version: 66.06
glider: 187
mission: 2
dive: 416
start: 9 6 110 10 34 19
data:
$ID,187
$MISSION,2
$DIVE,416
$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,-32227.51
$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,31
$R_STBD_OVSHOOT,20
$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
$GPS1,102637,4741.407,-12533.604,171,1.9,171,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-76.3
$GPS2,103413,4741.446,-12533.479,10,2.0,15,18.7
$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,206.8,133544,-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,10,begin dive
$GC,12,-0.45,-112.4,0.0,0.0,0,73,0.00,0.00,-58.67,0.000,2,0.000,0.000,132,2075,3101,0,0,0,0,0,0
$GC,75,-0.45,-112.4,3.5,-2.5,11,103,10.60,2.03,-10.98,0.000,4,0.240,0.077,2693,3314,3611,0,0,0,0,0,0
$GC,140,-0.41,-112.4,17.7,-15.8,23,146,0.00,1.98,0.00,0.000,6,0.000,0.051,2692,2082,3613,0,0,0,0,0,0
$GC,467,-0.39,-112.4,54.0,-9.9,84,473,0.12,2.05,0.00,0.000,4,0.162,0.065,2720,3319,3614,0,0,0,0,0,0
$GC,547,-0.39,-112.4,59.9,-6.9,99,553,0.00,1.95,0.00,0.000,6,0.000,0.050,2720,2085,3615,0,0,0,0,0,0
$GC,874,-0.39,-112.4,87.5,-8.6,160,880,0.00,2.03,0.00,0.000,4,0.000,0.067,2713,3312,3615,0,0,0,0,0,0
$GC,943,-0.40,-112.4,93.4,-8.4,173,950,0.00,1.90,0.00,0.000,6,0.000,0.051,2713,2105,3615,0,0,0,0,0,0
$GC,1262,-0.40,-112.4,118.4,-7.2,211,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2105,3615,0,0,0,0,0,0
$GC,1574,-0.40,-112.4,140.5,-6.8,241,1577,0.00,1.98,0.00,0.000,4,0.000,0.067,2706,3319,3615,0,0,0,0,0,0
$GC,1653,-0.42,-112.4,146.4,-7.6,248,1659,0.00,1.90,0.00,0.000,6,0.000,0.051,2706,2110,3615,0,0,0,0,0,0
$GC,1968,-0.42,-112.4,169.6,-7.3,279,1972,0.00,1.98,0.00,0.000,4,0.000,0.067,2704,3313,3615,0,0,0,0,0,0
$GC,2037,-0.43,-112.4,174.8,-7.6,285,2044,0.00,1.88,0.00,0.000,6,0.000,0.050,2704,2117,3615,0,0,0,0,0,0
$GC,2354,-0.43,-112.4,199.6,-8.1,316,2357,0.00,1.95,0.00,0.000,4,0.000,0.067,2704,3321,3614,0,0,0,0,0,0
$GC,2401,-0.45,-112.4,203.2,-7.2,320,2407,0.00,1.88,0.00,0.000,6,0.000,0.051,2704,2125,3614,0,0,0,0,0,0
$GC,2716,-0.45,-112.4,226.3,-7.3,351,2721,0.00,1.95,0.00,0.000,4,0.000,0.067,2704,3311,3614,0,0,0,0,0,0
$GC,2760,-0.47,-112.4,229.2,-7.2,355,2763,0.00,1.85,0.00,0.000,6,0.000,0.052,2704,2134,3614,0,0,0,0,0,0
$GC,3080,-0.47,-112.4,253.9,-8.0,386,3084,0.00,1.92,0.00,0.000,4,0.000,0.067,2704,3311,3613,0,0,0,0,0,0
$GC,3127,-0.48,-112.4,257.6,-7.7,390,3135,0.00,1.83,0.00,0.000,6,0.000,0.051,2704,2145,3613,0,0,0,0,0,0
$GC,3444,-0.48,-112.4,279.5,-6.6,421,3447,0.00,1.90,0.00,0.000,4,0.000,0.069,2704,3317,3613,0,0,0,0,0,0
$GC,3476,-0.50,-112.4,281.6,-6.6,424,3479,0.00,1.83,0.00,0.000,6,0.000,0.053,2704,2143,3613,0,0,0,0,0,0
$GC,3796,-0.50,-112.4,302.5,-6.4,455,3800,0.00,1.92,0.00,0.000,4,0.000,0.068,2704,3313,3612,0,0,0,0,0,0
$GC,3833,-0.51,-112.4,304.8,-6.4,458,3840,0.00,1.83,0.00,0.000,6,0.000,0.053,2704,2156,3612,0,0,0,0,0,0
$GC,4148,-0.51,-112.4,324.5,-6.4,489,4152,0.00,1.90,0.00,0.000,4,0.000,0.069,2704,3311,3612,0,0,0,0,0,0
$GC,4192,-0.53,-112.4,327.2,-6.2,493,4195,0.00,1.80,0.00,0.000,6,0.000,0.053,2704,2151,3611,0,0,0,0,0,0
$GC,4511,-0.53,-112.4,347.8,-6.5,524,4515,0.00,1.90,0.00,0.000,4,0.000,0.069,2702,3307,3611,0,0,0,0,0,0
$GC,4538,-0.55,-112.4,349.7,-7.5,526,4545,0.00,1.80,0.00,0.000,6,0.000,0.053,2702,2162,3611,0,0,0,0,0,0
$GC,4853,-0.55,-112.4,371.3,-6.6,557,4854,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2161,3611,0,0,0,0,0,0
$GC,5165,-0.55,-112.4,392.2,-6.9,587,5166,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2162,3610,0,0,0,0,0,0
$GC,5475,-0.56,-112.4,413.2,-7.0,617,5476,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2161,3610,0,0,0,0,0,0
$GC,5786,-0.57,-112.4,433.6,-6.2,647,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2161,3609,0,0,0,0,0,0
$GC,6096,-0.58,-112.4,453.0,-6.5,677,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2161,3609,0,0,0,0,0,0
$GC,6407,-0.59,-112.4,473.7,-7.0,707,6408,0.12,0.00,0.00,0.000,6,0.096,0.000,2642,2161,3609,0,0,0,0,0,0
$GC,6716,-0.57,-112.4,505.5,-10.1,737,6717,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2161,3608,0,0,0,0,0,0
$GC,7028,-0.56,-112.4,537.7,-10.4,767,7031,0.12,2.08,0.00,0.000,4,0.157,0.061,2677,848,3608,0,0,0,0,0,0
$GC,7053,-0.56,-112.4,540.3,-9.5,769,7059,0.00,2.10,0.00,0.000,6,0.000,0.060,2676,2158,3607,0,0,0,0,0,0
$GC,7368,-0.56,-112.4,568.5,-9.2,800,7372,0.00,1.88,0.00,0.000,4,0.000,0.070,2669,3316,3607,0,0,0,0,0,0
$GC,7405,-0.56,-112.4,572.0,-9.7,803,7411,0.00,1.83,0.00,0.000,6,0.000,0.054,2669,2161,3607,0,0,0,0,0,0
$GC,7721,-0.56,-112.4,600.6,-8.9,834,7725,0.00,1.90,0.00,0.000,4,0.000,0.070,2661,3311,3607,0,0,0,0,0,0
$GC,7769,-0.56,-112.4,604.9,-9.0,835,7773,0.00,1.80,0.00,0.000,6,0.000,0.053,2661,2169,3606,0,0,0,0,0,0
$GC,8088,-0.56,-112.4,632.2,-8.1,846,8089,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2170,3606,0,0,0,0,0,0
$GC,8392,-0.56,-112.4,655.1,-7.6,856,8395,0.00,2.10,0.00,0.000,4,0.000,0.060,2661,849,3606,0,0,0,0,0,0
$GC,8418,-0.56,-112.4,657.4,-9.0,856,8424,0.00,2.10,0.00,0.000,6,0.000,0.060,2654,2161,3606,0,0,0,0,0,0
$GC,8726,-0.56,-112.4,683.1,-8.4,867,8727,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2160,3606,0,0,0,0,0,0
$GC,9030,-0.56,-112.4,708.8,-8.5,877,9031,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2160,3605,0,0,0,0,0,0
$GC,9333,-0.56,-112.4,735.1,-8.7,887,9337,0.00,1.90,0.00,0.000,4,0.000,0.071,2645,3312,3605,0,0,0,0,0,0
$GC,9370,-0.56,-112.4,738.4,-8.5,888,9374,0.00,1.80,0.00,0.000,6,0.000,0.056,2645,2178,3605,0,0,0,0,0,0
$GC,9701,-0.56,-112.4,768.1,-8.8,899,9702,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2178,3604,0,0,0,0,0,0
$GC,10004,-0.56,-112.4,794.0,-8.4,909,10004,0.00,0.00,0.00,0.000,6,0.000,0.000,2645,2178,3604,0,0,0,0,0,0
$GC,10307,-0.56,-112.4,818.3,-7.9,919,10311,0.00,2.15,0.00,0.000,4,0.000,0.063,2645,850,3604,0,0,0,0,0,0
$GC,10344,-0.55,-112.4,821.5,-9.1,920,10349,0.10,2.12,0.00,0.000,6,0.135,0.061,2673,2171,3604,0,0,0,0,0,0
$GC,10675,-0.55,-112.4,843.3,-6.7,931,10678,0.00,1.88,0.00,0.000,4,0.000,0.071,2666,3306,3603,0,0,0,0,0,0
$GC,10706,-0.55,-112.4,845.5,-7.6,932,10710,0.00,1.80,0.00,0.000,6,0.000,0.055,2666,2175,3603,0,0,0,0,0,0
$GC,11042,-0.55,-112.4,871.9,-8.0,943,11042,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2174,3603,0,0,0,0,0,0
$GC,11345,-0.55,-112.4,895.8,-7.8,953,11349,0.00,2.10,0.00,0.000,4,0.000,0.062,2666,856,3603,0,0,0,0,0,0
$GC,11365,-0.55,-112.4,897.7,-8.8,953,11370,0.00,2.12,0.00,0.000,6,0.000,0.061,2663,2170,3603,0,0,0,0,0,0
$GC,11680,-0.55,-112.4,922.9,-8.0,964,11680,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2170,3602,0,0,0,0,0,0
$GC,11984,-0.55,-112.4,946.7,-7.8,974,11984,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2170,3602,0,0,0,0,0,0
$GC,12287,-0.55,-112.4,969.7,-7.6,984,12288,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2170,3602,0,0,0,0,0,0
$STATE,12558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12558,begin apogee
$GC,12562,-0.14,0.0,990.2,7.5,993,12659,0.45,0.00,95.07,1.235,6,0.120,0.000,2807,2005,3150,0,0,0,0,0,0
$STATE,12660,end apogee,CONTROL_FINISHED_OK
$STATE,12660,begin climb
$GC,12662,0.45,112.4,992.5,0.0,996,12768,0.55,2.17,100.03,1.197,4,0.072,0.064,3010,768,2690,0,0,0,0,0,0
$GC,12842,0.42,112.4,985.1,8.0,1002,12846,0.00,2.10,0.00,0.000,6,0.000,0.059,3010,1994,2687,0,0,0,0,0,0
$GC,13177,0.38,112.4,957.4,8.1,1013,13181,0.12,2.10,0.00,0.000,4,0.179,0.068,2980,3236,2684,0,0,0,0,0,0
$GC,13285,0.35,112.4,949.2,6.7,1016,13288,0.00,2.00,0.00,0.000,6,0.000,0.056,2986,2005,2684,0,0,0,0,0,0
$GC,13609,0.32,112.4,925.4,7.4,1027,13613,0.00,2.05,0.00,0.000,4,0.000,0.068,2987,3238,2683,0,0,0,0,0,0
$GC,13656,0.28,112.4,921.4,8.4,1028,13661,0.15,2.00,0.00,0.000,6,0.146,0.056,2951,2010,2683,0,0,0,0,0,0
$GC,13976,0.29,124.9,902.8,5.7,1039,13988,0.00,0.00,10.95,1.067,6,0.000,0.000,2951,2010,2640,0,0,0,0,0,0
$GC,14279,0.30,140.1,886.1,5.6,1049,14295,0.00,0.00,14.70,1.091,6,0.000,0.000,2951,2010,2578,0,0,0,0,0,0
$GC,14583,0.30,145.2,868.6,5.9,1059,14592,0.00,2.03,5.68,0.891,4,0.000,0.070,2951,3236,2558,0,0,0,0,0,0
$GC,14625,0.29,154.4,865.9,5.8,1060,14641,0.00,1.98,9.95,1.021,6,0.000,0.057,2955,2021,2520,0,0,0,0,0,0
$GC,14944,0.29,154.4,844.6,6.6,1071,14945,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2021,2518,0,0,0,0,0,0
$GC,15247,0.29,154.4,824.3,6.7,1081,15247,0.00,0.00,0.00,0.000,6,0.000,0.000,2956,2021,2517,0,0,0,0,0,0
$GC,15550,0.29,154.4,803.7,6.8,1091,15554,0.00,2.03,0.00,0.000,4,0.000,0.070,2955,3236,2517,0,0,0,0,0,0
$GC,15587,0.28,154.4,801.0,6.7,1092,15591,0.00,1.95,0.00,0.000,6,0.000,0.058,2959,2026,2517,0,0,0,0,0,0
$GC,15918,0.28,154.4,777.1,7.2,1103,15918,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2026,2517,0,0,0,0,0,0
$GC,16220,0.28,154.4,755.8,6.8,1113,16225,0.00,2.00,0.00,0.000,4,0.000,0.069,2960,3233,2517,0,0,0,0,0,0
$GC,16252,0.27,154.4,753.3,8.3,1114,16256,0.00,1.95,0.00,0.000,6,0.000,0.058,2960,2020,2517,0,0,0,0,0,0
$GC,16588,0.27,154.4,730.6,6.7,1125,16592,0.00,2.00,0.00,0.000,4,0.000,0.069,2960,3230,2516,0,0,0,0,0,0
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$STATE,26355,end climb,SURFACE_DEPTH_REACHED
$STATE,26356,begin surface coast
$FINISH,1.1,1.022516
$STATE,26414,end surface coast,CONTROL_FINISHED_OK
$STATE,26414,begin surface
$SM_CCo,26431,0.43,0.115,0,0,1723,350.04
$SM_GC,2.31,0.00,0.00,0.43,0.000,0.000,0.115,149,2067,1723,-8.46,-0.23,350.04
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$TT8_MAMPS,0.051389
$HUMID,39.64
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,23.1,43.603
$10V_AH,10.1,40.626
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.600,209.400,404.750,0.425,0.000,26.918,32.010,242.567,0.000,0.000,15.866,0.000,20581.123,621.424,4920.404,719.606,0.000,2416.091,0.000,4174.855,0.000,0.534,0.000
$DEVICE_MAMPS,240.071,76.700,1234.870,115.050,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1423.412,1706.447,1805.998,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,113705,2057
$CAP_FILE_SIZE,255409,0
$CFSIZE,260165632,230875136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.113, 16.3,1
$GPS,060910,175630,4740.657,-12536.303,75,0.9,80,18.7