version: 66.06
glider: 187
mission: 2
dive: 112
start: 7 27 110 12 35 50
data:
$ID,187
$MISSION,2
$DIVE,112
$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,1000
$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,-25703.209
$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,2835
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,36
$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,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,27
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$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,0.00060000003
$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,-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
$GPS1,122237,4707.834,-12646.783,39,1.6,39,18.6
$_CALLS,3
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.72
$_SM_ANGLEo,-73.1
$GPS2,123544,4707.812,-12646.709,11,1.8,11,18.6
$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,216.4,22161,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.45,-112.4,0.0,0.0,0,80,0.00,0.00,-65.80,0.000,2,0.000,0.000,131,2081,3179,0,0,0,0,0,0
$GC,81,-0.45,-112.4,3.5,-3.4,12,105,10.35,2.03,-9.15,0.000,4,0.244,0.077,2673,3316,3611,0,0,0,0,0,0
$GC,259,-0.41,-112.4,46.4,-21.5,45,265,0.00,1.98,0.00,0.000,6,0.000,0.051,2673,2067,3613,0,0,0,0,0,0
$GC,585,-0.38,-112.4,98.6,-14.0,106,592,0.12,1.92,0.00,0.000,4,0.161,0.056,2707,840,3615,0,0,0,0,0,0
$GC,601,-0.35,-112.4,100.7,-13.2,109,607,0.00,1.95,0.00,0.000,6,0.000,0.055,2704,2073,3615,0,0,0,0,0,0
$GC,916,-0.35,-112.4,130.0,-8.6,140,920,0.00,2.03,0.00,0.000,4,0.000,0.065,2699,3319,3616,0,0,0,0,0,0
$GC,958,-0.35,-112.4,133.8,-8.8,144,963,0.00,1.95,0.00,0.000,6,0.000,0.049,2699,2076,3616,0,0,0,0,0,0
$GC,1280,-0.35,-112.4,165.4,-9.7,175,1284,0.00,1.90,0.00,0.000,4,0.000,0.056,2699,846,3616,0,0,0,0,0,0
$GC,1327,-0.35,-112.4,170.4,-10.5,179,1334,0.00,1.95,0.00,0.000,6,0.000,0.055,2696,2082,3616,0,0,0,0,0,0
$GC,1642,-0.35,-112.4,201.7,-9.7,210,1647,0.00,1.98,0.00,0.000,4,0.000,0.065,2691,3307,3616,0,0,0,0,0,0
$GC,1695,-0.35,-112.4,206.9,-9.9,215,1700,0.00,1.92,0.00,0.000,6,0.000,0.050,2690,2074,3616,0,0,0,0,0,0
$GC,2016,-0.35,-112.4,238.0,-9.5,246,2021,0.10,2.03,0.00,0.000,4,0.170,0.069,2711,3317,3616,0,0,0,0,0,0
$GC,2048,-0.36,-112.4,240.7,-7.8,249,2053,0.00,1.95,0.00,0.000,6,0.000,0.051,2711,2071,3615,0,0,0,0,0,0
$GC,2370,-0.36,-112.4,268.0,-8.8,280,2373,0.00,2.00,0.00,0.000,4,0.000,0.070,2708,3304,3615,0,0,0,0,0,0
$GC,2395,-0.36,-112.4,270.3,-9.2,282,2402,0.00,1.92,0.00,0.000,6,0.000,0.052,2708,2073,3615,0,0,0,0,0,0
$GC,2711,-0.36,-112.4,297.5,-7.9,313,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2072,3615,0,0,0,0,0,0
$GC,3022,-0.36,-112.4,321.7,-7.6,343,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2073,3614,0,0,0,0,0,0
$GC,3333,-0.36,-112.4,344.1,-7.3,373,3336,0.00,1.98,0.00,0.000,4,0.000,0.072,2704,3310,3614,0,0,0,0,0,0
$GC,3374,-0.38,-112.4,346.9,-7.3,377,3378,0.00,1.92,0.00,0.000,6,0.000,0.054,2703,2078,3614,0,0,0,0,0,0
$GC,3695,-0.38,-112.4,370.3,-7.2,408,3699,0.00,1.98,0.00,0.000,4,0.000,0.070,2701,3298,3614,0,0,0,0,0,0
$GC,3721,-0.38,-112.4,372.3,-7.4,410,3727,0.00,1.92,0.00,0.000,6,0.000,0.054,2700,2070,3613,0,0,0,0,0,0
$GC,4036,-0.38,-112.4,394.7,-7.0,441,4037,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2068,3613,0,0,0,0,0,0
$GC,4347,-0.38,-112.4,415.5,-6.4,471,4348,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2068,3613,0,0,0,0,0,0
$GC,4657,-0.38,-112.4,436.6,-6.7,501,4662,0.00,2.00,0.00,0.000,4,0.000,0.072,2700,3304,3612,0,0,0,0,0,0
$GC,4701,-0.39,-112.4,439.4,-6.7,505,4704,0.00,1.90,0.00,0.000,6,0.000,0.055,2700,2080,3613,0,0,0,0,0,0
$GC,5020,-0.39,-112.4,462.0,-7.6,536,5025,0.00,2.00,0.00,0.000,4,0.000,0.071,2697,3306,3612,0,0,0,0,0,0
$GC,5042,-0.39,-112.4,463.5,-6.9,538,5046,0.00,1.90,0.00,0.000,6,0.000,0.056,2697,2081,3612,0,0,0,0,0,0
$GC,5362,-0.39,-112.4,487.7,-7.4,569,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2080,3612,0,0,0,0,0,0
$GC,5673,-0.39,-112.4,511.7,-8.1,599,5677,0.00,1.98,0.00,0.000,4,0.000,0.071,2694,3302,3611,0,0,0,0,0,0
$GC,5774,-0.40,-112.4,519.8,-7.5,608,5780,0.00,1.90,0.00,0.000,6,0.000,0.055,2693,2079,3611,0,0,0,0,0,0
$GC,6089,-0.40,-112.4,546.2,-8.3,639,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2078,3611,0,0,0,0,0,0
$GC,6400,-0.40,-112.4,571.0,-7.7,669,6404,0.00,2.00,0.00,0.000,4,0.000,0.073,2692,3311,3611,0,0,0,0,0,0
$GC,6426,-0.40,-112.4,573.2,-8.3,671,6434,0.00,1.95,0.00,0.000,6,0.000,0.057,2692,2073,3610,0,0,0,0,0,0
$GC,6742,-0.40,-112.4,597.6,-7.6,702,6743,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2072,3610,0,0,0,0,0,0
$GC,7046,-0.40,-112.4,620.5,-7.5,714,7050,0.00,2.00,0.00,0.000,4,0.000,0.074,2692,3305,3610,0,0,0,0,0,0
$GC,7078,-0.41,-112.4,622.8,-7.3,715,7082,0.00,1.92,0.00,0.000,6,0.000,0.058,2691,2080,3610,0,0,0,0,0,0
$GC,7413,-0.41,-112.4,647.2,-7.4,726,7417,0.00,2.03,0.00,0.000,4,0.000,0.074,2692,3316,3610,0,0,0,0,0,0
$GC,7471,-0.43,-112.4,651.4,-6.6,727,7479,0.00,1.92,0.00,0.000,6,0.000,0.057,2691,2082,3610,0,0,0,0,0,0
$GC,7780,-0.43,-112.4,673.1,-7.0,738,7780,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2082,3609,0,0,0,0,0,0
$GC,8083,-0.43,-112.4,695.3,-7.5,748,8088,0.00,2.00,0.00,0.000,4,0.000,0.074,2691,3305,3610,0,0,0,0,0,0
$GC,8137,-0.44,-112.4,699.2,-7.4,749,8141,0.00,1.90,0.00,0.000,6,0.000,0.058,2692,2089,3609,0,0,0,0,0,0
$GC,8450,-0.44,-112.4,720.8,-6.7,760,8455,0.00,2.00,0.00,0.000,4,0.000,0.074,2691,3307,3610,0,0,0,0,0,0
$GC,8503,-0.46,-112.4,724.2,-6.5,761,8508,0.00,1.90,0.00,0.000,6,0.000,0.058,2691,2100,3610,0,0,0,0,0,0
$GC,8817,-0.46,-112.4,744.3,-6.3,772,8818,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2099,3610,0,0,0,0,0,0
$GC,9121,-0.46,-112.4,762.2,-5.7,782,9125,0.00,1.92,0.00,0.000,4,0.000,0.074,2691,3298,3610,0,0,0,0,0,0
$GC,9142,-0.47,-112.4,763.3,-6.1,782,9147,0.00,1.90,0.00,0.000,6,0.000,0.058,2691,2097,3610,0,0,0,0,0,0
$GC,9456,-0.47,-112.4,781.1,-5.7,793,9457,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2096,3610,0,0,0,0,0,0
$GC,9759,-0.47,-112.4,797.6,-5.3,803,9760,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2096,3609,0,0,0,0,0,0
$GC,10063,-0.47,-112.4,813.9,-5.3,813,10067,0.00,1.95,0.00,0.000,4,0.000,0.066,2691,850,3610,0,0,0,0,0,0
$GC,10089,-0.47,-112.4,815.5,-7.1,813,10096,0.00,2.00,0.00,0.000,6,0.000,0.064,2691,2108,3609,0,0,0,0,0,0
$GC,10398,-0.47,-112.4,833.2,-5.9,824,10402,0.00,1.95,0.00,0.000,4,0.000,0.074,2691,3313,3610,0,0,0,0,0,0
$GC,10429,-0.48,-112.4,835.1,-5.5,825,10434,0.00,1.90,0.00,0.000,6,0.000,0.058,2691,2100,3610,0,0,0,0,0,0
$GC,10765,-0.49,-112.4,855.8,-6.4,836,10766,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2099,3609,0,0,0,0,0,0
$GC,11068,-0.49,-112.4,875.6,-6.6,846,11069,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2099,3610,0,0,0,0,0,0
$GC,11372,-0.49,-112.4,896.2,-6.9,856,11372,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2099,3610,0,0,0,0,0,0
$GC,11675,-0.50,-112.4,916.8,-6.8,866,11680,0.00,1.95,0.00,0.000,4,0.000,0.076,2691,3305,3610,0,0,0,0,0,0
$GC,11712,-0.52,-112.4,919.4,-6.2,867,11717,0.00,1.88,0.00,0.000,6,0.000,0.060,2691,2113,3610,0,0,0,0,0,0
$GC,12042,-0.53,-112.4,939.9,-6.0,878,12047,0.00,1.95,0.00,0.000,4,0.000,0.076,2691,3304,3610,0,0,0,0,0,0
$GC,12085,-0.55,-112.4,942.6,-6.0,879,12089,0.08,1.88,0.00,0.000,6,0.068,0.059,2643,2114,3609,0,0,0,0,0,0
$GC,12409,-0.54,-112.4,970.4,-8.6,890,12414,0.00,1.95,0.00,0.000,4,0.000,0.076,2636,3309,3610,0,0,0,0,0,0
$GC,12451,-0.53,-112.4,974.4,-10.0,891,12456,0.00,1.90,0.00,0.000,6,0.000,0.060,2635,2111,3610,0,0,0,0,0,0
$STATE,12623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12623,begin apogee
$GC,12626,-0.14,0.0,990.7,9.5,897,12724,0.47,0.00,96.05,1.229,6,0.138,0.000,2786,1990,3149,0,0,0,0,0,0
$STATE,12724,end apogee,CONTROL_FINISHED_OK
$STATE,12724,begin climb
$GC,12726,0.45,112.4,993.1,0.0,900,12831,0.55,2.10,99.32,1.189,4,0.086,0.067,2978,770,2691,0,0,0,0,0,0
$GC,12861,0.44,120.5,987.7,5.8,904,12873,0.00,2.08,8.52,0.993,6,0.000,0.061,2978,1994,2658,0,0,0,0,0,0
$GC,13175,0.41,120.5,963.4,7.8,915,13179,0.00,2.08,0.00,0.000,4,0.000,0.072,2978,3230,2654,0,0,0,0,0,0
$GC,13330,0.37,120.5,949.5,10.0,919,13337,0.00,1.95,0.00,0.000,6,0.000,0.060,2986,2031,2653,0,0,0,0,0,0
$GC,13638,0.34,120.5,923.2,8.5,930,13643,0.15,2.00,0.00,0.000,4,0.168,0.074,2947,3229,2653,0,0,0,0,0,0
$GC,13718,0.32,120.5,917.1,6.9,932,13722,0.00,1.92,0.00,0.000,6,0.000,0.061,2949,2032,2653,0,0,0,0,0,0
$GC,14037,0.31,120.5,895.2,6.9,943,14042,0.00,2.00,0.00,0.000,4,0.000,0.074,2949,3236,2653,0,0,0,0,0,0
$GC,14090,0.29,120.5,891.3,7.4,944,14095,0.00,1.95,0.00,0.000,6,0.000,0.061,2955,2033,2653,0,0,0,0,0,0
$GC,14404,0.28,120.5,869.2,6.9,955,14409,0.00,2.00,0.00,0.000,4,0.000,0.074,2955,3238,2653,0,0,0,0,0,0
$GC,14441,0.25,120.5,866.4,7.3,956,14446,0.12,1.95,0.00,0.000,6,0.175,0.062,2924,2033,2653,0,0,0,0,0,0
$GC,14771,0.27,144.9,848.8,5.2,967,14793,0.00,0.00,21.42,1.106,6,0.000,0.000,2923,2033,2559,0,0,0,0,0,0
$GC,15074,0.28,170.0,832.4,5.2,977,15099,0.00,0.00,23.15,1.091,6,0.000,0.000,2923,2033,2457,0,0,0,0,0,0
$GC,15378,0.30,180.5,815.4,5.7,987,15393,0.00,2.03,10.40,1.006,4,0.000,0.074,2923,3229,2414,0,0,0,0,0,0
$GC,15414,0.32,189.9,813.2,5.8,988,15429,0.00,1.98,10.20,0.987,6,0.000,0.061,2923,2034,2375,0,0,0,0,0,0
$GC,15744,0.35,202.6,794.3,5.6,999,15760,0.00,2.08,12.15,1.019,4,0.000,0.070,2923,763,2323,0,0,0,0,0,0
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$STATE,26326,end climb,SURFACE_DEPTH_REACHED
$STATE,26326,begin surface coast
$FINISH,0.9,1.011918
$STATE,26369,end surface coast,CONTROL_FINISHED_OK
$STATE,26369,begin surface
$SM_CCo,26441,0.00,0.000,0,0,1544,393.71
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$HUMID,36.96
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$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,23.6,14.254
$10V_AH,10.3,9.786
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.000,197.350,446.650,0.000,0.000,76.953,147.182,318.096,0.000,0.000,11.878,0.000,20907.219,672.016,4818.352,788.815,0.000,2434.068,0.000,4080.620,0.000,0.535,0.000
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298600
$DATA_FILE_SIZE,113569,2006
$CAP_FILE_SIZE,257546,0
$CFSIZE,260165632,250888192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.114, 81.4,1
$GPS,270710,195731,4706.309,-12648.342,44,0.9,44,18.6