version: 66.06
glider: 187
mission: 2
dive: 307
start: 8 28 110 16 6 7
data:
$ID,187
$MISSION,2
$DIVE,307
$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,-29645.227
$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,22
$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
$GPS1,155531,4743.080,-12533.105,41,1.5,41,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-75.8
$GPS2,160601,4742.968,-12533.155,13,1.5,18,18.7
$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,63.5,52774,-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,12,-0.45,-112.4,0.0,0.0,0,68,0.00,0.00,-53.67,0.000,2,0.000,0.000,131,2067,2906,0,0,0,0,0,0
$GC,70,-0.45,-112.4,3.0,-2.0,10,103,10.43,1.92,-17.98,0.000,4,0.240,0.071,2679,839,3610,0,0,0,0,0,0
$GC,194,-0.42,-112.4,23.2,-15.3,33,201,0.00,2.00,0.00,0.000,6,0.000,0.058,2672,2082,3611,0,0,0,0,0,0
$GC,521,-0.40,-112.4,72.5,-13.3,94,527,0.12,2.00,0.00,0.000,4,0.164,0.067,2699,3308,3613,0,0,0,0,0,0
$GC,617,-0.40,-112.4,82.2,-9.1,112,624,0.00,1.95,0.00,0.000,6,0.000,0.050,2699,2067,3614,0,0,0,0,0,0
$GC,940,-0.40,-112.4,113.5,-9.3,160,943,0.00,2.03,0.00,0.000,4,0.000,0.066,2691,3312,3614,0,0,0,0,0,0
$GC,998,-0.40,-112.4,118.9,-9.0,165,1006,0.00,1.92,0.00,0.000,6,0.000,0.051,2690,2082,3614,0,0,0,0,0,0
$GC,1314,-0.40,-112.4,147.5,-8.7,196,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2082,3614,0,0,0,0,0,0
$GC,1626,-0.40,-112.4,173.6,-8.1,226,1629,0.00,1.98,0.00,0.000,4,0.000,0.066,2683,3313,3614,0,0,0,0,0,0
$GC,1661,-0.40,-112.4,176.8,-8.3,229,1669,0.00,1.92,0.00,0.000,6,0.000,0.051,2683,2087,3614,0,0,0,0,0,0
$GC,1977,-0.40,-112.4,203.3,-8.5,260,1981,0.00,2.00,0.00,0.000,4,0.000,0.067,2674,3317,3614,0,0,0,0,0,0
$GC,2031,-0.40,-112.4,208.1,-8.9,265,2035,0.08,1.90,0.00,0.000,6,0.128,0.051,2700,2103,3614,0,0,0,0,0,0
$GC,2351,-0.40,-112.4,233.8,-8.0,296,2355,0.00,1.98,0.00,0.000,4,0.000,0.067,2695,3314,3614,0,0,0,0,0,0
$GC,2393,-0.40,-112.4,237.2,-8.0,300,2398,0.00,1.88,0.00,0.000,6,0.000,0.051,2694,2110,3614,0,0,0,0,0,0
$GC,2715,-0.40,-112.4,265.0,-8.5,331,2718,0.00,1.95,0.00,0.000,4,0.000,0.069,2692,3305,3614,0,0,0,0,0,0
$GC,2757,-0.40,-112.4,268.4,-8.2,335,2761,0.00,1.85,0.00,0.000,6,0.000,0.052,2692,2115,3614,0,0,0,0,0,0
$GC,3077,-0.40,-112.4,294.2,-8.5,366,3082,0.00,1.95,0.00,0.000,4,0.000,0.069,2692,3314,3613,0,0,0,0,0,0
$GC,3110,-0.40,-112.4,296.7,-8.3,369,3113,0.00,1.88,0.00,0.000,6,0.000,0.053,2691,2114,3613,0,0,0,0,0,0
$GC,3431,-0.40,-112.4,324.4,-8.5,400,3434,0.00,1.95,0.00,0.000,4,0.000,0.071,2691,3310,3613,0,0,0,0,0,0
$GC,3510,-0.40,-112.4,330.9,-7.6,407,3516,0.00,1.83,0.00,0.000,6,0.000,0.053,2691,2137,3612,0,0,0,0,0,0
$GC,3825,-0.40,-112.4,356.5,-7.8,438,3830,0.00,1.90,0.00,0.000,4,0.000,0.070,2690,3305,3613,0,0,0,0,0,0
$GC,3857,-0.40,-112.4,359.0,-7.8,441,3861,0.00,1.83,0.00,0.000,6,0.000,0.053,2690,2139,3612,0,0,0,0,0,0
$GC,4179,-0.40,-112.4,385.3,-8.4,472,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2139,3612,0,0,0,0,0,0
$GC,4490,-0.40,-112.4,410.0,-7.5,502,4493,0.00,1.88,0.00,0.000,4,0.000,0.070,2690,3316,3613,0,0,0,0,0,0
$GC,4521,-0.41,-112.4,412.5,-7.9,505,4524,0.00,1.83,0.00,0.000,6,0.000,0.054,2690,2141,3612,0,0,0,0,0,0
$GC,4841,-0.41,-112.4,436.8,-7.4,536,4845,0.00,1.90,0.00,0.000,4,0.000,0.070,2690,3307,3613,0,0,0,0,0,0
$GC,4884,-0.42,-112.4,439.9,-6.7,540,4888,0.00,1.80,0.00,0.000,6,0.000,0.054,2690,2156,3612,0,0,0,0,0,0
$GC,5205,-0.42,-112.4,462.8,-7.2,571,5206,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2156,3612,0,0,0,0,0,0
$GC,5517,-0.42,-112.4,485.5,-7.8,601,5519,0.00,1.85,0.00,0.000,4,0.000,0.071,2685,3316,3612,0,0,0,0,0,0
$GC,5547,-0.42,-112.4,488.0,-8.1,604,5551,0.00,1.83,0.00,0.000,6,0.000,0.054,2684,2151,3612,0,0,0,0,0,0
$GC,5868,-0.42,-112.4,512.8,-7.4,635,5872,0.00,2.08,0.00,0.000,4,0.000,0.061,2685,843,3612,0,0,0,0,0,0
$GC,5894,-0.42,-112.4,514.9,-8.0,637,5901,0.00,2.10,0.00,0.000,6,0.000,0.061,2682,2164,3612,0,0,0,0,0,0
$GC,6210,-0.42,-112.4,539.4,-8.3,668,6214,0.00,1.88,0.00,0.000,4,0.000,0.071,2674,3314,3612,0,0,0,0,0,0
$GC,6241,-0.42,-112.4,542.0,-8.2,671,6245,0.00,1.83,0.00,0.000,6,0.000,0.054,2674,2157,3612,0,0,0,0,0,0
$GC,6562,-0.42,-112.4,570.5,-8.8,702,6566,0.00,1.90,0.00,0.000,4,0.000,0.071,2667,3316,3612,0,0,0,0,0,0
$GC,6594,-0.42,-112.4,573.5,-9.8,705,6598,0.08,1.80,0.00,0.000,6,0.127,0.055,2693,2167,3612,0,0,0,0,0,0
$GC,6916,-0.43,-112.4,598.0,-7.9,736,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2167,3612,0,0,0,0,0,0
$GC,7219,-0.44,-112.4,621.3,-7.5,748,7223,0.00,1.88,0.00,0.000,4,0.000,0.072,2692,3313,3611,0,0,0,0,0,0
$GC,7261,-0.46,-112.4,624.3,-7.3,749,7265,0.00,1.77,0.00,0.000,6,0.000,0.055,2691,2178,3612,0,0,0,0,0,0
$GC,7586,-0.47,-112.4,647.2,-6.9,760,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2177,3612,0,0,0,0,0,0
$GC,7890,-0.48,-112.4,666.6,-6.2,770,7893,0.00,2.10,0.00,0.000,4,0.000,0.062,2691,847,3612,0,0,0,0,0,0
$GC,7916,-0.49,-112.4,668.4,-7.0,770,7922,0.00,2.12,0.00,0.000,6,0.000,0.061,2691,2178,3613,0,0,0,0,0,0
$GC,8224,-0.50,-112.4,687.1,-6.1,781,8228,0.00,1.85,0.00,0.000,4,0.000,0.072,2691,3308,3612,0,0,0,0,0,0
$GC,8294,-0.52,-112.4,691.2,-5.4,783,8298,0.00,1.77,0.00,0.000,6,0.000,0.056,2691,2178,3612,0,0,0,0,0,0
$GC,8623,-0.53,-112.4,711.9,-6.3,794,8624,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2178,3613,0,0,0,0,0,0
$GC,8928,-0.55,-112.4,729.4,-5.5,804,8928,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2178,3613,0,0,0,0,0,0
$GC,9231,-0.56,-112.4,745.4,-5.2,814,9232,0.10,0.00,0.00,0.000,6,0.114,0.000,2644,2178,3613,0,0,0,0,0,0
$GC,9534,-0.56,-112.4,770.4,-8.7,824,9534,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2178,3614,0,0,0,0,0,0
$GC,9837,-0.56,-112.4,797.1,-8.7,834,9838,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2177,3614,0,0,0,0,0,0
$GC,10141,-0.56,-112.4,824.5,-9.1,844,10145,0.00,1.88,0.00,0.000,4,0.000,0.073,2636,3317,3613,0,0,0,0,0,0
$GC,10199,-0.56,-112.4,829.9,-9.1,845,10206,0.00,1.77,0.00,0.000,6,0.000,0.056,2636,2186,3614,0,0,0,0,0,0
$GC,10508,-0.55,-112.4,859.2,-9.8,856,10509,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2186,3614,0,0,0,0,0,0
$GC,10812,-0.53,-112.4,887.2,-9.1,866,10813,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2186,3615,0,0,0,0,0,0
$GC,11115,-0.52,-112.4,915.3,-9.4,876,11116,0.10,0.00,0.00,0.000,6,0.179,0.000,2662,2186,3615,0,0,0,0,0,0
$GC,11418,-0.52,-112.4,939.2,-7.2,886,11422,0.00,1.85,0.00,0.000,4,0.000,0.074,2655,3305,3615,0,0,0,0,0,0
$GC,11477,-0.52,-112.4,943.5,-8.0,887,11483,0.00,1.77,0.00,0.000,6,0.000,0.058,2656,2183,3615,0,0,0,0,0,0
$GC,11785,-0.54,-112.4,963.9,-5.3,898,11789,0.00,1.88,0.00,0.000,4,0.000,0.076,2656,3313,3616,0,0,0,0,0,0
$GC,12031,-0.60,-112.4,964.0,0.1,905,12035,0.00,1.75,0.00,0.000,6,0.000,0.055,2655,2195,3616,0,0,0,0,0,0
$STATE,12131,end dive,NO_VERTICAL_VELOCITY
$STATE,12131,begin apogee
$GC,12134,-0.14,0.0,964.0,0.0,909,12233,0.38,0.00,97.10,1.214,6,0.087,0.000,2789,1992,3150,0,0,0,0,0,0
$STATE,12234,end apogee,CONTROL_FINISHED_OK
$STATE,12234,begin climb
$GC,12236,0.45,112.4,964.0,0.0,912,12341,0.55,2.20,98.57,1.181,4,0.082,0.068,2977,3230,2690,0,0,0,0,0,0
$GC,12367,0.42,122.3,960.5,5.7,916,12382,0.00,2.10,10.07,1.019,6,0.000,0.056,2985,2003,2651,0,0,0,0,0,0
$GC,12691,0.39,122.3,935.6,7.9,927,12695,0.00,2.10,0.00,0.000,4,0.000,0.069,2985,3238,2647,0,0,0,0,0,0
$GC,12820,0.35,122.3,923.8,9.4,931,12824,0.12,1.98,0.00,0.000,6,0.148,0.058,2956,2032,2647,0,0,0,0,0,0
$GC,13154,0.34,122.3,900.3,7.0,942,13158,0.00,2.00,0.00,0.000,4,0.000,0.069,2957,3230,2646,0,0,0,0,0,0
$GC,13191,0.32,122.3,897.4,8.6,943,13195,0.00,1.95,0.00,0.000,6,0.000,0.058,2960,2027,2646,0,0,0,0,0,0
$GC,13522,0.31,122.3,873.9,6.7,954,13522,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2027,2646,0,0,0,0,0,0
$GC,13825,0.30,130.6,855.3,5.8,964,13836,0.00,1.95,7.43,0.974,4,0.000,0.069,2960,3239,2618,0,0,0,0,0,0
$GC,13893,0.28,130.6,850.9,7.2,966,13898,0.12,1.92,0.00,0.000,6,0.138,0.058,2927,2043,2618,0,0,0,0,0,0
$GC,14218,0.30,168.3,836.1,4.7,977,14253,0.00,0.00,34.17,1.113,6,0.000,0.000,2927,2043,2463,0,0,0,0,0,0
$GC,14551,0.32,188.4,818.7,5.4,988,14571,0.00,0.00,18.58,1.071,6,0.000,0.000,2927,2043,2382,0,0,0,0,0,0
$GC,14855,0.35,206.7,802.2,5.4,998,14876,0.00,2.15,17.27,1.054,4,0.000,0.067,2927,757,2307,0,0,0,0,0,0
$GC,14896,0.40,260.2,800.1,4.2,999,14948,0.08,2.10,47.22,1.080,6,0.071,0.060,2970,2040,2089,0,0,0,0,0,0
$GC,15271,0.40,260.2,773.3,7.1,1012,15275,0.00,1.98,0.00,0.000,4,0.000,0.069,2970,3237,2080,0,0,0,0,0,0
$GC,15297,0.40,260.2,771.4,7.4,1012,15303,0.00,1.98,0.00,0.000,6,0.000,0.059,2972,2032,2080,0,0,0,0,0,0
$GC,15606,0.40,260.2,748.5,7.6,1023,15610,0.00,2.05,0.00,0.000,4,0.000,0.068,2972,764,2079,0,0,0,0,0,0
$GC,15648,0.41,260.2,745.6,6.2,1024,15653,0.00,2.05,0.00,0.000,6,0.000,0.060,2972,2041,2080,0,0,0,0,0,0
$GC,15973,0.41,260.2,722.0,7.2,1035,15974,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2041,2078,0,0,0,0,0,0
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$STATE,25159,end climb,SURFACE_DEPTH_REACHED
$STATE,25159,begin surface coast
$FINISH,1.3,1.024065
$STATE,25222,end surface coast,CONTROL_FINISHED_OK
$STATE,25222,begin surface
$SM_CCo,25297,0.00,0.000,0,0,1445,418.24
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$TT8_MAMPS,0.05369
$HUMID,39.72
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,23.4,34.759
$10V_AH,10.2,31.414
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.350,211.050,459.525,0.000,0.000,57.660,111.703,257.367,0.000,0.000,18.095,0.000,19702.756,655.611,4727.163,796.492,0.000,2397.729,0.000,4019.247,0.000,0.533,0.000
$DEVICE_MAMPS,240.071,75.933,1214.161,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1361.299,1646.127,1741.267,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,110460,1964
$CAP_FILE_SIZE,248962,0
$CFSIZE,260165632,236367872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.131,329.8,1
$GPS,280810,230837,4744.705,-12529.664,36,1.6,36,18.7