version: 66.06
glider: 187
mission: 2
dive: 289
start: 8 23 110 4 50 49
data:
$ID,187
$MISSION,2
$DIVE,289
$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,-29295.287
$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
$GPS1,044255,4712.713,-12636.143,40,1.2,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-76.0
$GPS2,045044,4712.730,-12636.118,11,1.5,11,18.6
$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,29.9,148781,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.45,-112.4,0.0,0.0,0,73,0.00,0.00,-57.42,0.000,2,0.000,0.000,134,2088,3021,0,0,0,0,0,0
$GC,75,-0.45,-112.4,3.3,-2.1,11,103,10.35,1.92,-13.12,0.000,4,0.242,0.076,2671,3304,3609,0,0,0,0,0,0
$GC,279,-0.42,-112.4,41.1,-14.9,49,285,0.00,1.92,0.00,0.000,6,0.000,0.048,2672,2078,3612,0,0,0,0,0,0
$GC,606,-0.39,-112.4,89.8,-14.7,110,613,0.12,1.92,0.00,0.000,4,0.162,0.054,2705,846,3614,0,0,0,0,0,0
$GC,676,-0.39,-112.4,98.8,-11.9,123,682,0.00,1.90,0.00,0.000,6,0.000,0.053,2702,2056,3614,0,0,0,0,0,0
$GC,997,-0.39,-112.4,133.9,-10.3,155,1001,0.00,2.00,0.00,0.000,4,0.000,0.061,2697,3308,3615,0,0,0,0,0,0
$GC,1034,-0.39,-112.4,137.5,-9.3,158,1040,0.00,1.95,0.00,0.000,6,0.000,0.048,2697,2059,3615,0,0,0,0,0,0
$GC,1350,-0.39,-112.4,166.9,-8.3,189,1354,0.00,1.90,0.00,0.000,4,0.000,0.056,2697,849,3615,0,0,0,0,0,0
$GC,1370,-0.39,-112.4,168.6,-8.0,191,1375,0.00,1.92,0.00,0.000,6,0.000,0.054,2692,2079,3615,0,0,0,0,0,0
$GC,1692,-0.39,-112.4,194.4,-7.7,222,1693,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2079,3614,0,0,0,0,0,0
$GC,2002,-0.39,-112.4,219.1,-8.1,252,2006,0.00,1.95,0.00,0.000,4,0.000,0.059,2692,850,3614,0,0,0,0,0,0
$GC,2034,-0.39,-112.4,222.0,-8.7,255,2038,0.00,1.90,0.00,0.000,6,0.000,0.056,2690,2058,3614,0,0,0,0,0,0
$GC,2355,-0.39,-112.4,251.0,-9.6,286,2359,0.00,2.00,0.00,0.000,4,0.000,0.066,2682,3306,3612,0,0,0,0,0,0
$GC,2402,-0.39,-112.4,255.5,-9.5,290,2408,0.00,1.92,0.00,0.000,6,0.000,0.051,2681,2065,3612,0,0,0,0,0,0
$GC,2718,-0.39,-112.4,286.1,-9.2,321,2722,0.00,1.92,0.00,0.000,4,0.000,0.059,2681,844,3611,0,0,0,0,0,0
$GC,2749,-0.39,-112.4,289.1,-9.4,324,2754,0.08,1.90,0.00,0.000,6,0.132,0.056,2703,2058,3611,0,0,0,0,0,0
$GC,3071,-0.39,-112.4,312.9,-7.0,355,3075,0.00,2.00,0.00,0.000,4,0.000,0.067,2697,3306,3611,0,0,0,0,0,0
$GC,3139,-0.40,-112.4,317.7,-6.8,361,3146,0.00,1.92,0.00,0.000,6,0.000,0.052,2697,2067,3611,0,0,0,0,0,0
$GC,3456,-0.40,-112.4,339.4,-6.8,392,3459,0.00,1.88,0.00,0.000,4,0.000,0.061,2696,845,3610,0,0,0,0,0,0
$GC,3486,-0.40,-112.4,341.6,-6.6,395,3491,0.00,1.92,0.00,0.000,6,0.000,0.057,2697,2073,3610,0,0,0,0,0,0
$GC,3807,-0.40,-112.4,363.2,-6.8,426,3812,0.00,2.00,0.00,0.000,4,0.000,0.067,2691,3317,3609,0,0,0,0,0,0
$GC,3851,-0.41,-112.4,366.1,-6.9,430,3854,0.00,1.92,0.00,0.000,6,0.000,0.054,2691,2078,3608,0,0,0,0,0,0
$GC,4170,-0.41,-112.4,388.8,-7.1,461,4175,0.00,1.92,0.00,0.000,4,0.000,0.061,2690,842,3608,0,0,0,0,0,0
$GC,4207,-0.41,-112.4,391.6,-7.9,464,4214,0.00,1.98,0.00,0.000,6,0.000,0.059,2691,2085,3608,0,0,0,0,0,0
$GC,4523,-0.41,-112.4,417.3,-8.7,495,4528,0.00,1.98,0.00,0.000,4,0.000,0.068,2688,3314,3607,0,0,0,0,0,0
$GC,4577,-0.43,-112.4,421.6,-8.0,500,4581,0.00,1.92,0.00,0.000,6,0.000,0.054,2688,2077,3606,0,0,0,0,0,0
$GC,4897,-0.43,-112.4,448.5,-8.4,531,4901,0.00,1.92,0.00,0.000,4,0.000,0.061,2688,847,3605,0,0,0,0,0,0
$GC,4929,-0.43,-112.4,451.4,-8.8,534,4933,0.00,1.95,0.00,0.000,6,0.000,0.060,2686,2080,3605,0,0,0,0,0,0
$GC,5251,-0.43,-112.4,479.1,-8.9,565,5254,0.00,1.98,0.00,0.000,4,0.000,0.069,2678,3320,3605,0,0,0,0,0,0
$GC,5319,-0.43,-112.4,485.3,-8.9,571,5325,0.00,1.92,0.00,0.000,6,0.000,0.054,2677,2086,3604,0,0,0,0,0,0
$GC,5634,-0.43,-112.4,514.7,-8.7,602,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2087,3604,0,0,0,0,0,0
$GC,5946,-0.43,-112.4,542.6,-9.0,632,5947,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2087,3604,0,0,0,0,0,0
$GC,6256,-0.43,-112.4,568.5,-8.0,662,6257,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2086,3603,0,0,0,0,0,0
$GC,6567,-0.43,-112.4,591.4,-7.1,692,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2086,3603,0,0,0,0,0,0
$GC,6872,-0.43,-112.4,612.7,-6.8,710,6876,0.00,1.98,0.00,0.000,4,0.000,0.071,2670,3301,3602,0,0,0,0,0,0
$GC,6931,-0.43,-112.4,616.4,-6.0,711,6936,0.00,1.90,0.00,0.000,6,0.000,0.055,2670,2086,3602,0,0,0,0,0,0
$GC,7239,-0.43,-112.4,636.5,-6.4,722,7240,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2085,3601,0,0,0,0,0,0
$GC,7542,-0.43,-112.4,657.1,-7.1,732,7546,0.00,1.98,0.00,0.000,4,0.000,0.071,2662,3302,3601,0,0,0,0,0,0
$GC,7585,-0.43,-112.4,660.3,-7.9,733,7589,0.08,1.88,0.00,0.000,6,0.127,0.056,2689,2102,3600,0,0,0,0,0,0
$GC,7909,-0.43,-112.4,681.9,-6.7,744,7914,0.00,1.95,0.00,0.000,4,0.000,0.072,2689,3302,3600,0,0,0,0,0,0
$GC,7941,-0.44,-112.4,684.1,-6.7,745,7945,0.00,1.88,0.00,0.000,6,0.000,0.056,2689,2105,3600,0,0,0,0,0,0
$GC,8277,-0.45,-112.4,706.6,-6.8,756,8280,0.00,1.98,0.00,0.000,4,0.000,0.064,2689,846,3599,0,0,0,0,0,0
$GC,8314,-0.46,-112.4,709.3,-7.3,757,8318,0.00,2.00,0.00,0.000,6,0.000,0.061,2689,2104,3599,0,0,0,0,0,0
$GC,8643,-0.46,-112.4,732.9,-7.4,768,8647,0.00,1.92,0.00,0.000,4,0.000,0.071,2689,3307,3598,0,0,0,0,0,0
$GC,8697,-0.48,-112.4,737.0,-8.2,769,8701,0.00,1.88,0.00,0.000,6,0.000,0.055,2689,2111,3598,0,0,0,0,0,0
$GC,9010,-0.50,-112.4,760.0,-7.2,780,9015,0.00,2.00,0.00,0.000,4,0.000,0.063,2689,841,3599,0,0,0,0,0,0
$GC,9058,-0.51,-112.4,763.8,-8.3,781,9062,0.00,2.00,0.00,0.000,6,0.000,0.061,2689,2105,3598,0,0,0,0,0,0
$GC,9378,-0.52,-112.4,785.9,-6.8,792,9382,0.00,1.92,0.00,0.000,4,0.000,0.072,2689,3303,3597,0,0,0,0,0,0
$GC,9447,-0.54,-112.4,790.3,-6.5,794,9451,0.05,1.88,0.00,0.000,6,0.077,0.056,2652,2107,3597,0,0,0,0,0,0
$GC,9777,-0.54,-112.4,818.1,-8.4,805,9781,0.00,1.98,0.00,0.000,4,0.000,0.064,2652,848,3598,0,0,0,0,0,0
$GC,9808,-0.54,-112.4,820.9,-9.6,806,9812,0.00,2.03,0.00,0.000,6,0.000,0.062,2645,2123,3597,0,0,0,0,0,0
$GC,10143,-0.54,-112.4,848.9,-8.3,817,10148,0.00,1.90,0.00,0.000,4,0.000,0.072,2637,3306,3596,0,0,0,0,0,0
$GC,10213,-0.54,-112.4,854.8,-8.9,819,10217,0.00,1.88,0.00,0.000,6,0.000,0.057,2636,2110,3597,0,0,0,0,0,0
$GC,10543,-0.53,-112.4,883.2,-8.5,830,10543,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2110,3596,0,0,0,0,0,0
$GC,10846,-0.51,-112.4,908.7,-8.4,840,10850,0.12,1.95,0.00,0.000,4,0.167,0.074,2664,3304,3596,0,0,0,0,0,0
$GC,10883,-0.51,-112.4,911.4,-7.3,841,10887,0.00,1.85,0.00,0.000,6,0.000,0.058,2664,2124,3596,0,0,0,0,0,0
$GC,11213,-0.51,-112.4,932.4,-6.3,852,11214,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2124,3596,0,0,0,0,0,0
$GC,11516,-0.51,-112.4,950.8,-6.2,862,11521,0.00,1.92,0.00,0.000,4,0.000,0.074,2663,3313,3595,0,0,0,0,0,0
$GC,11559,-0.51,-112.4,953.7,-6.9,863,11563,0.00,1.88,0.00,0.000,6,0.000,0.058,2662,2120,3595,0,0,0,0,0,0
$GC,11883,-0.51,-112.4,974.6,-6.5,874,11888,0.00,1.92,0.00,0.000,4,0.000,0.074,2656,3313,3595,0,0,0,0,0,0
$GC,11920,-0.51,-112.4,977.2,-6.4,875,11925,0.00,1.88,0.00,0.000,6,0.000,0.058,2655,2132,3594,0,0,0,0,0,0
$STATE,12127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12128,begin apogee
$GC,12132,-0.14,0.0,991.7,7.1,882,12226,0.40,0.00,92.78,1.234,6,0.126,0.000,2784,1995,3150,0,0,0,0,0,0
$STATE,12227,end apogee,CONTROL_FINISHED_OK
$STATE,12227,begin climb
$GC,12228,0.45,112.4,993.8,0.0,885,12330,0.60,0.00,99.20,1.198,6,0.085,0.000,2981,1995,2691,0,0,0,0,0,0
$GC,12616,0.43,112.4,968.9,7.7,898,12619,0.00,2.03,0.00,0.000,4,0.000,0.070,2981,3234,2685,0,0,0,0,0,0
$GC,12710,0.39,112.4,960.7,8.1,901,12715,0.00,1.98,0.00,0.000,6,0.000,0.058,2990,2029,2685,0,0,0,0,0,0
$GC,13046,0.36,112.4,934.3,7.9,912,13050,0.15,2.00,0.00,0.000,4,0.169,0.071,2951,3232,2685,0,0,0,0,0,0
$GC,13211,0.33,112.4,922.5,7.3,917,13215,0.00,1.92,0.00,0.000,6,0.000,0.058,2957,2036,2685,0,0,0,0,0,0
$GC,13541,0.32,112.4,900.3,6.7,928,13545,0.00,1.98,0.00,0.000,4,0.000,0.071,2957,3233,2685,0,0,0,0,0,0
$GC,13631,0.29,112.4,893.5,7.4,930,13638,0.10,1.88,0.00,0.000,6,0.148,0.058,2934,2063,2685,0,0,0,0,0,0
$GC,13941,0.30,128.8,875.8,5.5,941,13960,0.00,1.95,14.43,1.092,4,0.000,0.070,2933,3237,2624,0,0,0,0,0,0
$GC,13997,0.29,128.8,872.3,6.3,942,14004,0.00,1.88,0.00,0.000,6,0.000,0.058,2934,2073,2623,0,0,0,0,0,0
$GC,14306,0.29,138.4,854.2,5.8,953,14321,0.00,1.92,9.68,1.029,4,0.000,0.072,2934,3227,2585,0,0,0,0,0,0
$GC,14370,0.29,138.4,850.2,6.6,955,14374,0.00,1.85,0.00,0.000,6,0.000,0.058,2934,2079,2584,0,0,0,0,0,0
$GC,14705,0.31,158.6,831.5,5.4,966,14729,0.00,1.95,19.02,1.086,4,0.000,0.071,2934,3235,2502,0,0,0,0,0,0
$GC,14740,0.33,205.5,829.5,4.4,967,14786,0.00,1.85,41.95,1.099,6,0.000,0.058,2934,2093,2312,0,0,0,0,0,0
$GC,15094,0.35,210.6,808.4,5.9,979,15104,0.00,2.17,5.22,0.833,4,0.000,0.068,2934,771,2291,0,0,0,0,0,0
$GC,15115,0.36,212.5,807.2,6.0,979,15126,0.00,2.15,3.42,0.613,6,0.000,0.061,2934,2095,2283,0,0,0,0,0,0
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$STATE,25242,end climb,SURFACE_DEPTH_REACHED
$STATE,25242,begin surface coast
$FINISH,1.1,1.006923
$STATE,25275,end surface coast,CONTROL_FINISHED_OK
$STATE,25275,begin surface
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$HUMID,40.07
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$TCM_TEMP,17.40
$XPDR_PINGS,0
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$10V_AH,10.2,28.475
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.725,208.900,421.100,0.000,0.000,32.324,34.257,267.053,0.000,0.000,11.153,0.000,19682.068,636.525,4750.070,704.507,0.000,2373.198,0.000,4055.899,0.000,0.533,0.000
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298604
$DATA_FILE_SIZE,110420,1949
$CAP_FILE_SIZE,248680,0
$CFSIZE,260165632,238473216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.020,300.2,1
$GPS,230810,115407,4714.795,-12632.854,32,1.8,32,18.6