version: 66.06
glider: 187
mission: 2
dive: 136
start: 8 3 110 23 29 25
data:
$ID,187
$MISSION,2
$DIVE,136
$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,-26221.52
$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,24
$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
$GPS1,231806,4729.739,-12600.908,71,1.4,71,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-76.0
$GPS2,232920,4729.718,-12600.900,31,1.5,31,18.7
$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,41.2,94985,-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,-52.83,0.000,2,0.000,0.000,132,2076,2986,0,0,0,0,0,0
$GC,69,-0.45,-112.4,3.3,-2.5,10,98,10.45,2.03,-14.48,0.000,4,0.249,0.076,2680,832,3611,0,0,0,0,0,0
$GC,219,-0.42,-112.4,34.3,-17.5,38,226,0.00,2.00,0.00,0.000,6,0.000,0.056,2673,2081,3614,0,0,0,0,0,0
$GC,546,-0.38,-112.4,84.9,-14.9,99,551,0.12,0.00,0.00,0.000,6,0.166,0.000,2706,2081,3615,0,0,0,0,0,0
$GC,865,-0.38,-112.4,119.0,-9.5,142,869,0.00,1.98,0.00,0.000,4,0.000,0.065,2700,3305,3617,0,0,0,0,0,0
$GC,917,-0.38,-112.4,124.0,-8.6,147,922,0.00,1.95,0.00,0.000,6,0.000,0.051,2700,2066,3617,0,0,0,0,0,0
$GC,1239,-0.38,-112.4,152.9,-8.9,178,1240,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2063,3617,0,0,0,0,0,0
$GC,1550,-0.38,-112.4,180.4,-8.9,208,1553,0.00,1.98,0.00,0.000,4,0.000,0.069,2692,3310,3617,0,0,0,0,0,0
$GC,1585,-0.38,-112.4,183.6,-8.4,211,1592,0.00,1.95,0.00,0.000,6,0.000,0.052,2692,2069,3617,0,0,0,0,0,0
$GC,1901,-0.38,-112.4,212.2,-9.1,242,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2067,3617,0,0,0,0,0,0
$GC,2212,-0.38,-112.4,239.3,-8.2,272,2216,0.00,2.03,0.00,0.000,4,0.000,0.071,2684,3313,3616,0,0,0,0,0,0
$GC,2249,-0.38,-112.4,242.6,-8.7,275,2255,0.00,1.95,0.00,0.000,6,0.000,0.053,2684,2071,3616,0,0,0,0,0,0
$GC,2564,-0.38,-112.4,271.2,-9.2,306,2568,0.00,2.03,0.00,0.000,4,0.000,0.070,2676,3310,3616,0,0,0,0,0,0
$GC,2596,-0.38,-112.4,274.3,-9.7,309,2601,0.08,1.90,0.00,0.000,6,0.127,0.054,2703,2093,3616,0,0,0,0,0,0
$GC,2917,-0.38,-112.4,299.3,-7.6,340,2921,0.00,1.98,0.00,0.000,4,0.000,0.061,2704,844,3616,0,0,0,0,0,0
$GC,2954,-0.38,-112.4,302.2,-7.4,343,2960,0.00,1.98,0.00,0.000,6,0.000,0.060,2704,2097,3616,0,0,0,0,0,0
$GC,3269,-0.38,-112.4,325.5,-7.4,374,3274,0.00,1.98,0.00,0.000,4,0.000,0.071,2698,3313,3615,0,0,0,0,0,0
$GC,3344,-0.39,-112.4,331.1,-7.3,381,3348,0.00,1.90,0.00,0.000,6,0.000,0.054,2697,2093,3615,0,0,0,0,0,0
$GC,3665,-0.39,-112.4,355.1,-7.4,412,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2092,3615,0,0,0,0,0,0
$GC,3977,-0.39,-112.4,376.9,-7.2,442,3980,0.00,1.95,0.00,0.000,4,0.000,0.071,2694,3310,3615,0,0,0,0,0,0
$GC,4029,-0.40,-112.4,380.6,-6.8,447,4033,0.00,1.88,0.00,0.000,6,0.000,0.055,2694,2109,3615,0,0,0,0,0,0
$GC,4350,-0.40,-112.4,403.6,-6.8,478,4353,0.00,2.00,0.00,0.000,4,0.000,0.063,2693,844,3615,0,0,0,0,0,0
$GC,4396,-0.40,-112.4,407.2,-7.5,482,4403,0.00,2.00,0.00,0.000,6,0.000,0.062,2692,2103,3615,0,0,0,0,0,0
$GC,4712,-0.40,-112.4,430.7,-7.5,513,4717,0.00,1.95,0.00,0.000,4,0.000,0.073,2692,3309,3615,0,0,0,0,0,0
$GC,4788,-0.42,-112.4,436.1,-7.4,520,4791,0.00,1.88,0.00,0.000,6,0.000,0.056,2692,2106,3615,0,0,0,0,0,0
$GC,5108,-0.42,-112.4,459.4,-7.6,551,5108,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2106,3615,0,0,0,0,0,0
$GC,5418,-0.42,-112.4,482.7,-7.5,581,5422,0.00,1.95,0.00,0.000,4,0.000,0.071,2691,3307,3615,0,0,0,0,0,0
$GC,5487,-0.43,-112.4,487.6,-7.1,587,5493,0.00,1.88,0.00,0.000,6,0.000,0.056,2691,2116,3614,0,0,0,0,0,0
$GC,5803,-0.43,-112.4,511.1,-7.8,618,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2115,3614,0,0,0,0,0,0
$GC,6114,-0.43,-112.4,534.9,-8.0,648,6118,0.00,1.95,0.00,0.000,4,0.000,0.074,2690,3314,3615,0,0,0,0,0,0
$GC,6188,-0.44,-112.4,540.6,-8.2,655,6192,0.00,1.85,0.00,0.000,6,0.000,0.056,2690,2123,3615,0,0,0,0,0,0
$GC,6509,-0.44,-112.4,565.4,-7.9,686,6509,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2123,3615,0,0,0,0,0,0
$GC,6819,-0.44,-112.4,587.9,-6.7,716,6823,0.00,1.92,0.00,0.000,4,0.000,0.074,2686,3303,3615,0,0,0,0,0,0
$GC,6866,-0.45,-112.4,591.4,-6.9,720,6875,0.00,1.85,0.00,0.000,6,0.000,0.058,2687,2130,3615,0,0,0,0,0,0
$GC,7178,-0.45,-112.4,613.3,-7.1,739,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2130,3614,0,0,0,0,0,0
$GC,7481,-0.45,-112.4,633.6,-6.5,749,7482,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2130,3614,0,0,0,0,0,0
$GC,7785,-0.45,-112.4,653.2,-6.3,759,7790,0.00,1.95,0.00,0.000,4,0.000,0.074,2684,3316,3615,0,0,0,0,0,0
$GC,7839,-0.46,-112.4,656.6,-6.0,760,7842,0.00,1.85,0.00,0.000,6,0.000,0.058,2684,2135,3615,0,0,0,0,0,0
$GC,8152,-0.46,-112.4,676.6,-6.4,771,8156,0.00,1.92,0.00,0.000,4,0.000,0.074,2682,3308,3615,0,0,0,0,0,0
$GC,8199,-0.47,-112.4,679.9,-7.0,772,8204,0.00,1.83,0.00,0.000,6,0.000,0.058,2682,2153,3615,0,0,0,0,0,0
$GC,8519,-0.47,-112.4,701.7,-6.9,783,8520,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2152,3615,0,0,0,0,0,0
$GC,8822,-0.47,-112.4,722.9,-7.0,793,8823,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2152,3615,0,0,0,0,0,0
$GC,9126,-0.47,-112.4,742.9,-6.5,803,9131,0.00,1.90,0.00,0.000,4,0.000,0.074,2678,3307,3616,0,0,0,0,0,0
$GC,9168,-0.47,-112.4,746.0,-7.5,804,9173,0.00,1.83,0.00,0.000,6,0.000,0.058,2678,2153,3616,0,0,0,0,0,0
$GC,9493,-0.47,-112.4,768.5,-6.9,815,9497,0.00,1.90,0.00,0.000,4,0.000,0.074,2672,3308,3616,0,0,0,0,0,0
$GC,9519,-0.47,-112.4,770.4,-7.9,815,9526,0.00,1.83,0.00,0.000,6,0.000,0.058,2672,2154,3616,0,0,0,0,0,0
$GC,9828,-0.47,-112.4,792.9,-7.4,826,9828,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2154,3616,0,0,0,0,0,0
$GC,10131,-0.47,-112.4,816.3,-7.7,836,10132,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2154,3617,0,0,0,0,0,0
$GC,10434,-0.47,-112.4,839.2,-7.4,846,10435,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2154,3617,0,0,0,0,0,0
$GC,10738,-0.47,-112.4,860.7,-7.0,856,10739,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2154,3618,0,0,0,0,0,0
$GC,11042,-0.47,-112.4,880.1,-6.2,866,11046,0.00,2.05,0.00,0.000,4,0.000,0.066,2672,849,3618,0,0,0,0,0,0
$GC,11067,-0.47,-112.4,881.8,-7.3,866,11075,0.00,2.10,0.00,0.000,6,0.000,0.064,2665,2162,3618,0,0,0,0,0,0
$GC,11376,-0.47,-112.4,901.0,-6.1,877,11381,0.00,1.85,0.00,0.000,4,0.000,0.076,2658,3314,3618,0,0,0,0,0,0
$GC,11472,-0.47,-112.4,907.0,-6.3,880,11477,0.00,1.83,0.00,0.000,6,0.000,0.059,2658,2152,3618,0,0,0,0,0,0
$GC,11807,-0.47,-112.4,929.2,-6.7,891,11808,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2151,3619,0,0,0,0,0,0
$GC,12111,-0.47,-112.4,949.9,-6.9,901,12116,0.00,1.88,0.00,0.000,4,0.000,0.075,2650,3312,3619,0,0,0,0,0,0
$GC,12175,-0.47,-112.4,954.5,-7.1,903,12180,0.12,1.83,0.00,0.000,6,0.152,0.060,2685,2161,3619,0,0,0,0,0,0
$GC,12511,-0.48,-112.4,973.8,-5.8,914,12511,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2161,3620,0,0,0,0,0,0
$STATE,12812,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12812,begin apogee
$GC,12816,-0.14,0.0,991.4,5.8,924,12916,0.30,0.00,98.03,1.232,6,0.126,0.000,2784,1991,3150,0,0,0,0,0,0
$STATE,12916,end apogee,CONTROL_FINISHED_OK
$STATE,12916,begin climb
$GC,12917,0.45,112.4,993.6,0.0,927,13022,0.57,2.15,98.50,1.195,4,0.086,0.068,2986,767,2691,0,0,0,0,0,0
$GC,13058,0.43,112.4,988.2,7.2,931,13063,0.00,2.10,0.00,0.000,6,0.000,0.061,2987,1998,2688,0,0,0,0,0,0
$GC,13373,0.40,112.4,964.1,7.7,942,13377,0.00,2.08,0.00,0.000,4,0.000,0.073,2987,3228,2685,0,0,0,0,0,0
$GC,13496,0.35,112.4,953.6,8.5,945,13502,0.15,1.98,0.00,0.000,6,0.150,0.061,2950,2021,2685,0,0,0,0,0,0
$GC,13804,0.35,125.0,935.5,5.7,956,13818,0.00,2.00,11.38,1.073,4,0.000,0.074,2950,3233,2640,0,0,0,0,0,0
$GC,13862,0.33,125.0,931.6,6.8,957,13868,0.00,1.98,0.00,0.000,6,0.000,0.061,2955,2025,2639,0,0,0,0,0,0
$GC,14170,0.32,125.0,910.7,6.8,968,14174,0.00,2.00,0.00,0.000,4,0.000,0.073,2955,3235,2638,0,0,0,0,0,0
$GC,14223,0.30,125.0,906.6,8.1,969,14228,0.08,1.92,0.00,0.000,6,0.145,0.061,2937,2046,2638,0,0,0,0,0,0
$GC,14537,0.30,127.1,887.6,6.0,980,14538,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2046,2638,0,0,0,0,0,0
$GC,14840,0.30,130.0,869.7,6.0,990,14850,0.00,1.98,5.93,0.916,4,0.000,0.074,2937,3236,2620,0,0,0,0,0,0
$GC,14861,0.30,132.1,868.4,6.0,990,14872,0.00,1.92,3.70,0.688,6,0.000,0.061,2940,2040,2611,0,0,0,0,0,0
$GC,15174,0.30,132.1,849.1,6.2,1001,15174,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2041,2610,0,0,0,0,0,0
$GC,15477,0.30,132.1,829.3,6.6,1011,15482,0.00,2.00,0.00,0.000,4,0.000,0.074,2940,3249,2612,0,0,0,0,0,0
$GC,15499,0.30,132.1,827.7,7.6,1011,15503,0.00,1.92,0.00,0.000,6,0.000,0.062,2945,2049,2612,0,0,0,0,0,0
$GC,15812,0.30,132.1,807.4,6.3,1022,15817,0.00,1.98,0.00,0.000,4,0.000,0.075,2945,3234,2612,0,0,0,0,0,0
$GC,15854,0.29,132.1,804.3,6.5,1023,15859,0.00,1.90,0.00,0.000,6,0.000,0.061,2946,2057,2612,0,0,0,0,0,0
$GC,16179,0.29,132.1,782.8,6.7,1034,16184,0.00,2.08,0.00,0.000,4,0.000,0.071,2947,770,2613,0,0,0,0,0,0
$GC,16200,0.29,132.1,781.4,6.5,1034,16205,0.00,2.08,0.00,0.000,6,0.000,0.064,2947,2063,2613,0,0,0,0,0,0
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$STATE,27404,end climb,SURFACE_DEPTH_REACHED
$STATE,27404,begin surface coast
$FINISH,0.9,1.024134
$STATE,27436,end surface coast,CONTROL_FINISHED_OK
$STATE,27436,begin surface
$SM_CCo,27508,0.00,0.000,0,0,1471,411.86
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$IRIDIUM_FIX,4710.21,-12604.45,281099,232349
$TT8_MAMPS,0.052923
$HUMID,37.91
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,17.80
$XPDR_PINGS,0
$24V_AH,23.7,17.728
$10V_AH,10.2,13.758
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.250,206.150,463.875,0.000,0.000,58.474,68.665,344.163,0.000,0.000,31.920,0.000,21741.955,686.058,4939.609,772.118,0.000,2504.394,0.000,4192.993,0.000,0.534,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1437.368,1715.571,1779.274,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298584
$DATA_FILE_SIZE,116935,2078
$CAP_FILE_SIZE,262293,0
$CFSIZE,260165632,248033280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,7
$CURRENT,0.028,345.3,1
$GPS,040810,070836,4731.702,-12556.749,27,1.2,27,18.7