version: 66.06
glider: 187
mission: 2
dive: 82
start: 7 21 110 8 27 12
data:
$ID,187
$MISSION,2
$DIVE,82
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$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,480
$T_MISSION,540
$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,100
$T_WATCHDOG,10
$RELAUNCH,-7
$APOGEE_PITCH,-5
$MAX_BUOY,125
$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,-25005.578
$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,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$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,24
$R_STBD_OVSHOOT,23
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$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,0.0012300001
$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
$GPS1,082045,4729.192,-12552.959,43,2.9,62,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.57
$_SM_ANGLEo,-73.8
$GPS2,082706,4729.156,-12552.974,16,1.4,32,18.7
$SPEED_LIMITS,0.119,0.212
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,1000.000
$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,221.4,100413,-14.9,-6.875
$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,11,-0.80,-122.2,0.0,0.0,0,72,0.00,0.00,-58.62,0.000,2,0.000,0.000,132,2078,3123,0,0,0,0,0,0
$GC,73,-0.80,-122.2,3.5,-3.9,11,101,10.05,2.03,-11.05,0.000,4,0.249,0.080,2573,3316,3650,0,0,0,0,0,0
$GC,271,-0.59,-122.2,64.7,-24.4,48,278,0.25,1.98,0.00,0.000,6,0.155,0.051,2647,2074,3653,0,0,0,0,0,0
$GC,592,-0.50,-122.2,126.1,-15.8,95,597,0.12,2.03,0.00,0.000,4,0.178,0.067,2675,3316,3655,0,0,0,0,0,0
$GC,608,-0.43,-122.2,128.3,-14.7,96,615,0.00,2.00,0.00,0.000,6,0.000,0.052,2675,2060,3655,0,0,0,0,0,0
$GC,925,-0.40,-122.2,163.5,-9.9,127,926,0.12,0.00,0.00,0.000,6,0.156,0.000,2710,2056,3655,0,0,0,0,0,0
$GC,1235,-0.44,-122.2,186.6,-7.6,157,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2056,3656,0,0,0,0,0,0
$GC,1546,-0.48,-122.2,211.1,-7.9,187,1549,0.00,2.03,0.00,0.000,4,0.000,0.071,2708,3316,3656,0,0,0,0,0,0
$GC,1581,-0.53,-122.2,214.1,-8.1,190,1588,0.10,1.95,0.00,0.000,6,0.104,0.053,2654,2076,3655,0,0,0,0,0,0
$GC,1897,-0.49,-122.2,249.6,-11.1,221,1898,0.12,0.00,0.00,0.000,6,0.166,0.000,2688,2075,3655,0,0,0,0,0,0
$GC,2207,-0.49,-122.2,276.4,-8.7,251,2208,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2075,3655,0,0,0,0,0,0
$GC,2518,-0.51,-122.2,304.2,-9.0,281,2522,0.00,2.00,0.00,0.000,4,0.000,0.071,2682,3308,3654,0,0,0,0,0,0
$GC,2549,-0.53,-122.2,307.1,-9.1,284,2554,0.00,1.95,0.00,0.000,6,0.000,0.054,2682,2071,3654,0,0,0,0,0,0
$GC,2870,-0.53,-122.2,335.9,-9.2,315,2875,0.00,2.05,0.00,0.000,4,0.000,0.073,2675,3318,3654,0,0,0,0,0,0
$GC,2896,-0.53,-122.2,338.5,-9.6,317,2904,0.00,1.95,0.00,0.000,6,0.000,0.055,2674,2080,3653,0,0,0,0,0,0
$GC,3212,-0.53,-122.2,368.7,-9.7,348,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2078,3653,0,0,0,0,0,0
$GC,3523,-0.53,-122.2,398.2,-9.6,378,3527,0.00,1.98,0.00,0.000,4,0.000,0.072,2666,3305,3652,0,0,0,0,0,0
$GC,3554,-0.53,-122.2,401.3,-9.9,381,3559,0.00,1.92,0.00,0.000,6,0.000,0.056,2666,2084,3652,0,0,0,0,0,0
$GC,3876,-0.53,-122.2,433.6,-9.8,412,3877,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2082,3651,0,0,0,0,0,0
$GC,4187,-0.53,-122.2,462.7,-9.0,442,4190,0.00,1.98,0.00,0.000,4,0.000,0.073,2658,3317,3651,0,0,0,0,0,0
$GC,4222,-0.53,-122.2,466.1,-9.3,445,4230,0.00,1.95,0.00,0.000,6,0.000,0.056,2658,2080,3651,0,0,0,0,0,0
$GC,4538,-0.52,-122.2,494.5,-9.0,476,4539,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2078,3650,0,0,0,0,0,0
$GC,4849,-0.49,-122.2,522.7,-9.1,506,4853,0.00,1.98,0.00,0.000,4,0.000,0.074,2650,3306,3650,0,0,0,0,0,0
$GC,4874,-0.47,-122.2,525.2,-9.7,508,4881,0.15,1.95,0.00,0.000,6,0.147,0.057,2693,2070,3649,0,0,0,0,0,0
$GC,5190,-0.50,-122.2,548.8,-7.7,539,5195,0.00,2.00,0.00,0.000,4,0.000,0.075,2693,3307,3649,0,0,0,0,0,0
$GC,5233,-0.57,-122.2,551.9,-7.8,543,5237,0.00,1.92,0.00,0.000,6,0.000,0.057,2693,2085,3649,0,0,0,0,0,0
$GC,5554,-0.60,-122.2,576.4,-7.5,574,5558,0.12,2.00,0.00,0.000,4,0.097,0.074,2631,3316,3649,0,0,0,0,0,0
$GC,5586,-0.56,-122.2,579.5,-10.3,577,5590,0.08,1.92,0.00,0.000,6,0.143,0.057,2656,2085,3648,0,0,0,0,0,0
$GC,5914,-0.54,-122.2,613.2,-10.5,601,5918,0.00,2.00,0.00,0.000,4,0.000,0.075,2649,3309,3647,0,0,0,0,0,0
$GC,5950,-0.54,-122.2,617.2,-10.2,602,5955,0.00,1.95,0.00,0.000,6,0.000,0.058,2648,2076,3647,0,0,0,0,0,0
$GC,6280,-0.51,-122.2,652.7,-10.6,613,6285,0.10,2.00,0.00,0.000,4,0.183,0.075,2667,3302,3647,0,0,0,0,0,0
$GC,6333,-0.53,-122.2,657.7,-9.5,614,6338,0.00,1.92,0.00,0.000,6,0.000,0.058,2668,2083,3646,0,0,0,0,0,0
$GC,6647,-0.53,-122.2,687.0,-9.5,625,6652,0.00,2.03,0.00,0.000,4,0.000,0.075,2660,3314,3646,0,0,0,0,0,0
$GC,6668,-0.53,-122.2,689.0,-9.9,625,6673,0.00,1.95,0.00,0.000,6,0.000,0.058,2659,2082,3646,0,0,0,0,0,0
$GC,6982,-0.53,-122.2,718.9,-9.2,636,6983,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2079,3646,0,0,0,0,0,0
$GC,7286,-0.53,-122.2,745.8,-8.6,646,7290,0.00,2.03,0.00,0.000,4,0.000,0.076,2651,3310,3645,0,0,0,0,0,0
$GC,7312,-0.53,-122.2,748.1,-9.3,646,7318,0.00,1.92,0.00,0.000,6,0.000,0.058,2651,2093,3645,0,0,0,0,0,0
$GC,7621,-0.52,-122.2,774.0,-8.2,657,7626,0.00,2.00,0.00,0.000,4,0.000,0.077,2643,3314,3645,0,0,0,0,0,0
$GC,7652,-0.50,-122.2,776.6,-8.7,658,7657,0.10,1.95,0.00,0.000,6,0.165,0.058,2676,2081,3644,0,0,0,0,0,0
$GC,7988,-0.52,-122.2,797.6,-6.2,669,7989,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2079,3644,0,0,0,0,0,0
$GC,8291,-0.55,-122.2,818.6,-7.2,679,8296,0.00,2.00,0.00,0.000,4,0.000,0.077,2672,3306,3643,0,0,0,0,0,0
$GC,8317,-0.58,-122.2,820.6,-7.8,679,8324,0.00,1.92,0.00,0.000,6,0.000,0.059,2672,2092,3643,0,0,0,0,0,0
$GC,8626,-0.60,-122.2,843.6,-7.8,690,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2089,3643,0,0,0,0,0,0
$GC,8929,-0.62,-122.2,866.4,-7.2,700,8930,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2089,3643,0,0,0,0,0,0
$GC,9233,-0.64,-122.2,886.5,-6.4,710,9237,0.00,2.00,0.00,0.000,4,0.000,0.077,2666,3310,3642,0,0,0,0,0,0
$GC,9292,-0.67,-122.2,890.3,-6.4,711,9298,0.08,1.90,0.00,0.000,6,0.064,0.059,2615,2101,3642,0,0,0,0,0,0
$GC,9600,-0.61,-122.2,918.5,-9.5,722,9601,0.12,0.00,0.00,0.000,6,0.167,0.000,2648,2099,3642,0,0,0,0,0,0
$GC,9903,-0.61,-122.2,941.8,-7.5,732,9908,0.00,1.98,0.00,0.000,4,0.000,0.077,2641,3311,3642,0,0,0,0,0,0
$GC,9924,-0.61,-122.2,943.5,-8.9,732,9929,0.00,1.92,0.00,0.000,6,0.000,0.060,2642,2097,3642,0,0,0,0,0,0
$GC,10238,-0.58,-122.2,968.9,-8.3,743,10239,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2096,3641,0,0,0,0,0,0
$STATE,10510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10510,begin apogee
$GC,10513,-0.22,0.0,991.3,8.2,752,10618,0.40,0.00,103.05,1.230,6,0.134,0.000,2770,1991,3150,0,0,0,0,0,0
$STATE,10619,end apogee,CONTROL_FINISHED_OK
$STATE,10619,begin climb
$GC,10620,0.80,122.2,993.7,0.0,755,10735,0.98,2.12,109.15,1.191,4,0.090,0.066,3102,766,2651,0,0,0,0,0,0
$GC,10766,0.57,122.2,982.0,14.5,759,10771,0.25,2.12,0.00,0.000,6,0.178,0.064,3034,2002,2648,0,0,0,0,0,0
$GC,11101,0.41,122.2,944.0,11.0,770,11106,0.20,2.08,0.00,0.000,4,0.177,0.072,2980,3230,2645,0,0,0,0,0,0
$GC,11186,0.31,122.2,935.9,8.7,772,11191,0.15,2.03,0.00,0.000,6,0.170,0.061,2943,2007,2644,0,0,0,0,0,0
$GC,11500,0.33,151.8,916.9,5.8,783,11532,0.00,2.10,25.67,1.137,4,0.000,0.074,2943,3231,2530,0,0,0,0,0,0
$GC,11562,0.31,151.8,912.8,7.4,785,11567,0.00,2.05,0.00,0.000,6,0.000,0.060,2944,2000,2529,0,0,0,0,0,0
$GC,11897,0.32,154.0,890.1,6.8,796,11902,0.00,2.08,0.00,0.000,4,0.000,0.074,2945,3234,2528,0,0,0,0,0,0
$GC,11945,0.29,154.0,886.5,7.9,797,11950,0.00,2.03,0.00,0.000,6,0.000,0.061,2946,2004,2527,0,0,0,0,0,0
$GC,12264,0.30,160.3,865.0,6.6,808,12278,0.00,2.10,8.70,1.007,4,0.000,0.075,2946,3242,2495,0,0,0,0,0,0
$GC,12343,0.28,160.3,859.0,7.4,810,12347,0.00,2.00,0.00,0.000,6,0.000,0.061,2946,2017,2495,0,0,0,0,0,0
$GC,12662,0.28,160.3,836.6,7.0,821,12667,0.00,2.05,0.00,0.000,4,0.000,0.074,2946,3242,2494,0,0,0,0,0,0
$GC,12694,0.26,160.3,834.2,8.0,822,12698,0.00,2.00,0.00,0.000,6,0.000,0.061,2946,2016,2494,0,0,0,0,0,0
$GC,13029,0.26,160.3,811.0,7.0,833,13030,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2016,2494,0,0,0,0,0,0
$GC,13332,0.26,160.3,788.8,7.3,843,13337,0.00,2.05,0.00,0.000,4,0.000,0.074,2946,3244,2494,0,0,0,0,0,0
$GC,13375,0.24,160.3,785.4,8.5,844,13380,0.00,1.98,0.00,0.000,6,0.000,0.062,2946,2021,2495,0,0,0,0,0,0
$GC,13699,0.24,160.3,760.7,7.5,855,13704,0.00,2.03,0.00,0.000,4,0.000,0.075,2946,3235,2495,0,0,0,0,0,0
$GC,13731,0.24,160.3,758.1,8.3,856,13736,0.00,1.95,0.00,0.000,6,0.000,0.062,2946,2024,2495,0,0,0,0,0,0
$GC,14066,0.25,161.0,734.3,6.9,867,14067,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2024,2495,0,0,0,0,0,0
$GC,14370,0.26,176.4,715.1,6.3,877,14387,0.00,0.00,15.73,1.021,6,0.000,0.000,2947,2024,2430,0,0,0,0,0,0
$GC,14673,0.28,190.1,695.8,6.4,887,14688,0.00,0.00,13.27,0.989,6,0.000,0.000,2946,2023,2375,0,0,0,0,0,0
$GC,14977,0.31,198.7,676.2,6.5,897,14991,0.00,2.05,8.73,0.925,4,0.000,0.075,2946,3235,2340,0,0,0,0,0,0
$GC,15023,0.32,206.3,673.0,6.6,898,15035,0.00,1.98,8.40,0.903,6,0.000,0.061,2946,2032,2308,0,0,0,0,0,0
$GC,15337,0.35,206.3,651.4,6.9,908,15338,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2032,2307,0,0,0,0,0,0
$GC,15640,0.37,206.3,629.5,7.1,918,15641,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2032,2307,0,0,0,0,0,0
$GC,15944,0.40,206.3,608.3,6.9,928,15948,0.00,2.00,0.00,0.000,4,0.000,0.075,2946,3237,2308,0,0,0,0,0,0
$GC,15981,0.42,206.3,605.5,7.2,929,15986,0.10,1.95,0.00,0.000,6,0.117,0.061,2989,2030,2307,0,0,0,0,0,0
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$STATE,23797,end climb,SURFACE_DEPTH_REACHED
$STATE,23797,begin surface coast
$FINISH,0.6,1.023917
$STATE,23825,end surface coast,CONTROL_FINISHED_OK
$STATE,23825,begin surface
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$HUMID,38.77
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$TCM_TEMP,17.00
$XPDR_PINGS,0
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$10V_AH,10.3,6.086
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.425,171.150,422.675,0.000,0.000,25.252,33.604,201.240,0.000,0.000,32.863,0.000,18914.955,632.373,4253.743,444.161,0.000,2186.429,0.000,3565.200,0.000,0.534,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1238.635,1462.911,1451.579,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298612
$DATA_FILE_SIZE,101218,1789
$CAP_FILE_SIZE,229510,0
$CFSIZE,260165632,253493248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.029,131.9,1
$GPS,210710,150631,4727.428,-12556.627,45,1.8,45,18.7