version: 66.12
glider: 178
mission: 20
dive: 278
start: 4 27 115 14 9 44
data:
$ID,178
$MISSION,20
$DIVE,278
$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,60
$R_STBD_OVSHOOT,53
$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
$GPS1,270415,140136,1323.8759,14434.7461,37,0.9,37,1.5,0.3,349.7,8,6.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-75.1
$GPS2,270415,140934,1323.8949,14434.7461,14,1.3,29,1.5,0.0,333.3,9,7.7
$SPEED_LIMITS,0.173,0.234
$TGT_NAME,RECOVERY
$TGT_LATLONG,1324.720,14434.020
$TGT_RADIUS,3000.000
$MHEAD_RNG_PITCHd_Wd,308.4,2012,-24.5,-10.000,-30.00,1474
$D_GRID,1767
$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,-95.8,151,2472,1240,1228,0.0,0.0,0,95,0.00,0.00,-78.35,0.000,16386,0.000,0.000,150,2472,3190,3231,3149,0,0,0,0,0,0,27.02,28.83,27.08
$GC,97,-0.72,-95.8,149,2472,3233,3151,3.6,-11.8,14,121,10.55,2.03,-8.25,0.000,18692,0.240,0.057,2531,3759,3672,3736,3608,0,0,0,0,0,0,25.51,26.06,25.97
$GC,261,-0.72,-95.8,2530,3759,3742,3610,72.1,-37.9,41,265,0.00,1.98,0.00,0.000,1030,0.000,0.024,2535,2432,3674,3740,3609,0,0,0,0,0,0,26.87,26.84,26.87
$GC,571,-0.72,-95.8,2534,2429,3747,3610,153.0,-17.2,72,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2535,2428,3677,3745,3609,0,0,0,0,0,0,27.28,27.34,27.34
$GC,872,-0.72,-95.8,2534,2429,3752,3610,196.5,-15.7,102,875,0.00,2.05,0.00,0.000,516,0.000,0.028,2538,1054,3679,3750,3609,0,0,0,0,0,0,27.33,26.86,27.39
$GC,916,-0.72,-95.8,2539,1055,3750,3611,200.4,-13.5,105,919,0.00,2.10,0.00,0.000,1030,0.000,0.028,2531,2438,3680,3750,3610,0,0,0,0,0,0,26.91,26.87,26.94
$GC,1231,-0.72,-95.8,2532,2439,3752,3611,246.9,-14.0,116,1234,0.00,2.08,0.00,0.000,516,0.000,0.029,2530,1066,3681,3753,3610,0,0,0,0,0,0,27.35,26.87,27.41
$GC,1275,-0.72,-95.8,2531,1066,3752,3611,250.8,-13.8,117,1279,0.00,2.12,0.00,0.000,1030,0.000,0.030,2522,2454,3681,3752,3611,0,0,0,0,0,0,26.92,26.88,26.96
$GC,1591,-0.72,-95.8,2523,2455,3752,3612,295.6,-13.5,128,1595,0.00,2.08,0.00,0.000,516,0.000,0.029,2522,1056,3681,3752,3611,0,0,0,0,0,0,27.36,26.89,27.42
$GC,1616,-0.72,-95.8,2523,1056,3752,3612,295.6,-13.5,128,1623,0.10,2.12,0.00,0.000,3078,0.128,0.030,2545,2442,3681,3752,3611,0,0,0,0,0,0,26.56,26.89,26.63
$GC,1921,-0.77,-125.8,2546,2443,3751,3611,328.5,-7.9,139,1926,0.00,2.10,0.00,0.000,516,0.000,0.029,2547,1057,3680,3750,3611,0,0,0,0,0,0,27.36,26.90,27.42
$GC,2006,-0.84,-163.5,2548,1058,3749,3611,332.7,-7.4,141,2012,0.00,2.10,0.00,0.000,1030,0.000,0.031,2541,2454,3679,3749,3610,0,0,0,0,0,0,26.94,26.87,26.98
$GC,2311,-0.84,-163.5,2540,2455,3747,3612,365.1,-10.9,152,2315,0.00,2.12,0.00,0.000,516,0.000,0.029,2541,1058,3678,3745,3611,0,0,0,0,0,0,27.36,26.89,27.43
$GC,2331,-0.84,-163.5,2540,1059,3746,3611,365.1,-10.9,152,2335,0.00,2.15,0.00,0.000,1030,0.000,0.031,2531,2453,3677,3744,3611,0,0,0,0,0,0,26.91,26.86,26.95
$GC,2641,-0.86,-175.2,2530,2454,3742,3611,395.6,-8.0,163,2645,0.00,2.10,0.00,0.000,516,0.000,0.030,2532,1058,3675,3740,3611,0,0,0,0,0,0,27.36,26.89,27.43
$GC,2711,-0.86,-175.2,2533,1059,3739,3611,400.6,-8.3,165,2714,0.00,2.15,0.00,0.000,1030,0.000,0.031,2524,2454,3674,3739,3609,0,0,0,0,0,0,26.90,26.86,26.94
$GC,3031,-0.86,-175.2,2524,2455,3735,3607,429.9,-9.2,176,3035,0.00,2.10,0.00,0.000,516,0.000,0.030,2524,1063,3671,3736,3606,0,0,0,0,0,0,27.36,26.87,27.43
$GC,3071,-0.86,-175.2,2523,1064,3737,3607,432.7,-9.2,177,3075,0.00,2.15,0.00,0.000,1030,0.000,0.032,2514,2456,3670,3735,3606,0,0,0,0,0,0,26.89,26.85,26.92
$GC,3391,-0.86,-175.2,2514,2457,3734,3605,463.2,-9.4,188,3392,0.00,0.00,0.00,0.000,6,0.000,0.000,2515,2456,3668,3732,3604,0,0,0,0,0,0,27.36,27.43,27.43
$GC,3691,-0.86,-175.2,2514,2457,3731,3602,490.4,-8.8,198,3695,0.00,2.10,0.00,0.000,516,0.000,0.030,2515,1066,3665,3729,3601,0,0,0,0,0,0,27.36,26.86,27.42
$GC,3716,-0.86,-175.2,2515,1066,3729,3601,490.4,-8.8,198,3722,0.00,2.15,0.00,0.000,1030,0.000,0.032,2506,2451,3665,3729,3601,0,0,0,0,0,0,26.88,26.85,26.91
$GC,4021,-0.86,-175.2,2505,2452,3728,3599,520.5,-9.2,209,4022,0.00,0.00,0.00,0.000,6,0.000,0.000,2505,2451,3662,3726,3598,0,0,0,0,0,0,27.36,27.43,27.42
$GC,4321,-0.86,-175.2,2505,2452,3725,3595,549.4,-9.9,219,4325,0.00,2.10,0.00,0.000,516,0.000,0.030,2505,1066,3659,3723,3595,0,0,0,0,0,0,27.36,26.85,27.43
$GC,4376,-0.86,-175.2,2504,1066,3724,3596,555.0,-10.2,221,4379,0.00,2.15,0.00,0.000,1030,0.000,0.033,2496,2447,3658,3721,3595,0,0,0,0,0,0,26.86,26.82,26.89
$GC,4706,-0.86,-175.2,2497,2448,3719,3593,592.4,-11.9,232,4709,0.00,2.08,0.00,0.000,516,0.000,0.030,2496,1066,3655,3719,3592,0,0,0,0,0,0,27.36,26.84,27.42
$GC,4736,-0.86,-175.2,2496,1066,3718,3593,596.1,-12.2,233,4739,0.00,2.12,0.00,0.000,1030,0.000,0.034,2487,2450,3655,3719,3592,0,0,0,0,0,0,26.87,26.79,26.91
$GC,5066,-0.86,-175.2,2488,2451,3715,3592,639.6,-13.2,244,5069,0.00,2.10,0.00,0.000,516,0.000,0.031,2487,1067,3653,3716,3590,0,0,0,0,0,0,27.36,26.82,27.42
$GC,5096,-0.86,-175.2,2487,1068,3717,3591,643.8,-13.3,245,5099,0.00,2.15,0.00,0.000,1030,0.000,0.034,2479,2438,3652,3715,3590,0,0,0,0,0,0,26.82,26.78,26.86
$GC,5427,-0.86,-175.2,2480,2439,3713,3589,684.1,-12.0,256,5430,0.00,2.10,0.00,0.000,516,0.000,0.030,2479,1058,3650,3713,3588,0,0,0,0,0,0,27.36,26.82,27.42
$GC,5490,-0.86,-175.2,2478,1059,3714,3589,690.5,-11.9,258,5495,0.08,2.17,0.00,0.000,3078,0.159,0.035,2494,2444,3650,3712,3588,0,0,0,0,0,0,26.42,26.74,26.49
$GC,5811,-0.86,-175.2,2493,2445,3711,3587,724.4,-9.9,269,5815,0.00,2.10,0.00,0.000,516,0.000,0.031,2494,1067,3648,3710,3586,0,0,0,0,0,0,27.36,26.79,27.42
$GC,5876,-0.86,-175.2,2493,1068,3711,3586,730.3,-10.1,271,5880,0.00,2.17,0.00,0.000,1030,0.000,0.036,2489,2448,3647,3709,3585,0,0,0,0,0,0,26.78,26.74,26.82
$GC,6201,-0.86,-175.2,2490,2449,3707,3584,762.5,-9.5,282,6205,0.00,2.10,0.00,0.000,260,0.000,0.050,2479,3775,3645,3707,3584,0,0,0,0,0,0,27.36,26.56,27.42
$GC,6236,-0.86,-175.2,2480,3775,3706,3584,765.4,-9.6,283,6240,0.00,2.00,0.00,0.000,1030,0.000,0.025,2479,2431,3645,3707,3584,0,0,0,0,0,0,27.04,27.03,27.06
$GC,6561,-0.86,-175.2,2479,2429,3706,3583,798.1,-10.4,294,6562,0.00,0.00,0.00,0.000,6,0.000,0.000,2479,2428,3643,3704,3582,0,0,0,0,0,0,27.36,27.43,27.41
$GC,6861,-0.86,-175.2,2479,2428,3705,3582,829.9,-10.3,304,6865,0.00,2.08,0.00,0.000,516,0.000,0.031,2479,1072,3642,3703,3581,0,0,0,0,0,0,27.36,26.79,27.41
$GC,6891,-0.86,-175.2,2480,1073,3702,3581,833.1,-10.3,305,6895,0.12,2.15,0.00,0.000,3078,0.178,0.033,2498,2461,3641,3702,3580,0,0,0,0,0,0,26.39,26.75,26.53
$GC,7216,-0.86,-175.2,2499,2462,3701,3579,863.0,-9.5,316,7219,0.00,2.12,0.00,0.000,516,0.000,0.030,2499,1068,3640,3701,3579,0,0,0,0,0,0,27.35,26.77,27.41
$GC,7266,-0.86,-175.2,2499,1069,3700,3579,866.0,-9.7,317,7269,0.00,2.15,0.00,0.000,1030,0.000,0.034,2492,2453,3639,3700,3579,0,0,0,0,0,0,26.80,26.72,26.84
$GC,7576,-0.86,-175.2,2492,2454,3698,3579,896.8,-8.5,328,7579,0.00,2.10,0.00,0.000,516,0.000,0.030,2492,1075,3638,3698,3578,0,0,0,0,0,0,27.35,26.77,27.41
$GC,7636,-0.86,-175.2,2492,1076,3700,3579,902.0,-8.4,330,7640,0.00,2.15,0.00,0.000,1030,0.000,0.034,2483,2453,3638,3698,3578,0,0,0,0,0,0,26.77,26.73,26.79
$GC,7966,-0.86,-175.2,2483,2453,3698,3578,930.2,-8.6,341,7970,0.00,2.10,0.00,0.000,516,0.000,0.031,2484,1075,3637,3697,3578,0,0,0,0,0,0,27.35,26.76,27.41
$GC,8026,-0.86,-175.2,2482,1076,3699,3578,935.3,-8.8,343,8029,0.00,2.15,0.00,0.000,1030,0.000,0.034,2475,2450,3637,3697,3577,0,0,0,0,0,0,26.74,26.70,26.79
$GC,8351,-0.86,-175.2,2474,2451,3697,3577,966.3,-9.7,354,8355,0.00,2.08,0.00,0.000,516,0.000,0.031,2475,1075,3635,3695,3576,0,0,0,0,0,0,27.35,26.74,27.41
$GC,8411,-0.86,-175.2,2476,1076,3695,3577,971.7,-9.9,356,8415,0.10,2.17,0.00,0.000,3078,0.151,0.034,2495,2454,3635,3695,3576,0,0,0,0,0,0,26.27,26.69,26.34
$STATE,8644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8644,begin apogee
$GC,8649,-0.11,0.0,2496,2099,3695,3576,992.5,-8.7,364,8731,0.80,0.00,79.70,1.297,10246,0.129,0.000,2742,2093,3279,3329,3229,0,0,0,0,0,0,25.87,24.95,23.62
$STATE,8732,end apogee,CONTROL_FINISHED_OK
$STATE,8732,begin climb
$GC,8733,0.86,175.2,2742,2095,3330,3229,993.7,0.0,366,8905,0.85,2.30,164.27,1.290,10756,0.046,0.033,3076,737,2562,2608,2517,0,0,0,0,0,0,25.62,24.23,22.94
$GC,9131,0.86,175.2,3077,737,2598,2507,967.1,13.6,380,9135,0.00,2.15,0.00,0.000,1030,0.000,0.026,3075,2110,2552,2598,2506,0,0,0,0,0,0,26.48,26.44,26.51
$GC,9456,0.86,175.2,3077,2111,2596,2505,923.4,13.3,391,9460,0.00,2.12,0.00,0.000,516,0.000,0.033,3086,731,2550,2596,2504,0,0,0,0,0,0,27.10,26.66,27.17
$GC,9566,0.86,175.2,3087,732,2594,2503,911.3,13.5,394,9569,0.00,2.12,0.00,0.000,1030,0.000,0.026,3086,2119,2548,2594,2503,0,0,0,0,0,0,26.80,26.73,26.84
$GC,9876,0.86,175.2,3084,2120,2596,2503,867.1,13.2,405,9879,0.00,2.17,0.00,0.000,516,0.000,0.033,3096,731,2548,2593,2503,0,0,0,0,0,0,27.22,26.74,27.29
$GC,9951,0.86,175.2,3095,732,2594,2503,858.9,13.5,407,9955,0.15,2.12,0.00,0.000,5126,0.187,0.026,3063,2124,2547,2592,2502,0,0,0,0,0,0,26.29,26.79,26.49
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$STATE,17227,end climb,SURFACE_DEPTH_REACHED
$STATE,17227,begin surface coast
$FINISH,0.3,1.021994
$STATE,17242,end surface coast,CONTROL_FINISHED_OK
$STATE,17242,begin surface
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$TT8_MAMPS,0.050932,0.050932
$HUMID,48.77
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$TCM_TEMP,24.60
$XPDR_PINGS,1
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$10V_AH,10.15,38.328
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.720,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,229952
$DATA_FILE_SIZE,36856,805
$CAP_FILE_SIZE,159910,0
$CFSIZE,260034560,236617728
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$INTR,0,17831.29,0x236db2,7,5
$CURRENT,0.059,342.03,1
$GPS,270415,185906,1325.528,14433.129,29,1.3,29,1.4,0.2,63.6,7,9.8