version: 66.11
glider: 178
mission: 14
dive: 19
start: 6 14 112 14 27 48
data:
$ID,178
$MISSION,14
$DIVE,19
$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,-13177.762
$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,39
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,6
$XPDR_INHIBIT,90
$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
$GPS1,140612,142124,4704.250,-12508.865,289,1.5,306,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-72.4
$GPS2,140612,142706,4704.186,-12508.815,17,1.8,27,18.4
$SPEED_LIMITS,0.136,0.222
$TGT_NAME,HARP
$TGT_LATLONG,4730.030,-12521.220
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.144,0.169
$KALMAN_X,8201.6,-1055.8,92.7,-23459.4,2545.7
$KALMAN_Y,-3830.9,-320.7,256.3,21197.9,-921.9
$MHEAD_RNG_PITCHd_Wd,316.1,50317,-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,6425,-0.73,-146.0,506.6,-7.5,866,6429,0.00,1.85,0.00,0.000,6,0.000,0.042,2400,2603,3335,0,0,0,0,0,0,28.83,26.06,28.83
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$GC,12055,-0.70,-146.0,927.7,-7.4,1208,12059,0.08,2.33,0.00,0.000,6,0.143,0.052,2407,2600,3329,0,0,0,0,0,0,25.48,25.74,28.83
$GC,12375,-0.71,-146.0,948.5,-6.3,1224,12379,0.00,2.00,0.00,0.000,4,0.000,0.070,2401,3780,3328,0,0,0,0,0,0,28.83,25.51,28.83
$GC,12410,-0.73,-146.0,949.8,-6.4,1225,12417,0.00,1.88,0.00,0.000,6,0.000,0.045,2401,2604,3328,0,0,0,0,0,0,28.83,26.00,28.83
$GC,12715,-0.73,-146.0,970.7,-6.5,1241,12719,0.00,2.25,0.00,0.000,4,0.000,0.044,2401,1195,3328,0,0,0,0,0,0,28.83,25.77,28.83
$GC,12744,-0.73,-146.0,972.1,-6.6,1242,12749,0.00,2.33,0.00,0.000,6,0.000,0.052,2392,2603,3328,0,0,0,0,0,0,28.83,25.74,28.83
$STATE,12994,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12994,begin apogee
$GC,12997,-0.17,0.0,990.1,-6.9,1255,13137,0.60,0.00,132.62,1.262,6,0.130,0.000,2578,2196,2737,0,0,0,0,0,0,25.39,28.83,22.76
$STATE,13138,end apogee,CONTROL_FINISHED_OK
$STATE,13138,begin climb
$GC,13139,0.64,146.0,994.3,0.0,1262,13285,0.77,2.60,140.55,1.244,4,0.061,0.060,2849,3611,2139,0,0,0,0,0,0,24.17,23.63,22.44
$GC,13305,0.57,175.0,989.9,6.8,1270,13339,0.15,2.45,28.25,1.192,6,0.164,0.040,2821,2192,2022,0,0,0,0,0,0,23.89,24.12,22.62
$GC,13650,0.53,175.0,952.6,10.4,1288,13654,0.00,2.35,0.00,0.000,4,0.000,0.050,2829,799,2013,0,0,0,0,0,0,28.83,25.10,28.83
$GC,13660,0.49,175.0,952.6,10.4,1288,13664,0.10,2.35,0.00,0.000,6,0.143,0.043,2801,2206,2013,0,0,0,0,0,0,24.89,25.15,28.83
$GC,13970,0.47,175.0,922.9,9.1,1304,13971,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2207,2012,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14270,0.47,175.0,896.3,8.8,1319,14274,0.00,2.38,0.00,0.000,4,0.000,0.063,2801,3608,2011,0,0,0,0,0,0,28.83,25.43,28.83
$GC,14290,0.46,175.0,894.3,8.8,1320,14294,0.00,2.28,0.00,0.000,6,0.000,0.040,2809,2192,2010,0,0,0,0,0,0,28.83,25.67,28.83
$GC,14610,0.43,175.0,867.5,8.0,1336,14614,0.00,2.40,0.00,0.000,4,0.000,0.062,2809,3603,2010,0,0,0,0,0,0,28.83,25.50,28.83
$GC,14630,0.40,175.0,865.6,8.3,1337,14634,0.15,2.25,0.00,0.000,6,0.146,0.039,2776,2196,2010,0,0,0,0,0,0,25.29,25.77,28.83
$GC,14950,0.46,206.4,844.3,6.7,1353,14980,0.00,0.00,28.80,1.134,6,0.000,0.000,2776,2193,1895,0,0,0,0,0,0,28.83,28.83,24.01
$GC,15270,0.52,235.3,821.6,6.8,1369,15299,0.00,0.00,27.90,1.117,6,0.000,0.000,2776,2193,1777,0,0,0,0,0,0,28.83,28.83,23.75
$GC,15605,0.60,263.0,798.0,6.8,1386,15634,0.17,0.00,26.98,1.099,6,0.080,0.000,2841,2192,1664,0,0,0,0,0,0,25.56,28.83,23.71
$GC,15925,0.58,263.0,763.8,11.1,1402,15926,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2192,1659,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16225,0.56,263.0,730.9,10.9,1417,16229,0.00,2.30,0.00,0.000,4,0.000,0.053,2851,809,1657,0,0,0,0,0,0,28.83,25.53,28.83
$GC,16245,0.55,263.0,728.7,10.9,1418,16249,0.10,2.30,0.00,0.000,6,0.138,0.044,2821,2203,1657,0,0,0,0,0,0,25.33,25.59,28.83
$GC,16565,0.55,263.0,698.5,9.4,1434,16566,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2203,1656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,16865,0.55,263.0,670.9,8.9,1449,16869,0.00,2.33,0.00,0.000,4,0.000,0.052,2829,805,1657,0,0,0,0,0,0,28.83,25.69,28.83
$GC,16879,0.55,263.0,670.9,8.9,1449,16887,0.00,2.28,0.00,0.000,6,0.000,0.044,2829,2198,1656,0,0,0,0,0,0,28.83,25.75,28.83
$GC,17185,0.55,263.0,640.7,9.6,1465,17186,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2198,1656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17485,0.55,263.0,611.2,10.2,1480,17485,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2198,1656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,17785,0.55,263.0,581.6,9.7,1504,17786,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2198,1655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18085,0.55,263.0,553.0,9.6,1534,18086,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2198,1656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18385,0.55,263.0,523.1,10.0,1564,18386,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2198,1656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18685,0.55,263.0,494.5,9.3,1594,18686,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2198,1655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,18985,0.55,263.0,467.0,9.0,1624,18989,0.00,2.30,0.00,0.000,4,0.000,0.052,2839,805,1655,0,0,0,0,0,0,28.83,25.81,28.83
$GC,19005,0.55,263.0,465.1,9.2,1626,19009,0.00,2.25,0.00,0.000,6,0.000,0.044,2839,2193,1655,0,0,0,0,0,0,28.83,25.86,28.83
$GC,19315,0.55,263.0,436.4,9.1,1657,19315,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2193,1656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,19615,0.55,263.0,407.8,9.8,1687,19619,0.00,2.30,0.00,0.000,4,0.000,0.053,2849,802,1655,0,0,0,0,0,0,28.83,25.80,28.83
$GC,19630,0.55,263.0,406.9,9.6,1688,19638,0.10,2.28,0.00,0.000,6,0.133,0.044,2818,2197,1655,0,0,0,0,0,0,25.31,25.29,28.83
$GC,19935,0.58,263.0,380.4,8.5,1719,19939,0.00,2.38,0.00,0.000,4,0.000,0.064,2818,3609,1656,0,0,0,0,0,0,28.83,25.67,28.83
$GC,19960,0.60,263.0,378.5,8.9,1721,19967,0.00,2.25,0.00,0.000,6,0.000,0.041,2826,2197,1655,0,0,0,0,0,0,28.83,25.95,28.83
$GC,20265,0.62,263.0,350.3,9.4,1752,20266,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2197,1656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,20566,0.65,263.0,324.1,8.3,1782,20569,0.00,2.22,0.00,0.000,4,0.000,0.053,2837,805,1656,0,0,0,0,0,0,28.83,25.78,28.83
$GC,20600,0.67,263.0,321.6,8.6,1785,20607,0.00,2.28,0.00,0.000,6,0.000,0.045,2837,2201,1656,0,0,0,0,0,0,28.83,25.77,28.83
$GC,20905,0.67,263.0,293.4,8.9,1816,20909,0.00,2.30,0.00,0.000,4,0.000,0.053,2847,807,1655,0,0,0,0,0,0,28.83,25.78,28.83
$GC,20920,0.69,263.0,292.5,8.7,1817,20927,0.00,2.25,0.00,0.000,6,0.000,0.044,2847,2195,1655,0,0,0,0,0,0,28.83,25.89,28.83
$GC,21225,0.69,263.0,264.3,9.1,1848,21225,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2195,1655,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21525,0.69,263.0,237.3,8.9,1878,21526,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,2195,1656,0,0,0,0,0,0,28.83,28.83,28.83
$GC,21826,0.69,263.0,209.9,9.5,1908,21829,0.00,2.25,0.00,0.000,4,0.000,0.052,2857,804,1656,0,0,0,0,0,0,28.83,25.80,28.83
$GC,21845,0.69,263.0,207.9,9.4,1910,21849,0.00,2.25,0.00,0.000,6,0.000,0.044,2857,2199,1656,0,0,0,0,0,0,28.83,25.88,28.83
$GC,22150,0.69,263.0,180.1,8.3,1962,22157,0.00,2.30,0.00,0.000,4,0.000,0.053,2867,802,1656,0,0,0,0,0,0,28.83,25.77,28.83
$GC,22160,0.69,263.0,179.1,9.1,1964,22169,0.00,2.25,0.00,0.000,6,0.000,0.043,2867,2200,1656,0,0,0,0,0,0,28.83,25.91,28.83
$GC,22467,0.69,263.0,146.5,11.0,2025,22475,0.00,2.30,0.00,0.000,4,0.000,0.052,2877,804,1656,0,0,0,0,0,0,28.83,25.77,28.83
$GC,22488,0.69,263.0,144.1,11.6,2029,22496,0.00,2.25,0.00,0.000,6,0.000,0.044,2877,2197,1656,0,0,0,0,0,0,28.83,25.88,28.83
$GC,22795,0.67,263.0,109.7,10.0,2090,22802,0.00,2.30,0.00,0.000,4,0.000,0.052,2887,802,1656,0,0,0,0,0,0,28.83,25.75,28.83
$GC,22805,0.65,263.0,108.6,9.6,2092,22814,0.10,2.25,0.00,0.000,6,0.148,0.043,2857,2198,1656,0,0,0,0,0,0,25.52,25.86,28.83
$GC,23114,0.67,263.0,83.7,8.8,2153,23120,0.00,2.28,0.00,0.000,4,0.000,0.051,2865,803,1656,0,0,0,0,0,0,28.83,25.73,28.83
$GC,23134,0.70,263.0,82.0,8.3,2157,23141,0.00,2.25,0.00,0.000,6,0.000,0.044,2865,2200,1656,0,0,0,0,0,0,28.83,25.83,28.83
$GC,23441,0.78,311.8,58.0,6.0,2218,23489,0.00,2.35,42.33,0.668,4,0.000,0.061,2865,3610,1463,0,0,0,0,0,0,28.83,25.59,24.68
$GC,23538,0.80,311.8,51.1,8.0,2236,23546,0.00,2.25,0.00,0.000,6,0.000,0.039,2875,2201,1461,0,0,0,0,0,0,28.83,25.66,28.83
$GC,23845,0.89,343.2,28.1,6.7,2297,23882,0.15,2.40,27.33,0.640,4,0.086,0.060,2935,3602,1336,0,0,0,0,0,0,25.89,25.41,24.53
$GC,23921,0.87,343.2,21.3,9.3,2311,23928,0.00,2.28,0.00,0.000,6,0.000,0.037,2946,2192,1335,0,0,0,0,0,0,28.83,25.53,28.83
$STATE,24155,end climb,SURFACE_DEPTH_REACHED
$STATE,24155,begin surface coast
$FINISH,0.3,1.014298
$STATE,24191,end surface coast,CONTROL_FINISHED_OK
$STATE,24191,begin surface
$SM_CCo,24203,5.28,0.088,0,0,1310,350.04
$SM_GC,2.41,7.75,0.68,5.28,0.053,0.058,0.088,160,2600,1310,-7.71,-0.90,350.04,0,0,0,0,0,0,25.39,25.50,25.33
$IRIDIUM_FIX,4641.78,-12503.66,140612,070741
$TT8_MAMPS,0.050183,0.050183
$HUMID,41.84
$INTERNAL_PRESSURE,9.01402
$TCM_TEMP,17.60
$XPDR_PINGS,765
$24V_AH,22.4,25.905
$10V_AH,9.9,23.520
$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,22.175,204.550,454.750,5.275,0.000,31.038,38.531,156.046,191.250,0.000,28.534,0.000,18656.133,746.652,4938.029,173.446,33.230,2595.094,0.000,3655.517,0.000,0.528,0.000
$DEVICE_MAMPS,272.340,69.615,1262.250,87.975,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,81.800,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1634.973,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297236
$DATA_FILE_SIZE,96575,2365
$CAP_FILE_SIZE,253674,0
$CFSIZE,260165632,254832640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.049, 51.2,1
$GPS,140612,211537,4707.276,-12510.002,241,1.2,241,18.5