version: 66.11
glider: 178
mission: 14
dive: 96
start: 7 5 112 8 46 14
data:
$ID,178
$MISSION,14
$DIVE,96
$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,-13546.51
$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,33
$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
$GPS1,050712,084043,4650.294,-12513.396,66,3.1,85,18.4
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-72.1
$GPS2,050712,084605,4650.313,-12513.443,15,1.2,31,18.4
$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,115.1,1575,-25.8,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.92,-50.7,0.0,0.0,0,81,0.00,0.00,-65.38,0.000,2,0.000,0.000,157,2496,2906,0,0,0,0,0,0,28.83,28.83,28.83
$GC,82,-0.92,-50.7,4.1,-12.9,11,101,10.60,2.15,-0.73,0.000,4,0.269,0.079,2325,3779,2948,0,0,0,0,0,0,24.56,25.32,25.62
$GC,325,-0.90,-50.7,57.0,-15.6,59,332,0.00,2.05,0.00,0.000,6,0.000,0.034,2329,2485,2953,0,0,0,0,0,0,28.83,25.56,28.83
$GC,631,-0.91,-50.7,96.2,-13.5,120,638,0.00,2.17,0.00,0.000,4,0.000,0.063,2315,3771,2955,0,0,0,0,0,0,28.83,24.66,28.83
$GC,842,-0.91,-50.7,125.5,-14.1,162,849,0.00,2.00,0.00,0.000,6,0.000,0.033,2315,2494,2956,0,0,0,0,0,0,28.83,25.70,28.83
$GC,1148,-0.93,-50.7,163.1,-12.3,223,1149,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2494,2957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1448,-0.95,-50.7,201.6,-13.2,282,1449,0.00,0.00,0.00,0.000,6,0.000,0.000,2315,2494,2957,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1748,-0.98,-50.7,240.6,-12.9,312,1752,0.00,2.20,0.00,0.000,4,0.000,0.037,2315,1111,2956,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1813,-1.01,-50.7,248.4,-13.1,318,1820,0.00,2.28,0.00,0.000,6,0.000,0.047,2306,2497,2957,0,0,0,0,0,0,28.83,24.84,28.83
$GC,2118,-1.03,-50.7,288.0,-12.0,349,2122,0.00,2.12,0.00,0.000,4,0.000,0.056,2295,3774,2956,0,0,0,0,0,0,28.83,25.48,28.83
$GC,2158,-1.03,-50.7,293.0,-12.6,353,2162,0.00,2.00,0.00,0.000,6,0.000,0.032,2295,2500,2956,0,0,0,0,0,0,28.83,25.75,28.83
$GC,2468,-1.03,-50.7,329.9,-12.2,384,2472,0.00,2.22,0.00,0.000,4,0.000,0.037,2295,1108,2955,0,0,0,0,0,0,28.83,25.58,28.83
$GC,2553,-1.04,-50.7,339.8,-12.2,392,2560,0.00,2.28,0.00,0.000,6,0.000,0.041,2285,2504,2955,0,0,0,0,0,0,28.83,25.53,28.83
$GC,2858,-1.04,-50.7,378.9,-11.6,423,2858,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2501,2956,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3159,-1.04,-50.7,414.6,-11.7,453,3159,0.00,0.00,0.00,0.000,6,0.000,0.000,2285,2504,2955,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3458,-1.04,-50.7,450.4,-12.1,483,3462,0.00,2.25,0.00,0.000,4,0.000,0.037,2285,1105,2955,0,0,0,0,0,0,28.83,25.56,28.83
$GC,3488,-1.04,-50.7,454.2,-12.6,486,3492,0.00,2.30,0.00,0.000,6,0.000,0.041,2274,2508,2954,0,0,0,0,0,0,28.83,25.53,28.83
$GC,3798,-1.04,-50.7,492.8,-12.2,517,3799,0.12,0.00,0.00,0.000,6,0.200,0.000,2299,2507,2953,0,0,0,0,0,0,25.27,28.83,28.83
$GC,4098,-1.07,-50.7,525.1,-10.1,547,4099,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2508,2953,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4398,-1.10,-50.7,555.8,-10.5,577,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2508,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4699,-1.13,-50.7,587.6,-10.5,607,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,2299,2508,2952,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4998,-1.16,-50.7,618.7,-10.3,628,5002,0.00,2.25,0.00,0.000,4,0.000,0.039,2299,1116,2951,0,0,0,0,0,0,28.83,25.51,28.83
$GC,5028,-1.19,-50.7,620.9,-10.3,629,5032,0.08,2.28,0.00,0.000,6,0.072,0.043,2253,2497,2951,0,0,0,0,0,0,25.41,25.48,28.83
$GC,5338,-1.17,-50.7,656.0,-10.8,645,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2497,2951,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5638,-1.16,-50.7,686.4,-10.1,660,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2497,2950,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5938,-1.16,-50.7,718.9,-11.2,675,5939,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2497,2949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6238,-1.16,-50.7,752.8,-11.4,690,6239,0.00,0.00,0.00,0.000,6,0.000,0.000,2253,2497,2949,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6538,-1.16,-50.7,786.5,-11.0,705,6542,0.00,2.15,0.00,0.000,4,0.000,0.058,2243,3774,2949,0,0,0,0,0,0,28.83,25.32,28.83
$GC,6679,-1.12,-50.7,804.1,-12.6,712,6682,0.10,2.03,0.00,0.000,6,0.190,0.036,2277,2501,2949,0,0,0,0,0,0,24.96,25.61,28.83
$GC,6998,-1.13,-50.7,836.0,-10.3,728,6999,0.00,0.00,0.00,0.000,6,0.000,0.000,2277,2501,2948,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7298,-1.15,-50.7,867.6,-10.6,743,7302,0.00,2.15,0.00,0.000,4,0.000,0.060,2269,3764,2950,0,0,0,0,0,0,28.83,25.29,28.83
$GC,7343,-1.15,-50.7,872.1,-10.8,745,7347,0.00,2.03,0.00,0.000,6,0.000,0.036,2269,2500,2948,0,0,0,0,0,0,28.83,25.59,28.83
$GC,7658,-1.15,-50.7,905.8,-10.1,761,7662,0.00,2.28,0.00,0.000,4,0.000,0.041,2269,1097,2947,0,0,0,0,0,0,28.83,25.41,28.83
$GC,7678,-1.15,-50.7,907.9,-10.1,762,7682,0.00,2.33,0.00,0.000,6,0.000,0.044,2259,2499,2945,0,0,0,0,0,0,28.83,25.40,28.83
$GC,7998,-1.15,-50.7,941.8,-10.5,778,8002,0.00,2.28,0.00,0.000,4,0.000,0.041,2259,1101,2946,0,0,0,0,0,0,28.83,25.37,28.83
$GC,8028,-1.15,-50.7,944.0,-10.5,779,8032,0.00,2.33,0.00,0.000,6,0.000,0.044,2249,2505,2946,0,0,0,0,0,0,28.83,25.39,28.83
$GC,8338,-1.15,-50.7,977.9,-10.4,795,8339,0.00,0.00,0.00,0.000,6,0.000,0.000,2249,2505,2945,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,8457,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8457,begin apogee
$GC,8460,-0.17,0.0,990.2,-10.4,801,8513,1.20,0.00,48.10,1.268,6,0.168,0.000,2575,2197,2740,0,0,0,0,0,0,24.52,28.83,23.22
$STATE,8513,end apogee,CONTROL_FINISHED_OK
$STATE,8513,begin climb
$GC,8514,0.92,50.7,990.8,0.0,803,8570,1.02,0.00,52.60,1.242,6,0.066,0.000,2936,2196,2531,0,0,0,0,0,0,24.75,28.83,22.79
$GC,8858,0.92,61.7,972.7,6.7,821,8873,0.00,2.28,11.15,1.112,4,0.000,0.042,2946,797,2484,0,0,0,0,0,0,28.83,25.18,23.53
$GC,8998,0.90,61.7,961.9,8.4,827,9002,0.00,2.33,0.00,0.000,6,0.000,0.039,2946,2205,2480,0,0,0,0,0,0,28.83,25.35,28.83
$GC,9313,0.87,62.2,936.3,7.8,843,9314,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2205,2479,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9613,0.85,62.2,911.8,8.0,858,9617,0.15,2.28,0.00,0.000,4,0.197,0.042,2923,789,2478,0,0,0,0,0,0,25.20,25.54,28.83
$GC,9718,0.86,73.8,905.0,6.6,863,9736,0.00,2.30,11.68,1.095,6,0.000,0.038,2923,2205,2437,0,0,0,0,0,0,28.83,25.57,23.83
$GC,10033,0.86,73.8,882.3,8.8,879,10034,0.00,0.00,0.00,0.000,6,0.000,0.000,2923,2205,2433,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10333,0.88,87.8,858.9,6.4,894,10355,0.00,2.33,15.00,1.113,4,0.000,0.044,2934,799,2378,0,0,0,0,0,0,28.83,25.41,23.84
$GC,10384,0.89,101.4,856.2,6.4,896,10404,0.00,2.30,14.85,1.098,6,0.000,0.038,2934,2197,2323,0,0,0,0,0,0,28.83,25.39,23.63
$GC,10715,0.91,101.4,824.3,9.2,913,10716,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2193,2318,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11014,0.91,101.4,796.1,9.5,928,11015,0.00,0.00,0.00,0.000,6,0.000,0.000,2934,2197,2320,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11314,0.91,101.4,767.6,9.8,943,11319,0.00,2.35,0.00,0.000,4,0.000,0.057,2934,3603,2316,0,0,0,0,0,0,28.83,25.48,28.83
$GC,11354,0.91,101.4,763.5,10.1,945,11359,0.00,2.22,0.00,0.000,6,0.000,0.034,2944,2200,2316,0,0,0,0,0,0,28.83,25.67,28.83
$GC,11674,0.91,101.4,733.6,9.0,961,11678,0.00,2.38,0.00,0.000,4,0.000,0.057,2944,3606,2316,0,0,0,0,0,0,28.83,25.48,28.83
$GC,11704,0.91,101.4,731.6,9.2,962,11708,0.00,2.22,0.00,0.000,6,0.000,0.033,2955,2200,2315,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12014,0.91,101.4,702.3,9.2,978,12018,0.00,2.28,0.00,0.000,4,0.000,0.045,2965,807,2315,0,0,0,0,0,0,28.83,25.53,28.83
$GC,12145,0.91,101.4,691.6,8.6,984,12148,0.10,2.28,0.00,0.000,6,0.181,0.039,2940,2201,2315,0,0,0,0,0,0,25.15,25.57,28.83
$GC,12454,0.92,109.8,668.6,7.0,1000,12463,0.00,0.00,7.68,0.910,6,0.000,0.000,2940,2201,2291,0,0,0,0,0,0,28.83,28.83,23.89
$GC,12755,0.95,116.0,646.1,7.2,1015,12763,0.00,0.00,7.45,0.891,6,0.000,0.000,2940,2201,2266,0,0,0,0,0,0,28.83,28.83,23.87
$GC,13054,0.97,116.0,621.4,8.9,1030,13055,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2201,2264,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13354,0.99,116.0,594.0,9.3,1048,13358,0.00,2.28,0.00,0.000,4,0.000,0.044,2947,811,2263,0,0,0,0,0,0,28.83,25.53,28.83
$GC,13569,1.00,116.0,573.8,9.6,1069,13577,0.00,2.25,0.00,0.000,6,0.000,0.039,2948,2192,2262,0,0,0,0,0,0,28.83,25.55,28.83
$GC,13874,1.00,116.0,542.6,10.0,1100,13875,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2192,2262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14175,1.00,116.0,513.6,9.6,1130,14175,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2192,2262,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14475,1.00,116.0,484.4,9.3,1160,14476,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2192,2261,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14775,1.02,116.0,456.5,9.0,1190,14776,0.00,0.00,0.00,0.000,6,0.000,0.000,2948,2192,2261,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,20547,end climb,SURFACE_DEPTH_REACHED
$STATE,20547,begin surface coast
$FINISH,0.0,1.023658
$STATE,20567,end surface coast,CONTROL_FINISHED_OK
$STATE,20567,begin surface
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$TT8_MAMPS,0.056175,0.056175
$HUMID,40.31
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,18.80
$XPDR_PINGS,120
$24V_AH,22.8,38.317
$10V_AH,9.8,32.017
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.100,135.100,314.250,48.775,0.000,22.184,36.146,147.864,30.000,0.000,31.775,0.000,15767.418,569.830,4412.013,177.864,0.000,2183.013,0.000,3311.215,0.000,0.531,0.000
$DEVICE_MAMPS,269.280,78.795,1268.370,537.030,0.000,103.000,160.000,223.000,420.000,0.000,50.000,0.000,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,1408.971,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297388
$DATA_FILE_SIZE,83199,2041
$CAP_FILE_SIZE,206371,0
$CFSIZE,260165632,247083008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.049,223.8,1
$GPS,050712,143219,4648.573,-12512.272,91,99.0,110,18.4