version: 66.06
glider: 187
mission: 2
dive: 441
start: 9 14 110 7 52 20
data:
$ID,187
$MISSION,2
$DIVE,441
$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,-32668.779
$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,36
$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
$GPS1,074431,4701.342,-12657.117,43,1.0,43,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-77.4
$GPS2,075213,4701.326,-12657.093,13,0.9,18,18.6
$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,233.4,4418,-20.2,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.60,-56.0,0.0,0.0,0,73,0.00,0.00,-56.72,0.000,2,0.000,0.000,133,2090,3004,0,0,0,0,0,0
$GC,75,-0.63,-109.8,3.4,-2.2,11,103,10.30,1.98,-12.85,0.000,4,0.236,0.068,2646,838,3598,0,0,0,0,0,0
$GC,119,-0.48,-109.8,16.2,-27.3,19,125,0.17,1.98,0.00,0.000,6,0.146,0.055,2693,2065,3599,0,0,0,0,0,0
$GC,446,-0.48,-109.8,68.9,-12.8,80,452,0.00,2.05,0.00,0.000,4,0.000,0.064,2686,3312,3602,0,0,0,0,0,0
$GC,613,-0.49,-109.8,88.0,-10.5,111,618,0.00,1.92,0.00,0.000,6,0.000,0.048,2686,2092,3604,0,0,0,0,0,0
$GC,936,-0.51,-109.8,123.6,-10.3,152,937,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2091,3604,0,0,0,0,0,0
$GC,1248,-0.53,-109.8,153.1,-8.7,182,1249,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2091,3604,0,0,0,0,0,0
$GC,1558,-0.56,-109.8,180.0,-9.1,212,1559,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2091,3604,0,0,0,0,0,0
$GC,1869,-0.58,-109.8,208.7,-8.7,242,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2091,3603,0,0,0,0,0,0
$GC,2179,-0.61,-109.8,235.6,-8.6,272,2180,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2091,3602,0,0,0,0,0,0
$GC,2490,-0.64,-109.8,264.0,-8.8,302,2493,0.10,2.00,0.00,0.000,4,0.107,0.066,2626,3323,3601,0,0,0,0,0,0
$GC,2520,-0.64,-109.8,267.7,-11.6,305,2524,0.00,1.92,0.00,0.000,6,0.000,0.051,2626,2104,3601,0,0,0,0,0,0
$GC,2841,-0.64,-109.8,307.9,-11.8,336,2845,0.00,1.98,0.00,0.000,4,0.000,0.057,2626,852,3600,0,0,0,0,0,0
$GC,2889,-0.64,-109.8,314.0,-12.4,340,2895,0.00,1.98,0.00,0.000,6,0.000,0.055,2622,2100,3600,0,0,0,0,0,0
$GC,3204,-0.64,-109.8,353.5,-12.5,371,3205,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2100,3599,0,0,0,0,0,0
$GC,3516,-0.64,-109.8,393.8,-12.9,401,3519,0.00,1.98,0.00,0.000,4,0.000,0.059,2622,843,3599,0,0,0,0,0,0
$GC,3563,-0.64,-109.8,400.4,-14.0,405,3570,0.10,2.00,0.00,0.000,6,0.137,0.057,2646,2098,3598,0,0,0,0,0,0
$GC,3879,-0.65,-109.8,435.7,-10.9,436,3882,0.00,1.98,0.00,0.000,4,0.000,0.060,2646,843,3598,0,0,0,0,0,0
$GC,3915,-0.67,-109.8,439.7,-10.0,439,3921,0.00,2.00,0.00,0.000,6,0.000,0.058,2641,2097,3597,0,0,0,0,0,0
$GC,4231,-0.68,-109.8,472.8,-10.6,470,4232,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2097,3596,0,0,0,0,0,0
$GC,4543,-0.69,-109.8,504.1,-9.8,500,4546,0.00,1.95,0.00,0.000,4,0.000,0.067,2632,3316,3595,0,0,0,0,0,0
$GC,4564,-0.71,-109.8,506.3,-9.6,502,4567,0.00,1.92,0.00,0.000,6,0.000,0.054,2631,2102,3595,0,0,0,0,0,0
$GC,4884,-0.72,-109.8,539.5,-10.7,533,4888,0.00,1.98,0.00,0.000,4,0.000,0.068,2622,3310,3594,0,0,0,0,0,0
$GC,4910,-0.73,-109.8,542.6,-11.4,535,4916,0.00,1.92,0.00,0.000,6,0.000,0.054,2622,2097,3594,0,0,0,0,0,0
$GC,5225,-0.73,-109.8,578.1,-11.0,566,5226,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2097,3593,0,0,0,0,0,0
$GC,5554,-0.73,-109.8,612.8,-10.2,590,5555,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2098,3593,0,0,0,0,0,0
$GC,5857,-0.73,-109.8,643.9,-10.0,600,5858,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2098,3591,0,0,0,0,0,0
$GC,6161,-0.73,-109.8,673.7,-9.7,610,6162,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2098,3591,0,0,0,0,0,0
$GC,6465,-0.73,-109.8,702.8,-9.5,620,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2097,3590,0,0,0,0,0,0
$GC,6768,-0.73,-109.8,733.1,-10.1,630,6768,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2097,3589,0,0,0,0,0,0
$GC,7071,-0.73,-109.8,764.3,-10.4,640,7075,0.00,1.98,0.00,0.000,4,0.000,0.071,2614,3302,3589,0,0,0,0,0,0
$GC,7104,-0.74,-109.8,767.7,-10.4,641,7107,0.00,1.90,0.00,0.000,6,0.000,0.057,2614,2110,3588,0,0,0,0,0,0
$GC,7438,-0.74,-109.8,805.2,-11.2,652,7439,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2110,3588,0,0,0,0,0,0
$GC,7742,-0.74,-109.8,838.0,-10.7,662,7743,0.00,0.00,0.00,0.000,6,0.000,0.000,2613,2110,3587,0,0,0,0,0,0
$GC,8046,-0.74,-109.8,869.9,-10.4,672,8049,0.00,1.98,0.00,0.000,4,0.000,0.071,2605,3309,3586,0,0,0,0,0,0
$GC,8087,-0.74,-109.8,874.3,-10.6,673,8092,0.00,1.92,0.00,0.000,6,0.000,0.054,2605,2100,3586,0,0,0,0,0,0
$GC,8412,-0.74,-109.8,908.4,-10.2,684,8413,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2100,3585,0,0,0,0,0,0
$GC,8716,-0.74,-109.8,939.0,-10.3,694,8717,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2100,3585,0,0,0,0,0,0
$GC,9019,-0.74,-109.8,969.7,-10.0,704,9020,0.00,0.00,0.00,0.000,6,0.000,0.000,2605,2100,3584,0,0,0,0,0,0
$STATE,9230,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9230,begin apogee
$GC,9234,-0.14,0.0,990.8,9.9,711,9327,0.65,0.00,91.05,1.234,6,0.132,0.000,2807,1995,3151,0,0,0,0,0,0
$STATE,9328,end apogee,CONTROL_FINISHED_OK
$STATE,9328,begin climb
$GC,9330,0.63,109.8,992.5,0.0,714,9431,0.70,0.00,97.90,1.193,6,0.069,0.000,3054,1995,2702,0,0,0,0,0,0
$GC,9723,0.60,109.8,958.9,10.4,727,9727,0.00,2.10,0.00,0.000,4,0.000,0.067,3054,3226,2696,0,0,0,0,0,0
$GC,9836,0.56,109.8,946.3,10.8,730,9839,0.00,2.00,0.00,0.000,6,0.000,0.055,3063,2010,2696,0,0,0,0,0,0
$GC,10155,0.53,109.8,912.0,10.8,741,10159,0.15,2.05,0.00,0.000,4,0.191,0.068,3026,3225,2694,0,0,0,0,0,0
$GC,10315,0.51,109.8,895.6,10.9,746,10319,0.00,1.98,0.00,0.000,6,0.000,0.056,3033,2007,2694,0,0,0,0,0,0
$GC,10650,0.49,109.8,864.6,9.1,757,10654,0.00,2.03,0.00,0.000,4,0.000,0.069,3033,3228,2693,0,0,0,0,0,0
$GC,10725,0.46,109.8,857.0,10.3,759,10729,0.15,1.95,0.00,0.000,6,0.182,0.056,3005,2001,2693,0,0,0,0,0,0
$GC,11049,0.46,109.8,831.2,8.0,770,11053,0.00,2.03,0.00,0.000,4,0.000,0.068,3005,3228,2693,0,0,0,0,0,0
$GC,11225,0.45,109.8,815.9,8.4,775,11229,0.00,1.92,0.00,0.000,6,0.000,0.056,3012,2037,2692,0,0,0,0,0,0
$GC,11544,0.45,109.8,790.2,8.0,786,11548,0.00,1.98,0.00,0.000,4,0.000,0.067,3012,3232,2692,0,0,0,0,0,0
$GC,11641,0.43,109.8,781.9,9.2,789,11644,0.00,1.90,0.00,0.000,6,0.000,0.056,3020,2052,2692,0,0,0,0,0,0
$GC,11976,0.42,109.8,753.8,8.4,800,11980,0.00,1.95,0.00,0.000,4,0.000,0.067,3020,3236,2692,0,0,0,0,0,0
$GC,12110,0.40,109.8,741.5,8.7,804,12113,0.17,1.88,0.00,0.000,6,0.167,0.056,2983,2052,2691,0,0,0,0,0,0
$GC,12439,0.40,109.8,718.5,7.0,815,12443,0.00,1.95,0.00,0.000,4,0.000,0.070,2983,3230,2691,0,0,0,0,0,0
$GC,12508,0.40,109.8,713.2,7.3,817,12512,0.00,1.85,0.00,0.000,6,0.000,0.056,2987,2074,2691,0,0,0,0,0,0
$GC,12838,0.40,109.8,689.4,7.2,828,12842,0.00,1.90,0.00,0.000,4,0.000,0.067,2987,3229,2692,0,0,0,0,0,0
$GC,12891,0.40,109.8,685.4,8.3,829,12895,0.00,1.85,0.00,0.000,6,0.000,0.056,2994,2074,2691,0,0,0,0,0,0
$GC,13205,0.40,109.8,661.9,7.7,840,13209,0.00,1.90,0.00,0.000,4,0.000,0.069,2994,3225,2691,0,0,0,0,0,0
$GC,13258,0.40,109.8,657.6,8.4,841,13262,0.00,1.83,0.00,0.000,6,0.000,0.057,3001,2085,2691,0,0,0,0,0,0
$GC,13572,0.40,109.8,633.3,7.6,852,13576,0.00,1.88,0.00,0.000,4,0.000,0.067,3001,3229,2691,0,0,0,0,0,0
$GC,13630,0.40,109.8,628.5,7.7,853,13636,0.00,1.83,0.00,0.000,6,0.000,0.055,3009,2087,2691,0,0,0,0,0,0
$GC,13939,0.40,109.8,605.6,7.3,864,13940,0.00,0.00,0.00,0.000,6,0.000,0.000,3009,2087,2691,0,0,0,0,0,0
$GC,14247,0.40,109.8,585.4,6.5,888,14251,0.00,1.88,0.00,0.000,4,0.000,0.068,3008,3232,2691,0,0,0,0,0,0
$GC,14399,0.39,109.8,574.4,7.2,902,14402,0.12,1.83,0.00,0.000,6,0.173,0.056,2985,2076,2691,0,0,0,0,0,0
$GC,14718,0.40,125.8,557.1,4.9,933,14732,0.00,0.00,12.70,0.911,6,0.000,0.000,2985,2076,2637,0,0,0,0,0,0
$GC,15040,0.41,132.7,539.2,5.6,964,15049,0.00,0.00,7.62,0.831,6,0.000,0.000,2985,2075,2608,0,0,0,0,0,0
$GC,15359,0.43,132.7,519.4,6.3,995,15363,0.00,1.92,0.00,0.000,4,0.000,0.067,2985,3232,2607,0,0,0,0,0,0
$GC,15439,0.43,132.7,513.6,7.0,1002,15446,0.00,1.83,0.00,0.000,6,0.000,0.054,2989,2093,2607,0,0,0,0,0,0
$GC,15756,0.44,132.7,491.3,6.7,1033,15759,0.00,1.88,0.00,0.000,4,0.000,0.069,2989,3233,2607,0,0,0,0,0,0
$GC,15791,0.44,132.7,488.5,7.5,1036,15797,0.00,1.83,0.00,0.000,6,0.000,0.056,2996,2097,2607,0,0,0,0,0,0
$GC,16107,0.44,132.7,466.1,6.7,1067,16108,0.00,0.00,0.00,0.000,6,0.000,0.000,2996,2096,2607,0,0,0,0,0,0
$GC,16418,0.44,132.7,446.5,6.1,1097,16422,0.00,1.90,0.00,0.000,4,0.000,0.070,2996,3234,2607,0,0,0,0,0,0
$GC,16519,0.44,132.7,440.0,6.8,1106,16525,0.00,1.83,0.00,0.000,6,0.000,0.056,3003,2100,2607,0,0,0,0,0,0
$GC,16834,0.44,138.1,422.6,5.7,1137,16846,0.00,0.00,5.85,0.726,6,0.000,0.000,3003,2100,2587,0,0,0,0,0,0
$GC,17155,0.44,138.1,403.3,6.4,1168,17159,0.00,1.88,0.00,0.000,4,0.000,0.069,3003,3227,2587,0,0,0,0,0,0
$GC,17192,0.44,138.1,400.7,6.6,1171,17197,0.00,1.80,0.00,0.000,6,0.000,0.056,3009,2100,2587,0,0,0,0,0,0
$GC,17507,0.44,138.1,379.0,7.1,1202,17511,0.00,2.17,0.00,0.000,4,0.000,0.064,3018,765,2587,0,0,0,0,0,0
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$STATE,23599,end climb,SURFACE_DEPTH_REACHED
$STATE,23599,begin surface coast
$FINISH,1.1,1.012548
$STATE,23658,end surface coast,CONTROL_FINISHED_OK
$STATE,23658,begin surface
$SM_CCo,23673,31.98,0.455,1,0,1721,350.04
$SM_GC,2.34,0.00,0.00,31.98,0.000,0.000,0.455,135,2059,1721,-8.50,-0.45,350.04
$IRIDIUM_FIX,4648.08,-12655.36,091299,000049
$TT8_MAMPS,0.052923
$HUMID,38.97
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,18.70
$XPDR_PINGS,0
$24V_AH,23.1,47.135
$10V_AH,10.1,44.895
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.775,147.900,359.300,31.975,0.000,27.344,30.912,245.226,0.000,0.000,19.118,0.000,18109.125,557.617,4732.896,731.039,0.000,2224.770,0.000,4062.347,0.000,0.534,0.000
$DEVICE_MAMPS,236.236,94.341,1234.103,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1361.745,1458.254,1839.815,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298604
$DATA_FILE_SIZE,110442,1958
$CAP_FILE_SIZE,227685,0
$CFSIZE,260165632,227938304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.046, 81.4,1
$GPS,140910,142900,4700.661,-12659.699,70,1.6,70,18.6