.2,8.8,1052,13289,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2192,2310,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13589,0.92,105.6,548.2,8.5,1082,13592,0.00,2.25,0.00,0.000,4,0.000,0.044,2950,798,2308,0,0,0,0,0,0,28.83,25.48,28.83
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$STATE,20337,end climb,SURFACE_DEPTH_REACHED
$STATE,20337,begin surface coast
$FINISH,-0.5,1.023613
$STATE,20378,end surface coast,CONTROL_FINISHED_OK
$STATE,20378,begin surface
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$IRIDIUM_FIX,4626.10,-12506.72,040712,040438
$TT8_MAMPS,0.055426,0.055426
$HUMID,40.19
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,18.90
$XPDR_PINGS,75
$24V_AH,22.8,37.879
$10V_AH,9.8,31.628
$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,21.350,149.425,286.900,68.150,0.000,30.020,34.681,149.466,18.750,0.000,41.219,0.000,15557.595,551.426,4490.986,171.480,0.000,2204.198,0.000,3366.883,0.000,0.530,0.000
$DEVICE_MAMPS,266.985,68.085,1269.135,572.985,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1391.154,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297416
$DATA_FILE_SIZE,83262,2014
$CAP_FILE_SIZE,209138,0
$CFSIZE,260165632,247447552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.053,211.2,1
$GPS,040712,154835,4648.441,-12512.793,88,1.3,94,18.4