version: 66.11
glider: 178
mission: 14
dive: 102
start: 7 6 112 20 25 22
data:
$ID,178
$MISSION,14
$DIVE,102
$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,-13554.093
$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,54
$R_STBD_OVSHOOT,33
$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
$GPS1,060712,201429,4649.948,-12513.922,70,1.1,70,18.4
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-73.0
$GPS2,060712,202512,4649.935,-12513.964,10,1.1,15,18.4
$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,78.8,1379,-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,-63.62,0.000,2,0.000,0.000,163,2509,2875,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.92,-50.7,3.6,-12.5,11,98,10.27,2.30,-1.30,0.000,4,0.262,0.054,2344,1105,2948,0,0,0,0,0,0,24.58,25.41,25.65
$GC,322,-0.94,-50.7,56.7,-15.6,59,329,0.00,2.28,0.00,0.000,6,0.000,0.044,2336,2492,2953,0,0,0,0,0,0,28.83,25.49,28.83
$GC,628,-0.97,-50.7,101.8,-11.5,120,629,0.00,0.00,0.00,0.000,6,0.000,0.000,2337,2492,2956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,928,-1.01,-50.7,134.9,-11.9,180,936,0.00,2.12,0.00,0.000,4,0.000,0.057,2327,3765,2957,0,0,0,0,0,0,28.83,25.54,28.83
$GC,995,-1.03,-50.7,143.7,-13.4,193,1002,0.00,1.98,0.00,0.000,6,0.000,0.034,2327,2506,2957,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1301,-1.06,-50.7,182.7,-12.4,254,1307,0.00,0.00,0.00,0.000,6,0.000,0.000,2326,2505,2957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1606,-1.10,-50.7,220.1,-12.4,299,1607,0.12,0.00,0.00,0.000,6,0.095,0.000,2276,2505,2956,0,0,0,0,0,0,25.72,28.83,28.83
$GC,1905,-1.10,-50.7,261.8,-14.0,329,1909,0.00,2.22,0.00,0.000,4,0.000,0.037,2276,1105,2955,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1935,-1.10,-50.7,266.0,-14.0,332,1939,0.00,2.28,0.00,0.000,6,0.000,0.041,2265,2501,2955,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2245,-1.08,-50.7,308.4,-13.8,363,2249,0.00,2.22,0.00,0.000,4,0.000,0.037,2265,1108,2954,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2280,-1.05,-50.7,312.6,-13.9,366,2288,0.15,2.28,0.00,0.000,6,0.176,0.041,2296,2501,2954,0,0,0,0,0,0,25.10,25.63,28.83
$GC,2585,-1.07,-50.7,348.7,-11.4,397,2586,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2501,2952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2886,-1.09,-50.7,382.7,-11.0,427,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2501,2953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3186,-1.11,-50.7,415.6,-11.0,457,3187,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2502,2953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3486,-1.13,-50.7,448.0,-10.7,487,3487,0.00,0.00,0.00,0.000,6,0.000,0.000,2296,2502,2952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3786,-1.16,-50.7,481.1,-11.2,517,3789,0.00,2.25,0.00,0.000,4,0.000,0.037,2296,1101,2950,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3816,-1.18,-50.7,484.4,-11.2,520,3819,0.00,2.28,0.00,0.000,6,0.000,0.042,2288,2496,2952,0,0,0,0,0,0,28.83,25.55,28.83
$GC,4125,-1.18,-50.7,521.2,-11.1,551,4126,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2496,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4426,-1.18,-50.7,555.6,-11.7,581,4427,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2496,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4726,-1.18,-50.7,591.1,-11.8,611,4727,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2496,2949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5026,-1.19,-50.7,625.3,-11.3,630,5027,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2496,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5326,-1.21,-50.7,659.4,-11.2,645,5330,0.12,2.12,0.00,0.000,4,0.099,0.057,2232,3771,2950,0,0,0,0,0,0,25.66,25.44,28.83
$GC,5375,-1.21,-50.7,664.8,-12.3,647,5379,0.00,2.00,0.00,0.000,6,0.000,0.035,2233,2504,2947,0,0,0,0,0,0,28.83,25.69,28.83
$GC,5686,-1.18,-50.7,708.4,-13.4,663,5690,0.00,2.15,0.00,0.000,4,0.000,0.057,2226,3777,2947,0,0,0,0,0,0,28.83,25.41,28.83
$GC,5720,-1.14,-50.7,711.2,-13.5,664,5729,0.15,2.03,0.00,0.000,6,0.189,0.034,2266,2496,2947,0,0,0,0,0,0,24.98,25.71,28.83
$GC,6026,-1.14,-50.7,748.2,-10.7,680,6029,0.00,2.15,0.00,0.000,4,0.000,0.059,2259,3768,2946,0,0,0,0,0,0,28.83,25.39,28.83
$GC,6070,-1.14,-50.7,752.7,-11.1,682,6074,0.00,2.03,0.00,0.000,6,0.000,0.035,2259,2493,2946,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6385,-1.14,-50.7,790.0,-11.3,698,6390,0.00,2.15,0.00,0.000,4,0.000,0.058,2249,3768,2945,0,0,0,0,0,0,28.83,25.38,28.83
$GC,6415,-1.14,-50.7,792.4,-11.4,699,6419,0.00,2.00,0.00,0.000,6,0.000,0.035,2249,2508,2945,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6725,-1.14,-50.7,829.6,-11.5,715,6729,0.00,2.25,0.00,0.000,4,0.000,0.039,2250,1109,2945,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6740,-1.14,-50.7,829.6,-11.5,715,6748,0.10,2.28,0.00,0.000,6,0.177,0.043,2265,2493,2946,0,0,0,0,0,0,25.03,25.48,28.83
$GC,7046,-1.14,-50.7,864.2,-10.6,731,7049,0.00,2.25,0.00,0.000,4,0.000,0.040,2266,1105,2945,0,0,0,0,0,0,28.83,25.50,28.83
$GC,7085,-1.14,-50.7,868.6,-10.8,733,7089,0.00,2.30,0.00,0.000,6,0.000,0.043,2258,2504,2945,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7405,-1.14,-50.7,905.0,-11.8,749,7406,0.00,0.00,0.00,0.000,6,0.000,0.000,2258,2504,2943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7706,-1.14,-50.7,936.8,-10.0,764,7709,0.00,2.25,0.00,0.000,4,0.000,0.040,2258,1111,2943,0,0,0,0,0,0,28.83,25.47,28.83
$GC,7765,-1.14,-50.7,943.4,-10.6,767,7769,0.00,2.30,0.00,0.000,6,0.000,0.044,2247,2501,2943,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8085,-1.14,-50.7,978.2,-10.5,783,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,2248,2501,2943,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8204,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8204,begin apogee
$GC,8208,-0.17,0.0,991.6,-11.3,789,8260,1.23,0.00,47.67,1.266,6,0.169,0.000,2580,2194,2737,0,0,0,0,0,0,24.61,28.83,23.22
$STATE,8260,end apogee,CONTROL_FINISHED_OK
$STATE,8260,begin climb
$GC,8262,0.92,50.7,992.8,0.0,791,8320,1.02,2.53,51.90,1.245,4,0.065,0.054,2942,3607,2530,0,0,0,0,0,0,24.77,24.20,22.79
$GC,8346,0.94,114.5,992.0,1.2,796,8415,0.00,2.33,63.25,1.248,6,0.000,0.033,2952,2189,2272,0,0,0,0,0,0,28.83,24.56,22.44
$GC,8725,0.94,114.5,948.0,13.1,815,8726,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,2189,2261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9026,0.94,114.5,909.3,12.8,830,9029,0.00,2.25,0.00,0.000,4,0.000,0.044,2963,815,2259,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9120,0.94,114.5,899.2,12.5,834,9128,0.00,2.28,0.00,0.000,6,0.000,0.039,2963,2204,2258,0,0,0,0,0,0,28.83,25.53,28.83
$GC,9426,0.94,114.5,857.5,13.1,850,9426,0.00,0.00,0.00,0.000,6,0.000,0.000,2963,2204,2257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9725,0.94,114.5,820.2,12.0,865,9729,0.00,2.28,0.00,0.000,4,0.000,0.041,2973,811,2256,0,0,0,0,0,0,28.83,25.57,28.83
$GC,9750,0.94,114.5,817.5,12.4,866,9755,0.10,2.28,0.00,0.000,6,0.183,0.039,2948,2201,2255,0,0,0,0,0,0,25.20,25.60,28.83
$GC,10066,0.94,114.5,779.0,12.3,882,10069,0.00,2.28,0.00,0.000,4,0.000,0.042,2955,814,2255,0,0,0,0,0,0,28.83,25.58,28.83
$GC,10105,0.94,114.5,773.9,12.5,884,10109,0.00,2.25,0.00,0.000,6,0.000,0.039,2955,2196,2255,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10425,0.94,114.5,733.5,12.2,900,10429,0.00,2.38,0.00,0.000,4,0.000,0.055,2955,3614,2255,0,0,0,0,0,0,28.83,25.50,28.83
$GC,10470,0.92,114.5,728.4,12.5,902,10474,0.00,2.22,0.00,0.000,6,0.000,0.034,2966,2207,2254,0,0,0,0,0,0,28.83,25.67,28.83
$GC,10785,0.92,114.5,688.5,12.0,918,10789,0.00,2.28,0.00,0.000,4,0.000,0.043,2977,807,2254,0,0,0,0,0,0,28.83,25.54,28.83
$GC,10875,0.92,114.5,679.1,11.7,922,10880,0.12,2.28,0.00,0.000,6,0.177,0.039,2945,2204,2254,0,0,0,0,0,0,25.10,25.57,28.83
$GC,11186,0.94,114.5,646.6,10.0,938,11186,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2203,2253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11486,0.96,114.5,618.0,9.1,953,11489,0.00,2.35,0.00,0.000,4,0.000,0.055,2944,3609,2253,0,0,0,0,0,0,28.83,25.44,28.83
$GC,11550,0.96,114.5,611.9,9.8,956,11554,0.00,2.22,0.00,0.000,6,0.000,0.033,2952,2205,2253,0,0,0,0,0,0,28.83,25.65,28.83
$GC,11856,0.96,114.5,583.0,9.3,980,11859,0.00,2.28,0.00,0.000,4,0.000,0.042,2963,811,2253,0,0,0,0,0,0,28.83,25.51,28.83
$GC,11916,0.96,114.5,577.2,9.7,986,11919,0.00,2.28,0.00,0.000,6,0.000,0.038,2963,2201,2252,0,0,0,0,0,0,28.83,25.54,28.83
$GC,12225,0.96,114.5,546.6,9.8,1017,12230,0.00,2.30,0.00,0.000,4,0.000,0.043,2973,805,2252,0,0,0,0,0,0,28.83,25.49,28.83
$GC,12286,0.96,114.5,540.8,9.9,1023,12289,0.00,2.28,0.00,0.000,6,0.000,0.038,2973,2202,2252,0,0,0,0,0,0,28.83,25.53,28.83
$GC,12595,0.96,114.5,511.5,9.7,1054,12596,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2202,2252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12896,0.96,114.5,481.6,10.7,1084,12899,0.00,2.30,0.00,0.000,4,0.000,0.043,2984,791,2252,0,0,0,0,0,0,28.83,25.48,28.83
$GC,13000,0.96,114.5,470.6,11.0,1094,13008,0.12,2.30,0.00,0.000,6,0.174,0.038,2951,2201,2252,0,0,0,0,0,0,25.02,25.51,28.83
$GC,13305,0.97,114.5,439.0,10.3,1125,13309,0.00,2.30,0.00,0.000,4,0.000,0.043,2959,800,2252,0,0,0,0,0,0,28.83,25.47,28.83
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$GC,14851,0.94,114.5,292.4,9.1,1279,14858,0.12,2.25,0.00,0.000,6,0.187,0.034,2948,2199,2252,0,0,0,0,0,0,24.98,25.58,28.83
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$STATE,18586,end climb,SURFACE_DEPTH_REACHED
$STATE,18586,begin surface coast
$FINISH,0.0,1.023423
$STATE,18631,end surface coast,CONTROL_FINISHED_OK
$STATE,18631,begin surface
$SM_CCo,18647,83.57,0.526,1,0,1309,350.04
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$IRIDIUM_FIX,4626.10,-12600.72,060712,202007
$TT8_MAMPS,0.054677,0.054677
$HUMID,40.35
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,18.70
$XPDR_PINGS,108
$24V_AH,22.4,38.976
$10V_AH,9.8,32.631
$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,22.225,149.675,267.200,83.575,0.000,88.496,101.515,205.925,27.000,0.000,16.411,0.000,14258.200,559.918,4367.247,160.875,0.000,2092.173,0.000,3105.173,0.000,0.531,0.000
$DEVICE_MAMPS,261.630,58.905,1266.075,526.320,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1328.004,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297348
$DATA_FILE_SIZE,79839,1923
$CAP_FILE_SIZE,198351,0
$CFSIZE,260165632,246513664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.034,299.9,1
$GPS,070712,014026,4649.750,-12511.896,129,6.9,148,18.4