version: 66.11
glider: 178
mission: 14
dive: 60
start: 6 25 112 10 59 1
data:
$ID,178
$MISSION,14
$DIVE,60
$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,-13501.013
$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,49
$R_STBD_OVSHOOT,28
$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
$GPS1,250612,105306,4729.133,-12545.658,230,1.2,235,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.65
$_SM_ANGLEo,-73.1
$GPS2,250612,105852,4729.119,-12545.675,17,99.0,36,18.6
$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,99.2,30644,-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,-126.5,0.0,0.0,0,78,0.00,0.00,-64.12,0.000,2,0.000,0.000,165,2501,2831,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.66,-126.5,3.8,-11.1,11,104,10.98,0.00,-7.40,0.000,6,0.271,0.000,2419,2501,3253,0,0,0,0,0,0,24.55,28.83,25.53
$GC,402,-0.61,-126.5,61.0,-11.5,75,403,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2502,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,702,-0.59,-126.5,96.5,-11.4,135,704,0.12,0.00,0.00,0.000,6,0.168,0.000,2450,2501,3260,0,0,0,0,0,0,25.31,28.83,28.83
$GC,1003,-0.61,-126.5,119.7,-7.2,195,1009,0.00,2.15,0.00,0.000,4,0.000,0.060,2443,3773,3260,0,0,0,0,0,0,28.83,25.37,28.83
$GC,1048,-0.65,-126.5,123.2,-8.1,204,1055,0.00,2.03,0.00,0.000,6,0.000,0.041,2443,2507,3261,0,0,0,0,0,0,28.83,24.82,28.83
$GC,1354,-0.68,-126.5,146.0,-7.1,265,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2443,2507,3260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1654,-0.71,-126.5,168.4,-7.6,325,1655,0.00,0.00,0.00,0.000,6,0.000,0.000,2442,2507,3260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1954,-0.74,-126.5,190.7,-7.2,385,1963,0.12,2.15,0.00,0.000,4,0.087,0.067,2381,3774,3260,0,0,0,0,0,0,25.62,25.34,28.83
$GC,1982,-0.71,-126.5,193.2,-10.0,390,1989,0.10,2.05,0.00,0.000,6,0.146,0.043,2405,2488,3260,0,0,0,0,0,0,25.23,25.62,28.83
$GC,2287,-0.71,-126.5,221.5,-9.5,428,2292,0.00,2.17,0.00,0.000,4,0.000,0.059,2398,3771,3260,0,0,0,0,0,0,28.83,25.35,28.83
$GC,2318,-0.71,-126.5,224.6,-10.1,431,2322,0.00,2.03,0.00,0.000,6,0.000,0.035,2398,2497,3260,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2628,-0.69,-126.5,254.8,-9.7,462,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2497,3260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2928,-0.67,-126.5,283.5,-9.3,492,2929,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2497,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3228,-0.66,-126.5,311.3,-8.9,522,3232,0.12,2.15,0.00,0.000,4,0.160,0.061,2420,3776,3259,0,0,0,0,0,0,25.35,25.31,28.83
$GC,3263,-0.66,-126.5,313.8,-8.3,525,3271,0.00,2.03,0.00,0.000,6,0.000,0.037,2420,2503,3259,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3568,-0.67,-126.5,336.4,-7.5,556,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2507,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3869,-0.69,-126.5,358.6,-7.7,586,3872,0.00,2.15,0.00,0.000,4,0.000,0.060,2411,3780,3258,0,0,0,0,0,0,28.83,25.27,28.83
$GC,3898,-0.69,-126.5,360.9,-7.8,589,3902,0.00,2.05,0.00,0.000,6,0.000,0.037,2411,2496,3258,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4208,-0.69,-126.5,385.0,-7.8,620,4212,0.00,2.17,0.00,0.000,4,0.000,0.060,2401,3775,3257,0,0,0,0,0,0,28.83,25.29,28.83
$GC,4242,-0.69,-126.5,387.5,-8.0,623,4250,0.00,2.05,0.00,0.000,6,0.000,0.035,2401,2491,3257,0,0,0,0,0,0,28.83,25.59,28.83
$GC,4548,-0.69,-126.5,412.8,-8.3,654,4552,0.00,2.17,0.00,0.000,4,0.000,0.060,2392,3764,3257,0,0,0,0,0,0,28.83,25.27,28.83
$GC,4588,-0.69,-126.5,416.3,-8.9,658,4592,0.00,2.03,0.00,0.000,6,0.000,0.037,2392,2500,3260,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4897,-0.69,-126.5,443.7,-8.9,689,4898,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2502,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5198,-0.69,-126.5,470.8,-9.2,719,5199,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2502,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5498,-0.69,-126.5,497.6,-8.6,749,5499,0.00,0.00,0.00,0.000,6,0.000,0.000,2392,2502,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5798,-0.69,-126.5,522.9,-8.3,779,5802,0.00,2.28,0.00,0.000,4,0.000,0.041,2392,1100,3255,0,0,0,0,0,0,28.83,25.37,28.83
$GC,5818,-0.69,-126.5,524.6,-8.2,781,5822,0.10,2.33,0.00,0.000,6,0.133,0.046,2413,2496,3255,0,0,0,0,0,0,25.08,25.37,28.83
$GC,6128,-0.71,-126.5,545.5,-6.7,812,6129,0.00,0.00,0.00,0.000,6,0.000,0.000,2413,2495,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6429,-0.73,-126.5,564.9,-6.4,842,6432,0.00,2.15,0.00,0.000,4,0.000,0.063,2405,3774,3254,0,0,0,0,0,0,28.83,25.20,28.83
$GC,6468,-0.75,-126.5,567.5,-7.4,845,6476,0.00,2.05,0.00,0.000,6,0.000,0.037,2405,2501,3254,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6773,-0.75,-126.5,589.0,-7.1,876,6777,0.00,2.28,0.00,0.000,4,0.000,0.041,2410,1105,3253,0,0,0,0,0,0,28.83,25.34,28.83
$GC,6828,-0.77,-126.5,592.7,-7.4,881,6836,0.00,2.33,0.00,0.000,6,0.000,0.045,2396,2502,3253,0,0,0,0,0,0,28.83,25.32,28.83
$GC,7143,-0.77,-126.5,617.2,-7.8,902,7147,0.00,2.17,0.00,0.000,4,0.000,0.061,2386,3780,3255,0,0,0,0,0,0,28.83,25.19,28.83
$GC,7192,-0.77,-126.5,620.7,-8.0,904,7197,0.00,2.08,0.00,0.000,6,0.000,0.036,2386,2491,3252,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7503,-0.77,-126.5,647.7,-8.2,920,7503,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2491,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7803,-0.77,-126.5,671.3,-7.9,935,7804,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2491,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8103,-0.77,-126.5,696.2,-8.0,950,8107,0.00,2.28,0.00,0.000,4,0.000,0.043,2386,1104,3251,0,0,0,0,0,0,28.83,25.29,28.83
$GC,8137,-0.77,-126.5,697.8,-8.0,951,8145,0.00,2.33,0.00,0.000,6,0.000,0.047,2376,2496,3251,0,0,0,0,0,0,28.83,25.28,28.83
$GC,8443,-0.75,-126.5,724.5,-8.2,967,8447,0.00,2.30,0.00,0.000,4,0.000,0.043,2376,1100,3253,0,0,0,0,0,0,28.83,25.28,28.83
$GC,8483,-0.74,-126.5,728.0,-8.5,969,8487,0.10,2.35,0.00,0.000,6,0.140,0.047,2396,2503,3251,0,0,0,0,0,0,24.98,25.27,28.83
$GC,8803,-0.74,-126.5,750.7,-7.0,985,8803,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2503,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9103,-0.74,-126.5,771.8,-7.0,1000,9104,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2503,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9403,-0.74,-126.5,792.6,-7.0,1015,9407,0.00,2.30,0.00,0.000,4,0.000,0.042,2396,1105,3250,0,0,0,0,0,0,28.83,25.27,28.83
$GC,9453,-0.75,-126.5,795.5,-7.1,1017,9457,0.00,2.33,0.00,0.000,6,0.000,0.047,2389,2494,3250,0,0,0,0,0,0,28.83,25.25,28.83
$GC,9763,-0.75,-126.5,818.6,-7.4,1033,9767,0.00,2.28,0.00,0.000,4,0.000,0.042,2389,1109,3249,0,0,0,0,0,0,28.83,25.27,28.83
$GC,9787,-0.75,-126.5,820.2,-7.4,1034,9792,0.00,2.33,0.00,0.000,6,0.000,0.046,2379,2499,3250,0,0,0,0,0,0,28.83,25.25,28.83
$GC,10103,-0.75,-126.5,845.0,-7.8,1050,10104,0.00,0.00,0.00,0.000,6,0.000,0.000,2379,2499,3249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10403,-0.75,-126.5,869.0,-8.0,1065,10403,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2498,3249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10703,-0.75,-126.5,893.1,-8.1,1080,10707,0.00,2.17,0.00,0.000,4,0.000,0.062,2369,3771,3248,0,0,0,0,0,0,28.83,25.11,28.83
$GC,10743,-0.75,-126.5,896.7,-8.5,1082,10747,0.00,2.08,0.00,0.000,6,0.000,0.040,2369,2495,3248,0,0,0,0,0,0,28.83,25.44,28.83
$GC,11063,-0.73,-126.5,924.2,-8.7,1098,11064,0.12,0.00,0.00,0.000,6,0.168,0.000,2398,2495,3248,0,0,0,0,0,0,25.20,28.83,28.83
$GC,11363,-0.76,-126.5,946.1,-7.4,1113,11367,0.00,2.22,0.00,0.000,4,0.000,0.063,2391,3779,3248,0,0,0,0,0,0,28.83,25.09,28.83
$GC,11398,-0.77,-126.5,947.6,-7.4,1114,11405,0.00,2.08,0.00,0.000,6,0.000,0.039,2391,2503,3249,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11703,-0.77,-126.5,972.8,-7.7,1130,11704,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2503,3248,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11942,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11942,begin apogee
$GC,11944,-0.17,0.0,990.8,-7.4,1142,12065,0.62,0.00,116.03,1.275,6,0.127,0.000,2578,2196,2738,0,0,0,0,0,0,24.77,28.83,22.73
$STATE,12066,end apogee,CONTROL_FINISHED_OK
$STATE,12066,begin climb
$GC,12068,0.66,126.5,995.3,0.0,1148,12198,0.80,2.53,121.85,1.256,4,0.065,0.047,2865,801,2221,0,0,0,0,0,0,24.03,23.62,22.42
$GC,12353,0.59,126.5,981.3,8.8,1162,12357,0.10,2.38,0.00,0.000,6,0.153,0.041,2837,2202,2214,0,0,0,0,0,0,24.56,24.80,28.83
$GC,12663,0.54,126.5,955.6,8.1,1178,12667,0.00,2.40,0.00,0.000,4,0.000,0.058,2837,3607,2210,0,0,0,0,0,0,28.83,25.22,28.83
$GC,12707,0.48,126.5,951.8,8.7,1180,12712,0.15,2.28,0.00,0.000,6,0.158,0.035,2804,2195,2209,0,0,0,0,0,0,24.98,25.40,28.83
$GC,13023,0.49,133.2,927.4,7.6,1196,13030,0.00,0.00,5.40,0.891,6,0.000,0.000,2804,2192,2194,0,0,0,0,0,0,28.83,28.83,23.80
$GC,13323,0.49,133.2,902.4,8.6,1211,13327,0.00,2.40,0.00,0.000,4,0.000,0.057,2804,3607,2192,0,0,0,0,0,0,28.83,25.37,28.83
$GC,13358,0.49,133.2,900.5,8.8,1212,13365,0.00,2.28,0.00,0.000,6,0.000,0.035,2812,2188,2192,0,0,0,0,0,0,28.83,25.54,28.83
$GC,13663,0.49,133.2,871.6,9.1,1228,13667,0.00,2.40,0.00,0.000,4,0.000,0.058,2812,3604,2191,0,0,0,0,0,0,28.83,25.38,28.83
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$STATE,23734,end climb,SURFACE_DEPTH_REACHED
$STATE,23734,begin surface coast
$FINISH,0.4,1.023706
$STATE,23764,end surface coast,CONTROL_FINISHED_OK
$STATE,23764,begin surface
$SM_CCo,23776,28.40,0.461,1,0,1310,350.04
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$IRIDIUM_FIX,4707.04,-12546.68,250612,040448
$TT8_MAMPS,0.053928,0.053928
$HUMID,40.19
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,18.30
$XPDR_PINGS,153
$24V_AH,22.4,33.201
$10V_AH,9.8,28.091
$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,22.450,149.500,413.425,28.400,0.000,31.369,39.477,151.067,38.250,0.000,38.236,0.000,18480.043,632.695,4842.687,166.566,0.000,2420.601,0.000,3600.112,0.000,0.529,0.000
$DEVICE_MAMPS,270.810,67.320,1275.255,461.295,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1586.653,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297204
$DATA_FILE_SIZE,93254,2293
$CAP_FILE_SIZE,234340,0
$CFSIZE,260165632,250736640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.125,355.1,1
$GPS,250612,174021,4729.351,-12542.219,230,99.0,249,18.6