version: 66.11
glider: 178
mission: 14
dive: 36
start: 6 19 112 11 45 28
data:
$ID,178
$MISSION,14
$DIVE,36
$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,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,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,-13234.422
$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,45
$R_STBD_OVSHOOT,27
$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,1.0
$PA_RESTARTMONITOR,0.0
$PA_SCALEFACTOR24V,1.3
$GPS1,190612,113936,4729.715,-12555.667,291,1.2,295,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-70.3
$GPS2,190612,114519,4729.745,-12555.689,14,1.2,16,18.7
$SPEED_LIMITS,0.136,0.209
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4730.030,-12630.000
$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,233.7,42932,-15.1,-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,-0.66,-126.5,0.0,0.0,0,77,0.00,0.00,-62.72,0.000,2,0.000,0.000,155,2510,2754,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.66,-126.5,3.3,-8.0,11,103,10.80,2.17,-9.57,0.000,4,0.269,0.074,2412,3778,3256,0,0,0,0,0,0,24.75,25.40,25.92
$GC,222,-0.58,-126.5,40.1,-13.9,39,230,0.12,2.05,0.00,0.000,6,0.147,0.037,2448,2497,3259,0,0,0,0,0,0,25.19,25.54,28.83
$GC,528,-0.58,-126.5,73.6,-10.6,100,535,0.00,2.17,0.00,0.000,4,0.000,0.069,2441,3780,3262,0,0,0,0,0,0,28.83,25.51,28.83
$GC,559,-0.58,-126.5,77.1,-12.1,106,566,0.00,2.03,0.00,0.000,6,0.000,0.046,2441,2506,3263,0,0,0,0,0,0,28.83,25.56,28.83
$GC,865,-0.58,-126.5,105.3,-9.3,167,872,0.00,2.12,0.00,0.000,4,0.000,0.060,2433,3773,3264,0,0,0,0,0,0,28.83,25.60,28.83
$GC,901,-0.58,-126.5,108.5,-9.4,174,908,0.00,2.00,0.00,0.000,6,0.000,0.037,2433,2499,3264,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1207,-0.58,-126.5,135.2,-9.4,235,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2433,2499,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1507,-0.58,-126.5,162.4,-8.1,295,1514,0.00,2.15,0.00,0.000,4,0.000,0.061,2423,3774,3264,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1543,-0.58,-126.5,165.7,-9.3,302,1550,0.00,2.00,0.00,0.000,6,0.000,0.037,2424,2500,3264,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1849,-0.58,-126.5,191.4,-8.1,363,1856,0.00,2.15,0.00,0.000,4,0.000,0.062,2414,3776,3263,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1875,-0.58,-126.5,193.7,-8.5,368,1882,0.10,2.00,0.00,0.000,6,0.130,0.037,2446,2498,3263,0,0,0,0,0,0,25.66,26.05,28.83
$GC,2186,-0.61,-126.5,215.8,-6.9,408,2190,0.00,2.12,0.00,0.000,4,0.000,0.062,2439,3768,3263,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2221,-0.65,-126.5,217.9,-7.1,411,2228,0.00,2.00,0.00,0.000,6,0.000,0.039,2439,2504,3263,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2526,-0.68,-126.5,239.2,-6.8,442,2527,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2503,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2827,-0.72,-126.5,260.1,-7.3,472,2827,0.00,0.00,0.00,0.000,6,0.000,0.000,2439,2504,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3127,-0.75,-126.5,280.3,-6.4,502,3130,0.12,2.10,0.00,0.000,4,0.092,0.063,2371,3775,3262,0,0,0,0,0,0,26.26,25.67,28.83
$GC,3156,-0.75,-126.5,282.9,-8.1,505,3160,0.00,2.00,0.00,0.000,6,0.000,0.037,2371,2496,3261,0,0,0,0,0,0,28.83,26.10,28.83
$GC,3466,-0.70,-126.5,313.7,-10.0,536,3467,0.17,0.00,0.00,0.000,6,0.160,0.000,2417,2496,3261,0,0,0,0,0,0,25.82,28.83,28.83
$GC,3766,-0.70,-126.5,335.3,-6.9,566,3770,0.00,2.12,0.00,0.000,4,0.000,0.062,2410,3770,3261,0,0,0,0,0,0,28.83,25.68,28.83
$GC,3811,-0.70,-126.5,338.3,-7.5,570,3818,0.00,1.98,0.00,0.000,6,0.000,0.039,2410,2509,3261,0,0,0,0,0,0,28.83,26.08,28.83
$GC,4116,-0.70,-126.5,360.9,-7.1,601,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2509,3260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4416,-0.70,-126.5,384.6,-8.2,631,4417,0.00,0.00,0.00,0.000,6,0.000,0.000,2410,2509,3260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4716,-0.70,-126.5,408.8,-7.6,661,4720,0.00,2.12,0.00,0.000,4,0.000,0.063,2400,3777,3259,0,0,0,0,0,0,28.83,25.68,28.83
$GC,4776,-0.70,-126.5,413.8,-8.4,667,4780,0.00,2.00,0.00,0.000,6,0.000,0.038,2400,2495,3259,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5086,-0.70,-126.5,440.0,-8.7,698,5090,0.00,2.12,0.00,0.000,4,0.000,0.062,2392,3770,3259,0,0,0,0,0,0,28.83,25.70,28.83
$GC,5126,-0.70,-126.5,443.8,-9.5,702,5130,0.00,2.00,0.00,0.000,6,0.000,0.039,2392,2498,3259,0,0,0,0,0,0,28.83,26.13,28.83
$GC,5436,-0.68,-126.5,472.2,-9.1,733,5437,0.12,0.00,0.00,0.000,6,0.166,0.000,2422,2497,3259,0,0,0,0,0,0,26.12,28.83,28.83
$GC,5736,-0.70,-126.5,495.2,-7.3,763,5740,0.00,2.12,0.00,0.000,4,0.000,0.063,2415,3767,3258,0,0,0,0,0,0,28.83,25.68,28.83
$GC,5791,-0.73,-126.5,499.4,-8.5,768,5798,0.00,2.00,0.00,0.000,6,0.000,0.044,2415,2508,3258,0,0,0,0,0,0,28.83,25.30,28.83
$GC,6096,-0.74,-126.5,523.5,-7.5,799,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2508,3257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6396,-0.76,-126.5,545.2,-6.9,829,6397,0.00,0.00,0.00,0.000,6,0.000,0.000,2415,2508,3257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6697,-0.78,-126.5,565.6,-6.6,859,6700,0.00,2.12,0.00,0.000,4,0.000,0.066,2406,3793,3256,0,0,0,0,0,0,28.83,25.65,28.83
$GC,6746,-0.80,-126.5,569.1,-6.9,864,6750,0.00,2.05,0.00,0.000,6,0.000,0.040,2406,2493,3256,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7056,-0.80,-126.5,590.3,-6.7,895,7060,0.00,2.15,0.00,0.000,4,0.000,0.063,2396,3771,3256,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7086,-0.80,-126.5,592.4,-7.0,898,7090,0.00,1.98,0.00,0.000,6,0.000,0.039,2396,2503,3256,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7396,-0.80,-126.5,614.6,-7.2,919,7397,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2503,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7696,-0.80,-126.5,635.9,-7.3,934,7697,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2503,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7996,-0.80,-126.5,659.7,-8.0,949,8000,0.00,2.22,0.00,0.000,4,0.000,0.044,2396,1102,3254,0,0,0,0,0,0,28.83,25.87,28.83
$GC,8011,-0.80,-126.5,659.7,-8.0,949,8019,0.00,2.28,0.00,0.000,6,0.000,0.047,2386,2499,3254,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8316,-0.80,-126.5,686.5,-8.4,965,8317,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2499,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8616,-0.80,-126.5,709.6,-7.3,980,8617,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2499,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8916,-0.80,-126.5,731.6,-7.4,995,8917,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2498,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9216,-0.80,-126.5,755.1,-7.8,1010,9217,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2499,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9516,-0.80,-126.5,778.3,-7.7,1025,9517,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2498,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9816,-0.80,-126.5,799.9,-7.3,1040,9817,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2499,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10116,-0.80,-126.5,821.1,-7.1,1055,10120,0.00,2.12,0.00,0.000,4,0.000,0.065,2377,3767,3251,0,0,0,0,0,0,28.83,25.57,28.83
$GC,10156,-0.80,-126.5,824.3,-7.6,1057,10160,0.00,2.00,0.00,0.000,6,0.000,0.041,2377,2504,3252,0,0,0,0,0,0,28.83,26.06,28.83
$GC,10476,-0.78,-126.5,847.8,-7.4,1073,10477,0.00,0.00,0.00,0.000,6,0.000,0.000,2377,2505,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10776,-0.76,-126.5,869.2,-7.3,1088,10777,0.00,0.00,0.00,0.000,6,0.000,0.000,2376,2504,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11076,-0.75,-126.5,890.6,-7.3,1103,11080,0.00,2.15,0.00,0.000,4,0.000,0.066,2367,3777,3250,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11096,-0.73,-126.5,892.2,-7.5,1104,11100,0.10,2.03,0.00,0.000,6,0.145,0.040,2397,2496,3251,0,0,0,0,0,0,25.64,26.08,28.83
$GC,11417,-0.75,-126.5,913.5,-6.7,1120,11420,0.00,2.12,0.00,0.000,4,0.000,0.065,2390,3774,3251,0,0,0,0,0,0,28.83,25.53,28.83
$GC,11436,-0.76,-126.5,914.8,-6.7,1121,11440,0.00,2.00,0.00,0.000,6,0.000,0.041,2390,2504,3251,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11756,-0.76,-126.5,937.9,-7.3,1137,11757,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2504,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12056,-0.76,-126.5,960.5,-7.3,1152,12057,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2505,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12356,-0.76,-126.5,980.8,-6.5,1167,12360,0.00,2.25,0.00,0.000,4,0.000,0.046,2390,1101,3250,0,0,0,0,0,0,28.83,25.74,28.83
$GC,12381,-0.76,-126.5,982.3,-6.7,1168,12385,0.00,2.30,0.00,0.000,6,0.000,0.050,2380,2505,3250,0,0,0,0,0,0,28.83,25.72,28.83
$STATE,12495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12495,begin apogee
$GC,12498,-0.17,0.0,990.9,-7.0,1174,12619,0.65,0.00,115.00,1.270,6,0.132,0.000,2580,2192,2737,0,0,0,0,0,0,25.17,28.83,22.92
$STATE,12620,end apogee,CONTROL_FINISHED_OK
$STATE,12620,begin climb
$GC,12621,0.66,126.5,994.0,0.0,1180,12750,0.77,2.53,121.18,1.245,4,0.062,0.049,2863,805,2219,0,0,0,0,0,0,24.30,23.69,22.49
$GC,12861,0.59,126.5,980.3,9.4,1192,12865,0.10,2.40,0.00,0.000,6,0.157,0.043,2837,2205,2213,0,0,0,0,0,0,24.42,24.69,28.83
$GC,13176,0.54,126.5,952.1,9.0,1208,13177,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2205,2209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13476,0.50,126.5,925.8,8.9,1223,13477,0.15,0.00,0.00,0.000,6,0.171,0.000,2799,2206,2207,0,0,0,0,0,0,25.46,28.83,28.83
$GC,13776,0.50,132.2,903.1,7.6,1238,13777,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2206,2205,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,23896,end climb,SURFACE_DEPTH_REACHED
$STATE,23896,begin surface coast
$FINISH,0.1,1.024034
$STATE,23941,end surface coast,CONTROL_FINISHED_OK
$STATE,23941,begin surface
$SM_CCo,23953,26.38,0.432,1,0,1309,350.04
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$TT8_MAMPS,0.050932,0.050932
$HUMID,41.88
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,18.50
$XPDR_PINGS,1085
$24V_AH,22.5,29.619
$10V_AH,9.9,25.548
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.650,172.425,402.375,26.375,0.000,30.729,36.482,169.524,271.250,0.000,17.037,0.000,18567.266,667.910,4899.295,158.541,0.000,2487.585,0.000,3632.341,0.000,0.826,0.000
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$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1603.832,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297264
$DATA_FILE_SIZE,93204,2319
$CAP_FILE_SIZE,244549,0
$CFSIZE,260165632,252944384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.030,  9.6,1
$GPS,190612,182936,4729.434,-12559.628,234,1.3,245,18.7