version: 66.06
glider: 187
mission: 2
dive: 411
start: 9 4 110 22 50 55
data:
$ID,187
$MISSION,2
$DIVE,411
$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,-32114.982
$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,2855
$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,31
$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
$GPS1,224325,4746.661,-12521.676,62,1.4,62,18.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-75.2
$GPS2,225050,4746.623,-12521.687,14,1.7,14,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$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,207.5,151246,-13.9,-6.111
$D_GRID,775
$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,-112.4,0.0,0.0,0,71,0.00,0.00,-56.20,0.000,2,0.000,0.000,130,2094,3026,0,0,0,0,0,0
$GC,73,-0.45,-112.4,3.2,-2.6,10,101,10.50,1.95,-13.20,0.000,4,0.238,0.076,2696,3306,3610,0,0,0,0,0,0
$GC,255,-0.44,-112.4,30.5,-10.7,44,262,0.00,1.98,0.00,0.000,6,0.000,0.049,2696,2061,3613,0,0,0,0,0,0
$GC,582,-0.41,-112.4,67.7,-9.6,105,589,0.00,1.92,0.00,0.000,4,0.000,0.057,2696,850,3614,0,0,0,0,0,0
$GC,626,-0.39,-112.4,71.4,-8.8,113,632,0.10,1.95,0.00,0.000,6,0.137,0.055,2723,2074,3614,0,0,0,0,0,0
$GC,954,-0.41,-112.4,90.5,-6.4,174,959,0.00,1.98,0.00,0.000,4,0.000,0.059,2723,842,3615,0,0,0,0,0,0
$GC,981,-0.43,-112.4,92.4,-6.9,179,986,0.00,2.17,0.00,0.000,6,0.000,0.058,2723,2199,3615,0,0,0,0,0,0
$GC,1304,-0.46,-112.4,115.3,-6.4,220,1305,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2199,3615,0,0,0,0,0,0
$GC,1617,-0.49,-112.4,134.0,-5.6,250,1617,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2199,3615,0,0,0,0,0,0
$GC,1926,-0.52,-112.4,152.3,-6.1,280,1928,0.10,0.00,0.00,0.000,6,0.110,0.000,2671,2199,3615,0,0,0,0,0,0
$GC,2236,-0.52,-112.4,176.7,-7.9,310,2239,0.00,1.80,0.00,0.000,4,0.000,0.068,2663,3304,3615,0,0,0,0,0,0
$GC,2245,-0.52,-112.4,177.5,-8.0,311,2249,0.00,1.62,0.00,0.000,6,0.000,0.052,2663,2281,3614,0,0,0,0,0,0
$GC,2566,-0.50,-112.4,209.1,-10.2,342,2570,0.00,2.30,0.00,0.000,4,0.000,0.059,2663,844,3614,0,0,0,0,0,0
$GC,2662,-0.49,-112.4,219.8,-10.8,351,2666,0.08,2.28,0.00,0.000,6,0.134,0.058,2689,2271,3614,0,0,0,0,0,0
$GC,2983,-0.49,-112.4,248.2,-8.8,382,2987,0.00,2.22,0.00,0.000,4,0.000,0.059,2689,838,3614,0,0,0,0,0,0
$GC,3052,-0.49,-112.4,254.6,-8.9,388,3058,0.00,2.28,0.00,0.000,6,0.000,0.058,2689,2265,3614,0,0,0,0,0,0
$GC,3367,-0.49,-112.4,283.6,-9.4,419,3371,0.00,2.25,0.00,0.000,4,0.000,0.059,2690,849,3614,0,0,0,0,0,0
$GC,3404,-0.49,-112.4,287.4,-10.7,422,3410,0.00,2.25,0.00,0.000,6,0.000,0.058,2689,2262,3613,0,0,0,0,0,0
$GC,3720,-0.49,-112.4,316.2,-8.5,453,3724,0.00,2.25,0.00,0.000,4,0.000,0.060,2689,848,3613,0,0,0,0,0,0
$GC,3746,-0.49,-112.4,318.7,-9.6,455,3752,0.00,2.25,0.00,0.000,6,0.000,0.059,2689,2256,3613,0,0,0,0,0,0
$GC,4062,-0.49,-112.4,344.4,-7.7,486,4066,0.00,2.22,0.00,0.000,4,0.000,0.060,2689,855,3612,0,0,0,0,0,0
$GC,4093,-0.49,-112.4,347.1,-8.7,489,4098,0.00,2.22,0.00,0.000,6,0.000,0.058,2689,2248,3612,0,0,0,0,0,0
$GC,4415,-0.49,-112.4,371.7,-8.3,520,4419,0.00,2.20,0.00,0.000,4,0.000,0.059,2689,842,3611,0,0,0,0,0,0
$GC,4462,-0.49,-112.4,375.8,-9.1,524,4466,0.00,2.25,0.00,0.000,6,0.000,0.059,2689,2253,3612,0,0,0,0,0,0
$GC,4783,-0.49,-112.4,400.6,-7.2,555,4787,0.00,2.22,0.00,0.000,4,0.000,0.061,2689,852,3611,0,0,0,0,0,0
$GC,4810,-0.49,-112.4,402.8,-8.2,557,4816,0.00,2.22,0.00,0.000,6,0.000,0.059,2689,2245,3611,0,0,0,0,0,0
$GC,5125,-0.49,-112.4,425.0,-6.8,588,5129,0.00,2.22,0.00,0.000,4,0.000,0.061,2689,848,3611,0,0,0,0,0,0
$GC,5168,-0.49,-112.4,428.1,-7.3,592,5172,0.00,2.20,0.00,0.000,6,0.000,0.060,2689,2240,3611,0,0,0,0,0,0
$GC,5484,-0.49,-112.4,448.9,-6.4,622,5487,0.00,2.20,0.00,0.000,4,0.000,0.062,2689,846,3611,0,0,0,0,0,0
$GC,5514,-0.49,-112.4,451.4,-7.4,624,5521,0.00,2.22,0.00,0.000,6,0.000,0.060,2689,2236,3610,0,0,0,0,0,0
$GC,5831,-0.49,-112.4,473.1,-6.8,655,5834,0.00,2.20,0.00,0.000,4,0.000,0.062,2689,840,3610,0,0,0,0,0,0
$GC,5851,-0.49,-112.4,474.5,-7.1,657,5855,0.00,2.22,0.00,0.000,6,0.000,0.061,2689,2228,3610,0,0,0,0,0,0
$GC,6173,-0.49,-112.4,497.1,-7.2,688,6176,0.00,2.17,0.00,0.000,4,0.000,0.060,2689,845,3610,0,0,0,0,0,0
$GC,6204,-0.49,-112.4,499.5,-7.9,691,6208,0.00,2.20,0.00,0.000,6,0.000,0.060,2689,2236,3610,0,0,0,0,0,0
$GC,6524,-0.49,-112.4,520.9,-6.2,722,6528,0.00,2.22,0.00,0.000,4,0.000,0.061,2689,843,3609,0,0,0,0,0,0
$GC,6556,-0.49,-112.4,523.1,-7.3,725,6560,0.00,2.22,0.00,0.000,6,0.000,0.061,2689,2227,3609,0,0,0,0,0,0
$GC,6877,-0.49,-112.4,543.4,-6.1,756,6881,0.00,2.20,0.00,0.000,4,0.000,0.061,2689,848,3609,0,0,0,0,0,0
$GC,6908,-0.49,-112.4,545.7,-6.9,759,6913,0.00,2.20,0.00,0.000,6,0.000,0.060,2689,2223,3609,0,0,0,0,0,0
$GC,7231,-0.49,-112.4,567.0,-6.9,790,7234,0.00,2.15,0.00,0.000,4,0.000,0.062,2690,848,3608,0,0,0,0,0,0
$GC,7267,-0.49,-112.4,569.8,-7.6,793,7271,0.00,2.20,0.00,0.000,6,0.000,0.061,2689,2217,3608,0,0,0,0,0,0
$GC,7588,-0.49,-112.4,592.1,-6.9,824,7588,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2218,3608,0,0,0,0,0,0
$GC,7894,-0.49,-112.4,612.6,-6.7,842,7898,0.00,2.20,0.00,0.000,4,0.000,0.063,2689,849,3607,0,0,0,0,0,0
$GC,7931,-0.50,-112.4,615.2,-7.5,843,7935,0.00,2.17,0.00,0.000,6,0.000,0.061,2689,2204,3607,0,0,0,0,0,0
$GC,8262,-0.51,-112.4,637.1,-6.6,854,8265,0.00,2.12,0.00,0.000,4,0.000,0.063,2689,849,3607,0,0,0,0,0,0
$GC,8293,-0.51,-112.4,639.3,-7.3,855,8297,0.00,2.17,0.00,0.000,6,0.000,0.061,2689,2206,3606,0,0,0,0,0,0
$GC,8628,-0.53,-112.4,662.0,-6.8,866,8629,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2205,3606,0,0,0,0,0,0
$GC,8932,-0.54,-112.4,681.4,-6.1,876,8933,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2206,3606,0,0,0,0,0,0
$GC,9235,-0.55,-112.4,700.9,-6.5,886,9239,0.00,2.17,0.00,0.000,4,0.000,0.061,2689,843,3605,0,0,0,0,0,0
$GC,9261,-0.56,-112.4,702.8,-7.3,886,9267,0.00,2.17,0.00,0.000,6,0.000,0.061,2688,2196,3605,0,0,0,0,0,0
$GC,9570,-0.57,-112.4,723.6,-6.8,897,9571,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2196,3605,0,0,0,0,0,0
$GC,9873,-0.58,-112.4,744.8,-7.1,907,9874,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2196,3605,0,0,0,0,0,0
$GC,10177,-0.60,-112.4,765.3,-6.7,917,10181,0.00,2.17,0.00,0.000,4,0.000,0.064,2689,843,3605,0,0,0,0,0,0
$GC,10198,-0.61,-112.4,766.7,-7.2,917,10202,0.00,2.20,0.00,0.000,6,0.000,0.063,2689,2205,3604,0,0,0,0,0,0
$STATE,10328,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10328,begin apogee
$GC,10333,-0.14,0.0,775.6,6.7,922,10427,0.38,0.00,92.85,1.095,6,0.116,0.000,2812,1994,3150,0,0,0,0,0,0
$STATE,10428,end apogee,CONTROL_FINISHED_OK
$STATE,10428,begin climb
$GC,10429,0.45,112.4,778.4,0.0,925,10533,0.52,2.10,96.40,1.064,4,0.073,0.062,3009,763,2690,0,0,0,0,0,0
$GC,10596,0.42,112.4,773.6,7.0,930,10599,0.00,2.10,0.00,0.000,6,0.000,0.057,3009,2005,2687,0,0,0,0,0,0
$GC,10915,0.38,112.4,748.8,7.9,941,10919,0.00,2.05,0.00,0.000,4,0.000,0.067,3009,3228,2685,0,0,0,0,0,0
$GC,11044,0.34,112.4,737.7,8.5,945,11047,0.17,1.98,0.00,0.000,6,0.166,0.055,2971,1998,2683,0,0,0,0,0,0
$GC,11380,0.33,113.9,717.0,6.1,956,11383,0.00,2.03,0.00,0.000,4,0.000,0.067,2971,3241,2683,0,0,0,0,0,0
$GC,11469,0.30,113.9,710.7,7.4,958,11475,0.00,1.98,0.00,0.000,6,0.000,0.055,2974,2014,2682,0,0,0,0,0,0
$GC,11778,0.28,113.9,690.1,6.6,969,11778,0.00,0.00,0.00,0.000,6,0.000,0.000,2975,2013,2682,0,0,0,0,0,0
$GC,12082,0.26,113.9,669.4,6.9,979,12085,0.12,2.03,0.00,0.000,4,0.165,0.068,2941,3234,2682,0,0,0,0,0,0
$GC,12128,0.26,113.9,666.3,6.2,980,12133,0.00,1.95,0.00,0.000,6,0.000,0.056,2946,2020,2682,0,0,0,0,0,0
$GC,12448,0.27,138.5,648.8,5.2,991,12473,0.00,1.98,21.40,0.985,4,0.000,0.068,2946,3236,2584,0,0,0,0,0,0
$GC,12532,0.27,138.5,643.3,6.8,992,12538,0.00,1.98,0.00,0.000,6,0.000,0.056,2946,2021,2583,0,0,0,0,0,0
$GC,12840,0.29,157.3,626.1,5.4,1003,12861,0.00,2.03,16.75,0.953,4,0.000,0.065,2946,757,2510,0,0,0,0,0,0
$GC,12893,0.32,193.1,623.4,4.8,1004,12930,0.00,2.05,32.22,0.966,6,0.000,0.061,2946,2022,2362,0,0,0,0,0,0
$GC,13232,0.32,193.1,602.3,6.2,1016,13235,0.00,1.98,0.00,0.000,4,0.000,0.068,2946,3233,2356,0,0,0,0,0,0
$GC,13285,0.32,193.1,598.6,7.3,1017,13288,0.00,1.95,0.00,0.000,6,0.000,0.058,2946,2032,2355,0,0,0,0,0,0
$GC,13606,0.32,193.1,578.0,6.5,1048,13609,0.00,2.05,0.00,0.000,4,0.000,0.067,2947,759,2355,0,0,0,0,0,0
$GC,13648,0.34,193.1,575.5,6.3,1052,13652,0.00,2.03,0.00,0.000,6,0.000,0.059,2946,2021,2355,0,0,0,0,0,0
$GC,13969,0.35,201.3,556.0,5.8,1083,13980,0.00,1.95,6.95,0.813,4,0.000,0.066,2946,3237,2330,0,0,0,0,0,0
$GC,14017,0.35,201.3,552.8,7.1,1087,14022,0.00,1.95,0.00,0.000,6,0.000,0.057,2946,2024,2328,0,0,0,0,0,0
$GC,14332,0.39,233.5,535.5,4.9,1118,14367,0.10,2.10,28.25,0.927,4,0.115,0.065,2995,760,2197,0,0,0,0,0,0
$GC,14417,0.39,233.5,529.5,7.6,1126,14420,0.00,2.03,0.00,0.000,6,0.000,0.059,2995,2021,2195,0,0,0,0,0,0
$GC,14737,0.39,233.5,502.1,8.9,1157,14741,0.00,2.00,0.00,0.000,4,0.000,0.068,2995,3233,2193,0,0,0,0,0,0
$GC,14817,0.39,233.5,494.2,9.4,1164,14823,0.00,1.95,0.00,0.000,6,0.000,0.058,2998,2024,2191,0,0,0,0,0,0
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$STATE,21288,end climb,SURFACE_DEPTH_REACHED
$STATE,21288,begin surface coast
$FINISH,1.1,1.024050
$STATE,21337,end surface coast,CONTROL_FINISHED_OK
$STATE,21337,begin surface
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$TT8_MAMPS,0.05369
$HUMID,39.60
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,23.5,42.922
$10V_AH,10.1,39.761
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.175,199.200,364.800,24.450,0.000,25.963,34.165,242.646,0.000,0.000,14.554,0.000,15856.398,569.708,4677.138,685.261,0.000,2226.236,0.000,3996.758,0.000,0.533,0.000
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298604
$DATA_FILE_SIZE,107374,1938
$CAP_FILE_SIZE,232246,0
$CFSIZE,260165632,231493632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.079, 51.1,1
$GPS,050910,044837,4745.329,-12523.114,61,0.9,61,18.7