version: 66.11
glider: 178
mission: 14
dive: 110
start: 7 8 112 21 19 9
data:
$ID,178
$MISSION,14
$DIVE,110
$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,-13564.205
$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,52
$R_STBD_OVSHOOT,32
$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
$GPS1,080712,211224,4648.974,-12511.165,140,1.2,140,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.50
$_SM_ANGLEo,-74.5
$GPS2,080712,211900,4648.909,-12511.218,40,1.8,42,18.4
$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,292.3,2602,-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,-50.7,0.0,0.0,0,61,0.00,0.00,-46.75,0.000,2,0.000,0.000,162,2509,2340,0,0,0,0,0,0,28.83,28.83,28.83
$GC,62,-0.92,-50.7,4.3,-15.3,8,87,10.32,0.00,-11.12,0.000,6,0.262,0.000,2336,2509,2947,0,0,0,0,0,0,24.62,28.83,25.68
$GC,386,-0.92,-50.7,63.9,-17.6,72,393,0.00,2.10,0.00,0.000,4,0.000,0.054,2328,3767,2950,0,0,0,0,0,0,28.83,25.53,28.83
$GC,417,-0.91,-50.7,69.1,-17.6,78,424,0.00,1.98,0.00,0.000,6,0.000,0.031,2329,2500,2952,0,0,0,0,0,0,28.83,25.74,28.83
$GC,723,-0.93,-50.7,110.9,-10.9,139,723,0.00,0.00,0.00,0.000,6,0.000,0.000,2329,2500,2955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1023,-0.96,-50.7,146.4,-12.2,199,1030,0.00,2.12,0.00,0.000,4,0.000,0.055,2319,3776,2955,0,0,0,0,0,0,28.83,25.60,28.83
$GC,1049,-0.98,-50.7,149.7,-13.4,204,1056,0.00,2.00,0.00,0.000,6,0.000,0.031,2319,2492,2953,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1355,-1.01,-50.7,188.5,-13.2,265,1362,0.00,2.15,0.00,0.000,4,0.000,0.055,2309,3773,2955,0,0,0,0,0,0,28.83,24.90,28.83
$GC,1486,-1.01,-50.7,206.9,-13.7,286,1490,0.00,2.00,0.00,0.000,6,0.000,0.039,2309,2500,2955,0,0,0,0,0,0,28.83,25.47,28.83
$GC,1796,-1.03,-50.7,244.0,-11.8,317,1800,0.00,2.10,0.00,0.000,4,0.000,0.055,2300,3759,2955,0,0,0,0,0,0,28.83,25.59,28.83
$GC,1851,-1.03,-50.7,250.5,-13.3,322,1858,0.00,1.98,0.00,0.000,6,0.000,0.031,2300,2490,2954,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2156,-1.05,-50.7,288.0,-11.7,353,2160,0.00,2.12,0.00,0.000,4,0.000,0.055,2290,3768,2953,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2246,-1.05,-50.7,299.0,-12.0,362,2250,0.00,1.98,0.00,0.000,6,0.000,0.032,2290,2501,2952,0,0,0,0,0,0,28.83,25.82,28.83
$GC,2556,-1.05,-50.7,335.5,-12.5,393,2560,0.00,2.12,0.00,0.000,4,0.000,0.055,2282,3774,2952,0,0,0,0,0,0,28.83,25.57,28.83
$GC,2616,-1.05,-50.7,343.3,-13.4,399,2620,0.00,1.98,0.00,0.000,6,0.000,0.032,2281,2506,2952,0,0,0,0,0,0,28.83,25.81,28.83
$GC,2926,-1.05,-50.7,381.4,-11.5,430,2927,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2506,2953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3226,-1.05,-50.7,416.3,-10.7,460,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2281,2506,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3527,-1.05,-50.7,449.2,-11.1,490,3530,0.00,2.10,0.00,0.000,4,0.000,0.057,2271,3777,2948,0,0,0,0,0,0,28.83,25.51,28.83
$GC,3591,-1.03,-50.7,456.9,-12.0,496,3595,0.12,2.00,0.00,0.000,6,0.185,0.032,2304,2504,2949,0,0,0,0,0,0,25.18,25.79,28.83
$GC,3901,-1.06,-50.7,488.9,-10.4,527,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2504,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4202,-1.09,-50.7,521.0,-11.0,557,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2304,2504,2947,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4502,-1.13,-50.7,553.4,-11.2,587,4505,0.00,2.22,0.00,0.000,4,0.000,0.037,2304,1093,2946,0,0,0,0,0,0,28.83,25.62,28.83
$GC,4526,-1.16,-50.7,555.7,-11.3,589,4534,0.00,2.30,0.00,0.000,6,0.000,0.042,2296,2498,2947,0,0,0,0,0,0,28.83,25.59,28.83
$GC,4831,-1.19,-50.7,590.7,-11.3,620,4832,0.12,0.00,0.00,0.000,6,0.095,0.000,2248,2498,2946,0,0,0,0,0,0,25.71,28.83,28.83
$GC,5141,-1.17,-50.7,633.6,-13.8,639,5145,0.00,2.12,0.00,0.000,4,0.000,0.057,2238,3769,2945,0,0,0,0,0,0,28.83,25.48,28.83
$GC,5226,-1.13,-50.7,645.0,-14.3,643,5231,0.12,2.00,0.00,0.000,6,0.185,0.034,2271,2504,2944,0,0,0,0,0,0,25.13,25.73,28.83
$GC,5541,-1.13,-50.7,682.7,-11.5,659,5545,0.00,2.15,0.00,0.000,4,0.000,0.058,2264,3776,2943,0,0,0,0,0,0,28.83,25.45,28.83
$GC,5576,-1.13,-50.7,685.2,-11.7,660,5583,0.00,2.03,0.00,0.000,6,0.000,0.034,2264,2497,2943,0,0,0,0,0,0,28.83,24.94,28.83
$GC,5881,-1.13,-50.7,721.6,-11.3,676,5882,0.00,0.00,0.00,0.000,6,0.000,0.000,2264,2497,2943,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6181,-1.13,-50.7,755.6,-11.3,691,6185,0.00,2.25,0.00,0.000,4,0.000,0.039,2264,1095,2943,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6216,-1.13,-50.7,758.0,-11.4,692,6223,0.00,2.30,0.00,0.000,6,0.000,0.043,2254,2497,2942,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6521,-1.13,-50.7,794.4,-11.2,708,6525,0.00,2.15,0.00,0.000,4,0.000,0.057,2244,3779,2942,0,0,0,0,0,0,28.83,25.42,28.83
$GC,6621,-1.10,-50.7,806.2,-11.7,713,6625,0.12,2.03,0.00,0.000,6,0.187,0.034,2276,2495,2939,0,0,0,0,0,0,25.07,25.70,28.83
$GC,6942,-1.12,-50.7,838.2,-10.6,729,6945,0.00,2.15,0.00,0.000,4,0.000,0.058,2269,3771,2941,0,0,0,0,0,0,28.83,25.40,28.83
$GC,6976,-1.12,-50.7,840.5,-10.7,730,6983,0.00,2.00,0.00,0.000,6,0.000,0.034,2269,2507,2941,0,0,0,0,0,0,28.83,25.71,28.83
$GC,7281,-1.12,-50.7,875.8,-10.9,746,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,2269,2507,2940,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7581,-1.13,-50.7,907.4,-11.2,761,7585,0.00,2.12,0.00,0.000,4,0.000,0.058,2260,3769,2939,0,0,0,0,0,0,28.83,25.38,28.83
$GC,7606,-1.13,-50.7,909.7,-11.5,762,7610,0.00,2.00,0.00,0.000,6,0.000,0.035,2260,2504,2940,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7921,-1.13,-50.7,945.0,-10.5,778,7925,0.00,2.25,0.00,0.000,4,0.000,0.040,2260,1105,2940,0,0,0,0,0,0,28.83,25.52,28.83
$GC,7971,-1.13,-50.7,949.5,-10.8,780,7975,0.00,2.30,0.00,0.000,6,0.000,0.044,2250,2501,2940,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8281,-1.13,-50.7,985.5,-11.6,796,8282,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2502,2939,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8340,begin apogee
$GC,8343,-0.17,0.0,992.1,-11.2,799,8395,1.17,0.00,46.72,1.265,6,0.168,0.000,2571,2192,2739,0,0,0,0,0,0,24.65,28.83,23.20
$STATE,8395,end apogee,CONTROL_FINISHED_OK
$STATE,8395,begin climb
$GC,8396,0.92,50.7,993.1,0.0,801,8456,1.08,2.40,52.53,1.242,4,0.067,0.041,2952,806,2529,0,0,0,0,0,0,24.77,24.24,22.76
$GC,8516,0.95,99.6,990.3,2.7,807,8570,0.00,2.35,49.22,1.238,6,0.000,0.037,2952,2203,2331,0,0,0,0,0,0,28.83,24.76,22.62
$GC,8881,0.95,99.6,954.4,10.7,826,8885,0.00,2.33,0.00,0.000,4,0.000,0.042,2962,796,2321,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8946,0.95,99.6,948.1,10.6,829,8950,0.00,2.30,0.00,0.000,6,0.000,0.038,2962,2199,2321,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9261,0.92,99.6,913.8,10.6,845,9265,0.00,2.28,0.00,0.000,4,0.000,0.041,2973,805,2319,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9412,0.90,99.6,898.1,11.3,852,9415,0.12,2.28,0.00,0.000,6,0.180,0.038,2933,2202,2318,0,0,0,0,0,0,25.10,25.60,28.83
$GC,9721,0.90,99.6,866.4,10.2,868,9725,0.00,2.30,0.00,0.000,4,0.000,0.041,2941,799,2318,0,0,0,0,0,0,28.83,25.60,28.83
$GC,9736,0.90,99.6,866.4,10.2,868,9743,0.00,2.28,0.00,0.000,6,0.000,0.037,2941,2197,2317,0,0,0,0,0,0,28.83,25.62,28.83
$GC,10041,0.90,99.6,832.7,10.1,884,10045,0.00,2.28,0.00,0.000,4,0.000,0.043,2951,802,2316,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10141,0.90,99.6,822.3,10.5,889,10145,0.00,2.28,0.00,0.000,6,0.000,0.038,2951,2204,2317,0,0,0,0,0,0,28.83,25.61,28.83
$GC,10461,0.90,99.6,789.7,9.9,905,10465,0.00,2.30,0.00,0.000,4,0.000,0.043,2961,802,2316,0,0,0,0,0,0,28.83,25.58,28.83
$GC,10496,0.90,99.6,787.8,9.7,906,10504,0.10,2.28,0.00,0.000,6,0.179,0.038,2936,2200,2316,0,0,0,0,0,0,25.20,25.60,28.83
$GC,10801,0.90,99.6,757.5,9.8,922,10805,0.00,2.28,0.00,0.000,4,0.000,0.042,2944,808,2315,0,0,0,0,0,0,28.83,25.57,28.83
$GC,10821,0.90,99.6,755.7,9.5,923,10825,0.00,2.28,0.00,0.000,6,0.000,0.038,2944,2205,2315,0,0,0,0,0,0,28.83,25.59,28.83
$GC,11141,0.90,99.6,723.7,10.0,939,11145,0.00,2.30,0.00,0.000,4,0.000,0.042,2954,802,2315,0,0,0,0,0,0,28.83,25.54,28.83
$GC,11316,0.90,99.6,707.5,10.3,947,11323,0.00,2.28,0.00,0.000,6,0.000,0.038,2954,2202,2314,0,0,0,0,0,0,28.83,25.56,28.83
$GC,11621,0.90,99.6,676.2,9.4,963,11622,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2202,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11921,0.90,99.6,649.3,9.0,978,11922,0.00,0.00,0.00,0.000,6,0.000,0.000,2954,2202,2314,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12221,0.90,99.6,624.5,8.0,993,12225,0.00,2.30,0.00,0.000,4,0.000,0.043,2965,802,2314,0,0,0,0,0,0,28.83,25.50,28.83
$GC,12336,0.90,99.6,616.3,8.2,998,12344,0.10,2.28,0.00,0.000,6,0.180,0.038,2939,2200,2314,0,0,0,0,0,0,25.09,25.53,28.83
$GC,12642,0.91,103.2,592.6,7.5,1019,12645,0.00,2.25,0.00,0.000,4,0.000,0.042,2947,803,2313,0,0,0,0,0,0,28.83,25.50,28.83
$GC,12771,0.91,103.2,582.5,8.0,1032,12775,0.00,2.28,0.00,0.000,6,0.000,0.039,2947,2196,2313,0,0,0,0,0,0,28.83,25.53,28.83
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$STATE,19919,end climb,SURFACE_DEPTH_REACHED
$STATE,19920,begin surface coast
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$STATE,19964,end surface coast,CONTROL_FINISHED_OK
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$HUMID,40.19
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,18.80
$XPDR_PINGS,138
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$10V_AH,9.8,33.465
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297428
$DATA_FILE_SIZE,83193,2002
$CAP_FILE_SIZE,216690,0
$CFSIZE,260165632,245702656
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,165.729,320.9,1
$GPS,080712,211900,4648.909,-12511.218,901,99.0,901,18.4