version: 66.07
glider: 187
mission: 4
dive: 350
start: 5 26 111 0 21 10
data:
$ID,187
$MISSION,4
$DIVE,350
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,2.5
$T_BOOST,0
$D_FINISH,10
$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,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,0
$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,-1584225.8
$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,34
$R_STBD_OVSHOOT,42
$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
$GPS1,260511,001300,4748.757,-12513.257,38,1.7,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-74.5
$GPS2,260511,002014,4748.736,-12513.249,15,1.6,15,18.7
$SPEED_LIMITS,0.106,0.200
$TGT_NAME,DOGLEG
$TGT_LATLONG,4749.500,-12515.300
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.186,0.073
$KALMAN_X,2623.4,-132.6,-160.7,-9917.9,1150.6
$KALMAN_Y,-2609.9,293.3,-195.8,6632.6,-214.9
$MHEAD_RNG_PITCHd_Wd,295.3,2916,-13.6,-6.111
$D_GRID,418
$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,-0.50,-117.3,0.0,0.0,0,90,0.00,0.00,-71.20,0.000,2,0.000,0.000,131,2193,2917,0,0,0,0,0,0
$GC,94,-0.50,-117.3,4.1,-4.3,11,117,10.48,2.47,-5.38,0.000,4,0.239,0.063,2735,658,3217,0,0,0,0,0,0
$GC,231,-0.46,-117.3,38.1,-16.2,35,239,0.00,2.38,0.00,0.000,6,0.000,0.048,2727,2159,3220,0,0,0,0,0,0
$GC,306,-0.41,-117.3,49.3,-15.4,48,313,0.15,0.00,0.00,0.000,6,0.154,0.000,2767,2159,3221,0,0,0,0,0,0
$GC,380,-0.39,-117.3,57.8,-10.3,61,387,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2159,3221,0,0,0,0,0,0
$GC,452,-0.36,-117.3,65.4,-10.6,74,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2159,3222,0,0,0,0,0,0
$GC,526,-0.34,-117.3,72.6,-9.3,87,533,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,2159,3222,0,0,0,0,0,0
$GC,597,-0.33,-117.3,80.3,-10.9,100,604,0.10,0.00,0.00,0.000,6,0.160,0.000,2796,2159,3222,0,0,0,0,0,0
$GC,671,-0.33,-117.3,86.7,-8.7,113,678,0.00,2.35,0.00,0.000,4,0.000,0.050,2796,664,3222,0,0,0,0,0,0
$GC,691,-0.33,-117.3,88.4,-8.2,116,698,0.00,2.38,0.00,0.000,6,0.000,0.047,2795,2181,3222,0,0,0,0,0,0
$GC,764,-0.33,-117.3,93.4,-6.7,129,771,0.00,2.42,0.00,0.000,4,0.000,0.060,2785,3690,3222,0,0,0,0,0,0
$GC,794,-0.33,-117.3,95.4,-6.2,134,803,0.00,2.38,0.00,0.000,6,0.000,0.044,2785,2167,3222,0,0,0,0,0,0
$GC,871,-0.33,-117.3,99.7,-6.0,147,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2166,3223,0,0,0,0,0,0
$GC,942,-0.33,-117.3,104.3,-6.3,154,946,0.00,2.42,0.00,0.000,4,0.000,0.060,2777,3691,3223,0,0,0,0,0,0
$GC,963,-0.33,-117.3,105.8,-6.4,155,970,0.00,2.30,0.00,0.000,6,0.000,0.044,2776,2191,3222,0,0,0,0,0,0
$GC,1098,-0.33,-117.3,114.7,-7.2,168,1103,0.00,2.33,0.00,0.000,4,0.000,0.050,2776,671,3222,0,0,0,0,0,0
$GC,1171,-0.33,-117.3,119.8,-7.1,174,1175,0.00,2.33,0.00,0.000,6,0.000,0.049,2773,2188,3222,0,0,0,0,0,0
$GC,1312,-0.33,-117.3,130.1,-7.6,187,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2188,3223,0,0,0,0,0,0
$GC,1441,-0.33,-117.3,139.6,-6.9,199,1447,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2188,3223,0,0,0,0,0,0
$GC,1575,-0.33,-117.3,148.9,-6.7,212,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2188,3223,0,0,0,0,0,0
$GC,1703,-0.33,-117.3,157.3,-6.2,224,1704,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,2188,3223,0,0,0,0,0,0
$GC,1831,-0.33,-117.3,166.0,-7.1,236,1835,0.00,2.33,0.00,0.000,4,0.000,0.050,2772,667,3223,0,0,0,0,0,0
$GC,1863,-0.33,-117.3,168.7,-7.7,238,1870,0.00,2.33,0.00,0.000,6,0.000,0.048,2772,2180,3222,0,0,0,0,0,0
$GC,1999,-0.33,-117.3,178.6,-7.6,251,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2180,3222,0,0,0,0,0,0
$GC,2127,-0.33,-117.3,188.4,-7.8,263,2133,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2180,3222,0,0,0,0,0,0
$GC,2261,-0.33,-117.3,198.9,-7.5,276,2263,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2180,3222,0,0,0,0,0,0
$GC,2389,-0.33,-117.3,207.8,-6.5,288,2390,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2180,3222,0,0,0,0,0,0
$GC,2518,-0.33,-117.3,215.8,-6.2,300,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2180,3222,0,0,0,0,0,0
$GC,2644,-0.33,-117.3,223.5,-5.7,312,2645,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2180,3222,0,0,0,0,0,0
$GC,2771,-0.33,-117.3,231.1,-6.3,324,2772,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2180,3222,0,0,0,0,0,0
$GC,2899,-0.33,-117.3,238.8,-6.2,336,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2180,3221,0,0,0,0,0,0
$GC,3028,-0.34,-117.3,245.9,-5.7,348,3032,0.00,2.30,0.00,0.000,4,0.000,0.051,2772,672,3221,0,0,0,0,0,0
$GC,3147,-0.34,-117.3,253.7,-6.5,358,3151,0.00,2.30,0.00,0.000,6,0.000,0.050,2769,2178,3221,0,0,0,0,0,0
$GC,3288,-0.34,-117.3,263.1,-7.1,371,3292,0.00,2.40,0.00,0.000,4,0.000,0.063,2760,3698,3221,0,0,0,0,0,0
$GC,3327,-0.34,-117.3,266.1,-7.2,374,3332,0.12,2.30,0.00,0.000,6,0.127,0.045,2799,2180,3220,0,0,0,0,0,0
$GC,3462,-0.36,-117.3,274.2,-5.9,386,3466,0.00,2.33,0.00,0.000,4,0.000,0.052,2799,659,3220,0,0,0,0,0,0
$GC,3503,-0.39,-117.3,277.0,-7.0,389,3507,0.00,2.33,0.00,0.000,6,0.000,0.050,2799,2178,3220,0,0,0,0,0,0
$GC,3643,-0.43,-117.3,286.6,-7.3,402,3647,0.00,2.33,0.00,0.000,4,0.000,0.052,2799,667,3219,0,0,0,0,0,0
$GC,3684,-0.46,-117.3,289.6,-7.6,405,3689,0.12,2.25,0.00,0.000,6,0.086,0.050,2737,2134,3220,0,0,0,0,0,0
$GC,3818,-0.44,-117.3,301.2,-8.7,417,3822,0.00,2.47,0.00,0.000,4,0.000,0.063,2726,3693,3219,0,0,0,0,0,0
$GC,3880,-0.43,-117.3,307.5,-9.9,422,3888,0.15,2.40,0.00,0.000,6,0.138,0.045,2770,2124,3219,0,0,0,0,0,0
$GC,4015,-0.43,-117.3,317.9,-7.7,435,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,2123,3219,0,0,0,0,0,0
$GC,4141,-0.43,-117.3,327.7,-7.8,447,4145,0.00,2.22,0.00,0.000,4,0.000,0.053,2770,657,3219,0,0,0,0,0,0
$GC,4181,-0.43,-117.3,331.0,-7.9,450,4185,0.00,2.22,0.00,0.000,6,0.000,0.050,2768,2115,3219,0,0,0,0,0,0
$GC,4324,-0.43,-117.3,340.1,-5.9,463,4328,0.00,2.50,0.00,0.000,4,0.000,0.063,2758,3685,3219,0,0,0,0,0,0
$GC,4356,-0.43,-117.3,342.3,-6.1,465,4364,0.00,2.40,0.00,0.000,6,0.000,0.044,2758,2118,3219,0,0,0,0,0,0
$GC,4492,-0.43,-117.3,349.4,-5.2,478,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2118,3219,0,0,0,0,0,0
$GC,4620,-0.43,-117.3,356.1,-5.5,490,4626,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2118,3219,0,0,0,0,0,0
$GC,4756,-0.43,-117.3,363.3,-5.1,503,4762,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2118,3218,0,0,0,0,0,0
$GC,4891,-0.43,-117.3,370.5,-5.4,516,4892,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2117,3218,0,0,0,0,0,0
$GC,5020,-0.43,-117.3,377.4,-5.4,528,5024,0.00,2.22,0.00,0.000,4,0.000,0.052,2757,669,3218,0,0,0,0,0,0
$GC,5052,-0.43,-117.3,379.6,-6.4,530,5060,0.00,2.25,0.00,0.000,6,0.000,0.050,2750,2133,3218,0,0,0,0,0,0
$GC,5187,-0.43,-117.3,387.6,-6.2,543,5188,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2133,3218,0,0,0,0,0,0
$GC,5315,-0.43,-117.3,395.9,-6.6,555,5319,0.00,2.47,0.00,0.000,4,0.000,0.063,2739,3687,3218,0,0,0,0,0,0
$GC,5355,-0.43,-117.3,399.0,-7.2,558,5359,0.00,2.38,0.00,0.000,6,0.000,0.046,2739,2127,3218,0,0,0,0,0,0
$GC,5497,-0.43,-117.3,409.4,-7.2,571,5501,0.00,2.22,0.00,0.000,4,0.000,0.053,2738,660,3217,0,0,0,0,0,0
$GC,5531,-0.42,-117.3,412.4,-8.6,573,5539,0.10,2.28,0.00,0.000,6,0.122,0.051,2767,2120,3217,0,0,0,0,0,0
$STATE,5620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5620,begin apogee
$GC,5627,-0.22,0.0,418.4,6.4,582,5725,0.20,0.00,95.72,0.861,6,0.118,0.000,2835,2061,2735,0,0,0,0,0,0
$STATE,5726,end apogee,CONTROL_FINISHED_OK
$STATE,5726,begin climb
$GC,5730,0.50,117.3,422.1,0.0,592,5838,0.65,0.00,101.32,0.835,6,0.085,0.000,3058,2061,2255,0,0,0,0,0,0
$GC,5965,0.48,117.3,409.9,7.5,615,5966,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2061,2248,0,0,0,0,0,0
$GC,6094,0.46,117.3,400.7,7.3,627,6095,0.00,0.00,0.00,0.000,6,0.000,0.000,3058,2061,2246,0,0,0,0,0,0
$GC,6220,0.45,117.3,391.9,6.9,639,6224,0.00,2.45,0.00,0.000,4,0.000,0.059,3058,3583,2245,0,0,0,0,0,0
$GC,6253,0.42,117.3,389.1,8.0,641,6259,0.00,2.40,0.00,0.000,6,0.000,0.045,3069,2064,2244,0,0,0,0,0,0
$GC,6388,0.40,117.3,378.7,8.2,654,6390,0.12,0.00,0.00,0.000,6,0.151,0.000,3035,2059,2244,0,0,0,0,0,0
$GC,6514,0.40,123.2,370.9,5.9,666,6528,0.00,2.42,4.22,0.558,4,0.000,0.055,3042,548,2232,0,0,0,0,0,0
$GC,6556,0.40,123.2,368.2,6.1,669,6564,0.00,2.38,0.00,0.000,6,0.000,0.047,3042,2051,2232,0,0,0,0,0,0
$GC,6693,0.40,124.9,360.1,6.0,682,6697,0.00,2.45,0.00,0.000,4,0.000,0.060,3041,3576,2231,0,0,0,0,0,0
$GC,6742,0.38,124.9,356.5,7.6,686,6749,0.00,2.35,0.00,0.000,6,0.000,0.044,3050,2072,2230,0,0,0,0,0,0
$GC,6878,0.37,124.9,347.4,6.7,699,6879,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2069,2230,0,0,0,0,0,0
$GC,7004,0.36,124.9,338.9,6.7,711,7005,0.00,0.00,0.00,0.000,6,0.000,0.000,3051,2069,2230,0,0,0,0,0,0
$GC,7131,0.35,124.9,330.4,6.5,723,7133,0.12,0.00,0.00,0.000,6,0.148,0.000,3014,2067,2230,0,0,0,0,0,0
$GC,7259,0.36,153.6,323.6,5.1,735,7292,0.00,0.00,26.90,0.788,6,0.000,0.000,3015,2067,2107,0,0,0,0,0,0
$GC,7420,0.39,175.2,314.8,5.4,750,7441,0.00,0.00,18.62,0.764,6,0.000,0.000,3015,2067,2020,0,0,0,0,0,0
$GC,7569,0.42,201.2,307.0,5.2,764,7598,0.00,0.00,22.58,0.765,6,0.000,0.000,3015,2067,1914,0,0,0,0,0,0
$GC,7727,0.46,220.4,298.7,5.4,779,7747,0.12,0.00,17.08,0.744,6,0.090,0.000,3075,2067,1836,0,0,0,0,0,0
$GC,7874,0.45,220.4,285.7,9.5,793,7875,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2067,1833,0,0,0,0,0,0
$GC,8002,0.44,220.4,272.8,10.0,805,8008,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2067,1832,0,0,0,0,0,0
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$STATE,11570,end climb,SURFACE_DEPTH_REACHED
$STATE,11570,begin surface coast
$FINISH,0.6,1.013775
$STATE,11657,end surface coast,CONTROL_FINISHED_OK
$STATE,11658,begin surface
$SM_CCo,11675,27.90,0.442,1,0,1205,375.06
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$HUMID,36.92
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.30
$XPDR_PINGS,1
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$10V_AH,10.2,25.792
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.800,198.625,372.875,27.900,0.000,27.952,34.977,218.935,0.250,0.000,16.380,3186.150,4960.550,680.460,2826.923,470.404,33.343,1904.614,0.000,2580.903,0.000,0.536,0.000
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$SENSOR_SECS,855.348,984.946,1436.104,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,297540
$DATA_FILE_SIZE,70298,1248
$CAP_FILE_SIZE,194544,0
$CFSIZE,260165632,194387968
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.043,188.7,1
$GPS,260511,033737,4749.444,-12514.868,39,0.9,40,18.7