version: 66.11
glider: 178
mission: 14
dive: 25
start: 6 16 112 7 44 1
data:
$ID,178
$MISSION,14
$DIVE,25
$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,-13185.353
$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,48
$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
$GPS1,160612,073727,4721.878,-12516.485,251,99.0,270,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-73.0
$GPS2,160612,074319,4721.842,-12516.471,15,1.2,27,18.6
$SPEED_LIMITS,0.136,0.222
$TGT_NAME,HARP
$TGT_LATLONG,4730.030,-12521.220
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.087,0.204
$KALMAN_X,13731.8,-243.0,183.9,-39583.1,149.1
$KALMAN_Y,521.1,-359.4,147.5,49708.7,32.4
$MHEAD_RNG_PITCHd_Wd,312.4,16286,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.64,-146.0,0.0,0.0,0,75,0.00,0.00,-60.17,0.000,2,0.000,0.000,159,2611,2698,0,0,0,0,0,0,28.83,28.83,28.83
$GC,76,-0.64,-146.0,3.4,-7.7,10,107,10.90,2.30,-12.05,0.000,4,0.272,0.064,2429,1178,3336,0,0,0,0,0,0,24.82,25.51,26.00
$GC,321,-0.59,-146.0,44.7,-11.3,58,328,0.00,2.35,0.00,0.000,6,0.000,0.049,2421,2591,3341,0,0,0,0,0,0,28.83,25.50,28.83
$GC,627,-0.54,-146.0,84.6,-12.5,119,634,0.17,2.03,0.00,0.000,4,0.163,0.064,2459,3779,3342,0,0,0,0,0,0,25.47,25.46,28.83
$GC,683,-0.56,-146.0,89.7,-8.3,130,690,0.00,1.88,0.00,0.000,6,0.000,0.041,2459,2602,3342,0,0,0,0,0,0,28.83,25.80,28.83
$GC,989,-0.58,-146.0,110.9,-6.8,191,996,0.00,2.25,0.00,0.000,4,0.000,0.041,2459,1199,3342,0,0,0,0,0,0,28.83,25.69,28.83
$GC,1020,-0.60,-146.0,113.0,-7.1,197,1027,0.00,2.30,0.00,0.000,6,0.000,0.047,2450,2602,3343,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1326,-0.60,-146.0,135.0,-6.4,258,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2602,3343,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1626,-0.62,-146.0,156.2,-6.8,318,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2449,2602,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1926,-0.65,-146.0,178.1,-7.2,378,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,2450,2602,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2236,-0.67,-146.0,201.0,-6.7,439,2239,0.00,1.98,0.00,0.000,4,0.000,0.066,2441,3771,3342,0,0,0,0,0,0,28.83,25.56,28.83
$GC,2260,-0.70,-146.0,202.5,-7.3,441,2268,0.00,1.85,0.00,0.000,6,0.000,0.041,2442,2602,3342,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2566,-0.71,-146.0,223.7,-7.0,472,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2602,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2866,-0.73,-146.0,245.2,-6.6,502,2867,0.12,0.00,0.00,0.000,6,0.090,0.000,2382,2602,3342,0,0,0,0,0,0,26.22,28.83,28.83
$GC,3165,-0.68,-146.0,275.0,-10.2,532,3167,0.15,0.00,0.00,0.000,6,0.162,0.000,2419,2602,3341,0,0,0,0,0,0,25.82,28.83,28.83
$GC,3465,-0.68,-146.0,300.2,-8.7,562,3469,0.00,2.00,0.00,0.000,4,0.000,0.066,2413,3780,3340,0,0,0,0,0,0,28.83,25.55,28.83
$GC,3500,-0.68,-146.0,302.8,-8.6,565,3508,0.00,1.90,0.00,0.000,6,0.000,0.041,2413,2582,3341,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3805,-0.68,-146.0,331.1,-9.3,596,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2583,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4106,-0.68,-146.0,357.6,-8.5,626,4109,0.00,2.20,0.00,0.000,4,0.000,0.043,2413,1194,3340,0,0,0,0,0,0,28.83,25.81,28.83
$GC,4145,-0.68,-146.0,361.2,-8.9,630,4149,0.00,2.30,0.00,0.000,6,0.000,0.049,2404,2596,3339,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4455,-0.65,-146.0,389.3,-9.0,661,4459,0.00,1.98,0.00,0.000,4,0.000,0.066,2395,3774,3338,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4490,-0.63,-146.0,392.1,-8.9,664,4499,0.12,1.85,0.00,0.000,6,0.131,0.041,2434,2598,3338,0,0,0,0,0,0,25.58,26.05,28.83
$GC,4796,-0.65,-146.0,413.8,-6.5,695,4799,0.00,2.20,0.00,0.000,4,0.000,0.041,2434,1204,3338,0,0,0,0,0,0,28.83,25.84,28.83
$GC,4820,-0.68,-146.0,415.3,-6.9,697,4828,0.00,2.30,0.00,0.000,6,0.000,0.048,2430,2610,3338,0,0,0,0,0,0,28.83,25.77,28.83
$GC,5126,-0.69,-146.0,437.1,-7.4,728,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2610,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5426,-0.71,-146.0,459.6,-7.7,758,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2429,2611,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5726,-0.73,-146.0,483.4,-7.7,788,5727,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2610,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6026,-0.75,-146.0,506.4,-7.4,818,6029,0.00,2.25,0.00,0.000,4,0.000,0.043,2430,1201,3336,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6051,-0.77,-146.0,507.9,-7.5,820,6058,0.00,2.30,0.00,0.000,6,0.000,0.049,2422,2603,3337,0,0,0,0,0,0,28.83,25.79,28.83
$GC,6355,-0.77,-146.0,529.7,-7.2,851,6359,0.00,1.98,0.00,0.000,4,0.000,0.067,2413,3779,3336,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6396,-0.77,-146.0,532.6,-7.4,855,6399,0.00,1.85,0.00,0.000,6,0.000,0.042,2413,2606,3336,0,0,0,0,0,0,28.83,26.08,28.83
$GC,6705,-0.77,-146.0,554.4,-6.9,886,6709,0.00,2.22,0.00,0.000,4,0.000,0.042,2412,1199,3336,0,0,0,0,0,0,28.83,25.86,28.83
$GC,6736,-0.77,-146.0,556.4,-7.0,889,6739,0.00,2.28,0.00,0.000,6,0.000,0.049,2404,2595,3336,0,0,0,0,0,0,28.83,25.80,28.83
$GC,7045,-0.77,-146.0,580.1,-8.1,920,7049,0.00,1.98,0.00,0.000,4,0.000,0.067,2395,3768,3335,0,0,0,0,0,0,28.83,25.59,28.83
$GC,7070,-0.77,-146.0,581.6,-7.7,922,7078,0.00,1.85,0.00,0.000,6,0.000,0.044,2395,2600,3336,0,0,0,0,0,0,28.83,24.38,28.83
$GC,7376,-0.75,-146.0,606.4,-7.9,949,7377,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2601,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7675,-0.73,-146.0,629.8,-7.9,964,7676,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2601,3335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7976,-0.72,-146.0,654.0,-8.3,979,7979,0.00,2.22,0.00,0.000,4,0.000,0.044,2395,1196,3335,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8005,-0.70,-146.0,655.6,-8.2,980,8009,0.00,2.30,0.00,0.000,6,0.000,0.050,2385,2603,3334,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8315,-0.67,-146.0,682.1,-8.0,996,8317,0.15,0.00,0.00,0.000,6,0.164,0.000,2424,2603,3334,0,0,0,0,0,0,26.01,28.83,28.83
$GC,8616,-0.70,-146.0,701.4,-6.5,1011,8619,0.00,2.25,0.00,0.000,4,0.000,0.043,2424,1189,3334,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8640,-0.73,-146.0,702.7,-6.5,1012,8644,0.00,2.30,0.00,0.000,6,0.000,0.050,2419,2600,3333,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8956,-0.75,-146.0,723.9,-6.4,1028,8957,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2599,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9256,-0.77,-146.0,742.1,-6.0,1043,9259,0.00,2.25,0.00,0.000,4,0.000,0.043,2419,1194,3333,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9285,-0.79,-146.0,743.2,-5.8,1044,9289,0.00,2.30,0.00,0.000,6,0.000,0.050,2410,2599,3332,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9596,-0.79,-146.0,762.2,-6.0,1060,9596,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2599,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9895,-0.79,-146.0,780.4,-6.1,1075,9896,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2599,3332,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10196,-0.79,-146.0,798.6,-6.2,1090,10199,0.00,2.25,0.00,0.000,4,0.000,0.044,2410,1196,3332,0,0,0,0,0,0,28.83,25.80,28.83
$GC,10225,-0.79,-146.0,799.8,-6.2,1091,10229,0.00,2.30,0.00,0.000,6,0.000,0.050,2401,2596,3332,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10535,-0.79,-146.0,820.6,-6.5,1107,10539,0.00,2.00,0.00,0.000,4,0.000,0.067,2392,3779,3332,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10560,-0.79,-146.0,821.9,-6.6,1108,10565,0.00,1.88,0.00,0.000,6,0.000,0.043,2392,2599,3331,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10875,-0.79,-146.0,845.2,-7.7,1124,10879,0.00,2.22,0.00,0.000,4,0.000,0.044,2392,1196,3332,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10905,-0.79,-146.0,846.6,-7.6,1125,10909,0.00,2.30,0.00,0.000,6,0.000,0.050,2382,2597,3331,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11216,-0.77,-146.0,873.8,-8.9,1141,11217,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2597,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11515,-0.75,-146.0,900.9,-9.2,1156,11519,0.00,2.00,0.00,0.000,4,0.000,0.068,2374,3777,3330,0,0,0,0,0,0,28.83,25.50,28.83
$GC,11545,-0.72,-146.0,902.7,-9.2,1157,11550,0.10,1.90,0.00,0.000,6,0.140,0.044,2404,2589,3331,0,0,0,0,0,0,25.64,25.94,28.83
$GC,11855,-0.72,-146.0,928.5,-7.9,1173,11856,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2589,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12156,-0.72,-146.0,951.5,-7.6,1188,12156,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2588,3330,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12455,-0.72,-146.0,974.0,-7.3,1203,12459,0.00,2.22,0.00,0.000,4,0.000,0.044,2404,1195,3330,0,0,0,0,0,0,28.83,25.77,28.83
$GC,12480,-0.72,-146.0,975.4,-7.3,1204,12484,0.00,2.33,0.00,0.000,6,0.000,0.052,2397,2606,3330,0,0,0,0,0,0,28.83,25.74,28.83
$STATE,12674,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12674,begin apogee
$GC,12677,-0.17,0.0,990.5,-7.6,1214,12818,0.57,0.00,133.02,1.265,6,0.127,0.000,2575,2197,2735,0,0,0,0,0,0,25.39,28.83,22.77
$STATE,12819,end apogee,CONTROL_FINISHED_OK
$STATE,12819,begin climb
$GC,12820,0.64,146.0,996.6,0.0,1221,12963,0.77,0.00,139.68,1.245,6,0.063,0.000,2845,2197,2141,0,0,0,0,0,0,24.18,28.83,22.44
$GC,13255,0.56,146.0,966.6,9.6,1243,13256,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2197,2131,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13555,0.48,146.0,937.2,9.9,1258,13560,0.20,2.35,0.00,0.000,4,0.167,0.050,2803,789,2128,0,0,0,0,0,0,25.16,25.37,28.83
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$STATE,24295,end climb,SURFACE_DEPTH_REACHED
$STATE,24295,begin surface coast
$FINISH,0.3,1.010291
$STATE,24320,end surface coast,CONTROL_FINISHED_OK
$STATE,24320,begin surface
$SM_CCo,24393,0.00,0.000,0,0,1244,365.99
$SM_GC,1.04,7.65,0.68,0.00,0.047,0.059,0.000,163,2612,1244,-7.69,-0.54,365.99,0,0,0,0,0,0,25.24,25.27,28.83
$IRIDIUM_FIX,4657.54,-12514.58,160612,010122
$TT8_MAMPS,0.050932,0.050932
$HUMID,42.08
$INTERNAL_PRESSURE,9.04332
$TCM_TEMP,18.30
$XPDR_PINGS,801
$24V_AH,22.4,27.015
$10V_AH,9.9,24.214
$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,22.400,196.525,475.350,0.000,0.000,29.529,39.470,166.194,200.250,0.000,27.926,0.000,18870.738,717.466,4962.932,156.765,33.246,2574.418,0.000,3656.208,0.000,0.825,0.000
$DEVICE_MAMPS,272.340,68.085,1265.310,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1636.877,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297252
$DATA_FILE_SIZE,96438,2368
$CAP_FILE_SIZE,253737,0
$CFSIZE,260165632,254193664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,115.7,1
$GPS,160612,143620,4724.205,-12517.444,308,99.0,327,18.6