version: 66.11
glider: 178
mission: 14
dive: 51
start: 6 22 112 20 49 41
data:
$ID,178
$MISSION,14
$DIVE,51
$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,-13489.625
$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,48
$R_STBD_OVSHOOT,30
$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
$GPS1,220612,204406,4729.453,-12622.069,244,1.0,244,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.70
$_SM_ANGLEo,-73.2
$GPS2,220612,204932,4729.495,-12622.099,12,1.9,12,18.7
$SPEED_LIMITS,0.136,0.209
$TGT_NAME,HARP
$TGT_LATLONG,4730.030,-12521.220
$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,89.2,76177,-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,-126.5,0.0,0.0,0,81,0.00,0.00,-67.10,0.000,2,0.000,0.000,163,2509,2900,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.66,-126.5,4.1,-12.4,12,108,11.00,2.15,-6.25,0.000,4,0.272,0.073,2411,3765,3257,0,0,0,0,0,0,24.56,25.17,25.48
$GC,332,-0.59,-126.5,52.1,-12.8,61,339,0.10,2.03,0.00,0.000,6,0.145,0.037,2440,2506,3262,0,0,0,0,0,0,25.10,25.46,28.83
$GC,637,-0.59,-126.5,87.2,-10.8,122,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2506,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,937,-0.59,-126.5,113.4,-7.2,182,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2506,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1238,-0.62,-126.5,135.7,-7.8,242,1239,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2506,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1538,-0.65,-126.5,159.3,-8.4,302,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2506,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1838,-0.68,-126.5,181.4,-6.1,362,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2506,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2144,-0.71,-126.5,200.9,-6.7,422,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2440,2506,3265,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2444,-0.75,-126.5,221.2,-7.1,452,2447,0.15,2.15,0.00,0.000,4,0.077,0.060,2368,3768,3264,0,0,0,0,0,0,25.59,25.33,28.83
$GC,2493,-0.69,-126.5,226.2,-10.5,457,2498,0.15,2.03,0.00,0.000,6,0.146,0.037,2412,2505,3264,0,0,0,0,0,0,25.10,25.59,28.83
$GC,2803,-0.69,-126.5,251.5,-7.8,488,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,2411,2505,3264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3104,-0.69,-126.5,274.1,-7.7,518,3107,0.00,2.15,0.00,0.000,4,0.000,0.061,2405,3765,3263,0,0,0,0,0,0,28.83,25.29,28.83
$GC,3168,-0.69,-126.5,278.9,-8.2,524,3175,0.00,2.03,0.00,0.000,6,0.000,0.045,2405,2504,3262,0,0,0,0,0,0,28.83,24.34,28.83
$GC,3473,-0.69,-126.5,305.7,-9.0,555,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2505,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3773,-0.69,-126.5,331.9,-8.6,585,3777,0.00,2.15,0.00,0.000,4,0.000,0.061,2396,3766,3262,0,0,0,0,0,0,28.83,25.27,28.83
$GC,3858,-0.69,-126.5,338.9,-8.8,593,3865,0.00,2.05,0.00,0.000,6,0.000,0.037,2396,2486,3262,0,0,0,0,0,0,28.83,25.56,28.83
$GC,4163,-0.69,-126.5,365.8,-8.8,624,4167,0.00,2.17,0.00,0.000,4,0.000,0.060,2386,3763,3261,0,0,0,0,0,0,28.83,25.26,28.83
$GC,4198,-0.68,-126.5,368.4,-8.8,627,4206,0.10,2.03,0.00,0.000,6,0.138,0.037,2421,2497,3261,0,0,0,0,0,0,25.18,25.55,28.83
$GC,4503,-0.69,-126.5,392.4,-7.7,658,4504,0.00,0.00,0.00,0.000,6,0.000,0.000,2416,2497,3261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4804,-0.71,-126.5,415.7,-7.6,688,4807,0.00,2.17,0.00,0.000,4,0.000,0.061,2409,3770,3260,0,0,0,0,0,0,28.83,25.23,28.83
$GC,4863,-0.71,-126.5,420.8,-8.6,694,4868,0.00,2.03,0.00,0.000,6,0.000,0.037,2409,2506,3260,0,0,0,0,0,0,28.83,25.53,28.83
$GC,5173,-0.71,-126.5,444.6,-7.6,725,5174,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2506,3260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5474,-0.71,-126.5,467.1,-7.5,755,5474,0.00,0.00,0.00,0.000,6,0.000,0.000,2409,2506,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5774,-0.71,-126.5,489.4,-6.9,785,5777,0.00,2.15,0.00,0.000,4,0.000,0.061,2400,3764,3259,0,0,0,0,0,0,28.83,25.20,28.83
$GC,5823,-0.71,-126.5,493.2,-7.6,790,5828,0.00,2.05,0.00,0.000,6,0.000,0.037,2400,2493,3256,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6134,-0.71,-126.5,515.5,-7.1,821,6137,0.00,2.20,0.00,0.000,4,0.000,0.062,2390,3774,3258,0,0,0,0,0,0,28.83,25.19,28.83
$GC,6203,-0.71,-126.5,521.0,-8.1,828,6207,0.00,2.05,0.00,0.000,6,0.000,0.037,2390,2500,3258,0,0,0,0,0,0,28.83,25.51,28.83
$GC,6513,-0.71,-126.5,546.6,-8.2,859,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2500,3257,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6813,-0.71,-126.5,571.8,-8.6,889,6817,0.00,2.17,0.00,0.000,4,0.000,0.062,2377,3770,3257,0,0,0,0,0,0,28.83,25.19,28.83
$GC,6843,-0.71,-126.5,574.5,-8.7,892,6847,0.00,2.05,0.00,0.000,6,0.000,0.038,2381,2499,3256,0,0,0,0,0,0,28.83,25.50,28.83
$GC,7153,-0.69,-126.5,602.1,-8.8,922,7154,0.15,0.00,0.00,0.000,6,0.157,0.000,2418,2498,3257,0,0,0,0,0,0,25.18,28.83,28.83
$GC,7454,-0.73,-126.5,622.3,-6.7,937,7454,0.00,0.00,0.00,0.000,6,0.000,0.000,2418,2498,3256,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7753,-0.76,-126.5,642.4,-6.8,952,7757,0.00,2.20,0.00,0.000,4,0.000,0.063,2411,3774,3256,0,0,0,0,0,0,28.83,25.15,28.83
$GC,7798,-0.79,-126.5,645.3,-6.9,954,7802,0.00,2.05,0.00,0.000,6,0.000,0.038,2410,2506,3255,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8114,-0.81,-126.5,667.2,-6.6,970,8118,0.00,2.17,0.00,0.000,4,0.000,0.063,2401,3772,3255,0,0,0,0,0,0,28.83,25.14,28.83
$GC,8143,-0.84,-126.5,668.6,-6.6,971,8147,0.00,2.08,0.00,0.000,6,0.000,0.038,2401,2487,3255,0,0,0,0,0,0,28.83,25.47,28.83
$GC,8453,-0.84,-126.5,691.5,-7.2,987,8454,0.00,0.00,0.00,0.000,6,0.000,0.000,2401,2488,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8753,-0.85,-126.5,713.5,-7.4,1002,8755,0.12,0.00,0.00,0.000,6,0.091,0.000,2353,2487,3254,0,0,0,0,0,0,25.48,28.83,28.83
$GC,9053,-0.80,-126.5,741.1,-9.3,1017,9054,0.00,0.00,0.00,0.000,6,0.000,0.000,2353,2487,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9353,-0.76,-126.5,767.4,-8.8,1032,9357,0.17,2.20,0.00,0.000,4,0.165,0.062,2388,3767,3253,0,0,0,0,0,0,25.01,25.12,28.83
$GC,9433,-0.76,-126.5,773.5,-7.5,1036,9438,0.00,2.05,0.00,0.000,6,0.000,0.041,2388,2507,3253,0,0,0,0,0,0,28.83,25.44,28.83
$GC,9753,-0.76,-126.5,796.3,-7.1,1052,9757,0.00,2.30,0.00,0.000,4,0.000,0.044,2388,1107,3253,0,0,0,0,0,0,28.83,25.21,28.83
$GC,9778,-0.76,-126.5,797.9,-7.2,1053,9782,0.00,2.33,0.00,0.000,6,0.000,0.047,2378,2493,3253,0,0,0,0,0,0,28.83,25.24,28.83
$GC,10093,-0.76,-126.5,822.3,-7.8,1069,10094,0.00,0.00,0.00,0.000,6,0.000,0.000,2378,2494,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10393,-0.76,-126.5,845.0,-7.5,1084,10397,0.00,2.20,0.00,0.000,4,0.000,0.063,2368,3776,3253,0,0,0,0,0,0,28.83,25.09,28.83
$GC,10433,-0.74,-126.5,848.2,-7.8,1086,10438,0.10,2.08,0.00,0.000,6,0.140,0.038,2398,2495,3251,0,0,0,0,0,0,25.03,25.43,28.83
$GC,10754,-0.76,-126.5,869.3,-6.7,1102,10755,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2495,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11053,-0.78,-126.5,889.9,-7.0,1117,11054,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2495,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11354,-0.80,-126.5,910.5,-6.6,1132,11354,0.00,0.00,0.00,0.000,6,0.000,0.000,2398,2495,3252,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11653,-0.82,-126.5,929.5,-6.3,1147,11657,0.00,2.30,0.00,0.000,4,0.000,0.044,2398,1104,3251,0,0,0,0,0,0,28.83,25.19,28.83
$GC,11683,-0.84,-126.5,930.8,-6.4,1148,11688,0.00,2.35,0.00,0.000,6,0.000,0.047,2391,2504,3251,0,0,0,0,0,0,28.83,25.20,28.83
$GC,11993,-0.84,-126.5,951.6,-6.4,1164,11994,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2504,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12293,-0.84,-126.5,971.0,-6.6,1179,12294,0.00,0.00,0.00,0.000,6,0.000,0.000,2391,2504,3251,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12592,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12592,begin apogee
$GC,12595,-0.17,0.0,991.3,-6.7,1194,12716,0.62,0.00,116.90,1.276,6,0.126,0.000,2578,2203,2737,0,0,0,0,0,0,24.77,28.83,22.75
$STATE,12717,end apogee,CONTROL_FINISHED_OK
$STATE,12717,begin climb
$GC,12718,0.66,126.5,994.9,0.0,1200,12848,0.82,2.55,122.12,1.254,4,0.065,0.048,2867,804,2219,0,0,0,0,0,0,23.99,23.62,22.46
$GC,12928,0.58,126.5,986.3,8.6,1210,12937,0.12,2.42,0.00,0.000,6,0.152,0.042,2833,2206,2213,0,0,0,0,0,0,24.25,24.48,28.83
$GC,13234,0.54,126.6,960.5,7.9,1226,13234,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2207,2209,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13533,0.49,127.3,937.7,7.8,1241,13535,0.12,0.00,0.00,0.000,6,0.179,0.000,2806,2208,2206,0,0,0,0,0,0,25.17,28.83,28.83
$GC,13833,0.52,149.0,917.3,6.9,1256,13858,0.00,2.42,20.05,1.155,4,0.000,0.060,2803,3612,2129,0,0,0,0,0,0,28.83,25.11,23.85
$GC,13878,0.54,167.8,914.3,7.1,1258,13903,0.00,2.30,19.58,1.137,6,0.000,0.036,2810,2192,2051,0,0,0,0,0,0,28.83,25.20,23.59
$GC,14214,0.54,168.8,887.2,7.8,1275,14217,0.00,2.30,0.00,0.000,4,0.000,0.048,2821,817,2045,0,0,0,0,0,0,28.83,25.25,28.83
$GC,14243,0.54,168.8,885.6,7.9,1276,14247,0.00,2.30,0.00,0.000,6,0.000,0.042,2821,2201,2044,0,0,0,0,0,0,28.83,25.31,28.83
$GC,14553,0.53,168.8,858.8,8.4,1292,14557,0.00,2.38,0.00,0.000,4,0.000,0.060,2821,3604,2041,0,0,0,0,0,0,28.83,25.31,28.83
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$STATE,24843,end climb,SURFACE_DEPTH_REACHED
$STATE,24844,begin surface coast
$FINISH,0.2,1.023815
$STATE,24874,end surface coast,CONTROL_FINISHED_OK
$STATE,24874,begin surface
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$TT8_MAMPS,0.053928,0.053928
$HUMID,40.19
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$XPDR_PINGS,241
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$10V_AH,9.9,27.066
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,297268
$DATA_FILE_SIZE,96590,2407
$CAP_FILE_SIZE,237474,0
$CFSIZE,260165632,251674624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.127,359.0,1
$GPS,230612,035006,4730.206,-12618.279,257,1.3,262,18.7