version: 66.11
glider: 178
mission: 14
dive: 95
start: 7 5 112 3 21 14
data:
$ID,178
$MISSION,14
$DIVE,95
$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,-13545.248
$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,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
$GPS1,050712,031235,4648.440,-12512.925,118,2.0,124,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.28
$_SM_ANGLEo,-73.3
$GPS2,050712,032105,4648.345,-12513.075,14,0.9,30,18.4
$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,356.5,2140,-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,-64.28,0.000,2,0.000,0.000,160,2506,2878,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.92,-50.7,3.7,-12.7,11,94,10.32,0.00,-1.25,0.000,6,0.263,0.000,2333,2505,2947,0,0,0,0,0,0,24.59,28.83,25.64
$GC,393,-0.92,-50.7,59.5,-13.9,73,399,0.00,2.12,0.00,0.000,4,0.000,0.063,2326,3767,2953,0,0,0,0,0,0,28.83,24.96,28.83
$GC,503,-0.92,-50.7,75.7,-13.6,95,510,0.00,2.00,0.00,0.000,6,0.000,0.033,2331,2494,2954,0,0,0,0,0,0,28.83,25.70,28.83
$GC,809,-0.94,-50.7,115.9,-13.1,156,817,0.00,2.22,0.00,0.000,4,0.000,0.037,2326,1105,2956,0,0,0,0,0,0,28.83,25.62,28.83
$GC,836,-0.97,-50.7,119.6,-13.3,161,843,0.00,2.28,0.00,0.000,6,0.000,0.041,2315,2504,2956,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1142,-0.98,-50.7,159.2,-12.2,222,1149,0.00,2.12,0.00,0.000,4,0.000,0.056,2305,3779,2956,0,0,0,0,0,0,28.83,24.41,28.83
$GC,1183,-0.98,-50.7,164.8,-13.3,230,1190,0.00,2.00,0.00,0.000,6,0.000,0.031,2305,2497,2955,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1489,-0.98,-50.7,203.9,-12.5,288,1493,0.00,2.12,0.00,0.000,4,0.000,0.056,2296,3768,2956,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1544,-0.98,-50.7,210.6,-13.6,293,1551,0.00,1.98,0.00,0.000,6,0.000,0.033,2296,2503,2959,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1848,-0.98,-50.7,252.6,-13.3,324,1853,0.00,2.12,0.00,0.000,4,0.000,0.056,2287,3774,2958,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1924,-0.97,-50.7,262.6,-14.3,331,1931,0.12,2.00,0.00,0.000,6,0.178,0.032,2323,2493,2955,0,0,0,0,0,0,25.19,25.77,28.83
$GC,2229,-1.01,-50.7,298.8,-10.6,362,2229,0.00,0.00,0.00,0.000,6,0.000,0.000,2324,2493,2955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2529,-1.04,-50.7,331.9,-11.3,392,2533,0.00,2.17,0.00,0.000,4,0.000,0.037,2319,1101,2954,0,0,0,0,0,0,28.83,25.43,28.83
$GC,2559,-1.08,-50.7,335.2,-11.1,395,2563,0.00,2.30,0.00,0.000,6,0.000,0.042,2311,2506,2954,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2869,-1.11,-50.7,370.4,-11.0,426,2873,0.00,2.10,0.00,0.000,4,0.000,0.057,2302,3767,2953,0,0,0,0,0,0,28.83,25.47,28.83
$GC,2953,-1.11,-50.7,379.9,-12.0,434,2961,0.00,2.00,0.00,0.000,6,0.000,0.033,2302,2494,2953,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3259,-1.14,-50.7,416.1,-12.2,465,3263,0.00,2.20,0.00,0.000,4,0.000,0.036,2303,1107,2953,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3319,-1.16,-50.7,423.3,-12.2,471,3323,0.00,2.28,0.00,0.000,6,0.000,0.043,2291,2499,2953,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3628,-1.16,-50.7,458.4,-10.7,502,3633,0.00,2.12,0.00,0.000,4,0.000,0.056,2282,3771,2952,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3693,-1.16,-50.7,465.4,-11.8,508,3702,0.00,2.00,0.00,0.000,6,0.000,0.033,2281,2499,2952,0,0,0,0,0,0,28.83,25.72,28.83
$GC,3998,-1.16,-50.7,500.1,-10.9,539,4003,0.00,2.22,0.00,0.000,4,0.000,0.037,2282,1105,2951,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4038,-1.16,-50.7,504.8,-11.9,543,4043,0.00,2.28,0.00,0.000,6,0.000,0.042,2272,2499,2951,0,0,0,0,0,0,28.83,25.54,28.83
$GC,4348,-1.16,-50.7,542.1,-12.0,574,4353,0.00,2.12,0.00,0.000,4,0.000,0.056,2262,3776,2950,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4379,-1.15,-50.7,546.0,-13.0,577,4383,0.00,2.00,0.00,0.000,6,0.000,0.033,2262,2502,2950,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4689,-1.15,-50.7,585.6,-12.9,608,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2503,2953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4989,-1.15,-50.7,623.2,-12.5,629,4993,0.00,2.22,0.00,0.000,4,0.000,0.038,2262,1111,2949,0,0,0,0,0,0,28.83,25.54,28.83
$GC,5058,-1.15,-50.7,630.8,-12.6,632,5063,0.00,2.28,0.00,0.000,6,0.000,0.043,2253,2495,2949,0,0,0,0,0,0,28.83,25.48,28.83
$GC,5369,-1.13,-50.7,670.9,-12.8,648,5373,0.00,2.15,0.00,0.000,4,0.000,0.057,2243,3778,2948,0,0,0,0,0,0,28.83,25.39,28.83
$GC,5403,-1.10,-50.7,673.8,-13.0,649,5411,0.12,2.03,0.00,0.000,6,0.192,0.034,2274,2502,2947,0,0,0,0,0,0,25.02,25.66,28.83
$GC,5709,-1.10,-50.7,713.6,-12.0,665,5713,0.00,2.25,0.00,0.000,4,0.000,0.039,2275,1101,2947,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5743,-1.10,-50.7,716.1,-11.9,666,5751,0.00,2.30,0.00,0.000,6,0.000,0.044,2266,2500,2947,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6049,-1.10,-50.7,754.0,-11.7,682,6053,0.00,2.12,0.00,0.000,4,0.000,0.057,2257,3771,2947,0,0,0,0,0,0,28.83,25.37,28.83
$GC,6089,-1.10,-50.7,758.9,-11.7,684,6093,0.00,2.03,0.00,0.000,6,0.000,0.034,2257,2495,2947,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6409,-1.10,-50.7,797.0,-11.8,700,6413,0.00,2.15,0.00,0.000,4,0.000,0.057,2247,3771,2946,0,0,0,0,0,0,28.83,25.35,28.83
$GC,6529,-1.07,-50.7,810.9,-11.6,706,6533,0.15,2.00,0.00,0.000,6,0.184,0.034,2286,2506,2946,0,0,0,0,0,0,24.94,25.65,28.83
$GC,6849,-1.10,-50.7,842.3,-10.5,722,6853,0.00,2.22,0.00,0.000,4,0.000,0.039,2286,1102,2946,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6914,-1.13,-50.7,848.7,-10.8,725,6918,0.00,2.30,0.00,0.000,6,0.000,0.044,2278,2497,2946,0,0,0,0,0,0,28.83,25.44,28.83
$GC,7229,-1.14,-50.7,882.5,-10.5,741,7233,0.00,2.15,0.00,0.000,4,0.000,0.058,2269,3779,2945,0,0,0,0,0,0,28.83,25.33,28.83
$GC,7303,-1.14,-50.7,889.2,-11.0,744,7312,0.00,2.03,0.00,0.000,6,0.000,0.034,2269,2502,2945,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7609,-1.14,-50.7,926.6,-11.9,760,7613,0.00,2.25,0.00,0.000,4,0.000,0.039,2269,1105,2942,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7653,-1.14,-50.7,931.6,-12.3,762,7658,0.00,2.30,0.00,0.000,6,0.000,0.044,2258,2498,2944,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7969,-1.14,-50.7,966.0,-9.3,778,7969,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2499,2944,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8208,begin apogee
$GC,8211,-0.17,0.0,991.5,-10.6,790,8263,1.17,0.00,48.15,1.267,6,0.169,0.000,2574,2201,2736,0,0,0,0,0,0,24.58,28.83,23.22
$STATE,8264,end apogee,CONTROL_FINISHED_OK
$STATE,8264,begin climb
$GC,8265,0.92,50.7,992.6,0.0,792,8324,1.02,2.42,51.85,1.241,4,0.061,0.043,2953,805,2529,0,0,0,0,0,0,24.75,24.22,22.80
$GC,8344,0.96,113.8,992.1,1.3,796,8412,0.00,2.38,62.67,1.247,6,0.000,0.037,2953,2211,2273,0,0,0,0,0,0,28.83,24.48,22.46
$GC,8708,0.96,113.8,950.1,12.8,815,8713,0.00,2.35,0.00,0.000,4,0.000,0.042,2964,801,2262,0,0,0,0,0,0,28.83,25.28,28.83
$GC,8769,0.96,113.8,942.7,12.4,818,8773,0.00,2.30,0.00,0.000,6,0.000,0.039,2964,2202,2261,0,0,0,0,0,0,28.83,25.37,28.83
$GC,9089,0.96,113.8,904.4,11.9,834,9093,0.00,2.30,0.00,0.000,4,0.000,0.042,2974,800,2260,0,0,0,0,0,0,28.83,25.52,28.83
$GC,9119,0.96,113.8,901.9,12.2,835,9123,0.00,2.28,0.00,0.000,6,0.000,0.038,2974,2198,2260,0,0,0,0,0,0,28.83,25.55,28.83
$GC,9429,0.94,113.8,863.3,11.9,851,9430,0.15,0.00,0.00,0.000,6,0.199,0.000,2943,2199,2259,0,0,0,0,0,0,25.22,28.83,28.83
$GC,9729,0.94,113.8,831.1,11.2,866,9733,0.00,2.28,0.00,0.000,4,0.000,0.044,2951,812,2259,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9748,0.94,113.8,828.9,11.3,867,9753,0.00,2.25,0.00,0.000,6,0.000,0.038,2951,2198,2258,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10069,0.94,113.8,792.5,10.5,883,10070,0.00,0.00,0.00,0.000,6,0.000,0.000,2951,2198,2257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10369,0.94,113.8,759.4,11.3,898,10369,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2198,2257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10669,0.94,113.8,725.9,11.4,913,10673,0.00,2.35,0.00,0.000,4,0.000,0.055,2952,3606,2256,0,0,0,0,0,0,28.83,25.46,28.83
$GC,10734,0.93,113.8,718.9,11.6,916,10738,0.00,2.25,0.00,0.000,6,0.000,0.034,2961,2191,2256,0,0,0,0,0,0,28.83,25.65,28.83
$GC,11049,0.93,113.8,684.7,9.7,932,11053,0.00,2.25,0.00,0.000,4,0.000,0.044,2972,811,2256,0,0,0,0,0,0,28.83,25.52,28.83
$GC,11114,0.93,113.8,678.7,10.0,935,11118,0.12,2.28,0.00,0.000,6,0.174,0.039,2939,2202,2255,0,0,0,0,0,0,25.07,25.55,28.83
$GC,11429,0.95,113.8,649.0,9.0,951,11433,0.00,2.30,0.00,0.000,4,0.000,0.044,2947,808,2254,0,0,0,0,0,0,28.83,25.51,28.83
$GC,11443,0.97,113.8,649.0,9.0,951,11451,0.00,2.28,0.00,0.000,6,0.000,0.037,2947,2206,2255,0,0,0,0,0,0,28.83,25.54,28.83
$GC,11749,0.97,113.8,620.8,8.5,967,11753,0.00,2.30,0.00,0.000,4,0.000,0.044,2957,808,2255,0,0,0,0,0,0,28.83,25.48,28.83
$GC,11783,0.97,113.8,619.1,8.4,968,11791,0.00,2.28,0.00,0.000,6,0.000,0.037,2957,2203,2254,0,0,0,0,0,0,28.83,25.52,28.83
$GC,12089,0.97,113.8,589.4,9.3,989,12093,0.00,2.30,0.00,0.000,4,0.000,0.044,2968,805,2254,0,0,0,0,0,0,28.83,25.48,28.83
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$STATE,18958,end climb,SURFACE_DEPTH_REACHED
$STATE,18958,begin surface coast
$FINISH,-0.6,1.023744
$STATE,18998,end surface coast,CONTROL_FINISHED_OK
$STATE,18998,begin surface
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$SM_GC,0.33,8.10,1.80,51.70,0.051,0.033,0.075,160,2498,1309,-7.71,1.36,350.04,0,0,0,0,0,0,25.13,25.32,25.11
$IRIDIUM_FIX,4629.23,-12454.63,050712,030312
$TT8_MAMPS,0.055426,0.055426
$HUMID,40.43
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,18.80
$XPDR_PINGS,99
$24V_AH,22.5,38.210
$10V_AH,9.8,31.920
$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,21.825,191.375,297.050,51.700,0.000,55.452,83.213,183.326,24.750,0.000,31.778,0.000,14376.345,605.651,4377.359,184.029,0.000,2197.058,0.000,3170.694,0.000,0.531,0.000
$DEVICE_MAMPS,263.160,63.495,1266.840,74.970,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1347.567,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297360
$DATA_FILE_SIZE,79898,1954
$CAP_FILE_SIZE,211343,0
$CFSIZE,260165632,247173120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.083,289.4,1
$GPS,050712,084043,4650.294,-12513.396,66,3.1,85,18.4