version: 66.06
glider: 187
mission: 2
dive: 454
start: 9 18 110 7 10 50
data:
$ID,187
$MISSION,2
$DIVE,454
$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,-32909.164
$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,2855
$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,28
$R_STBD_OVSHOOT,25
$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
$GPS1,070207,4720.445,-12619.524,33,1.7,33,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-77.7
$GPS2,071043,4720.463,-12619.487,16,1.7,33,18.6
$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,39.8,123674,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.45,-112.4,0.0,0.0,0,66,0.00,0.00,-52.72,0.000,2,0.000,0.000,133,2067,2916,0,0,0,0,0,0
$GC,69,-0.45,-112.4,3.1,-2.1,10,102,10.45,2.05,-15.98,0.000,4,0.235,0.078,2693,3307,3611,0,0,0,0,0,0
$GC,279,-0.44,-112.4,39.4,-13.0,49,285,0.00,1.98,0.00,0.000,6,0.000,0.048,2693,2065,3614,0,0,0,0,0,0
$GC,606,-0.41,-112.4,80.6,-11.5,110,612,0.00,2.05,0.00,0.000,4,0.000,0.064,2684,3308,3616,0,0,0,0,0,0
$GC,687,-0.41,-112.4,88.8,-9.9,125,693,0.10,1.90,0.00,0.000,6,0.117,0.048,2718,2104,3616,0,0,0,0,0,0
$GC,1013,-0.41,-112.4,116.2,-9.4,169,1016,0.00,1.98,0.00,0.000,4,0.000,0.064,2712,3305,3616,0,0,0,0,0,0
$GC,1071,-0.43,-112.4,121.9,-10.2,174,1077,0.00,1.88,0.00,0.000,6,0.000,0.048,2712,2114,3616,0,0,0,0,0,0
$GC,1387,-0.43,-112.4,150.1,-8.5,205,1390,0.00,2.00,0.00,0.000,4,0.000,0.057,2712,839,3616,0,0,0,0,0,0
$GC,1419,-0.43,-112.4,152.7,-8.2,208,1422,0.00,2.00,0.00,0.000,6,0.000,0.055,2710,2128,3616,0,0,0,0,0,0
$GC,1739,-0.43,-112.4,177.3,-8.5,239,1743,0.00,1.92,0.00,0.000,4,0.000,0.065,2703,3308,3616,0,0,0,0,0,0
$GC,1840,-0.44,-112.4,185.4,-7.6,248,1846,0.00,1.85,0.00,0.000,6,0.000,0.049,2703,2130,3616,0,0,0,0,0,0
$GC,2155,-0.44,-112.4,210.3,-7.0,279,2159,0.00,2.03,0.00,0.000,4,0.000,0.056,2702,850,3615,0,0,0,0,0,0
$GC,2187,-0.44,-112.4,212.7,-7.5,282,2191,0.00,2.03,0.00,0.000,6,0.000,0.055,2699,2127,3614,0,0,0,0,0,0
$GC,2509,-0.44,-112.4,235.2,-6.9,313,2512,0.00,1.92,0.00,0.000,4,0.000,0.066,2693,3302,3614,0,0,0,0,0,0
$GC,2620,-0.44,-112.4,243.1,-7.2,323,2626,0.00,1.80,0.00,0.000,6,0.000,0.049,2692,2153,3614,0,0,0,0,0,0
$GC,2935,-0.44,-112.4,265.5,-7.1,354,2940,0.00,1.90,0.00,0.000,4,0.000,0.067,2685,3308,3613,0,0,0,0,0,0
$GC,2983,-0.44,-112.4,269.0,-7.3,358,2989,0.00,1.80,0.00,0.000,6,0.000,0.050,2685,2166,3612,0,0,0,0,0,0
$GC,3299,-0.44,-112.4,294.5,-8.0,389,3303,0.00,1.88,0.00,0.000,4,0.000,0.067,2677,3302,3612,0,0,0,0,0,0
$GC,3352,-0.44,-112.4,298.8,-8.4,394,3356,0.08,1.75,0.00,0.000,6,0.123,0.051,2705,2190,3612,0,0,0,0,0,0
$GC,3672,-0.44,-112.4,320.6,-6.7,425,3676,0.00,1.85,0.00,0.000,4,0.000,0.066,2700,3314,3611,0,0,0,0,0,0
$GC,3710,-0.45,-112.4,323.3,-7.2,428,3715,0.00,1.75,0.00,0.000,6,0.000,0.051,2699,2200,3611,0,0,0,0,0,0
$GC,4025,-0.45,-112.4,346.9,-7.9,459,4029,0.00,2.15,0.00,0.000,4,0.000,0.058,2700,846,3610,0,0,0,0,0,0
$GC,4068,-0.45,-112.4,350.4,-7.8,463,4072,0.00,2.12,0.00,0.000,6,0.000,0.060,2697,2193,3610,0,0,0,0,0,0
$GC,4388,-0.45,-112.4,374.1,-7.3,494,4392,0.00,1.85,0.00,0.000,4,0.000,0.071,2690,3306,3609,0,0,0,0,0,0
$GC,4479,-0.45,-112.4,380.6,-7.0,502,4485,0.00,1.73,0.00,0.000,6,0.000,0.051,2690,2213,3609,0,0,0,0,0,0
$GC,4794,-0.45,-112.4,402.8,-6.9,533,4798,0.00,1.83,0.00,0.000,4,0.000,0.068,2683,3312,3608,0,0,0,0,0,0
$GC,4820,-0.45,-112.4,404.7,-7.6,535,4826,0.00,1.73,0.00,0.000,6,0.000,0.054,2682,2224,3609,0,0,0,0,0,0
$GC,5137,-0.45,-112.4,426.4,-6.5,566,5141,0.00,1.80,0.00,0.000,4,0.000,0.071,2676,3303,3608,0,0,0,0,0,0
$GC,5184,-0.45,-112.4,429.9,-6.9,570,5191,0.00,1.70,0.00,0.000,6,0.000,0.052,2675,2232,3608,0,0,0,0,0,0
$GC,5501,-0.45,-112.4,452.5,-7.4,601,5502,0.12,0.00,0.00,0.000,6,0.155,0.000,2711,2231,3607,0,0,0,0,0,0
$GC,5811,-0.47,-112.4,470.2,-5.9,631,5812,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2231,3606,0,0,0,0,0,0
$GC,6123,-0.49,-112.4,487.2,-5.1,661,6126,0.00,2.22,0.00,0.000,4,0.000,0.061,2711,842,3605,0,0,0,0,0,0
$GC,6160,-0.51,-112.4,489.2,-5.8,664,6163,0.00,2.22,0.00,0.000,6,0.000,0.060,2711,2241,3605,0,0,0,0,0,0
$GC,6477,-0.54,-112.4,507.1,-6.0,694,6479,0.00,1.75,0.00,0.000,4,0.000,0.072,2711,3309,3605,0,0,0,0,0,0
$GC,6540,-0.58,-112.4,510.8,-6.2,700,6544,0.10,1.83,0.00,0.000,6,0.061,0.054,2652,2163,3605,0,0,0,0,0,0
$GC,6860,-0.58,-112.4,535.5,-7.8,731,6864,0.00,1.90,0.00,0.000,4,0.000,0.071,2647,3299,3604,0,0,0,0,0,0
$GC,6982,-0.58,-112.4,546.4,-8.9,742,6988,0.00,1.88,0.00,0.000,6,0.000,0.054,2646,2123,3603,0,0,0,0,0,0
$GC,7298,-0.56,-112.4,575.2,-9.0,773,7302,0.00,1.98,0.00,0.000,4,0.000,0.070,2638,3308,3604,0,0,0,0,0,0
$GC,7352,-0.56,-112.4,580.2,-9.6,778,7356,0.08,1.85,0.00,0.000,6,0.130,0.053,2665,2141,3604,0,0,0,0,0,0
$GC,7680,-0.56,-112.4,607.3,-8.0,804,7684,0.00,1.95,0.00,0.000,4,0.000,0.070,2662,3312,3604,0,0,0,0,0,0
$GC,7738,-0.56,-112.4,612.0,-7.7,805,7746,0.00,1.85,0.00,0.000,6,0.000,0.054,2661,2153,3603,0,0,0,0,0,0
$GC,8047,-0.56,-112.4,635.8,-7.5,816,8051,0.00,1.92,0.00,0.000,4,0.000,0.069,2654,3306,3603,0,0,0,0,0,0
$GC,8095,-0.56,-112.4,639.4,-8.0,817,8099,0.00,1.83,0.00,0.000,6,0.000,0.054,2655,2161,3603,0,0,0,0,0,0
$GC,8414,-0.56,-112.4,663.7,-7.7,828,8418,0.00,1.90,0.00,0.000,4,0.000,0.069,2647,3301,3603,0,0,0,0,0,0
$GC,8478,-0.56,-112.4,668.5,-6.9,830,8482,0.00,1.77,0.00,0.000,6,0.000,0.054,2647,2187,3603,0,0,0,0,0,0
$GC,8814,-0.56,-112.4,695.3,-8.1,841,8817,0.00,1.88,0.00,0.000,4,0.000,0.070,2639,3311,3602,0,0,0,0,0,0
$GC,8834,-0.56,-112.4,697.2,-9.2,841,8839,0.10,1.80,0.00,0.000,6,0.123,0.054,2674,2182,3602,0,0,0,0,0,0
$GC,9148,-0.56,-112.4,718.2,-7.0,852,9152,0.00,2.15,0.00,0.000,4,0.000,0.061,2674,846,3601,0,0,0,0,0,0
$GC,9191,-0.56,-112.4,721.4,-7.3,853,9195,0.00,2.15,0.00,0.000,6,0.000,0.061,2673,2177,3601,0,0,0,0,0,0
$GC,9515,-0.56,-112.4,744.0,-7.1,864,9519,0.00,1.88,0.00,0.000,4,0.000,0.071,2666,3304,3601,0,0,0,0,0,0
$GC,9584,-0.58,-112.4,748.8,-6.6,866,9588,0.00,1.77,0.00,0.000,6,0.000,0.054,2666,2190,3600,0,0,0,0,0,0
$GC,9915,-0.58,-112.4,773.9,-7.7,877,9916,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2190,3600,0,0,0,0,0,0
$GC,10218,-0.58,-112.4,797.5,-7.7,887,10222,0.00,2.17,0.00,0.000,4,0.000,0.061,2666,844,3600,0,0,0,0,0,0
$GC,10271,-0.58,-112.4,801.7,-8.0,888,10275,0.00,2.20,0.00,0.000,6,0.000,0.061,2663,2198,3600,0,0,0,0,0,0
$GC,10585,-0.58,-112.4,824.9,-7.3,899,10589,0.00,1.83,0.00,0.000,4,0.000,0.072,2663,3303,3599,0,0,0,0,0,0
$GC,10654,-0.59,-112.4,829.6,-6.9,901,10658,0.00,1.73,0.00,0.000,6,0.000,0.054,2663,2219,3599,0,0,0,0,0,0
$GC,10984,-0.59,-112.4,851.6,-6.5,912,10988,0.00,2.20,0.00,0.000,4,0.000,0.061,2663,839,3599,0,0,0,0,0,0
$GC,11048,-0.59,-112.4,855.9,-6.8,914,11052,0.00,2.25,0.00,0.000,6,0.000,0.062,2663,2223,3598,0,0,0,0,0,0
$GC,11383,-0.59,-112.4,876.9,-6.0,925,11387,0.00,1.80,0.00,0.000,4,0.000,0.072,2663,3313,3599,0,0,0,0,0,0
$GC,11474,-0.60,-112.4,882.3,-5.0,927,11479,0.00,1.73,0.00,0.000,6,0.000,0.057,2663,2235,3598,0,0,0,0,0,0
$GC,11782,-0.60,-112.4,900.9,-6.0,938,11786,0.00,2.22,0.00,0.000,4,0.000,0.063,2663,853,3598,0,0,0,0,0,0
$GC,11889,-0.60,-112.4,908.2,-7.1,941,11893,0.00,2.22,0.00,0.000,6,0.000,0.061,2663,2218,3598,0,0,0,0,0,0
$GC,12213,-0.60,-112.4,929.4,-6.7,952,12217,0.00,1.80,0.00,0.000,4,0.000,0.072,2663,3307,3598,0,0,0,0,0,0
$GC,12288,-0.62,-112.4,934.0,-5.9,954,12292,0.00,1.73,0.00,0.000,6,0.000,0.054,2663,2232,3598,0,0,0,0,0,0
$GC,12613,-0.62,-112.4,954.7,-6.5,965,12616,0.00,2.22,0.00,0.000,4,0.000,0.062,2663,846,3598,0,0,0,0,0,0
$GC,12692,-0.62,-112.4,960.5,-7.6,967,12696,0.00,2.25,0.00,0.000,6,0.000,0.062,2663,2228,3598,0,0,0,0,0,0
$GC,13012,-0.62,-112.4,982.3,-7.0,978,13015,0.00,1.77,0.00,0.000,4,0.000,0.071,2663,3306,3598,0,0,0,0,0,0
$GC,13086,-0.63,-112.4,987.5,-6.1,980,13090,0.00,1.70,0.00,0.000,6,0.000,0.054,2663,2246,3597,0,0,0,0,0,0
$STATE,13136,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13136,begin apogee
$GC,13140,-0.14,0.0,991.1,7.1,982,13236,0.45,0.00,94.45,1.239,6,0.116,0.000,2809,1999,3150,0,0,0,0,0,0
$STATE,13237,end apogee,CONTROL_FINISHED_OK
$STATE,13237,begin climb
$GC,13239,0.45,112.4,993.5,0.0,985,13343,0.57,0.00,100.60,1.200,6,0.064,0.000,3012,1999,2690,0,0,0,0,0,0
$GC,13652,0.42,112.4,968.4,8.1,999,13656,0.00,2.10,0.00,0.000,4,0.000,0.067,3012,3231,2685,0,0,0,0,0,0
$GC,13876,0.37,112.4,948.6,9.3,1006,13881,0.15,1.95,0.00,0.000,6,0.150,0.056,2977,2046,2683,0,0,0,0,0,0
$GC,14212,0.35,112.4,927.9,6.2,1017,14216,0.00,2.00,0.00,0.000,4,0.000,0.068,2976,3237,2683,0,0,0,0,0,0
$GC,14259,0.32,112.4,924.4,7.0,1018,14264,0.00,1.92,0.00,0.000,6,0.000,0.057,2982,2056,2682,0,0,0,0,0,0
$GC,14579,0.30,112.4,902.6,6.9,1029,14583,0.12,1.95,0.00,0.000,4,0.167,0.069,2950,3227,2682,0,0,0,0,0,0
$GC,14692,0.28,112.4,895.3,6.7,1032,14695,0.00,1.83,0.00,0.000,6,0.000,0.056,2955,2085,2682,0,0,0,0,0,0
$GC,15010,0.27,121.0,876.8,5.8,1043,15021,0.00,2.10,7.32,0.985,4,0.000,0.064,2964,758,2656,0,0,0,0,0,0
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$STATE,27943,end climb,SURFACE_DEPTH_REACHED
$STATE,27944,begin surface coast
$FINISH,1.2,1.002430
$STATE,27981,end surface coast,CONTROL_FINISHED_OK
$STATE,27983,begin surface
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$HUMID,40.98
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$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,22.9,49.073
$10V_AH,10.1,47.119
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.425,261.375,422.750,0.000,0.000,25.010,35.854,274.146,0.000,0.000,33.899,0.000,21518.889,657.484,5550.336,803.503,0.000,2699.935,0.000,4696.896,0.000,0.533,0.000
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$SENSOR_SECS,1525.618,1609.889,1826.895,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298588
$DATA_FILE_SIZE,123225,2139
$CAP_FILE_SIZE,286623,0
$CFSIZE,260165632,226304000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016,111.3,1
$GPS,180910,145954,4721.724,-12616.397,50,1.6,67,18.6