version: 66.07
glider: 187
mission: 4
dive: 217
start: 5 14 111 14 40 56
data:
$ID,187
$MISSION,4
$DIVE,217
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,330
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51930
$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,375
$N_FILEKB,8
$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,-1584094.5
$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,2905
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$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,43
$C_ROLL_DIVE,2175
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$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,2735
$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,-60.973145
$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,5
$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
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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
$GPS1,140511,143354,4659.419,-12700.244,25,1.2,42,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-75.4
$GPS2,140511,144032,4659.368,-12700.283,12,1.7,12,18.6
$SPEED_LIMITS,0.173,0.236
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.256,-0.052
$KALMAN_X,10711.6,-206.9,-75.4,-48769.7,1425.1
$KALMAN_Y,-11625.3,187.7,296.2,12586.6,-1661.0
$MHEAD_RNG_PITCHd_Wd,10.9,187515,-20.8,-10.000
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.72,-117.3,0.0,0.0,0,99,0.00,0.00,-80.50,0.000,2,0.000,0.000,120,2146,3054,0,0,0,0,0,0
$GC,103,-0.72,-117.3,3.8,-6.2,12,126,10.23,2.33,-3.17,0.000,4,0.237,0.059,2668,657,3215,0,0,0,0,0,0
$GC,208,-0.69,-117.3,33.0,-20.6,30,217,0.00,2.42,0.00,0.000,6,0.000,0.050,2658,2175,3217,0,0,0,0,0,0
$GC,284,-0.64,-117.3,49.7,-22.3,43,292,0.15,2.45,0.00,0.000,4,0.170,0.061,2688,3693,3217,0,0,0,0,0,0
$GC,311,-0.62,-117.3,55.8,-20.4,47,319,0.00,2.40,0.00,0.000,6,0.000,0.045,2687,2186,3217,0,0,0,0,0,0
$GC,383,-0.59,-117.3,69.3,-19.2,60,390,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2180,3217,0,0,0,0,0,0
$GC,457,-0.57,-117.3,82.4,-18.6,73,464,0.12,0.00,0.00,0.000,6,0.168,0.000,2720,2180,3218,0,0,0,0,0,0
$GC,529,-0.57,-117.3,92.6,-12.0,86,537,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2180,3218,0,0,0,0,0,0
$GC,607,-0.57,-117.3,101.6,-11.1,99,612,0.00,2.35,0.00,0.000,4,0.000,0.051,2721,662,3219,0,0,0,0,0,0
$GC,648,-0.57,-117.3,106.4,-11.4,102,652,0.00,2.40,0.00,0.000,6,0.000,0.049,2713,2204,3219,0,0,0,0,0,0
$GC,782,-0.57,-117.3,122.7,-11.8,114,783,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2204,3219,0,0,0,0,0,0
$GC,909,-0.57,-117.3,138.3,-12.3,126,911,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2204,3219,0,0,0,0,0,0
$GC,1038,-0.57,-117.3,153.3,-11.5,138,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2205,3219,0,0,0,0,0,0
$GC,1164,-0.57,-117.3,167.9,-11.8,150,1166,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2204,3220,0,0,0,0,0,0
$GC,1292,-0.57,-117.3,182.3,-11.3,162,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2204,3220,0,0,0,0,0,0
$GC,1420,-0.57,-117.3,196.8,-11.3,174,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2204,3219,0,0,0,0,0,0
$GC,1547,-0.57,-117.3,211.0,-11.3,186,1548,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2204,3219,0,0,0,0,0,0
$GC,1674,-0.57,-117.3,225.3,-10.8,198,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2204,3219,0,0,0,0,0,0
$GC,1802,-0.57,-117.3,238.3,-9.9,210,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2204,3219,0,0,0,0,0,0
$GC,1930,-0.57,-117.3,251.3,-9.9,222,1932,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2204,3219,0,0,0,0,0,0
$GC,2057,-0.58,-117.3,264.2,-9.8,234,2059,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2204,3219,0,0,0,0,0,0
$GC,2185,-0.59,-117.3,277.0,-10.5,246,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2204,3219,0,0,0,0,0,0
$GC,2313,-0.60,-117.3,289.7,-9.6,258,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2204,3219,0,0,0,0,0,0
$GC,2439,-0.61,-117.3,302.2,-9.8,270,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2204,3219,0,0,0,0,0,0
$GC,2568,-0.63,-117.3,314.2,-9.1,282,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2204,3219,0,0,0,0,0,0
$GC,2695,-0.64,-117.3,326.2,-9.5,294,2700,0.00,2.38,0.00,0.000,4,0.000,0.052,2712,660,3219,0,0,0,0,0,0
$GC,2740,-0.65,-117.3,331.1,-10.6,297,2747,0.00,2.40,0.00,0.000,6,0.000,0.050,2703,2195,3219,0,0,0,0,0,0
$GC,2876,-0.65,-117.3,344.2,-9.7,310,2883,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2195,3218,0,0,0,0,0,0
$GC,3011,-0.65,-117.3,357.3,-9.2,323,3013,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2195,3219,0,0,0,0,0,0
$GC,3139,-0.65,-117.3,369.3,-9.3,335,3140,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2195,3219,0,0,0,0,0,0
$GC,3267,-0.65,-117.3,381.4,-9.7,347,3272,0.00,2.38,0.00,0.000,4,0.000,0.063,2691,3696,3219,0,0,0,0,0,0
$GC,3331,-0.65,-117.3,387.7,-9.6,352,3335,0.00,2.30,0.00,0.000,6,0.000,0.045,2691,2185,3219,0,0,0,0,0,0
$GC,3466,-0.65,-117.3,401.6,-10.2,364,3467,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2180,3219,0,0,0,0,0,0
$GC,3594,-0.65,-117.3,414.8,-10.1,376,3598,0.00,2.33,0.00,0.000,4,0.000,0.053,2691,654,3218,0,0,0,0,0,0
$GC,3637,-0.65,-117.3,420.1,-11.0,379,3644,0.00,2.38,0.00,0.000,6,0.000,0.050,2680,2196,3218,0,0,0,0,0,0
$GC,3771,-0.65,-117.3,434.4,-11.0,392,3776,0.00,2.38,0.00,0.000,4,0.000,0.063,2669,3695,3218,0,0,0,0,0,0
$GC,3805,-0.65,-117.3,438.3,-12.3,394,3812,0.00,2.33,0.00,0.000,6,0.000,0.046,2668,2183,3218,0,0,0,0,0,0
$GC,3939,-0.65,-117.3,453.8,-12.1,407,3943,0.00,2.30,0.00,0.000,4,0.000,0.053,2668,667,3218,0,0,0,0,0,0
$GC,3979,-0.65,-117.3,458.6,-11.9,410,3984,0.12,2.35,0.00,0.000,6,0.158,0.050,2692,2193,3217,0,0,0,0,0,0
$GC,4116,-0.65,-117.3,472.1,-10.1,422,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2192,3218,0,0,0,0,0,0
$GC,4251,-0.65,-117.3,484.9,-9.1,435,4252,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2192,3218,0,0,0,0,0,0
$GC,4378,-0.65,-117.3,496.3,-9.0,447,4382,0.00,2.38,0.00,0.000,4,0.000,0.063,2683,3698,3217,0,0,0,0,0,0
$GC,4420,-0.65,-117.3,500.1,-9.4,450,4424,0.00,2.33,0.00,0.000,6,0.000,0.046,2682,2169,3217,0,0,0,0,0,0
$GC,4554,-0.65,-117.3,512.8,-9.2,462,4555,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2166,3217,0,0,0,0,0,0
$GC,4682,-0.65,-117.3,525.2,-9.8,474,4683,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2166,3216,0,0,0,0,0,0
$GC,4810,-0.65,-117.3,537.8,-9.8,486,4811,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2166,3216,0,0,0,0,0,0
$GC,4936,-0.65,-117.3,550.3,-9.6,498,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2166,3216,0,0,0,0,0,0
$GC,5063,-0.65,-117.3,562.8,-9.9,510,5067,0.00,2.30,0.00,0.000,4,0.000,0.054,2681,667,3216,0,0,0,0,0,0
$GC,5102,-0.65,-117.3,567.0,-10.6,513,5110,0.00,2.38,0.00,0.000,6,0.000,0.051,2672,2187,3216,0,0,0,0,0,0
$GC,5237,-0.65,-117.3,580.7,-10.4,526,5238,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2187,3216,0,0,0,0,0,0
$GC,5365,-0.65,-117.3,593.7,-10.2,538,5366,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2187,3216,0,0,0,0,0,0
$GC,5490,-0.65,-117.3,606.1,-9.8,546,5491,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2187,3216,0,0,0,0,0,0
$GC,5795,-0.65,-117.3,637.1,-10.1,556,5799,0.00,2.40,0.00,0.000,4,0.000,0.064,2660,3697,3215,0,0,0,0,0,0
$GC,5822,-0.65,-117.3,640.2,-11.5,556,5830,0.12,2.33,0.00,0.000,6,0.156,0.047,2694,2187,3215,0,0,0,0,0,0
$GC,6137,-0.65,-117.3,668.6,-9.1,567,6138,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2182,3214,0,0,0,0,0,0
$GC,6442,-0.65,-117.3,697.1,-9.4,577,6443,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2183,3214,0,0,0,0,0,0
$GC,6749,-0.66,-117.3,725.0,-8.9,587,6753,0.00,2.33,0.00,0.000,4,0.000,0.056,2694,669,3214,0,0,0,0,0,0
$GC,6788,-0.66,-117.3,729.0,-9.1,588,6792,0.00,2.35,0.00,0.000,6,0.000,0.053,2687,2196,3214,0,0,0,0,0,0
$GC,7124,-0.66,-117.3,760.2,-9.3,599,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2196,3214,0,0,0,0,0,0
$GC,7430,-0.66,-117.3,788.2,-9.4,609,7433,0.00,2.35,0.00,0.000,4,0.000,0.055,2686,667,3213,0,0,0,0,0,0
$GC,7465,-0.66,-117.3,791.8,-10.3,610,7469,0.00,2.35,0.00,0.000,6,0.000,0.054,2676,2199,3214,0,0,0,0,0,0
$GC,7800,-0.66,-117.3,825.6,-10.1,621,7801,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2199,3213,0,0,0,0,0,0
$GC,8107,-0.66,-117.3,856.3,-9.9,631,8111,0.00,2.35,0.00,0.000,4,0.000,0.055,2676,667,3213,0,0,0,0,0,0
$GC,8146,-0.66,-117.3,860.5,-10.6,632,8150,0.00,2.33,0.00,0.000,6,0.000,0.053,2665,2187,3213,0,0,0,0,0,0
$GC,8470,-0.66,-117.3,892.3,-9.8,643,8474,0.00,2.38,0.00,0.000,4,0.000,0.066,2654,3691,3212,0,0,0,0,0,0
$GC,8508,-0.66,-117.3,896.3,-9.8,644,8513,0.12,2.33,0.00,0.000,6,0.155,0.048,2688,2180,3212,0,0,0,0,0,0
$GC,8834,-0.67,-117.3,921.4,-7.5,655,8838,0.00,2.33,0.00,0.000,4,0.000,0.056,2688,667,3212,0,0,0,0,0,0
$GC,8902,-0.67,-117.3,927.0,-8.0,657,8907,0.00,2.33,0.00,0.000,6,0.000,0.053,2679,2186,3212,0,0,0,0,0,0
$GC,9239,-0.67,-117.3,952.5,-7.7,668,9243,0.00,2.38,0.00,0.000,4,0.000,0.065,2668,3691,3211,0,0,0,0,0,0
$GC,9277,-0.67,-117.3,955.9,-8.3,669,9281,0.00,2.30,0.00,0.000,6,0.000,0.049,2667,2175,3211,0,0,0,0,0,0
$GC,9602,-0.67,-117.3,982.2,-8.2,680,9603,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2173,3210,0,0,0,0,0,0
$STATE,9721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9721,begin apogee
$GC,9728,-0.22,0.0,992.5,8.4,684,9833,0.50,0.00,101.10,1.235,6,0.128,0.000,2829,2061,2735,0,0,0,0,0,0
$STATE,9833,end apogee,CONTROL_FINISHED_OK
$STATE,9834,begin climb
$GC,9836,0.72,117.3,994.5,0.0,687,9955,0.93,2.70,109.88,1.204,4,0.080,0.061,3139,3576,2255,0,0,0,0,0,0
$GC,9984,0.68,117.3,979.1,16.7,692,9989,0.00,2.50,0.00,0.000,6,0.000,0.047,3151,2073,2251,0,0,0,0,0,0
$GC,10303,0.65,117.3,927.5,16.1,703,10308,0.15,2.47,0.00,0.000,4,0.177,0.062,3113,3576,2245,0,0,0,0,0,0
$GC,10353,0.63,117.3,919.2,15.9,704,10357,0.00,2.42,0.00,0.000,6,0.000,0.048,3122,2059,2243,0,0,0,0,0,0
$GC,10667,0.61,117.3,873.9,14.4,714,10668,0.00,0.00,0.00,0.000,6,0.000,0.000,3123,2059,2242,0,0,0,0,0,0
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$STATE,18410,end climb,SURFACE_DEPTH_REACHED
$STATE,18410,begin surface coast
$FINISH,0.7,1.024857
$STATE,18441,end surface coast,CONTROL_FINISHED_OK
$STATE,18442,begin surface
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$XPDR_PINGS,0
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$10V_AH,10.3,15.790
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,297460
$DATA_FILE_SIZE,76797,1374
$CAP_FILE_SIZE,209351,0
$CFSIZE,260165632,201322496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.024, 16.2,1
$GPS,140511,195055,4701.844,-12658.475,39,1.9,39,18.6