version: 66.06
glider: 187
mission: 2
dive: 291
start: 8 23 110 19 36 38
data:
$ID,187
$MISSION,2
$DIVE,291
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$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,-29325.766
$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,26
$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
$GPS1,192625,4716.098,-12628.131,40,1.5,40,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-75.3
$GPS2,193632,4716.089,-12628.018,16,1.1,16,18.6
$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,24.4,136979,-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,-112.4,0.0,0.0,0,78,0.00,0.00,-63.30,0.000,2,0.000,0.000,135,2068,2992,0,0,0,0,0,0
$GC,80,-0.45,-112.4,3.2,-1.8,12,108,10.38,2.05,-14.05,0.000,4,0.241,0.077,2671,3317,3607,0,0,0,0,0,0
$GC,317,-0.44,-112.4,49.1,-14.4,56,322,0.00,1.98,0.00,0.000,6,0.000,0.049,2671,2064,3610,0,0,0,0,0,0
$GC,642,-0.41,-112.4,97.0,-14.1,117,649,0.12,2.03,0.00,0.000,4,0.159,0.064,2697,3313,3611,0,0,0,0,0,0
$GC,718,-0.41,-112.4,105.4,-10.4,127,721,0.00,1.92,0.00,0.000,6,0.000,0.048,2697,2078,3612,0,0,0,0,0,0
$GC,1038,-0.41,-112.4,138.9,-10.7,158,1042,0.00,1.98,0.00,0.000,4,0.000,0.063,2689,3306,3612,0,0,0,0,0,0
$GC,1075,-0.41,-112.4,142.6,-10.0,161,1081,0.00,1.90,0.00,0.000,6,0.000,0.048,2689,2082,3612,0,0,0,0,0,0
$GC,1390,-0.41,-112.4,173.8,-9.4,192,1395,0.00,1.92,0.00,0.000,4,0.000,0.057,2689,846,3612,0,0,0,0,0,0
$GC,1416,-0.41,-112.4,176.4,-10.0,194,1424,0.00,1.98,0.00,0.000,6,0.000,0.055,2685,2093,3612,0,0,0,0,0,0
$GC,1732,-0.41,-112.4,205.5,-9.0,225,1736,0.00,1.95,0.00,0.000,4,0.000,0.065,2675,3305,3611,0,0,0,0,0,0
$GC,1780,-0.41,-112.4,210.1,-9.5,229,1786,0.00,1.90,0.00,0.000,6,0.000,0.050,2676,2084,3611,0,0,0,0,0,0
$GC,2095,-0.41,-112.4,241.4,-9.8,260,2100,0.00,1.95,0.00,0.000,4,0.000,0.058,2675,834,3611,0,0,0,0,0,0
$GC,2127,-0.41,-112.4,244.8,-9.9,263,2131,0.00,1.95,0.00,0.000,6,0.000,0.057,2673,2072,3611,0,0,0,0,0,0
$GC,2448,-0.41,-112.4,276.9,-10.2,294,2452,0.10,2.00,0.00,0.000,4,0.169,0.067,2692,3319,3610,0,0,0,0,0,0
$GC,2565,-0.41,-112.4,287.5,-8.7,305,2570,0.00,1.92,0.00,0.000,6,0.000,0.051,2692,2082,3610,0,0,0,0,0,0
$GC,2886,-0.41,-112.4,315.0,-7.9,336,2890,0.00,1.92,0.00,0.000,4,0.000,0.059,2692,846,3609,0,0,0,0,0,0
$GC,2923,-0.41,-112.4,318.2,-7.8,339,2930,0.00,1.98,0.00,0.000,6,0.000,0.058,2692,2091,3608,0,0,0,0,0,0
$GC,3240,-0.41,-112.4,342.9,-7.9,370,3243,0.00,1.95,0.00,0.000,4,0.000,0.067,2691,3305,3608,0,0,0,0,0,0
$GC,3303,-0.41,-112.4,347.8,-7.0,376,3307,0.00,1.90,0.00,0.000,6,0.000,0.052,2691,2082,3607,0,0,0,0,0,0
$GC,3623,-0.41,-112.4,372.2,-7.4,407,3627,0.00,1.92,0.00,0.000,4,0.000,0.059,2691,846,3607,0,0,0,0,0,0
$GC,3660,-0.41,-112.4,375.1,-7.4,410,3667,0.00,1.98,0.00,0.000,6,0.000,0.058,2691,2090,3607,0,0,0,0,0,0
$GC,3977,-0.41,-112.4,398.7,-7.5,441,3980,0.00,1.95,0.00,0.000,4,0.000,0.069,2688,3305,3606,0,0,0,0,0,0
$GC,4045,-0.41,-112.4,403.8,-7.2,447,4052,0.00,1.90,0.00,0.000,6,0.000,0.053,2688,2086,3605,0,0,0,0,0,0
$GC,4361,-0.41,-112.4,427.9,-7.8,478,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2086,3605,0,0,0,0,0,0
$GC,4673,-0.41,-112.4,451.6,-7.4,508,4676,0.00,1.98,0.00,0.000,4,0.000,0.071,2680,3318,3604,0,0,0,0,0,0
$GC,4708,-0.41,-112.4,454.5,-7.4,511,4715,0.00,1.92,0.00,0.000,6,0.000,0.054,2680,2096,3605,0,0,0,0,0,0
$GC,5024,-0.41,-112.4,478.6,-7.3,542,5025,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2096,3604,0,0,0,0,0,0
$GC,5335,-0.41,-112.4,503.0,-8.7,572,5339,0.00,1.98,0.00,0.000,4,0.000,0.070,2673,3312,3604,0,0,0,0,0,0
$GC,5399,-0.41,-112.4,508.4,-8.2,578,5403,0.00,1.90,0.00,0.000,6,0.000,0.055,2672,2098,3603,0,0,0,0,0,0
$GC,5719,-0.41,-112.4,537.5,-9.1,609,5723,0.00,1.98,0.00,0.000,4,0.000,0.071,2671,3314,3603,0,0,0,0,0,0
$GC,5751,-0.41,-112.4,540.5,-9.1,612,5756,0.08,1.90,0.00,0.000,6,0.128,0.056,2697,2104,3603,0,0,0,0,0,0
$GC,6073,-0.41,-112.4,564.1,-7.0,643,6076,0.00,1.95,0.00,0.000,4,0.000,0.072,2693,3319,3603,0,0,0,0,0,0
$GC,6105,-0.42,-112.4,566.3,-7.1,646,6108,0.00,1.88,0.00,0.000,6,0.000,0.057,2693,2109,3602,0,0,0,0,0,0
$GC,6424,-0.42,-112.4,587.5,-6.6,677,6429,0.00,2.00,0.00,0.000,4,0.000,0.064,2693,852,3602,0,0,0,0,0,0
$GC,6446,-0.42,-112.4,588.9,-6.9,679,6450,0.00,2.00,0.00,0.000,6,0.000,0.062,2693,2115,3602,0,0,0,0,0,0
$GC,6784,-0.42,-112.4,609.9,-6.2,702,6788,0.00,1.92,0.00,0.000,4,0.000,0.071,2692,3303,3602,0,0,0,0,0,0
$GC,6864,-0.44,-112.4,614.8,-6.1,704,6868,0.00,1.83,0.00,0.000,6,0.000,0.055,2691,2135,3601,0,0,0,0,0,0
$GC,7183,-0.44,-112.4,634.6,-6.2,715,7187,0.00,2.03,0.00,0.000,4,0.000,0.063,2691,845,3602,0,0,0,0,0,0
$GC,7209,-0.44,-112.4,636.4,-7.6,715,7215,0.00,2.05,0.00,0.000,6,0.000,0.061,2691,2134,3601,0,0,0,0,0,0
$GC,7518,-0.44,-112.4,655.1,-6.0,726,7522,0.00,1.90,0.00,0.000,4,0.000,0.071,2691,3305,3601,0,0,0,0,0,0
$GC,7592,-0.46,-112.4,659.7,-6.1,728,7597,0.00,1.83,0.00,0.000,6,0.000,0.055,2691,2139,3601,0,0,0,0,0,0
$GC,7917,-0.46,-112.4,680.3,-6.6,739,7921,0.00,2.05,0.00,0.000,4,0.000,0.062,2691,845,3601,0,0,0,0,0,0
$GC,7943,-0.47,-112.4,682.2,-7.3,739,7949,0.00,2.08,0.00,0.000,6,0.000,0.061,2691,2156,3601,0,0,0,0,0,0
$GC,8252,-0.47,-112.4,704.5,-7.5,750,8256,0.00,1.88,0.00,0.000,4,0.000,0.071,2691,3311,3601,0,0,0,0,0,0
$GC,8310,-0.49,-112.4,708.9,-7.7,751,8316,0.00,1.80,0.00,0.000,6,0.000,0.056,2691,2161,3600,0,0,0,0,0,0
$GC,8619,-0.50,-112.4,732.8,-7.8,762,8623,0.00,2.08,0.00,0.000,4,0.000,0.062,2691,841,3600,0,0,0,0,0,0
$GC,8656,-0.51,-112.4,735.8,-8.2,763,8660,0.00,2.08,0.00,0.000,6,0.000,0.061,2691,2149,3600,0,0,0,0,0,0
$GC,8986,-0.53,-112.4,760.7,-7.5,774,8990,0.00,1.85,0.00,0.000,4,0.000,0.073,2691,3305,3600,0,0,0,0,0,0
$GC,9055,-0.55,-112.4,765.5,-7.0,776,9059,0.00,1.80,0.00,0.000,6,0.000,0.056,2691,2157,3600,0,0,0,0,0,0
$GC,9385,-0.56,-112.4,787.6,-6.6,787,9389,0.10,2.08,0.00,0.000,4,0.112,0.064,2642,850,3600,0,0,0,0,0,0
$GC,9432,-0.55,-112.4,791.8,-9.0,788,9437,0.00,2.08,0.00,0.000,6,0.000,0.062,2636,2157,3599,0,0,0,0,0,0
$GC,9752,-0.53,-112.4,820.8,-9.0,799,9756,0.00,1.85,0.00,0.000,4,0.000,0.072,2627,3310,3599,0,0,0,0,0,0
$GC,9853,-0.52,-112.4,830.1,-9.2,802,9857,0.10,1.80,0.00,0.000,6,0.136,0.056,2662,2165,3599,0,0,0,0,0,0
$GC,10183,-0.52,-112.4,853.2,-6.7,813,10184,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2165,3599,0,0,0,0,0,0
$GC,10486,-0.52,-112.4,873.2,-6.5,823,10490,0.00,1.85,0.00,0.000,4,0.000,0.074,2661,3306,3599,0,0,0,0,0,0
$GC,10539,-0.52,-112.4,876.5,-6.6,824,10544,0.00,1.80,0.00,0.000,6,0.000,0.057,2661,2171,3599,0,0,0,0,0,0
$GC,10854,-0.52,-112.4,896.2,-6.4,835,10854,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2171,3599,0,0,0,0,0,0
$GC,11156,-0.52,-112.4,916.6,-6.8,845,11161,0.00,1.85,0.00,0.000,4,0.000,0.074,2654,3310,3599,0,0,0,0,0,0
$GC,11199,-0.52,-112.4,919.7,-6.8,846,11203,0.00,1.80,0.00,0.000,6,0.000,0.058,2655,2178,3599,0,0,0,0,0,0
$GC,11524,-0.52,-112.4,943.0,-7.4,857,11525,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2177,3600,0,0,0,0,0,0
$GC,11827,-0.52,-112.4,965.4,-7.3,867,11828,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2177,3599,0,0,0,0,0,0
$GC,12130,-0.52,-112.4,989.2,-8.0,877,12135,0.00,1.83,0.00,0.000,4,0.000,0.073,2647,3304,3599,0,0,0,0,0,0
$STATE,12139,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12139,begin apogee
$GC,12145,-0.14,0.0,990.1,8.0,877,12240,0.40,0.00,93.62,1.230,6,0.127,0.000,2781,1999,3150,0,0,0,0,0,0
$STATE,12241,end apogee,CONTROL_FINISHED_OK
$STATE,12241,begin climb
$GC,12243,0.45,112.4,992.5,0.0,880,12348,0.57,2.12,98.88,1.196,4,0.087,0.066,2985,772,2691,0,0,0,0,0,0
$GC,12369,0.44,137.3,989.1,5.2,884,12398,0.00,2.10,23.48,1.131,6,0.000,0.060,2985,1997,2590,0,0,0,0,0,0
$GC,12730,0.42,137.3,961.3,7.5,896,12733,0.00,2.08,0.00,0.000,4,0.000,0.069,2985,3259,2584,0,0,0,0,0,0
$GC,12820,0.38,137.3,953.6,8.4,898,12827,0.10,2.05,0.00,0.000,6,0.150,0.058,2964,2010,2583,0,0,0,0,0,0
$GC,13128,0.37,137.3,934.0,6.4,909,13132,0.00,2.03,0.00,0.000,4,0.000,0.071,2964,3233,2582,0,0,0,0,0,0
$GC,13154,0.35,137.3,932.4,6.5,909,13160,0.00,1.98,0.00,0.000,6,0.000,0.058,2969,2016,2582,0,0,0,0,0,0
$GC,13463,0.33,137.3,911.6,6.8,920,13467,0.00,2.00,0.00,0.000,4,0.000,0.071,2970,3230,2581,0,0,0,0,0,0
$GC,13505,0.30,137.3,908.5,7.4,921,13510,0.12,1.92,0.00,0.000,6,0.140,0.058,2935,2033,2581,0,0,0,0,0,0
$GC,13830,0.32,154.7,890.7,5.5,932,13846,0.00,0.00,14.98,1.101,6,0.000,0.000,2934,2033,2519,0,0,0,0,0,0
$GC,14133,0.32,156.7,872.9,6.0,942,14138,0.00,2.00,0.00,0.000,4,0.000,0.070,2935,3236,2517,0,0,0,0,0,0
$GC,14149,0.32,156.7,871.9,6.1,942,14153,0.00,1.95,0.00,0.000,6,0.000,0.058,2934,2032,2517,0,0,0,0,0,0
$GC,14469,0.32,156.7,852.0,6.3,953,14469,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2032,2516,0,0,0,0,0,0
$GC,14772,0.32,157.8,833.5,6.1,963,14781,0.00,2.00,4.05,0.750,4,0.000,0.071,2934,3239,2506,0,0,0,0,0,0
$GC,14819,0.32,157.8,830.3,7.6,964,14823,0.00,1.95,0.00,0.000,6,0.000,0.058,2934,2028,2506,0,0,0,0,0,0
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$STATE,26249,end climb,SURFACE_DEPTH_REACHED
$STATE,26249,begin surface coast
$FINISH,1.3,1.010377
$STATE,26309,end surface coast,CONTROL_FINISHED_OK
$STATE,26309,begin surface
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$HUMID,39.44
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$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,23.5,32.372
$10V_AH,10.2,28.802
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.675,228.400,429.175,0.000,0.000,50.504,112.199,247.857,0.000,0.000,16.102,0.000,20682.588,684.180,4792.601,787.917,0.000,2460.775,0.000,4066.671,0.000,0.534,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1380.305,1632.325,1684.696,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,113687,1994
$CAP_FILE_SIZE,257818,0
$CFSIZE,260165632,238223360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,104.5,1
$GPS,240810,025707,4717.925,-12624.555,30,1.3,30,18.6