version: 66.06
glider: 187
mission: 2
dive: 83
start: 7 21 110 15 12 55
data:
$ID,187
$MISSION,2
$DIVE,83
$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,-25023.287
$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,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,28
$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
$GPS1,150631,4727.428,-12556.627,45,1.8,45,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.56
$_SM_ANGLEo,-74.0
$GPS2,151250,4727.385,-12556.633,16,1.7,16,18.7
$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,226.3,94753,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.80,-122.2,0.0,0.0,0,74,0.00,0.00,-60.20,0.000,2,0.000,0.000,131,2061,3102,0,0,0,0,0,0
$GC,76,-0.80,-122.2,3.3,-3.6,11,104,10.05,2.05,-11.95,0.000,4,0.249,0.081,2576,3307,3650,0,0,0,0,0,0
$GC,236,-0.56,-122.2,55.2,-25.8,41,243,0.25,1.98,0.00,0.000,6,0.158,0.052,2652,2069,3653,0,0,0,0,0,0
$GC,566,-0.46,-122.2,109.7,-14.5,97,570,0.15,2.05,0.00,0.000,4,0.167,0.071,2688,3314,3655,0,0,0,0,0,0
$GC,677,-0.45,-122.2,121.4,-9.4,107,683,0.00,1.92,0.00,0.000,6,0.000,0.051,2688,2089,3656,0,0,0,0,0,0
$GC,993,-0.43,-122.2,153.4,-10.2,138,997,0.00,1.98,0.00,0.000,4,0.000,0.070,2679,3304,3656,0,0,0,0,0,0
$GC,1045,-0.43,-122.2,158.7,-10.6,143,1050,0.00,1.92,0.00,0.000,6,0.000,0.052,2679,2088,3657,0,0,0,0,0,0
$GC,1366,-0.40,-122.2,190.0,-9.6,174,1371,0.12,1.98,0.00,0.000,4,0.158,0.071,2708,3305,3656,0,0,0,0,0,0
$GC,1457,-0.45,-122.2,196.9,-6.8,182,1464,0.00,1.92,0.00,0.000,6,0.000,0.052,2707,2083,3657,0,0,0,0,0,0
$GC,1772,-0.48,-122.2,220.9,-7.7,213,1777,0.00,1.98,0.00,0.000,4,0.000,0.071,2704,3309,3657,0,0,0,0,0,0
$GC,1863,-0.53,-122.2,228.0,-7.6,221,1870,0.00,1.90,0.00,0.000,6,0.000,0.053,2704,2104,3657,0,0,0,0,0,0
$GC,2178,-0.55,-122.2,253.7,-8.5,252,2183,0.10,1.95,0.00,0.000,4,0.107,0.071,2650,3307,3657,0,0,0,0,0,0
$GC,2226,-0.51,-122.2,259.0,-11.3,256,2233,0.10,1.90,0.00,0.000,6,0.160,0.053,2676,2100,3657,0,0,0,0,0,0
$GC,2542,-0.51,-122.2,289.8,-9.2,287,2546,0.00,1.98,0.00,0.000,4,0.000,0.071,2670,3320,3657,0,0,0,0,0,0
$GC,2637,-0.51,-122.2,298.7,-9.4,296,2642,0.00,1.90,0.00,0.000,6,0.000,0.054,2670,2113,3657,0,0,0,0,0,0
$GC,2958,-0.49,-122.2,329.8,-9.1,327,2963,0.00,1.92,0.00,0.000,4,0.000,0.072,2661,3313,3657,0,0,0,0,0,0
$GC,3049,-0.49,-122.2,337.9,-8.3,335,3055,0.00,1.90,0.00,0.000,6,0.000,0.054,2661,2104,3657,0,0,0,0,0,0
$GC,3364,-0.45,-122.2,368.8,-10.2,366,3369,0.12,1.95,0.00,0.000,4,0.160,0.072,2690,3306,3657,0,0,0,0,0,0
$GC,3428,-0.49,-122.2,374.4,-8.0,372,3433,0.00,1.88,0.00,0.000,6,0.000,0.054,2690,2114,3657,0,0,0,0,0,0
$GC,3750,-0.49,-122.2,401.5,-8.1,403,3753,0.00,1.92,0.00,0.000,4,0.000,0.074,2684,3313,3657,0,0,0,0,0,0
$GC,3814,-0.52,-122.2,406.8,-8.1,409,3817,0.00,1.85,0.00,0.000,6,0.000,0.055,2684,2124,3657,0,0,0,0,0,0
$GC,4133,-0.52,-122.2,433.6,-8.3,440,4138,0.00,1.92,0.00,0.000,4,0.000,0.073,2677,3309,3657,0,0,0,0,0,0
$GC,4188,-0.52,-122.2,438.0,-8.8,445,4191,0.00,1.85,0.00,0.000,6,0.000,0.056,2677,2124,3657,0,0,0,0,0,0
$GC,4507,-0.52,-122.2,465.8,-8.9,476,4512,0.00,1.92,0.00,0.000,4,0.000,0.074,2670,3309,3656,0,0,0,0,0,0
$GC,4544,-0.52,-122.2,468.9,-8.7,479,4551,0.00,1.88,0.00,0.000,6,0.000,0.056,2670,2120,3657,0,0,0,0,0,0
$GC,4860,-0.51,-122.2,495.5,-8.1,510,4865,0.00,1.92,0.00,0.000,4,0.000,0.074,2662,3309,3657,0,0,0,0,0,0
$GC,4880,-0.51,-122.2,497.2,-8.5,512,4885,0.00,1.85,0.00,0.000,6,0.000,0.057,2662,2136,3656,0,0,0,0,0,0
$GC,5201,-0.48,-122.2,525.3,-9.1,543,5206,0.00,1.90,0.00,0.000,4,0.000,0.074,2654,3313,3657,0,0,0,0,0,0
$GC,5233,-0.46,-122.2,528.1,-8.8,546,5238,0.15,1.88,0.00,0.000,6,0.150,0.057,2697,2126,3657,0,0,0,0,0,0
$GC,5555,-0.50,-122.2,550.6,-7.4,577,5558,0.00,1.90,0.00,0.000,4,0.000,0.074,2696,3304,3657,0,0,0,0,0,0
$GC,5580,-0.55,-122.2,552.4,-7.2,579,5587,0.00,1.85,0.00,0.000,6,0.000,0.057,2696,2131,3657,0,0,0,0,0,0
$GC,5897,-0.58,-122.2,574.9,-7.1,610,5901,0.12,1.92,0.00,0.000,4,0.098,0.075,2634,3315,3658,0,0,0,0,0,0
$GC,5938,-0.54,-122.2,578.8,-9.9,614,5943,0.10,1.83,0.00,0.000,6,0.134,0.057,2668,2146,3658,0,0,0,0,0,0
$GC,6268,-0.54,-122.2,604.7,-7.7,642,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2144,3658,0,0,0,0,0,0
$GC,6571,-0.54,-122.2,626.5,-7.0,652,6576,0.00,1.90,0.00,0.000,4,0.000,0.075,2662,3314,3658,0,0,0,0,0,0
$GC,6603,-0.54,-122.2,628.7,-6.9,653,6608,0.00,1.85,0.00,0.000,6,0.000,0.058,2661,2143,3658,0,0,0,0,0,0
$GC,6938,-0.52,-122.2,654.0,-7.8,664,6943,0.00,1.88,0.00,0.000,4,0.000,0.075,2653,3303,3658,0,0,0,0,0,0
$GC,6975,-0.52,-122.2,657.1,-7.7,665,6980,0.00,1.83,0.00,0.000,6,0.000,0.058,2653,2147,3658,0,0,0,0,0,0
$GC,7305,-0.49,-122.2,684.6,-8.4,676,7310,0.12,1.90,0.00,0.000,4,0.165,0.076,2682,3310,3659,0,0,0,0,0,0
$GC,7342,-0.54,-122.2,687.2,-6.8,677,7347,0.00,1.85,0.00,0.000,6,0.000,0.058,2682,2142,3659,0,0,0,0,0,0
$GC,7672,-0.56,-122.2,708.2,-6.3,688,7677,0.00,1.88,0.00,0.000,4,0.000,0.075,2675,3305,3659,0,0,0,0,0,0
$GC,7709,-0.59,-122.2,710.7,-6.5,689,7714,0.00,1.83,0.00,0.000,6,0.000,0.058,2675,2149,3659,0,0,0,0,0,0
$GC,8039,-0.61,-122.2,733.1,-6.6,700,8044,0.00,1.88,0.00,0.000,4,0.000,0.076,2667,3306,3659,0,0,0,0,0,0
$GC,8108,-0.64,-122.2,738.2,-7.6,702,8113,0.00,1.83,0.00,0.000,6,0.000,0.058,2667,2153,3659,0,0,0,0,0,0
$GC,8438,-0.64,-122.2,761.9,-7.1,713,8443,0.00,1.90,0.00,0.000,4,0.000,0.075,2660,3319,3660,0,0,0,0,0,0
$GC,8491,-0.66,-122.2,766.1,-8.2,714,8496,0.00,1.85,0.00,0.000,6,0.000,0.058,2660,2150,3660,0,0,0,0,0,0
$GC,8805,-0.66,-122.2,789.5,-7.3,725,8809,0.00,1.90,0.00,0.000,4,0.000,0.075,2652,3316,3661,0,0,0,0,0,0
$GC,8874,-0.66,-122.2,794.8,-7.6,727,8879,0.00,1.83,0.00,0.000,6,0.000,0.058,2652,2163,3661,0,0,0,0,0,0
$GC,9204,-0.66,-122.2,821.6,-8.4,738,9205,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2161,3661,0,0,0,0,0,0
$GC,9507,-0.66,-122.2,847.5,-8.6,748,9512,0.00,1.88,0.00,0.000,4,0.000,0.077,2644,3313,3662,0,0,0,0,0,0
$GC,9603,-0.66,-122.2,855.7,-8.3,751,9608,0.00,1.80,0.00,0.000,6,0.000,0.058,2644,2171,3662,0,0,0,0,0,0
$GC,9939,-0.64,-122.2,884.2,-8.2,762,9943,0.00,1.85,0.00,0.000,4,0.000,0.076,2636,3309,3662,0,0,0,0,0,0
$GC,9975,-0.64,-122.2,887.4,-9.1,763,9980,0.00,1.80,0.00,0.000,6,0.000,0.059,2636,2175,3662,0,0,0,0,0,0
$GC,10306,-0.61,-122.2,915.0,-8.4,774,10310,0.00,1.85,0.00,0.000,4,0.000,0.076,2629,3309,3663,0,0,0,0,0,0
$GC,10332,-0.58,-122.2,917.1,-9.4,774,10339,0.00,1.80,0.00,0.000,6,0.000,0.060,2629,2173,3663,0,0,0,0,0,0
$GC,10641,-0.54,-122.2,942.9,-8.3,785,10645,0.15,1.85,0.00,0.000,4,0.166,0.077,2664,3308,3663,0,0,0,0,0,0
$GC,10672,-0.57,-122.2,945.2,-6.6,786,10677,0.00,1.80,0.00,0.000,6,0.000,0.060,2664,2175,3663,0,0,0,0,0,0
$GC,11007,-0.57,-122.2,966.2,-6.4,797,11012,0.00,2.08,0.00,0.000,4,0.000,0.066,2664,848,3664,0,0,0,0,0,0
$GC,11087,-0.59,-122.2,971.5,-6.9,799,11092,0.00,2.12,0.00,0.000,6,0.000,0.066,2664,2175,3664,0,0,0,0,0,0
$STATE,11375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11375,begin apogee
$GC,11378,-0.22,0.0,991.4,7.2,809,11488,0.35,0.00,108.57,1.228,6,0.128,0.000,2776,1995,3150,0,0,0,0,0,0
$STATE,11489,end apogee,CONTROL_FINISHED_OK
$STATE,11489,begin climb
$GC,11490,0.80,122.2,993.7,0.0,812,11605,0.95,2.12,109.32,1.190,4,0.085,0.068,3102,763,2650,0,0,0,0,0,0
$GC,11733,0.56,122.2,970.6,13.1,819,11737,0.25,2.08,0.00,0.000,6,0.176,0.064,3033,2001,2646,0,0,0,0,0,0
$GC,12067,0.41,122.2,935.0,10.3,830,12072,0.20,2.08,0.00,0.000,4,0.174,0.074,2978,3236,2645,0,0,0,0,0,0
$GC,12185,0.31,122.2,924.6,8.6,833,12189,0.12,2.00,0.00,0.000,6,0.148,0.061,2947,2013,2645,0,0,0,0,0,0
$GC,12499,0.30,133.1,904.2,6.5,844,12513,0.00,2.05,10.10,1.047,4,0.000,0.074,2947,3233,2606,0,0,0,0,0,0
$GC,12562,0.25,133.1,899.5,8.1,846,12566,0.00,2.00,0.00,0.000,6,0.000,0.061,2947,2013,2606,0,0,0,0,0,0
$GC,12897,0.24,136.6,876.8,6.7,857,12907,0.00,2.05,4.80,0.834,4,0.000,0.074,2947,3236,2593,0,0,0,0,0,0
$GC,12982,0.19,136.6,870.2,7.8,859,12987,0.15,2.00,0.00,0.000,6,0.163,0.061,2901,2014,2592,0,0,0,0,0,0
$GC,13296,0.33,198.7,855.2,4.5,870,13358,0.15,2.15,55.53,1.133,4,0.094,0.071,2969,760,2339,0,0,0,0,0,0
$GC,13372,0.33,198.7,849.7,7.9,872,13377,0.00,2.15,0.00,0.000,6,0.000,0.064,2970,2025,2337,0,0,0,0,0,0
$GC,13692,0.30,198.7,822.3,8.6,883,13696,0.00,2.03,0.00,0.000,4,0.000,0.074,2970,3226,2333,0,0,0,0,0,0
$GC,13761,0.27,198.7,815.8,9.1,885,13766,0.12,2.00,0.00,0.000,6,0.133,0.061,2934,2016,2332,0,0,0,0,0,0
$GC,14091,0.31,203.1,793.1,6.7,896,14096,0.00,0.00,4.35,0.769,6,0.000,0.000,2934,2015,2321,0,0,0,0,0,0
$GC,14394,0.37,222.4,773.9,6.1,906,14418,0.00,2.08,18.50,1.054,4,0.000,0.074,2934,3232,2243,0,0,0,0,0,0
$GC,14450,0.41,222.4,770.1,7.2,907,14457,0.12,2.00,0.00,0.000,6,0.097,0.061,2984,2022,2241,0,0,0,0,0,0
$GC,14759,0.38,222.4,742.5,9.0,918,14760,0.00,0.00,0.00,0.000,6,0.000,0.000,2984,2022,2240,0,0,0,0,0,0
$GC,15063,0.35,222.4,716.0,8.8,928,15067,0.00,2.00,0.00,0.000,4,0.000,0.074,2984,3226,2240,0,0,0,0,0,0
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$STATE,23769,end climb,SURFACE_DEPTH_REACHED
$STATE,23769,begin surface coast
$FINISH,0.8,1.023866
$STATE,23802,end surface coast,CONTROL_FINISHED_OK
$STATE,23802,begin surface
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$HUMID,38.22
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$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,23.5,10.840
$10V_AH,10.3,6.236
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.375,203.400,434.825,0.000,0.000,27.302,36.574,207.435,0.000,0.000,17.077,0.000,18489.197,666.837,4579.722,482.155,0.000,2367.303,0.000,3873.695,0.000,0.534,0.000
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298608
$DATA_FILE_SIZE,100981,1804
$CAP_FILE_SIZE,248963,0
$CFSIZE,260165632,253370368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.060, 39.6,1
$GPS,210710,215137,4726.983,-12600.008,32,1.1,32,18.7