version: 66.06
glider: 187
mission: 2
dive: 141
start: 8 5 110 13 7 48
data:
$ID,187
$MISSION,2
$DIVE,141
$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,-26306.729
$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,26
$R_STBD_OVSHOOT,27
$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
$GPS1,130101,4738.312,-12541.782,69,1.1,69,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-77.1
$GPS2,130743,4738.201,-12541.738,11,1.0,16,18.7
$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,45.2,66500,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,13,-0.45,-112.4,0.0,0.0,0,70,0.00,0.00,-54.80,0.000,2,0.000,0.000,133,2076,2981,0,0,0,0,0,0
$GC,71,-0.45,-112.4,3.1,-2.0,10,106,10.43,2.00,-15.18,0.000,4,0.248,0.076,2683,839,3611,0,0,0,0,0,0
$GC,271,-0.43,-112.4,36.7,-15.3,47,278,0.00,1.98,0.00,0.000,6,0.000,0.058,2677,2071,3614,0,0,0,0,0,0
$GC,598,-0.41,-112.4,87.1,-14.6,108,604,0.00,2.03,0.00,0.000,4,0.000,0.067,2669,3314,3615,0,0,0,0,0,0
$GC,641,-0.39,-112.4,93.3,-14.6,116,647,0.10,1.92,0.00,0.000,6,0.123,0.052,2704,2095,3616,0,0,0,0,0,0
$GC,957,-0.39,-112.4,126.0,-9.4,152,958,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2093,3616,0,0,0,0,0,0
$GC,1268,-0.39,-112.4,150.9,-8.0,182,1269,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2093,3616,0,0,0,0,0,0
$GC,1579,-0.39,-112.4,174.9,-7.8,212,1583,0.00,1.95,0.00,0.000,4,0.000,0.058,2704,842,3616,0,0,0,0,0,0
$GC,1621,-0.39,-112.4,178.4,-8.2,216,1625,0.00,2.00,0.00,0.000,6,0.000,0.058,2704,2100,3616,0,0,0,0,0,0
$GC,1942,-0.39,-112.4,205.3,-8.9,247,1946,0.00,1.95,0.00,0.000,4,0.000,0.068,2704,3306,3616,0,0,0,0,0,0
$GC,2038,-0.40,-112.4,213.6,-8.5,256,2042,0.00,1.88,0.00,0.000,6,0.000,0.052,2704,2103,3616,0,0,0,0,0,0
$GC,2358,-0.40,-112.4,240.4,-8.2,287,2363,0.00,1.98,0.00,0.000,4,0.000,0.068,2703,3312,3616,0,0,0,0,0,0
$GC,2384,-0.41,-112.4,242.5,-8.0,289,2391,0.00,1.90,0.00,0.000,6,0.000,0.053,2703,2100,3616,0,0,0,0,0,0
$GC,2700,-0.41,-112.4,265.8,-7.2,320,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2100,3616,0,0,0,0,0,0
$GC,3011,-0.41,-112.4,288.9,-7.7,350,3012,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2100,3616,0,0,0,0,0,0
$GC,3321,-0.41,-112.4,313.6,-7.9,380,3325,0.00,1.95,0.00,0.000,4,0.000,0.070,2696,3302,3616,0,0,0,0,0,0
$GC,3385,-0.42,-112.4,318.6,-7.9,386,3389,0.00,1.85,0.00,0.000,6,0.000,0.054,2697,2120,3616,0,0,0,0,0,0
$GC,3705,-0.42,-112.4,343.7,-7.3,417,3710,0.00,2.00,0.00,0.000,4,0.000,0.061,2697,848,3616,0,0,0,0,0,0
$GC,3749,-0.42,-112.4,347.1,-8.1,421,3753,0.00,2.00,0.00,0.000,6,0.000,0.060,2696,2116,3616,0,0,0,0,0,0
$GC,4069,-0.42,-112.4,371.6,-7.4,452,4074,0.00,1.95,0.00,0.000,4,0.000,0.070,2695,3316,3616,0,0,0,0,0,0
$GC,4127,-0.44,-112.4,375.9,-6.7,457,4134,0.00,1.88,0.00,0.000,6,0.000,0.054,2695,2118,3616,0,0,0,0,0,0
$GC,4442,-0.44,-112.4,396.9,-6.7,488,4447,0.00,1.95,0.00,0.000,4,0.000,0.071,2692,3311,3615,0,0,0,0,0,0
$GC,4469,-0.44,-112.4,398.7,-6.9,490,4475,0.00,1.88,0.00,0.000,6,0.000,0.055,2692,2119,3615,0,0,0,0,0,0
$GC,4785,-0.44,-112.4,419.5,-6.7,521,4785,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2118,3616,0,0,0,0,0,0
$GC,5095,-0.44,-112.4,439.9,-6.5,551,5099,0.00,2.00,0.00,0.000,4,0.000,0.062,2691,840,3615,0,0,0,0,0,0
$GC,5117,-0.44,-112.4,441.5,-7.1,553,5120,0.00,2.03,0.00,0.000,6,0.000,0.063,2692,2124,3615,0,0,0,0,0,0
$GC,5437,-0.44,-112.4,462.3,-6.5,584,5437,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2124,3615,0,0,0,0,0,0
$GC,5748,-0.44,-112.4,482.4,-6.8,614,5752,0.00,1.92,0.00,0.000,4,0.000,0.072,2691,3313,3615,0,0,0,0,0,0
$GC,5817,-0.45,-112.4,487.3,-7.6,620,5823,0.00,1.85,0.00,0.000,6,0.000,0.055,2691,2126,3615,0,0,0,0,0,0
$GC,6132,-0.45,-112.4,510.2,-7.8,651,6136,0.00,2.03,0.00,0.000,4,0.000,0.063,2692,842,3615,0,0,0,0,0,0
$GC,6201,-0.45,-112.4,515.8,-8.4,657,6208,0.00,2.03,0.00,0.000,6,0.000,0.063,2691,2114,3615,0,0,0,0,0,0
$GC,6518,-0.45,-112.4,541.0,-8.3,688,6521,0.00,1.92,0.00,0.000,4,0.000,0.074,2691,3303,3615,0,0,0,0,0,0
$GC,6618,-0.46,-112.4,548.5,-7.8,697,6624,0.00,1.85,0.00,0.000,6,0.000,0.056,2691,2120,3614,0,0,0,0,0,0
$GC,6933,-0.46,-112.4,569.7,-6.4,728,6938,0.00,1.95,0.00,0.000,4,0.000,0.074,2692,3308,3614,0,0,0,0,0,0
$GC,6965,-0.48,-112.4,571.7,-6.4,731,6970,0.00,1.85,0.00,0.000,6,0.000,0.057,2691,2122,3614,0,0,0,0,0,0
$GC,7286,-0.48,-112.4,592.3,-6.5,762,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2122,3614,0,0,0,0,0,0
$GC,7592,-0.48,-112.4,612.8,-6.7,780,7597,0.00,2.00,0.00,0.000,4,0.000,0.064,2691,846,3614,0,0,0,0,0,0
$GC,7624,-0.48,-112.4,615.2,-7.4,781,7628,0.00,2.05,0.00,0.000,6,0.000,0.063,2691,2131,3614,0,0,0,0,0,0
$GC,7959,-0.48,-112.4,638.6,-7.0,792,7964,0.00,1.92,0.00,0.000,4,0.000,0.074,2691,3320,3614,0,0,0,0,0,0
$GC,8018,-0.49,-112.4,642.8,-7.5,793,8024,0.00,1.85,0.00,0.000,6,0.000,0.058,2691,2138,3614,0,0,0,0,0,0
$GC,8326,-0.49,-112.4,663.4,-6.4,804,8330,0.00,2.03,0.00,0.000,4,0.000,0.064,2691,845,3614,0,0,0,0,0,0
$GC,8373,-0.49,-112.4,666.6,-6.9,805,8378,0.00,2.05,0.00,0.000,6,0.000,0.063,2691,2129,3614,0,0,0,0,0,0
$GC,8694,-0.50,-112.4,684.5,-5.5,816,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2129,3614,0,0,0,0,0,0
$GC,8997,-0.51,-112.4,702.3,-6.0,826,9001,0.00,1.90,0.00,0.000,4,0.000,0.073,2691,3302,3614,0,0,0,0,0,0
$GC,9049,-0.53,-112.4,705.4,-6.2,827,9054,0.00,1.85,0.00,0.000,6,0.000,0.057,2691,2125,3614,0,0,0,0,0,0
$GC,9364,-0.54,-112.4,723.2,-5.6,838,9368,0.00,2.00,0.00,0.000,4,0.000,0.064,2691,849,3614,0,0,0,0,0,0
$GC,9400,-0.55,-112.4,725.6,-6.7,839,9405,0.08,2.05,0.00,0.000,6,0.137,0.063,2648,2134,3614,0,0,0,0,0,0
$GC,9731,-0.55,-112.4,752.2,-8.3,850,9735,0.00,1.90,0.00,0.000,4,0.000,0.073,2640,3306,3613,0,0,0,0,0,0
$GC,9799,-0.55,-112.4,758.4,-8.6,852,9804,0.00,1.85,0.00,0.000,6,0.000,0.057,2640,2131,3614,0,0,0,0,0,0
$GC,10130,-0.54,-112.4,788.7,-9.5,863,10134,0.00,2.03,0.00,0.000,4,0.000,0.064,2639,852,3614,0,0,0,0,0,0
$GC,10183,-0.53,-112.4,794.2,-11.0,864,10187,0.08,2.00,0.00,0.000,6,0.151,0.064,2658,2116,3613,0,0,0,0,0,0
$GC,10496,-0.53,-112.4,820.0,-7.9,875,10501,0.00,1.95,0.00,0.000,4,0.000,0.074,2652,3312,3614,0,0,0,0,0,0
$GC,10582,-0.53,-112.4,827.1,-8.5,877,10586,0.00,1.88,0.00,0.000,6,0.000,0.058,2652,2126,3614,0,0,0,0,0,0
$GC,10895,-0.53,-112.4,853.7,-8.4,888,10900,0.00,2.00,0.00,0.000,4,0.000,0.064,2652,851,3613,0,0,0,0,0,0
$GC,10922,-0.53,-112.4,856.1,-9.9,888,10928,0.00,2.08,0.00,0.000,6,0.000,0.063,2645,2148,3613,0,0,0,0,0,0
$GC,11231,-0.52,-112.4,884.8,-9.5,899,11235,0.00,1.88,0.00,0.000,4,0.000,0.074,2637,3303,3613,0,0,0,0,0,0
$GC,11273,-0.52,-112.4,888.8,-10.2,900,11278,0.10,1.85,0.00,0.000,6,0.164,0.058,2664,2133,3613,0,0,0,0,0,0
$GC,11597,-0.52,-112.4,914.6,-7.6,911,11598,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2133,3613,0,0,0,0,0,0
$GC,11901,-0.52,-112.4,936.2,-6.8,921,11902,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2133,3613,0,0,0,0,0,0
$GC,12204,-0.52,-112.4,957.5,-7.1,931,12205,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2133,3613,0,0,0,0,0,0
$GC,12508,-0.52,-112.4,977.7,-6.4,941,12508,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2134,3613,0,0,0,0,0,0
$STATE,12719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12719,begin apogee
$GC,12723,-0.14,0.0,991.5,6.7,948,12821,0.38,0.00,96.40,1.233,6,0.126,0.000,2788,1997,3149,0,0,0,0,0,0
$STATE,12821,end apogee,CONTROL_FINISHED_OK
$STATE,12821,begin climb
$GC,12822,0.45,112.4,992.9,0.0,951,12924,0.57,0.00,99.32,1.196,6,0.084,0.000,2979,1998,2691,0,0,0,0,0,0
$GC,13204,0.43,112.4,966.7,7.9,964,13208,0.00,2.08,0.00,0.000,4,0.000,0.071,2978,3232,2686,0,0,0,0,0,0
$GC,13333,0.39,112.4,955.6,8.1,968,13337,0.00,2.00,0.00,0.000,6,0.000,0.060,2986,2008,2685,0,0,0,0,0,0
$GC,13667,0.36,112.4,928.9,7.6,979,13672,0.12,2.05,0.00,0.000,4,0.176,0.074,2955,3233,2684,0,0,0,0,0,0
$GC,13747,0.33,112.4,923.1,7.3,981,13752,0.00,1.98,0.00,0.000,6,0.000,0.060,2962,2007,2684,0,0,0,0,0,0
$GC,14067,0.32,119.1,903.6,5.9,992,14076,0.00,2.05,5.90,0.929,4,0.000,0.075,2962,3239,2664,0,0,0,0,0,0
$GC,14146,0.29,119.1,898.1,7.5,994,14151,0.12,1.95,0.00,0.000,6,0.144,0.061,2928,2031,2664,0,0,0,0,0,0
$GC,14465,0.32,167.9,883.3,4.3,1005,14515,0.00,2.10,43.33,1.149,4,0.000,0.074,2928,3237,2464,0,0,0,0,0,0
$GC,14536,0.33,186.5,879.9,5.4,1007,14559,0.00,2.00,17.75,1.083,6,0.000,0.060,2928,2035,2389,0,0,0,0,0,0
$GC,14860,0.35,204.3,862.3,5.5,1018,14877,0.00,0.00,16.25,1.077,6,0.000,0.000,2928,2035,2317,0,0,0,0,0,0
$GC,15163,0.38,220.4,845.8,5.5,1028,15180,0.00,0.00,15.35,1.070,6,0.000,0.000,2927,2035,2251,0,0,0,0,0,0
$GC,15467,0.40,234.7,828.9,5.6,1038,15486,0.12,2.15,13.57,1.050,4,0.100,0.070,2986,755,2193,0,0,0,0,0,0
$GC,15496,0.40,234.7,826.6,6.7,1039,15501,0.00,2.12,0.00,0.000,6,0.000,0.062,2986,2039,2193,0,0,0,0,0,0
$GC,15832,0.39,234.7,794.1,9.9,1050,15836,0.00,2.00,0.00,0.000,4,0.000,0.071,2986,3239,2190,0,0,0,0,0,0
$GC,15874,0.38,234.7,789.7,10.8,1051,15879,0.00,1.98,0.00,0.000,6,0.000,0.061,2986,2031,2190,0,0,0,0,0,0
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$STATE,26184,end climb,SURFACE_DEPTH_REACHED
$STATE,26184,begin surface coast
$FINISH,1.1,1.022431
$STATE,26247,end surface coast,CONTROL_FINISHED_OK
$STATE,26247,begin surface
$SM_CCo,26320,0.00,0.000,0,0,1707,353.97
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$IRIDIUM_FIX,4719.74,-12544.51,301099,050509
$TT8_MAMPS,0.052923
$HUMID,38.10
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.7,18.437
$10V_AH,10.3,14.590
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.200,221.275,409.000,0.000,0.000,22.823,31.108,232.535,0.000,0.000,16.439,0.000,20474.223,698.832,4935.113,573.820,0.000,2493.966,0.000,4200.613,0.000,0.533,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1415.214,1697.011,1776.410,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298580
$DATA_FILE_SIZE,113656,2044
$CAP_FILE_SIZE,257057,0
$CFSIZE,260165632,247443456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047,322.1,1
$GPS,050810,202730,4740.163,-12538.027,41,0.9,46,18.7