version: 66.11
glider: 178
mission: 14
dive: 56
start: 6 24 112 7 29 15
data:
$ID,178
$MISSION,14
$DIVE,56
$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,-13495.952
$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,48
$R_STBD_OVSHOOT,30
$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
$GPS1,240612,072315,4728.988,-12601.806,256,3.3,275,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.73
$_SM_ANGLEo,-74.2
$GPS2,240612,072906,4729.019,-12601.812,40,0.8,40,18.7
$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,92.7,50823,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.66,-126.5,0.0,0.0,0,78,0.00,0.00,-63.80,0.000,2,0.000,0.000,163,2509,2788,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.66,-126.5,3.3,-10.1,11,104,11.07,2.12,-8.60,0.000,4,0.273,0.070,2414,3774,3256,0,0,0,0,0,0,24.57,25.21,25.53
$GC,328,-0.60,-126.5,51.2,-12.2,60,335,0.00,2.03,0.00,0.000,6,0.000,0.044,2413,2509,3261,0,0,0,0,0,0,28.83,24.24,28.83
$GC,634,-0.56,-126.5,86.1,-10.4,121,642,0.17,2.15,0.00,0.000,4,0.158,0.061,2450,3764,3263,0,0,0,0,0,0,25.17,25.31,28.83
$GC,702,-0.58,-126.5,91.7,-6.9,134,708,0.00,2.03,0.00,0.000,6,0.000,0.037,2450,2497,3263,0,0,0,0,0,0,28.83,25.52,28.83
$GC,1007,-0.61,-126.5,115.8,-8.4,195,1014,0.00,2.17,0.00,0.000,4,0.000,0.060,2441,3776,3264,0,0,0,0,0,0,28.83,25.34,28.83
$GC,1038,-0.63,-126.5,118.5,-9.3,201,1046,0.00,2.05,0.00,0.000,6,0.000,0.043,2441,2489,3264,0,0,0,0,0,0,28.83,25.43,28.83
$GC,1345,-0.66,-126.5,145.1,-8.9,262,1352,0.00,2.20,0.00,0.000,4,0.000,0.062,2433,3777,3262,0,0,0,0,0,0,28.83,25.34,28.83
$GC,1386,-0.68,-126.5,148.8,-9.5,270,1393,0.00,2.03,0.00,0.000,6,0.000,0.043,2433,2510,3264,0,0,0,0,0,0,28.83,23.89,28.83
$GC,1692,-0.70,-126.5,176.7,-9.0,331,1698,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2510,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1997,-0.72,-126.5,201.9,-7.5,390,2001,0.00,2.15,0.00,0.000,4,0.000,0.060,2424,3778,3263,0,0,0,0,0,0,28.83,25.34,28.83
$GC,2042,-0.74,-126.5,205.1,-8.2,394,2049,0.00,2.05,0.00,0.000,6,0.000,0.035,2424,2488,3264,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2347,-0.74,-126.5,228.7,-7.4,425,2351,0.00,2.17,0.00,0.000,4,0.000,0.060,2414,3767,3263,0,0,0,0,0,0,28.83,25.33,28.83
$GC,2382,-0.74,-126.5,231.2,-7.8,428,2389,0.00,2.03,0.00,0.000,6,0.000,0.036,2415,2499,3263,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2687,-0.74,-126.5,255.9,-7.6,459,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2499,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2987,-0.74,-126.5,279.4,-7.9,489,2991,0.00,2.17,0.00,0.000,4,0.000,0.061,2405,3777,3263,0,0,0,0,0,0,28.83,25.31,28.83
$GC,3042,-0.74,-126.5,283.6,-8.2,494,3049,0.00,2.03,0.00,0.000,6,0.000,0.036,2405,2507,3262,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3347,-0.74,-126.5,310.0,-8.5,525,3347,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2507,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3647,-0.74,-126.5,334.8,-8.3,555,3651,0.00,2.15,0.00,0.000,4,0.000,0.060,2396,3771,3261,0,0,0,0,0,0,28.83,25.29,28.83
$GC,3701,-0.74,-126.5,339.3,-9.4,560,3709,0.00,2.03,0.00,0.000,6,0.000,0.036,2396,2507,3261,0,0,0,0,0,0,28.83,25.57,28.83
$GC,4007,-0.74,-126.5,367.5,-9.6,591,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2395,2507,3260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4307,-0.74,-126.5,395.4,-9.3,621,4311,0.00,2.15,0.00,0.000,4,0.000,0.061,2386,3762,3260,0,0,0,0,0,0,28.83,25.24,28.83
$GC,4347,-0.72,-126.5,399.3,-9.8,625,4351,0.00,2.03,0.00,0.000,6,0.000,0.037,2386,2503,3260,0,0,0,0,0,0,28.83,25.57,28.83
$GC,4657,-0.70,-126.5,428.8,-9.3,656,4661,0.00,2.17,0.00,0.000,4,0.000,0.060,2376,3776,3260,0,0,0,0,0,0,28.83,25.26,28.83
$GC,4687,-0.67,-126.5,431.9,-9.9,659,4691,0.15,2.05,0.00,0.000,6,0.137,0.036,2421,2495,3260,0,0,0,0,0,0,25.08,25.57,28.83
$GC,4997,-0.69,-126.5,454.7,-7.4,690,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2422,2494,3260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5298,-0.72,-126.5,474.6,-6.5,720,5301,0.00,2.17,0.00,0.000,4,0.000,0.062,2415,3778,3259,0,0,0,0,0,0,28.83,25.22,28.83
$GC,5337,-0.74,-126.5,477.5,-7.4,724,5341,0.00,2.05,0.00,0.000,6,0.000,0.037,2413,2497,3257,0,0,0,0,0,0,28.83,25.54,28.83
$GC,5647,-0.76,-126.5,500.1,-7.5,755,5648,0.00,0.00,0.00,0.000,6,0.000,0.000,2414,2497,3258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5947,-0.78,-126.5,522.1,-7.0,785,5951,0.00,2.17,0.00,0.000,4,0.000,0.063,2406,3765,3257,0,0,0,0,0,0,28.83,25.20,28.83
$GC,5977,-0.80,-126.5,524.4,-7.5,788,5981,0.00,2.03,0.00,0.000,6,0.000,0.038,2406,2504,3258,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6287,-0.80,-126.5,548.0,-7.6,819,6288,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2504,3257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6587,-0.80,-126.5,570.2,-7.2,849,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2504,3257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6887,-0.80,-126.5,591.3,-6.6,879,6891,0.00,2.17,0.00,0.000,4,0.000,0.063,2396,3771,3256,0,0,0,0,0,0,28.83,25.18,28.83
$GC,6937,-0.80,-126.5,594.7,-7.2,884,6941,0.00,2.05,0.00,0.000,6,0.000,0.038,2396,2501,3256,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7257,-0.80,-126.5,616.7,-7.0,904,7258,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2502,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7557,-0.80,-126.5,637.9,-7.3,919,7561,0.00,2.17,0.00,0.000,4,0.000,0.062,2386,3768,3255,0,0,0,0,0,0,28.83,25.16,28.83
$GC,7582,-0.80,-126.5,639.4,-7.3,920,7586,0.00,2.05,0.00,0.000,6,0.000,0.037,2386,2498,3255,0,0,0,0,0,0,28.83,25.49,28.83
$GC,7897,-0.80,-126.5,662.7,-6.8,936,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2497,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8197,-0.80,-126.5,686.5,-8.3,951,8198,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2497,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8497,-0.80,-126.5,712.7,-8.8,966,8501,0.00,2.20,0.00,0.000,4,0.000,0.063,2377,3773,3254,0,0,0,0,0,0,28.83,25.13,28.83
$GC,8537,-0.80,-126.5,716.6,-9.1,968,8541,0.00,2.05,0.00,0.000,6,0.000,0.037,2377,2504,3254,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8857,-0.78,-126.5,745.8,-8.8,984,8858,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2505,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9157,-0.77,-126.5,771.4,-8.9,999,9161,0.00,2.17,0.00,0.000,4,0.000,0.063,2370,3764,3253,0,0,0,0,0,0,28.83,25.11,28.83
$GC,9182,-0.75,-126.5,773.2,-8.9,1000,9186,0.00,2.05,0.00,0.000,6,0.000,0.038,2367,2493,3253,0,0,0,0,0,0,28.83,25.45,28.83
$GC,9497,-0.72,-126.5,801.3,-8.7,1016,9498,0.15,0.00,0.00,0.000,6,0.163,0.000,2404,2493,3253,0,0,0,0,0,0,25.13,28.83,28.83
$GC,9797,-0.75,-126.5,820.8,-6.4,1031,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,2404,2493,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10097,-0.77,-126.5,840.2,-6.4,1046,10101,0.00,2.20,0.00,0.000,4,0.000,0.063,2396,3766,3252,0,0,0,0,0,0,28.83,25.10,28.83
$GC,10132,-0.79,-126.5,841.4,-6.4,1047,10139,0.00,2.05,0.00,0.000,6,0.000,0.040,2396,2500,3252,0,0,0,0,0,0,28.83,25.42,28.83
$GC,10437,-0.79,-126.5,861.5,-6.0,1063,10438,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2500,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10737,-0.79,-126.5,879.4,-5.9,1078,10738,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2500,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11037,-0.81,-126.5,895.2,-5.1,1093,11041,0.00,2.20,0.00,0.000,4,0.000,0.063,2387,3771,3251,0,0,0,0,0,0,28.83,25.08,28.83
$GC,11062,-0.81,-126.5,896.2,-5.3,1094,11066,0.00,2.08,0.00,0.000,6,0.000,0.038,2383,2493,3251,0,0,0,0,0,0,28.83,25.43,28.83
$GC,11377,-0.81,-126.5,916.5,-6.9,1110,11381,0.00,2.20,0.00,0.000,4,0.000,0.063,2378,3763,3251,0,0,0,0,0,0,28.83,25.08,28.83
$GC,11402,-0.81,-126.5,918.0,-7.0,1111,11406,0.00,2.05,0.00,0.000,6,0.000,0.039,2378,2501,3251,0,0,0,0,0,0,28.83,25.43,28.83
$GC,11717,-0.81,-126.5,942.5,-8.0,1127,11721,0.00,2.20,0.00,0.000,4,0.000,0.064,2368,3768,3250,0,0,0,0,0,0,28.83,25.06,28.83
$GC,11741,-0.81,-126.5,944.1,-8.0,1128,11746,0.00,2.05,0.00,0.000,6,0.000,0.038,2368,2501,3251,0,0,0,0,0,0,28.83,25.45,28.83
$GC,12057,-0.79,-126.5,970.7,-8.6,1144,12058,0.00,0.00,0.00,0.000,6,0.000,0.000,2368,2501,3251,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12276,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12276,begin apogee
$GC,12279,-0.17,0.0,990.3,-8.9,1155,12400,0.70,0.00,116.38,1.271,6,0.133,0.000,2574,2193,2737,0,0,0,0,0,0,24.74,28.83,22.74
$STATE,12401,end apogee,CONTROL_FINISHED_OK
$STATE,12401,begin climb
$GC,12402,0.66,126.5,995.1,0.0,1161,12532,0.80,2.53,121.93,1.252,4,0.063,0.048,2867,801,2219,0,0,0,0,0,0,24.02,23.63,22.43
$GC,12647,0.59,126.5,985.2,8.2,1173,12651,0.10,2.40,0.00,0.000,6,0.157,0.042,2836,2198,2213,0,0,0,0,0,0,24.39,24.64,28.83
$GC,12958,0.55,137.0,960.9,7.4,1189,12971,0.00,2.42,9.45,1.060,4,0.000,0.060,2836,3611,2177,0,0,0,0,0,0,28.83,25.14,23.71
$GC,13037,0.48,137.0,953.7,9.0,1193,13041,0.15,2.30,0.00,0.000,6,0.158,0.036,2803,2197,2175,0,0,0,0,0,0,24.91,25.27,28.83
$GC,13357,0.50,151.0,931.0,7.3,1209,13379,0.00,2.45,14.38,1.122,4,0.000,0.059,2803,3613,2120,0,0,0,0,0,0,28.83,25.18,23.84
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$STATE,23976,end climb,SURFACE_DEPTH_REACHED
$STATE,23976,begin surface coast
$FINISH,-0.1,1.014881
$STATE,24021,end surface coast,CONTROL_FINISHED_OK
$STATE,24021,begin surface
$SM_CCo,24033,11.50,0.132,1,0,1309,350.04
$SM_GC,1.40,7.70,0.50,11.50,0.050,0.057,0.132,162,2505,1309,-7.70,-0.85,350.04,0,0,0,0,1,0,25.14,25.20,23.89
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$TT8_MAMPS,0.054677,0.054677
$HUMID,40.23
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,18.40
$XPDR_PINGS,141
$24V_AH,22.4,32.597
$10V_AH,9.8,27.635
$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,21.750,155.325,434.725,11.500,0.000,27.467,39.198,155.496,35.250,0.000,40.978,0.000,18653.768,637.403,4913.202,162.689,0.000,2455.896,0.000,3650.116,0.000,0.530,0.000
$DEVICE_MAMPS,273.105,70.380,1270.665,131.580,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1607.331,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$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,93282,2324
$CAP_FILE_SIZE,238593,0
$CFSIZE,260165632,251150336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.117, 14.0,1
$GPS,240612,141627,4729.324,-12557.571,342,99.0,361,18.7