version: 66.11
glider: 178
mission: 14
dive: 54
start: 6 23 112 17 47 15
data:
$ID,178
$MISSION,14
$DIVE,54
$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,-13493.42
$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,46
$R_STBD_OVSHOOT,29
$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
$GPS1,230612,174126,4729.318,-12610.326,197,99.0,216,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.69
$_SM_ANGLEo,-72.6
$GPS2,230612,174706,4729.362,-12610.284,16,2.0,26,18.7
$SPEED_LIMITS,0.136,0.209
$TGT_NAME,HARP
$TGT_LATLONG,4730.030,-12521.220
$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,95.5,61401,-15.1,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.66,-126.5,0.0,0.0,0,90,0.00,0.00,-75.75,0.000,2,0.000,0.000,164,2513,2924,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.66,-126.5,3.9,-12.0,13,116,11.20,2.10,-5.75,0.000,4,0.276,0.073,2412,3773,3256,0,0,0,0,0,0,24.56,25.19,25.50
$GC,340,-0.59,-126.5,50.7,-14.3,62,347,0.10,2.05,0.00,0.000,6,0.151,0.039,2441,2503,3261,0,0,0,0,0,0,25.10,25.46,28.83
$GC,646,-0.59,-126.5,84.8,-11.0,123,653,0.00,2.15,0.00,0.000,4,0.000,0.060,2434,3769,3262,0,0,0,0,0,0,28.83,25.32,28.83
$GC,726,-0.59,-126.5,93.8,-10.7,139,734,0.00,2.03,0.00,0.000,6,0.000,0.037,2434,2500,3262,0,0,0,0,0,0,28.83,25.56,28.83
$GC,1033,-0.59,-126.5,121.2,-7.4,200,1033,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2500,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1332,-0.59,-126.5,145.5,-8.3,260,1333,0.00,0.00,0.00,0.000,6,0.000,0.000,2434,2500,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1633,-0.61,-126.5,171.8,-8.9,320,1641,0.00,2.17,0.00,0.000,4,0.000,0.061,2425,3772,3263,0,0,0,0,0,0,28.83,25.34,28.83
$GC,1690,-0.62,-126.5,177.0,-9.2,331,1697,0.00,2.05,0.00,0.000,6,0.000,0.037,2425,2489,3262,0,0,0,0,0,0,28.83,25.23,28.83
$GC,1995,-0.62,-126.5,202.0,-8.4,390,1999,0.00,2.17,0.00,0.000,4,0.000,0.060,2416,3770,3263,0,0,0,0,0,0,28.83,25.34,28.83
$GC,2035,-0.62,-126.5,205.5,-8.8,394,2039,0.00,2.03,0.00,0.000,6,0.000,0.036,2416,2497,3262,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2345,-0.62,-126.5,233.0,-8.7,425,2349,0.00,2.15,0.00,0.000,4,0.000,0.060,2406,3770,3262,0,0,0,0,0,0,28.83,25.33,28.83
$GC,2415,-0.62,-126.5,239.5,-9.5,432,2420,0.08,2.03,0.00,0.000,6,0.142,0.037,2430,2500,3262,0,0,0,0,0,0,25.29,25.60,28.83
$GC,2725,-0.65,-126.5,261.8,-7.2,463,2729,0.00,2.15,0.00,0.000,4,0.000,0.060,2423,3765,3259,0,0,0,0,0,0,28.83,25.30,28.83
$GC,2786,-0.67,-126.5,266.4,-7.8,469,2790,0.00,2.03,0.00,0.000,6,0.000,0.037,2423,2496,3261,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3096,-0.68,-126.5,291.9,-8.5,500,3099,0.00,2.17,0.00,0.000,4,0.000,0.060,2414,3770,3261,0,0,0,0,0,0,28.83,25.30,28.83
$GC,3135,-0.68,-126.5,295.5,-9.0,504,3139,0.00,2.03,0.00,0.000,6,0.000,0.037,2414,2500,3261,0,0,0,0,0,0,28.83,25.59,28.83
$GC,3445,-0.68,-126.5,322.7,-8.3,535,3449,0.00,2.17,0.00,0.000,4,0.000,0.061,2404,3779,3261,0,0,0,0,0,0,28.83,25.29,28.83
$GC,3490,-0.68,-126.5,326.1,-8.8,539,3497,0.00,2.05,0.00,0.000,6,0.000,0.035,2404,2492,3261,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3795,-0.68,-126.5,354.1,-9.2,570,3799,0.00,2.17,0.00,0.000,4,0.000,0.061,2395,3766,3260,0,0,0,0,0,0,28.83,25.27,28.83
$GC,3830,-0.68,-126.5,357.0,-9.5,573,3838,0.00,2.03,0.00,0.000,6,0.000,0.037,2395,2498,3260,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4135,-0.67,-126.5,387.5,-10.2,604,4140,0.12,2.17,0.00,0.000,4,0.164,0.060,2417,3771,3260,0,0,0,0,0,0,25.32,25.23,28.83
$GC,4186,-0.69,-126.5,391.8,-8.7,609,4190,0.00,2.03,0.00,0.000,6,0.000,0.037,2417,2504,3259,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4496,-0.70,-126.5,416.2,-7.6,640,4499,0.00,2.15,0.00,0.000,4,0.000,0.060,2408,3768,3259,0,0,0,0,0,0,28.83,25.25,28.83
$GC,4525,-0.70,-126.5,418.6,-8.0,643,4530,0.00,2.03,0.00,0.000,6,0.000,0.037,2408,2502,3259,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4835,-0.70,-126.5,443.3,-8.1,674,4836,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2501,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5136,-0.70,-126.5,468.1,-8.3,704,5139,0.00,2.15,0.00,0.000,4,0.000,0.061,2398,3773,3258,0,0,0,0,0,0,28.83,25.23,28.83
$GC,5185,-0.70,-126.5,472.4,-8.8,709,5189,0.00,2.05,0.00,0.000,6,0.000,0.037,2398,2491,3258,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5495,-0.70,-126.5,499.6,-8.5,740,5499,0.00,2.20,0.00,0.000,4,0.000,0.061,2389,3776,3256,0,0,0,0,0,0,28.83,25.22,28.83
$GC,5565,-0.70,-126.5,506.1,-9.4,747,5569,0.00,2.05,0.00,0.000,6,0.000,0.037,2389,2496,3257,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5875,-0.70,-126.5,532.8,-8.2,778,5879,0.00,2.20,0.00,0.000,4,0.000,0.062,2379,3776,3256,0,0,0,0,0,0,28.83,25.20,28.83
$GC,5906,-0.68,-126.5,535.3,-8.4,781,5910,0.12,2.05,0.00,0.000,6,0.136,0.037,2417,2497,3256,0,0,0,0,0,0,25.10,25.53,28.83
$GC,6215,-0.71,-126.5,555.6,-6.0,812,6216,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2497,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6516,-0.74,-126.5,575.4,-6.6,842,6519,0.00,2.17,0.00,0.000,4,0.000,0.063,2410,3777,3255,0,0,0,0,0,0,28.83,25.18,28.83
$GC,6560,-0.76,-126.5,578.2,-7.1,846,6568,0.00,2.05,0.00,0.000,6,0.000,0.037,2409,2503,3255,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6865,-0.78,-126.5,598.9,-6.3,877,6866,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2503,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7166,-0.80,-126.5,618.8,-6.7,893,7170,0.00,2.17,0.00,0.000,4,0.000,0.063,2401,3771,3254,0,0,0,0,0,0,28.83,25.15,28.83
$GC,7211,-0.82,-126.5,621.8,-7.1,895,7214,0.00,2.05,0.00,0.000,6,0.000,0.038,2400,2502,3254,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7525,-0.82,-126.5,643.5,-6.5,911,7526,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2502,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7826,-0.82,-126.5,665.1,-7.5,926,7830,0.00,2.17,0.00,0.000,4,0.000,0.063,2392,3765,3253,0,0,0,0,0,0,28.83,25.15,28.83
$GC,7870,-0.82,-126.5,668.1,-7.4,928,7874,0.00,2.05,0.00,0.000,6,0.000,0.038,2391,2494,3253,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8185,-0.82,-126.5,692.7,-7.9,944,8189,0.00,2.20,0.00,0.000,4,0.000,0.062,2382,3769,3253,0,0,0,0,0,0,28.83,25.15,28.83
$GC,8220,-0.82,-126.5,694.3,-7.9,945,8227,0.00,2.05,0.00,0.000,6,0.000,0.038,2382,2500,3253,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8525,-0.82,-126.5,720.0,-8.1,961,8526,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2500,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8825,-0.82,-126.5,743.5,-7.8,976,8829,0.00,2.17,0.00,0.000,4,0.000,0.063,2372,3765,3252,0,0,0,0,0,0,28.83,25.13,28.83
$GC,8870,-0.80,-126.5,747.0,-8.2,978,8874,0.00,2.05,0.00,0.000,6,0.000,0.039,2373,2496,3252,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9185,-0.78,-126.5,773.7,-8.4,994,9186,0.00,0.00,0.00,0.000,6,0.000,0.000,2372,2496,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9486,-0.76,-126.5,798.2,-8.0,1009,9489,0.00,2.20,0.00,0.000,4,0.000,0.063,2360,3767,3252,0,0,0,0,0,0,28.83,25.13,28.83
$GC,9530,-0.73,-126.5,801.7,-8.3,1011,9535,0.12,2.05,0.00,0.000,6,0.142,0.039,2399,2505,3251,0,0,0,0,0,0,24.98,25.45,28.83
$GC,9846,-0.75,-126.5,822.9,-6.3,1027,9849,0.00,2.20,0.00,0.000,4,0.000,0.065,2393,3774,3251,0,0,0,0,0,0,28.83,25.10,28.83
$GC,9895,-0.75,-126.5,825.7,-6.4,1029,9899,0.00,2.08,0.00,0.000,6,0.000,0.039,2393,2495,3251,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10205,-0.75,-126.5,847.8,-7.1,1045,10209,0.00,2.20,0.00,0.000,4,0.000,0.063,2383,3765,3251,0,0,0,0,0,0,28.83,25.11,28.83
$GC,10236,-0.75,-126.5,849.2,-7.3,1046,10239,0.00,2.08,0.00,0.000,6,0.000,0.040,2380,2491,3251,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10545,-0.75,-126.5,874.2,-7.5,1062,10546,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2491,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10846,-0.75,-126.5,895.1,-6.8,1077,10847,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2491,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11146,-0.75,-126.5,917.0,-7.5,1092,11149,0.00,2.20,0.00,0.000,4,0.000,0.063,2373,3765,3250,0,0,0,0,0,0,28.83,25.08,28.83
$GC,11205,-0.75,-126.5,922.0,-8.1,1095,11209,0.00,2.05,0.00,0.000,6,0.000,0.041,2373,2507,3250,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11526,-0.75,-126.5,945.5,-6.8,1111,11529,0.00,2.17,0.00,0.000,4,0.000,0.063,2364,3764,3250,0,0,0,0,0,0,28.83,25.08,28.83
$GC,11600,-0.73,-126.5,949.9,-7.1,1114,11608,0.12,2.05,0.00,0.000,6,0.140,0.040,2401,2501,3250,0,0,0,0,0,0,24.95,25.41,28.83
$GC,11906,-0.76,-126.5,966.6,-5.3,1130,11909,0.00,2.17,0.00,0.000,4,0.000,0.063,2394,3774,3249,0,0,0,0,0,0,28.83,25.06,28.83
$GC,11945,-0.78,-126.5,968.8,-5.4,1132,11949,0.00,2.08,0.00,0.000,6,0.000,0.038,2394,2494,3249,0,0,0,0,0,0,28.83,25.41,28.83
$STATE,12264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12264,begin apogee
$GC,12267,-0.17,0.0,990.4,-7.5,1148,12388,0.62,0.00,116.35,1.268,6,0.124,0.000,2582,2201,2738,0,0,0,0,0,0,24.82,28.83,22.75
$STATE,12389,end apogee,CONTROL_FINISHED_OK
$STATE,12389,begin climb
$GC,12390,0.66,126.5,994.8,0.0,1154,12520,0.80,2.53,122.07,1.251,4,0.063,0.047,2868,807,2219,0,0,0,0,0,0,24.03,23.63,22.45
$GC,12555,0.62,163.5,990.6,6.3,1162,12595,0.00,2.42,35.70,1.213,6,0.000,0.041,2868,2200,2070,0,0,0,0,0,0,28.83,24.21,22.67
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$STATE,23664,end climb,SURFACE_DEPTH_REACHED
$STATE,23664,begin surface coast
$FINISH,-0.3,1.013138
$STATE,23710,end surface coast,CONTROL_FINISHED_OK
$STATE,23710,begin surface
$SM_CCo,23722,14.18,0.244,1,0,1310,350.04
$SM_GC,1.12,7.68,0.50,14.18,0.049,0.060,0.244,160,2502,1310,-7.71,-0.90,350.04,0,0,0,0,1,0,25.10,25.18,24.08
$IRIDIUM_FIX,4716.56,-12612.66,230612,101009
$TT8_MAMPS,0.054677,0.054677
$HUMID,40.51
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,18.50
$XPDR_PINGS,189
$24V_AH,22.5,32.303
$10V_AH,9.8,27.410
$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,22.200,204.050,428.200,14.175,0.000,29.987,35.309,157.862,47.250,0.000,27.363,0.000,18218.508,673.254,4979.034,173.299,0.000,2548.194,0.000,3714.969,0.000,0.528,0.000
$DEVICE_MAMPS,276.165,72.675,1268.370,244.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1589.381,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297228
$DATA_FILE_SIZE,93009,2299
$CAP_FILE_SIZE,248317,0
$CFSIZE,260165632,251351040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.133, 14.9,1
$GPS,240612,002722,4729.604,-12606.023,228,99.0,247,18.7