version: 66.06
glider: 187
mission: 2
dive: 109
start: 7 26 110 13 49 7
data:
$ID,187
$MISSION,2
$DIVE,109
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$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,-25649.666
$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,2835
$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,29
$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
$GPS1,133824,4709.364,-12639.503,35,1.3,52,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-70.8
$GPS2,134901,4709.215,-12639.416,11,1.4,16,18.6
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,1000.000
$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,241.1,31099,-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,-112.4,0.0,0.0,0,69,0.00,0.00,-55.75,0.000,2,0.000,0.000,131,2081,3042,0,0,0,0,0,0
$GC,71,-0.45,-112.4,3.0,-2.6,10,100,10.40,1.95,-13.20,0.000,4,0.248,0.071,2682,832,3609,0,0,0,0,0,0
$GC,115,-0.28,-112.4,14.0,-23.4,18,122,0.20,1.98,0.00,0.000,6,0.143,0.056,2738,2067,3610,0,0,0,0,0,0
$GC,442,-0.28,-112.4,59.5,-11.3,79,449,0.00,2.03,0.00,0.000,4,0.000,0.067,2731,3314,3612,0,0,0,0,0,0
$GC,555,-0.28,-112.4,72.4,-11.3,100,561,0.00,1.95,0.00,0.000,6,0.000,0.051,2731,2072,3613,0,0,0,0,0,0
$GC,884,-0.28,-112.4,104.7,-8.2,157,889,0.00,2.03,0.00,0.000,4,0.000,0.067,2723,3315,3614,0,0,0,0,0,0
$GC,948,-0.28,-112.4,110.1,-8.8,163,952,0.00,1.90,0.00,0.000,6,0.000,0.051,2723,2092,3614,0,0,0,0,0,0
$GC,1268,-0.28,-112.4,139.2,-8.9,194,1273,0.00,1.95,0.00,0.000,4,0.000,0.057,2723,842,3615,0,0,0,0,0,0
$GC,1300,-0.28,-112.4,142.4,-9.5,197,1305,0.00,2.00,0.00,0.000,6,0.000,0.057,2723,2103,3614,0,0,0,0,0,0
$GC,1621,-0.28,-112.4,169.9,-7.8,228,1625,0.00,1.95,0.00,0.000,4,0.000,0.067,2719,3307,3615,0,0,0,0,0,0
$GC,1685,-0.30,-112.4,174.4,-7.2,234,1689,0.00,1.90,0.00,0.000,6,0.000,0.051,2719,2096,3615,0,0,0,0,0,0
$GC,2006,-0.30,-112.4,197.2,-6.9,265,2010,0.00,1.95,0.00,0.000,4,0.000,0.059,2719,841,3615,0,0,0,0,0,0
$GC,2042,-0.30,-112.4,200.0,-7.6,268,2049,0.00,2.00,0.00,0.000,6,0.000,0.058,2719,2105,3614,0,0,0,0,0,0
$GC,2358,-0.30,-112.4,220.7,-7.0,299,2363,0.00,1.95,0.00,0.000,4,0.000,0.068,2718,3309,3615,0,0,0,0,0,0
$GC,2438,-0.31,-112.4,226.2,-6.5,306,2446,0.00,1.88,0.00,0.000,6,0.000,0.051,2718,2106,3615,0,0,0,0,0,0
$GC,2754,-0.31,-112.4,247.9,-7.0,337,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2106,3614,0,0,0,0,0,0
$GC,3065,-0.31,-112.4,268.8,-7.0,367,3068,0.00,1.95,0.00,0.000,4,0.000,0.071,2718,3312,3614,0,0,0,0,0,0
$GC,3091,-0.33,-112.4,270.8,-7.3,369,3097,0.00,1.85,0.00,0.000,6,0.000,0.054,2717,2118,3614,0,0,0,0,0,0
$GC,3406,-0.34,-112.4,293.4,-7.1,400,3410,0.00,1.92,0.00,0.000,4,0.000,0.071,2716,3311,3614,0,0,0,0,0,0
$GC,3438,-0.36,-112.4,295.7,-7.6,403,3442,0.00,1.85,0.00,0.000,6,0.000,0.054,2716,2122,3613,0,0,0,0,0,0
$GC,3758,-0.36,-112.4,319.6,-7.6,434,3759,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2121,3613,0,0,0,0,0,0
$GC,4069,-0.37,-112.4,344.7,-8.0,464,4070,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2120,3613,0,0,0,0,0,0
$GC,4379,-0.38,-112.4,369.0,-7.6,494,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2120,3613,0,0,0,0,0,0
$GC,4690,-0.39,-112.4,389.7,-6.4,524,4691,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2121,3613,0,0,0,0,0,0
$GC,5000,-0.40,-112.4,409.9,-6.4,554,5005,0.00,1.90,0.00,0.000,4,0.000,0.072,2716,3308,3613,0,0,0,0,0,0
$GC,5069,-0.42,-112.4,414.2,-6.2,560,5076,0.00,1.85,0.00,0.000,6,0.000,0.054,2716,2124,3612,0,0,0,0,0,0
$GC,5385,-0.43,-112.4,434.7,-6.6,591,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2124,3612,0,0,0,0,0,0
$GC,5696,-0.45,-112.4,455.4,-6.5,621,5696,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2124,3612,0,0,0,0,0,0
$GC,6006,-0.46,-112.4,475.6,-6.4,651,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,2716,2124,3612,0,0,0,0,0,0
$GC,6317,-0.48,-112.4,495.0,-6.0,681,6318,0.10,0.00,0.00,0.000,6,0.113,0.000,2666,2124,3611,0,0,0,0,0,0
$GC,6626,-0.47,-112.4,522.5,-9.2,711,6627,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2124,3611,0,0,0,0,0,0
$GC,6937,-0.46,-112.4,550.1,-8.7,741,6941,0.00,1.90,0.00,0.000,4,0.000,0.073,2658,3310,3611,0,0,0,0,0,0
$GC,6974,-0.46,-112.4,553.5,-9.4,744,6981,0.00,1.85,0.00,0.000,6,0.000,0.057,2658,2134,3611,0,0,0,0,0,0
$GC,7290,-0.44,-112.4,584.2,-10.1,775,7291,0.12,0.00,0.00,0.000,6,0.159,0.000,2693,2133,3611,0,0,0,0,0,0
$GC,7607,-0.44,-112.4,610.3,-8.2,798,7608,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2133,3611,0,0,0,0,0,0
$GC,7910,-0.44,-112.4,635.8,-8.4,808,7911,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2133,3611,0,0,0,0,0,0
$GC,8214,-0.44,-112.4,659.5,-7.5,818,8215,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2133,3611,0,0,0,0,0,0
$GC,8518,-0.44,-112.4,681.1,-6.8,828,8518,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2133,3611,0,0,0,0,0,0
$GC,8821,-0.44,-112.4,701.2,-6.4,838,8822,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2133,3611,0,0,0,0,0,0
$GC,9124,-0.44,-112.4,720.7,-6.4,848,9125,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2133,3610,0,0,0,0,0,0
$GC,9428,-0.44,-112.4,740.6,-6.6,858,9429,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2133,3610,0,0,0,0,0,0
$GC,9731,-0.44,-112.4,760.5,-6.5,868,9732,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2133,3610,0,0,0,0,0,0
$GC,10035,-0.44,-112.4,780.3,-6.4,878,10039,0.00,1.92,0.00,0.000,4,0.000,0.076,2691,3317,3610,0,0,0,0,0,0
$GC,10067,-0.46,-112.4,782.3,-6.7,879,10071,0.00,1.88,0.00,0.000,6,0.000,0.058,2691,2130,3610,0,0,0,0,0,0
$GC,10402,-0.46,-112.4,803.2,-6.0,890,10403,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2128,3610,0,0,0,0,0,0
$GC,10705,-0.46,-112.4,820.9,-5.6,900,10710,0.00,1.92,0.00,0.000,4,0.000,0.075,2691,3314,3610,0,0,0,0,0,0
$GC,10753,-0.47,-112.4,823.6,-5.9,901,10758,0.00,1.85,0.00,0.000,6,0.000,0.058,2691,2141,3610,0,0,0,0,0,0
$GC,11073,-0.47,-112.4,841.6,-5.7,912,11073,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2140,3610,0,0,0,0,0,0
$GC,11376,-0.47,-112.4,858.9,-5.8,922,11377,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2140,3610,0,0,0,0,0,0
$GC,11679,-0.48,-112.4,876.7,-6.0,932,11684,0.00,2.03,0.00,0.000,4,0.000,0.066,2690,851,3610,0,0,0,0,0,0
$GC,11706,-0.48,-112.4,878.4,-6.6,932,11712,0.00,2.05,0.00,0.000,6,0.000,0.064,2691,2140,3610,0,0,0,0,0,0
$GC,12014,-0.48,-112.4,897.0,-6.2,943,12019,0.00,1.92,0.00,0.000,4,0.000,0.075,2691,3319,3610,0,0,0,0,0,0
$GC,12035,-0.50,-112.4,898.3,-6.0,943,12040,0.00,1.85,0.00,0.000,6,0.000,0.059,2691,2149,3610,0,0,0,0,0,0
$GC,12350,-0.51,-112.4,917.7,-6.1,954,12354,0.00,2.03,0.00,0.000,4,0.000,0.066,2691,855,3610,0,0,0,0,0,0
$GC,12381,-0.51,-112.4,920.1,-7.3,955,12385,0.00,2.05,0.00,0.000,6,0.000,0.065,2691,2141,3610,0,0,0,0,0,0
$GC,12717,-0.52,-112.4,942.6,-6.8,966,12721,0.00,1.90,0.00,0.000,4,0.000,0.077,2691,3313,3610,0,0,0,0,0,0
$GC,12758,-0.54,-112.4,945.4,-7.0,967,12763,0.00,1.85,0.00,0.000,6,0.000,0.060,2690,2143,3610,0,0,0,0,0,0
$GC,13083,-0.55,-112.4,967.2,-6.6,978,13088,0.00,2.03,0.00,0.000,4,0.000,0.067,2691,856,3610,0,0,0,0,0,0
$GC,13115,-0.55,-112.4,969.4,-6.9,979,13119,0.00,2.03,0.00,0.000,6,0.000,0.065,2690,2133,3610,0,0,0,0,0,0
$STATE,13449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13449,begin apogee
$GC,13452,-0.14,0.0,991.1,6.5,990,13550,0.30,0.00,96.18,1.226,6,0.127,0.000,2787,2004,3149,0,0,0,0,0,0
$STATE,13550,end apogee,CONTROL_FINISHED_OK
$STATE,13550,begin climb
$GC,13552,0.45,112.4,993.8,0.0,993,13657,0.55,2.15,99.18,1.190,4,0.086,0.071,2983,769,2691,0,0,0,0,0,0
$GC,13677,0.44,134.4,990.2,5.3,997,13704,0.00,2.10,20.55,1.120,6,0.000,0.063,2983,1996,2603,0,0,0,0,0,0
$GC,14007,0.41,134.4,964.1,7.9,1008,14011,0.00,2.10,0.00,0.000,4,0.000,0.074,2983,3236,2598,0,0,0,0,0,0
$GC,14129,0.38,134.4,952.5,9.5,1011,14135,0.10,2.00,0.00,0.000,6,0.151,0.061,2961,2022,2598,0,0,0,0,0,0
$GC,14438,0.36,134.4,929.9,7.2,1022,14442,0.00,2.03,0.00,0.000,4,0.000,0.074,2960,3228,2598,0,0,0,0,0,0
$GC,14485,0.34,134.4,926.0,9.4,1023,14490,0.00,1.98,0.00,0.000,6,0.000,0.061,2966,2021,2598,0,0,0,0,0,0
$GC,14805,0.32,134.4,900.7,7.9,1034,14809,0.00,2.03,0.00,0.000,4,0.000,0.074,2966,3236,2599,0,0,0,0,0,0
$GC,14836,0.30,134.4,898.0,9.4,1035,14841,0.12,1.95,0.00,0.000,6,0.141,0.062,2933,2033,2598,0,0,0,0,0,0
$GC,15171,0.30,134.4,876.3,6.5,1046,15172,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2033,2599,0,0,0,0,0,0
$GC,15475,0.30,140.4,857.8,5.9,1056,15483,0.00,0.00,6.93,0.959,6,0.000,0.000,2933,2032,2577,0,0,0,0,0,0
$GC,15778,0.30,140.4,839.0,6.4,1066,15783,0.00,2.00,0.00,0.000,4,0.000,0.074,2933,3246,2577,0,0,0,0,0,0
$GC,15836,0.30,140.4,834.9,7.8,1067,15843,0.00,1.98,0.00,0.000,6,0.000,0.062,2933,2025,2577,0,0,0,0,0,0
$GC,16145,0.30,140.4,815.0,6.3,1078,16150,0.00,2.03,0.00,0.000,4,0.000,0.072,2933,760,2577,0,0,0,0,0,0
$GC,16171,0.30,140.4,813.2,6.2,1078,16179,0.00,2.05,0.00,0.000,6,0.000,0.064,2933,2038,2577,0,0,0,0,0,0
$GC,16480,0.30,140.4,794.0,6.2,1089,16484,0.00,1.95,0.00,0.000,4,0.000,0.074,2933,3233,2578,0,0,0,0,0,0
$GC,16522,0.30,140.4,791.1,8.0,1090,16527,0.00,1.92,0.00,0.000,6,0.000,0.062,2933,2038,2578,0,0,0,0,0,0
$GC,16847,0.31,160.0,772.7,5.4,1101,16867,0.00,0.00,19.15,1.059,6,0.000,0.000,2933,2038,2497,0,0,0,0,0,0
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$STATE,26675,end climb,SURFACE_DEPTH_REACHED
$STATE,26675,begin surface coast
$FINISH,1.3,1.024332
$STATE,26708,end surface coast,CONTROL_FINISHED_OK
$STATE,26708,begin surface
$SM_CCo,26782,0.00,0.000,0,0,1468,412.59
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$IRIDIUM_FIX,4651.23,-12641.43,201099,131303
$TT8_MAMPS,0.05369
$HUMID,37.20
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,17.40
$XPDR_PINGS,0
$24V_AH,23.6,13.812
$10V_AH,10.3,9.289
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.150,193.825,453.875,0.000,0.000,53.567,72.677,331.741,0.000,0.000,16.290,0.000,21154.039,687.102,4815.314,722.600,0.000,2444.485,0.000,4093.785,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1398.810,1663.488,1719.924,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298572
$DATA_FILE_SIZE,113893,2025
$CAP_FILE_SIZE,256124,0
$CFSIZE,260165632,251240448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.148, 87.9,1
$GPS,260710,211655,4708.635,-12641.569,70,0.9,70,18.6