version: 66.06
glider: 187
mission: 2
dive: 462
start: 9 20 110 19 16 20
data:
$ID,187
$MISSION,2
$DIVE,462
$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,-33077.617
$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,27
$R_STBD_OVSHOOT,29
$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
$GPS1,190807,4732.876,-12550.496,32,1.1,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-76.2
$GPS2,191614,4732.821,-12550.417,13,1.4,13,18.7
$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,48.5,81007,-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,-112.4,0.0,0.0,0,72,0.00,0.00,-57.70,0.000,2,0.000,0.000,132,2083,2986,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.4,-2.3,11,102,10.50,1.98,-13.52,0.000,4,0.235,0.071,2701,841,3609,0,0,0,0,0,0
$GC,236,-0.44,-112.4,32.6,-11.3,41,241,0.00,1.98,0.00,0.000,6,0.000,0.056,2695,2068,3612,0,0,0,0,0,0
$GC,562,-0.44,-112.4,70.9,-11.4,102,568,0.00,2.05,0.00,0.000,4,0.000,0.063,2686,3317,3614,0,0,0,0,0,0
$GC,600,-0.44,-112.4,75.3,-11.7,109,606,0.00,1.95,0.00,0.000,6,0.000,0.050,2686,2092,3614,0,0,0,0,0,0
$GC,928,-0.44,-112.4,109.5,-10.0,162,932,0.00,2.03,0.00,0.000,4,0.000,0.065,2677,3319,3615,0,0,0,0,0,0
$GC,982,-0.44,-112.4,115.0,-10.7,167,986,0.08,1.92,0.00,0.000,6,0.118,0.050,2705,2099,3614,0,0,0,0,0,0
$GC,1302,-0.44,-112.4,143.1,-8.7,198,1307,0.00,2.00,0.00,0.000,4,0.000,0.065,2702,3318,3615,0,0,0,0,0,0
$GC,1378,-0.46,-112.4,149.4,-8.7,205,1381,0.00,1.88,0.00,0.000,6,0.000,0.050,2702,2099,3615,0,0,0,0,0,0
$GC,1698,-0.46,-112.4,173.0,-7.1,236,1702,0.00,2.00,0.00,0.000,4,0.000,0.065,2696,3313,3614,0,0,0,0,0,0
$GC,1810,-0.47,-112.4,181.4,-6.9,246,1817,0.00,1.88,0.00,0.000,6,0.000,0.048,2696,2115,3614,0,0,0,0,0,0
$GC,2126,-0.47,-112.4,205.9,-8.6,277,2129,0.00,1.95,0.00,0.000,4,0.000,0.066,2691,3317,3614,0,0,0,0,0,0
$GC,2210,-0.47,-112.4,212.9,-8.1,285,2214,0.00,1.88,0.00,0.000,6,0.000,0.050,2690,2125,3614,0,0,0,0,0,0
$GC,2532,-0.47,-112.4,238.8,-8.2,316,2535,0.00,1.95,0.00,0.000,4,0.000,0.067,2684,3324,3613,0,0,0,0,0,0
$GC,2590,-0.47,-112.4,243.5,-7.6,321,2596,0.00,1.88,0.00,0.000,6,0.000,0.051,2685,2138,3612,0,0,0,0,0,0
$GC,2906,-0.47,-112.4,268.9,-7.7,352,2909,0.00,1.92,0.00,0.000,4,0.000,0.067,2676,3319,3612,0,0,0,0,0,0
$GC,2958,-0.47,-112.4,272.9,-7.8,357,2962,0.00,1.85,0.00,0.000,6,0.000,0.051,2676,2145,3612,0,0,0,0,0,0
$GC,3280,-0.47,-112.4,298.5,-8.0,388,3283,0.00,1.92,0.00,0.000,4,0.000,0.066,2668,3313,3611,0,0,0,0,0,0
$GC,3327,-0.47,-112.4,302.4,-8.3,392,3333,0.08,1.83,0.00,0.000,6,0.120,0.051,2696,2157,3611,0,0,0,0,0,0
$GC,3643,-0.47,-112.4,323.3,-6.6,423,3646,0.00,1.92,0.00,0.000,4,0.000,0.068,2691,3317,3611,0,0,0,0,0,0
$GC,3701,-0.48,-112.4,327.3,-7.0,428,3707,0.00,1.80,0.00,0.000,6,0.000,0.051,2691,2174,3610,0,0,0,0,0,0
$GC,4016,-0.48,-112.4,349.8,-7.0,459,4020,0.00,1.90,0.00,0.000,4,0.000,0.067,2691,3317,3611,0,0,0,0,0,0
$GC,4064,-0.50,-112.4,353.3,-7.3,463,4070,0.00,1.80,0.00,0.000,6,0.000,0.051,2690,2177,3610,0,0,0,0,0,0
$GC,4380,-0.50,-112.4,378.4,-8.8,494,4384,0.00,1.88,0.00,0.000,4,0.000,0.068,2690,3309,3610,0,0,0,0,0,0
$GC,4427,-0.51,-112.4,382.5,-8.5,498,4435,0.00,1.77,0.00,0.000,6,0.000,0.051,2690,2187,3610,0,0,0,0,0,0
$GC,4745,-0.51,-112.4,411.0,-9.1,529,4748,0.00,1.85,0.00,0.000,4,0.000,0.070,2690,3315,3609,0,0,0,0,0,0
$GC,4813,-0.52,-112.4,417.3,-8.8,535,4818,0.00,1.77,0.00,0.000,6,0.000,0.052,2689,2192,3609,0,0,0,0,0,0
$GC,5129,-0.52,-112.4,445.0,-8.5,566,5130,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2191,3609,0,0,0,0,0,0
$GC,5440,-0.52,-112.4,468.1,-6.6,596,5443,0.00,1.83,0.00,0.000,4,0.000,0.069,2686,3322,3608,0,0,0,0,0,0
$GC,5513,-0.54,-112.4,473.1,-6.7,603,5517,0.00,1.77,0.00,0.000,6,0.000,0.052,2686,2201,3608,0,0,0,0,0,0
$GC,5835,-0.54,-112.4,494.0,-6.6,634,5838,0.00,1.85,0.00,0.000,4,0.000,0.071,2683,3317,3606,0,0,0,0,0,0
$GC,5919,-0.55,-112.4,499.6,-6.3,642,5923,0.00,1.73,0.00,0.000,6,0.000,0.053,2682,2224,3607,0,0,0,0,0,0
$GC,6241,-0.55,-112.4,519.6,-6.3,673,6244,0.00,1.83,0.00,0.000,4,0.000,0.070,2676,3320,3606,0,0,0,0,0,0
$GC,6293,-0.55,-112.4,522.9,-6.6,678,6297,0.00,1.73,0.00,0.000,6,0.000,0.053,2676,2230,3606,0,0,0,0,0,0
$GC,6615,-0.55,-112.4,545.4,-7.3,709,6615,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2230,3605,0,0,0,0,0,0
$GC,6926,-0.55,-112.4,567.4,-7.0,739,6930,0.00,2.22,0.00,0.000,4,0.000,0.061,2675,841,3605,0,0,0,0,0,0
$GC,6957,-0.55,-112.4,569.7,-7.2,741,6963,0.00,2.25,0.00,0.000,6,0.000,0.061,2673,2234,3605,0,0,0,0,0,0
$GC,7274,-0.55,-112.4,592.7,-7.1,772,7276,0.00,1.75,0.00,0.000,4,0.000,0.071,2669,3317,3604,0,0,0,0,0,0
$GC,7353,-0.55,-112.4,598.8,-7.7,779,7358,0.00,1.73,0.00,0.000,6,0.000,0.054,2669,2236,3604,0,0,0,0,0,0
$GC,7681,-0.55,-112.4,622.2,-7.0,792,7685,0.00,2.25,0.00,0.000,4,0.000,0.062,2669,850,3604,0,0,0,0,0,0
$GC,7708,-0.55,-112.4,624.3,-8.0,792,7714,0.00,2.25,0.00,0.000,6,0.000,0.061,2664,2239,3604,0,0,0,0,0,0
$GC,8017,-0.55,-112.4,646.3,-7.2,803,8020,0.00,1.77,0.00,0.000,4,0.000,0.072,2663,3306,3604,0,0,0,0,0,0
$GC,8096,-0.55,-112.4,652.2,-7.3,805,8100,0.00,1.70,0.00,0.000,6,0.000,0.054,2662,2247,3603,0,0,0,0,0,0
$GC,8416,-0.55,-112.4,677.1,-7.9,816,8416,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2247,3604,0,0,0,0,0,0
$GC,8720,-0.55,-112.4,700.4,-7.8,826,8720,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2247,3603,0,0,0,0,0,0
$GC,9022,-0.55,-112.4,722.9,-7.3,836,9023,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2247,3603,0,0,0,0,0,0
$GC,9326,-0.55,-112.4,744.1,-6.8,846,9330,0.00,2.28,0.00,0.000,4,0.000,0.061,2662,855,3603,0,0,0,0,0,0
$GC,9352,-0.55,-112.4,746.0,-7.3,846,9359,0.00,2.28,0.00,0.000,6,0.000,0.061,2662,2253,3602,0,0,0,0,0,0
$GC,9661,-0.55,-112.4,766.2,-6.9,857,9665,0.00,1.77,0.00,0.000,4,0.000,0.071,2662,3320,3602,0,0,0,0,0,0
$GC,9708,-0.55,-112.4,769.5,-6.6,858,9713,0.00,1.73,0.00,0.000,6,0.000,0.056,2662,2247,3602,0,0,0,0,0,0
$GC,10028,-0.55,-112.4,792.1,-7.2,869,10029,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2247,3601,0,0,0,0,0,0
$GC,10332,-0.55,-112.4,814.7,-7.4,879,10335,0.00,1.77,0.00,0.000,4,0.000,0.072,2659,3306,3601,0,0,0,0,0,0
$GC,10357,-0.55,-112.4,816.5,-7.8,879,10363,0.00,1.67,0.00,0.000,6,0.000,0.056,2659,2263,3601,0,0,0,0,0,0
$GC,10666,-0.55,-112.4,839.9,-7.7,890,10667,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2263,3600,0,0,0,0,0,0
$GC,10970,-0.55,-112.4,864.4,-8.1,900,10971,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2263,3600,0,0,0,0,0,0
$GC,11273,-0.55,-112.4,887.7,-7.7,910,11274,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2263,3600,0,0,0,0,0,0
$GC,11577,-0.55,-112.4,909.7,-7.0,920,11577,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2263,3600,0,0,0,0,0,0
$GC,11881,-0.55,-112.4,929.7,-6.4,930,11884,0.00,1.73,0.00,0.000,4,0.000,0.072,2652,3307,3599,0,0,0,0,0,0
$GC,11917,-0.55,-112.4,932.3,-6.1,931,11921,0.00,1.67,0.00,0.000,6,0.000,0.057,2652,2266,3599,0,0,0,0,0,0
$GC,12247,-0.55,-112.4,955.1,-6.9,942,12251,0.00,2.30,0.00,0.000,4,0.000,0.064,2651,845,3599,0,0,0,0,0,0
$GC,12273,-0.55,-112.4,957.1,-8.1,942,12280,0.08,2.33,0.00,0.000,6,0.133,0.063,2672,2270,3599,0,0,0,0,0,0
$GC,12583,-0.56,-112.4,975.8,-6.3,953,12586,0.00,1.73,0.00,0.000,4,0.000,0.072,2667,3319,3598,0,0,0,0,0,0
$GC,12619,-0.57,-112.4,978.3,-6.8,954,12623,0.00,1.70,0.00,0.000,6,0.000,0.055,2667,2260,3598,0,0,0,0,0,0
$STATE,12795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12796,begin apogee
$GC,12800,-0.14,0.0,990.9,7.2,960,12897,0.43,0.00,94.85,1.238,6,0.114,0.000,2805,1996,3150,0,0,0,0,0,0
$STATE,12897,end apogee,CONTROL_FINISHED_OK
$STATE,12897,begin climb
$GC,12899,0.45,112.4,993.6,0.0,963,13006,0.55,2.22,100.60,1.200,4,0.071,0.063,3010,765,2690,0,0,0,0,0,0
$GC,13043,0.42,112.4,990.1,7.2,967,13048,0.00,2.15,0.00,0.000,6,0.000,0.058,3010,2001,2688,0,0,0,0,0,0
$GC,13351,0.38,112.4,966.3,8.0,978,13355,0.12,2.10,0.00,0.000,4,0.176,0.068,2980,3233,2684,0,0,0,0,0,0
$GC,13522,0.35,112.4,953.4,7.2,983,13526,0.00,1.98,0.00,0.000,6,0.000,0.057,2986,2037,2684,0,0,0,0,0,0
$GC,13847,0.32,112.4,931.3,6.7,994,13851,0.00,2.00,0.00,0.000,4,0.000,0.069,2985,3227,2683,0,0,0,0,0,0
$GC,14044,0.29,112.4,915.6,8.1,1000,14048,0.12,1.90,0.00,0.000,6,0.146,0.058,2956,2060,2682,0,0,0,0,0,0
$GC,14374,0.29,125.6,896.5,5.6,1011,14389,0.00,1.92,11.27,1.072,4,0.000,0.068,2955,3236,2637,0,0,0,0,0,0
$GC,14501,0.27,125.6,888.0,6.8,1015,14505,0.00,1.90,0.00,0.000,6,0.000,0.056,2960,2068,2636,0,0,0,0,0,0
$GC,14832,0.26,125.6,866.5,6.4,1026,14835,0.00,1.95,0.00,0.000,4,0.000,0.069,2960,3247,2636,0,0,0,0,0,0
$GC,14906,0.24,125.6,861.2,7.0,1028,14910,0.10,1.88,0.00,0.000,6,0.140,0.057,2935,2090,2635,0,0,0,0,0,0
$GC,15230,0.25,155.3,844.3,5.0,1039,15262,0.00,1.88,26.88,1.118,4,0.000,0.068,2935,3235,2515,0,0,0,0,0,0
$GC,15319,0.25,155.3,839.2,7.0,1041,15325,0.00,1.85,0.00,0.000,6,0.000,0.056,2935,2104,2513,0,0,0,0,0,0
$GC,15628,0.27,189.8,823.5,4.8,1052,15662,0.00,1.92,30.62,1.104,4,0.000,0.071,2935,3232,2376,0,0,0,0,0,0
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$STATE,26545,end climb,SURFACE_DEPTH_REACHED
$STATE,26545,begin surface coast
$FINISH,1.4,1.005525
$STATE,26576,end surface coast,CONTROL_FINISHED_OK
$STATE,26576,begin surface
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$10V_AH,10.1,48.476
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,298604
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$CAP_FILE_SIZE,255365,0
$CFSIZE,260165632,225370112
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$CURRENT,0.047,331.9,1
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