version: 66.11
glider: 178
mission: 14
dive: 103
start: 7 7 112 1 46 6
data:
$ID,178
$MISSION,14
$DIVE,103
$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,-13555.356
$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
$GPS1,070712,014026,4649.750,-12511.896,129,6.9,148,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.32
$_SM_ANGLEo,-71.3
$GPS2,070712,014557,4649.683,-12511.967,13,2.4,32,18.4
$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,228.3,1451,-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,-50.7,0.0,0.0,0,80,0.00,0.00,-65.47,0.000,6,0.000,0.000,160,2500,2945,0,0,0,0,0,0,28.83,28.83,25.67
$GC,81,-0.92,-50.7,4.1,-13.3,11,99,10.32,2.15,0.00,0.000,4,0.264,0.054,2328,3774,2949,0,0,0,0,0,0,24.57,25.33,28.83
$GC,198,-0.90,-50.7,35.5,-19.1,34,206,0.00,2.03,0.00,0.000,6,0.000,0.033,2328,2497,2952,0,0,0,0,0,0,28.83,25.55,28.83
$GC,505,-0.90,-50.7,83.8,-13.3,95,512,0.00,2.15,0.00,0.000,4,0.000,0.057,2318,3774,2956,0,0,0,0,0,0,28.83,25.46,28.83
$GC,610,-0.90,-50.7,100.5,-14.0,116,618,0.10,2.00,0.00,0.000,6,0.173,0.032,2343,2498,2957,0,0,0,0,0,0,24.53,25.71,28.83
$GC,917,-0.94,-50.7,132.3,-10.1,177,924,0.00,2.15,0.00,0.000,4,0.000,0.057,2335,3774,2957,0,0,0,0,0,0,28.83,25.51,28.83
$GC,938,-0.98,-50.7,134.6,-11.0,181,945,0.00,1.98,0.00,0.000,6,0.000,0.032,2335,2508,2958,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1243,-1.02,-50.7,168.7,-10.7,242,1251,0.00,2.12,0.00,0.000,4,0.000,0.056,2327,3773,2957,0,0,0,0,0,0,28.83,25.51,28.83
$GC,1311,-1.05,-50.7,176.5,-12.7,255,1317,0.00,2.03,0.00,0.000,6,0.000,0.040,2327,2492,2957,0,0,0,0,0,0,28.83,25.37,28.83
$GC,1621,-1.09,-50.7,212.8,-12.7,307,1625,0.12,2.20,0.00,0.000,4,0.094,0.036,2276,1107,2957,0,0,0,0,0,0,25.71,25.64,28.83
$GC,1656,-1.09,-50.7,217.1,-13.8,310,1664,0.00,2.25,0.00,0.000,6,0.000,0.040,2265,2494,2957,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1961,-1.06,-50.7,262.7,-14.3,341,1965,0.15,2.12,0.00,0.000,4,0.198,0.054,2289,3773,2957,0,0,0,0,0,0,25.25,25.52,28.83
$GC,2061,-1.06,-50.7,276.1,-13.0,351,2065,0.00,2.00,0.00,0.000,6,0.000,0.033,2289,2499,2957,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2371,-1.06,-50.7,311.0,-10.7,382,2372,0.00,0.00,0.00,0.000,6,0.000,0.000,2290,2499,2957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2671,-1.06,-50.7,345.3,-12.9,412,2675,0.00,2.22,0.00,0.000,4,0.000,0.037,2289,1106,2959,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2716,-1.06,-50.7,350.6,-13.3,416,2723,0.00,2.28,0.00,0.000,6,0.000,0.041,2280,2501,2956,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3021,-1.06,-50.7,393.1,-13.6,447,3025,0.00,2.12,0.00,0.000,4,0.000,0.056,2270,3776,2955,0,0,0,0,0,0,28.83,25.47,28.83
$GC,3116,-1.04,-50.7,406.0,-14.5,456,3123,0.12,2.00,0.00,0.000,6,0.183,0.032,2303,2503,2954,0,0,0,0,0,0,25.14,25.73,28.83
$GC,3421,-1.07,-50.7,443.8,-11.3,487,3425,0.00,2.22,0.00,0.000,4,0.000,0.037,2303,1104,2954,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3466,-1.10,-50.7,448.5,-11.8,491,3473,0.00,2.28,0.00,0.000,6,0.000,0.041,2295,2497,2954,0,0,0,0,0,0,28.83,25.54,28.83
$GC,3771,-1.12,-50.7,484.9,-11.6,522,3775,0.00,2.22,0.00,0.000,4,0.000,0.037,2295,1110,2954,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3801,-1.13,-50.7,488.5,-11.9,525,3805,0.00,2.28,0.00,0.000,6,0.000,0.042,2284,2506,2953,0,0,0,0,0,0,28.83,25.54,28.83
$GC,4111,-1.13,-50.7,525.4,-11.8,556,4115,0.00,2.12,0.00,0.000,4,0.000,0.057,2275,3773,2953,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4176,-1.13,-50.7,532.9,-12.7,562,4184,0.00,2.03,0.00,0.000,6,0.000,0.033,2275,2491,2952,0,0,0,0,0,0,28.83,25.71,28.83
$GC,4481,-1.13,-50.7,566.6,-10.2,593,4485,0.00,2.15,0.00,0.000,4,0.000,0.057,2265,3765,2951,0,0,0,0,0,0,28.83,25.41,28.83
$GC,4516,-1.12,-50.7,569.8,-10.6,596,4523,0.00,2.00,0.00,0.000,6,0.000,0.034,2265,2502,2952,0,0,0,0,0,0,28.83,25.69,28.83
$GC,4831,-1.12,-50.7,602.2,-9.8,627,4835,0.00,2.12,0.00,0.000,4,0.000,0.057,2256,3762,2951,0,0,0,0,0,0,28.83,25.41,28.83
$GC,4896,-1.09,-50.7,608.7,-10.5,630,4900,0.10,2.00,0.00,0.000,6,0.191,0.034,2281,2496,2951,0,0,0,0,0,0,25.15,25.68,28.83
$GC,5211,-1.09,-50.7,639.5,-9.5,646,5215,0.00,2.15,0.00,0.000,4,0.000,0.057,2274,3767,2951,0,0,0,0,0,0,28.83,25.37,28.83
$GC,5231,-1.09,-50.7,641.3,-9.6,647,5235,0.00,2.03,0.00,0.000,6,0.000,0.034,2274,2491,2951,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5551,-1.09,-50.7,674.7,-10.6,663,5552,0.00,0.00,0.00,0.000,6,0.000,0.000,2274,2488,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5851,-1.09,-50.7,707.1,-11.2,678,5855,0.00,2.15,0.00,0.000,4,0.000,0.059,2265,3763,2949,0,0,0,0,0,0,28.83,25.36,28.83
$GC,5936,-1.09,-50.7,716.9,-12.3,682,5940,0.00,2.03,0.00,0.000,6,0.000,0.034,2265,2493,2949,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6251,-1.09,-50.7,752.8,-11.5,698,6255,0.00,2.17,0.00,0.000,4,0.000,0.057,2255,3772,2949,0,0,0,0,0,0,28.83,25.35,28.83
$GC,6316,-1.07,-50.7,760.5,-12.5,701,6320,0.12,2.03,0.00,0.000,6,0.188,0.034,2287,2497,2948,0,0,0,0,0,0,25.01,25.65,28.83
$GC,6631,-1.10,-50.7,797.3,-11.4,717,6632,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2497,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6931,-1.13,-50.7,831.3,-11.6,732,6932,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2497,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7231,-1.15,-50.7,864.8,-10.8,747,7232,0.00,0.00,0.00,0.000,6,0.000,0.000,2287,2497,2947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7531,-1.18,-50.7,894.6,-9.6,762,7535,0.00,2.15,0.00,0.000,4,0.000,0.060,2280,3764,2946,0,0,0,0,0,0,28.83,25.30,28.83
$GC,7576,-1.20,-50.7,898.7,-10.0,764,7580,0.00,2.03,0.00,0.000,6,0.000,0.036,2280,2497,2946,0,0,0,0,0,0,28.83,25.61,28.83
$GC,7891,-1.22,-50.7,930.0,-9.4,780,7895,0.00,2.17,0.00,0.000,4,0.000,0.060,2270,3771,2945,0,0,0,0,0,0,28.83,25.29,28.83
$GC,8011,-1.22,-50.7,941.8,-9.8,786,8015,0.00,2.03,0.00,0.000,6,0.000,0.036,2271,2500,2945,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8331,-1.22,-50.7,972.2,-9.9,802,8332,0.00,0.00,0.00,0.000,6,0.000,0.000,2270,2500,2945,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8510,begin apogee
$GC,8513,-0.17,0.0,990.7,-10.4,811,8566,1.12,0.00,48.28,1.268,6,0.164,0.000,2578,2201,2738,0,0,0,0,0,0,24.58,28.83,23.18
$STATE,8566,end apogee,CONTROL_FINISHED_OK
$STATE,8566,begin climb
$GC,8567,0.92,50.7,992.0,0.0,813,8626,1.02,2.42,52.10,1.242,4,0.067,0.043,2949,803,2530,0,0,0,0,0,0,24.74,24.20,22.75
$GC,8852,0.91,68.7,979.8,6.0,828,8874,0.00,2.30,17.85,1.173,6,0.000,0.039,2949,2192,2457,0,0,0,0,0,0,28.83,25.23,23.37
$GC,9172,0.89,68.7,956.5,7.9,844,9172,0.00,0.00,0.00,0.000,6,0.000,0.000,2949,2192,2449,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9472,0.87,75.2,933.3,7.2,859,9482,0.00,2.28,6.85,0.983,4,0.000,0.041,2960,789,2429,0,0,0,0,0,0,28.83,25.55,23.71
$GC,9596,0.85,75.7,924.4,7.8,865,9600,0.15,2.33,0.00,0.000,6,0.174,0.038,2920,2212,2427,0,0,0,0,0,0,25.08,25.53,28.83
$GC,9906,0.86,83.2,902.3,7.1,881,9920,0.00,2.33,9.43,1.055,4,0.000,0.043,2928,805,2397,0,0,0,0,0,0,28.83,25.53,23.79
$GC,10001,0.86,83.2,896.0,8.0,885,10008,0.00,2.28,0.00,0.000,6,0.000,0.039,2928,2192,2394,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10306,0.86,83.2,865.9,9.6,901,10310,0.00,2.35,0.00,0.000,4,0.000,0.055,2928,3603,2393,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10452,0.83,83.2,850.4,11.0,908,10455,0.10,2.22,0.00,0.000,6,0.186,0.034,2913,2201,2393,0,0,0,0,0,0,25.20,25.66,28.83
$GC,10767,0.85,83.2,822.5,7.9,924,10770,0.00,2.25,0.00,0.000,4,0.000,0.043,2921,797,2392,0,0,0,0,0,0,28.83,25.57,28.83
$GC,10851,0.87,85.7,816.4,7.6,928,10855,0.00,2.30,0.00,0.000,6,0.000,0.040,2921,2205,2391,0,0,0,0,0,0,28.83,25.60,28.83
$GC,11166,0.89,91.9,793.6,7.2,944,11177,0.00,0.00,9.07,1.005,6,0.000,0.000,2921,2205,2362,0,0,0,0,0,0,28.83,28.83,23.84
$GC,11466,0.92,93.6,770.5,7.7,959,11470,0.00,2.30,0.00,0.000,4,0.000,0.043,2932,805,2360,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11546,0.92,93.6,763.5,8.7,963,11550,0.00,2.28,0.00,0.000,6,0.000,0.039,2932,2201,2358,0,0,0,0,0,0,28.83,25.56,28.83
$GC,11866,0.92,93.6,735.6,9.0,979,11867,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2201,2359,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12166,0.93,102.5,712.3,6.9,994,12181,0.00,2.28,11.70,1.003,4,0.000,0.043,2942,802,2318,0,0,0,0,0,0,28.83,25.53,23.91
$GC,12266,0.93,103.6,705.0,7.7,998,12270,0.00,2.30,0.00,0.000,6,0.000,0.040,2943,2201,2316,0,0,0,0,0,0,28.83,25.48,28.83
$GC,12581,0.93,103.6,679.1,8.0,1014,12585,0.00,2.35,0.00,0.000,4,0.000,0.056,2942,3607,2316,0,0,0,0,0,0,28.83,25.44,28.83
$GC,12646,0.93,103.6,673.4,9.1,1017,12650,0.00,2.25,0.00,0.000,6,0.000,0.034,2953,2192,2316,0,0,0,0,0,0,28.83,25.63,28.83
$GC,12961,0.93,103.6,644.5,9.0,1033,12962,0.00,0.00,0.00,0.000,6,0.000,0.000,2953,2189,2315,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20946,end climb,SURFACE_DEPTH_REACHED
$STATE,20946,begin surface coast
$FINISH,0.1,1.023495
$STATE,20977,end surface coast,CONTROL_FINISHED_OK
$STATE,20977,begin surface
$SM_CCo,20990,51.03,0.543,1,0,1310,350.04
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$IRIDIUM_FIX,4626.10,-12515.47,060712,202059
$TT8_MAMPS,0.054677,0.054677
$HUMID,40.62
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,18.80
$XPDR_PINGS,158
$24V_AH,22.7,39.084
$10V_AH,9.8,32.734
$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,21.800,168.825,317.975,51.025,0.000,30.369,37.835,144.560,39.500,0.000,34.046,0.000,15878.313,611.317,4689.920,169.776,0.000,2342.131,0.000,3520.621,0.000,0.531,0.000
$DEVICE_MAMPS,263.925,60.435,1268.370,543.150,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297400
$DATA_FILE_SIZE,86498,2075
$CAP_FILE_SIZE,223883,0
$CFSIZE,260165632,246386688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.060,259.4,1
$GPS,070712,073856,4649.024,-12515.462,85,2.6,104,18.4