version: 66.11
glider: 178
mission: 14
dive: 58
start: 6 24 112 21 28 15
data:
$ID,178
$MISSION,14
$DIVE,58
$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,-13498.484
$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,44
$R_STBD_OVSHOOT,31
$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
$GPS1,240612,212214,4728.799,-12552.945,273,4.9,292,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.74
$_SM_ANGLEo,-73.9
$GPS2,240612,212806,4728.838,-12552.948,17,0.9,33,18.7
$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,87.6,39759,-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,-64.40,0.000,2,0.000,0.000,162,2504,2851,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.66,-126.5,3.8,-10.9,11,104,10.90,2.15,-7.25,0.000,4,0.269,0.074,2410,3779,3256,0,0,0,0,0,0,24.56,25.22,25.53
$GC,184,-0.57,-126.5,33.1,-15.0,31,191,0.15,2.05,0.00,0.000,6,0.147,0.037,2453,2500,3260,0,0,0,0,0,0,24.81,24.37,28.83
$GC,489,-0.57,-126.5,66.2,-10.5,92,497,0.00,2.15,0.00,0.000,4,0.000,0.060,2446,3762,3263,0,0,0,0,0,0,28.83,25.29,28.83
$GC,531,-0.57,-126.5,70.7,-11.4,100,539,0.00,2.03,0.00,0.000,6,0.000,0.036,2445,2496,3262,0,0,0,0,0,0,28.83,25.56,28.83
$GC,838,-0.57,-126.5,101.3,-8.2,161,845,0.00,2.17,0.00,0.000,4,0.000,0.060,2437,3774,3264,0,0,0,0,0,0,28.83,25.34,28.83
$GC,859,-0.57,-126.5,102.9,-7.3,165,866,0.00,2.03,0.00,0.000,6,0.000,0.035,2437,2503,3263,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1165,-0.59,-126.5,123.4,-6.8,226,1172,0.00,2.28,0.00,0.000,4,0.000,0.048,2436,1104,3264,0,0,0,0,0,0,28.83,25.46,28.83
$GC,1191,-0.61,-126.5,125.3,-7.2,231,1198,0.00,2.28,0.00,0.000,6,0.000,0.044,2430,2486,3264,0,0,0,0,0,0,28.83,25.46,28.83
$GC,1497,-0.61,-126.5,150.6,-9.1,292,1505,0.00,2.17,0.00,0.000,4,0.000,0.059,2421,3770,3264,0,0,0,0,0,0,28.83,25.37,28.83
$GC,1529,-0.61,-126.5,153.6,-9.3,298,1536,0.00,2.03,0.00,0.000,6,0.000,0.037,2420,2498,3263,0,0,0,0,0,0,28.83,25.62,28.83
$GC,1835,-0.61,-126.5,181.8,-9.0,359,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2497,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2139,-0.61,-126.5,207.7,-8.3,411,2140,0.00,0.00,0.00,0.000,6,0.000,0.000,2420,2497,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2440,-0.61,-126.5,230.4,-7.3,441,2441,0.00,0.00,0.00,0.000,6,0.000,0.000,2421,2497,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2740,-0.61,-126.5,254.0,-8.0,471,2744,0.00,2.17,0.00,0.000,4,0.000,0.061,2411,3774,3262,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2780,-0.61,-126.5,257.5,-8.6,475,2784,0.08,2.05,0.00,0.000,6,0.132,0.037,2435,2491,3262,0,0,0,0,0,0,25.31,25.61,28.83
$GC,3090,-0.64,-126.5,280.2,-6.8,506,3090,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2491,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3390,-0.68,-126.5,301.9,-7.1,536,3394,0.00,2.15,0.00,0.000,4,0.000,0.060,2428,3774,3264,0,0,0,0,0,0,28.83,25.31,28.83
$GC,3424,-0.71,-126.5,304.1,-7.3,539,3432,0.00,2.03,0.00,0.000,6,0.000,0.037,2428,2503,3261,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3730,-0.73,-126.5,326.4,-7.3,570,3730,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2503,3261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4030,-0.76,-126.5,348.5,-7.4,600,4034,0.00,2.15,0.00,0.000,4,0.000,0.060,2418,3781,3261,0,0,0,0,0,0,28.83,25.28,28.83
$GC,4090,-0.78,-126.5,352.9,-7.6,606,4094,0.00,2.05,0.00,0.000,6,0.000,0.037,2418,2496,3260,0,0,0,0,0,0,28.83,25.58,28.83
$GC,4400,-0.80,-126.5,375.6,-7.7,637,4401,0.12,0.00,0.00,0.000,6,0.090,0.000,2367,2496,3260,0,0,0,0,0,0,25.58,28.83,28.83
$GC,4700,-0.75,-126.5,407.6,-11.4,667,4704,0.00,2.17,0.00,0.000,4,0.000,0.061,2357,3766,3259,0,0,0,0,0,0,28.83,25.26,28.83
$GC,4755,-0.70,-126.5,413.3,-11.8,672,4763,0.17,2.03,0.00,0.000,6,0.149,0.037,2408,2499,3259,0,0,0,0,0,0,24.98,25.57,28.83
$GC,5059,-0.70,-126.5,439.5,-8.3,703,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2499,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5360,-0.70,-126.5,463.9,-7.9,733,5361,0.00,0.00,0.00,0.000,6,0.000,0.000,2408,2499,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5660,-0.70,-126.5,489.9,-9.1,763,5664,0.00,2.17,0.00,0.000,4,0.000,0.062,2400,3768,3257,0,0,0,0,0,0,28.83,25.21,28.83
$GC,5704,-0.70,-126.5,493.7,-9.5,767,5712,0.00,2.03,0.00,0.000,6,0.000,0.038,2401,2506,3257,0,0,0,0,0,0,28.83,25.54,28.83
$GC,6009,-0.70,-126.5,522.1,-9.2,798,6010,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2506,3257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6310,-0.70,-126.5,548.2,-8.1,828,6314,0.00,2.17,0.00,0.000,4,0.000,0.063,2392,3775,3256,0,0,0,0,0,0,28.83,25.20,28.83
$GC,6354,-0.70,-126.5,551.6,-8.4,832,6363,0.00,2.05,0.00,0.000,6,0.000,0.037,2392,2495,3256,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6660,-0.70,-126.5,576.0,-7.6,863,6664,0.00,2.20,0.00,0.000,4,0.000,0.062,2382,3776,3256,0,0,0,0,0,0,28.83,25.20,28.83
$GC,6689,-0.70,-126.5,578.4,-7.7,866,6694,0.10,2.05,0.00,0.000,6,0.137,0.037,2412,2498,3256,0,0,0,0,0,0,25.14,25.53,28.83
$GC,7000,-0.72,-126.5,597.8,-6.1,897,7004,0.00,2.28,0.00,0.000,4,0.000,0.041,2412,1098,3255,0,0,0,0,0,0,28.83,25.34,28.83
$GC,7034,-0.75,-126.5,599.8,-6.5,900,7043,0.00,2.33,0.00,0.000,6,0.000,0.046,2406,2495,3255,0,0,0,0,0,0,28.83,25.31,28.83
$GC,7340,-0.76,-126.5,619.3,-6.4,916,7344,0.00,2.17,0.00,0.000,4,0.000,0.062,2396,3767,3255,0,0,0,0,0,0,28.83,25.18,28.83
$GC,7370,-0.76,-126.5,620.7,-6.5,917,7374,0.00,2.05,0.00,0.000,6,0.000,0.037,2396,2496,3255,0,0,0,0,0,0,28.83,25.50,28.83
$GC,7680,-0.76,-126.5,644.8,-7.7,933,7680,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2496,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7980,-0.76,-126.5,667.6,-7.7,948,7980,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2495,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8280,-0.76,-126.5,689.8,-6.9,963,8281,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2496,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8580,-0.76,-126.5,709.6,-6.5,978,8584,0.00,2.20,0.00,0.000,4,0.000,0.063,2387,3774,3253,0,0,0,0,0,0,28.83,25.15,28.83
$GC,8615,-0.76,-126.5,710.9,-6.6,979,8622,0.00,2.05,0.00,0.000,6,0.000,0.037,2386,2502,3253,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8920,-0.76,-126.5,732.5,-6.7,995,8921,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2502,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9220,-0.76,-126.5,755.5,-7.7,1010,9224,0.00,2.30,0.00,0.000,4,0.000,0.042,2387,1100,3252,0,0,0,0,0,0,28.83,25.28,28.83
$GC,9250,-0.76,-126.5,757.0,-7.6,1011,9254,0.00,2.35,0.00,0.000,6,0.000,0.047,2377,2501,3252,0,0,0,0,0,0,28.83,25.26,28.83
$GC,9560,-0.76,-126.5,781.1,-7.1,1027,9560,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2503,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9860,-0.76,-126.5,803.0,-7.3,1042,9860,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2502,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10160,-0.76,-126.5,824.3,-7.2,1057,10161,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2502,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10460,-0.76,-126.5,846.7,-7.4,1072,10460,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2502,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10760,-0.76,-126.5,869.0,-7.5,1087,10760,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2502,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11060,-0.76,-126.5,892.9,-8.0,1102,11060,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2502,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11359,-0.76,-126.5,918.0,-8.7,1117,11360,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2502,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11660,-0.76,-126.5,943.4,-8.3,1132,11664,0.00,2.20,0.00,0.000,4,0.000,0.063,2367,3777,3250,0,0,0,0,0,0,28.83,25.07,28.83
$GC,11689,-0.76,-126.5,945.2,-8.4,1133,11694,0.00,2.08,0.00,0.000,6,0.000,0.038,2367,2497,3250,0,0,0,0,0,0,28.83,25.42,28.83
$GC,12000,-0.74,-126.5,971.2,-7.8,1149,12001,0.12,0.00,0.00,0.000,6,0.169,0.000,2396,2497,3249,0,0,0,0,0,0,25.19,28.83,28.83
$GC,12300,-0.77,-126.5,989.9,-6.3,1164,12304,0.00,2.22,0.00,0.000,4,0.000,0.063,2388,3779,3248,0,0,0,0,0,0,28.83,25.06,28.83
$STATE,12319,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12319,begin apogee
$GC,12324,-0.17,0.0,991.3,-6.4,1165,12445,0.62,0.00,116.47,1.277,6,0.125,0.000,2577,2187,2736,0,0,0,0,0,0,24.82,28.83,22.73
$STATE,12446,end apogee,CONTROL_FINISHED_OK
$STATE,12446,begin climb
$GC,12447,0.66,126.5,994.6,0.0,1171,12575,0.80,2.47,121.80,1.257,4,0.064,0.047,2863,802,2221,0,0,0,0,0,0,24.01,23.63,22.43
$GC,12659,0.59,126.5,984.4,8.8,1181,12664,0.10,2.40,0.00,0.000,6,0.155,0.042,2836,2197,2215,0,0,0,0,0,0,24.28,24.51,28.83
$GC,12975,0.55,126.5,956.1,8.6,1197,12979,0.00,2.42,0.00,0.000,4,0.000,0.059,2836,3614,2210,0,0,0,0,0,0,28.83,25.16,28.83
$GC,13024,0.49,126.5,952.4,8.8,1199,13029,0.15,2.30,0.00,0.000,6,0.153,0.036,2803,2198,2209,0,0,0,0,0,0,24.93,25.35,28.83
$GC,13335,0.49,131.8,927.8,7.6,1215,13344,0.00,2.42,3.92,0.734,4,0.000,0.058,2802,3616,2199,0,0,0,0,0,0,28.83,25.43,23.75
$GC,13369,0.49,140.0,926.4,7.5,1216,13384,0.00,2.30,9.88,1.057,6,0.000,0.036,2811,2188,2166,0,0,0,0,0,0,28.83,25.48,23.87
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$STATE,23704,end climb,SURFACE_DEPTH_REACHED
$STATE,23705,begin surface coast
$FINISH,-0.1,1.023567
$STATE,23759,end surface coast,CONTROL_FINISHED_OK
$STATE,23759,begin surface
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$TT8_MAMPS,0.054677,0.054677
$HUMID,40.82
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,18.60
$XPDR_PINGS,169
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$10V_AH,9.8,27.869
$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
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$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,93204,2287
$CAP_FILE_SIZE,237973,0
$CFSIZE,260165632,250937344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.135,357.1,1
$GPS,250612,040926,4729.702,-12549.095,231,99.0,250,18.7