version: 66.06
glider: 187
mission: 2
dive: 300
start: 8 26 110 13 16 37
data:
$ID,187
$MISSION,2
$DIVE,300
$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,-29505.592
$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,27
$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
$GPS1,130936,4731.918,-12556.440,28,1.8,28,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-73.4
$GPS2,131632,4731.844,-12556.361,9,1.9,9,18.7
$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,41.3,88119,-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,-112.4,0.0,0.0,0,76,0.00,0.00,-61.35,0.000,2,0.000,0.000,131,2071,2752,0,0,0,0,0,0
$GC,78,-0.45,-112.4,3.2,-2.2,11,117,10.30,1.98,-23.08,0.000,4,0.237,0.074,2679,848,3611,0,0,0,0,0,0
$GC,240,-0.42,-112.4,31.3,-17.6,41,246,0.00,1.95,0.00,0.000,6,0.000,0.054,2673,2075,3613,0,0,0,0,0,0
$GC,567,-0.39,-112.4,79.9,-14.0,102,572,0.12,2.00,0.00,0.000,4,0.163,0.064,2700,3316,3614,0,0,0,0,0,0
$GC,614,-0.39,-112.4,85.4,-10.9,111,622,0.00,1.92,0.00,0.000,6,0.000,0.051,2700,2092,3615,0,0,0,0,0,0
$GC,935,-0.39,-112.4,116.2,-8.4,155,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2091,3615,0,0,0,0,0,0
$GC,1246,-0.39,-112.4,143.7,-9.8,185,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2091,3615,0,0,0,0,0,0
$GC,1557,-0.39,-112.4,173.2,-9.2,215,1558,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,2091,3615,0,0,0,0,0,0
$GC,1867,-0.39,-112.4,199.2,-8.3,245,1871,0.00,1.95,0.00,0.000,4,0.000,0.058,2699,840,3615,0,0,0,0,0,0
$GC,1947,-0.39,-112.4,206.3,-8.2,252,1954,0.00,1.98,0.00,0.000,6,0.000,0.055,2697,2094,3614,0,0,0,0,0,0
$GC,2262,-0.39,-112.4,232.5,-8.2,283,2266,0.00,1.98,0.00,0.000,4,0.000,0.067,2691,3316,3614,0,0,0,0,0,0
$GC,2369,-0.39,-112.4,241.2,-7.4,293,2372,0.00,1.90,0.00,0.000,6,0.000,0.051,2690,2097,3614,0,0,0,0,0,0
$GC,2689,-0.39,-112.4,267.9,-8.7,324,2693,0.00,1.95,0.00,0.000,4,0.000,0.059,2691,849,3613,0,0,0,0,0,0
$GC,2733,-0.39,-112.4,272.0,-9.4,328,2736,0.00,1.98,0.00,0.000,6,0.000,0.058,2691,2099,3613,0,0,0,0,0,0
$GC,3052,-0.39,-112.4,301.2,-8.6,359,3056,0.00,1.95,0.00,0.000,4,0.000,0.067,2685,3309,3612,0,0,0,0,0,0
$GC,3154,-0.39,-112.4,310.1,-8.3,368,3160,0.00,1.88,0.00,0.000,6,0.000,0.051,2684,2106,3612,0,0,0,0,0,0
$GC,3469,-0.39,-112.4,335.4,-7.4,399,3473,0.00,2.00,0.00,0.000,4,0.000,0.060,2684,843,3611,0,0,0,0,0,0
$GC,3496,-0.39,-112.4,337.4,-8.0,401,3501,0.00,2.00,0.00,0.000,6,0.000,0.058,2679,2110,3611,0,0,0,0,0,0
$GC,3811,-0.39,-112.4,360.7,-7.3,432,3816,0.10,1.92,0.00,0.000,4,0.170,0.067,2699,3304,3611,0,0,0,0,0,0
$GC,3870,-0.41,-112.4,364.2,-5.9,437,3875,0.00,1.85,0.00,0.000,6,0.000,0.052,2699,2113,3611,0,0,0,0,0,0
$GC,4185,-0.41,-112.4,381.6,-5.4,468,4186,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2113,3610,0,0,0,0,0,0
$GC,4496,-0.41,-112.4,400.1,-5.8,498,4497,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2113,3609,0,0,0,0,0,0
$GC,4807,-0.42,-112.4,420.0,-7.0,528,4807,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2113,3609,0,0,0,0,0,0
$GC,5117,-0.43,-112.4,441.5,-6.9,558,5120,0.00,1.90,0.00,0.000,4,0.000,0.070,2694,3309,3608,0,0,0,0,0,0
$GC,5148,-0.44,-112.4,443.9,-7.8,561,5152,0.00,1.88,0.00,0.000,6,0.000,0.055,2693,2112,3608,0,0,0,0,0,0
$GC,5469,-0.44,-112.4,469.5,-8.2,592,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2112,3608,0,0,0,0,0,0
$GC,5780,-0.44,-112.4,495.0,-7.9,622,5783,0.00,1.92,0.00,0.000,4,0.000,0.071,2692,3309,3607,0,0,0,0,0,0
$GC,5827,-0.46,-112.4,498.9,-8.4,626,5833,0.00,1.88,0.00,0.000,6,0.000,0.054,2692,2111,3607,0,0,0,0,0,0
$GC,6142,-0.46,-112.4,523.3,-7.8,657,6143,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2111,3606,0,0,0,0,0,0
$GC,6454,-0.46,-112.4,547.1,-8.1,687,6457,0.00,1.95,0.00,0.000,4,0.000,0.071,2692,3309,3605,0,0,0,0,0,0
$GC,6500,-0.47,-112.4,550.7,-7.7,691,6506,0.00,1.88,0.00,0.000,6,0.000,0.054,2692,2110,3606,0,0,0,0,0,0
$GC,6816,-0.47,-112.4,571.8,-6.3,722,6820,0.00,1.98,0.00,0.000,4,0.000,0.061,2692,852,3605,0,0,0,0,0,0
$GC,6842,-0.47,-112.4,573.6,-7.0,724,6849,0.00,2.00,0.00,0.000,6,0.000,0.060,2691,2112,3605,0,0,0,0,0,0
$GC,7158,-0.47,-112.4,592.9,-6.2,755,7162,0.00,1.92,0.00,0.000,4,0.000,0.069,2691,3305,3604,0,0,0,0,0,0
$GC,7249,-0.49,-112.4,598.2,-6.0,763,7254,0.00,1.85,0.00,0.000,6,0.000,0.054,2691,2122,3604,0,0,0,0,0,0
$GC,7558,-0.50,-112.4,615.0,-5.4,776,7559,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2122,3604,0,0,0,0,0,0
$GC,7862,-0.50,-112.4,632.3,-5.8,786,7862,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2122,3604,0,0,0,0,0,0
$GC,8165,-0.51,-112.4,651.1,-6.1,796,8169,0.00,1.95,0.00,0.000,4,0.000,0.071,2691,3313,3603,0,0,0,0,0,0
$GC,8207,-0.53,-112.4,653.8,-6.1,797,8211,0.00,1.88,0.00,0.000,6,0.000,0.055,2691,2120,3604,0,0,0,0,0,0
$GC,8532,-0.54,-112.4,675.0,-6.6,808,8536,0.00,1.95,0.00,0.000,4,0.000,0.071,2691,3307,3603,0,0,0,0,0,0
$GC,8569,-0.56,-112.4,677.7,-6.4,809,8573,0.08,1.85,0.00,0.000,6,0.065,0.056,2642,2132,3603,0,0,0,0,0,0
$GC,8899,-0.55,-112.4,708.4,-9.5,820,8903,0.00,2.03,0.00,0.000,4,0.000,0.063,2642,848,3603,0,0,0,0,0,0
$GC,8930,-0.54,-112.4,711.9,-10.2,821,8935,0.00,2.05,0.00,0.000,6,0.000,0.064,2635,2130,3602,0,0,0,0,0,0
$GC,9266,-0.52,-112.4,744.4,-9.7,832,9270,0.10,1.92,0.00,0.000,4,0.181,0.072,2655,3313,3602,0,0,0,0,0,0
$GC,9335,-0.52,-112.4,750.5,-8.9,834,9339,0.00,1.85,0.00,0.000,6,0.000,0.054,2654,2132,3602,0,0,0,0,0,0
$GC,9665,-0.52,-112.4,777.4,-8.1,845,9669,0.00,1.92,0.00,0.000,4,0.000,0.072,2646,3308,3602,0,0,0,0,0,0
$GC,9712,-0.52,-112.4,781.4,-8.3,846,9717,0.00,1.85,0.00,0.000,6,0.000,0.056,2646,2139,3601,0,0,0,0,0,0
$GC,10032,-0.52,-112.4,808.9,-8.6,857,10033,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2139,3601,0,0,0,0,0,0
$GC,10335,-0.52,-112.4,834.2,-8.1,867,10340,0.00,1.90,0.00,0.000,4,0.000,0.071,2638,3303,3600,0,0,0,0,0,0
$GC,10372,-0.52,-112.4,837.3,-8.4,868,10376,0.00,1.85,0.00,0.000,6,0.000,0.056,2638,2138,3600,0,0,0,0,0,0
$GC,10703,-0.51,-112.4,865.6,-8.7,879,10707,0.12,2.05,0.00,0.000,4,0.166,0.064,2673,847,3600,0,0,0,0,0,0
$GC,10739,-0.51,-112.4,868.5,-7.1,880,10743,0.00,2.05,0.00,0.000,6,0.000,0.061,2673,2140,3600,0,0,0,0,0,0
$GC,11069,-0.51,-112.4,890.8,-6.9,891,11074,0.00,1.88,0.00,0.000,4,0.000,0.071,2665,3303,3599,0,0,0,0,0,0
$GC,11138,-0.51,-112.4,895.5,-6.5,893,11142,0.00,1.80,0.00,0.000,6,0.000,0.057,2666,2155,3598,0,0,0,0,0,0
$GC,11468,-0.51,-112.4,917.6,-6.7,904,11472,0.00,2.08,0.00,0.000,4,0.000,0.064,2666,844,3599,0,0,0,0,0,0
$GC,11516,-0.51,-112.4,921.2,-7.8,905,11520,0.00,2.08,0.00,0.000,6,0.000,0.062,2663,2146,3599,0,0,0,0,0,0
$GC,11835,-0.51,-112.4,944.4,-7.5,916,11839,0.00,1.88,0.00,0.000,4,0.000,0.074,2663,3306,3599,0,0,0,0,0,0
$GC,11915,-0.51,-112.4,950.0,-6.9,918,11919,0.00,1.83,0.00,0.000,6,0.000,0.057,2663,2156,3599,0,0,0,0,0,0
$GC,12235,-0.51,-112.4,972.9,-7.2,929,12235,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2156,3598,0,0,0,0,0,0
$STATE,12475,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12476,begin apogee
$GC,12479,-0.14,0.0,990.2,7.1,937,12575,0.40,0.00,93.62,1.235,6,0.121,0.000,2791,2002,3149,0,0,0,0,0,0
$STATE,12575,end apogee,CONTROL_FINISHED_OK
$STATE,12575,begin climb
$GC,12577,0.45,112.4,992.1,0.0,940,12679,0.57,0.00,99.25,1.200,6,0.082,0.000,2982,2002,2691,0,0,0,0,0,0
$GC,12963,0.43,112.4,967.0,7.8,953,12967,0.00,2.08,0.00,0.000,4,0.000,0.069,2983,3234,2685,0,0,0,0,0,0
$GC,13053,0.39,112.4,959.0,8.8,955,13059,0.00,1.98,0.00,0.000,6,0.000,0.058,2990,2029,2685,0,0,0,0,0,0
$GC,13362,0.36,112.4,933.6,8.2,966,13366,0.15,2.03,0.00,0.000,4,0.171,0.070,2953,3237,2684,0,0,0,0,0,0
$GC,13394,0.34,112.4,931.2,7.2,967,13398,0.00,1.98,0.00,0.000,6,0.000,0.058,2959,2021,2684,0,0,0,0,0,0
$GC,13729,0.33,112.4,907.7,7.4,978,13733,0.00,2.00,0.00,0.000,4,0.000,0.071,2959,3236,2683,0,0,0,0,0,0
$GC,13766,0.30,112.4,904.6,9.0,979,13770,0.10,1.92,0.00,0.000,6,0.146,0.058,2935,2039,2683,0,0,0,0,0,0
$GC,14096,0.30,112.4,883.3,6.3,990,14100,0.00,1.98,0.00,0.000,4,0.000,0.071,2935,3238,2682,0,0,0,0,0,0
$GC,14122,0.29,112.4,881.5,7.1,990,14128,0.00,1.90,0.00,0.000,6,0.000,0.059,2935,2053,2682,0,0,0,0,0,0
$GC,14431,0.29,112.4,862.1,6.5,1001,14435,0.00,1.92,0.00,0.000,4,0.000,0.071,2935,3229,2682,0,0,0,0,0,0
$GC,14468,0.28,112.4,859.5,6.7,1002,14472,0.00,1.88,0.00,0.000,6,0.000,0.058,2935,2056,2682,0,0,0,0,0,0
$GC,14798,0.28,112.4,837.6,6.5,1013,14799,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2056,2682,0,0,0,0,0,0
$GC,15101,0.28,112.7,819.3,6.1,1023,15105,0.00,1.92,0.00,0.000,4,0.000,0.071,2935,3234,2682,0,0,0,0,0,0
$GC,15133,0.27,112.7,817.1,7.6,1024,15137,0.00,1.85,0.00,0.000,6,0.000,0.058,2935,2074,2681,0,0,0,0,0,0
$GC,15468,0.27,115.2,796.9,6.0,1035,15472,0.00,1.90,0.00,0.000,4,0.000,0.072,2935,3227,2682,0,0,0,0,0,0
$GC,15494,0.27,115.2,795.1,6.2,1035,15501,0.00,1.88,0.00,0.000,6,0.000,0.058,2937,2059,2681,0,0,0,0,0,0
$GC,15803,0.28,127.8,776.8,5.6,1046,15819,0.00,1.90,12.77,1.040,4,0.000,0.069,2936,3234,2627,0,0,0,0,0,0
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$STATE,25500,end climb,SURFACE_DEPTH_REACHED
$STATE,25500,begin surface coast
$FINISH,1.2,1.005036
$STATE,25571,end surface coast,CONTROL_FINISHED_OK
$STATE,25571,begin surface
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$HUMID,39.25
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$TCM_TEMP,16.10
$XPDR_PINGS,0
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$10V_AH,10.2,30.273
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.025,200.175,426.125,0.000,0.000,28.454,34.412,225.805,0.000,0.000,9.872,0.000,20018.986,648.156,4711.483,643.486,0.000,2385.017,0.000,4008.061,0.000,0.533,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1345.038,1625.378,1672.090,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298588
$DATA_FILE_SIZE,107094,1944
$CAP_FILE_SIZE,244594,0
$CFSIZE,260165632,237182976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.027,263.9,1
$GPS,260810,202501,4733.391,-12552.490,42,1.6,42,18.7