version: 66.06
glider: 187
mission: 2
dive: 433
start: 9 11 110 19 16 37
data:
$ID,187
$MISSION,2
$DIVE,433
$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,-32521.518
$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,37
$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
$GPS1,190824,4715.246,-12627.892,46,1.2,63,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-75.1
$GPS2,191631,4715.283,-12627.837,13,1.6,13,18.6
$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,226.9,49512,-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,13,-0.45,-112.4,0.0,0.0,0,68,0.00,0.00,-52.47,0.000,2,0.000,0.000,132,2088,2927,0,0,0,0,0,0
$GC,70,-0.45,-112.4,3.0,-1.8,10,103,10.43,2.03,-16.02,0.000,4,0.234,0.072,2703,841,3612,0,0,0,0,0,0
$GC,179,-0.42,-112.4,24.3,-17.4,30,185,0.00,1.95,0.00,0.000,6,0.000,0.055,2697,2057,3614,0,0,0,0,0,0
$GC,506,-0.40,-112.4,69.3,-13.0,91,511,0.00,2.08,0.00,0.000,4,0.000,0.064,2687,3319,3616,0,0,0,0,0,0
$GC,564,-0.39,-112.4,76.5,-12.2,102,570,0.10,1.95,0.00,0.000,6,0.119,0.049,2722,2084,3616,0,0,0,0,0,0
$GC,888,-0.39,-112.4,108.3,-10.0,155,892,0.00,2.00,0.00,0.000,4,0.000,0.064,2716,3308,3616,0,0,0,0,0,0
$GC,919,-0.39,-112.4,111.3,-9.2,158,923,0.00,1.92,0.00,0.000,6,0.000,0.048,2715,2086,3617,0,0,0,0,0,0
$GC,1240,-0.39,-112.4,142.1,-9.4,189,1244,0.00,2.03,0.00,0.000,4,0.000,0.065,2715,3314,3616,0,0,0,0,0,0
$GC,1266,-0.40,-112.4,144.4,-9.6,191,1272,0.00,1.90,0.00,0.000,6,0.000,0.049,2715,2104,3617,0,0,0,0,0,0
$GC,1582,-0.41,-112.4,169.0,-6.1,222,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2104,3616,0,0,0,0,0,0
$GC,1894,-0.42,-112.4,188.1,-7.2,252,1894,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2104,3616,0,0,0,0,0,0
$GC,2205,-0.44,-112.4,210.7,-6.7,282,2208,0.00,1.95,0.00,0.000,4,0.000,0.067,2715,3315,3615,0,0,0,0,0,0
$GC,2257,-0.46,-112.4,214.2,-6.4,287,2261,0.00,1.90,0.00,0.000,6,0.000,0.050,2715,2109,3615,0,0,0,0,0,0
$GC,2578,-0.47,-112.4,235.6,-6.7,318,2582,0.00,1.98,0.00,0.000,4,0.000,0.067,2714,3309,3615,0,0,0,0,0,0
$GC,2604,-0.49,-112.4,237.4,-6.7,320,2611,0.00,1.88,0.00,0.000,6,0.000,0.050,2714,2112,3615,0,0,0,0,0,0
$GC,2919,-0.51,-112.4,259.7,-7.3,351,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2113,3615,0,0,0,0,0,0
$GC,3232,-0.52,-112.4,280.8,-6.2,381,3235,0.00,2.00,0.00,0.000,4,0.000,0.058,2714,848,3614,0,0,0,0,0,0
$GC,3279,-0.54,-112.4,284.2,-7.1,385,3285,0.08,2.03,0.00,0.000,6,0.064,0.056,2662,2118,3614,0,0,0,0,0,0
$GC,3595,-0.53,-112.4,310.9,-8.4,416,3598,0.00,1.95,0.00,0.000,4,0.000,0.067,2653,3308,3612,0,0,0,0,0,0
$GC,3840,-0.53,-112.4,332.7,-8.3,439,3844,0.00,1.83,0.00,0.000,6,0.000,0.051,2653,2141,3612,0,0,0,0,0,0
$GC,4161,-0.52,-112.4,360.6,-8.6,470,4165,0.12,1.92,0.00,0.000,4,0.156,0.067,2682,3308,3611,0,0,0,0,0,0
$GC,4407,-0.52,-112.4,377.6,-7.1,493,4410,0.00,1.80,0.00,0.000,6,0.000,0.051,2682,2151,3611,0,0,0,0,0,0
$GC,4727,-0.52,-112.4,399.1,-6.4,524,4731,0.00,1.92,0.00,0.000,4,0.000,0.067,2674,3313,3611,0,0,0,0,0,0
$GC,4750,-0.52,-112.4,400.6,-7.3,526,4752,0.00,1.80,0.00,0.000,6,0.000,0.052,2674,2156,3611,0,0,0,0,0,0
$GC,5069,-0.52,-112.4,421.8,-6.8,557,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2156,3610,0,0,0,0,0,0
$GC,5381,-0.52,-112.4,442.0,-6.3,587,5382,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2156,3610,0,0,0,0,0,0
$GC,5691,-0.52,-112.4,462.3,-6.5,617,5694,0.00,2.10,0.00,0.000,4,0.000,0.059,2674,852,3610,0,0,0,0,0,0
$GC,5722,-0.52,-112.4,464.5,-7.4,620,5726,0.00,2.10,0.00,0.000,6,0.000,0.059,2672,2155,3609,0,0,0,0,0,0
$GC,6042,-0.52,-112.4,486.5,-6.9,651,6046,0.00,1.90,0.00,0.000,4,0.000,0.070,2667,3307,3608,0,0,0,0,0,0
$GC,6101,-0.52,-112.4,490.9,-7.8,656,6108,0.00,1.80,0.00,0.000,6,0.000,0.052,2667,2166,3608,0,0,0,0,0,0
$GC,6416,-0.52,-112.4,514.6,-7.8,687,6417,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2166,3608,0,0,0,0,0,0
$GC,6729,-0.52,-112.4,538.4,-7.6,717,6732,0.00,2.12,0.00,0.000,4,0.000,0.061,2666,823,3607,0,0,0,0,0,0
$GC,6759,-0.52,-112.4,541.0,-9.0,720,6763,0.00,2.15,0.00,0.000,6,0.000,0.061,2664,2162,3607,0,0,0,0,0,0
$GC,7081,-0.52,-112.4,565.0,-7.4,751,7084,0.00,1.90,0.00,0.000,4,0.000,0.071,2661,3309,3606,0,0,0,0,0,0
$GC,7128,-0.52,-112.4,568.7,-7.6,755,7133,0.00,1.83,0.00,0.000,6,0.000,0.054,2661,2161,3606,0,0,0,0,0,0
$GC,7443,-0.52,-112.4,592.8,-7.5,786,7447,0.00,2.12,0.00,0.000,4,0.000,0.061,2661,848,3606,0,0,0,0,0,0
$GC,7508,-0.52,-112.4,597.8,-7.9,792,7511,0.08,2.10,0.00,0.000,6,0.128,0.060,2689,2154,3606,0,0,0,0,0,0
$GC,7822,-0.53,-112.4,616.1,-5.5,805,7823,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2154,3605,0,0,0,0,0,0
$GC,8125,-0.54,-112.4,633.3,-5.8,815,8126,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2154,3605,0,0,0,0,0,0
$GC,8429,-0.55,-112.4,651.8,-6.3,825,8433,0.00,1.92,0.00,0.000,4,0.000,0.071,2683,3314,3604,0,0,0,0,0,0
$GC,8476,-0.56,-112.4,655.0,-7.0,826,8481,0.00,1.83,0.00,0.000,6,0.000,0.054,2683,2165,3604,0,0,0,0,0,0
$GC,8795,-0.56,-112.4,676.8,-7.0,837,8796,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2165,3604,0,0,0,0,0,0
$GC,9099,-0.56,-112.4,698.3,-7.1,847,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2164,3604,0,0,0,0,0,0
$GC,9402,-0.56,-112.4,719.5,-6.9,857,9406,0.00,1.92,0.00,0.000,4,0.000,0.071,2676,3312,3603,0,0,0,0,0,0
$GC,9439,-0.56,-112.4,722.4,-7.7,858,9444,0.00,1.85,0.00,0.000,6,0.000,0.054,2676,2157,3603,0,0,0,0,0,0
$GC,9770,-0.56,-112.4,746.2,-7.3,869,9771,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2157,3603,0,0,0,0,0,0
$GC,10073,-0.56,-112.4,767.8,-7.1,879,10074,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2157,3603,0,0,0,0,0,0
$GC,10376,-0.56,-112.4,788.2,-6.5,889,10380,0.00,1.92,0.00,0.000,4,0.000,0.071,2670,3306,3603,0,0,0,0,0,0
$GC,10409,-0.56,-112.4,790.3,-6.8,890,10412,0.00,1.83,0.00,0.000,6,0.000,0.055,2670,2166,3602,0,0,0,0,0,0
$GC,10743,-0.56,-112.4,812.9,-6.9,901,10747,0.00,2.15,0.00,0.000,4,0.000,0.062,2670,848,3602,0,0,0,0,0,0
$GC,10764,-0.56,-112.4,814.3,-7.5,901,10768,0.00,2.12,0.00,0.000,6,0.000,0.063,2664,2156,3602,0,0,0,0,0,0
$GC,11079,-0.56,-112.4,835.9,-7.0,912,11080,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2156,3602,0,0,0,0,0,0
$GC,11382,-0.56,-112.4,857.7,-7.2,922,11386,0.00,1.92,0.00,0.000,4,0.000,0.074,2663,3304,3602,0,0,0,0,0,0
$GC,11419,-0.56,-112.4,860.5,-7.7,923,11423,0.00,1.83,0.00,0.000,6,0.000,0.055,2663,2166,3601,0,0,0,0,0,0
$GC,11749,-0.56,-112.4,884.1,-7.1,934,11750,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2166,3601,0,0,0,0,0,0
$GC,12052,-0.56,-112.4,906.3,-7.4,944,12056,0.00,1.90,0.00,0.000,4,0.000,0.072,2663,3299,3600,0,0,0,0,0,0
$GC,12084,-0.56,-112.4,908.6,-7.4,945,12088,0.00,1.83,0.00,0.000,6,0.000,0.056,2663,2163,3600,0,0,0,0,0,0
$GC,12419,-0.56,-112.4,933.7,-7.4,956,12423,0.00,1.90,0.00,0.000,4,0.000,0.072,2662,3310,3600,0,0,0,0,0,0
$GC,12457,-0.56,-112.4,936.5,-7.1,957,12460,0.00,1.83,0.00,0.000,6,0.000,0.056,2663,2171,3600,0,0,0,0,0,0
$GC,12786,-0.56,-112.4,960.5,-7.3,968,12791,0.00,1.88,0.00,0.000,4,0.000,0.072,2662,3305,3600,0,0,0,0,0,0
$GC,12812,-0.56,-112.4,962.4,-7.1,968,12820,0.00,1.80,0.00,0.000,6,0.000,0.056,2662,2182,3600,0,0,0,0,0,0
$GC,13122,-0.56,-112.4,984.1,-6.9,979,13122,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2180,3600,0,0,0,0,0,0
$STATE,13210,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13210,begin apogee
$GC,13215,-0.14,0.0,990.5,7.0,982,13311,0.45,0.00,94.68,1.236,6,0.119,0.000,2807,1996,3150,0,0,0,0,0,0
$STATE,13312,end apogee,CONTROL_FINISHED_OK
$STATE,13312,begin climb
$GC,13313,0.45,112.4,992.6,0.0,985,13421,0.55,2.12,100.07,1.199,4,0.070,0.061,3011,777,2690,0,0,0,0,0,0
$GC,13484,0.42,112.4,985.8,7.7,990,13488,0.00,2.10,0.00,0.000,6,0.000,0.058,3010,1996,2687,0,0,0,0,0,0
$GC,13798,0.38,112.4,958.9,8.8,1001,13802,0.12,2.08,0.00,0.000,4,0.179,0.067,2981,3234,2684,0,0,0,0,0,0
$GC,13910,0.34,112.4,949.3,8.5,1004,13913,0.00,1.98,0.00,0.000,6,0.000,0.055,2987,2019,2684,0,0,0,0,0,0
$GC,14229,0.32,112.4,923.5,8.0,1015,14232,0.00,2.03,0.00,0.000,4,0.000,0.068,2987,3229,2683,0,0,0,0,0,0
$GC,14298,0.28,112.4,917.5,8.7,1017,14302,0.15,1.98,0.00,0.000,6,0.145,0.055,2951,2018,2682,0,0,0,0,0,0
$GC,14628,0.28,120.3,897.4,5.8,1028,14638,0.00,1.98,6.80,0.964,4,0.000,0.068,2951,3236,2659,0,0,0,0,0,0
$GC,14691,0.27,120.3,893.3,6.5,1030,14695,0.00,1.95,0.00,0.000,6,0.000,0.056,2956,2031,2658,0,0,0,0,0,0
$GC,15021,0.27,134.6,874.2,5.6,1041,15036,0.00,0.00,13.98,1.083,6,0.000,0.000,2956,2031,2601,0,0,0,0,0,0
$GC,15350,0.27,148.3,855.7,5.6,1052,15369,0.00,2.05,13.12,1.065,4,0.000,0.068,2956,3244,2545,0,0,0,0,0,0
$GC,15401,0.26,148.3,852.3,6.6,1053,15405,0.00,1.98,0.00,0.000,6,0.000,0.056,2960,2036,2544,0,0,0,0,0,0
$GC,15716,0.26,148.3,831.9,6.7,1064,15719,0.00,2.10,0.00,0.000,4,0.000,0.066,2963,760,2543,0,0,0,0,0,0
$GC,15757,0.26,148.3,829.0,7.0,1065,15762,0.00,2.08,0.00,0.000,6,0.000,0.060,2963,2039,2543,0,0,0,0,0,0
$GC,16082,0.26,148.3,805.8,7.3,1076,16086,0.00,1.98,0.00,0.000,4,0.000,0.069,2963,3229,2542,0,0,0,0,0,0
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$STATE,27358,end climb,SURFACE_DEPTH_REACHED
$STATE,27358,begin surface coast
$FINISH,1.2,1.011593
$STATE,27395,end surface coast,CONTROL_FINISHED_OK
$STATE,27395,begin surface
$SM_CCo,27470,0.00,0.000,0,0,1629,373.10
$SM_GC,2.31,7.97,0.00,0.00,0.044,0.000,0.000,133,2089,1629,-8.41,0.42,373.10
$IRIDIUM_FIX,4700.70,-12619.83,061299,111158
$TT8_MAMPS,0.052923
$HUMID,40.54
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,17.00
$XPDR_PINGS,0
$24V_AH,23.0,45.997
$10V_AH,10.1,43.557
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.700,198.050,432.500,0.000,0.000,27.109,37.554,265.049,0.000,0.000,13.270,0.000,21434.752,590.710,5109.262,777.070,0.000,2443.679,0.000,4338.368,0.000,0.533,0.000
$DEVICE_MAMPS,233.935,103.545,1236.404,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1467.040,1733.734,1843.818,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298588
$DATA_FILE_SIZE,119933,2118
$CAP_FILE_SIZE,262401,0
$CFSIZE,260165632,228827136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.004, 82.6,1
$GPS,120910,025554,4714.119,-12632.102,69,1.0,69,18.6