version: 66.06
glider: 187
mission: 2
dive: 412
start: 9 5 110 4 56 55
data:
$ID,187
$MISSION,2
$DIVE,412
$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,-32135.439
$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,25
$R_STBD_OVSHOOT,28
$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
$GPS1,044837,4745.329,-12523.114,61,0.9,61,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-71.5
$GPS2,045650,4745.305,-12523.104,19,1.9,19,18.7
$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,215.1,148385,-13.9,-6.111
$D_GRID,837
$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,-52.75,0.000,2,0.000,0.000,131,2077,2960,0,0,0,0,0,0
$GC,69,-0.45,-112.4,3.2,-2.3,10,103,10.57,2.05,-14.55,0.000,4,0.239,0.077,2691,3316,3612,0,0,0,0,0,0
$GC,140,-0.42,-112.4,16.3,-12.7,23,146,0.00,2.00,0.00,0.000,6,0.000,0.051,2690,2066,3613,0,0,0,0,0,0
$GC,467,-0.40,-112.4,56.8,-11.1,84,473,0.12,2.05,0.00,0.000,4,0.162,0.066,2718,3303,3615,0,0,0,0,0,0
$GC,713,-0.41,-112.4,77.0,-7.8,130,719,0.00,1.90,0.00,0.000,6,0.000,0.050,2718,2101,3616,0,0,0,0,0,0
$GC,1037,-0.41,-112.4,107.0,-9.4,184,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2101,3616,0,0,0,0,0,0
$GC,1349,-0.41,-112.4,131.1,-6.9,214,1350,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2101,3616,0,0,0,0,0,0
$GC,1659,-0.42,-112.4,153.0,-7.4,244,1662,0.00,1.95,0.00,0.000,4,0.000,0.058,2718,835,3616,0,0,0,0,0,0
$GC,1727,-0.44,-112.4,158.5,-7.8,250,1733,0.00,2.00,0.00,0.000,6,0.000,0.056,2718,2095,3616,0,0,0,0,0,0
$GC,2043,-0.45,-112.4,181.3,-7.5,281,2044,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2095,3615,0,0,0,0,0,0
$GC,2354,-0.46,-112.4,202.8,-6.9,311,2357,0.00,1.95,0.00,0.000,4,0.000,0.067,2717,3309,3615,0,0,0,0,0,0
$GC,2411,-0.48,-112.4,206.7,-6.9,316,2417,0.00,1.88,0.00,0.000,6,0.000,0.051,2717,2113,3616,0,0,0,0,0,0
$GC,2727,-0.50,-112.4,228.2,-6.7,347,2731,0.00,1.95,0.00,0.000,4,0.000,0.068,2716,3300,3615,0,0,0,0,0,0
$GC,2753,-0.52,-112.4,230.0,-6.7,349,2760,0.00,1.85,0.00,0.000,6,0.000,0.053,2716,2124,3615,0,0,0,0,0,0
$GC,3069,-0.53,-112.4,250.2,-6.5,380,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2124,3614,0,0,0,0,0,0
$GC,3381,-0.55,-112.4,269.9,-6.3,410,3384,0.10,1.92,0.00,0.000,4,0.111,0.068,2663,3317,3614,0,0,0,0,0,0
$GC,3416,-0.55,-112.4,273.0,-8.8,413,3423,0.00,1.88,0.00,0.000,6,0.000,0.052,2663,2124,3614,0,0,0,0,0,0
$GC,3732,-0.53,-112.4,303.3,-9.3,444,3736,0.00,1.95,0.00,0.000,4,0.000,0.068,2656,3314,3613,0,0,0,0,0,0
$GC,3758,-0.53,-112.4,305.8,-9.3,446,3764,0.00,1.88,0.00,0.000,6,0.000,0.054,2656,2125,3614,0,0,0,0,0,0
$GC,4074,-0.52,-112.4,338.4,-10.8,477,4078,0.10,1.92,0.00,0.000,4,0.171,0.068,2677,3302,3613,0,0,0,0,0,0
$GC,4122,-0.52,-112.4,343.2,-9.5,481,4128,0.00,1.85,0.00,0.000,6,0.000,0.052,2676,2125,3613,0,0,0,0,0,0
$GC,4437,-0.52,-112.4,373.5,-9.2,512,4438,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2124,3613,0,0,0,0,0,0
$GC,4749,-0.52,-112.4,402.7,-9.6,542,4752,0.00,1.92,0.00,0.000,4,0.000,0.070,2668,3311,3612,0,0,0,0,0,0
$GC,4811,-0.52,-112.4,409.0,-10.1,548,4815,0.00,1.88,0.00,0.000,6,0.000,0.053,2668,2120,3612,0,0,0,0,0,0
$GC,5132,-0.52,-112.4,439.4,-9.4,579,5133,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2120,3611,0,0,0,0,0,0
$GC,5443,-0.52,-112.4,466.4,-8.3,609,5444,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2120,3611,0,0,0,0,0,0
$GC,5754,-0.52,-112.4,491.6,-8.2,639,5755,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2120,3611,0,0,0,0,0,0
$GC,6064,-0.52,-112.4,518.7,-8.9,669,6067,0.00,1.95,0.00,0.000,4,0.000,0.070,2661,3301,3611,0,0,0,0,0,0
$GC,6128,-0.52,-112.4,524.3,-9.1,675,6131,0.00,1.85,0.00,0.000,6,0.000,0.054,2661,2130,3610,0,0,0,0,0,0
$GC,6449,-0.52,-112.4,552.1,-8.3,706,6450,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2130,3610,0,0,0,0,0,0
$GC,6761,-0.52,-112.4,579.5,-9.5,736,6761,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2130,3610,0,0,0,0,0,0
$GC,7077,-0.52,-112.4,608.4,-9.0,761,7078,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2130,3609,0,0,0,0,0,0
$GC,7381,-0.52,-112.4,632.7,-7.2,771,7385,0.00,1.95,0.00,0.000,4,0.000,0.071,2655,3308,3609,0,0,0,0,0,0
$GC,7418,-0.52,-112.4,635.3,-7.5,772,7422,0.08,1.88,0.00,0.000,6,0.123,0.054,2682,2126,3609,0,0,0,0,0,0
$GC,7748,-0.52,-112.4,651.3,-4.7,783,7748,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2126,3608,0,0,0,0,0,0
$GC,8052,-0.52,-112.4,667.7,-5.8,793,8052,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2126,3608,0,0,0,0,0,0
$GC,8354,-0.52,-112.4,687.6,-7.0,803,8355,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2127,3607,0,0,0,0,0,0
$GC,8658,-0.52,-112.4,709.5,-7.1,813,8659,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2126,3607,0,0,0,0,0,0
$GC,8961,-0.52,-112.4,730.3,-6.8,823,8965,0.00,1.95,0.00,0.000,4,0.000,0.071,2676,3300,3606,0,0,0,0,0,0
$GC,8999,-0.53,-112.4,732.9,-6.8,824,9003,0.00,1.85,0.00,0.000,6,0.000,0.056,2676,2137,3606,0,0,0,0,0,0
$GC,9328,-0.53,-112.4,757.7,-7.5,835,9329,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2135,3606,0,0,0,0,0,0
$GC,9632,-0.53,-112.4,779.7,-7.4,845,9636,0.00,1.95,0.00,0.000,4,0.000,0.071,2673,3308,3605,0,0,0,0,0,0
$GC,9659,-0.53,-112.4,781.8,-8.7,845,9665,0.00,1.88,0.00,0.000,6,0.000,0.056,2673,2131,3605,0,0,0,0,0,0
$GC,9967,-0.53,-112.4,803.5,-7.0,856,9967,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2131,3605,0,0,0,0,0,0
$GC,10271,-0.53,-112.4,822.1,-6.0,866,10274,0.00,1.95,0.00,0.000,4,0.000,0.072,2672,3306,3605,0,0,0,0,0,0
$GC,10329,-0.54,-112.4,825.5,-6.0,867,10335,0.00,1.85,0.00,0.000,6,0.000,0.056,2672,2143,3605,0,0,0,0,0,0
$STATE,10544,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10545,begin apogee
$GC,10549,-0.14,0.0,838.1,5.5,875,10644,0.43,0.00,93.70,1.134,6,0.118,0.000,2809,2005,3150,0,0,0,0,0,0
$STATE,10645,end apogee,CONTROL_FINISHED_OK
$STATE,10645,begin climb
$GC,10647,0.45,112.4,839.8,0.0,878,10747,0.55,0.00,97.57,1.105,6,0.072,0.000,3004,2005,2691,0,0,0,0,0,0
$GC,11041,0.42,112.4,817.5,6.4,891,11044,0.00,2.08,0.00,0.000,4,0.000,0.067,3004,3236,2686,0,0,0,0,0,0
$GC,11248,0.38,112.4,801.0,8.3,897,11252,0.10,1.98,0.00,0.000,6,0.150,0.054,2983,2024,2684,0,0,0,0,0,0
$GC,11567,0.35,112.4,779.8,6.7,908,11568,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2023,2683,0,0,0,0,0,0
$GC,11871,0.33,112.4,761.3,6.4,918,11874,0.00,2.00,0.00,0.000,4,0.000,0.068,2983,3233,2683,0,0,0,0,0,0
$GC,11982,0.30,112.4,753.4,6.9,921,11987,0.10,1.95,0.00,0.000,6,0.140,0.056,2956,2018,2682,0,0,0,0,0,0
$GC,12302,0.30,136.9,736.8,5.2,932,12324,0.00,0.00,20.45,1.032,6,0.000,0.000,2956,2018,2592,0,0,0,0,0,0
$GC,12605,0.31,162.0,720.6,5.2,942,12631,0.00,2.08,22.60,1.025,4,0.000,0.067,2956,3236,2489,0,0,0,0,0,0
$GC,12689,0.31,162.0,715.5,6.4,943,12695,0.00,1.98,0.00,0.000,6,0.000,0.056,2956,2025,2486,0,0,0,0,0,0
$GC,12998,0.33,182.6,698.4,5.4,954,13018,0.00,0.00,18.85,0.999,6,0.000,0.000,2956,2025,2405,0,0,0,0,0,0
$GC,13301,0.34,198.6,681.9,5.5,964,13320,0.00,2.08,14.82,0.969,4,0.000,0.067,2956,770,2340,0,0,0,0,0,0
$GC,13343,0.36,223.3,679.7,5.2,965,13369,0.00,2.05,22.85,0.983,6,0.000,0.061,2957,2027,2239,0,0,0,0,0,0
$GC,13694,0.36,223.3,658.3,6.3,977,13697,0.00,2.00,0.00,0.000,4,0.000,0.068,2957,3237,2233,0,0,0,0,0,0
$GC,13746,0.36,223.3,654.4,7.7,978,13750,0.00,1.98,0.00,0.000,6,0.000,0.057,2959,2022,2232,0,0,0,0,0,0
$GC,14060,0.36,223.3,631.6,7.5,989,14064,0.00,2.05,0.00,0.000,4,0.000,0.066,2959,759,2232,0,0,0,0,0,0
$GC,14097,0.38,223.3,629.1,7.0,990,14101,0.00,2.05,0.00,0.000,6,0.000,0.060,2959,2029,2232,0,0,0,0,0,0
$GC,14427,0.38,223.3,604.4,7.5,1001,14431,0.00,1.98,0.00,0.000,4,0.000,0.069,2960,3235,2231,0,0,0,0,0,0
$GC,14501,0.38,223.3,598.2,8.8,1004,14505,0.00,1.95,0.00,0.000,6,0.000,0.057,2960,2021,2230,0,0,0,0,0,0
$GC,14822,0.38,223.3,575.4,6.9,1035,14826,0.00,2.03,0.00,0.000,4,0.000,0.066,2960,765,2231,0,0,0,0,0,0
$GC,14849,0.40,231.0,573.7,5.8,1037,14859,0.00,2.03,6.82,0.821,6,0.000,0.060,2960,2033,2208,0,0,0,0,0,0
$GC,15176,0.41,231.0,551.6,6.7,1069,15179,0.00,1.95,0.00,0.000,4,0.000,0.069,2960,3241,2207,0,0,0,0,0,0
$GC,15228,0.41,231.0,547.7,7.4,1074,15233,0.00,1.95,0.00,0.000,6,0.000,0.057,2960,2032,2205,0,0,0,0,0,0
$GC,15550,0.41,231.0,528.0,6.4,1105,15553,0.00,2.05,0.00,0.000,4,0.000,0.067,2959,753,2205,0,0,0,0,0,0
$GC,15592,0.43,231.0,525.3,6.7,1109,15596,0.00,2.03,0.00,0.000,6,0.000,0.059,2960,2025,2205,0,0,0,0,0,0
$GC,15913,0.44,231.0,505.2,6.3,1140,15917,0.10,1.98,0.00,0.000,4,0.115,0.069,3004,3231,2205,0,0,0,0,0,0
$GC,15976,0.43,231.0,499.1,11.0,1146,15980,0.00,1.92,0.00,0.000,6,0.000,0.058,3009,2032,2204,0,0,0,0,0,0
$GC,16299,0.41,231.0,470.1,9.1,1177,16300,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2032,2204,0,0,0,0,0,0
$GC,16609,0.40,231.0,442.7,8.7,1207,16610,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2032,2204,0,0,0,0,0,0
$GC,16920,0.39,231.0,418.2,7.5,1237,16923,0.00,1.98,0.00,0.000,4,0.000,0.069,3008,3241,2204,0,0,0,0,0,0
$GC,16967,0.37,231.0,414.1,9.5,1241,16974,0.10,1.92,0.00,0.000,6,0.133,0.057,2980,2038,2204,0,0,0,0,0,0
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$STATE,22866,end climb,SURFACE_DEPTH_REACHED
$STATE,22866,begin surface coast
$FINISH,1.1,1.014020
$STATE,22937,end surface coast,CONTROL_FINISHED_OK
$STATE,22937,begin surface
$SM_CCo,22951,42.88,0.501,1,0,1722,350.04
$SM_GC,2.63,0.00,0.00,42.88,0.000,0.000,0.501,144,2071,1722,-8.46,-0.11,350.04
$IRIDIUM_FIX,4732.49,-12521.83,291199,222231
$TT8_MAMPS,0.052156
$HUMID,39.25
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,23.4,43.047
$10V_AH,10.1,39.925
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.100,161.325,335.650,42.875,0.000,30.005,39.032,268.480,0.000,0.000,19.825,0.000,17510.219,584.427,4647.806,709.175,0.000,2193.635,0.000,3958.941,0.000,0.534,0.000
$DEVICE_MAMPS,239.304,81.302,1133.626,500.851,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1357.348,1624.212,1868.862,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298588
$DATA_FILE_SIZE,110611,1960
$CAP_FILE_SIZE,226568,0
$CFSIZE,260165632,231383040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.040, 60.6,1
$GPS,050910,112156,4743.918,-12525.940,61,2.3,80,18.7