version: 66.06
glider: 187
mission: 2
dive: 115
start: 7 28 110 11 41 24
data:
$ID,187
$MISSION,2
$DIVE,115
$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,-25771.09
$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,34
$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
$GPS1,112424,4705.058,-12652.668,71,1.0,71,18.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-73.0
$GPS2,114119,4705.089,-12652.479,14,1.3,31,18.6
$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,213.0,13382,-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,13,-0.45,-112.4,0.0,0.0,0,67,0.00,0.00,-52.83,0.000,2,0.000,0.000,131,2054,2992,0,0,0,0,0,0
$GC,69,-0.45,-112.4,3.1,-2.8,10,97,10.35,2.08,-14.43,0.000,4,0.244,0.080,2675,3314,3611,0,0,0,0,0,0
$GC,214,-0.41,-112.4,33.8,-21.7,37,220,0.00,1.95,0.00,0.000,6,0.000,0.050,2674,2082,3613,0,0,0,0,0,0
$GC,541,-0.37,-112.4,88.4,-16.6,98,547,0.15,2.00,0.00,0.000,4,0.154,0.064,2710,3317,3615,0,0,0,0,0,0
$GC,556,-0.35,-112.4,90.7,-15.7,101,563,0.00,1.92,0.00,0.000,6,0.000,0.050,2710,2084,3615,0,0,0,0,0,0
$GC,874,-0.35,-112.4,126.5,-10.1,139,878,0.00,2.00,0.00,0.000,4,0.000,0.066,2703,3315,3616,0,0,0,0,0,0
$GC,906,-0.35,-112.4,129.5,-9.6,142,910,0.00,1.92,0.00,0.000,6,0.000,0.050,2702,2077,3616,0,0,0,0,0,0
$GC,1226,-0.35,-112.4,156.2,-7.8,173,1227,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2074,3616,0,0,0,0,0,0
$GC,1537,-0.35,-112.4,184.5,-10.2,203,1538,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2074,3616,0,0,0,0,0,0
$GC,1848,-0.35,-112.4,215.0,-9.4,233,1852,0.00,2.00,0.00,0.000,4,0.000,0.068,2695,3312,3616,0,0,0,0,0,0
$GC,1873,-0.35,-112.4,217.4,-9.3,235,1881,0.00,1.92,0.00,0.000,6,0.000,0.051,2694,2081,3616,0,0,0,0,0,0
$GC,2189,-0.35,-112.4,246.5,-9.0,266,2189,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2079,3616,0,0,0,0,0,0
$GC,2500,-0.35,-112.4,273.7,-9.0,296,2501,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2079,3615,0,0,0,0,0,0
$GC,2810,-0.35,-112.4,299.9,-8.5,326,2814,0.00,1.98,0.00,0.000,4,0.000,0.070,2690,3303,3615,0,0,0,0,0,0
$GC,2841,-0.35,-112.4,302.5,-8.4,329,2846,0.12,1.92,0.00,0.000,6,0.143,0.053,2727,2073,3615,0,0,0,0,0,0
$GC,3163,-0.36,-112.4,322.0,-5.7,360,3167,0.00,2.00,0.00,0.000,4,0.000,0.070,2723,3312,3615,0,0,0,0,0,0
$GC,3210,-0.39,-112.4,324.9,-6.2,364,3217,0.00,1.92,0.00,0.000,6,0.000,0.053,2722,2079,3615,0,0,0,0,0,0
$GC,3526,-0.40,-112.4,344.0,-5.9,395,3530,0.00,1.98,0.00,0.000,4,0.000,0.070,2719,3306,3614,0,0,0,0,0,0
$GC,3552,-0.42,-112.4,345.7,-6.7,397,3558,0.00,1.90,0.00,0.000,6,0.000,0.053,2719,2091,3614,0,0,0,0,0,0
$GC,3868,-0.43,-112.4,366.1,-6.6,428,3868,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2090,3614,0,0,0,0,0,0
$GC,4178,-0.45,-112.4,386.1,-6.4,458,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2090,3614,0,0,0,0,0,0
$GC,4489,-0.46,-112.4,405.5,-6.3,488,4490,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2090,3614,0,0,0,0,0,0
$GC,4799,-0.48,-112.4,424.2,-6.1,518,4804,0.10,1.98,0.00,0.000,4,0.113,0.073,2662,3313,3613,0,0,0,0,0,0
$GC,4847,-0.48,-112.4,428.3,-9.2,522,4854,0.00,1.90,0.00,0.000,6,0.000,0.054,2662,2090,3613,0,0,0,0,0,0
$GC,5163,-0.46,-112.4,458.6,-10.1,553,5167,0.00,1.98,0.00,0.000,4,0.000,0.071,2654,3309,3613,0,0,0,0,0,0
$GC,5195,-0.45,-112.4,461.6,-9.8,556,5199,0.10,1.90,0.00,0.000,6,0.127,0.055,2689,2086,3613,0,0,0,0,0,0
$GC,5514,-0.45,-112.4,488.0,-8.1,587,5519,0.00,2.00,0.00,0.000,4,0.000,0.071,2684,3310,3613,0,0,0,0,0,0
$GC,5537,-0.45,-112.4,489.6,-8.0,589,5540,0.00,1.88,0.00,0.000,6,0.000,0.056,2684,2105,3613,0,0,0,0,0,0
$GC,5856,-0.45,-112.4,515.9,-8.2,620,5857,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2105,3613,0,0,0,0,0,0
$GC,6167,-0.45,-112.4,541.1,-8.0,650,6171,0.00,1.95,0.00,0.000,4,0.000,0.072,2676,3307,3613,0,0,0,0,0,0
$GC,6204,-0.45,-112.4,544.1,-8.3,653,6210,0.00,1.90,0.00,0.000,6,0.000,0.055,2676,2098,3613,0,0,0,0,0,0
$GC,6520,-0.45,-112.4,570.5,-8.3,684,6520,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2097,3613,0,0,0,0,0,0
$GC,6830,-0.45,-112.4,596.8,-8.2,714,6834,0.00,1.98,0.00,0.000,4,0.000,0.074,2669,3310,3613,0,0,0,0,0,0
$GC,6873,-0.45,-112.4,600.3,-8.3,718,6877,0.00,1.88,0.00,0.000,6,0.000,0.057,2669,2110,3613,0,0,0,0,0,0
$GC,7197,-0.45,-112.4,627.0,-8.2,729,7197,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2110,3612,0,0,0,0,0,0
$GC,7500,-0.45,-112.4,650.8,-7.9,739,7505,0.00,1.98,0.00,0.000,4,0.000,0.074,2661,3314,3612,0,0,0,0,0,0
$GC,7542,-0.45,-112.4,654.3,-8.4,740,7547,0.00,1.90,0.00,0.000,6,0.000,0.058,2661,2107,3612,0,0,0,0,0,0
$GC,7867,-0.44,-112.4,681.6,-8.4,751,7868,0.12,0.00,0.00,0.000,6,0.160,0.000,2696,2107,3612,0,0,0,0,0,0
$GC,8171,-0.45,-112.4,702.5,-7.2,761,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2107,3613,0,0,0,0,0,0
$GC,8474,-0.45,-112.4,724.6,-7.3,771,8475,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2107,3613,0,0,0,0,0,0
$GC,8778,-0.46,-112.4,746.1,-7.1,781,8778,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2107,3613,0,0,0,0,0,0
$GC,9081,-0.47,-112.4,766.7,-6.7,791,9082,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2107,3613,0,0,0,0,0,0
$GC,9385,-0.48,-112.4,785.4,-5.9,801,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2107,3613,0,0,0,0,0,0
$GC,9688,-0.49,-112.4,802.4,-5.5,811,9689,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2107,3613,0,0,0,0,0,0
$GC,9992,-0.50,-112.4,819.5,-5.9,821,9996,0.00,1.98,0.00,0.000,4,0.000,0.077,2692,3314,3613,0,0,0,0,0,0
$GC,10034,-0.52,-112.4,822.0,-6.1,822,10038,0.00,1.90,0.00,0.000,6,0.000,0.059,2692,2111,3613,0,0,0,0,0,0
$GC,10358,-0.52,-112.4,841.7,-6.2,833,10359,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2111,3613,0,0,0,0,0,0
$GC,10662,-0.53,-112.4,861.1,-6.4,843,10666,0.00,1.95,0.00,0.000,4,0.000,0.076,2692,3307,3613,0,0,0,0,0,0
$GC,10704,-0.55,-112.4,863.7,-6.2,844,10709,0.00,1.88,0.00,0.000,6,0.000,0.059,2691,2119,3613,0,0,0,0,0,0
$GC,11029,-0.56,-112.4,884.3,-6.4,855,11030,0.12,0.00,0.00,0.000,6,0.101,0.000,2635,2118,3614,0,0,0,0,0,0
$GC,11332,-0.54,-112.4,912.7,-9.5,865,11337,0.00,1.95,0.00,0.000,4,0.000,0.076,2626,3312,3614,0,0,0,0,0,0
$GC,11370,-0.52,-112.4,916.4,-10.4,866,11374,0.10,1.90,0.00,0.000,6,0.137,0.060,2660,2114,3614,0,0,0,0,0,0
$GC,11699,-0.52,-112.4,942.2,-7.6,877,11700,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2113,3615,0,0,0,0,0,0
$GC,12003,-0.52,-112.4,965.1,-7.6,887,12003,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2113,3614,0,0,0,0,0,0
$GC,12306,-0.52,-112.4,988.0,-7.6,897,12307,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2113,3615,0,0,0,0,0,0
$STATE,12335,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12335,begin apogee
$GC,12338,-0.14,0.0,990.4,7.7,898,12437,0.38,0.00,96.75,1.226,6,0.128,0.000,2784,1994,3150,0,0,0,0,0,0
$STATE,12437,end apogee,CONTROL_FINISHED_OK
$STATE,12437,begin climb
$GC,12439,0.45,112.4,992.8,0.0,901,12541,0.57,0.00,99.20,1.188,6,0.088,0.000,2977,1993,2692,0,0,0,0,0,0
$GC,12831,0.43,112.4,968.1,7.6,914,12835,0.00,2.10,0.00,0.000,4,0.000,0.073,2977,3236,2686,0,0,0,0,0,0
$GC,12937,0.40,112.4,959.1,8.7,917,12942,0.00,2.03,0.00,0.000,6,0.000,0.059,2986,2004,2685,0,0,0,0,0,0
$GC,13262,0.37,112.4,933.6,7.6,928,13267,0.12,2.05,0.00,0.000,4,0.174,0.073,2954,3232,2684,0,0,0,0,0,0
$GC,13299,0.34,112.4,930.9,7.1,929,13304,0.00,2.00,0.00,0.000,6,0.000,0.060,2961,2004,2684,0,0,0,0,0,0
$GC,13629,0.33,112.4,910.2,6.2,940,13634,0.00,2.05,0.00,0.000,4,0.000,0.074,2961,3234,2684,0,0,0,0,0,0
$GC,13677,0.30,112.4,906.8,7.9,941,13682,0.12,2.00,0.00,0.000,6,0.176,0.061,2938,2000,2684,0,0,0,0,0,0
$GC,13996,0.32,137.8,889.9,5.2,952,14021,0.00,2.05,21.48,1.123,4,0.000,0.074,2938,3233,2588,0,0,0,0,0,0
$GC,14064,0.32,137.8,885.9,7.0,954,14068,0.00,2.00,0.00,0.000,6,0.000,0.060,2941,2016,2586,0,0,0,0,0,0
$GC,14394,0.32,150.4,867.0,5.6,965,14410,0.00,2.00,12.43,1.062,4,0.000,0.072,2941,3238,2536,0,0,0,0,0,0
$GC,14452,0.32,150.4,863.3,6.7,967,14456,0.00,2.00,0.00,0.000,6,0.000,0.060,2944,2020,2534,0,0,0,0,0,0
$GC,14787,0.32,150.4,842.9,6.2,978,14788,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2019,2534,0,0,0,0,0,0
$GC,15090,0.32,150.4,823.5,6.5,988,15095,0.00,2.03,0.00,0.000,4,0.000,0.074,2944,3233,2533,0,0,0,0,0,0
$GC,15138,0.32,150.4,819.9,7.9,989,15143,0.00,1.95,0.00,0.000,6,0.000,0.060,2946,2025,2532,0,0,0,0,0,0
$GC,15457,0.32,150.4,798.0,6.9,1000,15462,0.00,2.00,0.00,0.000,4,0.000,0.074,2946,3235,2532,0,0,0,0,0,0
$GC,15505,0.32,150.4,794.3,8.2,1001,15510,0.00,1.92,0.00,0.000,6,0.000,0.061,2946,2039,2532,0,0,0,0,0,0
$GC,15824,0.32,150.4,772.2,6.7,1012,15829,0.00,2.08,0.00,0.000,4,0.000,0.070,2947,755,2533,0,0,0,0,0,0
$GC,15861,0.32,150.4,769.8,6.2,1013,15866,0.00,2.08,0.00,0.000,6,0.000,0.063,2947,2048,2532,0,0,0,0,0,0
$GC,16192,0.32,150.4,748.3,6.5,1024,16196,0.00,1.92,0.00,0.000,4,0.000,0.072,2947,3234,2532,0,0,0,0,0,0
$GC,16239,0.32,150.4,744.9,7.1,1025,16244,0.00,1.92,0.00,0.000,6,0.000,0.060,2947,2032,2532,0,0,0,0,0,0
$GC,16558,0.33,153.1,725.2,6.0,1036,16563,0.00,2.00,0.00,0.000,4,0.000,0.068,2947,767,2532,0,0,0,0,0,0
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$STATE,27014,end climb,SURFACE_DEPTH_REACHED
$STATE,27014,begin surface coast
$FINISH,0.9,1.024230
$STATE,27047,end surface coast,CONTROL_FINISHED_OK
$STATE,27047,begin surface
$SM_CCo,27059,16.08,0.336,1,0,1722,350.04
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$IRIDIUM_FIX,4651.23,-12655.36,221099,111105
$TT8_MAMPS,0.052923
$HUMID,38.06
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,17.90
$XPDR_PINGS,0
$24V_AH,23.7,14.703
$10V_AH,10.3,10.289
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.625,181.200,396.300,16.075,0.000,115.230,191.902,381.273,0.000,0.000,31.307,0.000,21635.303,647.287,4833.784,941.157,0.000,2382.902,0.000,4069.363,0.000,0.535,0.000
$DEVICE_MAMPS,243.906,113.516,1226.433,335.946,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1415.720,1680.849,1716.329,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298572
$DATA_FILE_SIZE,113718,2049
$CAP_FILE_SIZE,261623,0
$CFSIZE,260165632,250531840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.065, 67.4,1
$GPS,280710,191356,4703.193,-12654.828,54,1.4,54,18.6