version: 66.06
glider: 187
mission: 2
dive: 293
start: 8 24 110 10 18 15
data:
$ID,187
$MISSION,2
$DIVE,293
$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,-29377.244
$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,21
$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
$GPS1,100957,4720.060,-12621.923,36,3.0,55,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-77.4
$GPS2,101810,4719.988,-12621.957,15,2.4,34,18.6
$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,37.6,126706,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.45,-112.4,0.0,0.0,0,66,0.00,0.00,-52.33,0.000,2,0.000,0.000,133,2052,2913,0,0,0,0,0,0
$GC,68,-0.45,-112.4,3.1,-1.6,10,101,10.35,1.95,-16.85,0.000,4,0.239,0.072,2683,836,3610,0,0,0,0,0,0
$GC,122,-0.36,-112.4,14.0,-19.0,20,129,0.12,2.00,0.00,0.000,6,0.139,0.056,2716,2083,3611,0,0,0,0,0,0
$GC,450,-0.35,-112.4,55.8,-11.1,81,455,0.00,2.00,0.00,0.000,4,0.000,0.065,2710,3313,3614,0,0,0,0,0,0
$GC,519,-0.35,-112.4,63.4,-10.9,94,525,0.00,1.95,0.00,0.000,6,0.000,0.048,2710,2061,3614,0,0,0,0,0,0
$GC,850,-0.35,-112.4,101.6,-11.6,155,854,0.00,2.03,0.00,0.000,4,0.000,0.064,2702,3306,3615,0,0,0,0,0,0
$GC,897,-0.35,-112.4,107.0,-11.0,159,904,0.00,1.92,0.00,0.000,6,0.000,0.048,2701,2079,3615,0,0,0,0,0,0
$GC,1214,-0.35,-112.4,139.2,-9.7,190,1217,0.00,1.92,0.00,0.000,4,0.000,0.057,2701,839,3615,0,0,0,0,0,0
$GC,1260,-0.35,-112.4,143.8,-9.3,194,1267,0.00,1.98,0.00,0.000,6,0.000,0.055,2700,2084,3615,0,0,0,0,0,0
$GC,1576,-0.35,-112.4,170.7,-8.1,225,1581,0.00,1.98,0.00,0.000,4,0.000,0.065,2693,3313,3615,0,0,0,0,0,0
$GC,1693,-0.35,-112.4,180.3,-7.7,236,1698,0.00,1.90,0.00,0.000,6,0.000,0.048,2693,2084,3615,0,0,0,0,0,0
$GC,2014,-0.35,-112.4,205.9,-8.1,267,2015,0.10,0.00,0.00,0.000,6,0.171,0.000,2719,2082,3615,0,0,0,0,0,0
$GC,2325,-0.36,-112.4,226.5,-6.6,297,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2082,3614,0,0,0,0,0,0
$GC,2637,-0.37,-112.4,246.6,-6.7,327,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2082,3613,0,0,0,0,0,0
$GC,2947,-0.39,-112.4,270.6,-8.1,357,2950,0.00,1.92,0.00,0.000,4,0.000,0.059,2720,849,3612,0,0,0,0,0,0
$GC,2989,-0.41,-112.4,274.2,-8.1,361,2992,0.00,1.95,0.00,0.000,6,0.000,0.057,2720,2094,3613,0,0,0,0,0,0
$GC,3309,-0.42,-112.4,299.2,-7.2,392,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2094,3612,0,0,0,0,0,0
$GC,3620,-0.44,-112.4,321.6,-7.0,422,3623,0.00,1.98,0.00,0.000,4,0.000,0.061,2720,852,3611,0,0,0,0,0,0
$GC,3651,-0.46,-112.4,323.9,-7.5,425,3656,0.08,1.95,0.00,0.000,6,0.063,0.058,2670,2086,3611,0,0,0,0,0,0
$GC,3972,-0.46,-112.4,353.5,-9.1,456,3976,0.00,1.98,0.00,0.000,4,0.000,0.067,2661,3317,3609,0,0,0,0,0,0
$GC,4089,-0.46,-112.4,364.2,-8.9,467,4093,0.00,1.90,0.00,0.000,6,0.000,0.053,2661,2096,3610,0,0,0,0,0,0
$GC,4410,-0.44,-112.4,394.6,-9.8,498,4414,0.10,1.98,0.00,0.000,4,0.166,0.067,2681,3316,3609,0,0,0,0,0,0
$GC,4453,-0.44,-112.4,398.2,-7.6,502,4457,0.00,1.88,0.00,0.000,6,0.000,0.053,2681,2110,3609,0,0,0,0,0,0
$GC,4773,-0.44,-112.4,423.9,-7.5,533,4777,0.00,1.95,0.00,0.000,4,0.000,0.070,2674,3313,3608,0,0,0,0,0,0
$GC,4805,-0.44,-112.4,426.6,-8.5,536,4809,0.00,1.85,0.00,0.000,6,0.000,0.054,2673,2126,3608,0,0,0,0,0,0
$GC,5126,-0.44,-112.4,450.9,-7.1,567,5130,0.00,1.92,0.00,0.000,4,0.000,0.070,2666,3310,3607,0,0,0,0,0,0
$GC,5162,-0.44,-112.4,453.8,-7.5,570,5170,0.00,1.88,0.00,0.000,6,0.000,0.054,2665,2119,3607,0,0,0,0,0,0
$GC,5479,-0.44,-112.4,478.1,-7.7,601,5482,0.00,1.92,0.00,0.000,4,0.000,0.071,2661,3333,3606,0,0,0,0,0,0
$GC,5504,-0.44,-112.4,480.3,-8.2,603,5512,0.00,1.90,0.00,0.000,6,0.000,0.054,2660,2129,3606,0,0,0,0,0,0
$GC,5821,-0.44,-112.4,506.1,-8.3,634,5825,0.10,1.92,0.00,0.000,4,0.170,0.071,2682,3309,3605,0,0,0,0,0,0
$GC,5873,-0.44,-112.4,510.1,-6.9,639,5878,0.00,1.83,0.00,0.000,6,0.000,0.054,2681,2150,3605,0,0,0,0,0,0
$GC,6195,-0.44,-112.4,532.6,-7.1,670,6198,0.00,2.05,0.00,0.000,4,0.000,0.062,2681,853,3605,0,0,0,0,0,0
$GC,6226,-0.44,-112.4,535.0,-8.0,673,6230,0.00,2.05,0.00,0.000,6,0.000,0.061,2678,2147,3604,0,0,0,0,0,0
$GC,6546,-0.44,-112.4,559.2,-7.9,704,6551,0.00,1.88,0.00,0.000,4,0.000,0.071,2670,3307,3604,0,0,0,0,0,0
$GC,6648,-0.44,-112.4,567.3,-7.9,713,6654,0.00,1.77,0.00,0.000,6,0.000,0.054,2670,2168,3604,0,0,0,0,0,0
$GC,6963,-0.44,-112.4,592.7,-8.0,744,6964,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2167,3603,0,0,0,0,0,0
$GC,7280,-0.44,-112.4,617.2,-7.9,761,7284,0.00,1.88,0.00,0.000,4,0.000,0.072,2663,3313,3603,0,0,0,0,0,0
$GC,7316,-0.44,-112.4,620.1,-8.0,762,7321,0.00,1.80,0.00,0.000,6,0.000,0.055,2662,2169,3603,0,0,0,0,0,0
$GC,7646,-0.44,-112.4,646.5,-8.0,773,7647,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2169,3602,0,0,0,0,0,0
$GC,7950,-0.44,-112.4,670.8,-8.0,783,7951,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2169,3602,0,0,0,0,0,0
$GC,8253,-0.44,-112.4,695.4,-8.1,793,8257,0.00,1.85,0.00,0.000,4,0.000,0.072,2656,3302,3601,0,0,0,0,0,0
$GC,8333,-0.44,-112.4,702.1,-8.2,795,8337,0.08,1.77,0.00,0.000,6,0.126,0.056,2683,2170,3601,0,0,0,0,0,0
$GC,8653,-0.44,-112.4,724.1,-6.8,806,8656,0.00,2.10,0.00,0.000,4,0.000,0.063,2684,849,3601,0,0,0,0,0,0
$GC,8694,-0.44,-112.4,727.1,-7.3,807,8699,0.00,2.10,0.00,0.000,6,0.000,0.061,2684,2170,3600,0,0,0,0,0,0
$GC,9020,-0.44,-112.4,749.5,-6.9,818,9023,0.00,1.83,0.00,0.000,4,0.000,0.072,2678,3308,3600,0,0,0,0,0,0
$GC,9104,-0.46,-112.4,755.7,-7.7,820,9109,0.00,1.80,0.00,0.000,6,0.000,0.055,2678,2168,3600,0,0,0,0,0,0
$GC,9418,-0.46,-112.4,777.5,-6.8,831,9422,0.00,2.08,0.00,0.000,4,0.000,0.063,2678,852,3599,0,0,0,0,0,0
$GC,9450,-0.46,-112.4,779.8,-6.9,832,9454,0.00,2.10,0.00,0.000,6,0.000,0.062,2676,2176,3599,0,0,0,0,0,0
$GC,9785,-0.46,-112.4,802.0,-6.6,843,9789,0.00,1.83,0.00,0.000,4,0.000,0.072,2676,3309,3598,0,0,0,0,0,0
$GC,9838,-0.47,-112.4,805.3,-6.5,844,9843,0.00,1.80,0.00,0.000,6,0.000,0.056,2676,2170,3598,0,0,0,0,0,0
$GC,10153,-0.47,-112.4,825.6,-6.5,855,10156,0.00,2.10,0.00,0.000,4,0.000,0.063,2676,841,3598,0,0,0,0,0,0
$GC,10205,-0.47,-112.4,829.3,-7.5,856,10210,0.00,2.12,0.00,0.000,6,0.000,0.063,2676,2172,3598,0,0,0,0,0,0
$GC,10519,-0.47,-112.4,850.6,-6.9,867,10523,0.00,1.83,0.00,0.000,4,0.000,0.074,2676,3305,3598,0,0,0,0,0,0
$GC,10567,-0.48,-112.4,853.9,-6.5,868,10571,0.00,1.75,0.00,0.000,6,0.000,0.057,2676,2186,3598,0,0,0,0,0,0
$GC,10886,-0.48,-112.4,875.5,-6.8,879,10891,0.00,2.12,0.00,0.000,4,0.000,0.064,2676,845,3598,0,0,0,0,0,0
$GC,10934,-0.48,-112.4,878.9,-6.6,880,10938,0.00,2.12,0.00,0.000,6,0.000,0.062,2672,2180,3597,0,0,0,0,0,0
$GC,11254,-0.48,-112.4,901.2,-7.1,891,11257,0.00,1.83,0.00,0.000,4,0.000,0.074,2672,3313,3597,0,0,0,0,0,0
$GC,11290,-0.50,-112.4,903.8,-7.9,892,11295,0.00,1.80,0.00,0.000,6,0.000,0.057,2671,2168,3597,0,0,0,0,0,0
$GC,11620,-0.50,-112.4,927.7,-7.1,903,11624,0.00,2.08,0.00,0.000,4,0.000,0.064,2672,853,3597,0,0,0,0,0,0
$GC,11668,-0.50,-112.4,931.4,-8.0,904,11672,0.00,2.10,0.00,0.000,6,0.000,0.063,2667,2174,3598,0,0,0,0,0,0
$GC,11987,-0.50,-112.4,955.6,-7.7,915,11992,0.00,1.83,0.00,0.000,4,0.000,0.073,2664,3309,3597,0,0,0,0,0,0
$GC,12019,-0.50,-112.4,958.1,-7.8,916,12023,0.00,1.83,0.00,0.000,6,0.000,0.058,2663,2161,3597,0,0,0,0,0,0
$GC,12355,-0.50,-112.4,984.8,-8.0,927,12358,0.00,2.08,0.00,0.000,4,0.000,0.064,2663,848,3597,0,0,0,0,0,0
$GC,12386,-0.50,-112.4,987.5,-8.0,928,12391,0.00,2.10,0.00,0.000,6,0.000,0.062,2664,2168,3596,0,0,0,0,0,0
$STATE,12416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12416,begin apogee
$GC,12420,-0.14,0.0,990.2,9.0,929,12515,0.38,0.00,93.05,1.232,6,0.123,0.000,2785,2004,3150,0,0,0,0,0,0
$STATE,12515,end apogee,CONTROL_FINISHED_OK
$STATE,12515,begin climb
$GC,12517,0.45,112.4,993.3,0.0,932,12623,0.57,2.17,98.95,1.197,4,0.084,0.067,2989,771,2691,0,0,0,0,0,0
$GC,12639,0.45,151.8,990.4,4.7,936,12679,0.00,2.10,36.30,1.157,6,0.000,0.060,2989,1994,2532,0,0,0,0,0,0
$GC,12999,0.42,151.8,961.5,8.3,948,13003,0.00,2.10,0.00,0.000,4,0.000,0.069,2989,3234,2525,0,0,0,0,0,0
$GC,13100,0.39,151.8,952.3,8.7,951,13104,0.10,2.00,0.00,0.000,6,0.150,0.057,2967,2020,2524,0,0,0,0,0,0
$GC,13430,0.37,151.8,927.3,7.9,962,13434,0.00,2.03,0.00,0.000,4,0.000,0.069,2967,3241,2523,0,0,0,0,0,0
$GC,13467,0.35,151.8,924.0,9.6,963,13471,0.00,1.98,0.00,0.000,6,0.000,0.058,2973,2021,2523,0,0,0,0,0,0
$GC,13797,0.34,151.8,894.9,8.8,974,13801,0.00,2.00,0.00,0.000,4,0.000,0.071,2973,3236,2523,0,0,0,0,0,0
$GC,13855,0.31,151.8,889.2,9.1,975,13861,0.10,1.92,0.00,0.000,6,0.140,0.058,2942,2042,2522,0,0,0,0,0,0
$GC,14164,0.31,151.8,867.1,6.7,986,14168,0.00,1.95,0.00,0.000,4,0.000,0.071,2942,3234,2522,0,0,0,0,0,0
$GC,14200,0.31,151.8,864.3,7.4,987,14205,0.00,1.92,0.00,0.000,6,0.000,0.058,2946,2041,2522,0,0,0,0,0,0
$GC,14531,0.31,151.8,840.8,7.1,998,14535,0.00,1.95,0.00,0.000,4,0.000,0.070,2946,3234,2522,0,0,0,0,0,0
$GC,14557,0.31,151.8,838.8,7.7,998,14563,0.00,1.88,0.00,0.000,6,0.000,0.058,2946,2062,2521,0,0,0,0,0,0
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$STATE,24865,end climb,SURFACE_DEPTH_REACHED
$STATE,24865,begin surface coast
$FINISH,1.2,1.005444
$STATE,24903,end surface coast,CONTROL_FINISHED_OK
$STATE,24903,begin surface
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$IRIDIUM_FIX,4700.70,-12635.70,181199,030315
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$HUMID,38.89
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$TCM_TEMP,17.10
$XPDR_PINGS,0
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$10V_AH,10.2,29.130
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.350,243.725,450.800,0.000,0.000,23.391,35.317,275.562,0.000,0.000,35.065,0.000,19227.586,683.598,4814.697,700.708,0.000,2475.057,0.000,4074.872,0.000,0.534,0.000
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$SENSOR_SECS,1328.630,1566.724,1715.727,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298588
$DATA_FILE_SIZE,107359,1920
$CAP_FILE_SIZE,256985,0
$CFSIZE,260165632,237989888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.012,297.1,1
$GPS,240810,171531,4721.496,-12617.845,41,2.0,41,18.6