version: 66.12
glider: 178
mission: 20
dive: 223
start: 4 16 115 10 6 53
data:
$ID,178
$MISSION,20
$DIVE,223
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1030
$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,330
$T_MISSION,360
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1020
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51652
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.00228724
$HD_B,0.0153901
$HD_C,8.9420502e-07
$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,500
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,2
$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,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,165
$PITCH_MAX,3954
$C_PITCH,2780
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,45
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,226
$ROLL_MAX,3782
$ROLL_DEG,40
$C_ROLL_DIVE,2450
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,56
$R_STBD_OVSHOOT,49
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,425
$VBD_MAX,3960
$C_VBD,3279
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0018
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,148
$AH0_10V,95
$MINV_24V,22
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-46.597843
$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,0
$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
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$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,125000.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,160415,100136,1323.8595,14434.4600,26,1.2,26,1.5,0.5,182.9,8,9.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.14
$_SM_ANGLEo,-74.7
$GPS2,160415,100641,1323.7780,14434.4512,14,1.7,30,1.5,0.7,184.0,7,8.6
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,333.0,1910,-24.5,-10.000,-30.00,1474
$D_GRID,1833
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,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,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.72,-95.8,143,2469,1241,1227,0.0,0.0,0,96,0.00,0.00,-80.10,0.000,16386,0.000,0.000,142,2468,3238,3281,3196,0,0,0,0,0,0,26.99,28.83,27.05
$GC,98,-0.72,-95.8,143,2469,3282,3198,3.5,-12.8,14,122,10.57,2.03,-7.35,0.000,18692,0.243,0.057,2530,3763,3674,3737,3612,0,0,0,0,0,0,25.58,24.60,26.05
$GC,222,-0.72,-95.8,2532,3764,3742,3613,50.0,-28.4,38,225,0.00,1.98,0.00,0.000,1030,0.000,0.023,2531,2426,3676,3742,3611,0,0,0,0,0,0,26.82,26.79,26.83
$GC,532,-0.72,-95.8,2532,2424,3747,3613,126.2,-21.3,69,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2531,2424,3679,3746,3612,0,0,0,0,0,0,27.24,27.30,27.30
$GC,833,-0.72,-95.8,2530,2425,3753,3614,177.6,-14.4,99,837,0.00,2.03,0.00,0.000,516,0.000,0.028,2534,1065,3682,3752,3613,0,0,0,0,0,0,27.30,26.85,27.36
$GC,856,-0.72,-95.8,2532,1066,3754,3614,180.4,-14.0,101,863,0.00,2.10,0.00,0.000,1030,0.000,0.030,2526,2439,3682,3752,3613,0,0,0,0,0,0,26.84,26.84,26.89
$GC,1172,-0.72,-95.8,2526,2439,3754,3616,222.6,-12.2,121,1175,0.00,2.05,0.00,0.000,260,0.000,0.044,2516,3784,3685,3755,3616,0,0,0,0,0,0,27.34,26.72,27.39
$GC,1226,-0.72,-95.8,2517,3784,3754,3616,226.6,-12.5,122,1234,0.08,1.95,0.00,0.000,3078,0.142,0.023,2541,2441,3685,3755,3616,0,0,0,0,0,0,26.67,27.05,26.72
$GC,1532,-0.72,-95.8,2539,2440,3759,3617,269.8,-13.3,133,1535,0.00,2.08,0.00,0.000,516,0.000,0.031,2543,1078,3686,3757,3616,0,0,0,0,0,0,27.35,26.86,27.41
$GC,1617,-0.72,-95.8,2542,1079,3759,3617,277.0,-12.6,135,1624,0.00,2.10,0.00,0.000,1030,0.000,0.031,2537,2449,3686,3757,3616,0,0,0,0,0,0,26.90,26.86,26.96
$GC,1922,-0.72,-95.8,2537,2449,3756,3616,312.0,-10.3,146,1926,0.00,2.08,0.00,0.000,516,0.000,0.031,2537,1066,3686,3756,3616,0,0,0,0,0,0,27.37,26.86,27.43
$GC,1992,-0.72,-95.8,2537,1067,3755,3616,318.0,-10.0,148,1995,0.00,2.12,0.00,0.000,1030,0.000,0.031,2527,2446,3685,3755,3616,0,0,0,0,0,0,26.89,26.86,26.93
$GC,2312,-0.72,-95.8,2526,2447,3753,3617,353.1,-11.5,159,2315,0.00,2.08,0.00,0.000,516,0.000,0.031,2527,1087,3683,3751,3616,0,0,0,0,0,0,27.36,26.87,27.43
$GC,2386,-0.72,-95.8,2527,1087,3751,3616,360.3,-12.0,161,2390,0.00,2.10,0.00,0.000,1030,0.000,0.032,2518,2451,3683,3750,3616,0,0,0,0,0,0,26.89,26.85,26.93
$GC,2702,-0.73,-100.9,2517,2452,3747,3617,394.9,-9.6,172,2705,0.00,2.05,0.00,0.000,260,0.000,0.047,2508,3770,3681,3746,3616,0,0,0,0,0,0,27.37,26.69,27.43
$GC,2737,-0.74,-108.6,2508,3770,3745,3616,397.7,-9.5,173,2741,0.10,1.95,0.00,0.000,3078,0.140,0.024,2540,2445,3680,3745,3616,0,0,0,0,0,0,26.60,27.08,26.65
$GC,3062,-0.80,-143.3,2538,2446,3743,3613,422.0,-7.6,184,3065,0.00,2.08,0.00,0.000,516,0.000,0.031,2541,1082,3677,3741,3613,0,0,0,0,0,0,27.36,26.85,27.43
$GC,3132,-0.86,-174.8,2540,1083,3742,3614,426.7,-7.8,186,3135,0.00,2.10,0.00,0.000,1030,0.000,0.033,2536,2452,3676,3740,3613,0,0,0,0,0,0,26.90,26.82,26.94
$GC,3452,-0.86,-174.8,2536,2452,3738,3610,458.5,-10.4,197,3455,0.00,2.10,0.00,0.000,516,0.000,0.031,2536,1085,3673,3737,3610,0,0,0,0,0,0,27.37,26.84,27.43
$GC,3502,-0.86,-174.8,2537,1086,3736,3610,461.9,-10.6,198,3505,0.00,2.12,0.00,0.000,1030,0.000,0.034,2528,2453,3672,3736,3609,0,0,0,0,0,0,26.85,26.80,26.89
$GC,3812,-0.86,-174.8,2529,2453,3733,3607,495.3,-10.1,209,3812,0.00,0.00,0.00,0.000,6,0.000,0.000,2528,2453,3670,3734,3607,0,0,0,0,0,0,27.37,27.44,27.43
$GC,4113,-0.86,-174.8,2527,2454,3732,3605,525.8,-10.2,219,4116,0.00,2.08,0.00,0.000,516,0.000,0.031,2528,1077,3667,3730,3605,0,0,0,0,0,0,27.36,26.82,27.43
$GC,4177,-0.86,-174.8,2528,1077,3729,3605,531.5,-10.2,221,4180,0.00,2.10,0.00,0.000,1030,0.000,0.034,2519,2452,3667,3730,3604,0,0,0,0,0,0,26.87,26.79,26.91
$GC,4497,-0.86,-175.2,2520,2452,3727,3602,563.8,-9.3,232,4498,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2453,3664,3727,3601,0,0,0,0,0,0,27.37,27.44,27.43
$GC,4797,-0.86,-175.2,2518,2453,3727,3600,593.2,-10.5,242,4797,0.00,0.00,0.00,0.000,6,0.000,0.000,2519,2452,3662,3725,3599,0,0,0,0,0,0,27.37,27.44,27.43
$GC,5097,-0.86,-175.2,2520,2453,3722,3598,624.5,-10.3,252,5101,0.00,2.10,0.00,0.000,516,0.000,0.031,2519,1078,3659,3722,3597,0,0,0,0,0,0,27.36,26.79,27.43
$GC,5187,-0.86,-175.2,2520,1079,3721,3598,633.5,-10.0,255,5190,0.00,2.15,0.00,0.000,1030,0.000,0.034,2511,2454,3659,3721,3597,0,0,0,0,0,0,26.79,26.75,26.83
$GC,5517,-0.86,-175.2,2512,2454,3719,3596,665.2,-9.7,266,5520,0.00,2.08,0.00,0.000,516,0.000,0.031,2511,1075,3657,3719,3595,0,0,0,0,0,0,27.36,26.79,27.43
$GC,5581,-0.86,-175.2,2512,1076,3717,3596,671.3,-10.0,268,5585,0.00,2.15,0.00,0.000,1030,0.000,0.034,2503,2452,3656,3718,3595,0,0,0,0,0,0,26.81,26.74,26.82
$GC,5907,-0.86,-175.2,2502,2453,3718,3594,704.3,-9.8,279,5910,0.00,2.12,0.00,0.000,516,0.000,0.031,2502,1074,3654,3716,3593,0,0,0,0,0,0,27.36,26.79,27.43
$GC,5957,-0.86,-175.2,2502,1074,3717,3594,707.1,-9.4,280,5961,0.00,2.15,0.00,0.000,1030,0.000,0.034,2493,2455,3653,3715,3592,0,0,0,0,0,0,26.81,26.72,26.85
$GC,6267,-0.86,-175.2,2494,2455,3713,3592,739.8,-9.9,291,6271,0.00,2.12,0.00,0.000,516,0.000,0.031,2493,1075,3652,3714,3591,0,0,0,0,0,0,27.36,26.78,27.43
$GC,6302,-0.86,-175.2,2494,1076,3713,3591,742.9,-9.8,292,6305,0.00,2.15,0.00,0.000,1030,0.000,0.035,2485,2443,3652,3713,3591,0,0,0,0,0,0,26.74,26.71,26.79
$GC,6627,-0.86,-175.2,2484,2444,3713,3591,779.6,-11.3,303,6630,0.00,2.08,0.00,0.000,516,0.000,0.031,2485,1081,3651,3711,3591,0,0,0,0,0,0,27.36,26.77,27.43
$GC,6681,-0.86,-175.2,2484,1082,3713,3591,783.1,-11.4,304,6688,0.00,2.15,0.00,0.000,1030,0.000,0.035,2478,2449,3650,3711,3590,0,0,0,0,0,0,26.73,26.69,26.77
$GC,6987,-0.86,-175.2,2476,2450,3711,3590,821.9,-11.2,315,6988,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2449,3649,3709,3590,0,0,0,0,0,0,27.36,27.43,27.42
$GC,7287,-0.86,-175.2,2476,2449,3710,3589,855.5,-11.0,325,7287,0.00,0.00,0.00,0.000,6,0.000,0.000,2477,2449,3648,3708,3588,0,0,0,0,0,0,27.36,27.43,27.42
$GC,7587,-0.86,-175.2,2478,2450,3706,3589,886.4,-9.9,335,7591,0.00,2.10,0.00,0.000,516,0.000,0.032,2478,1075,3647,3706,3588,0,0,0,0,0,0,27.36,26.73,27.42
$GC,7632,-0.86,-175.2,2476,1076,3707,3589,889.4,-9.8,336,7636,0.15,2.12,0.00,0.000,3078,0.173,0.035,2502,2453,3646,3705,3588,0,0,0,0,0,0,26.22,26.66,26.36
$GC,7947,-0.86,-175.2,2501,2454,3706,3587,916.1,-8.3,347,7951,0.00,2.10,0.00,0.000,516,0.000,0.031,2502,1074,3645,3704,3586,0,0,0,0,0,0,27.36,26.74,27.42
$GC,8012,-0.86,-175.2,2503,1076,3705,3587,920.9,-8.6,349,8015,0.00,2.17,0.00,0.000,1030,0.000,0.034,2496,2456,3645,3704,3586,0,0,0,0,0,0,26.71,26.66,26.74
$GC,8332,-0.86,-175.2,2495,2457,3704,3586,951.2,-9.5,360,8335,0.00,2.10,0.00,0.000,516,0.000,0.030,2496,1075,3644,3703,3585,0,0,0,0,0,0,27.36,26.73,27.42
$GC,8382,-0.86,-175.2,2497,1076,3703,3585,953.7,-9.7,361,8388,0.00,2.15,0.00,0.000,1030,0.000,0.035,2488,2445,3644,3703,3585,0,0,0,0,0,0,26.70,26.65,26.73
$GC,8687,-0.86,-175.2,2487,2446,3704,3586,987.4,-10.3,372,8690,0.00,2.10,0.00,0.000,516,0.000,0.030,2488,1082,3644,3703,3585,0,0,0,0,0,0,27.36,26.72,27.42
$STATE,8715,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8715,begin apogee
$GC,8721,-0.11,0.0,2482,2112,3702,3585,990.3,-10.1,373,8808,0.88,0.00,80.72,1.289,10246,0.135,0.000,2742,2111,3279,3329,3229,0,0,0,0,0,0,25.65,25.03,23.76
$STATE,8809,end apogee,CONTROL_FINISHED_OK
$STATE,8809,begin climb
$GC,8811,0.86,175.2,2743,2112,3328,3229,992.5,0.0,376,8982,0.88,2.42,162.93,1.280,10500,0.047,0.042,3071,3498,2563,2608,2519,0,0,0,0,0,0,25.63,24.20,23.01
$GC,9206,0.86,175.2,3072,3498,2594,2515,958.6,16.0,389,9211,0.00,2.12,0.00,0.000,1030,0.000,0.023,3082,2118,2554,2594,2514,0,0,0,0,0,0,26.46,26.44,26.48
$GC,9527,0.86,175.2,3080,2119,2593,2511,910.2,14.0,400,9528,0.00,0.00,0.00,0.000,6,0.000,0.000,3082,2118,2551,2592,2510,0,0,0,0,0,0,27.05,27.13,27.13
$GC,9827,0.86,175.2,3083,2118,2590,2510,871.5,12.9,410,9830,0.00,2.20,0.00,0.000,516,0.000,0.034,3092,704,2550,2591,2509,0,0,0,0,0,0,27.17,26.70,27.24
$GC,9912,0.86,175.2,3093,704,2590,2507,863.5,12.9,412,9919,0.10,2.17,0.00,0.000,5126,0.179,0.026,3065,2111,2547,2589,2506,0,0,0,0,0,0,26.27,26.75,26.35
$GC,10217,0.86,175.2,3066,2111,2589,2507,822.9,12.4,423,10218,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2111,2548,2590,2506,0,0,0,0,0,0,27.24,27.32,27.30
$GC,10517,0.86,175.2,3066,2111,2589,2507,784.1,13.2,433,10518,0.00,0.00,0.00,0.000,6,0.000,0.000,3065,2110,2547,2588,2506,0,0,0,0,0,0,27.27,27.34,27.34
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$STATE,17538,end climb,SURFACE_DEPTH_REACHED
$STATE,17538,begin surface coast
$FINISH,-0.1,1.022077
$STATE,17564,end surface coast,CONTROL_FINISHED_OK
$STATE,17564,begin surface
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$TT8_MAMPS,0.050932,0.050932
$HUMID,44.92
$INTERNAL_PRESSURE,9.48279
$TCM_TEMP,25.00
$XPDR_PINGS,1
$24V_AH,23.01,73.067
$10V_AH,10.14,34.963
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,229864
$DATA_FILE_SIZE,36798,846
$CAP_FILE_SIZE,156626,0
$CFSIZE,260034560,240173056
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
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$CURRENT,0.019,258.11,1
$GPS,160415,150206,1325.213,14433.277,36,0.8,36,1.4,0.3,153.2,9,6.4