version: 66.11
glider: 178
mission: 14
dive: 99
start: 7 6 112 2 30 45
data:
$ID,178
$MISSION,14
$DIVE,99
$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,-13550.302
$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,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
$GPS1,060712,022226,4649.404,-12511.696,197,99.0,216,18.4
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.33
$_SM_ANGLEo,-70.8
$GPS2,060712,023035,4649.349,-12511.774,13,1.1,29,18.4
$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,260.2,1678,-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,-50.7,0.0,0.0,0,76,0.00,0.00,-62.20,0.000,2,0.000,0.000,156,2506,2838,0,0,0,0,0,0,28.83,28.83,28.83
$GC,77,-0.92,-50.7,3.5,-11.6,11,97,10.60,2.10,-2.00,0.000,4,0.269,0.065,2330,3777,2946,0,0,0,0,0,0,24.58,25.32,25.59
$GC,181,-0.90,-50.7,36.9,-19.2,31,187,0.00,2.03,0.00,0.000,6,0.000,0.032,2330,2494,2950,0,0,0,0,0,0,28.83,25.56,28.83
$GC,487,-0.91,-50.7,82.5,-13.7,92,493,0.00,2.22,0.00,0.000,4,0.000,0.044,2327,1092,2953,0,0,0,0,0,0,28.83,25.58,28.83
$GC,507,-0.94,-50.7,85.2,-13.2,96,514,0.00,2.30,0.00,0.000,6,0.000,0.041,2321,2501,2953,0,0,0,0,0,0,28.83,25.56,28.83
$GC,814,-0.96,-50.7,123.6,-13.5,157,821,0.00,2.12,0.00,0.000,4,0.000,0.058,2311,3773,2955,0,0,0,0,0,0,28.83,25.41,28.83
$GC,915,-0.96,-50.7,137.3,-13.5,177,923,0.00,2.00,0.00,0.000,6,0.000,0.031,2311,2493,2955,0,0,0,0,0,0,28.83,25.76,28.83
$GC,1222,-0.96,-50.7,174.5,-12.9,238,1229,0.00,2.20,0.00,0.000,4,0.000,0.035,2312,1107,2955,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1258,-0.98,-50.7,179.1,-12.7,245,1266,0.00,2.28,0.00,0.000,6,0.000,0.050,2301,2501,2955,0,0,0,0,0,0,28.83,23.97,28.83
$GC,1570,-0.98,-50.7,216.0,-11.2,293,1574,0.00,2.12,0.00,0.000,4,0.000,0.055,2291,3780,2955,0,0,0,0,0,0,28.83,25.52,28.83
$GC,1664,-0.97,-50.7,226.8,-12.3,302,1672,0.10,2.00,0.00,0.000,6,0.180,0.031,2319,2505,2954,0,0,0,0,0,0,25.28,25.77,28.83
$GC,1970,-1.00,-50.7,260.8,-11.2,333,1974,0.00,2.12,0.00,0.000,4,0.000,0.057,2311,3773,2954,0,0,0,0,0,0,28.83,25.52,28.83
$GC,1990,-1.02,-50.7,263.5,-11.8,335,1994,0.00,2.00,0.00,0.000,6,0.000,0.032,2312,2497,2951,0,0,0,0,0,0,28.83,25.78,28.83
$GC,2300,-1.05,-50.7,299.1,-11.3,366,2304,0.00,2.15,0.00,0.000,4,0.000,0.057,2307,3782,2953,0,0,0,0,0,0,28.83,25.51,28.83
$GC,2394,-1.05,-50.7,309.7,-11.7,375,2402,0.00,2.00,0.00,0.000,6,0.000,0.033,2307,2504,2953,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2700,-1.07,-50.7,345.2,-11.5,406,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2301,2504,2952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3000,-1.09,-50.7,379.1,-11.2,436,3004,0.00,2.12,0.00,0.000,4,0.000,0.057,2292,3771,2952,0,0,0,0,0,0,28.83,25.48,28.83
$GC,3019,-1.09,-50.7,381.5,-11.6,438,3024,0.00,2.00,0.00,0.000,6,0.000,0.032,2292,2494,2951,0,0,0,0,0,0,28.83,25.76,28.83
$GC,3329,-1.09,-50.7,417.3,-11.7,469,3334,0.00,2.22,0.00,0.000,4,0.000,0.037,2292,1101,2951,0,0,0,0,0,0,28.83,25.61,28.83
$GC,3354,-1.11,-50.7,419.6,-11.7,471,3362,0.00,2.30,0.00,0.000,6,0.000,0.042,2281,2508,2951,0,0,0,0,0,0,28.83,25.58,28.83
$GC,3659,-1.11,-50.7,456.6,-11.9,502,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,2279,2508,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3960,-1.11,-50.7,492.3,-12.1,532,3964,0.00,2.10,0.00,0.000,4,0.000,0.057,2272,3767,2949,0,0,0,0,0,0,28.83,25.46,28.83
$GC,4035,-1.09,-50.7,501.4,-13.4,539,4042,0.00,2.00,0.00,0.000,6,0.000,0.034,2272,2495,2949,0,0,0,0,0,0,28.83,25.72,28.83
$GC,4340,-1.09,-50.7,540.4,-13.1,570,4340,0.00,0.00,0.00,0.000,6,0.000,0.000,2271,2495,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4640,-1.09,-50.7,577.9,-12.5,600,4641,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2496,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4940,-1.09,-50.7,615.3,-12.7,624,4940,0.00,0.00,0.00,0.000,6,0.000,0.000,2272,2495,2947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5240,-1.09,-50.7,654.0,-12.9,639,5244,0.00,2.15,0.00,0.000,4,0.000,0.060,2262,3765,2946,0,0,0,0,0,0,28.83,25.40,28.83
$GC,5294,-1.09,-50.7,659.4,-13.2,641,5303,0.00,2.00,0.00,0.000,6,0.000,0.035,2262,2502,2946,0,0,0,0,0,0,28.83,25.69,28.83
$GC,5600,-1.09,-50.7,699.2,-11.7,657,5601,0.00,0.00,0.00,0.000,6,0.000,0.000,2262,2498,2946,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5899,-1.09,-50.7,732.6,-10.3,672,5904,0.00,2.25,0.00,0.000,4,0.000,0.039,2262,1096,2945,0,0,0,0,0,0,28.83,25.52,28.83
$GC,5949,-1.09,-50.7,736.6,-10.2,674,5954,0.12,2.30,0.00,0.000,6,0.174,0.044,2285,2493,2945,0,0,0,0,0,0,25.01,25.48,28.83
$GC,6260,-1.11,-50.7,766.5,-9.3,690,6264,0.00,2.15,0.00,0.000,4,0.000,0.060,2278,3768,2945,0,0,0,0,0,0,28.83,25.37,28.83
$GC,6314,-1.11,-50.7,770.8,-10.2,692,6322,0.00,2.03,0.00,0.000,6,0.000,0.034,2278,2498,2945,0,0,0,0,0,0,28.83,25.67,28.83
$GC,6620,-1.11,-50.7,804.5,-10.6,708,6624,0.00,2.25,0.00,0.000,4,0.000,0.040,2277,1106,2944,0,0,0,0,0,0,28.83,25.50,28.83
$GC,6650,-1.11,-50.7,806.9,-11.0,709,6654,0.00,2.30,0.00,0.000,6,0.000,0.044,2268,2498,2944,0,0,0,0,0,0,28.83,25.46,28.83
$GC,6960,-1.11,-50.7,846.1,-12.2,725,6964,0.00,2.15,0.00,0.000,4,0.000,0.059,2258,3773,2946,0,0,0,0,0,0,28.83,25.34,28.83
$GC,7040,-1.09,-50.7,856.0,-12.5,729,7044,0.00,2.03,0.00,0.000,6,0.000,0.035,2258,2500,2943,0,0,0,0,0,0,28.83,25.64,28.83
$GC,7360,-1.09,-50.7,896.0,-12.7,745,7361,0.12,0.00,0.00,0.000,6,0.203,0.000,2282,2500,2942,0,0,0,0,0,0,25.25,28.83,28.83
$GC,7660,-1.12,-50.7,926.9,-10.0,760,7664,0.00,2.28,0.00,0.000,4,0.000,0.040,2282,1094,2942,0,0,0,0,0,0,28.83,25.46,28.83
$GC,7680,-1.15,-50.7,929.1,-10.3,761,7684,0.00,2.33,0.00,0.000,6,0.000,0.045,2275,2497,2942,0,0,0,0,0,0,28.83,25.44,28.83
$GC,8000,-1.16,-50.7,964.8,-11.1,777,8004,0.00,2.15,0.00,0.000,4,0.000,0.059,2265,3773,2941,0,0,0,0,0,0,28.83,25.32,28.83
$GC,8039,-1.16,-50.7,969.5,-11.1,779,8044,0.00,2.03,0.00,0.000,6,0.000,0.035,2265,2500,2941,0,0,0,0,0,0,28.83,25.61,28.83
$STATE,8258,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8259,begin apogee
$GC,8262,-0.17,0.0,991.8,-9.7,790,8313,1.15,0.00,46.88,1.271,6,0.167,0.000,2583,2201,2739,0,0,0,0,0,0,24.62,28.83,23.22
$STATE,8314,end apogee,CONTROL_FINISHED_OK
$STATE,8314,begin climb
$GC,8315,0.92,50.7,992.3,0.0,792,8374,1.05,2.42,52.00,1.248,4,0.064,0.043,2954,805,2528,0,0,0,0,0,0,24.77,24.22,22.80
$GC,8430,0.92,84.9,988.1,4.3,798,8469,0.00,2.38,34.83,1.225,6,0.000,0.038,2955,2206,2390,0,0,0,0,0,0,28.83,24.71,22.74
$GC,8780,0.90,84.9,951.9,10.0,816,8784,0.00,2.35,0.00,0.000,4,0.000,0.055,2955,3612,2381,0,0,0,0,0,0,28.83,25.29,28.83
$GC,8814,0.87,84.9,949.6,10.2,817,8823,0.15,2.28,0.00,0.000,6,0.190,0.033,2928,2184,2381,0,0,0,0,0,0,24.93,25.47,28.83
$GC,9120,0.87,84.9,921.6,8.6,833,9124,0.00,2.25,0.00,0.000,4,0.000,0.044,2936,808,2379,0,0,0,0,0,0,28.83,25.49,28.83
$GC,9274,0.87,84.9,908.6,9.2,840,9282,0.00,2.28,0.00,0.000,6,0.000,0.039,2936,2201,2377,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9580,0.87,84.9,880.3,8.9,856,9584,0.00,2.28,0.00,0.000,4,0.000,0.043,2946,814,2376,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9649,0.87,84.9,874.4,9.6,859,9654,0.00,2.25,0.00,0.000,6,0.000,0.039,2946,2197,2373,0,0,0,0,0,0,28.83,25.58,28.83
$GC,9960,0.87,84.9,844.9,8.9,875,9960,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2197,2376,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10260,0.87,84.9,818.7,8.4,890,10264,0.00,2.35,0.00,0.000,4,0.000,0.056,2946,3605,2375,0,0,0,0,0,0,28.83,25.47,28.83
$GC,10365,0.83,84.9,809.0,9.9,895,10369,0.15,2.22,0.00,0.000,6,0.186,0.034,2910,2199,2375,0,0,0,0,0,0,25.01,25.67,28.83
$GC,10680,0.86,84.9,783.3,8.2,911,10681,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2196,2374,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10980,0.89,84.9,759.2,8.1,926,10984,0.00,2.28,0.00,0.000,4,0.000,0.044,2918,806,2374,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11060,0.92,84.9,752.2,8.8,930,11064,0.00,2.28,0.00,0.000,6,0.000,0.039,2918,2204,2373,0,0,0,0,0,0,28.83,25.55,28.83
$GC,11380,0.94,84.9,724.4,9.0,946,11384,0.00,2.35,0.00,0.000,4,0.000,0.056,2918,3604,2373,0,0,0,0,0,0,28.83,25.41,28.83
$GC,11469,0.94,84.9,717.0,9.2,950,11474,0.00,2.22,0.00,0.000,6,0.000,0.033,2928,2197,2373,0,0,0,0,0,0,28.83,25.63,28.83
$GC,11780,0.94,84.9,689.8,8.2,966,11784,0.00,2.28,0.00,0.000,4,0.000,0.044,2939,805,2373,0,0,0,0,0,0,28.83,25.48,28.83
$GC,11880,0.94,84.9,681.9,7.9,971,11884,0.00,2.28,0.00,0.000,6,0.000,0.039,2939,2201,2373,0,0,0,0,0,0,28.83,25.52,28.83
$GC,12200,0.96,98.8,658.6,6.4,987,12215,0.00,2.28,11.18,0.972,4,0.000,0.043,2949,805,2334,0,0,0,0,0,0,28.83,25.55,23.86
$GC,12255,0.97,109.7,654.8,6.7,989,12271,0.00,2.28,12.50,0.976,6,0.000,0.038,2949,2198,2289,0,0,0,0,0,0,28.83,25.47,23.77
$GC,12570,0.97,109.7,627.6,8.4,1004,12574,0.00,2.28,0.00,0.000,4,0.000,0.043,2960,811,2284,0,0,0,0,0,0,28.83,25.44,28.83
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$STATE,20077,end climb,SURFACE_DEPTH_REACHED
$STATE,20077,begin surface coast
$FINISH,-0.5,1.023012
$STATE,20138,end surface coast,CONTROL_FINISHED_OK
$STATE,20138,begin surface
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$HUMID,40.27
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$TCM_TEMP,18.80
$XPDR_PINGS,87
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$10V_AH,9.8,32.323
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,297412
$DATA_FILE_SIZE,83261,2017
$CAP_FILE_SIZE,218703,0
$CFSIZE,260165632,246779904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.055,274.7,1
$GPS,060712,080906,4649.874,-12515.117,53,0.8,53,18.4