version: 66.11
glider: 179
mission: 9
dive: 14
start: 6 13 112 9 33 3
data:
$ID,179
$MISSION,9
$DIVE,14
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,2.5
$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,450
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51739
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,32.6903
$TGT_DEFAULT_LON,-118.7761
$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,-18532.42
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,147
$PITCH_MAX,3923
$C_PITCH,2980
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,24
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,165
$ROLL_MAX,3681
$ROLL_DEG,40
$C_ROLL_DIVE,2350
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,460
$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,150
$AH0_10V,100
$MINV_24V,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-38.870029
$PRESSURE_SLOPE,0.0001164844
$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,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,-0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,1
$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,0.0043333764
$SEABIRD_T_H,0.0006255582
$SEABIRD_T_I,2.4443518e-05
$SEABIRD_T_J,2.7040428e-06
$SEABIRD_C_G,-10.032231
$SEABIRD_C_H,1.1531334
$SEABIRD_C_I,-0.0012400629
$SEABIRD_C_J,0.00018751388
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,40960.0
$PA_MAXOPTIONALUPLOADSIZE,20480.0
$PA_POWERSOURCE,0.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,130612,092513,4640.091,-12510.285,41,1.9,48,18.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.66
$_SM_ANGLEo,-76.2
$GPS2,130612,093220,4640.000,-12510.360,12,1.0,12,18.3
$SPEED_LIMITS,0.079,0.232
$TGT_NAME,HARP
$TGT_LATLONG,4730.030,-12521.220
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.031,0.229
$KALMAN_X,4381.2,-601.2,290.5,-22322.2,213.7
$KALMAN_Y,-8457.0,1185.0,-743.0,-19462.0,-1879.8
$MHEAD_RNG_PITCHd_Wd,340.6,93647,-14.4,-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,13,-0.77,-136.3,0.0,0.0,0,70,0.00,0.00,-55.17,0.000,2,0.000,0.000,119,2360,2635,0,0,0,0,0,0,28.83,28.83,28.83
$GC,72,-0.77,-136.3,3.7,-6.6,9,103,13.85,2.25,-12.43,0.000,4,0.295,0.051,2722,943,3296,0,0,0,0,0,0,24.69,25.29,25.70
$GC,107,-0.22,-136.3,18.2,-39.0,15,116,0.65,2.33,0.00,0.000,6,0.168,0.044,2906,2342,3299,0,0,0,0,0,0,24.87,25.23,28.83
$GC,415,-0.49,-136.3,42.6,-8.8,76,423,0.25,2.22,0.00,0.000,4,0.080,0.057,2817,3675,3302,0,0,0,0,0,0,25.56,25.39,28.83
$GC,506,-0.49,-136.3,50.3,-8.5,94,515,0.00,2.10,0.00,0.000,6,0.000,0.036,2817,2346,3302,0,0,0,0,0,0,28.83,25.69,28.83
$GC,813,-0.49,-136.3,79.6,-9.8,155,821,0.00,2.20,0.00,0.000,4,0.000,0.039,2812,962,3303,0,0,0,0,0,0,28.83,25.67,28.83
$GC,889,-0.49,-136.3,87.0,-9.4,170,898,0.00,2.25,0.00,0.000,6,0.000,0.043,2808,2354,3304,0,0,0,0,0,0,28.83,25.66,28.83
$GC,1197,-0.49,-136.3,115.0,-9.2,231,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2353,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1507,-0.51,-136.3,139.7,-6.8,292,1518,0.00,2.20,0.00,0.000,4,0.000,0.041,2807,947,3304,0,0,0,0,0,0,28.83,25.77,28.83
$GC,1547,-0.54,-136.3,143.1,-8.0,299,1558,0.00,2.22,0.00,0.000,6,0.000,0.042,2802,2368,3304,0,0,0,0,0,0,28.83,25.78,28.83
$GC,1857,-0.56,-136.3,167.9,-8.7,360,1866,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2369,3302,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2165,-0.58,-136.3,193.3,-8.0,421,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2369,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2474,-0.60,-136.3,216.9,-7.7,460,2482,0.00,2.22,0.00,0.000,4,0.000,0.041,2802,946,3303,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2506,-0.63,-136.3,218.9,-7.8,462,2517,0.00,2.22,0.00,0.000,6,0.000,0.043,2797,2357,3306,0,0,0,0,0,0,28.83,25.86,28.83
$GC,2811,-0.65,-136.3,244.9,-8.4,493,2818,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2357,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3112,-0.67,-136.3,269.0,-7.9,523,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,2357,3304,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3412,-0.70,-136.3,292.1,-7.4,553,3419,0.12,0.00,0.00,0.000,6,0.093,0.000,2749,2358,3302,0,0,0,0,0,0,26.35,28.83,28.83
$GC,3713,-0.65,-136.3,323.3,-10.9,583,3720,0.00,2.20,0.00,0.000,4,0.000,0.042,2746,945,3302,0,0,0,0,0,0,28.83,25.89,28.83
$GC,3739,-0.61,-136.3,326.1,-10.9,585,3748,0.17,2.22,0.00,0.000,6,0.157,0.044,2780,2356,3302,0,0,0,0,0,0,25.54,25.90,28.83
$GC,4044,-0.61,-136.3,351.6,-8.5,615,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2358,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4348,-0.61,-136.3,375.8,-7.7,645,4367,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2359,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4665,-0.61,-136.3,399.6,-7.9,676,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2359,3301,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4981,-0.61,-136.3,424.3,-7.6,707,5001,0.00,2.17,0.00,0.000,4,0.000,0.042,2780,949,3300,0,0,0,0,0,0,28.83,25.93,28.83
$GC,5038,-0.61,-136.3,428.5,-7.5,711,5057,0.00,2.22,0.00,0.000,6,0.000,0.045,2774,2353,3300,0,0,0,0,0,0,28.83,25.88,28.83
$GC,5355,-0.61,-136.3,453.1,-7.7,742,5374,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2353,3300,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5671,-0.61,-136.3,478.1,-8.2,773,5692,0.00,2.17,0.00,0.000,4,0.000,0.043,2775,952,3298,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5717,-0.61,-136.3,481.5,-7.7,776,5736,0.00,2.22,0.00,0.000,6,0.000,0.044,2766,2359,3298,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6034,-0.61,-136.3,506.6,-8.2,807,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2364,3298,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6350,-0.61,-136.3,531.2,-7.4,838,6369,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,2359,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6667,-0.61,-136.3,557.6,-8.6,869,6687,0.00,2.20,0.00,0.000,4,0.000,0.044,2766,953,3297,0,0,0,0,0,0,28.83,25.88,28.83
$GC,6701,-0.61,-136.3,560.5,-8.8,871,6720,0.00,2.22,0.00,0.000,6,0.000,0.045,2761,2353,3297,0,0,0,0,0,0,28.83,25.86,28.83
$GC,7017,-0.61,-136.3,588.1,-9.0,902,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2353,3296,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7334,-0.61,-136.3,616.2,-9.1,924,7347,0.00,2.17,0.00,0.000,4,0.000,0.044,2759,962,3295,0,0,0,0,0,0,28.83,25.89,28.83
$GC,7372,-0.61,-136.3,618.5,-9.0,925,7391,0.12,2.20,0.00,0.000,6,0.161,0.045,2780,2360,3296,0,0,0,0,0,0,25.62,25.84,28.83
$GC,7682,-0.63,-136.3,642.2,-7.1,941,7691,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,2359,3297,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7982,-0.66,-136.3,663.4,-7.0,956,7995,0.00,2.20,0.00,0.000,4,0.000,0.044,2781,953,3296,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8031,-0.69,-136.3,666.9,-7.3,958,8044,0.00,2.20,0.00,0.000,6,0.000,0.044,2776,2356,3296,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8352,-0.71,-136.3,689.5,-6.7,974,8365,0.00,2.17,0.00,0.000,4,0.000,0.044,2776,959,3296,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8389,-0.73,-136.3,691.3,-6.7,975,8397,0.00,2.20,0.00,0.000,6,0.000,0.045,2769,2350,3296,0,0,0,0,0,0,28.83,25.84,28.83
$GC,8695,-0.73,-136.3,714.9,-7.7,991,8697,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2350,3295,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8994,-0.73,-136.3,737.3,-7.5,1006,8998,0.00,2.20,0.00,0.000,4,0.000,0.043,2769,962,3295,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9049,-0.73,-136.3,740.5,-7.7,1008,9056,0.00,2.22,0.00,0.000,6,0.000,0.046,2762,2340,3295,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9355,-0.73,-136.3,766.0,-7.8,1024,9358,0.00,2.17,0.00,0.000,4,0.000,0.044,2762,956,3295,0,0,0,0,0,0,28.83,25.84,28.83
$GC,9389,-0.73,-136.3,769.0,-7.8,1026,9393,0.00,2.25,0.00,0.000,6,0.000,0.045,2754,2356,3294,0,0,0,0,0,0,28.83,25.83,28.83
$GC,9709,-0.73,-136.3,796.6,-8.9,1042,9713,0.00,2.22,0.00,0.000,4,0.000,0.045,2754,963,3294,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9764,-0.73,-136.3,800.2,-8.8,1044,9771,0.00,2.25,0.00,0.000,6,0.000,0.047,2746,2352,3294,0,0,0,0,0,0,28.83,25.80,28.83
$GC,10069,-0.71,-136.3,827.7,-8.3,1060,10073,0.00,2.20,0.00,0.000,4,0.000,0.044,2746,954,3294,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10104,-0.69,-136.3,829.4,-8.3,1061,10111,0.00,2.25,0.00,0.000,6,0.000,0.045,2737,2348,3297,0,0,0,0,0,0,28.83,25.82,28.83
$GC,10409,-0.66,-136.3,858.1,-9.4,1077,10412,0.12,0.00,0.00,0.000,6,0.180,0.000,2766,2348,3294,0,0,0,0,0,0,26.15,28.83,28.83
$GC,10709,-0.68,-136.3,880.0,-7.2,1092,10713,0.00,2.22,0.00,0.000,4,0.000,0.045,2767,956,3293,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10774,-0.70,-136.3,884.7,-7.7,1095,10778,0.00,2.25,0.00,0.000,6,0.000,0.047,2762,2348,3293,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11089,-0.70,-136.3,908.7,-7.3,1111,11091,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2348,3293,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11389,-0.70,-136.3,929.9,-7.1,1126,11393,0.00,2.22,0.00,0.000,4,0.000,0.046,2763,960,3292,0,0,0,0,0,0,28.83,25.73,28.83
$GC,11439,-0.70,-136.3,933.0,-7.2,1128,11443,0.00,2.25,0.00,0.000,6,0.000,0.046,2751,2352,3292,0,0,0,0,0,0,28.83,25.77,28.83
$GC,11749,-0.70,-136.3,957.1,-7.4,1144,11752,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,2349,3292,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12049,-0.70,-136.3,977.7,-7.3,1159,12053,0.00,2.25,0.00,0.000,4,0.000,0.046,2756,952,3292,0,0,0,0,0,0,28.83,25.75,28.83
$GC,12109,-0.70,-136.3,982.2,-7.5,1162,12113,0.00,2.25,0.00,0.000,6,0.000,0.046,2749,2348,3292,0,0,0,0,0,0,28.83,25.75,28.83
$STATE,12228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12228,begin apogee
$GC,12231,-0.21,0.0,991.3,-7.5,1168,12363,0.50,0.00,126.85,1.193,6,0.129,0.000,2904,2098,2737,0,0,0,0,0,0,25.41,28.83,22.89
$STATE,12365,end apogee,CONTROL_FINISHED_OK
$STATE,12365,begin climb
$GC,12366,0.77,136.3,995.6,0.0,1174,12504,0.98,2.50,130.12,1.177,4,0.072,0.047,3241,704,2182,0,0,0,0,0,0,24.09,23.56,22.51
$GC,12639,0.63,136.3,975.2,12.8,1188,12643,0.17,2.35,0.00,0.000,6,0.163,0.041,3193,2103,2174,0,0,0,0,0,0,24.32,24.68,28.83
$GC,12950,0.54,136.3,941.6,10.3,1204,12953,0.15,0.00,0.00,0.000,6,0.185,0.000,3158,2103,2172,0,0,0,0,0,0,25.07,28.83,28.83
$GC,13249,0.50,136.3,914.3,8.9,1219,13253,0.00,2.30,0.00,0.000,4,0.000,0.049,3166,711,2168,0,0,0,0,0,0,28.83,25.41,28.83
$GC,13279,0.45,136.3,912.6,8.9,1220,13283,0.12,2.25,0.00,0.000,6,0.155,0.041,3132,2098,2170,0,0,0,0,0,0,25.08,25.47,28.83
$GC,13590,0.43,136.3,887.7,7.9,1236,13593,0.00,0.00,0.00,0.000,6,0.000,0.000,3131,2098,2169,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23813,end climb,SURFACE_DEPTH_REACHED
$STATE,23813,begin surface coast
$FINISH,1.0,1.023698
$STATE,23844,end surface coast,CONTROL_FINISHED_OK
$STATE,23844,begin surface
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$TT8_MAMPS,0.128828,0.128828
$HUMID,38.42
$INTERNAL_PRESSURE,9.01717
$TCM_TEMP,19.30
$XPDR_PINGS,1
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$10V_AH,9.8,21.801
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
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$MEM,296896
$DATA_FILE_SIZE,89979,2201
$CAP_FILE_SIZE,324155,0
$CFSIZE,260165632,256950272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.048,230.8,1
$GPS,130612,161431,4642.686,-12510.940,41,1.4,41,18.3