version: 66.11
glider: 178
mission: 14
dive: 49
start: 6 22 112 7 15 3
data:
$ID,178
$MISSION,14
$DIVE,49
$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,-13487.098
$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,42
$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
$GPS1,220612,070915,4729.340,-12629.991,260,99.0,279,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.77
$_SM_ANGLEo,-73.9
$GPS2,220612,071454,4729.340,-12629.967,31,0.9,41,18.7
$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,76.8,86024,-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,-65.95,0.000,2,0.000,0.000,163,2507,2885,0,0,0,0,0,0,28.83,28.83,28.83
$GC,81,-0.66,-126.5,3.8,-10.7,11,106,10.85,2.15,-6.53,0.000,4,0.268,0.072,2414,3781,3256,0,0,0,0,0,0,24.59,25.20,25.53
$GC,330,-0.60,-126.5,51.7,-12.0,60,337,0.10,2.08,0.00,0.000,6,0.147,0.044,2442,2494,3261,0,0,0,0,0,0,24.98,25.01,28.83
$GC,636,-0.60,-126.5,84.4,-10.0,121,643,0.00,2.17,0.00,0.000,4,0.000,0.059,2435,3768,3264,0,0,0,0,0,0,28.83,25.34,28.83
$GC,827,-0.60,-126.5,103.2,-9.5,159,834,0.00,2.03,0.00,0.000,6,0.000,0.037,2435,2502,3264,0,0,0,0,0,0,28.83,25.58,28.83
$GC,1133,-0.60,-126.5,130.2,-7.5,220,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2435,2502,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1433,-0.62,-126.5,152.2,-7.3,280,1440,0.00,2.15,0.00,0.000,4,0.000,0.060,2426,3770,3264,0,0,0,0,0,0,28.83,25.36,28.83
$GC,1463,-0.62,-126.5,154.7,-8.3,286,1472,0.00,2.03,0.00,0.000,6,0.000,0.037,2426,2499,3264,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1771,-0.62,-126.5,177.9,-7.1,347,1778,0.00,2.17,0.00,0.000,4,0.000,0.060,2417,3773,3264,0,0,0,0,0,0,28.83,25.37,28.83
$GC,1801,-0.62,-126.5,180.3,-7.7,353,1808,0.00,2.03,0.00,0.000,6,0.000,0.037,2417,2504,3264,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2107,-0.62,-126.5,204.1,-8.2,409,2111,0.00,2.15,0.00,0.000,4,0.000,0.060,2406,3770,3264,0,0,0,0,0,0,28.83,25.34,28.83
$GC,2177,-0.62,-126.5,210.1,-9.0,416,2182,0.10,2.03,0.00,0.000,6,0.129,0.037,2438,2501,3264,0,0,0,0,0,0,25.27,25.63,28.83
$GC,2487,-0.65,-126.5,234.1,-7.6,447,2491,0.00,2.15,0.00,0.000,4,0.000,0.060,2431,3764,3263,0,0,0,0,0,0,28.83,25.33,28.83
$GC,2518,-0.68,-126.5,236.4,-7.9,450,2521,0.00,2.03,0.00,0.000,6,0.000,0.037,2431,2496,3263,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2827,-0.70,-126.5,259.2,-7.0,481,2831,0.00,2.15,0.00,0.000,4,0.000,0.060,2423,3764,3263,0,0,0,0,0,0,28.83,25.32,28.83
$GC,2857,-0.72,-126.5,261.4,-7.1,484,2861,0.00,2.03,0.00,0.000,6,0.000,0.037,2423,2492,3263,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3167,-0.74,-126.5,282.7,-7.1,515,3171,0.00,2.17,0.00,0.000,4,0.000,0.061,2413,3773,3262,0,0,0,0,0,0,28.83,25.31,28.83
$GC,3227,-0.74,-126.5,287.3,-7.9,521,3231,0.00,2.03,0.00,0.000,6,0.000,0.037,2413,2505,3262,0,0,0,0,0,0,28.83,25.59,28.83
$GC,3537,-0.74,-126.5,311.1,-8.2,552,3542,0.00,2.15,0.00,0.000,4,0.000,0.060,2404,3769,3262,0,0,0,0,0,0,28.83,25.30,28.83
$GC,3577,-0.74,-126.5,314.6,-8.9,556,3582,0.00,2.03,0.00,0.000,6,0.000,0.037,2404,2501,3262,0,0,0,0,0,0,28.83,25.57,28.83
$GC,3887,-0.74,-126.5,342.5,-9.4,587,3891,0.00,2.15,0.00,0.000,4,0.000,0.060,2395,3770,3261,0,0,0,0,0,0,28.83,25.26,28.83
$GC,3922,-0.74,-126.5,345.6,-10.0,590,3930,0.00,2.03,0.00,0.000,6,0.000,0.037,2397,2500,3261,0,0,0,0,0,0,28.83,25.57,28.83
$GC,4227,-0.74,-126.5,376.0,-9.3,621,4228,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2500,3261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4527,-0.74,-126.5,403.0,-9.0,651,4531,0.00,2.17,0.00,0.000,4,0.000,0.061,2384,3773,3260,0,0,0,0,0,0,28.83,25.26,28.83
$GC,4562,-0.72,-126.5,405.8,-9.3,654,4570,0.00,2.03,0.00,0.000,6,0.000,0.037,2382,2505,3260,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4867,-0.70,-126.5,435.4,-9.4,685,4868,0.12,0.00,0.00,0.000,6,0.162,0.000,2414,2504,3260,0,0,0,0,0,0,25.30,28.83,28.83
$GC,5167,-0.70,-126.5,459.0,-7.5,715,5171,0.00,2.17,0.00,0.000,4,0.000,0.062,2407,3771,3259,0,0,0,0,0,0,28.83,25.26,28.83
$GC,5232,-0.70,-126.5,463.7,-7.9,721,5239,0.00,2.05,0.00,0.000,6,0.000,0.037,2407,2497,3259,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5537,-0.70,-126.5,486.8,-7.5,752,5538,0.00,0.00,0.00,0.000,6,0.000,0.000,2407,2497,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5837,-0.70,-126.5,508.8,-7.4,782,5841,0.00,2.17,0.00,0.000,4,0.000,0.062,2398,3764,3258,0,0,0,0,0,0,28.83,25.21,28.83
$GC,5902,-0.70,-126.5,513.5,-8.3,788,5909,0.00,2.03,0.00,0.000,6,0.000,0.038,2398,2507,3258,0,0,0,0,0,0,28.83,25.52,28.83
$GC,6207,-0.70,-126.5,539.3,-8.5,819,6211,0.00,2.17,0.00,0.000,4,0.000,0.063,2388,3769,3256,0,0,0,0,0,0,28.83,25.19,28.83
$GC,6247,-0.70,-126.5,542.8,-8.8,823,6251,0.00,2.05,0.00,0.000,6,0.000,0.038,2389,2497,3259,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6557,-0.70,-126.5,569.6,-8.7,854,6561,0.00,2.17,0.00,0.000,4,0.000,0.063,2379,3767,3257,0,0,0,0,0,0,28.83,25.19,28.83
$GC,6587,-0.68,-126.5,572.2,-8.7,857,6591,0.12,2.05,0.00,0.000,6,0.136,0.038,2417,2499,3254,0,0,0,0,0,0,25.07,25.51,28.83
$GC,6897,-0.70,-126.5,593.8,-6.8,888,6898,0.00,0.00,0.00,0.000,6,0.000,0.000,2417,2499,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7197,-0.73,-126.5,614.6,-7.1,908,7201,0.00,2.30,0.00,0.000,4,0.000,0.044,2417,1097,3255,0,0,0,0,0,0,28.83,25.29,28.83
$GC,7227,-0.76,-126.5,616.0,-7.1,909,7231,0.00,2.35,0.00,0.000,6,0.000,0.047,2410,2501,3257,0,0,0,0,0,0,28.83,25.29,28.83
$GC,7537,-0.78,-126.5,638.2,-6.7,925,7542,0.00,2.17,0.00,0.000,4,0.000,0.063,2400,3773,3255,0,0,0,0,0,0,28.83,25.16,28.83
$GC,7577,-0.80,-126.5,641.4,-7.3,927,7582,0.00,2.05,0.00,0.000,6,0.000,0.038,2400,2501,3255,0,0,0,0,0,0,28.83,25.48,28.83
$GC,7897,-0.80,-126.5,664.7,-7.4,943,7901,0.00,2.20,0.00,0.000,4,0.000,0.063,2392,3776,3255,0,0,0,0,0,0,28.83,25.15,28.83
$GC,7922,-0.80,-126.5,666.2,-7.3,944,7926,0.00,2.05,0.00,0.000,6,0.000,0.037,2392,2503,3254,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8237,-0.80,-126.5,691.2,-8.0,960,8242,0.00,2.20,0.00,0.000,4,0.000,0.063,2382,3779,3254,0,0,0,0,0,0,28.83,25.12,28.83
$GC,8272,-0.80,-126.5,692.8,-8.1,961,8279,0.00,2.08,0.00,0.000,6,0.000,0.037,2382,2496,3254,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8577,-0.80,-126.5,719.3,-8.2,977,8581,0.00,2.20,0.00,0.000,4,0.000,0.063,2373,3771,3254,0,0,0,0,0,0,28.83,25.14,28.83
$GC,8607,-0.80,-126.5,721.2,-8.4,978,8612,0.00,2.05,0.00,0.000,6,0.000,0.037,2373,2498,3254,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8918,-0.78,-126.5,750.2,-9.0,994,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2497,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9217,-0.76,-126.5,777.3,-8.8,1009,9221,0.00,2.20,0.00,0.000,4,0.000,0.063,2362,3775,3253,0,0,0,0,0,0,28.83,25.12,28.83
$GC,9247,-0.74,-126.5,779.3,-9.1,1010,9251,0.12,2.05,0.00,0.000,6,0.144,0.038,2400,2504,3253,0,0,0,0,0,0,24.98,25.46,28.83
$GC,9558,-0.75,-126.5,803.9,-7.4,1026,9558,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2503,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9858,-0.77,-126.5,825.8,-7.2,1041,9858,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2503,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10157,-0.79,-126.5,848.2,-7.6,1056,10158,0.00,0.00,0.00,0.000,6,0.000,0.000,2399,2504,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10457,-0.81,-126.5,870.7,-7.5,1071,10462,0.00,2.20,0.00,0.000,4,0.000,0.065,2392,3776,3252,0,0,0,0,0,0,28.83,25.12,28.83
$GC,10492,-0.82,-126.5,872.2,-7.4,1072,10499,0.00,2.08,0.00,0.000,6,0.000,0.038,2392,2500,3251,0,0,0,0,0,0,28.83,25.43,28.83
$GC,10797,-0.82,-126.5,896.1,-7.1,1088,10801,0.00,2.20,0.00,0.000,4,0.000,0.064,2383,3766,3251,0,0,0,0,0,0,28.83,25.07,28.83
$GC,10822,-0.82,-126.5,897.6,-7.2,1089,10827,0.00,2.08,0.00,0.000,6,0.000,0.040,2382,2491,3252,0,0,0,0,0,0,28.83,25.42,28.83
$GC,11137,-0.82,-126.5,920.8,-6.8,1105,11138,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2492,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11437,-0.82,-126.5,941.6,-6.9,1120,11438,0.00,0.00,0.00,0.000,6,0.000,0.000,2382,2491,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11737,-0.82,-126.5,962.3,-7.0,1135,11741,0.00,2.22,0.00,0.000,4,0.000,0.065,2373,3770,3250,0,0,0,0,0,0,28.83,25.07,28.83
$GC,11777,-0.82,-126.5,965.1,-7.0,1137,11781,0.00,2.08,0.00,0.000,6,0.000,0.041,2372,2502,3250,0,0,0,0,0,0,28.83,25.40,28.83
$GC,12097,-0.82,-126.5,988.6,-7.4,1153,12102,0.00,2.22,0.00,0.000,4,0.000,0.064,2363,3778,3250,0,0,0,0,0,0,28.83,25.06,28.83
$STATE,12116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12116,begin apogee
$GC,12121,-0.17,0.0,990.2,-7.6,1154,12242,0.73,0.00,116.10,1.271,6,0.135,0.000,2578,2187,2741,0,0,0,0,0,0,24.78,28.83,22.79
$STATE,12243,end apogee,CONTROL_FINISHED_OK
$STATE,12243,begin climb
$GC,12244,0.66,126.5,993.6,0.0,1160,12372,0.80,2.47,121.25,1.250,4,0.061,0.049,2866,807,2221,0,0,0,0,0,0,24.04,23.63,22.49
$GC,12417,0.58,126.5,986.2,8.2,1169,12422,0.12,2.42,0.00,0.000,6,0.151,0.042,2833,2203,2216,0,0,0,0,0,0,24.09,24.28,28.83
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$STATE,23987,end climb,SURFACE_DEPTH_REACHED
$STATE,23987,begin surface coast
$FINISH,0.4,1.023837
$STATE,24012,end surface coast,CONTROL_FINISHED_OK
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$TCM_TEMP,18.50
$XPDR_PINGS,168
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$10V_AH,9.8,26.841
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,297236
$DATA_FILE_SIZE,96376,2359
$CAP_FILE_SIZE,243023,0
$CFSIZE,260165632,251871232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111,355.3,1
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