version: 66.11
glider: 178
mission: 14
dive: 22
start: 6 15 112 11 9 34
data:
$ID,178
$MISSION,14
$DIVE,22
$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,450
$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,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51867
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$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,-13181.559
$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,2600
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,27
$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
$GPS1,150612,110256,4713.183,-12514.343,266,99.0,285,18.5
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-72.7
$GPS2,150612,110852,4713.125,-12514.354,18,99.0,37,18.5
$SPEED_LIMITS,0.136,0.222
$TGT_NAME,HARP
$TGT_LATLONG,4730.030,-12521.220
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.146,0.167
$KALMAN_X,9809.5,-1019.1,-466.5,-31542.1,2275.4
$KALMAN_Y,-908.5,-333.8,-138.7,35239.9,845.4
$MHEAD_RNG_PITCHd_Wd,334.1,32465,-13.7,-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,-0.64,-146.0,0.0,0.0,0,83,0.00,0.00,-68.43,0.000,2,0.000,0.000,162,2602,2712,0,0,0,0,0,0,28.83,28.83,28.83
$GC,84,-0.64,-146.0,3.5,-8.8,12,114,10.88,2.33,-11.65,0.000,4,0.274,0.060,2430,1199,3338,0,0,0,0,0,0,24.84,25.49,25.98
$GC,278,-0.59,-146.0,40.9,-10.0,50,286,0.00,2.33,0.00,0.000,6,0.000,0.049,2422,2596,3341,0,0,0,0,0,0,28.83,25.48,28.83
$GC,585,-0.53,-146.0,77.8,-11.6,111,593,0.17,2.00,0.00,0.000,4,0.164,0.064,2460,3774,3342,0,0,0,0,0,0,25.45,25.46,28.83
$GC,691,-0.53,-146.0,88.1,-9.1,132,698,0.00,1.88,0.00,0.000,6,0.000,0.040,2460,2597,3342,0,0,0,0,0,0,28.83,25.81,28.83
$GC,997,-0.56,-146.0,113.0,-7.0,193,1004,0.00,2.25,0.00,0.000,4,0.000,0.043,2460,1201,3342,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1018,-0.58,-146.0,114.6,-7.7,197,1025,0.00,2.30,0.00,0.000,6,0.000,0.047,2451,2598,3342,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1324,-0.60,-146.0,136.7,-6.8,258,1332,0.00,2.00,0.00,0.000,4,0.000,0.065,2442,3779,3342,0,0,0,0,0,0,28.83,25.55,28.83
$GC,1366,-0.63,-146.0,139.6,-6.9,266,1374,0.00,1.88,0.00,0.000,6,0.000,0.040,2442,2593,3342,0,0,0,0,0,0,28.83,25.91,28.83
$GC,1674,-0.64,-146.0,159.3,-6.9,327,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2593,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1978,-0.66,-146.0,182.6,-8.4,388,1985,0.00,2.22,0.00,0.000,4,0.000,0.043,2442,1202,3342,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2034,-0.69,-146.0,187.1,-8.5,399,2041,0.00,2.30,0.00,0.000,6,0.000,0.048,2435,2605,3342,0,0,0,0,0,0,28.83,25.73,28.83
$GC,2345,-0.69,-146.0,211.0,-7.7,447,2349,0.00,2.25,0.00,0.000,4,0.000,0.043,2435,1199,3342,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2385,-0.69,-146.0,214.1,-7.7,451,2389,0.00,2.30,0.00,0.000,6,0.000,0.047,2427,2605,3341,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2695,-0.69,-146.0,239.5,-8.0,482,2695,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2605,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2996,-0.69,-146.0,262.7,-7.2,512,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2426,2605,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3295,-0.69,-146.0,287.1,-8.1,542,3299,0.00,2.25,0.00,0.000,4,0.000,0.043,2426,1199,3341,0,0,0,0,0,0,28.83,25.79,28.83
$GC,3329,-0.69,-146.0,289.6,-8.4,545,3337,0.00,2.28,0.00,0.000,6,0.000,0.047,2418,2596,3340,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3635,-0.69,-146.0,314.5,-7.8,576,3639,0.00,1.98,0.00,0.000,4,0.000,0.064,2409,3768,3340,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3679,-0.69,-146.0,318.1,-8.9,580,3687,0.00,1.88,0.00,0.000,6,0.000,0.041,2409,2592,3340,0,0,0,0,0,0,28.83,26.00,28.83
$GC,3985,-0.69,-146.0,343.3,-7.9,611,3989,0.00,2.20,0.00,0.000,4,0.000,0.043,2410,1207,3339,0,0,0,0,0,0,28.83,25.78,28.83
$GC,4015,-0.69,-146.0,345.6,-7.9,614,4019,0.00,2.28,0.00,0.000,6,0.000,0.049,2400,2597,3340,0,0,0,0,0,0,28.83,25.73,28.83
$GC,4325,-0.66,-146.0,370.2,-7.8,645,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2597,3339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4625,-0.64,-146.0,394.7,-8.2,675,4626,0.12,0.00,0.00,0.000,6,0.167,0.000,2431,2597,3339,0,0,0,0,0,0,25.96,28.83,28.83
$GC,4925,-0.65,-146.0,415.2,-6.6,705,4929,0.00,2.25,0.00,0.000,4,0.000,0.044,2431,1198,3338,0,0,0,0,0,0,28.83,25.77,28.83
$GC,4960,-0.67,-146.0,417.2,-6.7,708,4967,0.00,2.30,0.00,0.000,6,0.000,0.048,2425,2604,3338,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5265,-0.67,-146.0,439.0,-7.2,739,5266,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2604,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5565,-0.67,-146.0,460.5,-6.9,769,5569,0.00,2.25,0.00,0.000,4,0.000,0.044,2424,1203,3337,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5590,-0.67,-146.0,461.9,-7.2,771,5597,0.00,2.30,0.00,0.000,6,0.000,0.057,2417,2600,3337,0,0,0,0,0,0,28.83,25.61,28.83
$GC,5895,-0.67,-146.0,483.9,-7.1,802,5896,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2600,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6195,-0.67,-146.0,505.5,-6.9,832,6196,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2600,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6495,-0.67,-146.0,527.7,-7.4,862,6499,0.00,2.22,0.00,0.000,4,0.000,0.044,2417,1210,3336,0,0,0,0,0,0,28.83,25.77,28.83
$GC,6520,-0.67,-146.0,529.2,-7.7,864,6527,0.00,2.28,0.00,0.000,6,0.000,0.049,2407,2600,3336,0,0,0,0,0,0,28.83,25.74,28.83
$GC,6825,-0.67,-146.0,553.2,-7.5,895,6826,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2600,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7125,-0.67,-146.0,574.3,-6.6,925,7126,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2600,3335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7426,-0.67,-146.0,595.7,-7.5,955,7427,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2600,3335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7725,-0.67,-146.0,620.8,-8.3,973,7726,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2600,3335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8025,-0.67,-146.0,645.2,-8.0,988,8025,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2600,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8325,-0.67,-146.0,667.4,-7.2,1003,8329,0.00,2.25,0.00,0.000,4,0.000,0.044,2407,1199,3334,0,0,0,0,0,0,28.83,25.78,28.83
$GC,8355,-0.67,-146.0,668.8,-7.2,1004,8359,0.00,2.30,0.00,0.000,6,0.000,0.050,2397,2603,3334,0,0,0,0,0,0,28.83,25.75,28.83
$GC,8665,-0.66,-146.0,694.2,-8.0,1020,8669,0.12,1.98,0.00,0.000,4,0.169,0.067,2422,3774,3334,0,0,0,0,0,0,26.15,25.53,28.83
$GC,8700,-0.66,-146.0,695.8,-7.8,1021,8707,0.00,1.85,0.00,0.000,6,0.000,0.043,2422,2609,3334,0,0,0,0,0,0,28.83,26.03,28.83
$GC,9005,-0.68,-146.0,718.7,-7.1,1037,9009,0.00,2.25,0.00,0.000,4,0.000,0.044,2422,1196,3334,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9045,-0.70,-146.0,721.7,-7.3,1039,9049,0.00,2.30,0.00,0.000,6,0.000,0.050,2414,2601,3334,0,0,0,0,0,0,28.83,25.75,28.83
$GC,9365,-0.70,-146.0,745.6,-7.6,1055,9369,0.00,1.98,0.00,0.000,4,0.000,0.068,2405,3773,3333,0,0,0,0,0,0,28.83,25.52,28.83
$GC,9400,-0.70,-146.0,747.2,-7.7,1056,9407,0.00,1.88,0.00,0.000,6,0.000,0.043,2405,2593,3333,0,0,0,0,0,0,28.83,26.05,28.83
$GC,9705,-0.70,-146.0,771.2,-7.2,1072,9709,0.00,2.22,0.00,0.000,4,0.000,0.044,2405,1197,3333,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9750,-0.70,-146.0,774.0,-7.2,1074,9754,0.00,2.30,0.00,0.000,6,0.000,0.050,2396,2597,3333,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10066,-0.70,-146.0,799.1,-7.7,1090,10066,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2597,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10365,-0.70,-146.0,822.2,-7.6,1105,10369,0.00,2.00,0.00,0.000,4,0.000,0.067,2388,3779,3332,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10395,-0.70,-146.0,823.8,-7.6,1106,10399,0.00,1.88,0.00,0.000,6,0.000,0.043,2387,2599,3332,0,0,0,0,0,0,28.83,26.04,28.83
$GC,10705,-0.69,-146.0,850.0,-8.5,1122,10709,0.12,2.22,0.00,0.000,4,0.170,0.044,2418,1202,3332,0,0,0,0,0,0,26.19,25.78,28.83
$GC,10729,-0.69,-146.0,851.5,-8.3,1123,10734,0.00,2.30,0.00,0.000,6,0.000,0.050,2412,2600,3331,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11045,-0.70,-146.0,875.5,-7.4,1139,11046,0.00,0.00,0.00,0.000,6,0.000,0.000,2412,2600,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11345,-0.72,-146.0,897.1,-7.1,1154,11349,0.00,1.98,0.00,0.000,4,0.000,0.068,2403,3770,3331,0,0,0,0,0,0,28.83,25.51,28.83
$GC,11370,-0.74,-146.0,898.5,-7.1,1155,11374,0.00,1.88,0.00,0.000,6,0.000,0.044,2403,2593,3331,0,0,0,0,0,0,28.83,26.05,28.83
$GC,11685,-0.74,-146.0,921.1,-6.7,1171,11689,0.00,2.22,0.00,0.000,4,0.000,0.046,2403,1201,3330,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11740,-0.74,-146.0,924.0,-6.7,1173,11747,0.00,2.30,0.00,0.000,6,0.000,0.051,2395,2601,3330,0,0,0,0,0,0,28.83,25.72,28.83
$GC,12045,-0.74,-146.0,947.5,-7.6,1189,12049,0.00,2.25,0.00,0.000,4,0.000,0.044,2394,1197,3330,0,0,0,0,0,0,28.83,25.78,28.83
$GC,12070,-0.74,-146.0,949.0,-7.7,1190,12074,0.00,2.30,0.00,0.000,6,0.000,0.051,2384,2599,3330,0,0,0,0,0,0,28.83,25.75,28.83
$GC,12385,-0.72,-146.0,974.7,-7.8,1206,12386,0.00,0.00,0.00,0.000,6,0.000,0.000,2384,2599,3330,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12604,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12604,begin apogee
$GC,12607,-0.17,0.0,991.2,-7.8,1217,12747,0.62,0.00,132.48,1.271,6,0.131,0.000,2578,2192,2737,0,0,0,0,0,0,25.33,28.83,22.77
$STATE,12748,end apogee,CONTROL_FINISHED_OK
$STATE,12748,begin climb
$GC,12749,0.64,146.0,995.4,0.0,1224,12892,0.77,0.00,139.50,1.248,6,0.060,0.000,2853,2192,2141,0,0,0,0,0,0,24.19,28.83,22.46
$GC,13185,0.55,146.0,963.0,10.1,1246,13189,0.15,2.45,0.00,0.000,4,0.177,0.060,2818,3603,2130,0,0,0,0,0,0,24.93,25.01,28.83
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$STATE,24325,end climb,SURFACE_DEPTH_REACHED
$STATE,24325,begin surface coast
$FINISH,0.3,1.001275
$STATE,24370,end surface coast,CONTROL_FINISHED_OK
$STATE,24371,begin surface
$SM_CCo,24443,0.00,0.000,0,0,1290,354.70
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$TT8_MAMPS,0.051681,0.051681
$HUMID,41.29
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,17.70
$XPDR_PINGS,865
$24V_AH,22.5,26.464
$10V_AH,9.9,23.867
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.950,197.675,474.775,0.000,0.000,23.321,48.716,156.462,216.250,0.000,39.077,0.000,18881.453,725.851,4989.233,164.944,33.240,2593.649,0.000,3679.492,0.000,0.825,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1644.696,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297288
$DATA_FILE_SIZE,96586,2379
$CAP_FILE_SIZE,254601,0
$CFSIZE,260165632,254509056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,316.7,1
$GPS,150612,180154,4716.446,-12515.302,261,1.4,279,18.5