version: 66.11
glider: 178
mission: 14
dive: 59
start: 6 25 112 4 18 1
data:
$ID,178
$MISSION,14
$DIVE,59
$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,-13499.747
$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,46
$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
$GPS1,250612,040926,4729.702,-12549.095,231,99.0,250,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.72
$_SM_ANGLEo,-74.0
$GPS2,250612,041752,4729.699,-12549.095,9,4.0,28,18.7
$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,110.5,34882,-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,-126.5,0.0,0.0,0,80,0.00,0.00,-66.03,0.000,2,0.000,0.000,162,2513,2931,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.66,-126.5,4.1,-11.8,11,106,11.10,2.33,-5.43,0.000,4,0.273,0.060,2429,1091,3257,0,0,0,0,0,0,24.53,25.27,25.52
$GC,125,-0.44,-126.5,23.1,-27.2,19,132,0.28,2.35,0.00,0.000,6,0.159,0.053,2498,2488,3260,0,0,0,0,0,0,24.80,25.19,28.83
$GC,432,-0.49,-126.5,46.0,-6.4,80,437,0.00,0.00,0.00,0.000,6,0.000,0.000,2498,2488,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,736,-0.56,-126.5,66.4,-7.0,141,743,0.12,2.20,0.00,0.000,4,0.084,0.067,2437,3780,3264,0,0,0,0,0,0,25.58,25.03,28.83
$GC,802,-0.56,-126.5,72.9,-10.8,154,810,0.00,2.05,0.00,0.000,6,0.000,0.037,2437,2497,3265,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1109,-0.56,-126.5,101.8,-9.6,215,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2437,2497,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1409,-0.57,-126.5,128.7,-7.8,275,1416,0.00,2.17,0.00,0.000,4,0.000,0.068,2427,3772,3265,0,0,0,0,0,0,28.83,25.37,28.83
$GC,1515,-0.57,-126.5,136.9,-7.4,296,1522,0.00,2.03,0.00,0.000,6,0.000,0.037,2427,2503,3265,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1821,-0.57,-126.5,162.5,-8.7,357,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2503,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2121,-0.59,-126.5,186.3,-7.5,417,2128,0.00,2.17,0.00,0.000,4,0.000,0.060,2418,3779,3264,0,0,0,0,0,0,28.83,25.37,28.83
$GC,2152,-0.59,-126.5,188.8,-8.2,423,2159,0.08,2.05,0.00,0.000,6,0.133,0.036,2441,2493,3264,0,0,0,0,0,0,25.34,25.63,28.83
$GC,2458,-0.62,-126.5,211.7,-7.6,469,2462,0.00,2.17,0.00,0.000,4,0.000,0.060,2434,3771,3263,0,0,0,0,0,0,28.83,25.36,28.83
$GC,2498,-0.66,-126.5,214.8,-7.9,473,2502,0.00,2.03,0.00,0.000,6,0.000,0.035,2434,2497,3263,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2808,-0.69,-126.5,238.0,-7.2,504,2812,0.00,2.17,0.00,0.000,4,0.000,0.060,2425,3779,3262,0,0,0,0,0,0,28.83,25.34,28.83
$GC,2848,-0.71,-126.5,241.2,-8.0,508,2853,0.00,2.05,0.00,0.000,6,0.000,0.036,2425,2490,3263,0,0,0,0,0,0,28.83,25.62,28.83
$GC,3158,-0.73,-126.5,265.4,-8.1,539,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2425,2494,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3459,-0.75,-126.5,289.6,-8.2,569,3462,0.00,2.17,0.00,0.000,4,0.000,0.060,2416,3775,3262,0,0,0,0,0,0,28.83,25.32,28.83
$GC,3493,-0.77,-126.5,292.2,-8.6,572,3500,0.00,2.03,0.00,0.000,6,0.000,0.036,2416,2500,3262,0,0,0,0,0,0,28.83,25.60,28.83
$GC,3798,-0.77,-126.5,320.4,-9.3,603,3802,0.00,2.17,0.00,0.000,4,0.000,0.060,2406,3781,3261,0,0,0,0,0,0,28.83,25.30,28.83
$GC,3828,-0.77,-126.5,323.4,-9.9,606,3832,0.00,2.05,0.00,0.000,6,0.000,0.036,2406,2494,3261,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4138,-0.77,-126.5,350.5,-8.1,637,4142,0.00,2.17,0.00,0.000,4,0.000,0.060,2397,3771,3260,0,0,0,0,0,0,28.83,25.29,28.83
$GC,4178,-0.77,-126.5,353.8,-8.4,641,4182,0.00,2.03,0.00,0.000,6,0.000,0.036,2396,2499,3260,0,0,0,0,0,0,28.83,25.59,28.83
$GC,4488,-0.77,-126.5,381.8,-9.4,672,4489,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2499,3260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4788,-0.77,-126.5,408.0,-8.6,702,4792,0.00,2.17,0.00,0.000,4,0.000,0.060,2387,3777,3259,0,0,0,0,0,0,28.83,25.27,28.83
$GC,4828,-0.75,-126.5,411.4,-8.8,706,4832,0.00,2.05,0.00,0.000,6,0.000,0.037,2387,2490,3259,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5138,-0.74,-126.5,438.8,-8.3,737,5143,0.00,2.20,0.00,0.000,4,0.000,0.060,2377,3775,3258,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5178,-0.71,-126.5,442.4,-9.1,741,5183,0.10,2.03,0.00,0.000,6,0.142,0.036,2407,2502,3259,0,0,0,0,0,0,25.18,25.56,28.83
$GC,5488,-0.71,-126.5,464.1,-6.9,772,5489,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2502,3258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5789,-0.71,-126.5,486.6,-7.7,802,5792,0.00,2.15,0.00,0.000,4,0.000,0.062,2403,3779,3260,0,0,0,0,0,0,28.83,25.20,28.83
$GC,5823,-0.71,-126.5,489.0,-8.0,805,5830,0.00,2.05,0.00,0.000,6,0.000,0.036,2400,2497,3257,0,0,0,0,0,0,28.83,25.55,28.83
$GC,6128,-0.71,-126.5,515.8,-8.9,836,6132,0.00,2.20,0.00,0.000,4,0.000,0.062,2391,3779,3256,0,0,0,0,0,0,28.83,25.22,28.83
$GC,6153,-0.71,-126.5,517.7,-8.8,838,6161,0.00,2.05,0.00,0.000,6,0.000,0.037,2391,2502,3256,0,0,0,0,0,0,28.83,25.54,28.83
$GC,6458,-0.71,-126.5,548.4,-10.1,869,6459,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2501,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6759,-0.71,-126.5,577.2,-9.5,899,6762,0.00,2.17,0.00,0.000,4,0.000,0.063,2381,3773,3257,0,0,0,0,0,0,28.83,25.20,28.83
$GC,6798,-0.71,-126.5,581.3,-10.1,903,6802,0.00,2.05,0.00,0.000,6,0.000,0.037,2381,2494,3255,0,0,0,0,0,0,28.83,25.52,28.83
$GC,7119,-0.69,-126.5,611.3,-9.2,929,7120,0.15,0.00,0.00,0.000,6,0.157,0.000,2422,2494,3255,0,0,0,0,0,0,25.20,28.83,28.83
$GC,7418,-0.73,-126.5,633.1,-7.1,944,7422,0.00,2.20,0.00,0.000,4,0.000,0.062,2411,3774,3254,0,0,0,0,0,0,28.83,25.20,28.83
$GC,7473,-0.76,-126.5,636.3,-7.4,946,7481,0.00,2.05,0.00,0.000,6,0.000,0.037,2410,2500,3254,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7778,-0.78,-126.5,659.8,-7.2,962,7779,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2500,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8078,-0.81,-126.5,682.4,-7.7,977,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2500,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8379,-0.84,-126.5,704.7,-7.3,992,8382,0.12,2.20,0.00,0.000,4,0.093,0.063,2352,3779,3253,0,0,0,0,0,0,25.52,25.15,28.83
$GC,8413,-0.84,-126.5,706.4,-7.6,993,8420,0.00,2.08,0.00,0.000,6,0.000,0.037,2348,2492,3253,0,0,0,0,0,0,28.83,25.50,28.83
$GC,8719,-0.79,-126.5,736.6,-9.0,1009,8722,0.12,2.17,0.00,0.000,4,0.178,0.063,2372,3776,3253,0,0,0,0,0,0,25.20,25.14,28.83
$GC,8753,-0.75,-126.5,738.6,-9.1,1010,8761,0.00,2.05,0.00,0.000,6,0.000,0.037,2372,2502,3252,0,0,0,0,0,0,28.83,25.52,28.83
$GC,9058,-0.72,-126.5,765.0,-8.2,1026,9059,0.12,0.00,0.00,0.000,6,0.165,0.000,2401,2502,3252,0,0,0,0,0,0,25.23,28.83,28.83
$GC,9359,-0.74,-126.5,785.6,-6.9,1041,9362,0.00,2.20,0.00,0.000,4,0.000,0.063,2394,3772,3252,0,0,0,0,0,0,28.83,25.13,28.83
$GC,9388,-0.76,-126.5,786.9,-6.8,1042,9392,0.00,2.05,0.00,0.000,6,0.000,0.038,2394,2509,3252,0,0,0,0,0,0,28.83,25.47,28.83
$GC,9698,-0.76,-126.5,809.7,-7.1,1058,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2509,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9998,-0.76,-126.5,832.3,-7.8,1073,9999,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2509,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10298,-0.76,-126.5,855.7,-7.6,1088,10299,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2509,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10598,-0.76,-126.5,878.8,-7.8,1103,10602,0.00,2.17,0.00,0.000,4,0.000,0.064,2385,3768,3251,0,0,0,0,0,0,28.83,25.10,28.83
$GC,10633,-0.76,-126.5,880.4,-7.9,1104,10640,0.00,2.05,0.00,0.000,6,0.000,0.040,2385,2504,3250,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10938,-0.76,-126.5,905.1,-7.6,1120,10939,0.00,0.00,0.00,0.000,6,0.000,0.000,2385,2504,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11238,-0.76,-126.5,928.6,-7.9,1135,11242,0.00,2.20,0.00,0.000,4,0.000,0.063,2375,3777,3250,0,0,0,0,0,0,28.83,25.08,28.83
$GC,11268,-0.76,-126.5,930.3,-8.1,1136,11272,0.00,2.08,0.00,0.000,6,0.000,0.038,2375,2493,3250,0,0,0,0,0,0,28.83,25.44,28.83
$GC,11578,-0.76,-126.5,957.5,-8.7,1152,11579,0.00,0.00,0.00,0.000,6,0.000,0.000,2375,2493,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11878,-0.76,-126.5,983.9,-8.4,1167,11882,0.00,2.20,0.00,0.000,4,0.000,0.063,2366,3772,3249,0,0,0,0,0,0,28.83,25.07,28.83
$GC,11898,-0.76,-126.5,985.6,-8.5,1168,11902,0.08,2.05,0.00,0.000,6,0.150,0.039,2387,2503,3249,0,0,0,0,0,0,25.08,25.44,28.83
$STATE,11957,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11957,begin apogee
$GC,11960,-0.17,0.0,990.2,-7.8,1171,12081,0.62,0.00,116.72,1.272,6,0.127,0.000,2578,2195,2737,0,0,0,0,0,0,24.81,28.83,22.74
$STATE,12082,end apogee,CONTROL_FINISHED_OK
$STATE,12082,begin climb
$GC,12083,0.66,126.5,993.6,0.0,1177,12213,0.80,2.50,122.18,1.252,4,0.065,0.047,2866,814,2219,0,0,0,0,0,0,24.06,23.63,22.43
$GC,12303,0.58,126.5,982.2,9.5,1188,12307,0.12,2.38,0.00,0.000,6,0.151,0.041,2831,2198,2213,0,0,0,0,0,0,24.30,24.54,28.83
$GC,12619,0.54,126.5,953.8,8.8,1204,12620,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2198,2209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12918,0.50,126.5,926.7,8.8,1219,12922,0.00,2.40,0.00,0.000,4,0.000,0.058,2831,3613,2207,0,0,0,0,0,0,28.83,25.33,28.83
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$STATE,23400,end climb,SURFACE_DEPTH_REACHED
$STATE,23401,begin surface coast
$FINISH,1.9,1.023582
$STATE,23416,end surface coast,CONTROL_FINISHED_OK
$STATE,23416,begin surface
$SM_CCo,23432,12.77,0.196,1,0,1308,350.04
$SM_GC,1.10,8.12,2.83,12.77,0.074,0.040,0.196,166,2501,1308,-7.69,-0.99,350.04,0,0,0,0,1,0,25.06,25.18,23.96
$IRIDIUM_FIX,4710.21,-12545.96,250612,040407
$TT8_MAMPS,0.053928,0.053928
$HUMID,41.21
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,18.40
$XPDR_PINGS,186
$24V_AH,22.4,33.053
$10V_AH,9.8,27.980
$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,22.425,164.900,438.750,12.775,0.000,58.020,112.714,155.675,46.500,0.000,30.570,0.000,18212.572,674.414,4875.654,159.293,0.000,2446.213,0.000,3532.571,0.000,0.529,0.000
$DEVICE_MAMPS,273.105,68.085,1272.195,195.840,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1575.061,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297252
$DATA_FILE_SIZE,93215,2279
$CAP_FILE_SIZE,235377,0
$CFSIZE,260165632,250839040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.110,  9.2,1
$GPS,250612,105306,4729.133,-12545.658,230,1.2,235,18.6