version: 66.06
glider: 187
mission: 2
dive: 449
start: 9 16 110 17 44 32
data:
$ID,187
$MISSION,2
$DIVE,449
$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,-32812.523
$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,26
$R_STBD_OVSHOOT,31
$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
$GPS1,173637,4712.351,-12636.213,43,1.1,43,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-77.5
$GPS2,174426,4712.321,-12636.125,15,1.5,15,18.6
$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,29.5,149216,-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,-112.4,0.0,0.0,0,73,0.00,0.00,-57.83,0.000,2,0.000,0.000,131,2090,2818,0,0,0,0,0,0
$GC,75,-0.45,-112.4,3.0,-1.7,11,109,10.48,2.03,-19.23,0.000,4,0.235,0.076,2696,3307,3611,0,0,0,0,0,0
$GC,253,-0.43,-112.4,34.3,-15.1,44,258,0.00,1.98,0.00,0.000,6,0.000,0.048,2696,2074,3614,0,0,0,0,0,0
$GC,578,-0.42,-112.4,77.4,-12.5,105,585,0.00,1.95,0.00,0.000,4,0.000,0.054,2696,840,3616,0,0,0,0,0,0
$GC,665,-0.41,-112.4,88.3,-12.1,121,671,0.08,1.95,0.00,0.000,6,0.133,0.054,2717,2064,3616,0,0,0,0,0,0
$GC,991,-0.41,-112.4,118.9,-8.1,163,994,0.00,2.00,0.00,0.000,4,0.000,0.064,2711,3316,3617,0,0,0,0,0,0
$GC,1055,-0.42,-112.4,123.8,-7.3,169,1058,0.00,1.95,0.00,0.000,6,0.000,0.049,2711,2079,3616,0,0,0,0,0,0
$GC,1374,-0.42,-112.4,147.3,-7.9,200,1379,0.00,1.95,0.00,0.000,4,0.000,0.056,2711,846,3617,0,0,0,0,0,0
$GC,1450,-0.42,-112.4,153.6,-8.4,207,1453,0.00,1.95,0.00,0.000,6,0.000,0.054,2710,2080,3617,0,0,0,0,0,0
$GC,1771,-0.42,-112.4,179.6,-8.0,238,1774,0.00,1.98,0.00,0.000,4,0.000,0.064,2706,3308,3616,0,0,0,0,0,0
$GC,1840,-0.43,-112.4,185.0,-7.6,244,1845,0.00,1.90,0.00,0.000,6,0.000,0.048,2706,2077,3616,0,0,0,0,0,0
$GC,2154,-0.43,-112.4,208.6,-7.5,275,2158,0.00,1.95,0.00,0.000,4,0.000,0.057,2706,852,3615,0,0,0,0,0,0
$GC,2202,-0.43,-112.4,212.4,-7.9,279,2209,0.00,1.95,0.00,0.000,6,0.000,0.054,2705,2083,3615,0,0,0,0,0,0
$GC,2519,-0.43,-112.4,234.7,-7.2,310,2522,0.00,2.00,0.00,0.000,4,0.000,0.066,2703,3308,3614,0,0,0,0,0,0
$GC,2571,-0.45,-112.4,238.6,-7.1,315,2575,0.00,1.92,0.00,0.000,6,0.000,0.051,2703,2088,3614,0,0,0,0,0,0
$GC,2893,-0.45,-112.4,263.2,-8.0,346,2894,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2088,3614,0,0,0,0,0,0
$GC,3204,-0.45,-112.4,288.5,-8.2,376,3207,0.00,2.00,0.00,0.000,4,0.000,0.067,2703,3314,3612,0,0,0,0,0,0
$GC,3251,-0.47,-112.4,292.4,-8.0,380,3257,0.00,1.92,0.00,0.000,6,0.000,0.052,2702,2095,3612,0,0,0,0,0,0
$GC,3566,-0.48,-112.4,317.5,-7.8,411,3571,0.00,2.00,0.00,0.000,4,0.000,0.058,2703,838,3612,0,0,0,0,0,0
$GC,3593,-0.48,-112.4,319.6,-8.2,413,3599,0.00,2.00,0.00,0.000,6,0.000,0.057,2703,2095,3612,0,0,0,0,0,0
$GC,3908,-0.49,-112.4,342.4,-7.2,444,3912,0.00,2.00,0.00,0.000,4,0.000,0.067,2702,3312,3611,0,0,0,0,0,0
$GC,3984,-0.51,-112.4,347.5,-6.9,451,3987,0.00,1.88,0.00,0.000,6,0.000,0.053,2702,2097,3610,0,0,0,0,0,0
$GC,4304,-0.52,-112.4,369.5,-6.8,482,4308,0.00,2.00,0.00,0.000,4,0.000,0.060,2702,846,3610,0,0,0,0,0,0
$GC,4359,-0.53,-112.4,373.3,-7.2,487,4362,0.00,2.00,0.00,0.000,6,0.000,0.058,2702,2111,3610,0,0,0,0,0,0
$GC,4678,-0.55,-112.4,395.2,-6.9,518,4682,0.00,1.98,0.00,0.000,4,0.000,0.067,2697,3313,3609,0,0,0,0,0,0
$GC,4721,-0.56,-112.4,398.1,-6.7,522,4725,0.00,1.90,0.00,0.000,6,0.000,0.053,2697,2111,3609,0,0,0,0,0,0
$GC,5043,-0.57,-112.4,421.0,-6.9,553,5046,0.00,2.00,0.00,0.000,4,0.000,0.061,2697,846,3608,0,0,0,0,0,0
$GC,5068,-0.57,-112.4,423.0,-7.8,555,5075,0.00,2.03,0.00,0.000,6,0.000,0.058,2693,2111,3608,0,0,0,0,0,0
$GC,5384,-0.57,-112.4,445.3,-7.2,586,5387,0.00,1.98,0.00,0.000,4,0.000,0.068,2691,3310,3608,0,0,0,0,0,0
$GC,5453,-0.59,-112.4,450.2,-6.9,592,5458,0.00,1.90,0.00,0.000,6,0.000,0.053,2691,2113,3607,0,0,0,0,0,0
$GC,5768,-0.59,-112.4,471.7,-6.8,623,5772,0.00,2.05,0.00,0.000,4,0.000,0.061,2691,844,3607,0,0,0,0,0,0
$GC,5805,-0.59,-112.4,474.4,-7.3,626,5811,0.00,2.05,0.00,0.000,6,0.000,0.058,2691,2122,3607,0,0,0,0,0,0
$GC,6120,-0.59,-112.4,495.5,-6.6,657,6125,0.00,1.95,0.00,0.000,4,0.000,0.068,2691,3307,3606,0,0,0,0,0,0
$GC,6174,-0.61,-112.4,499.0,-7.1,662,6178,0.00,1.90,0.00,0.000,6,0.000,0.054,2691,2114,3606,0,0,0,0,0,0
$GC,6494,-0.61,-112.4,520.6,-7.1,693,6498,0.00,2.05,0.00,0.000,4,0.000,0.062,2691,848,3605,0,0,0,0,0,0
$GC,6538,-0.62,-112.4,523.5,-6.5,697,6541,0.10,2.03,0.00,0.000,6,0.109,0.060,2646,2124,3604,0,0,0,0,0,0
$GC,6858,-0.60,-112.4,553.2,-9.3,728,6862,0.00,1.95,0.00,0.000,4,0.000,0.070,2637,3307,3604,0,0,0,0,0,0
$GC,6937,-0.60,-112.4,560.9,-9.7,735,6944,0.00,1.88,0.00,0.000,6,0.000,0.054,2637,2129,3604,0,0,0,0,0,0
$GC,7254,-0.59,-112.4,592.0,-10.2,766,7257,0.00,2.05,0.00,0.000,4,0.000,0.062,2637,835,3604,0,0,0,0,0,0
$GC,7306,-0.58,-112.4,597.5,-10.4,771,7311,0.10,2.08,0.00,0.000,6,0.135,0.060,2662,2126,3603,0,0,0,0,0,0
$GC,7642,-0.58,-112.4,626.0,-8.5,784,7645,0.00,1.95,0.00,0.000,4,0.000,0.071,2655,3305,3603,0,0,0,0,0,0
$GC,7688,-0.58,-112.4,630.1,-8.7,785,7693,0.00,1.88,0.00,0.000,6,0.000,0.053,2655,2126,3603,0,0,0,0,0,0
$GC,8008,-0.58,-112.4,659.0,-9.0,796,8012,0.00,2.08,0.00,0.000,4,0.000,0.061,2655,843,3603,0,0,0,0,0,0
$GC,8056,-0.58,-112.4,663.5,-9.2,797,8060,0.00,2.08,0.00,0.000,6,0.000,0.061,2650,2130,3603,0,0,0,0,0,0
$GC,8375,-0.58,-112.4,692.7,-9.0,808,8379,0.00,1.95,0.00,0.000,4,0.000,0.072,2642,3302,3602,0,0,0,0,0,0
$GC,8417,-0.58,-112.4,696.5,-8.6,809,8421,0.00,1.88,0.00,0.000,6,0.000,0.054,2642,2126,3602,0,0,0,0,0,0
$GC,8743,-0.57,-112.4,726.5,-9.4,820,8746,0.00,2.03,0.00,0.000,4,0.000,0.061,2642,845,3601,0,0,0,0,0,0
$GC,8800,-0.56,-112.4,732.3,-9.4,821,8807,0.10,2.08,0.00,0.000,6,0.133,0.061,2669,2126,3601,0,0,0,0,0,0
$GC,9109,-0.56,-112.4,755.7,-7.4,832,9113,0.00,1.98,0.00,0.000,4,0.000,0.072,2663,3311,3600,0,0,0,0,0,0
$GC,9147,-0.56,-112.4,758.6,-7.1,833,9150,0.00,1.90,0.00,0.000,6,0.000,0.057,2663,2126,3600,0,0,0,0,0,0
$GC,9476,-0.56,-112.4,784.0,-7.7,844,9480,0.00,2.08,0.00,0.000,4,0.000,0.063,2662,842,3600,0,0,0,0,0,0
$GC,9502,-0.56,-112.4,786.0,-8.3,844,9508,0.00,2.08,0.00,0.000,6,0.000,0.061,2662,2123,3600,0,0,0,0,0,0
$GC,9811,-0.56,-112.4,808.4,-7.2,855,9815,0.00,1.95,0.00,0.000,4,0.000,0.071,2661,3308,3599,0,0,0,0,0,0
$GC,9858,-0.56,-112.4,811.7,-6.7,856,9862,0.00,1.90,0.00,0.000,6,0.000,0.056,2661,2127,3599,0,0,0,0,0,0
$GC,10178,-0.56,-112.4,833.3,-6.6,867,10182,0.00,2.08,0.00,0.000,4,0.000,0.063,2661,842,3599,0,0,0,0,0,0
$GC,10226,-0.56,-112.4,836.8,-6.8,868,10229,0.00,2.08,0.00,0.000,6,0.000,0.061,2655,2127,3599,0,0,0,0,0,0
$GC,10545,-0.56,-112.4,858.8,-6.8,879,10549,0.00,1.95,0.00,0.000,4,0.000,0.071,2647,3309,3599,0,0,0,0,0,0
$GC,10614,-0.56,-112.4,863.6,-6.7,881,10618,0.00,1.88,0.00,0.000,6,0.000,0.054,2647,2135,3599,0,0,0,0,0,0
$GC,10944,-0.56,-112.4,886.4,-6.9,892,10948,0.00,2.08,0.00,0.000,4,0.000,0.062,2647,843,3598,0,0,0,0,0,0
$GC,10986,-0.56,-112.4,889.6,-7.6,893,10990,0.10,2.10,0.00,0.000,6,0.131,0.062,2675,2139,3598,0,0,0,0,0,0
$GC,11311,-0.56,-112.4,908.1,-5.7,904,11315,0.00,1.92,0.00,0.000,4,0.000,0.073,2669,3305,3598,0,0,0,0,0,0
$GC,11349,-0.57,-112.4,910.4,-6.5,905,11352,0.00,1.88,0.00,0.000,6,0.000,0.058,2669,2142,3598,0,0,0,0,0,0
$GC,11678,-0.57,-112.4,930.3,-5.9,916,11682,0.00,2.10,0.00,0.000,4,0.000,0.064,2669,846,3598,0,0,0,0,0,0
$GC,11742,-0.57,-112.4,934.5,-6.0,918,11746,0.00,2.10,0.00,0.000,6,0.000,0.064,2664,2131,3598,0,0,0,0,0,0
$GC,12077,-0.57,-112.4,953.4,-5.5,929,12081,0.00,1.95,0.00,0.000,4,0.000,0.073,2663,3306,3597,0,0,0,0,0,0
$GC,12135,-0.58,-112.4,956.7,-5.5,930,12141,0.00,1.88,0.00,0.000,6,0.000,0.058,2663,2141,3597,0,0,0,0,0,0
$GC,12445,-0.58,-112.4,974.7,-6.0,941,12448,0.00,2.10,0.00,0.000,4,0.000,0.064,2663,848,3597,0,0,0,0,0,0
$GC,12513,-0.58,-112.4,979.3,-6.4,943,12517,0.00,2.10,0.00,0.000,6,0.000,0.062,2663,2137,3597,0,0,0,0,0,0
$STATE,12689,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12689,begin apogee
$GC,12694,-0.14,0.0,991.0,6.5,949,12791,0.45,0.00,94.25,1.238,6,0.117,0.000,2808,1992,3150,0,0,0,0,0,0
$STATE,12791,end apogee,CONTROL_FINISHED_OK
$STATE,12791,begin climb
$GC,12793,0.45,112.4,993.0,0.0,952,12900,0.55,2.15,100.35,1.198,4,0.071,0.064,3013,766,2691,0,0,0,0,0,0
$GC,12952,0.42,112.4,987.2,7.0,957,12956,0.00,2.12,0.00,0.000,6,0.000,0.059,3014,1994,2687,0,0,0,0,0,0
$GC,13277,0.38,112.4,961.7,7.9,968,13281,0.15,2.10,0.00,0.000,4,0.167,0.068,2976,3229,2684,0,0,0,0,0,0
$GC,13406,0.35,112.4,952.9,6.7,972,13409,0.00,1.98,0.00,0.000,6,0.000,0.058,2982,2014,2684,0,0,0,0,0,0
$GC,13740,0.32,116.7,932.7,6.0,983,13749,0.00,2.08,3.78,0.719,4,0.000,0.069,2982,3247,2674,0,0,0,0,0,0
$GC,13848,0.29,116.7,925.3,7.2,986,13852,0.15,1.95,0.00,0.000,6,0.168,0.058,2952,2039,2674,0,0,0,0,0,0
$GC,14166,0.31,139.6,908.9,5.3,997,14191,0.00,2.00,21.77,1.136,4,0.000,0.068,2952,3241,2579,0,0,0,0,0,0
$GC,14252,0.29,139.6,903.7,7.2,998,14256,0.00,1.92,0.00,0.000,6,0.000,0.057,2957,2053,2577,0,0,0,0,0,0
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$STATE,26103,end climb,SURFACE_DEPTH_REACHED
$STATE,26103,begin surface coast
$FINISH,1.1,1.014909
$STATE,26146,end surface coast,CONTROL_FINISHED_OK
$STATE,26147,begin surface
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$HUMID,41.21
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,15.80
$XPDR_PINGS,0
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$10V_AH,10.1,46.239
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.025,241.225,437.675,0.000,0.000,26.185,31.378,255.674,0.000,0.000,15.615,0.000,20278.988,630.519,4968.015,769.042,0.000,2474.191,0.000,4215.966,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1377.432,1634.051,1720.022,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,116847,1991
$CAP_FILE_SIZE,264537,0
$CFSIZE,260165632,226938880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.036,216.8,1
$GPS,170910,010237,4714.009,-12632.934,45,1.0,45,18.6