version: 66.06
glider: 187
mission: 2
dive: 447
start: 9 16 110 3 29 50
data:
$ID,187
$MISSION,2
$DIVE,447
$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,-32778.031
$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,16
$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
$GPS1,032155,4709.134,-12643.192,40,1.3,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-77.8
$GPS2,032944,4709.142,-12643.090,15,1.4,15,18.6
$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,35.8,159669,-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,-112.4,0.0,0.0,0,81,0.00,0.00,-66.07,0.000,2,0.000,0.000,131,2101,3007,0,0,0,0,0,0
$GC,83,-0.45,-112.4,3.4,-2.6,12,112,10.57,2.00,-12.98,0.000,4,0.239,0.071,2699,841,3609,0,0,0,0,0,0
$GC,330,-0.44,-112.4,49.5,-13.1,58,337,0.00,2.00,0.00,0.000,6,0.000,0.055,2693,2083,3612,0,0,0,0,0,0
$GC,657,-0.43,-112.4,93.1,-13.0,119,663,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2083,3614,0,0,0,0,0,0
$GC,975,-0.43,-112.4,127.9,-9.7,155,978,0.00,2.00,0.00,0.000,4,0.000,0.064,2684,3322,3615,0,0,0,0,0,0
$GC,1086,-0.43,-112.4,138.5,-9.1,165,1093,0.08,2.00,0.00,0.000,6,0.121,0.048,2711,2055,3615,0,0,0,0,0,0
$GC,1402,-0.43,-112.4,163.5,-8.1,196,1406,0.00,2.08,0.00,0.000,4,0.000,0.064,2705,3317,3615,0,0,0,0,0,0
$GC,1444,-0.44,-112.4,167.0,-7.7,200,1448,0.00,1.95,0.00,0.000,6,0.000,0.049,2705,2080,3614,0,0,0,0,0,0
$GC,1764,-0.44,-112.4,191.7,-7.0,231,1769,0.00,1.95,0.00,0.000,4,0.000,0.057,2705,846,3614,0,0,0,0,0,0
$GC,1791,-0.44,-112.4,193.9,-8.2,233,1797,0.00,1.95,0.00,0.000,6,0.000,0.055,2704,2076,3614,0,0,0,0,0,0
$GC,2107,-0.44,-112.4,217.4,-7.6,264,2110,0.00,2.00,0.00,0.000,4,0.000,0.066,2700,3302,3613,0,0,0,0,0,0
$GC,2203,-0.46,-112.4,224.5,-7.0,273,2206,0.00,1.90,0.00,0.000,6,0.000,0.049,2700,2094,3613,0,0,0,0,0,0
$GC,2524,-0.46,-112.4,249.0,-7.9,304,2527,0.00,2.00,0.00,0.000,4,0.000,0.067,2700,3308,3612,0,0,0,0,0,0
$GC,2560,-0.47,-112.4,251.9,-7.7,307,2567,0.00,1.92,0.00,0.000,6,0.000,0.050,2699,2084,3612,0,0,0,0,0,0
$GC,2876,-0.47,-112.4,277.2,-8.1,338,2880,0.00,2.03,0.00,0.000,4,0.000,0.067,2700,3313,3611,0,0,0,0,0,0
$GC,2918,-0.49,-112.4,280.7,-8.2,342,2922,0.00,1.92,0.00,0.000,6,0.000,0.052,2700,2097,3611,0,0,0,0,0,0
$GC,3240,-0.49,-112.4,307.9,-8.1,373,3241,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2096,3611,0,0,0,0,0,0
$GC,3552,-0.49,-112.4,331.6,-7.5,403,3555,0.00,1.92,0.00,0.000,4,0.000,0.067,2700,3311,3610,0,0,0,0,0,0
$GC,3593,-0.51,-112.4,334.8,-7.7,407,3597,0.00,1.92,0.00,0.000,6,0.000,0.053,2699,2095,3610,0,0,0,0,0,0
$GC,3914,-0.51,-112.4,358.4,-7.5,438,3918,0.00,1.98,0.00,0.000,4,0.000,0.067,2699,3305,3609,0,0,0,0,0,0
$GC,3946,-0.52,-112.4,360.7,-7.6,441,3949,0.00,1.92,0.00,0.000,6,0.000,0.053,2699,2095,3608,0,0,0,0,0,0
$GC,4267,-0.52,-112.4,384.5,-7.6,472,4270,0.00,2.00,0.00,0.000,4,0.000,0.068,2698,3319,3607,0,0,0,0,0,0
$GC,4309,-0.54,-112.4,387.6,-7.2,476,4313,0.00,1.92,0.00,0.000,6,0.000,0.053,2698,2102,3607,0,0,0,0,0,0
$GC,4630,-0.55,-112.4,410.3,-6.8,507,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2102,3606,0,0,0,0,0,0
$GC,4941,-0.56,-112.4,431.2,-6.6,537,4944,0.00,1.98,0.00,0.000,4,0.000,0.069,2695,3310,3605,0,0,0,0,0,0
$GC,4989,-0.58,-112.4,434.2,-6.3,541,4994,0.00,1.85,0.00,0.000,6,0.000,0.054,2695,2117,3605,0,0,0,0,0,0
$GC,5303,-0.58,-112.4,454.0,-6.3,572,5304,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2118,3604,0,0,0,0,0,0
$GC,5615,-0.59,-112.4,473.8,-6.7,602,5616,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2117,3604,0,0,0,0,0,0
$GC,5925,-0.60,-112.4,493.7,-6.7,632,5926,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2117,3604,0,0,0,0,0,0
$GC,6236,-0.61,-112.4,514.0,-6.3,662,6240,0.12,1.98,0.00,0.000,4,0.097,0.071,2631,3318,3603,0,0,0,0,0,0
$GC,6289,-0.60,-112.4,518.9,-10.0,667,6293,0.08,1.92,0.00,0.000,6,0.137,0.055,2656,2115,3603,0,0,0,0,0,0
$GC,6609,-0.60,-112.4,546.6,-8.6,698,6610,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2116,3602,0,0,0,0,0,0
$GC,6921,-0.60,-112.4,573.1,-8.4,728,6923,0.00,1.98,0.00,0.000,4,0.000,0.071,2650,3320,3601,0,0,0,0,0,0
$GC,6984,-0.60,-112.4,578.9,-8.9,734,6987,0.00,1.92,0.00,0.000,6,0.000,0.056,2650,2113,3601,0,0,0,0,0,0
$GC,7303,-0.60,-112.4,608.9,-9.5,759,7304,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2112,3601,0,0,0,0,0,0
$GC,7606,-0.60,-112.4,637.7,-9.4,769,7610,0.00,1.98,0.00,0.000,4,0.000,0.071,2642,3309,3600,0,0,0,0,0,0
$GC,7669,-0.60,-112.4,643.6,-9.4,771,7674,0.00,1.90,0.00,0.000,6,0.000,0.054,2642,2120,3600,0,0,0,0,0,0
$GC,8005,-0.59,-112.4,675.1,-9.1,782,8006,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2119,3599,0,0,0,0,0,0
$GC,8309,-0.57,-112.4,702.5,-9.1,792,8312,0.00,1.95,0.00,0.000,4,0.000,0.071,2633,3318,3598,0,0,0,0,0,0
$GC,8366,-0.57,-112.4,708.0,-9.5,793,8373,0.10,1.90,0.00,0.000,6,0.128,0.054,2668,2126,3599,0,0,0,0,0,0
$GC,8675,-0.57,-112.4,733.9,-8.4,804,8676,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2126,3599,0,0,0,0,0,0
$GC,8979,-0.57,-112.4,757.9,-7.9,814,8983,0.00,1.95,0.00,0.000,4,0.000,0.071,2661,3308,3598,0,0,0,0,0,0
$GC,9026,-0.57,-112.4,761.6,-8.0,815,9030,0.00,1.88,0.00,0.000,6,0.000,0.054,2661,2131,3598,0,0,0,0,0,0
$GC,9346,-0.57,-112.4,786.6,-7.5,826,9346,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2131,3597,0,0,0,0,0,0
$GC,9650,-0.57,-112.4,809.3,-7.6,836,9650,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2131,3597,0,0,0,0,0,0
$GC,9952,-0.57,-112.4,831.3,-7.3,846,9953,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2131,3597,0,0,0,0,0,0
$GC,10256,-0.57,-112.4,853.2,-7.2,856,10260,0.00,1.95,0.00,0.000,4,0.000,0.071,2660,3303,3597,0,0,0,0,0,0
$GC,10293,-0.57,-112.4,855.9,-7.4,857,10297,0.00,1.88,0.00,0.000,6,0.000,0.055,2660,2136,3597,0,0,0,0,0,0
$GC,10624,-0.57,-112.4,879.3,-7.1,868,10625,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2135,3597,0,0,0,0,0,0
$GC,10926,-0.57,-112.4,900.7,-7.2,878,10930,0.00,1.95,0.00,0.000,4,0.000,0.071,2656,3307,3596,0,0,0,0,0,0
$GC,10958,-0.57,-112.4,902.8,-7.6,879,10962,0.00,1.88,0.00,0.000,6,0.000,0.056,2657,2138,3596,0,0,0,0,0,0
$GC,11294,-0.57,-112.4,927.8,-7.6,890,11295,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2138,3596,0,0,0,0,0,0
$GC,11597,-0.57,-112.4,950.8,-7.6,900,11601,0.00,2.08,0.00,0.000,4,0.000,0.062,2657,852,3595,0,0,0,0,0,0
$GC,11623,-0.57,-112.4,953.1,-8.3,900,11629,0.00,2.08,0.00,0.000,6,0.000,0.061,2651,2135,3594,0,0,0,0,0,0
$GC,11933,-0.57,-112.4,978.3,-8.2,911,11936,0.00,1.92,0.00,0.000,4,0.000,0.072,2642,3304,3594,0,0,0,0,0,0
$GC,12001,-0.57,-112.4,984.2,-9.0,913,12005,0.00,1.85,0.00,0.000,6,0.000,0.057,2643,2151,3594,0,0,0,0,0,0
$STATE,12086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12086,begin apogee
$GC,12091,-0.14,0.0,991.6,8.6,916,12187,0.52,0.00,93.60,1.236,6,0.121,0.000,2811,1999,3150,0,0,0,0,0,0
$STATE,12187,end apogee,CONTROL_FINISHED_OK
$STATE,12188,begin climb
$GC,12189,0.45,112.4,994.2,0.0,919,12296,0.55,2.15,100.68,1.197,4,0.065,0.063,3013,773,2690,0,0,0,0,0,0
$GC,12312,0.44,145.9,992.2,4.9,922,12347,0.00,2.15,31.70,1.149,6,0.000,0.059,3013,1997,2555,0,0,0,0,0,0
$GC,12656,0.40,145.9,961.2,9.6,934,12659,0.00,2.10,0.00,0.000,4,0.000,0.069,3013,3237,2548,0,0,0,0,0,0
$GC,12780,0.36,145.9,947.8,12.2,937,12785,0.17,2.00,0.00,0.000,6,0.169,0.057,2977,2016,2547,0,0,0,0,0,0
$GC,13087,0.35,145.9,923.6,7.6,948,13091,0.00,2.05,0.00,0.000,4,0.000,0.069,2977,3237,2547,0,0,0,0,0,0
$GC,13146,0.32,145.9,918.6,9.1,949,13151,0.00,1.98,0.00,0.000,6,0.000,0.058,2983,2030,2546,0,0,0,0,0,0
$GC,13454,0.30,145.9,893.2,8.2,960,13458,0.00,2.00,0.00,0.000,4,0.000,0.067,2983,3234,2546,0,0,0,0,0,0
$GC,13486,0.28,145.9,890.4,8.4,961,13490,0.12,1.92,0.00,0.000,6,0.137,0.057,2951,2052,2546,0,0,0,0,0,0
$GC,13822,0.28,145.9,868.6,6.3,972,13825,0.00,1.98,0.00,0.000,4,0.000,0.069,2951,3239,2545,0,0,0,0,0,0
$GC,13847,0.28,145.9,867.0,6.8,972,13853,0.00,1.92,0.00,0.000,6,0.000,0.058,2954,2053,2545,0,0,0,0,0,0
$GC,14156,0.28,145.9,846.9,6.5,983,14160,0.00,1.95,0.00,0.000,4,0.000,0.067,2955,3237,2545,0,0,0,0,0,0
$GC,14177,0.28,145.9,845.3,6.8,983,14181,0.00,1.92,0.00,0.000,6,0.000,0.057,2958,2050,2545,0,0,0,0,0,0
$GC,14491,0.28,145.9,824.5,6.5,994,14495,0.00,1.95,0.00,0.000,4,0.000,0.068,2958,3230,2545,0,0,0,0,0,0
$GC,14523,0.27,145.9,822.2,7.6,995,14526,0.00,1.88,0.00,0.000,6,0.000,0.057,2960,2068,2544,0,0,0,0,0,0
$GC,14858,0.27,145.9,800.7,6.3,1006,14859,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2068,2544,0,0,0,0,0,0
$GC,15161,0.27,150.9,782.3,5.9,1016,15170,0.00,1.95,4.03,0.729,4,0.000,0.069,2960,3240,2534,0,0,0,0,0,0
$GC,15187,0.26,158.4,780.6,5.8,1016,15201,0.00,1.88,8.27,0.960,6,0.000,0.058,2965,2075,2504,0,0,0,0,0,0
$GC,15527,0.26,158.4,759.5,6.2,1028,15531,0.00,1.95,0.00,0.000,4,0.000,0.069,2965,3239,2503,0,0,0,0,0,0
$GC,15558,0.25,158.4,757.2,6.6,1029,15562,0.10,1.88,0.00,0.000,6,0.133,0.058,2938,2085,2503,0,0,0,0,0,0
$GC,15894,0.27,200.1,741.1,4.6,1040,15935,0.00,2.22,36.85,1.066,4,0.000,0.065,2938,757,2334,0,0,0,0,0,0
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$STATE,25015,end climb,SURFACE_DEPTH_REACHED
$STATE,25016,begin surface coast
$FINISH,1.1,1.011548
$STATE,25057,end surface coast,CONTROL_FINISHED_OK
$STATE,25057,begin surface
$SM_CCo,25131,0.00,0.000,0,0,1564,389.05
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$IRIDIUM_FIX,4648.08,-12642.08,101299,202000
$TT8_MAMPS,0.052923
$HUMID,41.65
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,22.8,48.052
$10V_AH,10.1,45.906
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.750,191.175,437.750,0.000,0.000,27.307,31.714,251.460,0.000,0.000,15.423,0.000,19531.342,610.792,4646.794,763.432,0.000,2310.485,0.000,3970.372,0.000,0.534,0.000
$DEVICE_MAMPS,239.304,79.768,1236.404,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1351.102,1609.408,1735.573,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298604
$DATA_FILE_SIZE,113684,1954
$CAP_FILE_SIZE,239075,0
$CFSIZE,260165632,227201024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.075,198.1,1
$GPS,160910,102937,4710.503,-12639.391,38,1.9,38,18.6