version: 66.06
glider: 187
mission: 2
dive: 442
start: 9 14 110 14 39 44
data:
$ID,187
$MISSION,2
$DIVE,442
$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,-32685.299
$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,28
$R_STBD_OVSHOOT,25
$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
$GPS1,142900,4700.661,-12659.699,70,1.6,70,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-77.3
$GPS2,143938,4700.687,-12659.646,15,1.6,15,18.6
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$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,30.5,185463,-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,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,-52.42,0.000,2,0.000,0.000,134,2058,2976,0,0,0,0,0,0
$GC,70,-0.45,-112.4,3.1,-2.1,10,98,10.48,2.00,-13.93,0.000,4,0.234,0.071,2692,3314,3609,0,0,0,0,0,0
$GC,253,-0.43,-112.4,39.4,-16.7,44,259,0.00,1.98,0.00,0.000,6,0.000,0.046,2691,2068,3612,0,0,0,0,0,0
$GC,580,-0.41,-112.4,86.7,-13.7,105,586,0.12,2.05,0.00,0.000,4,0.161,0.062,2719,3313,3614,0,0,0,0,0,0
$GC,618,-0.41,-112.4,91.1,-11.9,112,625,0.00,1.92,0.00,0.000,6,0.000,0.048,2719,2089,3615,0,0,0,0,0,0
$GC,937,-0.41,-112.4,119.7,-8.5,151,940,0.00,1.95,0.00,0.000,4,0.000,0.054,2719,847,3615,0,0,0,0,0,0
$GC,979,-0.41,-112.4,123.2,-8.2,155,983,0.00,1.98,0.00,0.000,6,0.000,0.052,2719,2094,3615,0,0,0,0,0,0
$GC,1300,-0.41,-112.4,148.9,-8.2,186,1304,0.00,1.98,0.00,0.000,4,0.000,0.063,2716,3306,3615,0,0,0,0,0,0
$GC,1430,-0.43,-112.4,160.1,-8.6,198,1433,0.00,1.90,0.00,0.000,6,0.000,0.048,2715,2095,3615,0,0,0,0,0,0
$GC,1750,-0.44,-112.4,187.2,-8.3,229,1753,0.00,1.92,0.00,0.000,4,0.000,0.056,2715,839,3614,0,0,0,0,0,0
$GC,1782,-0.45,-112.4,190.0,-8.7,232,1785,0.00,1.98,0.00,0.000,6,0.000,0.054,2715,2109,3614,0,0,0,0,0,0
$GC,2102,-0.46,-112.4,214.5,-7.6,263,2106,0.00,1.95,0.00,0.000,4,0.000,0.065,2715,3304,3613,0,0,0,0,0,0
$GC,2188,-0.49,-112.4,221.2,-7.9,271,2191,0.00,1.85,0.00,0.000,6,0.000,0.050,2715,2108,3613,0,0,0,0,0,0
$GC,2508,-0.50,-112.4,244.7,-6.6,302,2512,0.00,1.98,0.00,0.000,4,0.000,0.067,2715,3314,3612,0,0,0,0,0,0
$GC,2588,-0.53,-112.4,249.8,-6.1,309,2595,0.00,1.85,0.00,0.000,6,0.000,0.049,2715,2128,3612,0,0,0,0,0,0
$GC,2904,-0.55,-112.4,270.0,-6.6,340,2906,0.10,0.00,0.00,0.000,6,0.109,0.000,2661,2128,3612,0,0,0,0,0,0
$GC,3214,-0.55,-112.4,301.2,-10.5,370,3218,0.00,1.92,0.00,0.000,4,0.000,0.067,2653,3301,3610,0,0,0,0,0,0
$GC,3246,-0.55,-112.4,304.6,-10.9,373,3249,0.00,1.83,0.00,0.000,6,0.000,0.051,2653,2141,3610,0,0,0,0,0,0
$GC,3566,-0.53,-112.4,339.7,-11.1,404,3571,0.10,2.08,0.00,0.000,4,0.168,0.059,2681,845,3610,0,0,0,0,0,0
$GC,3614,-0.53,-112.4,344.4,-9.1,408,3621,0.00,2.05,0.00,0.000,6,0.000,0.055,2677,2138,3610,0,0,0,0,0,0
$GC,3930,-0.53,-112.4,373.4,-9.2,439,3933,0.00,1.85,0.00,0.000,4,0.000,0.067,2668,3312,3609,0,0,0,0,0,0
$GC,4026,-0.53,-112.4,382.1,-8.4,448,4029,0.00,1.83,0.00,0.000,6,0.000,0.052,2668,2151,3608,0,0,0,0,0,0
$GC,4346,-0.53,-112.4,411.2,-9.1,479,4350,0.00,2.10,0.00,0.000,4,0.000,0.060,2668,843,3607,0,0,0,0,0,0
$GC,4378,-0.53,-112.4,414.2,-9.5,482,4382,0.00,2.08,0.00,0.000,6,0.000,0.058,2664,2143,3607,0,0,0,0,0,0
$GC,4699,-0.53,-112.4,445.2,-9.3,513,4703,0.00,1.92,0.00,0.000,4,0.000,0.067,2657,3314,3606,0,0,0,0,0,0
$GC,4747,-0.53,-112.4,449.9,-9.9,517,4753,0.00,1.85,0.00,0.000,6,0.000,0.053,2657,2145,3606,0,0,0,0,0,0
$GC,5062,-0.53,-112.4,481.0,-9.6,548,5066,0.00,2.08,0.00,0.000,4,0.000,0.060,2657,855,3605,0,0,0,0,0,0
$GC,5094,-0.53,-112.4,484.3,-10.0,551,5098,0.08,2.05,0.00,0.000,6,0.133,0.058,2676,2141,3605,0,0,0,0,0,0
$GC,5415,-0.53,-112.4,510.2,-7.9,582,5418,0.00,1.90,0.00,0.000,4,0.000,0.068,2671,3304,3604,0,0,0,0,0,0
$GC,5479,-0.53,-112.4,515.3,-8.6,588,5482,0.00,1.83,0.00,0.000,6,0.000,0.052,2670,2148,3604,0,0,0,0,0,0
$GC,5800,-0.53,-112.4,542.0,-8.8,619,5801,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2148,3604,0,0,0,0,0,0
$GC,6112,-0.53,-112.4,568.7,-8.8,649,6113,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2148,3603,0,0,0,0,0,0
$GC,6422,-0.53,-112.4,595.0,-8.0,679,6425,0.00,1.88,0.00,0.000,4,0.000,0.070,2663,3308,3602,0,0,0,0,0,0
$GC,6453,-0.53,-112.4,597.7,-8.4,682,6456,0.00,1.83,0.00,0.000,6,0.000,0.054,2662,2158,3602,0,0,0,0,0,0
$GC,6787,-0.53,-112.4,626.1,-8.4,695,6791,0.00,2.10,0.00,0.000,4,0.000,0.061,2663,858,3601,0,0,0,0,0,0
$GC,6813,-0.53,-112.4,628.4,-9.1,695,6819,0.00,2.08,0.00,0.000,6,0.000,0.060,2663,2149,3601,0,0,0,0,0,0
$GC,7122,-0.53,-112.4,652.4,-7.5,706,7126,0.00,1.90,0.00,0.000,4,0.000,0.071,2662,3309,3600,0,0,0,0,0,0
$GC,7202,-0.53,-112.4,658.4,-7.6,708,7206,0.00,1.80,0.00,0.000,6,0.000,0.053,2661,2170,3600,0,0,0,0,0,0
$GC,7521,-0.53,-112.4,682.3,-7.6,719,7525,0.00,2.10,0.00,0.000,4,0.000,0.060,2662,853,3600,0,0,0,0,0,0
$GC,7563,-0.53,-112.4,685.8,-8.5,720,7567,0.00,2.12,0.00,0.000,6,0.000,0.060,2655,2168,3599,0,0,0,0,0,0
$GC,7888,-0.53,-112.4,710.9,-7.5,731,7892,0.00,1.85,0.00,0.000,4,0.000,0.071,2646,3302,3598,0,0,0,0,0,0
$GC,7951,-0.53,-112.4,715.7,-7.3,733,7956,0.10,1.80,0.00,0.000,6,0.117,0.054,2681,2172,3599,0,0,0,0,0,0
$GC,8288,-0.53,-112.4,734.7,-5.4,744,8291,0.00,2.12,0.00,0.000,4,0.000,0.063,2681,838,3598,0,0,0,0,0,0
$GC,8324,-0.54,-112.4,736.9,-5.6,745,8328,0.00,2.15,0.00,0.000,6,0.000,0.061,2681,2170,3598,0,0,0,0,0,0
$GC,8654,-0.55,-112.4,757.4,-6.7,756,8658,0.00,1.88,0.00,0.000,4,0.000,0.071,2676,3313,3597,0,0,0,0,0,0
$GC,8740,-0.57,-112.4,763.9,-8.0,758,8743,0.00,1.80,0.00,0.000,6,0.000,0.054,2675,2180,3597,0,0,0,0,0,0
$GC,9053,-0.57,-112.4,789.4,-8.3,769,9057,0.00,2.12,0.00,0.000,4,0.000,0.062,2675,856,3596,0,0,0,0,0,0
$GC,9095,-0.57,-112.4,793.3,-9.4,770,9099,0.00,2.12,0.00,0.000,6,0.000,0.061,2673,2169,3596,0,0,0,0,0,0
$GC,9421,-0.57,-112.4,821.1,-8.6,781,9424,0.00,1.88,0.00,0.000,4,0.000,0.071,2669,3310,3596,0,0,0,0,0,0
$GC,9500,-0.58,-112.4,827.9,-8.9,783,9504,0.00,1.80,0.00,0.000,6,0.000,0.056,2669,2184,3596,0,0,0,0,0,0
$GC,9820,-0.58,-112.4,854.1,-8.1,794,9823,0.00,2.10,0.00,0.000,4,0.000,0.063,2669,849,3595,0,0,0,0,0,0
$GC,9883,-0.58,-112.4,859.4,-7.8,796,9887,0.00,2.12,0.00,0.000,6,0.000,0.061,2663,2164,3595,0,0,0,0,0,0
$GC,10218,-0.58,-112.4,886.1,-7.9,807,10219,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2164,3595,0,0,0,0,0,0
$GC,10522,-0.58,-112.4,909.0,-7.4,817,10526,0.00,1.88,0.00,0.000,4,0.000,0.071,2662,3310,3594,0,0,0,0,0,0
$GC,10601,-0.58,-112.4,914.8,-7.5,819,10605,0.00,1.80,0.00,0.000,6,0.000,0.057,2662,2187,3594,0,0,0,0,0,0
$GC,10921,-0.58,-112.4,937.5,-7.0,830,10925,0.00,2.17,0.00,0.000,4,0.000,0.064,2662,846,3594,0,0,0,0,0,0
$GC,10996,-0.58,-112.4,943.2,-7.7,832,10999,0.00,2.15,0.00,0.000,6,0.000,0.062,2662,2173,3594,0,0,0,0,0,0
$GC,11320,-0.58,-112.4,965.5,-6.9,843,11324,0.00,1.85,0.00,0.000,4,0.000,0.072,2660,3301,3594,0,0,0,0,0,0
$GC,11373,-0.58,-112.4,969.2,-6.2,844,11377,0.00,1.80,0.00,0.000,6,0.000,0.057,2659,2182,3593,0,0,0,0,0,0
$GC,11687,-0.58,-112.4,989.3,-6.3,855,11691,0.00,2.15,0.00,0.000,4,0.000,0.064,2659,852,3593,0,0,0,0,0,0
$STATE,11696,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11696,begin apogee
$GC,11702,-0.14,0.0,990.1,6.3,855,11797,0.45,0.00,93.25,1.233,6,0.119,0.000,2803,2002,3150,0,0,0,0,0,0
$STATE,11797,end apogee,CONTROL_FINISHED_OK
$STATE,11797,begin climb
$GC,11800,0.45,112.4,991.5,0.0,858,11906,0.55,2.15,100.18,1.196,4,0.072,0.064,3008,778,2690,0,0,0,0,0,0
$GC,11926,0.42,112.4,986.8,7.2,862,11931,0.00,2.12,0.00,0.000,6,0.000,0.059,3008,1996,2688,0,0,0,0,0,0
$GC,12252,0.38,112.4,957.7,9.0,873,12255,0.00,2.10,0.00,0.000,4,0.000,0.066,3008,3248,2685,0,0,0,0,0,0
$GC,12386,0.34,112.4,944.3,10.0,877,12389,0.20,2.00,0.00,0.000,6,0.167,0.058,2966,2021,2684,0,0,0,0,0,0
$GC,12710,0.32,112.4,921.3,6.9,888,12713,0.00,2.05,0.00,0.000,4,0.000,0.069,2965,3245,2683,0,0,0,0,0,0
$GC,12730,0.30,112.4,919.6,8.0,888,12734,0.00,2.03,0.00,0.000,6,0.000,0.058,2972,2011,2683,0,0,0,0,0,0
$GC,13044,0.28,112.4,897.5,6.9,899,13048,0.00,2.05,0.00,0.000,4,0.000,0.069,2972,3241,2682,0,0,0,0,0,0
$GC,13103,0.25,112.4,892.8,8.3,900,13109,0.12,1.95,0.00,0.000,6,0.143,0.058,2942,2041,2682,0,0,0,0,0,0
$GC,13411,0.26,125.8,875.3,5.6,911,13426,0.00,1.95,11.20,1.060,4,0.000,0.068,2941,3242,2637,0,0,0,0,0,0
$GC,13475,0.25,125.8,871.2,6.8,913,13478,0.00,1.95,0.00,0.000,6,0.000,0.058,2946,2046,2637,0,0,0,0,0,0
$GC,13809,0.25,127.1,850.9,6.1,924,13813,0.00,2.00,0.00,0.000,4,0.000,0.069,2946,3240,2636,0,0,0,0,0,0
$GC,13830,0.25,127.1,849.5,6.3,924,13834,0.00,1.92,0.00,0.000,6,0.000,0.058,2946,2058,2636,0,0,0,0,0,0
$GC,14145,0.26,137.5,830.8,5.7,935,14158,0.00,0.00,11.68,1.045,6,0.000,0.000,2946,2058,2589,0,0,0,0,0,0
$GC,14448,0.27,154.2,813.9,5.5,945,14467,0.00,2.12,15.70,1.062,4,0.000,0.069,2947,754,2521,0,0,0,0,0,0
$GC,14489,0.30,200.9,811.7,4.4,946,14535,0.00,2.15,42.42,1.091,6,0.000,0.061,2947,2071,2330,0,0,0,0,0,0
$GC,14840,0.30,209.1,791.4,5.8,957,14853,0.00,1.98,7.45,0.928,4,0.000,0.070,2946,3242,2297,0,0,0,0,0,0
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$STATE,25045,end climb,SURFACE_DEPTH_REACHED
$STATE,25045,begin surface coast
$FINISH,1.3,1.023589
$STATE,25092,end surface coast,CONTROL_FINISHED_OK
$STATE,25092,begin surface
$SM_CCo,25166,0.00,0.000,0,0,1645,369.18
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$IRIDIUM_FIX,4641.78,-12652.19,091299,141433
$TT8_MAMPS,0.052156
$HUMID,40.94
$INTERNAL_PRESSURE,9.06946
$TCM_TEMP,17.50
$XPDR_PINGS,0
$24V_AH,23.0,47.283
$10V_AH,10.1,45.062
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.575,240.175,419.875,0.000,0.000,57.674,118.516,247.075,0.000,0.000,15.888,0.000,19391.404,609.562,4908.340,851.471,0.000,2423.230,0.000,4162.703,0.000,0.536,0.000
$DEVICE_MAMPS,233.935,83.603,1233.336,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1345.628,1551.316,1716.537,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298588
$DATA_FILE_SIZE,113765,1942
$CAP_FILE_SIZE,256589,0
$CFSIZE,260165632,227790848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.052,149.8,1
$GPS,140910,214007,4701.984,-12655.550,39,0.9,39,18.6