version: 66.06
glider: 187
mission: 2
dive: 269
start: 8 17 110 0 45 13
data:
$ID,187
$MISSION,2
$DIVE,269
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$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,-28939.955
$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,25
$R_STBD_OVSHOOT,35
$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
$GPS1,003425,4719.804,-12614.307,39,1.6,39,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-75.8
$GPS2,004508,4719.746,-12614.192,15,1.0,15,18.6
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$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,214.5,68446,-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,-112.4,0.0,0.0,0,89,0.00,0.00,-74.50,0.000,2,0.000,0.000,134,2087,3039,0,0,0,0,0,0
$GC,91,-0.45,-112.4,3.1,-2.1,14,119,10.38,1.95,-12.75,0.000,4,0.243,0.074,2675,3312,3609,0,0,0,0,0,0
$GC,300,-0.43,-112.4,41.2,-13.8,53,308,0.00,1.95,0.00,0.000,6,0.000,0.048,2675,2073,3613,0,0,0,0,0,0
$GC,628,-0.40,-112.4,89.9,-14.8,114,634,0.10,2.00,0.00,0.000,4,0.174,0.064,2693,3302,3614,0,0,0,0,0,0
$GC,655,-0.38,-112.4,93.5,-14.3,119,661,0.00,1.92,0.00,0.000,6,0.000,0.051,2694,2081,3615,0,0,0,0,0,0
$GC,976,-0.38,-112.4,129.1,-9.7,155,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2078,3615,0,0,0,0,0,0
$GC,1288,-0.38,-112.4,158.1,-8.6,185,1291,0.00,1.92,0.00,0.000,4,0.000,0.058,2694,844,3615,0,0,0,0,0,0
$GC,1319,-0.38,-112.4,161.0,-9.0,188,1323,0.00,1.95,0.00,0.000,6,0.000,0.055,2689,2083,3615,0,0,0,0,0,0
$GC,1639,-0.38,-112.4,190.3,-9.1,219,1644,0.00,1.98,0.00,0.000,4,0.000,0.065,2681,3313,3614,0,0,0,0,0,0
$GC,1704,-0.38,-112.4,196.1,-8.8,225,1708,0.08,1.88,0.00,0.000,6,0.127,0.049,2708,2099,3614,0,0,0,0,0,0
$GC,2025,-0.38,-112.4,222.7,-8.3,256,2028,0.00,1.95,0.00,0.000,4,0.000,0.067,2706,3306,3613,0,0,0,0,0,0
$GC,2072,-0.39,-112.4,226.5,-7.6,260,2078,0.00,1.88,0.00,0.000,6,0.000,0.051,2705,2097,3613,0,0,0,0,0,0
$GC,2388,-0.39,-112.4,249.9,-7.0,291,2388,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2096,3612,0,0,0,0,0,0
$GC,2699,-0.39,-112.4,272.4,-7.1,321,2700,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2096,3611,0,0,0,0,0,0
$GC,3009,-0.39,-112.4,295.3,-7.5,351,3010,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2096,3611,0,0,0,0,0,0
$GC,3320,-0.39,-112.4,318.2,-7.2,381,3323,0.00,1.95,0.00,0.000,4,0.000,0.060,2705,846,3609,0,0,0,0,0,0
$GC,3334,-0.39,-112.4,319.5,-7.6,382,3341,0.00,2.00,0.00,0.000,6,0.000,0.058,2705,2108,3609,0,0,0,0,0,0
$GC,3650,-0.39,-112.4,343.8,-8.0,413,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2108,3608,0,0,0,0,0,0
$GC,3961,-0.39,-112.4,367.2,-7.2,443,3965,0.00,1.92,0.00,0.000,4,0.000,0.068,2705,3300,3607,0,0,0,0,0,0
$GC,3987,-0.41,-112.4,369.0,-7.1,445,3994,0.00,1.88,0.00,0.000,6,0.000,0.054,2705,2099,3607,0,0,0,0,0,0
$GC,4302,-0.41,-112.4,391.8,-6.9,476,4306,0.00,1.95,0.00,0.000,4,0.000,0.061,2705,849,3606,0,0,0,0,0,0
$GC,4334,-0.42,-112.4,394.1,-7.4,479,4338,0.00,1.98,0.00,0.000,6,0.000,0.060,2705,2105,3606,0,0,0,0,0,0
$GC,4655,-0.42,-112.4,415.8,-6.7,510,4659,0.00,1.95,0.00,0.000,4,0.000,0.070,2705,3309,3605,0,0,0,0,0,0
$GC,4698,-0.44,-112.4,418.5,-5.9,514,4701,0.00,1.88,0.00,0.000,6,0.000,0.054,2704,2106,3605,0,0,0,0,0,0
$GC,5018,-0.44,-112.4,440.7,-7.0,545,5019,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2106,3604,0,0,0,0,0,0
$GC,5329,-0.44,-112.4,461.8,-6.8,575,5330,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2106,3604,0,0,0,0,0,0
$GC,5640,-0.45,-112.4,481.9,-6.6,605,5643,0.00,1.98,0.00,0.000,4,0.000,0.061,2704,847,3603,0,0,0,0,0,0
$GC,5676,-0.47,-112.4,484.4,-6.6,608,5682,0.00,2.00,0.00,0.000,6,0.000,0.061,2704,2114,3603,0,0,0,0,0,0
$GC,5992,-0.48,-112.4,504.2,-6.4,639,5996,0.00,1.92,0.00,0.000,4,0.000,0.071,2704,3309,3602,0,0,0,0,0,0
$GC,6028,-0.50,-112.4,506.4,-5.5,642,6035,0.00,1.88,0.00,0.000,6,0.000,0.055,2704,2105,3602,0,0,0,0,0,0
$GC,6345,-0.52,-112.4,525.7,-6.2,673,6349,0.10,1.98,0.00,0.000,4,0.112,0.062,2656,840,3602,0,0,0,0,0,0
$GC,6397,-0.52,-112.4,530.3,-9.1,678,6401,0.00,2.00,0.00,0.000,6,0.000,0.061,2650,2105,3601,0,0,0,0,0,0
$GC,6719,-0.50,-112.4,559.9,-9.2,709,6722,0.00,1.98,0.00,0.000,4,0.000,0.064,2650,837,3600,0,0,0,0,0,0
$GC,6751,-0.49,-112.4,562.8,-9.6,712,6754,0.12,1.98,0.00,0.000,6,0.163,0.062,2677,2100,3600,0,0,0,0,0,0
$GC,7070,-0.49,-112.4,585.9,-6.9,743,7071,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2100,3599,0,0,0,0,0,0
$GC,7379,-0.49,-112.4,606.5,-6.6,767,7383,0.00,1.98,0.00,0.000,4,0.000,0.064,2678,849,3599,0,0,0,0,0,0
$GC,7411,-0.49,-112.4,608.6,-6.6,768,7415,0.00,1.98,0.00,0.000,6,0.000,0.062,2677,2093,3599,0,0,0,0,0,0
$GC,7746,-0.49,-112.4,631.7,-7.0,779,7750,0.00,1.95,0.00,0.000,4,0.000,0.072,2669,3307,3599,0,0,0,0,0,0
$GC,7777,-0.49,-112.4,634.0,-6.9,780,7782,0.00,1.90,0.00,0.000,6,0.000,0.057,2669,2091,3598,0,0,0,0,0,0
$GC,8113,-0.49,-112.4,657.6,-7.1,791,8117,0.00,1.95,0.00,0.000,4,0.000,0.064,2669,847,3598,0,0,0,0,0,0
$GC,8187,-0.49,-112.4,663.1,-7.3,793,8192,0.00,1.98,0.00,0.000,6,0.000,0.062,2664,2083,3598,0,0,0,0,0,0
$GC,8512,-0.49,-112.4,688.3,-8.1,804,8513,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2083,3597,0,0,0,0,0,0
$GC,8815,-0.49,-112.4,714.5,-8.9,814,8820,0.00,1.95,0.00,0.000,4,0.000,0.064,2664,850,3597,0,0,0,0,0,0
$GC,8879,-0.49,-112.4,720.6,-10.5,816,8884,0.00,1.92,0.00,0.000,6,0.000,0.062,2658,2068,3597,0,0,0,0,0,0
$GC,9215,-0.49,-112.4,750.5,-8.9,827,9219,0.00,1.92,0.00,0.000,4,0.000,0.065,2658,849,3597,0,0,0,0,0,0
$GC,9246,-0.49,-112.4,753.4,-9.1,828,9250,0.00,1.92,0.00,0.000,6,0.000,0.063,2654,2063,3597,0,0,0,0,0,0
$GC,9581,-0.49,-112.4,782.8,-8.6,839,9586,0.00,1.92,0.00,0.000,4,0.000,0.065,2654,847,3596,0,0,0,0,0,0
$GC,9608,-0.49,-112.4,785.2,-9.4,839,9614,0.00,1.90,0.00,0.000,6,0.000,0.064,2650,2047,3597,0,0,0,0,0,0
$GC,9917,-0.48,-112.4,812.2,-8.6,850,9918,0.10,0.00,0.00,0.000,6,0.175,0.000,2676,2047,3596,0,0,0,0,0,0
$GC,10220,-0.48,-112.4,833.4,-6.7,860,10224,0.00,2.03,0.00,0.000,4,0.000,0.072,2670,3310,3595,0,0,0,0,0,0
$GC,10241,-0.48,-112.4,835.0,-8.0,860,10246,0.00,1.98,0.00,0.000,6,0.000,0.057,2670,2052,3595,0,0,0,0,0,0
$GC,10555,-0.48,-112.4,855.7,-6.5,871,10559,0.00,1.90,0.00,0.000,4,0.000,0.062,2670,838,3595,0,0,0,0,0,0
$GC,10591,-0.48,-112.4,858.3,-7.2,872,10596,0.00,1.95,0.00,0.000,6,0.000,0.062,2665,2057,3595,0,0,0,0,0,0
$GC,10922,-0.48,-112.4,880.7,-6.9,883,10923,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2057,3595,0,0,0,0,0,0
$GC,11225,-0.48,-112.4,902.5,-7.2,893,11229,0.00,1.92,0.00,0.000,4,0.000,0.066,2664,841,3594,0,0,0,0,0,0
$GC,11251,-0.48,-112.4,904.6,-7.4,893,11259,0.00,1.92,0.00,0.000,6,0.000,0.065,2664,2041,3594,0,0,0,0,0,0
$GC,11560,-0.48,-112.4,927.8,-7.5,904,11561,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2041,3594,0,0,0,0,0,0
$GC,11864,-0.48,-112.4,950.2,-7.5,914,11868,0.00,1.90,0.00,0.000,4,0.000,0.066,2663,840,3594,0,0,0,0,0,0
$GC,11890,-0.48,-112.4,952.4,-8.2,914,11896,0.00,1.90,0.00,0.000,6,0.000,0.065,2663,2030,3593,0,0,0,0,0,0
$GC,12198,-0.48,-112.4,975.8,-7.5,925,12203,0.00,2.08,0.00,0.000,4,0.000,0.075,2662,3309,3593,0,0,0,0,0,0
$GC,12225,-0.48,-112.4,977.8,-7.5,925,12232,0.00,2.00,0.00,0.000,6,0.000,0.059,2662,2040,3593,0,0,0,0,0,0
$STATE,12411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12411,begin apogee
$GC,12414,-0.14,0.0,991.6,7.4,932,12508,0.40,0.00,92.25,1.236,6,0.124,0.000,2791,1998,3150,0,0,0,0,0,0
$STATE,12509,end apogee,CONTROL_FINISHED_OK
$STATE,12509,begin climb
$GC,12510,0.45,112.4,994.0,0.0,935,12616,0.55,2.15,98.65,1.200,4,0.083,0.067,2987,772,2691,0,0,0,0,0,0
$GC,12631,0.43,118.3,990.3,5.9,939,12641,0.00,2.10,6.75,0.932,6,0.000,0.061,2986,1994,2667,0,0,0,0,0,0
$GC,12961,0.40,118.3,965.1,7.9,950,12965,0.00,2.10,0.00,0.000,4,0.000,0.071,2986,3235,2662,0,0,0,0,0,0
$GC,13136,0.36,118.3,949.2,9.2,955,13141,0.12,1.98,0.00,0.000,6,0.153,0.058,2958,2025,2661,0,0,0,0,0,0
$GC,13456,0.35,118.3,927.1,6.7,966,13460,0.00,2.03,0.00,0.000,4,0.000,0.072,2958,3236,2661,0,0,0,0,0,0
$GC,13498,0.32,118.3,924.1,8.0,967,13502,0.00,1.95,0.00,0.000,6,0.000,0.059,2964,2028,2661,0,0,0,0,0,0
$GC,13823,0.30,118.3,902.6,6.5,978,13827,0.12,2.00,0.00,0.000,4,0.175,0.073,2932,3233,2662,0,0,0,0,0,0
$GC,13886,0.30,132.0,898.9,5.6,980,13902,0.00,1.92,12.52,1.087,6,0.000,0.059,2934,2037,2611,0,0,0,0,0,0
$GC,14216,0.31,160.4,881.9,5.1,991,14247,0.00,2.00,25.65,1.131,4,0.000,0.071,2934,3244,2496,0,0,0,0,0,0
$GC,14277,0.31,160.4,878.1,7.1,993,14281,0.00,1.95,0.00,0.000,6,0.000,0.059,2934,2056,2495,0,0,0,0,0,0
$GC,14612,0.31,160.4,857.7,6.2,1004,14617,0.00,1.98,0.00,0.000,4,0.000,0.072,2934,3236,2493,0,0,0,0,0,0
$GC,14660,0.31,160.4,854.3,6.7,1005,14665,0.00,1.90,0.00,0.000,6,0.000,0.059,2936,2062,2492,0,0,0,0,0,0
$GC,14979,0.31,160.4,834.0,6.4,1016,14984,0.00,1.92,0.00,0.000,4,0.000,0.071,2936,3238,2492,0,0,0,0,0,0
$GC,15027,0.31,160.4,830.5,7.1,1017,15032,0.00,1.90,0.00,0.000,6,0.000,0.058,2937,2065,2492,0,0,0,0,0,0
$GC,15347,0.31,160.4,809.7,6.4,1028,15351,0.00,1.92,0.00,0.000,4,0.000,0.073,2937,3228,2491,0,0,0,0,0,0
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$STATE,26846,end climb,SURFACE_DEPTH_REACHED
$STATE,26846,begin surface coast
$FINISH,1.1,1.023773
$STATE,26883,end surface coast,CONTROL_FINISHED_OK
$STATE,26884,begin surface
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$HUMID,38.10
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$TCM_TEMP,17.90
$XPDR_PINGS,0
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$10V_AH,10.2,25.176
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.125,212.075,432.625,0.000,0.000,55.565,69.075,309.029,0.000,0.000,15.848,0.000,21145.904,672.309,4948.678,788.642,0.000,2488.076,0.000,4196.272,0.000,0.534,0.000
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$SENSOR_SECS,1425.488,1675.480,1749.515,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298588
$DATA_FILE_SIZE,113764,2057
$CAP_FILE_SIZE,262613,0
$CFSIZE,260165632,240799744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027, 44.2,1
$GPS,170810,081537,4717.940,-12617.603,50,1.0,50,18.6