version: 66.06
glider: 187
mission: 2
dive: 114
start: 7 28 110 3 47 32
data:
$ID,187
$MISSION,2
$DIVE,114
$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,-25739.154
$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,25
$R_STBD_OVSHOOT,23
$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
$GPS1,033737,4705.782,-12650.732,34,1.8,34,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-75.8
$GPS2,034726,4705.727,-12650.694,14,1.6,14,18.6
$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,216.5,15831,-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,-65.80,0.000,2,0.000,0.000,131,2059,3171,0,0,0,0,0,0
$GC,81,-0.45,-112.4,3.5,-3.4,12,110,10.40,2.05,-9.70,0.000,4,0.247,0.077,2671,3313,3612,0,0,0,0,0,0
$GC,344,-0.42,-112.4,56.2,-15.1,61,350,0.00,1.95,0.00,0.000,6,0.000,0.049,2671,2069,3614,0,0,0,0,0,0
$GC,669,-0.39,-112.4,106.3,-13.3,118,673,0.12,2.03,0.00,0.000,4,0.160,0.066,2698,3314,3616,0,0,0,0,0,0
$GC,737,-0.39,-112.4,114.0,-10.6,124,744,0.00,1.98,0.00,0.000,6,0.000,0.049,2697,2057,3616,0,0,0,0,0,0
$GC,1053,-0.38,-112.4,146.2,-9.7,155,1053,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2055,3616,0,0,0,0,0,0
$GC,1363,-0.38,-112.4,176.8,-9.5,185,1368,0.00,2.03,0.00,0.000,4,0.000,0.067,2689,3307,3617,0,0,0,0,0,0
$GC,1395,-0.38,-112.4,179.8,-9.3,188,1399,0.00,1.92,0.00,0.000,6,0.000,0.050,2689,2074,3617,0,0,0,0,0,0
$GC,1715,-0.38,-112.4,210.2,-9.4,219,1720,0.00,2.00,0.00,0.000,4,0.000,0.067,2681,3314,3617,0,0,0,0,0,0
$GC,1763,-0.38,-112.4,214.7,-9.1,223,1771,0.00,1.92,0.00,0.000,6,0.000,0.051,2681,2078,3617,0,0,0,0,0,0
$GC,2079,-0.37,-112.4,246.8,-9.7,254,2080,0.12,0.00,0.00,0.000,6,0.156,0.000,2716,2077,3617,0,0,0,0,0,0
$GC,2389,-0.37,-112.4,268.9,-6.4,284,2394,0.00,2.00,0.00,0.000,4,0.000,0.067,2710,3321,3617,0,0,0,0,0,0
$GC,2443,-0.38,-112.4,272.5,-6.7,289,2447,0.00,1.92,0.00,0.000,6,0.000,0.052,2710,2081,3617,0,0,0,0,0,0
$GC,2763,-0.38,-112.4,295.8,-7.6,320,2764,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2079,3617,0,0,0,0,0,0
$GC,3074,-0.38,-112.4,319.2,-7.6,350,3078,0.00,1.95,0.00,0.000,4,0.000,0.069,2709,3305,3617,0,0,0,0,0,0
$GC,3128,-0.40,-112.4,323.1,-7.3,355,3131,0.00,1.88,0.00,0.000,6,0.000,0.053,2709,2095,3616,0,0,0,0,0,0
$GC,3447,-0.40,-112.4,344.9,-6.2,386,3452,0.00,2.00,0.00,0.000,4,0.000,0.071,2707,3321,3616,0,0,0,0,0,0
$GC,3474,-0.41,-112.4,346.6,-6.5,388,3480,0.00,1.92,0.00,0.000,6,0.000,0.053,2707,2091,3617,0,0,0,0,0,0
$GC,3789,-0.41,-112.4,366.6,-6.4,419,3790,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2091,3616,0,0,0,0,0,0
$GC,4100,-0.41,-112.4,387.4,-7.1,449,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2090,3616,0,0,0,0,0,0
$GC,4411,-0.41,-112.4,408.8,-6.7,479,4415,0.00,1.98,0.00,0.000,4,0.000,0.071,2704,3310,3616,0,0,0,0,0,0
$GC,4464,-0.43,-112.4,412.4,-6.8,484,4468,0.00,1.88,0.00,0.000,6,0.000,0.054,2704,2099,3616,0,0,0,0,0,0
$GC,4784,-0.43,-112.4,434.2,-6.7,515,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2099,3616,0,0,0,0,0,0
$GC,5095,-0.43,-112.4,455.0,-6.8,545,5096,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2099,3616,0,0,0,0,0,0
$GC,5405,-0.43,-112.4,476.7,-6.9,575,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2099,3616,0,0,0,0,0,0
$GC,5716,-0.43,-112.4,498.0,-6.5,605,5716,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2099,3616,0,0,0,0,0,0
$GC,6026,-0.43,-112.4,517.5,-6.0,635,6027,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2099,3616,0,0,0,0,0,0
$GC,6337,-0.44,-112.4,537.2,-6.6,665,6341,0.00,1.95,0.00,0.000,4,0.000,0.072,2704,3302,3616,0,0,0,0,0,0
$GC,6384,-0.46,-112.4,540.2,-6.4,669,6391,0.00,1.88,0.00,0.000,6,0.000,0.056,2704,2096,3616,0,0,0,0,0,0
$GC,6701,-0.47,-112.4,560.9,-6.7,700,6701,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2096,3616,0,0,0,0,0,0
$GC,7012,-0.48,-112.4,582.1,-7.0,730,7013,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2096,3616,0,0,0,0,0,0
$GC,7330,-0.49,-112.4,604.7,-7.2,757,7330,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2096,3617,0,0,0,0,0,0
$GC,7633,-0.50,-112.4,625.2,-6.6,767,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2096,3617,0,0,0,0,0,0
$GC,7936,-0.51,-112.4,644.1,-6.2,777,7937,0.10,0.00,0.00,0.000,6,0.112,0.000,2655,2095,3617,0,0,0,0,0,0
$GC,8240,-0.50,-112.4,669.5,-8.3,787,8245,0.00,1.95,0.00,0.000,4,0.000,0.074,2647,3308,3617,0,0,0,0,0,0
$GC,8272,-0.49,-112.4,672.3,-8.8,788,8276,0.00,1.88,0.00,0.000,6,0.000,0.058,2647,2106,3617,0,0,0,0,0,0
$GC,8607,-0.47,-112.4,701.3,-8.7,799,8611,0.12,1.95,0.00,0.000,4,0.163,0.074,2675,3306,3618,0,0,0,0,0,0
$GC,8649,-0.47,-112.4,704.5,-6.8,800,8654,0.00,1.90,0.00,0.000,6,0.000,0.058,2675,2100,3618,0,0,0,0,0,0
$GC,8974,-0.47,-112.4,728.8,-7.8,811,8974,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2099,3618,0,0,0,0,0,0
$GC,9277,-0.47,-112.4,752.6,-7.9,821,9281,0.00,1.98,0.00,0.000,4,0.000,0.074,2667,3319,3619,0,0,0,0,0,0
$GC,9324,-0.47,-112.4,756.7,-8.5,822,9329,0.00,1.92,0.00,0.000,6,0.000,0.058,2667,2099,3618,0,0,0,0,0,0
$GC,9644,-0.47,-112.4,783.0,-8.4,833,9648,0.00,1.95,0.00,0.000,4,0.000,0.075,2659,3313,3619,0,0,0,0,0,0
$GC,9675,-0.47,-112.4,785.6,-9.1,834,9680,0.00,1.90,0.00,0.000,6,0.000,0.058,2659,2108,3619,0,0,0,0,0,0
$GC,10011,-0.47,-112.4,815.0,-8.5,845,10015,0.00,1.95,0.00,0.000,4,0.000,0.074,2651,3312,3619,0,0,0,0,0,0
$GC,10096,-0.47,-112.4,822.5,-9.7,847,10101,0.10,1.90,0.00,0.000,6,0.161,0.058,2678,2107,3619,0,0,0,0,0,0
$GC,10410,-0.47,-112.4,845.5,-7.3,858,10414,0.00,2.00,0.00,0.000,4,0.000,0.065,2678,839,3620,0,0,0,0,0,0
$GC,10431,-0.47,-112.4,847.1,-7.8,858,10435,0.00,2.00,0.00,0.000,6,0.000,0.063,2677,2111,3620,0,0,0,0,0,0
$GC,10745,-0.47,-112.4,870.2,-7.4,869,10745,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2111,3620,0,0,0,0,0,0
$GC,11048,-0.47,-112.4,891.7,-6.9,879,11049,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2111,3621,0,0,0,0,0,0
$GC,11352,-0.47,-112.4,911.2,-6.0,889,11352,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2111,3621,0,0,0,0,0,0
$GC,11655,-0.47,-112.4,927.8,-5.4,899,11656,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2111,3622,0,0,0,0,0,0
$GC,11958,-0.47,-112.4,945.8,-6.2,909,11963,0.00,1.95,0.00,0.000,4,0.000,0.075,2672,3318,3622,0,0,0,0,0,0
$GC,11990,-0.47,-112.4,947.7,-6.2,910,11995,0.00,1.90,0.00,0.000,6,0.000,0.059,2671,2117,3622,0,0,0,0,0,0
$GC,12326,-0.47,-112.4,970.1,-6.9,921,12330,0.00,1.92,0.00,0.000,4,0.000,0.077,2664,3308,3622,0,0,0,0,0,0
$GC,12362,-0.47,-112.4,972.8,-7.0,922,12367,0.00,1.90,0.00,0.000,6,0.000,0.060,2664,2108,3623,0,0,0,0,0,0
$STATE,12600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12600,begin apogee
$GC,12604,-0.14,0.0,990.8,7.8,930,12704,0.38,0.00,98.82,1.224,6,0.126,0.000,2786,1987,3150,0,0,0,0,0,0
$STATE,12705,end apogee,CONTROL_FINISHED_OK
$STATE,12705,begin climb
$GC,12706,0.45,112.4,993.4,0.0,933,12808,0.57,0.00,99.22,1.188,6,0.087,0.000,2980,1987,2691,0,0,0,0,0,0
$GC,13099,0.43,112.4,969.5,7.4,946,13103,0.00,2.10,0.00,0.000,4,0.000,0.072,2980,3226,2685,0,0,0,0,0,0
$GC,13199,0.39,112.4,960.7,9.0,949,13204,0.00,2.00,0.00,0.000,6,0.000,0.060,2987,2013,2685,0,0,0,0,0,0
$GC,13530,0.35,112.4,932.0,8.8,960,13535,0.15,2.03,0.00,0.000,4,0.166,0.073,2949,3229,2684,0,0,0,0,0,0
$GC,13684,0.33,112.4,919.3,8.3,964,13690,0.00,1.95,0.00,0.000,6,0.000,0.060,2955,2026,2684,0,0,0,0,0,0
$GC,13993,0.32,112.4,896.2,7.5,975,13994,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2025,2684,0,0,0,0,0,0
$GC,14296,0.30,112.4,874.9,6.7,985,14297,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2026,2684,0,0,0,0,0,0
$GC,14600,0.29,117.7,856.2,5.9,995,14609,0.00,2.03,4.65,0.822,4,0.000,0.075,2954,3241,2670,0,0,0,0,0,0
$GC,14642,0.27,117.7,853.7,6.8,996,14647,0.10,1.95,0.00,0.000,6,0.148,0.061,2928,2026,2670,0,0,0,0,0,0
$GC,14966,0.29,154.7,838.4,4.8,1007,15001,0.00,0.00,33.47,1.113,6,0.000,0.000,2928,2024,2519,0,0,0,0,0,0
$GC,15300,0.30,172.2,820.6,5.5,1018,15318,0.00,0.00,16.52,1.061,6,0.000,0.000,2928,2024,2447,0,0,0,0,0,0
$GC,15603,0.32,181.8,803.0,5.8,1028,15614,0.00,0.00,9.90,0.995,6,0.000,0.000,2929,2025,2408,0,0,0,0,0,0
$GC,15907,0.34,192.6,786.1,5.7,1038,15919,0.00,0.00,10.73,0.999,6,0.000,0.000,2928,2025,2365,0,0,0,0,0,0
$GC,16211,0.36,202.9,768.5,5.7,1048,16222,0.00,0.00,10.48,0.988,6,0.000,0.000,2928,2025,2322,0,0,0,0,0,0
$GC,16514,0.38,202.9,750.2,6.2,1058,16514,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2024,2321,0,0,0,0,0,0
$GC,16817,0.40,204.7,731.8,6.0,1068,16818,0.10,0.00,0.00,0.000,6,0.112,0.000,2970,2024,2320,0,0,0,0,0,0
$GC,17121,0.40,204.7,707.1,8.1,1078,17125,0.00,2.00,0.00,0.000,4,0.000,0.074,2971,3231,2320,0,0,0,0,0,0
$GC,17168,0.38,204.7,702.8,9.0,1079,17173,0.00,1.95,0.00,0.000,6,0.000,0.061,2973,2026,2319,0,0,0,0,0,0
$GC,17487,0.38,204.7,675.4,8.6,1090,17488,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2026,2319,0,0,0,0,0,0
$GC,17791,0.38,204.7,649.1,8.7,1100,17796,0.00,2.00,0.00,0.000,4,0.000,0.074,2973,3237,2319,0,0,0,0,0,0
$GC,17849,0.37,204.7,643.8,9.0,1101,17856,0.00,1.92,0.00,0.000,6,0.000,0.061,2973,2041,2319,0,0,0,0,0,0
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$STATE,27249,end climb,SURFACE_DEPTH_REACHED
$STATE,27249,begin surface coast
$FINISH,0.9,1.024186
$STATE,27287,end surface coast,CONTROL_FINISHED_OK
$STATE,27287,begin surface
$SM_CCo,27299,19.12,0.377,1,0,1722,350.04
$SM_GC,1.73,0.00,0.00,19.12,0.000,0.000,0.377,148,2055,1722,-8.39,-0.59,350.04
$IRIDIUM_FIX,4648.08,-12646.50,221099,030320
$TT8_MAMPS,0.052923
$HUMID,38.22
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,17.70
$XPDR_PINGS,0
$24V_AH,23.7,14.547
$10V_AH,10.3,10.118
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.250,117.550,394.225,19.125,0.000,56.730,117.383,242.253,0.000,0.000,14.683,0.000,21808.559,616.807,4783.388,664.755,0.000,2289.585,0.000,4081.469,0.000,0.535,0.000
$DEVICE_MAMPS,246.974,121.953,1224.132,376.597,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1454.727,1730.274,1756.289,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298596
$DATA_FILE_SIZE,116734,2104
$CAP_FILE_SIZE,234427,0
$CFSIZE,260165632,250667008
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.138, 54.3,1
$GPS,280710,112424,4705.058,-12652.668,71,1.0,71,18.6