version: 66.11
glider: 178
mission: 14
dive: 66
start: 6 27 112 3 56 1
data:
$ID,178
$MISSION,14
$DIVE,66
$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,-13508.613
$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
$GPS1,270612,034957,4723.056,-12536.440,273,7.1,292,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.67
$_SM_ANGLEo,-73.4
$GPS2,270612,035552,4723.072,-12536.412,16,8.7,35,18.6
$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,141.4,68846,-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,-62.78,0.000,2,0.000,0.000,162,2501,2801,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.66,-126.5,3.5,-10.7,11,103,10.85,2.15,-8.27,0.000,4,0.267,0.070,2411,3783,3256,0,0,0,0,0,0,24.54,25.22,24.46
$GC,257,-0.59,-126.5,43.3,-15.2,46,264,0.12,2.05,0.00,0.000,6,0.144,0.036,2448,2499,3260,0,0,0,0,0,0,25.07,25.48,28.83
$GC,563,-0.59,-126.5,72.4,-9.6,107,570,0.00,2.17,0.00,0.000,4,0.000,0.059,2440,3771,3262,0,0,0,0,0,0,28.83,25.36,28.83
$GC,588,-0.59,-126.5,75.2,-10.7,112,596,0.00,2.03,0.00,0.000,6,0.000,0.035,2440,2494,3262,0,0,0,0,0,0,28.83,25.59,28.83
$GC,894,-0.59,-126.5,103.3,-9.0,173,903,0.00,2.17,0.00,0.000,4,0.000,0.058,2433,3774,3263,0,0,0,0,0,0,28.83,25.39,28.83
$GC,966,-0.59,-126.5,110.4,-9.9,187,974,0.00,2.03,0.00,0.000,6,0.000,0.034,2433,2500,3263,0,0,0,0,0,0,28.83,25.64,28.83
$GC,1272,-0.60,-126.5,138.7,-8.5,248,1279,0.00,2.15,0.00,0.000,4,0.000,0.059,2423,3766,3263,0,0,0,0,0,0,28.83,25.31,28.83
$GC,1303,-0.60,-126.5,141.4,-9.4,254,1310,0.00,2.03,0.00,0.000,6,0.000,0.036,2423,2492,3263,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1609,-0.60,-126.5,166.8,-7.9,315,1610,0.00,0.00,0.00,0.000,6,0.000,0.000,2423,2492,3263,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1909,-0.60,-126.5,191.0,-7.9,375,1916,0.00,2.17,0.00,0.000,4,0.000,0.059,2414,3774,3262,0,0,0,0,0,0,28.83,25.36,28.83
$GC,1970,-0.60,-126.5,196.0,-8.2,387,1977,0.08,2.03,0.00,0.000,6,0.135,0.042,2437,2499,3263,0,0,0,0,0,0,25.03,24.99,28.83
$GC,2281,-0.64,-126.5,218.0,-7.5,424,2285,0.00,2.15,0.00,0.000,4,0.000,0.059,2430,3770,3262,0,0,0,0,0,0,28.83,25.37,28.83
$GC,2311,-0.67,-126.5,220.3,-7.6,427,2315,0.00,2.03,0.00,0.000,6,0.000,0.035,2430,2492,3262,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2621,-0.70,-126.5,244.9,-7.6,458,2622,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2491,3262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2922,-0.73,-126.5,267.4,-7.1,488,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2430,2492,3261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3222,-0.76,-126.5,288.6,-7.1,518,3225,0.10,2.15,0.00,0.000,4,0.102,0.060,2373,3778,3261,0,0,0,0,0,0,25.63,25.34,28.83
$GC,3251,-0.76,-126.5,291.4,-8.9,521,3255,0.00,2.03,0.00,0.000,6,0.000,0.035,2374,2500,3260,0,0,0,0,0,0,28.83,25.64,28.83
$GC,3561,-0.72,-126.5,323.4,-10.1,552,3565,0.15,2.17,0.00,0.000,4,0.163,0.059,2403,3769,3260,0,0,0,0,0,0,25.27,25.33,28.83
$GC,3591,-0.70,-126.5,326.2,-9.4,555,3595,0.00,2.03,0.00,0.000,6,0.000,0.035,2403,2496,3260,0,0,0,0,0,0,28.83,25.62,28.83
$GC,3901,-0.70,-126.5,351.8,-8.4,586,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2496,3260,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4201,-0.70,-126.5,376.5,-8.2,616,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2403,2496,3259,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4502,-0.70,-126.5,402.3,-8.9,646,4505,0.00,2.17,0.00,0.000,4,0.000,0.060,2395,3773,3258,0,0,0,0,0,0,28.83,25.29,28.83
$GC,4556,-0.70,-126.5,407.2,-9.9,651,4563,0.00,2.03,0.00,0.000,6,0.000,0.036,2394,2502,3258,0,0,0,0,0,0,28.83,25.60,28.83
$GC,4861,-0.70,-126.5,437.8,-10.0,682,4862,0.00,0.00,0.00,0.000,6,0.000,0.000,2394,2502,3258,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5162,-0.70,-126.5,468.6,-10.2,712,5165,0.00,2.15,0.00,0.000,4,0.000,0.061,2384,3766,3257,0,0,0,0,0,0,28.83,25.27,28.83
$GC,5216,-0.70,-126.5,473.8,-10.7,717,5224,0.00,2.03,0.00,0.000,6,0.000,0.036,2385,2497,3257,0,0,0,0,0,0,28.83,25.58,28.83
$GC,5521,-0.68,-126.5,505.7,-10.2,748,5525,0.15,2.17,0.00,0.000,4,0.155,0.060,2415,3770,3256,0,0,0,0,0,0,25.25,25.26,28.83
$GC,5546,-0.68,-126.5,507.6,-10.1,750,5553,0.00,2.03,0.00,0.000,6,0.000,0.036,2414,2504,3256,0,0,0,0,0,0,28.83,25.57,28.83
$GC,5851,-0.71,-126.5,531.6,-6.9,781,5855,0.00,2.17,0.00,0.000,4,0.000,0.060,2406,3777,3256,0,0,0,0,0,0,28.83,25.25,28.83
$GC,5896,-0.73,-126.5,534.5,-7.4,785,5904,0.00,2.05,0.00,0.000,6,0.000,0.035,2405,2494,3256,0,0,0,0,0,0,28.83,25.56,28.83
$GC,6201,-0.74,-126.5,555.3,-6.5,816,6202,0.00,0.00,0.00,0.000,6,0.000,0.000,2406,2494,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6502,-0.74,-126.5,575.9,-7.0,846,6503,0.00,0.00,0.00,0.000,6,0.000,0.000,2405,2494,3255,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6802,-0.76,-126.5,597.8,-7.8,876,6805,0.00,2.17,0.00,0.000,4,0.000,0.061,2396,3767,3254,0,0,0,0,0,0,28.83,25.22,28.83
$GC,6831,-0.76,-126.5,600.2,-8.1,879,6835,0.00,2.03,0.00,0.000,6,0.000,0.037,2396,2509,3254,0,0,0,0,0,0,28.83,25.54,28.83
$GC,7141,-0.76,-126.5,625.2,-8.0,895,7145,0.00,2.15,0.00,0.000,4,0.000,0.061,2387,3767,3254,0,0,0,0,0,0,28.83,25.21,28.83
$GC,7171,-0.76,-126.5,626.9,-8.1,896,7175,0.00,2.03,0.00,0.000,6,0.000,0.037,2387,2502,3253,0,0,0,0,0,0,28.83,25.53,28.83
$GC,7481,-0.76,-126.5,653.1,-8.1,912,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2502,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7781,-0.76,-126.5,676.1,-7.8,927,7782,0.00,0.00,0.00,0.000,6,0.000,0.000,2387,2502,3253,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8081,-0.76,-126.5,698.4,-7.2,942,8085,0.00,2.17,0.00,0.000,4,0.000,0.062,2377,3768,3252,0,0,0,0,0,0,28.83,25.18,28.83
$GC,8111,-0.76,-126.5,699.8,-7.2,943,8115,0.00,2.05,0.00,0.000,6,0.000,0.037,2377,2496,3252,0,0,0,0,0,0,28.83,25.52,28.83
$GC,8421,-0.76,-126.5,722.8,-6.9,959,8425,0.00,2.20,0.00,0.000,4,0.000,0.061,2367,3770,3251,0,0,0,0,0,0,28.83,25.15,28.83
$GC,8486,-0.74,-126.5,727.5,-7.7,962,8490,0.10,2.05,0.00,0.000,6,0.145,0.037,2397,2497,3252,0,0,0,0,0,0,25.10,25.51,28.83
$GC,8801,-0.74,-126.5,750.6,-7.5,978,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,2397,2497,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9101,-0.74,-126.5,772.9,-7.1,993,9105,0.00,2.20,0.00,0.000,4,0.000,0.063,2390,3774,3250,0,0,0,0,0,0,28.83,25.15,28.83
$GC,9122,-0.74,-126.5,774.6,-7.3,994,9125,0.00,2.05,0.00,0.000,6,0.000,0.037,2389,2496,3250,0,0,0,0,0,0,28.83,25.50,28.83
$GC,9441,-0.74,-126.5,798.7,-7.8,1010,9442,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2496,3251,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9741,-0.74,-126.5,822.8,-8.2,1025,9742,0.00,0.00,0.00,0.000,6,0.000,0.000,2389,2496,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10041,-0.74,-126.5,847.1,-8.1,1040,10042,0.00,0.00,0.00,0.000,6,0.000,0.000,2390,2496,3250,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10341,-0.74,-126.5,870.9,-7.9,1055,10345,0.00,2.20,0.00,0.000,4,0.000,0.063,2380,3769,3250,0,0,0,0,0,0,28.83,25.13,28.83
$GC,10396,-0.74,-126.5,874.0,-7.8,1057,10404,0.00,2.05,0.00,0.000,6,0.000,0.038,2380,2501,3249,0,0,0,0,0,0,28.83,25.45,28.83
$GC,10701,-0.74,-126.5,898.3,-7.6,1073,10705,0.00,2.17,0.00,0.000,4,0.000,0.063,2370,3763,3249,0,0,0,0,0,0,28.83,25.08,28.83
$GC,10751,-0.74,-126.5,901.7,-8.2,1075,10755,0.08,2.05,0.00,0.000,6,0.143,0.037,2393,2496,3249,0,0,0,0,0,0,25.12,25.46,28.83
$GC,11062,-0.76,-126.5,923.3,-6.7,1091,11063,0.00,0.00,0.00,0.000,6,0.000,0.000,2393,2496,3249,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11361,-0.78,-126.5,943.3,-6.7,1106,11365,0.00,2.20,0.00,0.000,4,0.000,0.063,2386,3772,3249,0,0,0,0,0,0,28.83,25.12,28.83
$GC,11411,-0.79,-126.5,946.0,-6.8,1108,11415,0.00,2.05,0.00,0.000,6,0.000,0.038,2386,2504,3249,0,0,0,0,0,0,28.83,25.44,28.83
$GC,11721,-0.79,-126.5,969.4,-7.3,1124,11722,0.00,0.00,0.00,0.000,6,0.000,0.000,2386,2504,3248,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12000,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12000,begin apogee
$GC,12003,-0.17,0.0,991.1,-8.1,1138,12124,0.65,0.00,115.80,1.275,6,0.125,0.000,2582,2195,2738,0,0,0,0,0,0,24.79,28.83,22.70
$STATE,12125,end apogee,CONTROL_FINISHED_OK
$STATE,12125,begin climb
$GC,12126,0.66,126.5,995.9,0.0,1144,12256,0.77,2.53,122.65,1.260,4,0.062,0.049,2863,802,2220,0,0,0,0,0,0,24.04,23.61,22.37
$GC,12441,0.60,126.5,977.4,9.8,1160,12445,0.10,2.35,0.00,0.000,6,0.154,0.042,2835,2189,2212,0,0,0,0,0,0,24.66,24.91,28.83
$GC,12762,0.55,126.5,950.4,8.4,1176,12763,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2189,2208,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13061,0.51,126.5,924.4,8.8,1191,13065,0.00,2.38,0.00,0.000,4,0.000,0.057,2835,3601,2207,0,0,0,0,0,0,28.83,25.37,28.83
$GC,13156,0.45,126.5,916.7,9.7,1195,13164,0.17,2.25,0.00,0.000,6,0.153,0.035,2792,2195,2206,0,0,0,0,0,0,25.09,25.55,28.83
$GC,13461,0.46,132.8,891.9,7.6,1211,13467,0.00,0.00,4.47,0.798,6,0.000,0.000,2792,2195,2195,0,0,0,0,0,0,28.83,28.83,23.81
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$STATE,23882,end climb,SURFACE_DEPTH_REACHED
$STATE,23882,begin surface coast
$FINISH,1.5,1.023540
$STATE,23898,end surface coast,CONTROL_FINISHED_OK
$STATE,23898,begin surface
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$TT8_MAMPS,0.054677,0.054677
$HUMID,40.11
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$TCM_TEMP,18.60
$XPDR_PINGS,194
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$10V_AH,9.8,28.766
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,297456
$DATA_FILE_SIZE,93160,2311
$CAP_FILE_SIZE,236099,0
$CFSIZE,260165632,250118144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.031,275.0,1
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