version: 66.06
glider: 187
mission: 2
dive: 134
start: 8 3 110 8 13 21
data:
$ID,187
$MISSION,2
$DIVE,134
$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,-26156.223
$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,32
$R_STBD_OVSHOOT,33
$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
$GPS1,080545,4725.786,-12609.576,43,2.1,62,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-73.5
$GPS2,081316,4725.728,-12609.555,15,2.4,34,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$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,39.1,108013,-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,-112.4,0.0,0.0,0,84,0.00,0.00,-69.82,0.000,2,0.000,0.000,132,2087,3141,0,0,0,0,0,0
$GC,86,-0.45,-112.4,3.8,-3.2,12,114,10.43,2.03,-9.70,0.000,4,0.247,0.074,2679,840,3612,0,0,0,0,0,0
$GC,178,-0.41,-112.4,28.0,-21.1,29,184,0.00,1.95,0.00,0.000,6,0.000,0.057,2673,2064,3614,0,0,0,0,0,0
$GC,504,-0.38,-112.4,76.2,-13.4,90,511,0.12,1.95,0.00,0.000,4,0.164,0.058,2708,841,3616,0,0,0,0,0,0
$GC,606,-0.38,-112.4,87.3,-10.4,109,613,0.00,1.92,0.00,0.000,6,0.000,0.056,2704,2058,3616,0,0,0,0,0,0
$GC,926,-0.38,-112.4,118.4,-8.7,151,930,0.00,2.00,0.00,0.000,4,0.000,0.065,2703,3310,3617,0,0,0,0,0,0
$GC,1010,-0.38,-112.4,125.3,-7.4,159,1016,0.00,1.92,0.00,0.000,6,0.000,0.050,2703,2082,3618,0,0,0,0,0,0
$GC,1332,-0.38,-112.4,151.7,-8.5,190,1336,0.00,1.92,0.00,0.000,4,0.000,0.057,2703,846,3618,0,0,0,0,0,0
$GC,1507,-0.38,-112.4,167.1,-8.5,206,1515,0.00,1.92,0.00,0.000,6,0.000,0.054,2700,2065,3618,0,0,0,0,0,0
$GC,1823,-0.38,-112.4,193.1,-8.3,237,1823,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2065,3617,0,0,0,0,0,0
$GC,2134,-0.38,-112.4,220.2,-9.0,267,2138,0.00,1.92,0.00,0.000,4,0.000,0.060,2700,850,3616,0,0,0,0,0,0
$GC,2176,-0.38,-112.4,224.2,-9.6,271,2180,0.00,1.88,0.00,0.000,6,0.000,0.057,2696,2047,3616,0,0,0,0,0,0
$GC,2496,-0.38,-112.4,251.9,-8.9,302,2501,0.00,2.05,0.00,0.000,4,0.000,0.067,2691,3316,3615,0,0,0,0,0,0
$GC,2582,-0.38,-112.4,259.4,-8.6,310,2586,0.00,1.98,0.00,0.000,6,0.000,0.052,2690,2046,3615,0,0,0,0,0,0
$GC,2903,-0.38,-112.4,287.7,-8.6,341,2907,0.00,2.03,0.00,0.000,4,0.000,0.069,2685,3300,3615,0,0,0,0,0,0
$GC,2940,-0.38,-112.4,290.7,-8.3,344,2946,0.00,1.95,0.00,0.000,6,0.000,0.053,2685,2055,3615,0,0,0,0,0,0
$GC,3255,-0.38,-112.4,317.1,-8.1,375,3259,0.00,1.92,0.00,0.000,4,0.000,0.061,2685,843,3614,0,0,0,0,0,0
$GC,3281,-0.38,-112.4,319.4,-9.0,377,3288,0.08,1.92,0.00,0.000,6,0.133,0.058,2708,2059,3614,0,0,0,0,0,0
$GC,3597,-0.38,-112.4,340.4,-6.8,408,3602,0.00,2.03,0.00,0.000,4,0.000,0.070,2703,3307,3614,0,0,0,0,0,0
$GC,3693,-0.39,-112.4,347.1,-6.8,417,3697,0.00,1.92,0.00,0.000,6,0.000,0.053,2702,2067,3613,0,0,0,0,0,0
$GC,4015,-0.39,-112.4,370.4,-7.2,448,4016,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2066,3613,0,0,0,0,0,0
$GC,4325,-0.39,-112.4,392.7,-7.5,478,4326,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2066,3613,0,0,0,0,0,0
$GC,4636,-0.39,-112.4,415.6,-7.4,508,4639,0.00,2.03,0.00,0.000,4,0.000,0.072,2696,3311,3613,0,0,0,0,0,0
$GC,4672,-0.41,-112.4,418.4,-7.7,511,4678,0.00,1.95,0.00,0.000,6,0.000,0.054,2695,2061,3613,0,0,0,0,0,0
$GC,4987,-0.41,-112.4,442.0,-7.7,542,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2061,3612,0,0,0,0,0,0
$GC,5298,-0.41,-112.4,465.3,-7.1,572,5302,0.00,2.03,0.00,0.000,4,0.000,0.072,2695,3309,3613,0,0,0,0,0,0
$GC,5340,-0.42,-112.4,468.3,-6.8,576,5344,0.00,1.95,0.00,0.000,6,0.000,0.055,2695,2067,3612,0,0,0,0,0,0
$GC,5661,-0.42,-112.4,490.2,-6.6,607,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2067,3612,0,0,0,0,0,0
$GC,5972,-0.42,-112.4,509.7,-6.5,637,5976,0.00,2.03,0.00,0.000,4,0.000,0.074,2692,3310,3611,0,0,0,0,0,0
$GC,6004,-0.43,-112.4,511.7,-6.5,640,6007,0.00,1.92,0.00,0.000,6,0.000,0.057,2692,2075,3611,0,0,0,0,0,0
$GC,6323,-0.43,-112.4,531.8,-6.2,671,6328,0.00,1.95,0.00,0.000,4,0.000,0.061,2692,832,3611,0,0,0,0,0,0
$GC,6377,-0.43,-112.4,535.4,-6.7,676,6381,0.00,1.95,0.00,0.000,6,0.000,0.061,2691,2066,3611,0,0,0,0,0,0
$GC,6697,-0.43,-112.4,556.2,-6.3,707,6702,0.00,2.03,0.00,0.000,4,0.000,0.072,2691,3317,3611,0,0,0,0,0,0
$GC,6772,-0.45,-112.4,560.8,-6.5,714,6777,0.00,1.95,0.00,0.000,6,0.000,0.055,2691,2075,3611,0,0,0,0,0,0
$GC,7094,-0.45,-112.4,581.6,-6.7,745,7095,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2072,3611,0,0,0,0,0,0
$GC,7423,-0.45,-112.4,604.2,-7.0,773,7427,0.00,1.92,0.00,0.000,4,0.000,0.063,2691,844,3610,0,0,0,0,0,0
$GC,7454,-0.45,-112.4,606.7,-7.6,774,7459,0.00,1.98,0.00,0.000,6,0.000,0.062,2691,2085,3610,0,0,0,0,0,0
$GC,7790,-0.45,-112.4,630.2,-7.0,785,7794,0.00,2.00,0.00,0.000,4,0.000,0.072,2691,3314,3610,0,0,0,0,0,0
$GC,7864,-0.46,-112.4,635.2,-6.5,787,7869,0.00,1.92,0.00,0.000,6,0.000,0.058,2690,2086,3610,0,0,0,0,0,0
$GC,8189,-0.49,-112.4,655.8,-6.3,798,8193,0.00,2.00,0.00,0.000,4,0.000,0.074,2691,3314,3610,0,0,0,0,0,0
$GC,8210,-0.51,-112.4,657.2,-7.1,798,8214,0.00,2.10,0.00,0.000,6,0.000,0.058,2691,1974,3610,0,0,0,0,0,0
$GC,8524,-0.55,-112.4,677.4,-6.5,809,8528,0.00,2.17,0.00,0.000,4,0.000,0.075,2690,3309,3610,0,0,0,0,0,0
$GC,8566,-0.56,-112.4,680.2,-6.1,810,8571,0.08,2.17,0.00,0.000,6,0.067,0.058,2640,1919,3609,0,0,0,0,0,0
$GC,8891,-0.55,-112.4,711.9,-10.0,821,8895,0.00,2.28,0.00,0.000,4,0.000,0.074,2631,3317,3610,0,0,0,0,0,0
$GC,8954,-0.53,-112.4,718.6,-10.2,823,8960,0.08,2.17,0.00,0.000,6,0.136,0.058,2656,1935,3610,0,0,0,0,0,0
$GC,9290,-0.53,-112.4,749.5,-9.1,834,9294,0.00,2.25,0.00,0.000,4,0.000,0.074,2648,3313,3610,0,0,0,0,0,0
$GC,9375,-0.53,-112.4,757.2,-8.3,836,9380,0.00,2.15,0.00,0.000,6,0.000,0.058,2649,1945,3610,0,0,0,0,0,0
$GC,9689,-0.52,-112.4,785.1,-8.9,847,9694,0.00,2.20,0.00,0.000,4,0.000,0.074,2640,3302,3610,0,0,0,0,0,0
$GC,9779,-0.52,-112.4,793.4,-9.6,849,9786,0.00,2.12,0.00,0.000,6,0.000,0.059,2640,1960,3610,0,0,0,0,0,0
$GC,10088,-0.51,-112.4,822.2,-9.5,860,10093,0.10,2.20,0.00,0.000,4,0.182,0.075,2659,3310,3610,0,0,0,0,0,0
$GC,10199,-0.51,-112.4,831.9,-9.2,863,10204,0.00,2.10,0.00,0.000,6,0.000,0.059,2658,1984,3610,0,0,0,0,0,0
$GC,10519,-0.51,-112.4,859.2,-8.5,874,10523,0.00,2.15,0.00,0.000,4,0.000,0.074,2650,3306,3610,0,0,0,0,0,0
$GC,10609,-0.51,-112.4,866.9,-8.2,876,10616,0.00,2.05,0.00,0.000,6,0.000,0.059,2650,2010,3609,0,0,0,0,0,0
$GC,10918,-0.51,-112.4,893.2,-8.4,887,10923,0.00,2.12,0.00,0.000,4,0.000,0.076,2643,3310,3610,0,0,0,0,0,0
$GC,10966,-0.51,-112.4,897.2,-9.2,888,10970,0.00,2.05,0.00,0.000,6,0.000,0.059,2643,2017,3610,0,0,0,0,0,0
$GC,11285,-0.50,-112.4,923.4,-8.1,899,11290,0.12,2.10,0.00,0.000,4,0.166,0.075,2671,3306,3610,0,0,0,0,0,0
$GC,11349,-0.50,-112.4,927.5,-5.8,901,11354,0.00,2.00,0.00,0.000,6,0.000,0.060,2671,2032,3610,0,0,0,0,0,0
$GC,11684,-0.50,-112.4,947.8,-5.8,912,11689,0.00,2.08,0.00,0.000,4,0.000,0.075,2663,3300,3610,0,0,0,0,0,0
$GC,11726,-0.50,-112.4,950.5,-7.1,913,11731,0.00,2.00,0.00,0.000,6,0.000,0.060,2663,2038,3610,0,0,0,0,0,0
$GC,12051,-0.50,-112.4,969.5,-5.8,924,12056,0.00,2.08,0.00,0.000,4,0.000,0.076,2661,3307,3610,0,0,0,0,0,0
$GC,12099,-0.50,-112.4,972.4,-5.7,925,12104,0.00,2.00,0.00,0.000,6,0.000,0.060,2661,2048,3610,0,0,0,0,0,0
$STATE,12387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12387,begin apogee
$GC,12390,-0.14,0.0,990.5,6.6,935,12488,0.40,0.00,95.88,1.236,6,0.125,0.000,2790,1994,3149,0,0,0,0,0,0
$STATE,12488,end apogee,CONTROL_FINISHED_OK
$STATE,12488,begin climb
$GC,12489,0.45,112.4,992.0,0.0,938,12594,0.55,2.15,98.47,1.197,4,0.084,0.068,2986,767,2691,0,0,0,0,0,0
$GC,12615,0.43,112.4,986.4,7.0,942,12619,0.00,2.10,0.00,0.000,6,0.000,0.062,2987,1997,2689,0,0,0,0,0,0
$GC,12945,0.40,112.4,958.8,8.4,953,12949,0.00,2.10,0.00,0.000,4,0.000,0.073,2987,3238,2685,0,0,0,0,0,0
$GC,13095,0.35,112.4,944.5,8.5,957,13099,0.12,1.98,0.00,0.000,6,0.152,0.061,2957,2028,2684,0,0,0,0,0,0
$GC,13408,0.34,112.4,923.3,6.5,968,13412,0.00,2.00,0.00,0.000,4,0.000,0.074,2957,3239,2684,0,0,0,0,0,0
$GC,13477,0.31,112.4,918.7,7.2,970,13482,0.00,1.95,0.00,0.000,6,0.000,0.061,2963,2031,2683,0,0,0,0,0,0
$GC,13807,0.29,112.4,896.6,6.7,981,13812,0.12,1.98,0.00,0.000,4,0.173,0.073,2930,3236,2683,0,0,0,0,0,0
$GC,13854,0.29,112.4,893.6,6.1,982,13859,0.00,1.92,0.00,0.000,6,0.000,0.061,2933,2048,2683,0,0,0,0,0,0
$GC,14174,0.29,112.7,874.1,6.1,993,14178,0.00,1.95,0.00,0.000,4,0.000,0.074,2933,3238,2683,0,0,0,0,0,0
$GC,14205,0.28,112.7,871.9,6.8,994,14210,0.00,1.92,0.00,0.000,6,0.000,0.061,2933,2048,2682,0,0,0,0,0,0
$GC,14541,0.28,112.7,851.2,6.2,1005,14545,0.00,1.98,0.00,0.000,4,0.000,0.075,2933,3236,2682,0,0,0,0,0,0
$GC,14556,0.28,112.7,850.1,6.1,1005,14561,0.00,1.90,0.00,0.000,6,0.000,0.061,2934,2059,2682,0,0,0,0,0,0
$GC,14876,0.29,125.8,831.2,5.6,1016,14891,0.00,1.95,11.00,1.044,4,0.000,0.074,2934,3233,2637,0,0,0,0,0,0
$GC,14939,0.28,125.8,827.2,6.5,1018,14943,0.00,1.85,0.00,0.000,6,0.000,0.061,2934,2078,2636,0,0,0,0,0,0
$GC,15274,0.28,133.2,808.2,5.8,1029,15283,0.00,0.00,8.12,0.980,6,0.000,0.000,2934,2078,2606,0,0,0,0,0,0
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$STATE,26163,end climb,SURFACE_DEPTH_REACHED
$STATE,26163,begin surface coast
$FINISH,1.0,1.024033
$STATE,26207,end surface coast,CONTROL_FINISHED_OK
$STATE,26207,begin surface
$SM_CCo,26280,0.00,0.000,0,0,1440,419.46
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$IRIDIUM_FIX,4707.04,-12621.04,281099,000051
$TT8_MAMPS,0.052923
$HUMID,38.18
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.30
$XPDR_PINGS,0
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$10V_AH,10.2,13.414
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.450,224.575,461.025,0.000,0.000,33.425,31.804,249.261,0.000,0.000,35.713,0.000,20402.086,715.264,4991.480,580.398,0.000,2552.560,0.000,4226.983,0.000,0.533,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1405.060,1667.266,1774.560,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298580
$DATA_FILE_SIZE,113640,2030
$CAP_FILE_SIZE,258629,0
$CFSIZE,260165632,248283136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.023, 31.2,1
$GPS,030810,153207,4727.608,-12605.337,30,1.4,30,18.7