version: 66.06
glider: 187
mission: 2
dive: 279
start: 8 20 110 3 20 49
data:
$ID,187
$MISSION,2
$DIVE,279
$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,-29129.369
$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,23
$R_STBD_OVSHOOT,25
$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
$GPS1,031337,4705.193,-12647.854,40,1.0,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-72.3
$GPS2,032044,4705.159,-12647.801,13,1.1,13,18.6
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$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,234.4,18130,-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,-112.4,0.0,0.0,0,79,0.00,0.00,-64.40,0.000,2,0.000,0.000,132,2070,2950,0,0,0,0,0,0
$GC,81,-0.45,-112.4,3.3,-2.8,12,114,10.38,2.03,-15.43,0.000,4,0.241,0.079,2674,3309,3611,0,0,0,0,0,0
$GC,215,-0.42,-112.4,29.5,-18.4,37,221,0.00,1.98,0.00,0.000,6,0.000,0.050,2674,2062,3613,0,0,0,0,0,0
$GC,541,-0.38,-112.4,78.4,-14.3,98,547,0.12,2.03,0.00,0.000,4,0.165,0.064,2700,3305,3615,0,0,0,0,0,0
$GC,579,-0.37,-112.4,83.1,-12.8,105,585,0.00,1.92,0.00,0.000,6,0.000,0.050,2700,2072,3615,0,0,0,0,0,0
$GC,899,-0.35,-112.4,120.2,-11.0,149,903,0.00,2.00,0.00,0.000,4,0.000,0.064,2692,3301,3616,0,0,0,0,0,0
$GC,1000,-0.35,-112.4,130.8,-10.2,158,1006,0.00,1.92,0.00,0.000,6,0.000,0.049,2692,2077,3616,0,0,0,0,0,0
$GC,1315,-0.35,-112.4,163.0,-9.6,189,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2074,3616,0,0,0,0,0,0
$GC,1627,-0.35,-112.4,190.7,-8.8,219,1628,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2074,3616,0,0,0,0,0,0
$GC,1937,-0.35,-112.4,218.0,-9.0,249,1938,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2074,3616,0,0,0,0,0,0
$GC,2248,-0.35,-112.4,245.7,-8.1,279,2251,0.00,1.92,0.00,0.000,4,0.000,0.058,2692,836,3615,0,0,0,0,0,0
$GC,2290,-0.35,-112.4,249.4,-8.9,283,2294,0.08,1.95,0.00,0.000,6,0.133,0.054,2714,2084,3615,0,0,0,0,0,0
$GC,2610,-0.35,-112.4,271.7,-7.3,314,2611,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2084,3614,0,0,0,0,0,0
$GC,2921,-0.36,-112.4,293.9,-7.3,344,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2084,3613,0,0,0,0,0,0
$GC,3232,-0.37,-112.4,316.1,-7.3,374,3235,0.00,1.95,0.00,0.000,4,0.000,0.061,2714,825,3612,0,0,0,0,0,0
$GC,3273,-0.39,-112.4,319.4,-7.8,378,3277,0.00,1.98,0.00,0.000,6,0.000,0.057,2714,2086,3612,0,0,0,0,0,0
$GC,3595,-0.40,-112.4,341.9,-6.7,409,3598,0.00,1.98,0.00,0.000,4,0.000,0.067,2709,3313,3611,0,0,0,0,0,0
$GC,3627,-0.42,-112.4,344.1,-7.4,412,3630,0.00,1.90,0.00,0.000,6,0.000,0.053,2708,2093,3611,0,0,0,0,0,0
$GC,3947,-0.43,-112.4,365.2,-6.6,443,3948,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2093,3611,0,0,0,0,0,0
$GC,4258,-0.44,-112.4,387.1,-7.3,473,4259,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2093,3610,0,0,0,0,0,0
$GC,4569,-0.45,-112.4,410.9,-7.7,503,4569,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2093,3609,0,0,0,0,0,0
$GC,4879,-0.46,-112.4,434.3,-7.6,533,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2093,3609,0,0,0,0,0,0
$GC,5189,-0.47,-112.4,455.2,-6.4,563,5190,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2092,3608,0,0,0,0,0,0
$GC,5500,-0.49,-112.4,474.2,-6.0,593,5500,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2093,3608,0,0,0,0,0,0
$GC,5810,-0.50,-112.4,493.5,-6.6,623,5811,0.10,0.00,0.00,0.000,6,0.110,0.000,2658,2093,3607,0,0,0,0,0,0
$GC,6120,-0.50,-112.4,522.7,-9.6,653,6120,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2093,3606,0,0,0,0,0,0
$GC,6430,-0.50,-112.4,552.0,-9.5,683,6431,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2092,3605,0,0,0,0,0,0
$GC,6741,-0.50,-112.4,581.9,-9.5,713,6744,0.00,1.98,0.00,0.000,4,0.000,0.071,2650,3306,3605,0,0,0,0,0,0
$GC,6762,-0.50,-112.4,583.9,-10.1,715,6766,0.00,1.92,0.00,0.000,6,0.000,0.056,2650,2080,3604,0,0,0,0,0,0
$GC,7080,-0.49,-112.4,616.4,-10.2,736,7084,0.00,2.00,0.00,0.000,4,0.000,0.071,2641,3306,3604,0,0,0,0,0,0
$GC,7106,-0.48,-112.4,619.1,-11.1,736,7112,0.10,1.90,0.00,0.000,6,0.127,0.056,2676,2091,3604,0,0,0,0,0,0
$GC,7414,-0.48,-112.4,645.0,-8.2,747,7414,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2091,3603,0,0,0,0,0,0
$GC,7717,-0.48,-112.4,667.5,-7.1,757,7718,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2091,3603,0,0,0,0,0,0
$GC,8021,-0.48,-112.4,688.2,-6.7,767,8025,0.00,1.98,0.00,0.000,4,0.000,0.072,2670,3299,3603,0,0,0,0,0,0
$GC,8052,-0.48,-112.4,690.4,-7.3,768,8057,0.00,1.90,0.00,0.000,6,0.000,0.057,2670,2088,3603,0,0,0,0,0,0
$GC,8387,-0.48,-112.4,713.3,-6.7,779,8388,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2088,3602,0,0,0,0,0,0
$GC,8692,-0.48,-112.4,734.0,-6.9,789,8695,0.00,2.00,0.00,0.000,4,0.000,0.072,2662,3311,3602,0,0,0,0,0,0
$GC,8723,-0.48,-112.4,736.2,-7.5,790,8727,0.00,1.92,0.00,0.000,6,0.000,0.057,2662,2091,3602,0,0,0,0,0,0
$GC,9058,-0.48,-112.4,760.8,-7.5,801,9059,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2090,3601,0,0,0,0,0,0
$GC,9362,-0.48,-112.4,784.9,-8.0,811,9366,0.00,2.00,0.00,0.000,4,0.000,0.073,2659,3312,3601,0,0,0,0,0,0
$GC,9388,-0.48,-112.4,787.0,-8.6,811,9395,0.00,1.95,0.00,0.000,6,0.000,0.058,2659,2082,3601,0,0,0,0,0,0
$GC,9696,-0.48,-112.4,813.0,-8.4,822,9697,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2082,3601,0,0,0,0,0,0
$GC,10000,-0.48,-112.4,838.8,-8.6,832,10004,0.00,1.98,0.00,0.000,4,0.000,0.072,2651,3306,3600,0,0,0,0,0,0
$GC,10032,-0.48,-112.4,841.5,-8.3,833,10036,0.00,1.90,0.00,0.000,6,0.000,0.058,2650,2100,3600,0,0,0,0,0,0
$GC,10367,-0.48,-112.4,871.2,-8.7,844,10368,0.10,0.00,0.00,0.000,6,0.176,0.000,2677,2099,3600,0,0,0,0,0,0
$GC,10670,-0.48,-112.4,892.3,-6.7,854,10671,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2099,3599,0,0,0,0,0,0
$GC,10974,-0.48,-112.4,911.9,-6.4,864,10978,0.00,1.95,0.00,0.000,4,0.000,0.074,2672,3303,3599,0,0,0,0,0,0
$GC,11011,-0.48,-112.4,914.4,-6.7,865,11015,0.00,1.92,0.00,0.000,6,0.000,0.058,2672,2093,3599,0,0,0,0,0,0
$GC,11341,-0.48,-112.4,935.8,-6.6,876,11345,0.00,1.98,0.00,0.000,4,0.000,0.073,2666,3308,3598,0,0,0,0,0,0
$GC,11367,-0.48,-112.4,937.6,-7.5,876,11373,0.00,1.90,0.00,0.000,6,0.000,0.058,2665,2101,3598,0,0,0,0,0,0
$GC,11676,-0.48,-112.4,957.9,-6.5,887,11676,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2101,3598,0,0,0,0,0,0
$GC,11979,-0.48,-112.4,977.3,-6.4,897,11980,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2101,3598,0,0,0,0,0,0
$STATE,12190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12190,begin apogee
$GC,12194,-0.14,0.0,991.8,6.9,904,12289,0.38,0.00,92.82,1.235,6,0.123,0.000,2786,1996,3150,0,0,0,0,0,0
$STATE,12289,end apogee,CONTROL_FINISHED_OK
$STATE,12290,begin climb
$GC,12291,0.45,112.4,993.6,0.0,907,12396,0.57,0.00,98.68,1.198,6,0.085,0.000,2981,1996,2690,0,0,0,0,0,0
$GC,12715,0.43,112.4,967.4,7.1,921,12719,0.00,2.10,0.00,0.000,4,0.000,0.069,2981,3233,2685,0,0,0,0,0,0
$GC,12805,0.39,112.4,960.3,8.7,923,12812,0.00,2.00,0.00,0.000,6,0.000,0.058,2989,2010,2684,0,0,0,0,0,0
$GC,13114,0.36,112.4,937.4,7.5,934,13118,0.15,2.05,0.00,0.000,4,0.169,0.071,2951,3234,2684,0,0,0,0,0,0
$GC,13161,0.34,112.4,934.0,7.0,935,13166,0.00,1.98,0.00,0.000,6,0.000,0.059,2957,2014,2683,0,0,0,0,0,0
$GC,13481,0.32,112.4,913.4,6.6,946,13485,0.00,2.03,0.00,0.000,4,0.000,0.071,2957,3231,2683,0,0,0,0,0,0
$GC,13533,0.30,112.4,909.4,7.6,947,13538,0.10,1.95,0.00,0.000,6,0.147,0.058,2934,2017,2683,0,0,0,0,0,0
$GC,13847,0.30,123.4,891.3,5.7,958,13862,0.00,2.03,9.55,1.044,4,0.000,0.073,2933,3232,2647,0,0,0,0,0,0
$GC,13895,0.30,128.3,888.3,5.9,959,13904,0.00,1.95,6.00,0.913,6,0.000,0.059,2936,2021,2627,0,0,0,0,0,0
$GC,14213,0.30,133.2,869.1,5.9,970,14223,0.00,2.00,5.82,0.912,4,0.000,0.071,2936,3223,2607,0,0,0,0,0,0
$GC,14261,0.30,133.2,866.1,6.5,971,14265,0.00,1.92,0.00,0.000,6,0.000,0.059,2940,2030,2606,0,0,0,0,0,0
$GC,14580,0.31,141.8,847.3,5.8,982,14591,0.00,0.00,9.32,1.021,6,0.000,0.000,2940,2030,2571,0,0,0,0,0,0
$GC,14884,0.32,167.0,831.0,5.2,992,14914,0.00,2.05,23.25,1.096,4,0.000,0.071,2939,3236,2468,0,0,0,0,0,0
$GC,14966,0.32,167.0,826.2,6.4,994,14971,0.00,1.95,0.00,0.000,6,0.000,0.058,2942,2039,2465,0,0,0,0,0,0
$GC,15280,0.32,169.2,807.9,6.0,1005,15281,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,2039,2466,0,0,0,0,0,0
$GC,15584,0.32,170.3,789.1,6.1,1015,15593,0.00,2.00,4.10,0.740,4,0.000,0.071,2943,3234,2455,0,0,0,0,0,0
$GC,15652,0.32,170.3,784.3,7.3,1017,15657,0.00,1.92,0.00,0.000,6,0.000,0.059,2946,2049,2455,0,0,0,0,0,0
$GC,15982,0.32,170.6,763.9,6.1,1028,15986,0.00,1.95,0.00,0.000,4,0.000,0.072,2946,3227,2454,0,0,0,0,0,0
$GC,16025,0.32,171.8,761.1,6.1,1029,16029,0.00,1.88,0.00,0.000,6,0.000,0.060,2946,2058,2454,0,0,0,0,0,0
$GC,16349,0.33,176.4,741.4,5.9,1040,16357,0.00,0.00,6.90,0.914,6,0.000,0.000,2946,2059,2431,0,0,0,0,0,0
$GC,16653,0.33,178.8,723.6,6.0,1050,16658,0.00,0.00,4.10,0.721,6,0.000,0.000,2946,2059,2420,0,0,0,0,0,0
$GC,16956,0.33,178.8,705.0,6.3,1060,16960,0.00,1.95,0.00,0.000,4,0.000,0.072,2946,3236,2420,0,0,0,0,0,0
$GC,16998,0.33,178.8,701.9,8.4,1061,17003,0.00,1.90,0.00,0.000,6,0.000,0.059,2946,2060,2419,0,0,0,0,0,0
$GC,17323,0.33,178.8,680.6,6.8,1072,17328,0.00,2.05,0.00,0.000,4,0.000,0.068,2946,773,2419,0,0,0,0,0,0
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$STATE,26662,end climb,SURFACE_DEPTH_REACHED
$STATE,26662,begin surface coast
$FINISH,1.1,1.021611
$STATE,26700,end surface coast,CONTROL_FINISHED_OK
$STATE,26700,begin surface
$SM_CCo,26775,0.00,0.000,0,0,1454,416.03
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$HUMID,38.06
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$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,23.5,30.622
$10V_AH,10.2,26.849
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.450,169.500,467.500,0.000,0.000,25.633,36.118,235.820,0.000,0.000,13.387,0.000,21095.504,637.114,4787.978,639.805,0.000,2386.422,0.000,4076.635,0.000,0.534,0.000
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$SENSOR_SECS,1406.606,1661.997,1741.519,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298588
$DATA_FILE_SIZE,113951,2035
$CAP_FILE_SIZE,246934,0
$CFSIZE,260165632,239632384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057, 64.1,1
$GPS,200810,104807,4704.292,-12651.807,46,1.1,46,18.6