version: 66.06
glider: 187
mission: 2
dive: 461
start: 9 20 110 11 51 32
data:
$ID,187
$MISSION,2
$DIVE,461
$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,-33063.094
$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,34
$R_STBD_OVSHOOT,27
$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
$GPS1,114307,4731.422,-12554.706,36,1.3,36,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-76.3
$GPS2,115126,4731.368,-12554.635,17,1.4,17,18.7
$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,51.6,86836,-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,-112.4,0.0,0.0,0,80,0.00,0.00,-64.78,0.000,2,0.000,0.000,131,2086,2996,0,0,0,0,0,0
$GC,82,-0.45,-112.4,3.4,-2.4,12,110,10.43,1.98,-13.25,0.000,4,0.233,0.071,2701,842,3609,0,0,0,0,0,0
$GC,255,-0.44,-112.4,38.7,-15.8,44,260,0.00,1.98,0.00,0.000,6,0.000,0.056,2694,2066,3612,0,0,0,0,0,0
$GC,581,-0.43,-112.4,77.3,-10.1,105,587,0.00,2.03,0.00,0.000,4,0.000,0.064,2685,3302,3614,0,0,0,0,0,0
$GC,645,-0.43,-112.4,84.0,-10.4,117,651,0.08,1.92,0.00,0.000,6,0.122,0.048,2711,2084,3614,0,0,0,0,0,0
$GC,966,-0.43,-112.4,112.2,-8.0,164,970,0.00,1.95,0.00,0.000,4,0.000,0.055,2712,849,3615,0,0,0,0,0,0
$GC,1105,-0.43,-112.4,124.1,-8.6,177,1109,0.00,1.95,0.00,0.000,6,0.000,0.054,2710,2073,3615,0,0,0,0,0,0
$GC,1426,-0.43,-112.4,148.4,-7.0,208,1429,0.00,2.00,0.00,0.000,4,0.000,0.065,2709,3314,3615,0,0,0,0,0,0
$GC,1517,-0.44,-112.4,155.0,-7.6,216,1523,0.00,1.92,0.00,0.000,6,0.000,0.049,2709,2087,3614,0,0,0,0,0,0
$GC,1832,-0.44,-112.4,180.1,-8.2,247,1835,0.00,2.00,0.00,0.000,4,0.000,0.067,2703,3301,3614,0,0,0,0,0,0
$GC,1885,-0.46,-112.4,184.3,-8.2,252,1889,0.00,1.92,0.00,0.000,6,0.000,0.049,2703,2080,3613,0,0,0,0,0,0
$GC,2206,-0.46,-112.4,210.7,-7.8,283,2209,0.00,1.95,0.00,0.000,4,0.000,0.058,2703,846,3613,0,0,0,0,0,0
$GC,2226,-0.46,-112.4,212.5,-8.3,285,2231,0.00,1.98,0.00,0.000,6,0.000,0.056,2700,2087,3613,0,0,0,0,0,0
$GC,2548,-0.46,-112.4,236.9,-7.3,316,2551,0.00,2.00,0.00,0.000,4,0.000,0.067,2692,3320,3612,0,0,0,0,0,0
$GC,2606,-0.47,-112.4,241.3,-7.2,321,2612,0.00,1.92,0.00,0.000,6,0.000,0.051,2692,2099,3612,0,0,0,0,0,0
$GC,2922,-0.47,-112.4,266.0,-8.3,352,2925,0.00,1.98,0.00,0.000,4,0.000,0.058,2692,844,3611,0,0,0,0,0,0
$GC,2947,-0.47,-112.4,268.2,-8.6,354,2954,0.00,2.05,0.00,0.000,6,0.000,0.058,2692,2122,3611,0,0,0,0,0,0
$GC,3264,-0.47,-112.4,292.9,-7.3,385,3267,0.00,1.92,0.00,0.000,4,0.000,0.067,2691,3322,3610,0,0,0,0,0,0
$GC,3403,-0.49,-112.4,302.1,-6.5,398,3406,0.00,1.88,0.00,0.000,6,0.000,0.051,2691,2118,3610,0,0,0,0,0,0
$GC,3723,-0.49,-112.4,322.7,-6.3,429,3727,0.00,1.95,0.00,0.000,4,0.000,0.067,2689,3313,3610,0,0,0,0,0,0
$GC,3776,-0.50,-112.4,326.1,-6.0,434,3780,0.00,1.88,0.00,0.000,6,0.000,0.052,2689,2129,3609,0,0,0,0,0,0
$GC,4097,-0.50,-112.4,349.5,-7.8,465,4101,0.00,1.92,0.00,0.000,4,0.000,0.067,2683,3305,3609,0,0,0,0,0,0
$GC,4133,-0.50,-112.4,352.5,-8.0,468,4140,0.00,1.85,0.00,0.000,6,0.000,0.051,2682,2136,3608,0,0,0,0,0,0
$GC,4450,-0.50,-112.4,376.8,-7.8,499,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2136,3608,0,0,0,0,0,0
$GC,4762,-0.50,-112.4,399.6,-7.2,529,4765,0.00,1.92,0.00,0.000,4,0.000,0.069,2675,3313,3607,0,0,0,0,0,0
$GC,4836,-0.50,-112.4,405.3,-7.2,536,4839,0.00,1.83,0.00,0.000,6,0.000,0.051,2675,2150,3606,0,0,0,0,0,0
$GC,5156,-0.50,-112.4,431.1,-8.0,567,5160,0.00,2.08,0.00,0.000,4,0.000,0.058,2674,843,3606,0,0,0,0,0,0
$GC,5188,-0.50,-112.4,433.8,-8.1,570,5192,0.00,2.10,0.00,0.000,6,0.000,0.060,2674,2149,3606,0,0,0,0,0,0
$GC,5509,-0.50,-112.4,460.7,-8.3,601,5513,0.00,1.92,0.00,0.000,4,0.000,0.071,2667,3310,3605,0,0,0,0,0,0
$GC,5605,-0.50,-112.4,469.2,-8.5,610,5609,0.00,1.83,0.00,0.000,6,0.000,0.054,2666,2163,3605,0,0,0,0,0,0
$GC,5925,-0.50,-112.4,498.6,-9.7,641,5926,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2163,3604,0,0,0,0,0,0
$GC,6238,-0.50,-112.4,527.7,-9.2,671,6238,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2164,3604,0,0,0,0,0,0
$GC,6547,-0.50,-112.4,555.2,-8.6,701,6548,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2163,3604,0,0,0,0,0,0
$GC,6858,-0.50,-112.4,580.5,-7.9,731,6861,0.00,1.90,0.00,0.000,4,0.000,0.071,2660,3314,3603,0,0,0,0,0,0
$GC,6905,-0.50,-112.4,584.4,-8.1,735,6913,0.08,1.83,0.00,0.000,6,0.119,0.054,2688,2167,3603,0,0,0,0,0,0
$GC,7220,-0.51,-112.4,603.6,-5.8,762,7223,0.00,2.12,0.00,0.000,4,0.000,0.061,2688,843,3603,0,0,0,0,0,0
$GC,7251,-0.52,-112.4,605.6,-6.4,763,7255,0.00,2.10,0.00,0.000,6,0.000,0.061,2688,2144,3603,0,0,0,0,0,0
$GC,7586,-0.53,-112.4,624.0,-5.2,774,7590,0.00,1.92,0.00,0.000,4,0.000,0.071,2682,3306,3603,0,0,0,0,0,0
$GC,7699,-0.55,-112.4,630.5,-5.7,777,7702,0.00,1.83,0.00,0.000,6,0.000,0.054,2682,2164,3602,0,0,0,0,0,0
$GC,8017,-0.55,-112.4,650.4,-6.4,788,8018,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2164,3602,0,0,0,0,0,0
$GC,8321,-0.55,-112.4,670.7,-6.8,798,8322,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2164,3601,0,0,0,0,0,0
$GC,8624,-0.55,-112.4,691.1,-6.6,808,8628,0.00,2.10,0.00,0.000,4,0.000,0.062,2682,856,3601,0,0,0,0,0,0
$GC,8656,-0.55,-112.4,693.3,-7.0,809,8660,0.00,2.12,0.00,0.000,6,0.000,0.061,2681,2169,3601,0,0,0,0,0,0
$GC,8991,-0.55,-112.4,716.6,-7.2,820,8995,0.00,1.88,0.00,0.000,4,0.000,0.071,2676,3309,3600,0,0,0,0,0,0
$GC,9072,-0.56,-112.4,722.5,-7.3,822,9075,0.00,1.80,0.00,0.000,6,0.000,0.055,2676,2183,3599,0,0,0,0,0,0
$GC,9390,-0.56,-112.4,747.2,-8.0,833,9391,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2183,3599,0,0,0,0,0,0
$GC,9694,-0.56,-112.4,770.1,-7.4,843,9698,0.00,1.88,0.00,0.000,4,0.000,0.071,2672,3314,3599,0,0,0,0,0,0
$GC,9833,-0.57,-112.4,780.3,-6.9,847,9836,0.00,1.77,0.00,0.000,6,0.000,0.053,2672,2181,3599,0,0,0,0,0,0
$GC,10157,-0.57,-112.4,803.8,-7.1,858,10161,0.00,1.85,0.00,0.000,4,0.000,0.071,2666,3303,3598,0,0,0,0,0,0
$GC,10248,-0.58,-112.4,810.2,-7.7,860,10253,0.00,1.73,0.00,0.000,6,0.000,0.055,2665,2226,3598,0,0,0,0,0,0
$GC,10556,-0.58,-112.4,832.4,-7.1,871,10557,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2225,3598,0,0,0,0,0,0
$GC,10860,-0.58,-112.4,855.0,-7.5,881,10863,0.00,2.20,0.00,0.000,4,0.000,0.062,2666,846,3598,0,0,0,0,0,0
$GC,10886,-0.58,-112.4,857.0,-8.5,881,10892,0.00,2.22,0.00,0.000,6,0.000,0.061,2663,2212,3598,0,0,0,0,0,0
$GC,11194,-0.58,-112.4,879.0,-7.0,892,11198,0.00,1.80,0.00,0.000,4,0.000,0.071,2663,3303,3597,0,0,0,0,0,0
$GC,11226,-0.58,-112.4,881.3,-7.3,893,11230,0.00,1.75,0.00,0.000,6,0.000,0.055,2663,2213,3597,0,0,0,0,0,0
$GC,11562,-0.58,-112.4,904.3,-6.9,904,11565,0.00,2.17,0.00,0.000,4,0.000,0.061,2663,843,3597,0,0,0,0,0,0
$GC,11598,-0.58,-112.4,907.2,-8.2,905,11602,0.00,2.20,0.00,0.000,6,0.000,0.062,2663,2195,3597,0,0,0,0,0,0
$GC,11928,-0.58,-112.4,930.2,-7.0,916,11933,0.00,1.83,0.00,0.000,4,0.000,0.072,2663,3302,3597,0,0,0,0,0,0
$GC,11966,-0.59,-112.4,932.7,-6.5,917,11969,0.00,1.77,0.00,0.000,6,0.000,0.055,2663,2199,3597,0,0,0,0,0,0
$GC,12295,-0.59,-112.4,953.8,-6.3,928,12300,0.00,2.17,0.00,0.000,4,0.000,0.062,2663,853,3597,0,0,0,0,0,0
$GC,12332,-0.59,-112.4,956.2,-6.9,929,12336,0.00,2.20,0.00,0.000,6,0.000,0.061,2663,2200,3596,0,0,0,0,0,0
$GC,12663,-0.59,-112.4,975.8,-6.0,940,12667,0.00,1.83,0.00,0.000,4,0.000,0.073,2663,3302,3596,0,0,0,0,0,0
$GC,12716,-0.61,-112.4,978.8,-5.4,941,12719,0.00,1.75,0.00,0.000,6,0.000,0.055,2663,2212,3596,0,0,0,0,0,0
$STATE,12906,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12906,begin apogee
$GC,12911,-0.14,0.0,990.2,5.9,948,13007,0.45,0.00,93.82,1.239,6,0.117,0.000,2808,1993,3150,0,0,0,0,0,0
$STATE,13008,end apogee,CONTROL_FINISHED_OK
$STATE,13008,begin climb
$GC,13009,0.45,112.4,991.4,0.0,951,13117,0.55,2.15,100.53,1.199,4,0.067,0.063,3016,769,2690,0,0,0,0,0,0
$GC,13137,0.42,112.4,986.9,6.9,955,13141,0.00,2.15,0.00,0.000,6,0.000,0.058,3016,2000,2688,0,0,0,0,0,0
$GC,13467,0.37,112.4,955.7,9.4,966,13471,0.15,2.10,0.00,0.000,4,0.166,0.069,2979,3232,2685,0,0,0,0,0,0
$GC,13606,0.34,112.4,944.0,7.7,970,13610,0.00,1.98,0.00,0.000,6,0.000,0.058,2985,2036,2684,0,0,0,0,0,0
$GC,13931,0.32,112.4,920.9,6.9,981,13931,0.00,0.00,0.00,0.000,6,0.000,0.000,2985,2036,2683,0,0,0,0,0,0
$GC,14235,0.29,112.4,901.0,6.5,991,14238,0.12,1.98,0.00,0.000,4,0.170,0.069,2953,3244,2683,0,0,0,0,0,0
$GC,14276,0.28,112.4,898.2,7.0,992,14280,0.00,2.00,0.00,0.000,6,0.000,0.058,2959,2019,2682,0,0,0,0,0,0
$GC,14601,0.28,135.8,881.0,5.3,1003,14625,0.00,2.08,19.83,1.122,4,0.000,0.068,2967,763,2596,0,0,0,0,0,0
$GC,14658,0.28,135.8,877.8,6.4,1004,14664,0.00,2.03,0.00,0.000,6,0.000,0.060,2967,2008,2595,0,0,0,0,0,0
$GC,14967,0.27,135.8,857.3,6.7,1015,14970,0.00,2.05,0.00,0.000,4,0.000,0.068,2967,3237,2593,0,0,0,0,0,0
$GC,15112,0.25,135.8,845.9,7.7,1019,15116,0.15,1.92,0.00,0.000,6,0.160,0.055,2934,2035,2593,0,0,0,0,0,0
$GC,15425,0.27,167.1,829.2,5.0,1030,15456,0.00,0.00,28.35,1.112,6,0.000,0.000,2934,2035,2468,0,0,0,0,0,0
$GC,15759,0.30,204.0,812.7,4.8,1041,15797,0.00,2.08,32.67,1.098,4,0.000,0.069,2933,3235,2317,0,0,0,0,0,0
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$STATE,26054,end climb,SURFACE_DEPTH_REACHED
$STATE,26054,begin surface coast
$FINISH,2.2,1.023686
$STATE,26069,end surface coast,CONTROL_FINISHED_OK
$STATE,26069,begin surface
$SM_CCo,26145,0.00,0.000,0,0,1640,370.65
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$IRIDIUM_FIX,4713.38,-12556.72,151299,040427
$TT8_MAMPS,0.05369
$HUMID,40.43
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,22.9,50.109
$10V_AH,10.1,48.308
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.125,230.400,423.625,0.000,0.000,27.238,37.020,272.099,0.000,0.000,17.331,0.000,20179.146,624.408,4996.225,796.821,0.000,2469.782,0.000,4251.162,0.000,0.533,0.000
$DEVICE_MAMPS,233.168,72.865,1238.705,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1463.014,1356.007,1738.894,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,113602,2006
$CAP_FILE_SIZE,257994,0
$CFSIZE,260165632,225488896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.045,348.4,1
$GPS,200910,190807,4732.876,-12550.496,32,1.1,32,18.7