version: 66.06
glider: 187
mission: 2
dive: 121
start: 7 30 110 7 41 50
data:
$ID,187
$MISSION,2
$DIVE,121
$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,-25893.689
$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,27
$R_STBD_OVSHOOT,30
$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
$GPS1,073455,4659.417,-12700.717,73,1.8,73,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.85
$_SM_ANGLEo,-74.6
$GPS2,074144,4659.435,-12700.745,14,1.7,14,18.6
$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,18.8,1408,-27.7,-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,-0.79,-30.0,0.0,0.0,0,78,0.00,0.00,-64.68,0.000,2,0.000,0.000,131,2083,3126,0,0,0,0,0,0
$GC,80,-0.80,-50.3,3.6,-3.3,12,103,9.98,1.98,-5.25,0.000,4,0.248,0.071,2571,839,3358,0,0,0,0,0,0
$GC,203,-0.77,-50.3,39.6,-24.7,35,210,0.00,1.95,0.00,0.000,6,0.000,0.056,2565,2064,3360,0,0,0,0,0,0
$GC,533,-0.75,-50.3,108.0,-17.9,93,538,0.00,2.00,0.00,0.000,4,0.000,0.064,2555,3304,3362,0,0,0,0,0,0
$GC,635,-0.73,-50.3,128.4,-19.5,102,642,0.12,1.92,0.00,0.000,6,0.165,0.049,2592,2071,3362,0,0,0,0,0,0
$GC,951,-0.73,-50.3,182.0,-16.1,133,955,0.00,2.00,0.00,0.000,4,0.000,0.064,2584,3309,3363,0,0,0,0,0,0
$GC,1019,-0.73,-50.3,193.3,-16.1,139,1026,0.00,1.92,0.00,0.000,6,0.000,0.049,2585,2079,3362,0,0,0,0,0,0
$GC,1334,-0.73,-50.3,241.4,-14.3,170,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2077,3363,0,0,0,0,0,0
$GC,1645,-0.73,-50.3,286.2,-14.4,200,1650,0.00,1.98,0.00,0.000,4,0.000,0.064,2576,3306,3362,0,0,0,0,0,0
$GC,1682,-0.73,-50.3,291.6,-14.2,203,1689,0.00,1.90,0.00,0.000,6,0.000,0.050,2575,2089,3362,0,0,0,0,0,0
$GC,1997,-0.73,-50.3,336.5,-13.0,234,2002,0.00,2.00,0.00,0.000,4,0.000,0.066,2567,3321,3361,0,0,0,0,0,0
$GC,2051,-0.73,-50.3,343.9,-14.0,239,2056,0.10,1.90,0.00,0.000,6,0.191,0.051,2594,2106,3361,0,0,0,0,0,0
$GC,2371,-0.73,-50.3,383.0,-12.5,270,2376,0.00,1.98,0.00,0.000,4,0.000,0.058,2594,840,3361,0,0,0,0,0,0
$GC,2468,-0.73,-50.3,395.5,-12.9,279,2472,0.00,1.95,0.00,0.000,6,0.000,0.058,2588,2089,3361,0,0,0,0,0,0
$GC,2789,-0.73,-50.3,437.8,-12.9,310,2793,0.00,1.95,0.00,0.000,4,0.000,0.067,2578,3306,3360,0,0,0,0,0,0
$GC,2857,-0.73,-50.3,447.4,-13.6,316,2864,0.00,1.88,0.00,0.000,6,0.000,0.052,2578,2107,3360,0,0,0,0,0,0
$GC,3173,-0.73,-50.3,491.5,-14.2,347,3177,0.00,1.98,0.00,0.000,4,0.000,0.058,2578,840,3360,0,0,0,0,0,0
$GC,3242,-0.73,-50.3,501.6,-14.5,353,3249,0.08,1.98,0.00,0.000,6,0.163,0.058,2592,2103,3360,0,0,0,0,0,0
$GC,3558,-0.74,-50.3,542.1,-12.7,384,3562,0.00,1.92,0.00,0.000,4,0.000,0.069,2586,3303,3359,0,0,0,0,0,0
$GC,3665,-0.74,-50.3,555.9,-12.5,394,3669,0.00,1.85,0.00,0.000,6,0.000,0.054,2586,2109,3358,0,0,0,0,0,0
$GC,3985,-0.74,-50.3,595.5,-12.0,425,3986,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,2107,3357,0,0,0,0,0,0
$GC,4299,-0.74,-50.3,632.9,-12.0,438,4304,0.00,1.98,0.00,0.000,4,0.000,0.071,2577,3326,3356,0,0,0,0,0,0
$GC,4427,-0.74,-50.3,648.4,-11.7,442,4432,0.00,1.90,0.00,0.000,6,0.000,0.054,2577,2116,3356,0,0,0,0,0,0
$GC,4763,-0.74,-50.3,686.9,-11.4,453,4767,0.00,2.00,0.00,0.000,4,0.000,0.061,2577,839,3355,0,0,0,0,0,0
$GC,4810,-0.74,-50.3,692.9,-12.1,454,4815,0.00,2.03,0.00,0.000,6,0.000,0.060,2568,2126,3354,0,0,0,0,0,0
$GC,5130,-0.74,-50.3,730.4,-11.7,465,5131,0.12,0.00,0.00,0.000,6,0.187,0.000,2597,2126,3354,0,0,0,0,0,0
$GC,5433,-0.75,-50.3,759.5,-9.4,475,5438,0.00,1.90,0.00,0.000,4,0.000,0.072,2591,3303,3353,0,0,0,0,0,0
$GC,5535,-0.77,-50.3,769.5,-10.1,478,5539,0.00,1.85,0.00,0.000,6,0.000,0.056,2591,2118,3353,0,0,0,0,0,0
$GC,5864,-0.78,-50.3,802.2,-10.1,489,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2117,3352,0,0,0,0,0,0
$GC,6168,-0.79,-50.3,832.6,-10.2,499,6169,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,2117,3351,0,0,0,0,0,0
$GC,6471,-0.80,-50.3,863.2,-10.2,509,6476,0.00,1.95,0.00,0.000,4,0.000,0.074,2582,3319,3350,0,0,0,0,0,0
$GC,6556,-0.80,-50.3,872.0,-10.5,511,6561,0.00,1.88,0.00,0.000,6,0.000,0.057,2582,2126,3351,0,0,0,0,0,0
$GC,6870,-0.80,-50.3,903.8,-10.1,522,6875,0.00,1.92,0.00,0.000,4,0.000,0.072,2573,3312,3350,0,0,0,0,0,0
$GC,7030,-0.80,-50.3,920.9,-11.1,527,7035,0.00,1.83,0.00,0.000,6,0.000,0.057,2573,2142,3350,0,0,0,0,0,0
$GC,7366,-0.80,-50.3,956.3,-10.5,538,7370,0.00,2.03,0.00,0.000,4,0.000,0.064,2573,846,3350,0,0,0,0,0,0
$GC,7392,-0.80,-50.3,959.3,-11.4,538,7399,0.00,2.08,0.00,0.000,6,0.000,0.064,2564,2148,3349,0,0,0,0,0,0
$STATE,7699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7699,begin apogee
$GC,7702,-0.14,0.0,992.1,10.5,549,7746,0.73,0.00,42.05,1.216,6,0.157,0.000,2785,2000,3149,0,0,0,0,0,0
$STATE,7747,end apogee,CONTROL_FINISHED_OK
$STATE,7747,begin climb
$GC,7748,0.80,50.3,993.3,0.0,550,7795,0.90,0.00,44.67,1.190,6,0.085,0.000,3093,2000,2945,0,0,0,0,0,0
$GC,8094,0.78,50.3,968.5,8.1,562,8098,0.00,2.05,0.00,0.000,4,0.000,0.070,3093,3229,2942,0,0,0,0,0,0
$GC,8105,0.75,50.3,967.6,8.2,562,8109,0.00,2.00,0.00,0.000,6,0.000,0.060,3102,1999,2942,0,0,0,0,0,0
$GC,8429,0.72,50.3,939.1,8.7,573,8434,0.15,2.05,0.00,0.000,4,0.203,0.071,3067,3237,2941,0,0,0,0,0,0
$GC,8439,0.69,50.3,938.4,8.7,573,8444,0.00,2.03,0.00,0.000,6,0.000,0.060,3074,1991,2941,0,0,0,0,0,0
$GC,8764,0.67,50.3,911.6,8.1,584,8768,0.00,2.05,0.00,0.000,4,0.000,0.071,3074,3233,2940,0,0,0,0,0,0
$GC,8876,0.64,50.3,901.7,9.2,587,8881,0.12,1.95,0.00,0.000,6,0.189,0.060,3048,2009,2940,0,0,0,0,0,0
$GC,9195,0.64,50.3,878.8,7.0,598,9199,0.00,2.03,0.00,0.000,4,0.000,0.071,3048,3234,2940,0,0,0,0,0,0
$GC,9430,0.63,50.3,861.5,7.0,605,9435,0.00,1.95,0.00,0.000,6,0.000,0.059,3055,2014,2939,0,0,0,0,0,0
$GC,9755,0.62,50.4,841.1,6.1,616,9759,0.00,2.00,0.00,0.000,4,0.000,0.071,3055,3236,2939,0,0,0,0,0,0
$GC,10000,0.60,50.4,825.6,6.8,623,10005,0.10,1.90,0.00,0.000,6,0.188,0.059,3035,2039,2938,0,0,0,0,0,0
$GC,10314,0.60,59.1,809.4,4.9,634,10325,0.00,1.90,7.50,0.965,4,0.000,0.070,3035,3235,2909,0,0,0,0,0,0
$GC,10565,0.59,59.1,794.5,6.3,642,10569,0.00,1.88,0.00,0.000,6,0.000,0.059,3042,2052,2909,0,0,0,0,0,0
$GC,10900,0.59,64.6,776.4,5.4,653,10910,0.00,1.90,6.75,0.921,4,0.000,0.072,3042,3244,2886,0,0,0,0,0,0
$GC,11150,0.58,64.6,759.8,6.8,660,11157,0.00,1.90,0.00,0.000,6,0.000,0.059,3051,2056,2885,0,0,0,0,0,0
$GC,11459,0.58,64.7,740.8,6.1,671,11464,0.00,1.92,0.00,0.000,4,0.000,0.071,3051,3240,2885,0,0,0,0,0,0
$GC,11550,0.57,64.7,734.7,6.3,673,11556,0.12,1.88,0.00,0.000,6,0.178,0.059,3023,2064,2885,0,0,0,0,0,0
$GC,11858,0.57,67.0,717.3,5.8,684,11867,0.00,1.92,4.05,0.717,4,0.000,0.071,3023,3234,2876,0,0,0,0,0,0
$GC,11926,0.57,67.0,713.1,6.5,686,11931,0.00,1.88,0.00,0.000,6,0.000,0.058,3030,2061,2876,0,0,0,0,0,0
$GC,12256,0.57,71.7,693.8,5.5,697,12266,0.00,1.90,5.72,0.841,4,0.000,0.071,3029,3228,2857,0,0,0,0,0,0
$GC,12336,0.57,71.7,688.7,6.9,699,12340,0.00,1.88,0.00,0.000,6,0.000,0.058,3038,2056,2857,0,0,0,0,0,0
$GC,12655,0.57,71.7,668.4,6.4,710,12659,0.00,1.90,0.00,0.000,4,0.000,0.071,3038,3236,2857,0,0,0,0,0,0
$GC,12857,0.57,71.7,654.1,7.3,716,12862,0.00,1.85,0.00,0.000,6,0.000,0.058,3047,2075,2857,0,0,0,0,0,0
$GC,13182,0.57,71.7,632.3,6.8,727,13187,0.00,1.85,0.00,0.000,4,0.000,0.070,3048,3230,2858,0,0,0,0,0,0
$GC,13214,0.56,71.7,630.1,7.3,728,13219,0.12,1.85,0.00,0.000,6,0.198,0.059,3021,2067,2858,0,0,0,0,0,0
$GC,13550,0.57,74.0,610.6,5.8,739,13559,0.00,2.10,3.83,0.654,4,0.000,0.067,3028,760,2848,0,0,0,0,0,0
$GC,13565,0.58,77.2,609.7,5.7,739,13574,0.00,2.10,4.65,0.723,6,0.000,0.061,3028,2087,2835,0,0,0,0,0,0
$GC,13888,0.58,83.1,590.0,5.3,760,13898,0.00,1.88,6.82,0.841,4,0.000,0.070,3029,3234,2811,0,0,0,0,0,0
$GC,13908,0.59,88.3,588.9,5.4,762,13920,0.00,1.83,6.05,0.786,6,0.000,0.058,3037,2085,2789,0,0,0,0,0,0
$GC,14228,0.59,88.3,568.1,6.9,793,14233,0.00,1.88,0.00,0.000,4,0.000,0.071,3037,3238,2789,0,0,0,0,0,0
$GC,14378,0.59,88.3,557.5,6.9,807,14382,0.00,1.80,0.00,0.000,6,0.000,0.058,3045,2099,2789,0,0,0,0,0,0
$GC,14699,0.59,88.3,535.9,6.5,838,14703,0.00,1.83,0.00,0.000,4,0.000,0.071,3045,3233,2790,0,0,0,0,0,0
$GC,14911,0.59,88.3,520.5,6.8,858,14916,0.00,1.80,0.00,0.000,6,0.000,0.058,3054,2107,2790,0,0,0,0,0,0
$GC,15233,0.59,88.3,498.1,7.4,889,15237,0.00,1.80,0.00,0.000,4,0.000,0.070,3054,3230,2791,0,0,0,0,0,0
$GC,15280,0.59,88.3,494.4,7.4,893,15287,0.15,1.77,0.00,0.000,6,0.189,0.058,3024,2114,2791,0,0,0,0,0,0
$GC,15596,0.60,88.5,473.5,6.1,924,15600,0.00,1.80,0.00,0.000,4,0.000,0.071,3023,3234,2792,0,0,0,0,0,0
$GC,15686,0.60,88.5,467.3,7.1,932,15692,0.00,1.80,0.00,0.000,6,0.000,0.058,3029,2101,2792,0,0,0,0,0,0
$GC,16001,0.61,88.5,448.0,6.3,963,16006,0.00,1.85,0.00,0.000,4,0.000,0.071,3029,3245,2792,0,0,0,0,0,0
$GC,16044,0.61,88.5,445.2,6.3,967,16048,0.00,1.77,0.00,0.000,6,0.000,0.059,3037,2122,2792,0,0,0,0,0,0
$GC,16364,0.61,88.5,425.2,6.2,998,16369,0.00,1.83,0.00,0.000,4,0.000,0.071,3037,3234,2793,0,0,0,0,0,0
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$STATE,23296,end climb,SURFACE_DEPTH_REACHED
$STATE,23296,begin surface coast
$FINISH,1.0,1.021503
$STATE,23333,end surface coast,CONTROL_FINISHED_OK
$STATE,23333,begin surface
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$SM_GC,1.99,0.00,0.00,86.57,0.000,0.000,0.516,145,2059,1721,-8.39,-0.45,350.04
$IRIDIUM_FIX,4644.93,-12658.51,241099,000004
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$HUMID,36.41
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,18.30
$XPDR_PINGS,0
$24V_AH,24.1,15.481
$10V_AH,10.3,11.253
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.175,180.075,232.325,86.575,0.000,22.352,37.916,236.543,0.000,0.000,14.321,0.000,17823.656,594.613,4841.102,554.033,0.000,2340.485,0.000,4164.950,0.000,0.534,0.000
$DEVICE_MAMPS,247.741,106.613,1215.695,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1267.171,1510.165,1671.953,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298596
$DATA_FILE_SIZE,104113,1835
$CAP_FILE_SIZE,238844,0
$CFSIZE,260165632,249880576
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.123, 36.2,1
$GPS,300710,141407,4702.114,-12658.104,77,1.7,77,18.6