version: 66.11
glider: 178
mission: 14
dive: 109
start: 7 8 112 15 7 44
data:
$ID,178
$MISSION,14
$DIVE,109
$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,-13562.94
$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,24
$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
$GPS1,080712,150126,4649.584,-12513.287,228,99.0,247,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-71.2
$GPS2,080712,150735,4649.538,-12513.345,32,1.3,42,18.4
$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,70.7,342,-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,-50.7,0.0,0.0,0,77,0.00,0.00,-62.83,0.000,2,0.000,0.000,156,2501,2109,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.92,-50.7,3.8,-13.5,11,110,10.43,2.30,-16.10,0.000,4,0.263,0.051,2335,1100,2947,0,0,0,0,0,0,24.59,25.44,25.69
$GC,334,-0.92,-50.7,45.9,-14.3,61,341,0.00,2.28,0.00,0.000,6,0.000,0.041,2328,2497,2952,0,0,0,0,0,0,28.83,25.55,28.83
$GC,640,-0.92,-50.7,93.2,-13.6,122,647,0.00,2.12,0.00,0.000,4,0.000,0.055,2317,3774,2954,0,0,0,0,0,0,28.83,25.57,28.83
$GC,816,-0.92,-50.7,116.0,-11.7,157,823,0.00,1.98,0.00,0.000,6,0.000,0.031,2318,2503,2955,0,0,0,0,0,0,28.83,25.79,28.83
$GC,1122,-0.94,-50.7,148.4,-9.6,218,1127,0.00,0.00,0.00,0.000,6,0.000,0.000,2318,2503,2955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1427,-0.98,-50.7,179.7,-10.9,279,1434,0.00,2.22,0.00,0.000,4,0.000,0.036,2318,1103,2955,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1478,-1.00,-50.7,185.1,-10.0,289,1485,0.00,2.28,0.00,0.000,6,0.000,0.041,2308,2513,2955,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1789,-1.02,-50.7,223.4,-13.0,333,1792,0.00,2.08,0.00,0.000,4,0.000,0.055,2298,3764,2954,0,0,0,0,0,0,28.83,25.55,28.83
$GC,1893,-1.02,-50.7,237.2,-14.2,343,1901,0.00,1.98,0.00,0.000,6,0.000,0.032,2298,2501,2953,0,0,0,0,0,0,28.83,25.80,28.83
$GC,2198,-1.02,-50.7,278.5,-13.0,374,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2298,2501,2953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2500,-1.04,-50.7,318.3,-12.9,404,2502,0.00,2.08,0.00,0.000,4,0.000,0.056,2288,3773,2952,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2538,-1.04,-50.7,323.8,-13.7,408,2542,0.00,2.00,0.00,0.000,6,0.000,0.032,2288,2493,2951,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2848,-1.04,-50.7,364.3,-12.8,439,2849,0.00,0.00,0.00,0.000,6,0.000,0.000,2288,2493,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3149,-1.04,-50.7,399.4,-11.1,469,3152,0.00,2.15,0.00,0.000,4,0.000,0.057,2279,3774,2950,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3193,-1.04,-50.7,404.2,-12.0,473,3201,0.00,2.00,0.00,0.000,6,0.000,0.031,2279,2495,2949,0,0,0,0,0,0,28.83,25.78,28.83
$GC,3498,-1.04,-50.7,439.0,-11.0,504,3502,0.00,2.15,0.00,0.000,4,0.000,0.055,2269,3777,2948,0,0,0,0,0,0,28.83,25.50,28.83
$GC,3549,-1.02,-50.7,444.7,-11.8,509,3553,0.12,2.00,0.00,0.000,6,0.190,0.032,2302,2500,2949,0,0,0,0,0,0,25.14,25.77,28.83
$GC,3859,-1.05,-50.7,474.5,-9.6,540,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2302,2500,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4159,-1.08,-50.7,504.8,-11.3,570,4162,0.00,2.12,0.00,0.000,4,0.000,0.057,2295,3780,2947,0,0,0,0,0,0,28.83,25.47,28.83
$GC,4208,-1.08,-50.7,511.0,-12.5,575,4212,0.00,2.03,0.00,0.000,6,0.000,0.034,2295,2492,2947,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4518,-1.10,-50.7,547.0,-11.3,606,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2491,2946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4819,-1.13,-50.7,581.4,-11.7,636,4820,0.00,0.00,0.00,0.000,6,0.000,0.000,2292,2491,2945,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5119,-1.16,-50.7,616.7,-11.3,659,5120,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2491,2944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5419,-1.19,-50.7,648.9,-10.5,674,5419,0.00,0.00,0.00,0.000,6,0.000,0.000,2295,2491,2942,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5719,-1.22,-50.7,678.8,-10.0,689,5720,0.15,0.00,0.00,0.000,6,0.091,0.000,2240,2491,2943,0,0,0,0,0,0,25.65,28.83,28.83
$GC,6019,-1.19,-50.7,714.8,-12.1,704,6019,0.00,0.00,0.00,0.000,6,0.000,0.000,2240,2491,2942,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6319,-1.16,-50.7,751.4,-12.0,719,6322,0.00,2.15,0.00,0.000,4,0.000,0.057,2229,3764,2941,0,0,0,0,0,0,28.83,25.38,28.83
$GC,6459,-1.11,-50.7,770.0,-13.3,726,6463,0.17,2.00,0.00,0.000,6,0.195,0.034,2274,2503,2941,0,0,0,0,0,0,24.87,25.68,28.83
$GC,6779,-1.11,-50.7,805.5,-11.1,742,6782,0.00,2.25,0.00,0.000,4,0.000,0.039,2274,1102,2941,0,0,0,0,0,0,28.83,25.49,28.83
$GC,6813,-1.11,-50.7,807.8,-11.2,743,6821,0.00,2.30,0.00,0.000,6,0.000,0.044,2266,2498,2941,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7118,-1.11,-50.7,842.4,-10.0,759,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,2267,2498,2940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7419,-1.11,-50.7,870.4,-10.0,774,7423,0.00,2.28,0.00,0.000,4,0.000,0.039,2266,1094,2939,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7468,-1.11,-50.7,874.5,-10.1,776,7472,0.00,2.33,0.00,0.000,6,0.000,0.044,2257,2504,2939,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7778,-1.11,-50.7,906.4,-9.5,792,7782,0.00,2.28,0.00,0.000,4,0.000,0.038,2256,1098,2939,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7819,-1.11,-50.7,910.0,-9.4,794,7823,0.10,2.30,0.00,0.000,6,0.178,0.044,2272,2493,2939,0,0,0,0,0,0,25.03,25.46,28.83
$GC,8139,-1.13,-50.7,937.7,-8.5,810,8142,0.00,2.17,0.00,0.000,4,0.000,0.059,2265,3779,2938,0,0,0,0,0,0,28.83,25.32,28.83
$GC,8198,-1.13,-50.7,943.4,-9.2,813,8202,0.00,2.03,0.00,0.000,6,0.000,0.034,2265,2500,2938,0,0,0,0,0,0,28.83,25.64,28.83
$GC,8519,-1.13,-50.7,974.1,-10.1,829,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,2265,2500,2938,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8697,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8697,begin apogee
$GC,8700,-0.17,0.0,991.8,-9.8,838,8749,1.12,0.00,45.55,1.260,6,0.161,0.000,2575,2200,2737,0,0,0,0,0,0,24.61,28.83,23.20
$STATE,8749,end apogee,CONTROL_FINISHED_OK
$STATE,8749,begin climb
$GC,8751,0.92,50.7,992.4,0.0,840,8806,1.02,0.00,52.30,1.237,6,0.067,0.000,2934,2200,2529,0,0,0,0,0,0,24.79,28.83,22.76
$GC,9094,0.93,75.8,975.3,5.2,858,9123,0.00,2.33,24.55,1.195,4,0.000,0.043,2945,803,2428,0,0,0,0,0,0,28.83,24.94,23.39
$GC,9233,0.92,75.8,965.3,7.9,865,9237,0.00,2.30,0.00,0.000,6,0.000,0.039,2945,2198,2425,0,0,0,0,0,0,28.83,25.25,28.83
$GC,9554,0.90,75.8,937.0,9.2,881,9557,0.00,2.35,0.00,0.000,4,0.000,0.054,2945,3610,2422,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9614,0.87,75.8,930.9,9.8,884,9618,0.17,2.20,0.00,0.000,6,0.203,0.033,2919,2191,2422,0,0,0,0,0,0,25.06,25.63,28.83
$GC,9933,0.87,75.8,903.5,8.6,900,9934,0.00,0.00,0.00,0.000,6,0.000,0.000,2919,2188,2421,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10234,0.87,76.2,879.9,7.8,915,10235,0.00,0.00,0.00,0.000,6,0.000,0.000,2924,2188,2420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10533,0.87,76.2,856.5,8.1,930,10534,0.00,0.00,0.00,0.000,6,0.000,0.000,2918,2189,2420,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10833,0.87,77.9,833.1,7.7,945,10837,0.00,2.25,0.00,0.000,4,0.000,0.044,2926,804,2419,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10983,0.87,78.2,822.2,7.8,952,10987,0.00,2.28,0.00,0.000,6,0.000,0.039,2926,2204,2421,0,0,0,0,0,0,28.83,25.59,28.83
$GC,11294,0.88,87.0,799.1,6.9,968,11308,0.00,2.30,10.32,1.029,4,0.000,0.043,2937,792,2383,0,0,0,0,0,0,28.83,25.58,23.82
$GC,11423,0.88,90.5,790.1,7.5,974,11436,0.00,2.30,5.07,0.823,6,0.000,0.038,2937,2195,2368,0,0,0,0,0,0,28.83,25.51,23.69
$GC,11733,0.88,90.5,764.4,7.9,990,11737,0.00,2.25,0.00,0.000,4,0.000,0.042,2947,814,2367,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11769,0.88,90.5,762.8,8.0,991,11776,0.00,2.25,0.00,0.000,6,0.000,0.038,2947,2194,2369,0,0,0,0,0,0,28.83,25.55,28.83
$GC,12073,0.88,90.5,736.0,8.4,1007,12077,0.00,2.28,0.00,0.000,4,0.000,0.042,2958,805,2366,0,0,0,0,0,0,28.83,25.56,28.83
$GC,12204,0.88,90.5,725.7,8.5,1013,12208,0.10,2.28,0.00,0.000,6,0.181,0.039,2932,2203,2366,0,0,0,0,0,0,25.13,25.55,28.83
$GC,12514,0.89,92.6,700.2,7.6,1029,12518,0.00,2.33,0.00,0.000,4,0.000,0.055,2932,3603,2366,0,0,0,0,0,0,28.83,25.46,28.83
$GC,12623,0.86,92.6,692.3,7.9,1034,12627,0.00,2.22,0.00,0.000,6,0.000,0.033,2940,2198,2365,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12934,0.88,106.2,671.1,6.4,1050,12956,0.00,0.00,16.88,1.015,6,0.000,0.000,2940,2197,2302,0,0,0,0,0,0,28.83,28.83,23.91
$GC,13253,0.88,106.2,644.3,9.3,1066,13257,0.00,2.28,0.00,0.000,4,0.000,0.044,2951,806,2299,0,0,0,0,0,0,28.83,25.47,28.83
$GC,13358,0.88,106.2,634.8,9.5,1071,13362,0.00,2.28,0.00,0.000,6,0.000,0.039,2951,2201,2299,0,0,0,0,0,0,28.83,25.52,28.83
$GC,13673,0.88,106.2,606.9,8.6,1087,13677,0.00,2.28,0.00,0.000,4,0.000,0.042,2961,805,2298,0,0,0,0,0,0,28.83,25.50,28.83
$GC,13769,0.88,106.2,600.1,8.6,1091,13776,0.12,2.28,0.00,0.000,6,0.174,0.044,2928,2198,2298,0,0,0,0,0,0,25.09,25.55,28.83
$GC,14074,0.90,107.7,575.3,7.7,1122,14077,0.00,2.28,0.00,0.000,4,0.000,0.042,2935,806,2298,0,0,0,0,0,0,28.83,25.53,28.83
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$STATE,21574,end climb,SURFACE_DEPTH_REACHED
$STATE,21574,begin surface coast
$FINISH,-0.6,1.009844
$STATE,21645,end surface coast,CONTROL_FINISHED_OK
$STATE,21645,begin surface
$SM_CCo,21721,0.00,0.000,0,0,1071,408.67
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$IRIDIUM_FIX,4635.50,-12518.35,080712,080829
$TT8_MAMPS,0.053179,0.053179
$HUMID,40.03
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,19.80
$XPDR_PINGS,109
$24V_AH,22.8,39.918
$10V_AH,9.8,33.366
$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,22.700,170.650,426.400,0.000,0.000,30.048,40.695,160.727,27.250,0.000,45.231,0.000,16403.479,643.740,4807.193,196.269,0.000,2427.655,0.000,3596.058,0.000,0.530,0.000
$DEVICE_MAMPS,263.160,58.905,1259.955,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1512.824,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297424
$DATA_FILE_SIZE,89950,2196
$CAP_FILE_SIZE,226035,0
$CFSIZE,260165632,245788672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,212.9,1
$GPS,080712,211224,4648.974,-12511.165,140,1.2,140,18.4