version: 66.06
glider: 187
mission: 2
dive: 84
start: 7 21 110 21 58 7
data:
$ID,187
$MISSION,2
$DIVE,84
$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,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,100
$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,-25041.447
$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,23
$R_STBD_OVSHOOT,32
$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
$GPS1,215137,4726.983,-12600.008,32,1.1,32,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-74.2
$GPS2,215802,4726.958,-12559.961,17,1.1,17,18.7
$SPEED_LIMITS,0.106,0.196
$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,212.8,90793,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.74,-112.4,0.0,0.0,0,76,0.00,0.00,-62.12,0.000,2,0.000,0.000,132,2089,3128,0,0,0,0,0,0
$GC,77,-0.74,-112.4,3.4,-3.3,11,106,10.07,1.98,-10.32,0.000,4,0.249,0.079,2589,3300,3613,0,0,0,0,0,0
$GC,249,-0.53,-112.4,52.1,-22.5,43,256,0.25,1.95,0.00,0.000,6,0.154,0.051,2666,2071,3615,0,0,0,0,0,0
$GC,579,-0.43,-112.4,106.1,-14.6,101,583,0.12,1.92,0.00,0.000,4,0.171,0.058,2702,841,3617,0,0,0,0,0,0
$GC,610,-0.39,-112.4,110.3,-12.8,104,615,0.00,1.95,0.00,0.000,6,0.000,0.055,2697,2063,3618,0,0,0,0,0,0
$GC,931,-0.36,-112.4,143.5,-10.4,135,936,0.10,2.00,0.00,0.000,4,0.173,0.067,2718,3310,3619,0,0,0,0,0,0
$GC,1000,-0.40,-112.4,149.4,-8.4,141,1008,0.00,1.98,0.00,0.000,6,0.000,0.051,2718,2053,3619,0,0,0,0,0,0
$GC,1317,-0.42,-112.4,176.6,-8.4,172,1320,0.00,2.03,0.00,0.000,4,0.000,0.069,2713,3314,3618,0,0,0,0,0,0
$GC,1349,-0.46,-112.4,179.1,-8.2,175,1352,0.00,1.92,0.00,0.000,6,0.000,0.052,2713,2081,3619,0,0,0,0,0,0
$GC,1668,-0.48,-112.4,204.2,-7.5,206,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2078,3619,0,0,0,0,0,0
$GC,1979,-0.51,-112.4,226.6,-7.2,236,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2078,3618,0,0,0,0,0,0
$GC,2290,-0.53,-112.4,249.4,-7.2,266,2294,0.12,2.00,0.00,0.000,4,0.095,0.071,2649,3309,3617,0,0,0,0,0,0
$GC,2332,-0.48,-112.4,253.7,-10.3,270,2337,0.15,1.95,0.00,0.000,6,0.143,0.054,2699,2069,3617,0,0,0,0,0,0
$GC,2653,-0.48,-112.4,278.0,-7.3,301,2654,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2067,3617,0,0,0,0,0,0
$GC,2964,-0.48,-112.4,300.3,-7.2,331,2967,0.00,2.00,0.00,0.000,4,0.000,0.071,2694,3300,3616,0,0,0,0,0,0
$GC,2989,-0.50,-112.4,302.3,-7.9,333,2997,0.00,1.92,0.00,0.000,6,0.000,0.054,2694,2076,3616,0,0,0,0,0,0
$GC,3306,-0.50,-112.4,327.0,-7.9,364,3307,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2075,3616,0,0,0,0,0,0
$GC,3617,-0.50,-112.4,353.1,-8.3,394,3620,0.00,1.98,0.00,0.000,4,0.000,0.074,2692,3307,3616,0,0,0,0,0,0
$GC,3648,-0.52,-112.4,355.7,-8.3,397,3652,0.00,1.92,0.00,0.000,6,0.000,0.055,2691,2077,3616,0,0,0,0,0,0
$GC,3968,-0.52,-112.4,381.7,-8.1,428,3968,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2074,3615,0,0,0,0,0,0
$GC,4278,-0.52,-112.4,403.6,-6.5,458,4283,0.00,2.00,0.00,0.000,4,0.000,0.073,2692,3306,3615,0,0,0,0,0,0
$GC,4333,-0.55,-112.4,407.1,-6.5,463,4336,0.00,1.92,0.00,0.000,6,0.000,0.056,2691,2073,3614,0,0,0,0,0,0
$GC,4652,-0.55,-112.4,428.4,-6.6,494,4653,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2070,3615,0,0,0,0,0,0
$GC,4963,-0.55,-112.4,449.2,-6.8,524,4963,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2070,3614,0,0,0,0,0,0
$GC,5273,-0.57,-112.4,470.4,-6.8,554,5277,0.00,2.00,0.00,0.000,4,0.000,0.073,2691,3305,3614,0,0,0,0,0,0
$GC,5342,-0.61,-112.4,475.0,-7.0,560,5349,0.12,1.92,0.00,0.000,6,0.097,0.056,2630,2078,3613,0,0,0,0,0,0
$GC,5658,-0.53,-112.4,508.5,-11.0,591,5659,0.15,0.00,0.00,0.000,6,0.160,0.000,2672,2077,3613,0,0,0,0,0,0
$GC,5968,-0.53,-112.4,534.7,-8.2,621,5973,0.00,2.00,0.00,0.000,4,0.000,0.074,2666,3311,3613,0,0,0,0,0,0
$GC,6037,-0.53,-112.4,540.7,-8.6,627,6044,0.00,1.92,0.00,0.000,6,0.000,0.057,2665,2086,3612,0,0,0,0,0,0
$GC,6353,-0.51,-112.4,568.3,-8.2,658,6357,0.00,2.00,0.00,0.000,4,0.000,0.074,2659,3313,3612,0,0,0,0,0,0
$GC,6379,-0.49,-112.4,570.6,-8.6,660,6386,0.00,1.95,0.00,0.000,6,0.000,0.058,2658,2077,3612,0,0,0,0,0,0
$GC,6696,-0.46,-112.4,599.5,-9.2,691,6699,0.12,2.00,0.00,0.000,4,0.158,0.074,2689,3308,3612,0,0,0,0,0,0
$GC,6726,-0.49,-112.4,601.9,-7.5,693,6731,0.00,1.92,0.00,0.000,6,0.000,0.058,2689,2089,3612,0,0,0,0,0,0
$GC,7062,-0.50,-112.4,625.6,-6.8,704,7062,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2086,3612,0,0,0,0,0,0
$GC,7365,-0.52,-112.4,644.4,-5.9,714,7366,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2086,3611,0,0,0,0,0,0
$GC,7669,-0.54,-112.4,661.3,-5.5,724,7673,0.00,1.98,0.00,0.000,4,0.000,0.076,2686,3298,3611,0,0,0,0,0,0
$GC,7695,-0.57,-112.4,662.8,-5.1,724,7701,0.00,1.92,0.00,0.000,6,0.000,0.058,2685,2079,3611,0,0,0,0,0,0
$GC,8004,-0.59,-112.4,680.0,-5.5,735,8005,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2078,3611,0,0,0,0,0,0
$GC,8307,-0.59,-112.4,697.0,-5.6,745,8308,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2077,3611,0,0,0,0,0,0
$GC,8610,-0.60,-112.4,715.9,-6.8,755,8615,0.10,2.00,0.00,0.000,4,0.114,0.076,2632,3308,3610,0,0,0,0,0,0
$GC,8642,-0.55,-112.4,718.6,-9.2,756,8647,0.12,1.92,0.00,0.000,6,0.160,0.058,2667,2090,3609,0,0,0,0,0,0
$GC,8977,-0.55,-112.4,747.6,-8.7,767,8982,0.00,2.00,0.00,0.000,4,0.000,0.076,2661,3306,3609,0,0,0,0,0,0
$GC,9003,-0.55,-112.4,750.2,-9.7,767,9010,0.00,1.92,0.00,0.000,6,0.000,0.059,2661,2089,3610,0,0,0,0,0,0
$GC,9312,-0.54,-112.4,779.2,-9.3,778,9313,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2087,3609,0,0,0,0,0,0
$GC,9615,-0.52,-112.4,805.4,-8.5,788,9620,0.00,2.03,0.00,0.000,4,0.000,0.077,2654,3318,3609,0,0,0,0,0,0
$GC,9679,-0.52,-112.4,810.9,-8.4,790,9684,0.00,1.95,0.00,0.000,6,0.000,0.058,2654,2085,3609,0,0,0,0,0,0
$GC,10015,-0.50,-112.4,839.6,-8.4,801,10019,0.10,2.00,0.00,0.000,4,0.176,0.076,2675,3311,3609,0,0,0,0,0,0
$GC,10052,-0.53,-112.4,842.5,-7.5,802,10056,0.00,1.90,0.00,0.000,6,0.000,0.060,2675,2099,3609,0,0,0,0,0,0
$GC,10381,-0.53,-112.4,864.4,-6.7,813,10382,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2097,3609,0,0,0,0,0,0
$GC,10685,-0.53,-112.4,884.8,-6.7,823,10686,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2097,3608,0,0,0,0,0,0
$GC,10988,-0.53,-112.4,905.2,-6.6,833,10989,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2097,3608,0,0,0,0,0,0
$GC,11292,-0.53,-112.4,924.0,-6.0,843,11293,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2097,3608,0,0,0,0,0,0
$GC,11596,-0.53,-112.4,942.4,-6.1,853,11597,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2097,3608,0,0,0,0,0,0
$GC,11899,-0.53,-112.4,960.7,-6.0,863,11904,0.00,1.98,0.00,0.000,4,0.000,0.079,2672,3298,3608,0,0,0,0,0,0
$GC,11936,-0.55,-112.4,963.0,-5.6,864,11941,0.00,1.92,0.00,0.000,6,0.000,0.061,2672,2086,3608,0,0,0,0,0,0
$GC,12266,-0.55,-112.4,985.3,-7.0,875,12271,0.00,2.03,0.00,0.000,4,0.000,0.078,2666,3311,3608,0,0,0,0,0,0
$GC,12287,-0.55,-112.4,986.7,-7.0,875,12292,0.00,1.95,0.00,0.000,6,0.000,0.062,2665,2085,3608,0,0,0,0,0,0
$STATE,12357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12357,begin apogee
$GC,12360,-0.22,0.0,992.2,7.6,878,12458,0.32,0.00,95.93,1.230,6,0.129,0.000,2771,1995,3150,0,0,0,0,0,0
$STATE,12458,end apogee,CONTROL_FINISHED_OK
$STATE,12458,begin climb
$GC,12459,0.74,112.4,995.2,0.0,881,12564,0.93,0.00,100.55,1.193,6,0.091,0.000,3076,1995,2691,0,0,0,0,0,0
$GC,12852,0.51,112.4,955.5,12.1,894,12857,0.25,2.10,0.00,0.000,4,0.187,0.074,3012,3232,2684,0,0,0,0,0,0
$GC,12932,0.35,112.4,947.1,9.4,896,12937,0.20,2.03,0.00,0.000,6,0.162,0.061,2960,2004,2684,0,0,0,0,0,0
$GC,13251,0.29,114.3,926.5,6.0,907,13256,0.00,2.05,0.00,0.000,4,0.000,0.074,2961,3222,2684,0,0,0,0,0,0
$GC,13315,0.20,114.3,922.3,6.7,909,13320,0.17,2.00,0.00,0.000,6,0.165,0.062,2915,2006,2684,0,0,0,0,0,0
$GC,13651,0.28,164.5,907.9,4.3,920,13700,0.00,2.12,44.92,1.158,4,0.000,0.076,2914,3225,2479,0,0,0,0,0,0
$GC,13733,0.31,171.9,903.6,5.8,922,13746,0.00,2.03,7.72,0.966,6,0.000,0.062,2915,2017,2449,0,0,0,0,0,0
$GC,14046,0.37,189.3,886.6,5.5,933,14065,0.15,0.00,16.85,1.096,6,0.090,0.000,2978,2015,2378,0,0,0,0,0,0
$GC,14350,0.33,189.3,858.7,9.4,943,14354,0.00,2.05,0.00,0.000,4,0.000,0.076,2977,3224,2375,0,0,0,0,0,0
$GC,14408,0.26,189.3,852.5,10.9,944,14415,0.17,2.00,0.00,0.000,6,0.156,0.063,2933,2014,2374,0,0,0,0,0,0
$GC,14717,0.29,189.3,831.4,6.6,955,14721,0.00,2.03,0.00,0.000,4,0.000,0.072,2933,766,2374,0,0,0,0,0,0
$GC,14743,0.35,204.0,829.8,5.6,955,14762,0.00,2.03,13.98,1.059,6,0.000,0.064,2933,2018,2318,0,0,0,0,0,0
$GC,15083,0.38,204.3,808.6,6.1,967,15087,0.10,2.03,0.00,0.000,4,0.116,0.075,2976,3231,2316,0,0,0,0,0,0
$GC,15173,0.32,204.3,800.1,10.2,969,15179,0.00,1.98,0.00,0.000,6,0.000,0.062,2979,2021,2315,0,0,0,0,0,0
$GC,15481,0.28,204.3,771.2,9.3,980,15482,0.15,0.00,0.00,0.000,6,0.156,0.000,2938,2020,2316,0,0,0,0,0,0
$GC,15784,0.31,204.3,751.1,6.3,990,15785,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2020,2315,0,0,0,0,0,0
$GC,16088,0.34,204.3,732.3,6.3,1000,16093,0.00,2.00,0.00,0.000,4,0.000,0.075,2937,3227,2315,0,0,0,0,0,0
$GC,16120,0.36,204.3,730.0,7.7,1001,16124,0.00,1.95,0.00,0.000,6,0.000,0.063,2938,2023,2314,0,0,0,0,0,0
$GC,16455,0.38,204.3,708.9,6.1,1012,16456,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2022,2315,0,0,0,0,0,0
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$STATE,25990,end climb,SURFACE_DEPTH_REACHED
$STATE,25990,begin surface coast
$FINISH,0.6,1.021996
$STATE,26018,end surface coast,CONTROL_FINISHED_OK
$STATE,26018,begin surface
$SM_CCo,26030,3.67,0.095,0,0,1723,350.04
$SM_GC,2.31,0.00,0.00,3.67,0.000,0.000,0.095,140,2080,1723,-8.46,0.14,350.04
$IRIDIUM_FIX,4707.04,-12555.56,151099,151502
$TT8_MAMPS,0.052156
$HUMID,38.38
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.80
$XPDR_PINGS,0
$24V_AH,23.5,10.976
$10V_AH,10.3,6.395
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,23.725,162.800,404.500,3.675,0.000,23.270,36.033,216.146,0.000,0.000,17.529,0.000,20583.201,625.459,4686.627,486.658,0.000,2309.711,0.000,3960.158,0.000,0.533,0.000
$DEVICE_MAMPS,248.508,159.536,1230.268,95.108,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1377.580,1627.281,1682.625,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298596
$DATA_FILE_SIZE,110464,1991
$CAP_FILE_SIZE,248831,0
$CFSIZE,260165632,253251584
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.029, 63.5,1
$GPS,220710,051320,4725.132,-12603.271,42,2.1,61,18.6