version: 66.11
glider: 178
mission: 14
dive: 94
start: 7 4 112 21 37 55
data:
$ID,178
$MISSION,14
$DIVE,94
$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,-13543.985
$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,56
$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
$GPS1,040712,212344,4650.333,-12513.159,101,3.1,120,18.4
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.27
$_SM_ANGLEo,-73.4
$GPS2,040712,213745,4650.293,-12513.072,13,2.6,32,18.4
$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,142.5,1468,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.92,-50.7,0.0,0.0,0,78,0.00,0.00,-64.15,0.000,2,0.000,0.000,154,2510,2888,0,0,0,0,0,0,28.83,28.83,28.83
$GC,79,-0.92,-50.7,3.4,-11.4,11,98,10.43,2.28,-1.08,0.000,4,0.263,0.052,2344,1113,2947,0,0,0,0,0,0,24.60,25.44,25.67
$GC,257,-0.94,-50.7,47.3,-12.4,46,264,0.00,2.28,0.00,0.000,6,0.000,0.050,2336,2492,2952,0,0,0,0,0,0,28.83,23.85,28.83
$GC,563,-0.97,-50.7,84.3,-11.9,107,570,0.00,2.15,0.00,0.000,4,0.000,0.059,2327,3775,2954,0,0,0,0,0,0,28.83,25.03,28.83
$GC,654,-0.97,-50.7,95.9,-12.9,125,661,0.00,2.00,0.00,0.000,6,0.000,0.032,2327,2496,2954,0,0,0,0,0,0,28.83,25.73,28.83
$GC,960,-0.99,-50.7,133.6,-12.6,186,967,0.00,2.17,0.00,0.000,4,0.000,0.063,2317,3784,2955,0,0,0,0,0,0,28.83,25.32,28.83
$GC,1011,-0.99,-50.7,140.7,-14.2,196,1019,0.00,2.00,0.00,0.000,6,0.000,0.032,2317,2502,2955,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1318,-1.01,-50.7,180.2,-11.4,257,1324,0.00,0.00,0.00,0.000,6,0.000,0.000,2317,2502,2955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1628,-1.03,-50.7,217.0,-12.0,305,1632,0.00,2.22,0.00,0.000,4,0.000,0.044,2317,1110,2954,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1723,-1.06,-50.7,228.1,-11.9,314,1730,0.00,2.28,0.00,0.000,6,0.000,0.041,2307,2505,2952,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2028,-1.08,-50.7,266.1,-12.0,345,2032,0.00,2.22,0.00,0.000,4,0.000,0.037,2306,1112,2954,0,0,0,0,0,0,28.83,25.64,28.83
$GC,2108,-1.11,-50.7,275.9,-12.3,353,2112,0.00,2.28,0.00,0.000,6,0.000,0.042,2296,2506,2953,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2418,-1.11,-50.7,314.5,-12.8,384,2422,0.00,2.22,0.00,0.000,4,0.000,0.036,2296,1110,2953,0,0,0,0,0,0,28.83,25.63,28.83
$GC,2432,-1.11,-50.7,315.9,-13.0,385,2440,0.00,2.28,0.00,0.000,6,0.000,0.041,2285,2503,2953,0,0,0,0,0,0,28.83,25.60,28.83
$GC,2738,-1.11,-50.7,355.5,-12.5,416,2742,0.00,2.22,0.00,0.000,4,0.000,0.037,2286,1112,2953,0,0,0,0,0,0,28.83,25.62,28.83
$GC,2788,-1.11,-50.7,362.1,-13.0,421,2792,0.00,2.28,0.00,0.000,6,0.000,0.041,2275,2503,2952,0,0,0,0,0,0,28.83,25.59,28.83
$GC,3098,-1.11,-50.7,402.1,-12.9,452,3102,0.00,2.10,0.00,0.000,4,0.000,0.055,2263,3770,2951,0,0,0,0,0,0,28.83,25.48,28.83
$GC,3123,-1.09,-50.7,404.9,-13.1,454,3130,0.00,2.00,0.00,0.000,6,0.000,0.033,2266,2492,2951,0,0,0,0,0,0,28.83,25.75,28.83
$GC,3428,-1.09,-50.7,446.8,-13.9,485,3428,0.00,0.00,0.00,0.000,6,0.000,0.000,2266,2492,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3728,-1.09,-50.7,486.6,-12.9,515,3732,0.00,2.15,0.00,0.000,4,0.000,0.057,2257,3774,2950,0,0,0,0,0,0,28.83,25.46,28.83
$GC,3763,-1.06,-50.7,490.5,-13.1,518,3770,0.12,2.00,0.00,0.000,6,0.191,0.032,2289,2504,2949,0,0,0,0,0,0,25.09,25.73,28.83
$GC,4068,-1.08,-50.7,525.5,-10.8,549,4069,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2505,2949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4368,-1.09,-50.7,556.8,-10.0,579,4369,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2504,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4669,-1.11,-50.7,586.6,-10.0,609,4669,0.00,0.00,0.00,0.000,6,0.000,0.000,2289,2504,2946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4968,-1.13,-50.7,618.4,-11.1,631,4972,0.00,2.25,0.00,0.000,4,0.000,0.038,2289,1099,2948,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5023,-1.15,-50.7,622.9,-11.4,633,5030,0.00,2.30,0.00,0.000,6,0.000,0.044,2281,2497,2946,0,0,0,0,0,0,28.83,25.49,28.83
$GC,5328,-1.15,-50.7,658.4,-10.8,649,5332,0.00,2.12,0.00,0.000,4,0.000,0.057,2272,3766,2945,0,0,0,0,0,0,28.83,25.39,28.83
$GC,5368,-1.15,-50.7,663.1,-11.1,651,5372,0.00,2.00,0.00,0.000,6,0.000,0.034,2271,2500,2945,0,0,0,0,0,0,28.83,25.69,28.83
$GC,5688,-1.15,-50.7,699.7,-11.7,667,5689,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2500,2944,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5988,-1.15,-50.7,734.2,-11.1,682,5992,0.00,2.15,0.00,0.000,4,0.000,0.058,2262,3768,2944,0,0,0,0,0,0,28.83,25.37,28.83
$GC,6048,-1.15,-50.7,741.7,-12.2,685,6052,0.00,2.03,0.00,0.000,6,0.000,0.035,2262,2498,2943,0,0,0,0,0,0,28.83,25.66,28.83
$GC,6368,-1.15,-50.7,779.1,-12.0,701,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2496,2943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6668,-1.15,-50.7,813.8,-11.3,716,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2495,2943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6968,-1.15,-50.7,846.3,-10.8,731,6969,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2496,2942,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7268,-1.15,-50.7,879.2,-11.3,746,7272,0.00,2.17,0.00,0.000,4,0.000,0.059,2253,3771,2942,0,0,0,0,0,0,28.83,25.30,28.83
$GC,7348,-1.13,-50.7,888.4,-11.5,750,7352,0.00,2.03,0.00,0.000,6,0.000,0.035,2253,2500,2942,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7668,-1.13,-50.7,919.8,-8.9,766,7669,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2500,2941,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7968,-1.13,-50.7,948.3,-9.2,781,7972,0.00,2.28,0.00,0.000,4,0.000,0.040,2253,1095,2940,0,0,0,0,0,0,28.83,25.43,28.83
$GC,8022,-1.13,-50.7,951.9,-9.1,783,8030,0.10,2.33,0.00,0.000,6,0.187,0.044,2268,2495,2940,0,0,0,0,0,0,24.96,25.40,28.83
$GC,8328,-1.13,-50.7,979.0,-9.0,799,8329,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2495,2940,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8447,begin apogee
$GC,8450,-0.17,0.0,990.9,-10.1,805,8501,1.12,0.00,46.95,1.268,6,0.167,0.000,2577,2205,2737,0,0,0,0,0,0,24.57,28.83,23.25
$STATE,8502,end apogee,CONTROL_FINISHED_OK
$STATE,8502,begin climb
$GC,8503,0.92,50.7,992.0,0.0,807,8558,1.02,0.00,52.00,1.243,6,0.067,0.000,2938,2206,2531,0,0,0,0,0,0,24.77,28.83,22.83
$GC,8848,0.92,64.0,975.4,6.5,825,8870,0.00,2.42,12.95,1.131,4,0.000,0.055,2938,3612,2476,0,0,0,0,0,0,28.83,25.14,23.54
$GC,9059,0.86,64.0,957.6,9.4,835,9063,0.10,2.28,0.00,0.000,6,0.190,0.034,2924,2194,2473,0,0,0,0,0,0,25.04,25.46,28.83
$GC,9369,0.88,73.9,932.2,6.8,851,9383,0.00,2.28,10.45,1.085,4,0.000,0.046,2932,802,2435,0,0,0,0,0,0,28.83,25.46,23.79
$GC,9609,0.88,73.9,912.2,9.7,863,9613,0.00,2.30,0.00,0.000,6,0.000,0.039,2932,2205,2431,0,0,0,0,0,0,28.83,25.52,28.83
$GC,9929,0.88,73.9,887.8,10.0,879,9933,0.00,2.30,0.00,0.000,4,0.000,0.043,2942,799,2430,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10143,0.88,73.9,869.8,8.8,889,10151,0.00,2.30,0.00,0.000,6,0.000,0.039,2942,2203,2429,0,0,0,0,0,0,28.83,25.58,28.83
$GC,10449,0.88,73.9,839.4,8.7,905,10453,0.00,2.30,0.00,0.000,4,0.000,0.044,2952,804,2429,0,0,0,0,0,0,28.83,25.56,28.83
$GC,10504,0.86,73.9,835.9,8.7,907,10511,0.12,2.28,0.00,0.000,6,0.178,0.038,2919,2198,2429,0,0,0,0,0,0,25.14,25.59,28.83
$GC,10809,0.87,86.3,813.7,6.6,923,10830,0.00,2.33,12.57,1.066,4,0.000,0.054,2920,3610,2387,0,0,0,0,0,0,28.83,25.49,23.91
$GC,10894,0.87,86.3,807.4,8.0,927,10898,0.00,2.25,0.00,0.000,6,0.000,0.033,2928,2200,2383,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11209,0.90,106.6,786.5,5.7,943,11234,0.00,2.28,20.73,1.094,4,0.000,0.045,2939,805,2302,0,0,0,0,0,0,28.83,25.26,23.81
$GC,11344,0.93,115.7,778.4,6.9,949,11359,0.00,2.30,9.55,0.991,6,0.000,0.039,2939,2197,2266,0,0,0,0,0,0,28.83,25.36,23.65
$GC,11670,0.94,115.7,748.4,9.5,966,11673,0.00,2.28,0.00,0.000,4,0.000,0.044,2949,801,2262,0,0,0,0,0,0,28.83,25.47,28.83
$GC,11729,0.94,115.7,742.3,10.1,969,11733,0.00,2.28,0.00,0.000,6,0.000,0.039,2949,2195,2261,0,0,0,0,0,0,28.83,25.52,28.83
$GC,12049,0.94,115.7,707.7,10.9,985,12053,0.00,2.35,0.00,0.000,4,0.000,0.054,2949,3612,2261,0,0,0,0,0,0,28.83,25.49,28.83
$GC,12209,0.91,115.7,688.2,12.3,993,12213,0.00,2.22,0.00,0.000,6,0.000,0.033,2960,2206,2258,0,0,0,0,0,0,28.83,25.65,28.83
$GC,12529,0.91,115.7,652.2,10.8,1009,12533,0.00,2.28,0.00,0.000,4,0.000,0.044,2970,804,2260,0,0,0,0,0,0,28.83,25.52,28.83
$GC,12719,0.91,115.7,632.7,10.9,1018,12724,0.12,2.28,0.00,0.000,6,0.174,0.038,2938,2198,2260,0,0,0,0,0,0,25.15,25.59,28.83
$GC,13030,0.94,115.7,601.1,9.7,1034,13033,0.00,2.28,0.00,0.000,4,0.000,0.044,2945,809,2262,0,0,0,0,0,0,28.83,25.54,28.83
$GC,13099,0.95,115.7,594.3,9.5,1040,13103,0.00,2.25,0.00,0.000,6,0.000,0.039,2945,2192,2259,0,0,0,0,0,0,28.83,25.58,28.83
$GC,13409,0.95,115.7,563.4,9.7,1071,13410,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2197,2259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13710,0.95,115.7,533.6,10.4,1101,13713,0.00,2.38,0.00,0.000,4,0.000,0.055,2945,3612,2259,0,0,0,0,0,0,28.83,25.45,28.83
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$STATE,19822,end climb,SURFACE_DEPTH_REACHED
$STATE,19822,begin surface coast
$FINISH,-0.2,1.023459
$STATE,19858,end surface coast,CONTROL_FINISHED_OK
$STATE,19858,begin surface
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$TT8_MAMPS,0.053928,0.053928
$HUMID,40.86
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,18.70
$XPDR_PINGS,147
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$10V_AH,9.8,31.825
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.550,157.850,291.450,59.125,0.000,114.871,155.233,235.448,36.750,0.000,34.334,0.000,15192.565,570.217,4801.517,184.365,0.000,2222.843,0.000,3378.269,0.000,0.530,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297408
$DATA_FILE_SIZE,79870,1961
$CAP_FILE_SIZE,213834,0
$CFSIZE,260165632,247267328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.038,248.8,1
$GPS,050712,031235,4648.440,-12512.925,118,2.0,124,18.4