version: 66.11
glider: 178
mission: 14
dive: 26
start: 6 16 112 14 42 40
data:
$ID,178
$MISSION,14
$DIVE,26
$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,-13186.619
$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,42
$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
$GPS1,160612,143620,4724.205,-12517.444,308,99.0,327,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-72.1
$GPS2,160612,144158,4724.178,-12517.304,14,99.0,33,18.6
$SPEED_LIMITS,0.136,0.222
$TGT_NAME,HARP
$TGT_LATLONG,4730.030,-12521.220
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.194,0.108
$KALMAN_X,15689.8,-1099.5,233.5,-41787.1,2994.5
$KALMAN_Y,294.5,-524.8,-290.5,54856.7,1443.4
$MHEAD_RNG_PITCHd_Wd,309.5,11893,-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
$STATE,11,begin dive
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$GC,12426,-0.75,-146.0,942.4,-6.8,1230,12427,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2600,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12726,-0.75,-146.0,963.2,-7.0,1245,12730,0.00,2.25,0.00,0.000,4,0.000,0.044,2395,1197,3329,0,0,0,0,0,0,28.83,25.80,28.83
$GC,12755,-0.75,-146.0,964.7,-7.2,1246,12760,0.00,2.30,0.00,0.000,6,0.000,0.051,2385,2595,3329,0,0,0,0,0,0,28.83,25.76,28.83
$STATE,13065,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13065,begin apogee
$GC,13068,-0.17,0.0,990.2,-7.9,1262,13208,0.62,0.00,132.45,1.265,6,0.131,0.000,2577,2190,2735,0,0,0,0,0,0,25.37,28.83,22.79
$STATE,13209,end apogee,CONTROL_FINISHED_OK
$STATE,13209,begin climb
$GC,13210,0.64,146.0,995.7,0.0,1269,13356,0.77,2.47,138.95,1.246,4,0.059,0.049,2862,805,2140,0,0,0,0,0,0,24.20,23.65,22.46
$GC,13461,0.55,146.0,981.7,10.5,1282,13465,0.15,2.40,0.00,0.000,6,0.155,0.043,2808,2203,2133,0,0,0,0,0,0,24.30,24.63,28.83
$GC,13781,0.51,146.0,953.7,9.0,1298,13785,0.00,2.40,0.00,0.000,4,0.000,0.062,2808,3607,2129,0,0,0,0,0,0,28.83,25.19,28.83
$GC,13826,0.46,146.0,949.8,9.6,1300,13830,0.00,2.30,0.00,0.000,6,0.000,0.040,2816,2197,2128,0,0,0,0,0,0,28.83,25.41,28.83
$GC,14141,0.42,146.0,920.2,9.1,1316,14142,0.17,0.00,0.00,0.000,6,0.164,0.000,2773,2195,2127,0,0,0,0,0,0,25.34,28.83,28.83
$GC,14441,0.44,162.2,897.8,7.3,1331,14456,0.00,0.00,14.05,1.106,6,0.000,0.000,2773,2195,2075,0,0,0,0,0,0,28.83,28.83,24.16
$GC,14741,0.45,174.0,875.7,7.4,1346,14757,0.00,2.38,12.55,1.075,4,0.000,0.060,2773,3613,2026,0,0,0,0,0,0,28.83,25.41,24.11
$GC,14781,0.45,176.2,872.7,7.8,1347,14785,0.00,2.30,0.00,0.000,6,0.000,0.038,2781,2195,2024,0,0,0,0,0,0,28.83,25.52,28.83
$GC,15096,0.46,176.8,846.8,7.8,1363,15097,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2192,2022,0,0,0,0,0,0,28.83,28.83,28.83
$GC,15396,0.46,176.8,822.8,8.2,1378,15400,0.00,2.28,0.00,0.000,4,0.000,0.050,2792,805,2021,0,0,0,0,0,0,28.83,25.63,28.83
$GC,15406,0.46,176.8,822.8,8.2,1378,15410,0.00,2.28,0.00,0.000,6,0.000,0.043,2792,2202,2020,0,0,0,0,0,0,28.83,25.68,28.83
$GC,15716,0.46,176.8,794.9,8.7,1394,15717,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2202,2020,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16016,0.46,176.8,768.5,8.9,1409,16020,0.00,2.35,0.00,0.000,4,0.000,0.062,2792,3603,2020,0,0,0,0,0,0,28.83,25.61,28.83
$GC,16051,0.46,176.8,766.5,9.0,1410,16059,0.00,2.22,0.00,0.000,6,0.000,0.038,2803,2198,2020,0,0,0,0,0,0,28.83,25.89,28.83
$GC,16356,0.46,176.8,738.2,8.7,1426,16357,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2199,2019,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16656,0.46,176.8,713.1,7.9,1441,16660,0.00,2.38,0.00,0.000,4,0.000,0.063,2803,3610,2019,0,0,0,0,0,0,28.83,25.63,28.83
$GC,16681,0.44,176.8,711.4,8.0,1442,16685,0.10,2.22,0.00,0.000,6,0.149,0.039,2783,2207,2019,0,0,0,0,0,0,25.53,25.92,28.83
$GC,16996,0.49,220.9,689.5,6.2,1458,17045,0.00,2.42,43.53,1.060,4,0.000,0.063,2784,3598,1835,0,0,0,0,0,0,28.83,25.10,23.96
$GC,17061,0.56,263.1,685.7,6.3,1461,17105,0.00,2.30,40.28,1.038,6,0.000,0.038,2790,2191,1663,0,0,0,0,0,0,28.83,25.26,23.47
$GC,17416,0.61,268.2,659.3,7.7,1479,17426,0.15,2.33,5.18,0.767,4,0.086,0.051,2861,809,1642,0,0,0,0,0,0,25.53,25.35,23.96
$GC,17446,0.64,268.2,657.5,8.0,1480,17450,0.00,2.30,0.00,0.000,6,0.000,0.043,2861,2195,1642,0,0,0,0,0,0,28.83,25.34,28.83
$GC,17756,0.60,268.2,619.7,12.2,1496,17760,0.00,2.30,0.00,0.000,4,0.000,0.050,2872,811,1640,0,0,0,0,0,0,28.83,25.48,28.83
$GC,17781,0.57,268.2,617.2,12.5,1497,17785,0.15,2.28,0.00,0.000,6,0.144,0.041,2827,2197,1640,0,0,0,0,0,0,25.17,25.54,28.83
$GC,18086,0.57,268.2,583.0,11.1,1520,18090,0.00,2.33,0.00,0.000,4,0.000,0.050,2835,800,1638,0,0,0,0,0,0,28.83,25.58,28.83
$GC,18111,0.57,268.2,580.9,10.9,1522,18119,0.00,2.28,0.00,0.000,6,0.000,0.042,2835,2196,1639,0,0,0,0,0,0,28.83,25.64,28.83
$GC,18416,0.57,268.2,545.1,11.6,1553,18417,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2196,1638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18717,0.57,268.2,510.3,11.4,1583,18720,0.00,2.30,0.00,0.000,4,0.000,0.050,2845,786,1638,0,0,0,0,0,0,28.83,25.68,28.83
$GC,18756,0.57,268.2,505.9,10.8,1587,18760,0.00,2.30,0.00,0.000,6,0.000,0.043,2845,2201,1638,0,0,0,0,0,0,28.83,25.74,28.83
$GC,19066,0.57,268.2,471.3,11.2,1618,19070,0.00,2.30,0.00,0.000,4,0.000,0.051,2855,805,1638,0,0,0,0,0,0,28.83,25.71,28.83
$GC,19106,0.57,268.2,466.8,11.1,1622,19110,0.10,2.28,0.00,0.000,6,0.142,0.041,2824,2206,1638,0,0,0,0,0,0,25.49,25.80,28.83
$GC,19416,0.58,268.2,437.6,9.5,1653,19420,0.00,2.30,0.00,0.000,4,0.000,0.050,2833,805,1638,0,0,0,0,0,0,28.83,25.74,28.83
$GC,19451,0.60,268.2,434.8,9.3,1656,19458,0.00,2.28,0.00,0.000,6,0.000,0.044,2833,2199,1637,0,0,0,0,0,0,28.83,25.77,28.83
$GC,19756,0.60,268.2,405.2,9.7,1687,19760,0.00,2.30,0.00,0.000,4,0.000,0.050,2843,798,1637,0,0,0,0,0,0,28.83,25.75,28.83
$GC,19776,0.60,268.2,403.3,9.5,1689,19780,0.00,2.28,0.00,0.000,6,0.000,0.042,2843,2205,1638,0,0,0,0,0,0,28.83,25.84,28.83
$GC,20086,0.60,268.2,372.7,9.7,1720,20090,0.00,2.30,0.00,0.000,4,0.000,0.050,2853,805,1637,0,0,0,0,0,0,28.83,25.75,28.83
$GC,20101,0.60,268.2,371.9,9.4,1721,20108,0.00,2.28,0.00,0.000,6,0.000,0.044,2853,2205,1637,0,0,0,0,0,0,28.83,25.82,28.83
$GC,20406,0.60,268.2,340.8,10.1,1752,20410,0.00,2.30,0.00,0.000,4,0.000,0.050,2864,799,1637,0,0,0,0,0,0,28.83,25.77,28.83
$GC,20451,0.60,268.2,336.7,10.1,1756,20458,0.08,2.28,0.00,0.000,6,0.148,0.042,2840,2206,1637,0,0,0,0,0,0,25.58,25.85,28.83
$GC,20756,0.60,268.2,308.1,9.2,1787,20757,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2207,1637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21056,0.60,268.2,281.7,8.7,1817,21060,0.00,2.30,0.00,0.000,4,0.000,0.050,2848,804,1637,0,0,0,0,0,0,28.83,25.78,28.83
$GC,21101,0.60,268.2,278.1,8.9,1821,21108,0.00,2.25,0.00,0.000,6,0.000,0.041,2848,2200,1637,0,0,0,0,0,0,28.83,25.89,28.83
$GC,21406,0.60,268.2,247.9,10.1,1852,21410,0.00,2.28,0.00,0.000,4,0.000,0.050,2858,806,1637,0,0,0,0,0,0,28.83,25.79,28.83
$GC,21421,0.60,268.2,247.0,10.0,1853,21428,0.00,2.25,0.00,0.000,6,0.000,0.041,2858,2204,1637,0,0,0,0,0,0,28.83,25.90,28.83
$GC,21726,0.60,268.2,216.3,11.1,1884,21730,0.00,2.28,0.00,0.000,4,0.000,0.050,2869,812,1637,0,0,0,0,0,0,28.83,25.78,28.83
$GC,21766,0.60,268.2,211.8,11.3,1888,21770,0.10,2.22,0.00,0.000,6,0.142,0.041,2838,2199,1637,0,0,0,0,0,0,25.57,25.90,28.83
$GC,22071,0.62,268.2,182.4,9.2,1936,22072,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2200,1637,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22371,0.62,268.2,155.5,8.6,1996,22372,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2200,1638,0,0,0,0,0,0,28.83,28.83,28.83
$GC,22671,0.64,268.2,130.7,8.4,2056,22678,0.00,2.28,0.00,0.000,4,0.000,0.050,2847,811,1637,0,0,0,0,0,0,28.83,25.79,28.83
$GC,22722,0.66,268.2,126.1,8.7,2066,22730,0.00,2.22,0.00,0.000,6,0.000,0.041,2847,2192,1638,0,0,0,0,0,0,28.83,25.89,28.83
$GC,23029,0.68,268.2,98.9,9.9,2127,23036,0.00,2.25,0.00,0.000,4,0.000,0.050,2856,803,1637,0,0,0,0,0,0,28.83,25.76,28.83
$GC,23050,0.70,268.2,97.0,9.2,2131,23057,0.00,2.25,0.00,0.000,6,0.000,0.041,2856,2204,1638,0,0,0,0,0,0,28.83,25.87,28.83
$GC,23356,0.72,268.2,69.6,8.4,2192,23363,0.00,2.33,0.00,0.000,4,0.000,0.060,2856,3607,1638,0,0,0,0,0,0,28.83,25.62,28.83
$GC,23386,0.72,268.2,66.9,9.0,2198,23395,0.00,2.22,0.00,0.000,6,0.000,0.037,2866,2189,1638,0,0,0,0,0,0,28.83,26.01,28.83
$GC,23694,0.73,268.2,41.6,8.0,2259,23702,0.00,2.25,0.00,0.000,4,0.000,0.050,2877,802,1638,0,0,0,0,0,0,28.83,25.75,28.83
$GC,23776,0.75,268.2,34.7,8.8,2275,23783,0.00,2.25,0.00,0.000,6,0.000,0.043,2877,2196,1638,0,0,0,0,0,0,28.83,25.82,28.83
$GC,24082,0.90,352.5,13.4,4.7,2336,24161,0.15,2.38,71.65,0.638,4,0.086,0.058,2940,3610,1298,0,0,0,0,0,0,26.32,25.27,24.41
$STATE,24208,end climb,SURFACE_DEPTH_REACHED
$STATE,24209,begin surface coast
$FINISH,1.8,1.023869
$STATE,24219,end surface coast,CONTROL_FINISHED_OK
$STATE,24219,begin surface
$SM_CCo,24293,0.00,0.000,0,0,1290,354.95
$SM_GC,1.06,8.15,1.65,0.00,0.075,0.037,0.000,163,2596,1290,-7.70,1.24,354.95,0,0,0,0,0,0,25.20,25.46,28.83
$IRIDIUM_FIX,4703.87,-12511.22,160612,070704
$TT8_MAMPS,0.050932,0.050932
$HUMID,41.92
$INTERNAL_PRESSURE,9.03355
$TCM_TEMP,18.10
$XPDR_PINGS,818
$24V_AH,22.5,27.196
$10V_AH,9.9,24.332
$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,22.500,222.775,458.625,0.000,0.000,26.002,35.408,153.795,204.500,0.000,35.634,0.000,18659.170,714.391,5051.659,168.725,33.242,2623.467,0.000,3750.289,0.000,0.826,0.000
$DEVICE_MAMPS,272.340,66.555,1265.310,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1632.956,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297272
$DATA_FILE_SIZE,96395,2361
$CAP_FILE_SIZE,258862,0
$CFSIZE,260165632,254074880
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042, 18.3,1
$GPS,160612,213157,4727.251,-12519.129,225,99.0,244,18.6