version: 66.11
glider: 178
mission: 14
dive: 40
start: 6 20 112 15 24 59
data:
$ID,178
$MISSION,14
$DIVE,40
$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,-13239.474
$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,46
$R_STBD_OVSHOOT,28
$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
$GPS1,200612,151831,4730.388,-12612.078,343,1.0,343,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-73.3
$GPS2,200612,152450,4730.388,-12612.131,13,1.1,13,18.7
$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,224.6,22368,-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,13,-0.66,-126.5,0.0,0.0,0,79,0.00,0.00,-64.72,0.000,2,0.000,0.000,162,2506,2808,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.66,-126.5,3.3,-8.4,11,105,10.85,2.10,-8.48,0.000,4,0.269,0.073,2415,3774,3256,0,0,0,0,0,0,24.73,25.39,25.86
$GC,329,-0.60,-126.5,49.4,-12.4,60,338,0.08,2.03,0.00,0.000,6,0.151,0.037,2437,2500,3260,0,0,0,0,0,0,25.41,25.74,28.83
$GC,636,-0.57,-126.5,83.3,-11.8,121,643,0.00,2.15,0.00,0.000,4,0.000,0.063,2430,3774,3263,0,0,0,0,0,0,28.83,25.56,28.83
$GC,652,-0.55,-126.5,85.2,-12.2,124,660,0.10,2.00,0.00,0.000,6,0.132,0.041,2461,2503,3263,0,0,0,0,0,0,25.51,25.86,28.83
$GC,960,-0.58,-126.5,111.8,-7.8,185,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2503,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1265,-0.63,-126.5,132.4,-6.2,246,1265,0.00,0.00,0.00,0.000,6,0.000,0.000,2461,2503,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1565,-0.68,-126.5,153.7,-6.8,306,1572,0.12,2.12,0.00,0.000,4,0.090,0.062,2395,3771,3263,0,0,0,0,0,0,26.22,25.67,28.83
$GC,1580,-0.68,-126.5,155.0,-8.4,309,1588,0.00,2.00,0.00,0.000,6,0.000,0.036,2395,2493,3263,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1887,-0.65,-126.5,184.5,-9.7,370,1894,0.15,2.22,0.00,0.000,4,0.158,0.042,2434,1101,3263,0,0,0,0,0,0,25.84,25.84,28.83
$GC,1923,-0.68,-126.5,187.2,-6.9,377,1930,0.00,2.28,0.00,0.000,6,0.000,0.045,2427,2504,3263,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2233,-0.68,-126.5,207.5,-7.0,428,2234,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2505,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2534,-0.68,-126.5,229.3,-7.4,458,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2505,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2834,-0.68,-126.5,252.3,-7.7,488,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2504,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3134,-0.69,-126.5,276.3,-8.2,518,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2505,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3434,-0.71,-126.5,301.1,-8.0,548,3435,0.00,0.00,0.00,0.000,6,0.000,0.000,2427,2504,3261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3734,-0.73,-126.5,326.2,-8.3,578,3737,0.00,2.12,0.00,0.000,4,0.000,0.063,2417,3779,3260,0,0,0,0,0,0,28.83,25.67,28.83
$GC,3758,-0.75,-126.5,328.0,-8.5,580,3766,0.00,2.00,0.00,0.000,6,0.000,0.037,2417,2501,3260,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4063,-0.75,-126.5,354.8,-8.4,611,4067,0.00,2.12,0.00,0.000,4,0.000,0.062,2408,3770,3260,0,0,0,0,0,0,28.83,25.67,28.83
$GC,4108,-0.75,-126.5,358.5,-9.1,615,4116,0.00,2.00,0.00,0.000,6,0.000,0.038,2408,2490,3260,0,0,0,0,0,0,28.83,26.10,28.83
$GC,4413,-0.75,-126.5,383.4,-7.6,646,4417,0.00,2.12,0.00,0.000,4,0.000,0.060,2399,3768,3259,0,0,0,0,0,0,28.83,25.68,28.83
$GC,4443,-0.75,-126.5,386.0,-8.0,649,4447,0.00,1.98,0.00,0.000,6,0.000,0.038,2399,2509,3259,0,0,0,0,0,0,28.83,26.09,28.83
$GC,4753,-0.75,-126.5,411.2,-8.2,680,4757,0.00,2.22,0.00,0.000,4,0.000,0.043,2399,1105,3259,0,0,0,0,0,0,28.83,25.82,28.83
$GC,4773,-0.75,-126.5,412.8,-8.5,682,4777,0.00,2.28,0.00,0.000,6,0.000,0.047,2389,2505,3259,0,0,0,0,0,0,28.83,25.81,28.83
$GC,5083,-0.72,-126.5,439.3,-8.6,713,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2505,3258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5384,-0.70,-126.5,465.4,-8.7,743,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2505,3258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5684,-0.68,-126.5,492.9,-9.0,773,5685,0.12,0.00,0.00,0.000,6,0.169,0.000,2419,2505,3257,0,0,0,0,0,0,26.08,28.83,28.83
$GC,5984,-0.70,-126.5,514.6,-6.9,803,5984,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2505,3257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6285,-0.73,-126.5,535.6,-7.0,833,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2505,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6584,-0.75,-126.5,556.4,-6.8,863,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2505,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6884,-0.78,-126.5,576.6,-7.2,893,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,2419,2505,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7184,-0.81,-126.5,596.2,-6.5,923,7185,0.12,0.00,0.00,0.000,6,0.092,0.000,2368,2505,3255,0,0,0,0,0,0,26.39,28.83,28.83
$GC,7494,-0.77,-126.5,624.1,-9.0,941,7497,0.00,2.12,0.00,0.000,4,0.000,0.064,2358,3773,3254,0,0,0,0,0,0,28.83,25.63,28.83
$GC,7518,-0.73,-126.5,626.1,-9.1,942,7523,0.12,2.00,0.00,0.000,6,0.148,0.038,2396,2493,3254,0,0,0,0,0,0,25.57,26.13,28.83
$GC,7834,-0.73,-126.5,649.8,-7.3,958,7834,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2493,3254,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8133,-0.73,-126.5,671.9,-7.4,973,8134,0.00,0.00,0.00,0.000,6,0.000,0.000,2396,2493,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8433,-0.73,-126.5,693.5,-7.1,988,8437,0.00,2.15,0.00,0.000,4,0.000,0.064,2388,3774,3253,0,0,0,0,0,0,28.83,25.60,28.83
$GC,8458,-0.73,-126.5,695.0,-7.3,989,8463,0.00,2.00,0.00,0.000,6,0.000,0.038,2389,2495,3253,0,0,0,0,0,0,28.83,26.13,28.83
$GC,8773,-0.73,-126.5,719.5,-7.7,1005,8774,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2496,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9073,-0.73,-126.5,742.8,-8.0,1020,9074,0.00,0.00,0.00,0.000,6,0.000,0.000,2388,2496,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9373,-0.73,-126.5,766.3,-8.1,1035,9377,0.00,2.22,0.00,0.000,4,0.000,0.045,2388,1106,3252,0,0,0,0,0,0,28.83,25.80,28.83
$GC,9398,-0.73,-126.5,767.9,-8.1,1036,9402,0.00,2.28,0.00,0.000,6,0.000,0.048,2378,2500,3252,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9714,-0.71,-126.5,794.5,-8.3,1052,9715,0.12,0.00,0.00,0.000,6,0.171,0.000,2409,2500,3251,0,0,0,0,0,0,26.11,28.83,28.83
$GC,10014,-0.74,-126.5,814.4,-6.4,1067,10014,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2500,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10314,-0.77,-126.5,832.7,-6.0,1082,10318,0.00,2.12,0.00,0.000,4,0.000,0.063,2402,3774,3251,0,0,0,0,0,0,28.83,25.57,28.83
$GC,10354,-0.79,-126.5,835.3,-6.2,1084,10358,0.00,2.03,0.00,0.000,6,0.000,0.040,2402,2488,3251,0,0,0,0,0,0,28.83,26.08,28.83
$GC,10674,-0.81,-126.5,856.2,-6.6,1100,10677,0.00,2.15,0.00,0.000,4,0.000,0.064,2393,3770,3250,0,0,0,0,0,0,28.83,25.54,28.83
$GC,10699,-0.83,-126.5,857.5,-6.6,1101,10702,0.00,2.00,0.00,0.000,6,0.000,0.040,2393,2501,3251,0,0,0,0,0,0,28.83,26.08,28.83
$GC,11013,-0.83,-126.5,879.8,-6.7,1117,11014,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2502,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11314,-0.83,-126.5,899.0,-6.3,1132,11317,0.00,2.15,0.00,0.000,4,0.000,0.065,2384,3773,3250,0,0,0,0,0,0,28.83,25.54,28.83
$GC,11343,-0.83,-126.5,900.4,-6.2,1133,11348,0.00,2.00,0.00,0.000,6,0.000,0.040,2383,2502,3250,0,0,0,0,0,0,28.83,26.07,28.83
$GC,11653,-0.83,-126.5,922.4,-6.9,1149,11654,0.00,0.00,0.00,0.000,6,0.000,0.000,2383,2502,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11954,-0.83,-126.5,943.2,-7.0,1164,11957,0.00,2.15,0.00,0.000,4,0.000,0.066,2374,3771,3249,0,0,0,0,0,0,28.83,25.50,28.83
$GC,12023,-0.83,-126.5,948.1,-7.8,1167,12027,0.00,2.00,0.00,0.000,6,0.000,0.041,2374,2501,3249,0,0,0,0,0,0,28.83,26.05,28.83
$GC,12334,-0.83,-126.5,973.1,-7.8,1183,12337,0.00,2.15,0.00,0.000,4,0.000,0.065,2365,3776,3249,0,0,0,0,0,0,28.83,25.49,28.83
$GC,12363,-0.83,-126.5,974.7,-7.9,1184,12367,0.00,2.05,0.00,0.000,6,0.000,0.047,2365,2489,3249,0,0,0,0,0,0,28.83,26.05,28.83
$STATE,12552,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12552,begin apogee
$GC,12555,-0.17,0.0,991.4,-8.2,1194,12676,0.70,0.00,114.93,1.277,6,0.137,0.000,2576,2204,2736,0,0,0,0,0,0,24.99,28.83,22.91
$STATE,12677,end apogee,CONTROL_FINISHED_OK
$STATE,12677,begin climb
$GC,12678,0.66,126.5,995.2,0.0,1200,12806,0.80,2.47,120.72,1.257,4,0.065,0.048,2867,804,2222,0,0,0,0,0,0,24.29,23.69,22.46
$GC,12919,0.58,126.5,982.4,9.9,1212,12924,0.12,2.38,0.00,0.000,6,0.154,0.043,2833,2195,2215,0,0,0,0,0,0,24.41,24.70,28.83
$GC,13230,0.54,126.5,953.4,9.0,1228,13233,0.00,2.40,0.00,0.000,4,0.000,0.060,2833,3606,2210,0,0,0,0,0,0,28.83,25.25,28.83
$GC,13295,0.47,126.5,947.2,9.9,1231,13299,0.15,2.28,0.00,0.000,6,0.158,0.038,2799,2197,2210,0,0,0,0,0,0,25.04,25.51,28.83
$GC,13609,0.47,126.5,920.9,8.0,1247,13610,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2194,2208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13910,0.47,126.5,897.2,8.0,1262,13910,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2194,2207,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14209,0.48,134.5,874.3,7.5,1277,14217,0.00,0.00,6.47,0.947,6,0.000,0.000,2799,2194,2188,0,0,0,0,0,0,28.83,28.83,24.20
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$STATE,24436,end climb,SURFACE_DEPTH_REACHED
$STATE,24436,begin surface coast
$FINISH,0.1,1.014313
$STATE,24465,end surface coast,CONTROL_FINISHED_OK
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$HUMID,42.32
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$XPDR_PINGS,1216
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$10V_AH,9.9,26.008
$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
$SENSOR_SECS,1643.634,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297252
$DATA_FILE_SIZE,96529,2375
$CAP_FILE_SIZE,242087,0
$CFSIZE,260165632,252518400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.080,357.5,1
$GPS,200612,221757,4730.355,-12615.968,237,99.0,256,18.7