version: 66.11
glider: 178
mission: 14
dive: 23
start: 6 15 112 18 10 14
data:
$ID,178
$MISSION,14
$DIVE,23
$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,-13182.82
$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,45
$R_STBD_OVSHOOT,22
$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
$GPS1,150612,180154,4716.446,-12515.302,261,1.4,279,18.5
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-73.2
$GPS2,150612,180932,4716.544,-12515.329,15,1.5,15,18.5
$SPEED_LIMITS,0.136,0.222
$TGT_NAME,HARP
$TGT_LATLONG,4730.030,-12521.220
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.105,0.196
$KALMAN_X,10451.8,-180.7,491.8,-35223.2,924.8
$KALMAN_Y,505.3,-310.9,544.3,39447.1,810.7
$MHEAD_RNG_PITCHd_Wd,330.3,26040,-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
$GC,13,-0.64,-146.0,0.0,0.0,0,77,0.00,0.00,-63.08,0.000,2,0.000,0.000,158,2598,2764,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.64,-146.0,3.7,-8.9,11,109,11.15,2.30,-10.65,0.000,4,0.278,0.057,2426,1198,3338,0,0,0,0,0,0,24.77,25.46,25.92
$GC,333,-0.58,-146.0,45.8,-12.8,61,341,0.10,2.33,0.00,0.000,6,0.145,0.050,2446,2597,3341,0,0,0,0,0,0,25.22,25.50,28.83
$GC,640,-0.57,-146.0,78.5,-10.9,122,647,0.00,2.25,0.00,0.000,4,0.000,0.041,2446,1210,3341,0,0,0,0,0,0,28.83,25.63,28.83
$GC,686,-0.57,-146.0,83.1,-9.8,131,693,0.00,2.30,0.00,0.000,6,0.000,0.048,2440,2602,3342,0,0,0,0,0,0,28.83,25.60,28.83
$GC,992,-0.57,-146.0,112.0,-9.4,192,992,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2602,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1291,-0.57,-146.0,138.8,-8.1,252,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2603,3342,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1592,-0.57,-146.0,161.0,-7.3,312,1599,0.00,1.98,0.00,0.000,4,0.000,0.064,2431,3768,3342,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1637,-0.57,-146.0,164.8,-8.3,321,1646,0.00,1.85,0.00,0.000,6,0.000,0.041,2431,2599,3342,0,0,0,0,0,0,28.83,25.95,28.83
$GC,1945,-0.57,-146.0,188.7,-7.8,382,1952,0.00,2.00,0.00,0.000,4,0.000,0.065,2423,3779,3342,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1975,-0.57,-146.0,191.2,-8.6,388,1983,0.10,1.88,0.00,0.000,6,0.127,0.049,2453,2604,3342,0,0,0,0,0,0,24.94,24.37,28.83
$GC,2287,-0.60,-146.0,210.8,-6.2,433,2291,0.00,2.22,0.00,0.000,4,0.000,0.042,2453,1199,3342,0,0,0,0,0,0,28.83,25.79,28.83
$GC,2322,-0.64,-146.0,212.8,-6.5,436,2329,0.00,2.28,0.00,0.000,6,0.000,0.047,2448,2595,3342,0,0,0,0,0,0,28.83,25.76,28.83
$GC,2627,-0.67,-146.0,234.1,-7.3,467,2631,0.00,1.98,0.00,0.000,4,0.000,0.065,2440,3774,3341,0,0,0,0,0,0,28.83,25.61,28.83
$GC,2657,-0.70,-146.0,236.5,-7.7,470,2661,0.00,1.88,0.00,0.000,6,0.000,0.041,2440,2588,3341,0,0,0,0,0,0,28.83,26.00,28.83
$GC,2967,-0.72,-146.0,260.6,-7.6,501,2968,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2588,3341,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3267,-0.74,-146.0,283.5,-7.6,531,3271,0.12,2.00,0.00,0.000,4,0.093,0.066,2373,3771,3341,0,0,0,0,0,0,26.23,25.60,28.83
$GC,3302,-0.72,-146.0,286.6,-9.8,534,3309,0.10,1.85,0.00,0.000,6,0.145,0.041,2403,2597,3340,0,0,0,0,0,0,25.60,26.01,28.83
$GC,3607,-0.69,-146.0,316.9,-9.4,565,3607,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2597,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3907,-0.67,-146.0,344.3,-8.7,595,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2597,3340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4208,-0.65,-146.0,369.0,-7.6,625,4211,0.00,1.98,0.00,0.000,4,0.000,0.066,2396,3777,3339,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4247,-0.63,-146.0,372.3,-8.2,629,4251,0.12,1.88,0.00,0.000,6,0.131,0.041,2435,2593,3339,0,0,0,0,0,0,25.58,26.03,28.83
$GC,4557,-0.65,-146.0,392.7,-6.6,660,4558,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2593,3339,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4857,-0.68,-146.0,413.0,-6.9,690,4858,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2593,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5157,-0.70,-146.0,431.9,-6.1,720,5158,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2593,3338,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5458,-0.73,-146.0,449.9,-6.7,750,5458,0.00,0.00,0.00,0.000,6,0.000,0.000,2436,2593,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5757,-0.75,-146.0,469.8,-6.6,780,5761,0.12,2.00,0.00,0.000,4,0.094,0.068,2371,3776,3337,0,0,0,0,0,0,26.39,25.57,28.83
$GC,5791,-0.74,-146.0,472.5,-8.5,783,5799,0.10,1.85,0.00,0.000,6,0.142,0.043,2400,2613,3336,0,0,0,0,0,0,24.95,24.34,28.83
$GC,6097,-0.72,-146.0,498.9,-7.8,814,6098,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2613,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6397,-0.70,-146.0,525.4,-8.9,844,6398,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2613,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6697,-0.69,-146.0,553.8,-9.3,874,6698,0.00,0.00,0.00,0.000,6,0.000,0.000,2400,2613,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6997,-0.69,-146.0,580.3,-8.9,904,6998,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2613,3335,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7297,-0.69,-146.0,607.0,-8.7,930,7301,0.00,2.28,0.00,0.000,4,0.000,0.045,2400,1189,3335,0,0,0,0,0,0,28.83,25.84,28.83
$GC,7337,-0.69,-146.0,610.6,-8.9,932,7341,0.00,2.30,0.00,0.000,6,0.000,0.051,2394,2595,3335,0,0,0,0,0,0,28.83,25.77,28.83
$GC,7657,-0.66,-146.0,640.2,-9.3,948,7661,0.12,1.98,0.00,0.000,4,0.171,0.067,2418,3769,3334,0,0,0,0,0,0,26.16,25.58,28.83
$GC,7737,-0.66,-146.0,646.8,-8.3,952,7741,0.00,1.88,0.00,0.000,6,0.000,0.044,2418,2592,3334,0,0,0,0,0,0,28.83,26.07,28.83
$GC,8057,-0.68,-146.0,670.9,-7.6,968,8061,0.00,2.22,0.00,0.000,4,0.000,0.044,2418,1198,3334,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8087,-0.70,-146.0,672.6,-7.8,969,8091,0.00,2.30,0.00,0.000,6,0.000,0.049,2409,2605,3334,0,0,0,0,0,0,28.83,25.81,28.83
$GC,8397,-0.70,-146.0,698.0,-8.0,985,8401,0.00,1.98,0.00,0.000,4,0.000,0.067,2400,3776,3333,0,0,0,0,0,0,28.83,25.57,28.83
$GC,8426,-0.70,-146.0,699.6,-7.9,986,8431,0.00,1.88,0.00,0.000,6,0.000,0.043,2401,2593,3333,0,0,0,0,0,0,28.83,26.08,28.83
$GC,8737,-0.70,-146.0,725.4,-7.8,1002,8741,0.00,2.22,0.00,0.000,4,0.000,0.044,2401,1195,3333,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8777,-0.70,-146.0,728.6,-7.7,1004,8781,0.00,2.30,0.00,0.000,6,0.000,0.050,2392,2595,3333,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9097,-0.68,-146.0,753.8,-7.4,1020,9101,0.00,1.98,0.00,0.000,4,0.000,0.067,2383,3766,3333,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9142,-0.66,-146.0,757.0,-7.8,1022,9146,0.12,1.85,0.00,0.000,6,0.137,0.043,2422,2598,3333,0,0,0,0,0,0,25.62,26.08,28.83
$GC,9458,-0.69,-146.0,777.7,-6.2,1038,9461,0.00,2.20,0.00,0.000,4,0.000,0.044,2422,1197,3332,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9502,-0.72,-146.0,780.5,-6.6,1040,9506,0.00,2.30,0.00,0.000,6,0.000,0.050,2417,2600,3333,0,0,0,0,0,0,28.83,25.79,28.83
$GC,9817,-0.74,-146.0,802.8,-7.0,1056,9821,0.00,1.98,0.00,0.000,4,0.000,0.067,2408,3772,3332,0,0,0,0,0,0,28.83,25.55,28.83
$GC,9852,-0.76,-146.0,804.2,-6.9,1057,9860,0.00,1.85,0.00,0.000,6,0.000,0.043,2408,2603,3332,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10157,-0.76,-146.0,827.7,-7.4,1073,10161,0.00,2.25,0.00,0.000,4,0.000,0.044,2408,1191,3332,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10187,-0.76,-146.0,829.5,-7.7,1074,10191,0.00,2.30,0.00,0.000,6,0.000,0.050,2399,2599,3332,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10497,-0.76,-146.0,853.5,-7.3,1090,10501,0.00,1.98,0.00,0.000,4,0.000,0.068,2391,3771,3332,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10537,-0.76,-146.0,856.6,-7.4,1092,10541,0.00,1.88,0.00,0.000,6,0.000,0.044,2391,2594,3331,0,0,0,0,0,0,28.83,26.07,28.83
$GC,10857,-0.76,-146.0,880.7,-7.6,1108,10857,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2594,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11157,-0.76,-146.0,902.5,-7.2,1123,11157,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2594,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11457,-0.76,-146.0,923.3,-6.7,1138,11458,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2594,3331,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11757,-0.76,-146.0,943.3,-6.9,1153,11761,0.00,2.00,0.00,0.000,4,0.000,0.069,2382,3767,3330,0,0,0,0,0,0,28.83,25.48,28.83
$GC,11781,-0.76,-146.0,944.6,-6.9,1154,11786,0.00,1.88,0.00,0.000,6,0.000,0.044,2382,2593,3330,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12097,-0.74,-146.0,968.5,-7.7,1170,12101,0.00,2.22,0.00,0.000,4,0.000,0.045,2382,1200,3330,0,0,0,0,0,0,28.83,25.77,28.83
$GC,12137,-0.72,-146.0,971.7,-7.8,1172,12141,0.10,2.30,0.00,0.000,6,0.141,0.052,2403,2597,3330,0,0,0,0,0,0,25.44,25.75,28.83
$STATE,12416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12416,begin apogee
$GC,12419,-0.17,0.0,990.6,-6.8,1186,12559,0.55,0.00,132.60,1.265,6,0.125,0.000,2579,2193,2735,0,0,0,0,0,0,25.40,28.83,22.80
$STATE,12560,end apogee,CONTROL_FINISHED_OK
$STATE,12560,begin climb
$GC,12561,0.64,146.0,996.2,0.0,1193,12707,0.75,2.60,139.82,1.248,4,0.059,0.060,2847,3611,2140,0,0,0,0,0,0,24.20,23.64,22.47
$GC,12727,0.58,186.8,992.7,6.3,1201,12774,0.00,2.42,39.50,1.210,6,0.000,0.041,2859,2199,1974,0,0,0,0,0,0,28.83,24.15,22.59
$GC,13072,0.51,186.8,950.7,12.0,1219,13076,0.22,2.33,0.00,0.000,4,0.168,0.051,2810,802,1965,0,0,0,0,0,0,24.84,25.09,28.83
$GC,13132,0.47,186.8,944.8,10.3,1222,13136,0.00,2.33,0.00,0.000,6,0.000,0.043,2810,2198,1965,0,0,0,0,0,0,28.83,25.22,28.83
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$STATE,24229,end climb,SURFACE_DEPTH_REACHED
$STATE,24229,begin surface coast
$FINISH,0.5,1.020827
$STATE,24264,end surface coast,CONTROL_FINISHED_OK
$STATE,24264,begin surface
$SM_CCo,24339,0.00,0.000,0,0,1278,357.89
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$TT8_MAMPS,0.050932,0.050932
$HUMID,41.84
$INTERNAL_PRESSURE,9.02378
$TCM_TEMP,17.70
$XPDR_PINGS,723
$24V_AH,22.5,26.647
$10V_AH,9.9,23.984
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1640.539,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297248
$DATA_FILE_SIZE,96434,2372
$CAP_FILE_SIZE,260593,0
$CFSIZE,260165632,254398464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030,108.7,1
$GPS,160612,010045,4719.201,-12515.278,254,99.0,273,18.5