version: 66.11
glider: 178
mission: 14
dive: 93
start: 7 4 112 15 54 14
data:
$ID,178
$MISSION,14
$DIVE,93
$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,-13542.721
$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,54
$R_STBD_OVSHOOT,30
$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
$GPS1,040712,154835,4648.441,-12512.793,88,1.3,94,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-73.4
$GPS2,040712,155405,4648.453,-12512.831,13,1.3,29,18.4
$SPEED_LIMITS,0.136,0.209
$TGT_NAME,HOLDING
$TGT_LATLONG,4649.500,-12513.080
$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,347.1,1965,-25.8,-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,-0.92,-50.7,0.0,0.0,0,79,0.00,0.00,-64.68,0.000,2,0.000,0.000,160,2504,2863,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.92,-50.7,3.5,-12.4,11,99,10.40,2.25,-1.55,0.000,4,0.264,0.058,2345,1105,2947,0,0,0,0,0,0,24.59,25.39,25.61
$GC,138,-0.86,-50.7,24.8,-23.2,22,145,0.00,2.30,0.00,0.000,6,0.000,0.044,2337,2492,2950,0,0,0,0,0,0,28.83,25.33,28.83
$GC,444,-0.86,-50.7,74.0,-15.2,83,451,0.00,2.15,0.00,0.000,4,0.000,0.063,2327,3772,2953,0,0,0,0,0,0,28.83,25.30,28.83
$GC,535,-0.86,-50.7,88.7,-15.7,101,543,0.10,2.00,0.00,0.000,6,0.174,0.032,2354,2497,2954,0,0,0,0,0,0,25.23,25.70,28.83
$GC,842,-0.92,-50.7,122.4,-9.2,162,849,0.00,2.22,0.00,0.000,4,0.000,0.037,2355,1110,2955,0,0,0,0,0,0,28.83,25.62,28.83
$GC,878,-0.97,-50.7,126.1,-10.1,169,886,0.00,2.28,0.00,0.000,6,0.000,0.047,2347,2500,2953,0,0,0,0,0,0,28.83,24.94,28.83
$GC,1185,-1.03,-50.7,156.8,-9.0,230,1192,0.12,2.12,0.00,0.000,4,0.093,0.055,2285,3779,2956,0,0,0,0,0,0,25.70,25.54,28.83
$GC,1327,-0.99,-50.7,175.4,-13.5,258,1334,0.10,2.03,0.00,0.000,6,0.184,0.039,2311,2494,2956,0,0,0,0,0,0,25.25,25.71,28.83
$GC,1638,-1.01,-50.7,212.3,-12.0,310,1641,0.00,2.15,0.00,0.000,4,0.000,0.055,2303,3778,2956,0,0,0,0,0,0,28.83,25.53,28.83
$GC,1687,-1.01,-50.7,218.7,-13.2,315,1691,0.00,2.00,0.00,0.000,6,0.000,0.032,2303,2501,2955,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1997,-1.01,-50.7,257.6,-12.4,346,2001,0.00,2.15,0.00,0.000,4,0.000,0.056,2294,3783,2955,0,0,0,0,0,0,28.83,25.52,28.83
$GC,2032,-1.01,-50.7,261.8,-13.7,349,2041,0.00,2.03,0.00,0.000,6,0.000,0.032,2294,2491,2955,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2337,-1.01,-50.7,301.3,-12.2,380,2338,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2491,2955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2638,-1.01,-50.7,336.1,-11.6,410,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2294,2491,2954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2938,-1.01,-50.7,371.8,-12.6,440,2941,0.00,2.17,0.00,0.000,4,0.000,0.056,2285,3784,2954,0,0,0,0,0,0,28.83,25.49,28.83
$GC,2997,-1.00,-50.7,379.9,-13.7,446,3002,0.08,2.03,0.00,0.000,6,0.192,0.033,2304,2499,2953,0,0,0,0,0,0,25.32,25.75,28.83
$GC,3308,-1.02,-50.7,416.7,-11.6,477,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2494,2954,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3608,-1.05,-50.7,453.1,-11.8,507,3611,0.00,2.12,0.00,0.000,4,0.000,0.057,2297,3783,2953,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3667,-1.05,-50.7,460.8,-13.0,513,3671,0.00,2.03,0.00,0.000,6,0.000,0.033,2297,2495,2953,0,0,0,0,0,0,28.83,25.74,28.83
$GC,3977,-1.07,-50.7,495.7,-11.0,544,3981,0.00,2.15,0.00,0.000,4,0.000,0.057,2287,3776,2952,0,0,0,0,0,0,28.83,25.45,28.83
$GC,4012,-1.07,-50.7,499.1,-11.1,547,4019,0.00,2.00,0.00,0.000,6,0.000,0.033,2287,2501,2952,0,0,0,0,0,0,28.83,25.73,28.83
$GC,4317,-1.07,-50.7,533.2,-11.2,578,4321,0.00,2.22,0.00,0.000,4,0.000,0.037,2287,1107,2952,0,0,0,0,0,0,28.83,25.55,28.83
$GC,4352,-1.07,-50.7,536.7,-11.4,581,4360,0.00,2.30,0.00,0.000,6,0.000,0.042,2277,2513,2952,0,0,0,0,0,0,28.83,25.54,28.83
$GC,4657,-1.07,-50.7,572.3,-11.1,612,4661,0.00,2.10,0.00,0.000,4,0.000,0.056,2267,3768,2951,0,0,0,0,0,0,28.83,25.44,28.83
$GC,4707,-1.04,-50.7,578.3,-12.3,617,4712,0.10,2.03,0.00,0.000,6,0.181,0.034,2293,2491,2951,0,0,0,0,0,0,25.18,25.70,28.83
$GC,5027,-1.07,-50.7,614.4,-11.1,643,5031,0.00,2.22,0.00,0.000,4,0.000,0.038,2292,1106,2951,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5082,-1.09,-50.7,619.2,-11.5,645,5090,0.00,2.30,0.00,0.000,6,0.000,0.042,2285,2506,2950,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5388,-1.09,-50.7,656.1,-11.2,661,5388,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2506,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5687,-1.09,-50.7,688.3,-10.3,676,5691,0.00,2.12,0.00,0.000,4,0.000,0.057,2275,3771,2949,0,0,0,0,0,0,28.83,25.40,28.83
$GC,5742,-1.09,-50.7,692.7,-10.6,678,5749,0.00,2.03,0.00,0.000,6,0.000,0.034,2275,2499,2949,0,0,0,0,0,0,28.83,25.68,28.83
$GC,6048,-1.09,-50.7,725.4,-10.3,694,6051,0.00,2.25,0.00,0.000,4,0.000,0.039,2275,1101,2948,0,0,0,0,0,0,28.83,25.52,28.83
$GC,6102,-1.09,-50.7,729.6,-10.6,696,6110,0.00,2.30,0.00,0.000,6,0.000,0.044,2265,2498,2948,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6407,-1.09,-50.7,764.1,-10.5,712,6412,0.00,2.15,0.00,0.000,4,0.000,0.057,2255,3777,2949,0,0,0,0,0,0,28.83,25.37,28.83
$GC,6508,-1.06,-50.7,775.6,-11.8,717,6512,0.12,2.03,0.00,0.000,6,0.193,0.034,2289,2503,2947,0,0,0,0,0,0,25.01,25.66,28.83
$GC,6828,-1.08,-50.7,805.3,-9.2,733,6832,0.00,2.25,0.00,0.000,4,0.000,0.039,2289,1104,2945,0,0,0,0,0,0,28.83,25.48,28.83
$GC,6908,-1.11,-50.7,813.1,-9.7,737,6911,0.00,2.30,0.00,0.000,6,0.000,0.044,2281,2496,2947,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7227,-1.13,-50.7,844.3,-10.0,753,7231,0.00,2.15,0.00,0.000,4,0.000,0.058,2271,3771,2947,0,0,0,0,0,0,28.83,25.34,28.83
$GC,7362,-1.13,-50.7,857.7,-11.5,759,7370,0.00,2.03,0.00,0.000,6,0.000,0.034,2271,2494,2947,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7667,-1.17,-50.7,889.3,-10.0,775,7671,0.00,2.25,0.00,0.000,4,0.000,0.039,2271,1100,2946,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7813,-1.19,-50.7,903.5,-10.2,782,7816,0.00,2.30,0.00,0.000,6,0.000,0.044,2261,2499,2946,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8128,-1.22,-50.7,933.4,-9.0,798,8131,0.00,2.28,0.00,0.000,4,0.000,0.041,2261,1105,2946,0,0,0,0,0,0,28.83,25.42,28.83
$GC,8197,-1.25,-50.7,938.9,-9.2,801,8201,0.00,2.30,0.00,0.000,6,0.000,0.043,2250,2497,2945,0,0,0,0,0,0,28.83,25.43,28.83
$GC,8507,-1.27,-50.7,966.1,-8.2,817,8511,0.00,2.28,0.00,0.000,4,0.000,0.041,2250,1102,2945,0,0,0,0,0,0,28.83,25.42,28.83
$GC,8667,-1.27,-50.7,979.6,-8.4,825,8671,0.00,2.33,0.00,0.000,6,0.000,0.042,2241,2510,2945,0,0,0,0,0,0,28.83,25.42,28.83
$STATE,8806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8806,begin apogee
$GC,8809,-0.17,0.0,990.9,-8.2,832,8862,1.23,0.00,48.15,1.268,6,0.168,0.000,2574,2201,2738,0,0,0,0,0,0,24.56,28.83,23.23
$STATE,8862,end apogee,CONTROL_FINISHED_OK
$STATE,8862,begin climb
$GC,8863,0.92,50.7,991.8,0.0,834,8922,1.02,2.53,52.10,1.245,4,0.076,0.054,2938,3612,2529,0,0,0,0,0,0,24.75,24.19,22.81
$GC,8978,0.93,107.0,990.7,2.0,840,9038,0.00,2.35,55.67,1.246,6,0.000,0.032,2949,2189,2301,0,0,0,0,0,0,28.83,24.74,22.57
$GC,9342,0.93,107.0,948.9,12.3,859,9346,0.00,2.30,0.00,0.000,4,0.000,0.044,2959,805,2291,0,0,0,0,0,0,28.83,25.30,28.83
$GC,9377,0.93,107.0,946.2,12.4,860,9384,0.00,2.30,0.00,0.000,6,0.000,0.038,2959,2201,2290,0,0,0,0,0,0,28.83,25.36,28.83
$GC,9682,0.93,107.0,906.1,12.6,876,9686,0.00,2.35,0.00,0.000,4,0.000,0.054,2960,3608,2289,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9693,0.93,107.0,906.1,12.6,876,9697,0.08,2.25,0.00,0.000,6,0.205,0.034,2952,2200,2289,0,0,0,0,0,0,25.19,25.60,28.83
$GC,10002,0.93,107.0,868.7,11.0,892,10006,0.00,2.28,0.00,0.000,4,0.000,0.044,2960,809,2287,0,0,0,0,0,0,28.83,25.55,28.83
$GC,10012,0.93,107.0,868.7,11.0,892,10016,0.00,2.28,0.00,0.000,6,0.000,0.038,2960,2202,2286,0,0,0,0,0,0,28.83,25.58,28.83
$GC,10323,0.93,107.0,834.6,10.5,908,10326,0.00,2.30,0.00,0.000,4,0.000,0.044,2975,805,2286,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10362,0.93,107.0,830.1,11.0,910,10367,0.10,2.28,0.00,0.000,6,0.183,0.039,2945,2200,2286,0,0,0,0,0,0,25.18,25.57,28.83
$GC,10682,0.93,107.0,794.5,11.0,926,10686,0.00,2.35,0.00,0.000,4,0.000,0.054,2945,3604,2285,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10692,0.93,107.0,794.5,11.0,926,10697,0.00,2.25,0.00,0.000,6,0.000,0.034,2953,2191,2285,0,0,0,0,0,0,28.83,25.66,28.83
$GC,11002,0.93,107.0,759.6,10.3,942,11006,0.00,2.25,0.00,0.000,4,0.000,0.045,2963,815,2285,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11042,0.93,107.0,755.5,10.1,944,11046,0.00,2.25,0.00,0.000,6,0.000,0.039,2963,2197,2284,0,0,0,0,0,0,28.83,25.56,28.83
$GC,11363,0.93,107.0,723.3,9.8,960,11366,0.00,2.30,0.00,0.000,4,0.000,0.045,2974,808,2284,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11402,0.93,107.0,719.3,10.1,962,11407,0.12,2.28,0.00,0.000,6,0.177,0.039,2941,2202,2284,0,0,0,0,0,0,25.08,25.56,28.83
$GC,11723,0.94,107.0,688.1,9.9,978,11727,0.00,2.30,0.00,0.000,4,0.000,0.044,2949,806,2284,0,0,0,0,0,0,28.83,25.51,28.83
$GC,11817,0.94,107.0,680.2,9.9,982,11824,0.00,2.28,0.00,0.000,6,0.000,0.038,2949,2197,2286,0,0,0,0,0,0,28.83,25.53,28.83
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$STATE,19535,end climb,SURFACE_DEPTH_REACHED
$STATE,19535,begin surface coast
$FINISH,0.1,1.023469
$STATE,19560,end surface coast,CONTROL_FINISHED_OK
$STATE,19561,begin surface
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$TT8_MAMPS,0.056175,0.056175
$HUMID,40.31
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$TCM_TEMP,18.60
$XPDR_PINGS,113
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$10V_AH,9.8,31.724
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.575,207.025,305.375,51.900,0.000,30.032,42.960,143.884,28.250,0.000,30.077,0.000,14724.963,628.694,4412.959,164.135,0.000,2283.924,0.000,3278.559,0.000,0.531,0.000
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$MEM,297412
$DATA_FILE_SIZE,83259,1970
$CAP_FILE_SIZE,220506,0
$CFSIZE,260165632,247349248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.050,294.7,1
$GPS,040712,212344,4650.333,-12513.159,101,3.1,120,18.4