version: 66.06
glider: 187
mission: 2
dive: 133
start: 8 3 110 0 40 25
data:
$ID,187
$MISSION,2
$DIVE,133
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,5
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,540
$T_MISSION,600
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,300
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,-7
$APOGEE_PITCH,-5
$MAX_BUOY,115
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52000
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-26119.879
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,155
$PITCH_MAX,3970
$C_PITCH,2835
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,35
$C_ROLL_DIVE,2075
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,32
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,3150
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.597298
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,1
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.69999999
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043543768
$SEABIRD_T_H,0.0006249955
$SEABIRD_T_I,2.3401506e-05
$SEABIRD_T_J,2.4672308e-06
$SEABIRD_C_G,-9.9855604
$SEABIRD_C_H,1.1126566
$SEABIRD_C_I,-0.0021479612
$SEABIRD_C_J,0.0002479906
$GPS1,003306,4723.791,-12613.898,38,1.7,43,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.88
$_SM_ANGLEo,-74.5
$GPS2,004020,4723.788,-12613.866,12,1.8,12,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,33.8,114454,-13.9,-6.111
$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
$STATE,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.45,-112.4,0.0,0.0,0,73,0.00,0.00,-58.25,0.000,2,0.000,0.000,131,2094,3055,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.5,-3.3,11,103,10.35,1.98,-12.12,0.000,4,0.245,0.072,2680,838,3610,0,0,0,0,0,0
$GC,230,-0.42,-112.4,38.1,-18.2,40,236,0.00,1.98,0.00,0.000,6,0.000,0.058,2673,2069,3612,0,0,0,0,0,0
$GC,556,-0.39,-112.4,85.7,-13.5,101,563,0.12,2.00,0.00,0.000,4,0.161,0.065,2700,3307,3614,0,0,0,0,0,0
$GC,679,-0.39,-112.4,98.6,-9.7,124,686,0.00,1.90,0.00,0.000,6,0.000,0.050,2699,2088,3615,0,0,0,0,0,0
$GC,995,-0.39,-112.4,130.4,-10.0,156,1000,0.00,2.00,0.00,0.000,4,0.000,0.058,2700,831,3616,0,0,0,0,0,0
$GC,1038,-0.39,-112.4,134.7,-9.5,160,1042,0.00,2.00,0.00,0.000,6,0.000,0.056,2696,2099,3616,0,0,0,0,0,0
$GC,1358,-0.39,-112.4,164.0,-8.5,191,1363,0.00,2.03,0.00,0.000,4,0.000,0.059,2696,826,3616,0,0,0,0,0,0
$GC,1390,-0.39,-112.4,166.9,-9.7,194,1395,0.00,2.00,0.00,0.000,6,0.000,0.057,2692,2090,3616,0,0,0,0,0,0
$GC,1711,-0.39,-112.4,197.2,-10.0,225,1715,0.00,1.98,0.00,0.000,4,0.000,0.067,2683,3307,3616,0,0,0,0,0,0
$GC,1748,-0.39,-112.4,200.8,-10.2,228,1755,0.00,1.92,0.00,0.000,6,0.000,0.051,2683,2080,3616,0,0,0,0,0,0
$GC,2064,-0.39,-112.4,231.3,-9.4,259,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2078,3616,0,0,0,0,0,0
$GC,2375,-0.39,-112.4,258.4,-8.3,289,2378,0.00,1.95,0.00,0.000,4,0.000,0.069,2674,3306,3616,0,0,0,0,0,0
$GC,2475,-0.39,-112.4,266.7,-7.7,298,2482,0.12,1.90,0.00,0.000,6,0.147,0.053,2710,2095,3616,0,0,0,0,0,0
$GC,2790,-0.39,-112.4,287.0,-6.4,329,2795,0.00,1.98,0.00,0.000,4,0.000,0.070,2707,3306,3616,0,0,0,0,0,0
$GC,2833,-0.41,-112.4,289.6,-6.1,333,2837,0.00,1.85,0.00,0.000,6,0.000,0.054,2706,2118,3615,0,0,0,0,0,0
$GC,3154,-0.41,-112.4,311.7,-7.2,364,3158,0.00,1.92,0.00,0.000,4,0.000,0.071,2705,3305,3615,0,0,0,0,0,0
$GC,3207,-0.42,-112.4,315.5,-7.4,369,3211,0.00,1.80,0.00,0.000,6,0.000,0.054,2705,2144,3615,0,0,0,0,0,0
$GC,3528,-0.42,-112.4,339.5,-7.8,400,3532,0.00,1.88,0.00,0.000,4,0.000,0.071,2705,3300,3615,0,0,0,0,0,0
$GC,3560,-0.42,-112.4,341.7,-6.8,403,3564,0.00,1.80,0.00,0.000,6,0.000,0.056,2705,2149,3615,0,0,0,0,0,0
$GC,3880,-0.42,-112.4,365.3,-7.2,434,3885,0.00,1.90,0.00,0.000,4,0.000,0.071,2705,3310,3615,0,0,0,0,0,0
$GC,3923,-0.44,-112.4,368.2,-7.0,438,3927,0.00,1.80,0.00,0.000,6,0.000,0.054,2705,2164,3615,0,0,0,0,0,0
$GC,4245,-0.44,-112.4,389.4,-6.5,469,4248,0.00,1.85,0.00,0.000,4,0.000,0.073,2705,3304,3615,0,0,0,0,0,0
$GC,4276,-0.45,-112.4,391.5,-6.7,472,4280,0.00,1.75,0.00,0.000,6,0.000,0.056,2704,2176,3614,0,0,0,0,0,0
$GC,4596,-0.45,-112.4,411.1,-5.8,503,4601,0.00,1.85,0.00,0.000,4,0.000,0.072,2704,3306,3615,0,0,0,0,0,0
$GC,4628,-0.46,-112.4,412.9,-5.5,506,4632,0.00,1.77,0.00,0.000,6,0.000,0.056,2704,2177,3615,0,0,0,0,0,0
$GC,4948,-0.46,-112.4,431.5,-6.1,537,4953,0.00,2.08,0.00,0.000,4,0.000,0.064,2705,849,3614,0,0,0,0,0,0
$GC,4992,-0.46,-112.4,434.4,-6.5,541,4996,0.00,2.10,0.00,0.000,6,0.000,0.063,2704,2175,3614,0,0,0,0,0,0
$GC,5312,-0.46,-112.4,454.5,-6.1,572,5316,0.00,1.85,0.00,0.000,4,0.000,0.072,2704,3313,3614,0,0,0,0,0,0
$GC,5349,-0.48,-112.4,456.7,-6.1,575,5355,0.00,1.80,0.00,0.000,6,0.000,0.055,2704,2166,3613,0,0,0,0,0,0
$GC,5664,-0.48,-112.4,473.6,-5.0,606,5669,0.00,2.10,0.00,0.000,4,0.000,0.064,2704,842,3613,0,0,0,0,0,0
$GC,5708,-0.48,-112.4,476.1,-6.2,610,5711,0.00,2.10,0.00,0.000,6,0.000,0.063,2704,2169,3613,0,0,0,0,0,0
$GC,6028,-0.48,-112.4,494.6,-6.2,641,6032,0.00,1.85,0.00,0.000,4,0.000,0.073,2704,3311,3613,0,0,0,0,0,0
$GC,6075,-0.50,-112.4,497.3,-5.7,645,6083,0.00,1.80,0.00,0.000,6,0.000,0.057,2704,2168,3613,0,0,0,0,0,0
$GC,6392,-0.50,-112.4,515.6,-5.5,676,6395,0.00,2.10,0.00,0.000,4,0.000,0.065,2704,843,3613,0,0,0,0,0,0
$GC,6428,-0.50,-112.4,518.0,-6.5,679,6434,0.00,2.12,0.00,0.000,6,0.000,0.063,2704,2175,3613,0,0,0,0,0,0
$GC,6743,-0.50,-112.4,536.0,-5.9,710,6748,0.00,1.85,0.00,0.000,4,0.000,0.074,2704,3307,3614,0,0,0,0,0,0
$GC,6791,-0.52,-112.4,538.8,-5.7,714,6800,0.08,1.77,0.00,0.000,6,0.065,0.056,2653,2171,3613,0,0,0,0,0,0
$GC,7107,-0.50,-112.4,565.6,-9.1,745,7108,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2171,3613,0,0,0,0,0,0
$GC,7419,-0.48,-112.4,591.5,-8.4,775,7422,0.00,1.83,0.00,0.000,4,0.000,0.073,2645,3310,3613,0,0,0,0,0,0
$GC,7475,-0.47,-112.4,596.6,-8.4,780,7483,0.12,1.75,0.00,0.000,6,0.153,0.057,2680,2196,3613,0,0,0,0,0,0
$GC,7806,-0.47,-112.4,619.9,-7.1,795,7810,0.00,1.80,0.00,0.000,4,0.000,0.074,2675,3301,3613,0,0,0,0,0,0
$GC,7848,-0.47,-112.4,623.0,-8.0,796,7852,0.00,1.73,0.00,0.000,6,0.000,0.057,2675,2204,3613,0,0,0,0,0,0
$GC,8172,-0.47,-112.4,647.0,-7.5,807,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2204,3613,0,0,0,0,0,0
$GC,8476,-0.47,-112.4,669.4,-7.4,817,8480,0.00,1.80,0.00,0.000,4,0.000,0.074,2668,3309,3613,0,0,0,0,0,0
$GC,8518,-0.47,-112.4,672.5,-8.1,818,8522,0.00,1.75,0.00,0.000,6,0.000,0.058,2668,2198,3613,0,0,0,0,0,0
$GC,8842,-0.47,-112.4,697.2,-7.6,829,8847,0.00,2.15,0.00,0.000,4,0.000,0.064,2668,843,3613,0,0,0,0,0,0
$GC,8869,-0.47,-112.4,699.1,-8.3,829,8875,0.00,2.15,0.00,0.000,6,0.000,0.064,2663,2199,3613,0,0,0,0,0,0
$GC,9177,-0.47,-112.4,723.7,-8.1,840,9182,0.00,1.83,0.00,0.000,4,0.000,0.074,2656,3316,3613,0,0,0,0,0,0
$GC,9241,-0.47,-112.4,729.1,-8.9,842,9245,0.00,1.75,0.00,0.000,6,0.000,0.058,2656,2206,3613,0,0,0,0,0,0
$GC,9576,-0.47,-112.4,756.4,-7.9,853,9581,0.00,1.80,0.00,0.000,4,0.000,0.074,2649,3307,3613,0,0,0,0,0,0
$GC,9634,-0.47,-112.4,761.2,-7.9,854,9642,0.12,1.70,0.00,0.000,6,0.152,0.058,2684,2228,3613,0,0,0,0,0,0
$GC,9943,-0.47,-112.4,780.2,-6.2,865,9947,0.00,2.20,0.00,0.000,4,0.000,0.064,2684,842,3613,0,0,0,0,0,0
$GC,9969,-0.47,-112.4,782.0,-7.0,865,9976,0.00,2.20,0.00,0.000,6,0.000,0.064,2682,2229,3613,0,0,0,0,0,0
$GC,10278,-0.47,-112.4,801.0,-5.9,876,10282,0.00,1.77,0.00,0.000,4,0.000,0.074,2676,3315,3614,0,0,0,0,0,0
$GC,10325,-0.47,-112.4,804.0,-6.8,877,10330,0.00,1.73,0.00,0.000,6,0.000,0.057,2676,2220,3613,0,0,0,0,0,0
$GC,10645,-0.47,-112.4,824.2,-6.5,888,10646,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2220,3613,0,0,0,0,0,0
$GC,10948,-0.47,-112.4,844.8,-6.8,898,10953,0.00,1.80,0.00,0.000,4,0.000,0.074,2669,3313,3614,0,0,0,0,0,0
$GC,10980,-0.47,-112.4,847.1,-7.0,899,10984,0.00,1.73,0.00,0.000,6,0.000,0.058,2669,2221,3614,0,0,0,0,0,0
$GC,11315,-0.47,-112.4,871.3,-7.2,910,11316,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2221,3614,0,0,0,0,0,0
$GC,11618,-0.47,-112.4,893.5,-7.3,920,11619,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2220,3614,0,0,0,0,0,0
$GC,11922,-0.47,-112.4,916.0,-7.5,930,11926,0.00,1.80,0.00,0.000,4,0.000,0.075,2662,3313,3614,0,0,0,0,0,0
$GC,11954,-0.47,-112.4,918.3,-7.7,931,11958,0.00,1.73,0.00,0.000,6,0.000,0.058,2662,2208,3614,0,0,0,0,0,0
$GC,12289,-0.47,-112.4,944.2,-7.7,942,12293,0.00,2.15,0.00,0.000,4,0.000,0.066,2662,850,3614,0,0,0,0,0,0
$GC,12321,-0.47,-112.4,946.9,-7.7,943,12325,0.00,2.17,0.00,0.000,6,0.000,0.064,2656,2221,3614,0,0,0,0,0,0
$GC,12656,-0.47,-112.4,974.6,-8.2,954,12661,0.00,1.75,0.00,0.000,4,0.000,0.075,2647,3302,3614,0,0,0,0,0,0
$GC,12714,-0.47,-112.4,979.6,-9.1,955,12721,0.12,1.70,0.00,0.000,6,0.150,0.058,2683,2227,3614,0,0,0,0,0,0
$STATE,12870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12870,begin apogee
$GC,12874,-0.14,0.0,990.6,6.8,961,12972,0.32,0.00,96.95,1.233,6,0.121,0.000,2792,1993,3150,0,0,0,0,0,0
$STATE,12973,end apogee,CONTROL_FINISHED_OK
$STATE,12973,begin climb
$GC,12974,0.45,112.4,993.6,0.0,964,13079,0.55,2.12,98.72,1.197,4,0.082,0.067,2987,776,2691,0,0,0,0,0,0
$GC,13116,0.42,112.4,989.4,6.1,968,13120,0.00,2.08,0.00,0.000,6,0.000,0.061,2987,1998,2689,0,0,0,0,0,0
$GC,13430,0.39,112.4,966.6,7.2,979,13430,0.00,0.00,0.00,0.000,6,0.000,0.000,2987,1998,2686,0,0,0,0,0,0
$GC,13733,0.36,112.4,943.3,7.8,989,13734,0.12,0.00,0.00,0.000,6,0.176,0.000,2957,1998,2685,0,0,0,0,0,0
$GC,14037,0.35,112.4,924.1,6.3,999,14041,0.00,2.03,0.00,0.000,4,0.000,0.071,2963,770,2685,0,0,0,0,0,0
$GC,14052,0.33,112.4,922.9,6.3,999,14057,0.00,1.98,0.00,0.000,6,0.000,0.064,2963,1991,2685,0,0,0,0,0,0
$GC,14371,0.31,112.4,900.1,7.0,1010,14376,0.00,2.00,0.00,0.000,4,0.000,0.071,2971,771,2685,0,0,0,0,0,0
$GC,14387,0.29,112.4,899.1,7.3,1010,14392,0.12,1.98,0.00,0.000,6,0.140,0.065,2932,1994,2685,0,0,0,0,0,0
$GC,14706,0.30,130.6,881.3,5.4,1021,14723,0.00,0.00,16.23,1.108,6,0.000,0.000,2932,1994,2617,0,0,0,0,0,0
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$STATE,26525,end climb,SURFACE_DEPTH_REACHED
$STATE,26525,begin surface coast
$FINISH,0.9,1.002980
$STATE,26568,end surface coast,CONTROL_FINISHED_OK
$STATE,26568,begin surface
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$TCM_TEMP,17.80
$XPDR_PINGS,0
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$10V_AH,10.2,13.244
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.325,236.350,465.550,0.000,0.000,29.086,32.099,258.408,0.000,0.000,12.983,0.000,20734.611,729.522,4977.868,590.066,0.000,2569.771,0.000,4217.915,0.000,0.533,0.000
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298600
$DATA_FILE_SIZE,116863,2080
$CAP_FILE_SIZE,264308,0
$CFSIZE,260165632,248397824
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024, 44.9,1
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