version: 66.06
glider: 187
mission: 2
dive: 455
start: 9 18 110 15 8 50
data:
$ID,187
$MISSION,2
$DIVE,455
$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,-32940.945
$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,26
$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
$GPS1,145954,4721.724,-12616.397,50,1.6,67,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-76.6
$GPS2,150843,4721.727,-12616.363,14,1.3,31,18.6
$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,33.2,119155,-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,10,begin dive
$GC,12,-0.45,-112.4,0.0,0.0,0,72,0.00,0.00,-57.90,0.000,2,0.000,0.000,130,2066,3053,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.5,-2.8,11,103,10.43,2.05,-11.50,0.000,4,0.234,0.077,2691,3309,3612,0,0,0,0,0,0
$GC,321,-0.44,-112.4,48.1,-12.2,57,328,0.00,1.98,0.00,0.000,6,0.000,0.049,2691,2071,3616,0,0,0,0,0,0
$GC,649,-0.43,-112.4,86.9,-11.9,118,654,0.00,1.95,0.00,0.000,4,0.000,0.057,2691,845,3617,0,0,0,0,0,0
$GC,687,-0.42,-112.4,91.2,-11.4,125,693,0.08,1.98,0.00,0.000,6,0.130,0.054,2711,2080,3618,0,0,0,0,0,0
$GC,1011,-0.42,-112.4,119.8,-9.0,165,1015,0.00,1.98,0.00,0.000,4,0.000,0.064,2705,3303,3618,0,0,0,0,0,0
$GC,1102,-0.42,-112.4,127.8,-8.8,173,1108,0.00,1.95,0.00,0.000,6,0.000,0.048,2705,2067,3618,0,0,0,0,0,0
$GC,1417,-0.42,-112.4,154.9,-8.2,204,1421,0.00,2.03,0.00,0.000,4,0.000,0.064,2705,3306,3618,0,0,0,0,0,0
$GC,1449,-0.44,-112.4,157.4,-8.1,207,1453,0.00,1.92,0.00,0.000,6,0.000,0.049,2704,2082,3618,0,0,0,0,0,0
$GC,1770,-0.44,-112.4,182.5,-7.8,238,1773,0.00,1.98,0.00,0.000,4,0.000,0.064,2705,3313,3617,0,0,0,0,0,0
$GC,1807,-0.45,-112.4,185.4,-7.7,241,1813,0.00,1.90,0.00,0.000,6,0.000,0.049,2705,2106,3617,0,0,0,0,0,0
$GC,2122,-0.45,-112.4,208.2,-7.2,272,2126,0.00,1.98,0.00,0.000,4,0.000,0.065,2704,3306,3616,0,0,0,0,0,0
$GC,2177,-0.47,-112.4,211.9,-7.3,277,2180,0.00,1.85,0.00,0.000,6,0.000,0.049,2704,2099,3615,0,0,0,0,0,0
$GC,2496,-0.48,-112.4,236.5,-8.0,308,2500,0.00,2.00,0.00,0.000,4,0.000,0.057,2704,851,3615,0,0,0,0,0,0
$GC,2533,-0.48,-112.4,239.5,-8.4,311,2539,0.00,2.00,0.00,0.000,6,0.000,0.056,2705,2106,3615,0,0,0,0,0,0
$GC,2849,-0.48,-112.4,261.8,-7.0,342,2853,0.00,1.98,0.00,0.000,4,0.000,0.067,2704,3312,3613,0,0,0,0,0,0
$GC,2886,-0.50,-112.4,264.4,-7.2,345,2894,0.00,1.90,0.00,0.000,6,0.000,0.052,2704,2111,3613,0,0,0,0,0,0
$GC,3203,-0.51,-112.4,285.9,-6.7,376,3206,0.00,2.00,0.00,0.000,4,0.000,0.059,2704,842,3613,0,0,0,0,0,0
$GC,3244,-0.52,-112.4,288.9,-7.1,380,3248,0.00,2.03,0.00,0.000,6,0.000,0.057,2704,2111,3613,0,0,0,0,0,0
$GC,3565,-0.53,-112.4,308.5,-6.0,411,3569,0.00,1.98,0.00,0.000,4,0.000,0.069,2704,3308,3612,0,0,0,0,0,0
$GC,3597,-0.55,-112.4,310.3,-6.0,414,3601,0.00,1.90,0.00,0.000,6,0.000,0.052,2704,2106,3612,0,0,0,0,0,0
$GC,3918,-0.57,-112.4,331.4,-6.8,445,3921,0.00,1.98,0.00,0.000,4,0.000,0.060,2704,846,3612,0,0,0,0,0,0
$GC,3950,-0.58,-112.4,333.8,-7.8,448,3953,0.10,2.00,0.00,0.000,6,0.109,0.059,2655,2110,3611,0,0,0,0,0,0
$GC,4270,-0.57,-112.4,363.3,-8.9,479,4274,0.00,2.03,0.00,0.000,4,0.000,0.059,2655,846,3611,0,0,0,0,0,0
$GC,4317,-0.57,-112.4,367.8,-9.4,483,4324,0.00,1.98,0.00,0.000,6,0.000,0.058,2648,2084,3610,0,0,0,0,0,0
$GC,4635,-0.55,-112.4,396.9,-9.3,514,4637,0.00,1.98,0.00,0.000,4,0.000,0.061,2648,836,3610,0,0,0,0,0,0
$GC,4746,-0.54,-112.4,408.0,-10.2,524,4751,0.10,1.98,0.00,0.000,6,0.132,0.058,2675,2068,3609,0,0,0,0,0,0
$GC,5061,-0.54,-112.4,431.4,-7.0,555,5065,0.00,1.95,0.00,0.000,4,0.000,0.061,2675,850,3609,0,0,0,0,0,0
$GC,5130,-0.54,-112.4,436.8,-7.3,561,5138,0.00,1.92,0.00,0.000,6,0.000,0.058,2675,2049,3608,0,0,0,0,0,0
$GC,5446,-0.54,-112.4,458.5,-6.8,592,5449,0.00,2.05,0.00,0.000,4,0.000,0.069,2672,3319,3607,0,0,0,0,0,0
$GC,5493,-0.54,-112.4,461.9,-6.9,596,5499,0.00,2.00,0.00,0.000,6,0.000,0.054,2672,2057,3607,0,0,0,0,0,0
$GC,5809,-0.54,-112.4,485.5,-7.5,627,5813,0.00,1.95,0.00,0.000,4,0.000,0.061,2672,840,3607,0,0,0,0,0,0
$GC,5852,-0.54,-112.4,489.0,-8.8,631,5855,0.00,1.90,0.00,0.000,6,0.000,0.061,2667,2056,3606,0,0,0,0,0,0
$GC,6172,-0.54,-112.4,515.4,-8.1,662,6176,0.00,2.08,0.00,0.000,4,0.000,0.071,2658,3309,3606,0,0,0,0,0,0
$GC,6262,-0.54,-112.4,523.2,-8.7,670,6268,0.00,2.00,0.00,0.000,6,0.000,0.052,2657,2049,3606,0,0,0,0,0,0
$GC,6579,-0.54,-112.4,551.6,-8.8,701,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2049,3605,0,0,0,0,0,0
$GC,6889,-0.54,-112.4,578.0,-8.3,731,6892,0.00,2.05,0.00,0.000,4,0.000,0.069,2649,3309,3605,0,0,0,0,0,0
$GC,6920,-0.54,-112.4,580.8,-9.2,734,6924,0.08,2.00,0.00,0.000,6,0.121,0.054,2676,2052,3605,0,0,0,0,0,0
$GC,7260,-0.54,-112.4,604.5,-6.6,763,7264,0.00,2.10,0.00,0.000,4,0.000,0.068,2672,3313,3605,0,0,0,0,0,0
$GC,7303,-0.55,-112.4,607.3,-6.4,764,7307,0.00,1.98,0.00,0.000,6,0.000,0.054,2672,2071,3604,0,0,0,0,0,0
$GC,7628,-0.55,-112.4,628.3,-6.4,775,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2071,3604,0,0,0,0,0,0
$GC,7931,-0.55,-112.4,647.1,-6.3,785,7935,0.00,2.05,0.00,0.000,4,0.000,0.069,2664,3308,3604,0,0,0,0,0,0
$GC,7973,-0.55,-112.4,650.0,-7.5,786,7977,0.00,1.98,0.00,0.000,6,0.000,0.054,2664,2070,3604,0,0,0,0,0,0
$GC,8298,-0.55,-112.4,671.5,-6.6,797,8302,0.00,2.08,0.00,0.000,4,0.000,0.071,2663,3309,3604,0,0,0,0,0,0
$GC,8351,-0.55,-112.4,675.1,-6.8,798,8355,0.00,1.98,0.00,0.000,6,0.000,0.054,2663,2074,3603,0,0,0,0,0,0
$GC,8665,-0.55,-112.4,697.6,-7.3,809,8669,0.00,2.05,0.00,0.000,4,0.000,0.070,2662,3307,3603,0,0,0,0,0,0
$GC,8702,-0.55,-112.4,700.3,-7.4,810,8706,0.00,1.95,0.00,0.000,6,0.000,0.054,2663,2084,3603,0,0,0,0,0,0
$GC,9032,-0.55,-112.4,725.6,-7.6,821,9032,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2082,3603,0,0,0,0,0,0
$GC,9335,-0.55,-112.4,748.9,-7.7,831,9336,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2082,3602,0,0,0,0,0,0
$GC,9639,-0.55,-112.4,772.2,-7.6,841,9643,0.00,2.05,0.00,0.000,4,0.000,0.071,2662,3308,3602,0,0,0,0,0,0
$GC,9702,-0.55,-112.4,776.9,-7.8,843,9706,0.00,1.95,0.00,0.000,6,0.000,0.054,2662,2086,3602,0,0,0,0,0,0
$GC,10038,-0.55,-112.4,802.3,-7.5,854,10042,0.00,2.05,0.00,0.000,4,0.000,0.071,2662,3312,3601,0,0,0,0,0,0
$GC,10102,-0.55,-112.4,807.2,-7.5,856,10106,0.00,1.95,0.00,0.000,6,0.000,0.055,2662,2097,3601,0,0,0,0,0,0
$GC,10437,-0.55,-112.4,833.0,-7.8,867,10441,0.00,2.03,0.00,0.000,4,0.000,0.061,2662,839,3600,0,0,0,0,0,0
$GC,10463,-0.55,-112.4,835.3,-9.3,867,10469,0.00,2.03,0.00,0.000,6,0.000,0.061,2655,2089,3600,0,0,0,0,0,0
$GC,10772,-0.55,-112.4,859.8,-7.7,878,10776,0.00,2.03,0.00,0.000,4,0.000,0.071,2648,3306,3600,0,0,0,0,0,0
$GC,10835,-0.55,-112.4,864.8,-8.2,880,10840,0.00,1.92,0.00,0.000,6,0.000,0.054,2648,2102,3600,0,0,0,0,0,0
$GC,11171,-0.55,-112.4,891.7,-7.8,891,11171,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2102,3600,0,0,0,0,0,0
$GC,11475,-0.55,-112.4,913.7,-7.1,901,11478,0.00,2.00,0.00,0.000,4,0.000,0.071,2640,3306,3599,0,0,0,0,0,0
$GC,11532,-0.55,-112.4,918.0,-6.9,902,11539,0.10,1.92,0.00,0.000,6,0.124,0.055,2674,2109,3599,0,0,0,0,0,0
$GC,11842,-0.56,-112.4,935.6,-5.6,913,11845,0.00,2.00,0.00,0.000,4,0.000,0.072,2672,3309,3599,0,0,0,0,0,0
$GC,11885,-0.58,-112.4,938.2,-5.9,914,11888,0.00,1.90,0.00,0.000,6,0.000,0.056,2672,2128,3599,0,0,0,0,0,0
$GC,12208,-0.58,-112.4,957.0,-6.0,925,12209,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2128,3599,0,0,0,0,0,0
$GC,12512,-0.58,-112.4,975.8,-6.3,935,12516,0.00,1.95,0.00,0.000,4,0.000,0.071,2671,3303,3598,0,0,0,0,0,0
$GC,12544,-0.59,-112.4,977.9,-7.4,936,12547,0.00,1.88,0.00,0.000,6,0.000,0.056,2671,2138,3599,0,0,0,0,0,0
$STATE,12726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12726,begin apogee
$GC,12730,-0.14,0.0,990.3,6.8,942,12826,0.43,0.00,94.43,1.239,6,0.114,0.000,2809,2001,3150,0,0,0,0,0,0
$STATE,12827,end apogee,CONTROL_FINISHED_OK
$STATE,12827,begin climb
$GC,12829,0.45,112.4,992.8,0.0,945,12936,0.55,2.17,100.53,1.200,4,0.068,0.063,3016,774,2690,0,0,0,0,0,0
$GC,12946,0.43,139.2,990.9,5.1,948,12975,0.00,2.15,25.80,1.136,6,0.000,0.058,3016,1998,2582,0,0,0,0,0,0
$GC,13287,0.40,139.2,961.2,9.1,960,13290,0.12,2.08,0.00,0.000,4,0.170,0.069,2986,3238,2576,0,0,0,0,0,0
$GC,13376,0.37,139.2,952.9,9.4,963,13380,0.00,2.03,0.00,0.000,6,0.000,0.057,2992,2020,2575,0,0,0,0,0,0
$GC,13712,0.34,139.2,925.0,8.4,974,13715,0.00,2.00,0.00,0.000,4,0.000,0.070,2992,3237,2574,0,0,0,0,0,0
$GC,13759,0.31,139.2,920.6,9.6,975,13763,0.12,1.98,0.00,0.000,6,0.143,0.057,2962,2032,2573,0,0,0,0,0,0
$GC,14079,0.31,139.2,897.7,7.1,986,14082,0.00,2.00,0.00,0.000,4,0.000,0.069,2962,3232,2573,0,0,0,0,0,0
$GC,14126,0.29,139.2,893.9,8.2,987,14130,0.00,1.95,0.00,0.000,6,0.000,0.057,2967,2032,2573,0,0,0,0,0,0
$GC,14446,0.28,139.2,870.0,7.3,998,14446,0.00,0.00,0.00,0.000,6,0.000,0.000,2967,2032,2573,0,0,0,0,0,0
$GC,14749,0.27,139.2,847.6,7.4,1008,14753,0.00,2.00,0.00,0.000,4,0.000,0.070,2967,3238,2573,0,0,0,0,0,0
$GC,14797,0.25,139.2,843.9,8.2,1009,14801,0.10,1.92,0.00,0.000,6,0.136,0.058,2942,2055,2572,0,0,0,0,0,0
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$STATE,26205,end climb,SURFACE_DEPTH_REACHED
$STATE,26205,begin surface coast
$FINISH,1.1,1.013597
$STATE,26253,end surface coast,CONTROL_FINISHED_OK
$STATE,26253,begin surface
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$TCM_TEMP,17.40
$XPDR_PINGS,0
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$10V_AH,10.1,47.289
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.450,236.350,434.025,0.000,0.000,27.636,38.465,280.119,0.000,0.000,31.151,0.000,20390.791,657.486,4961.074,798.711,0.000,2472.960,0.000,4186.058,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1441.511,1566.859,1789.118,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,116829,2025
$CAP_FILE_SIZE,261772,0
$CFSIZE,260165632,226205696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.037,304.6,1
$GPS,180910,222837,4723.951,-12613.124,41,0.9,41,18.7