version: 66.06
glider: 187
mission: 2
dive: 612
start: 10 7 110 7 21 7
data:
$ID,187
$MISSION,2
$DIVE,612
$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,-36760.301
$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,26
$R_STBD_OVSHOOT,23
$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
$GPS1,071207,4743.281,-12544.238,34,1.2,34,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.06
$_SM_ANGLEo,-79.3
$GPS2,072102,4743.330,-12544.218,13,1.4,13,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,CANYON
$TGT_LATLONG,4801.600,-12521.000
$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,34.3,44406,-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,-112.4,0.0,0.0,0,78,0.00,0.00,-62.80,0.000,2,0.000,0.000,131,2094,2913,0,0,0,0,0,0
$GC,80,-0.45,-112.4,3.1,-1.8,12,114,10.50,2.05,-16.27,0.000,4,0.232,0.072,2702,835,3612,0,0,0,0,0,0
$GC,164,-0.42,-112.4,19.7,-18.1,27,170,0.00,2.00,0.00,0.000,6,0.000,0.056,2696,2077,3613,0,0,0,0,0,0
$GC,491,-0.41,-112.4,65.0,-11.4,88,497,0.00,2.03,0.00,0.000,4,0.000,0.064,2687,3307,3615,0,0,0,0,0,0
$GC,566,-0.41,-112.4,73.6,-11.0,102,573,0.08,1.95,0.00,0.000,6,0.118,0.049,2714,2073,3616,0,0,0,0,0,0
$GC,894,-0.41,-112.4,99.3,-7.0,163,900,0.00,1.95,0.00,0.000,4,0.000,0.056,2715,843,3617,0,0,0,0,0,0
$GC,931,-0.42,-112.4,102.0,-7.8,167,936,0.00,1.95,0.00,0.000,6,0.000,0.054,2715,2073,3617,0,0,0,0,0,0
$GC,1248,-0.44,-112.4,124.4,-7.6,198,1251,0.00,1.98,0.00,0.000,4,0.000,0.064,2713,3312,3616,0,0,0,0,0,0
$GC,1323,-0.46,-112.4,130.4,-8.6,205,1326,0.00,1.92,0.00,0.000,6,0.000,0.050,2713,2089,3616,0,0,0,0,0,0
$GC,1643,-0.48,-112.4,158.3,-8.6,236,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2088,3616,0,0,0,0,0,0
$GC,1956,-0.49,-112.4,181.1,-6.9,266,1959,0.00,1.92,0.00,0.000,4,0.000,0.058,2712,846,3615,0,0,0,0,0,0
$GC,2013,-0.52,-112.4,185.4,-7.3,271,2019,0.00,1.95,0.00,0.000,6,0.000,0.054,2713,2075,3616,0,0,0,0,0,0
$GC,2330,-0.53,-112.4,205.1,-5.9,302,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2075,3615,0,0,0,0,0,0
$GC,2641,-0.55,-112.4,224.2,-6.6,332,2644,0.10,1.95,0.00,0.000,4,0.108,0.058,2658,838,3614,0,0,0,0,0,0
$GC,2687,-0.55,-112.4,228.5,-9.1,336,2694,0.00,1.95,0.00,0.000,6,0.000,0.056,2653,2058,3613,0,0,0,0,0,0
$GC,3004,-0.54,-112.4,260.7,-10.3,367,3007,0.00,2.05,0.00,0.000,4,0.000,0.067,2645,3321,3613,0,0,0,0,0,0
$GC,3051,-0.54,-112.4,265.5,-9.6,371,3057,0.08,2.00,0.00,0.000,6,0.118,0.051,2673,2058,3613,0,0,0,0,0,0
$GC,3367,-0.54,-112.4,294.4,-9.1,402,3371,0.00,1.92,0.00,0.000,4,0.000,0.058,2673,846,3612,0,0,0,0,0,0
$GC,3410,-0.54,-112.4,298.4,-9.6,406,3413,0.00,1.90,0.00,0.000,6,0.000,0.057,2672,2068,3612,0,0,0,0,0,0
$GC,3730,-0.54,-112.4,327.8,-8.8,437,3734,0.00,2.03,0.00,0.000,4,0.000,0.066,2666,3305,3611,0,0,0,0,0,0
$GC,3762,-0.54,-112.4,330.7,-9.1,440,3766,0.00,1.98,0.00,0.000,6,0.000,0.052,2666,2062,3611,0,0,0,0,0,0
$GC,4083,-0.54,-112.4,360.6,-8.9,471,4086,0.00,1.95,0.00,0.000,4,0.000,0.059,2666,854,3611,0,0,0,0,0,0
$GC,4109,-0.54,-112.4,363.2,-9.9,473,4114,0.00,1.92,0.00,0.000,6,0.000,0.057,2663,2058,3611,0,0,0,0,0,0
$GC,4424,-0.54,-112.4,391.2,-9.1,504,4428,0.00,2.08,0.00,0.000,4,0.000,0.067,2658,3317,3611,0,0,0,0,0,0
$GC,4456,-0.54,-112.4,394.1,-9.4,507,4460,0.00,2.00,0.00,0.000,6,0.000,0.053,2658,2059,3610,0,0,0,0,0,0
$GC,4778,-0.54,-112.4,423.7,-9.0,538,4781,0.00,1.90,0.00,0.000,4,0.000,0.060,2658,836,3609,0,0,0,0,0,0
$GC,4852,-0.54,-112.4,430.5,-9.3,545,4855,0.00,1.90,0.00,0.000,6,0.000,0.058,2654,2055,3609,0,0,0,0,0,0
$GC,5172,-0.54,-112.4,460.1,-9.2,576,5176,0.00,2.08,0.00,0.000,4,0.000,0.067,2645,3310,3608,0,0,0,0,0,0
$GC,5258,-0.54,-112.4,467.9,-8.9,584,5261,0.12,1.95,0.00,0.000,6,0.142,0.051,2681,2060,3608,0,0,0,0,0,0
$GC,5578,-0.54,-112.4,493.7,-8.1,615,5582,0.00,1.92,0.00,0.000,4,0.000,0.059,2681,850,3608,0,0,0,0,0,0
$GC,5622,-0.55,-112.4,497.3,-8.6,619,5625,0.00,1.90,0.00,0.000,6,0.000,0.058,2681,2064,3608,0,0,0,0,0,0
$GC,5942,-0.55,-112.4,523.3,-7.9,650,5946,0.00,2.05,0.00,0.000,4,0.000,0.068,2674,3305,3608,0,0,0,0,0,0
$GC,6018,-0.57,-112.4,529.4,-8.2,657,6021,0.00,1.92,0.00,0.000,6,0.000,0.052,2674,2062,3607,0,0,0,0,0,0
$GC,6339,-0.57,-112.4,555.9,-8.4,688,6342,0.00,1.92,0.00,0.000,4,0.000,0.060,2673,843,3607,0,0,0,0,0,0
$GC,6403,-0.57,-112.4,561.0,-7.7,694,6407,0.00,1.95,0.00,0.000,6,0.000,0.059,2673,2054,3607,0,0,0,0,0,0
$GC,6723,-0.57,-112.4,585.4,-7.5,725,6727,0.00,2.10,0.00,0.000,4,0.000,0.070,2669,3316,3606,0,0,0,0,0,0
$GC,6804,-0.58,-112.4,591.2,-6.8,732,6809,0.00,1.98,0.00,0.000,6,0.000,0.054,2669,2077,3606,0,0,0,0,0,0
$GC,7134,-0.58,-112.4,615.5,-7.2,751,7138,0.00,1.98,0.00,0.000,4,0.000,0.061,2669,848,3605,0,0,0,0,0,0
$GC,7209,-0.58,-112.4,621.0,-7.4,753,7212,0.00,1.95,0.00,0.000,6,0.000,0.060,2667,2057,3605,0,0,0,0,0,0
$GC,7533,-0.58,-112.4,644.7,-7.4,764,7537,0.00,2.08,0.00,0.000,4,0.000,0.070,2663,3308,3605,0,0,0,0,0,0
$GC,7576,-0.59,-112.4,647.8,-7.0,765,7580,0.00,2.03,0.00,0.000,6,0.000,0.054,2663,2041,3605,0,0,0,0,0,0
$GC,7901,-0.59,-112.4,670.4,-6.9,776,7904,0.00,1.90,0.00,0.000,4,0.000,0.063,2663,846,3605,0,0,0,0,0,0
$GC,7953,-0.59,-112.4,674.3,-7.2,777,7957,0.00,1.92,0.00,0.000,6,0.000,0.060,2663,2036,3605,0,0,0,0,0,0
$GC,8267,-0.59,-112.4,694.5,-6.3,788,8271,0.00,2.12,0.00,0.000,4,0.000,0.071,2663,3306,3604,0,0,0,0,0,0
$GC,8311,-0.60,-112.4,697.2,-6.7,789,8314,0.00,2.03,0.00,0.000,6,0.000,0.055,2662,2028,3604,0,0,0,0,0,0
$GC,8634,-0.60,-112.4,719.0,-6.7,800,8638,0.00,1.90,0.00,0.000,4,0.000,0.063,2662,848,3602,0,0,0,0,0,0
$GC,8661,-0.60,-112.4,721.1,-7.9,800,8666,0.00,1.92,0.00,0.000,6,0.000,0.060,2662,2039,3603,0,0,0,0,0,0
$GC,8970,-0.60,-112.4,742.3,-6.9,811,8973,0.00,2.08,0.00,0.000,4,0.000,0.071,2663,3316,3603,0,0,0,0,0,0
$GC,9023,-0.61,-112.4,745.8,-6.4,812,9026,0.00,2.05,0.00,0.000,6,0.000,0.056,2663,2042,3603,0,0,0,0,0,0
$GC,9336,-0.61,-112.4,766.8,-6.9,823,9340,0.00,1.92,0.00,0.000,4,0.000,0.062,2663,849,3602,0,0,0,0,0,0
$GC,9385,-0.61,-112.4,770.4,-7.2,824,9388,0.00,1.92,0.00,0.000,6,0.000,0.061,2663,2038,3602,0,0,0,0,0,0
$GC,9703,-0.61,-112.4,793.4,-7.3,835,9707,0.00,2.10,0.00,0.000,4,0.000,0.071,2662,3302,3602,0,0,0,0,0,0
$GC,9746,-0.63,-112.4,796.7,-7.9,836,9750,0.00,2.03,0.00,0.000,6,0.000,0.056,2663,2042,3601,0,0,0,0,0,0
$GC,10071,-0.63,-112.4,819.5,-7.0,847,10075,0.00,1.98,0.00,0.000,4,0.000,0.064,2663,839,3601,0,0,0,0,0,0
$GC,10113,-0.63,-112.4,822.6,-6.8,848,10117,0.00,1.95,0.00,0.000,6,0.000,0.061,2662,2042,3601,0,0,0,0,0,0
$GC,10437,-0.63,-112.4,844.8,-6.9,859,10441,0.00,2.12,0.00,0.000,4,0.000,0.072,2663,3309,3601,0,0,0,0,0,0
$GC,10502,-0.64,-112.4,849.2,-7.0,861,10505,0.00,2.00,0.00,0.000,6,0.000,0.054,2663,2031,3601,0,0,0,0,0,0
$GC,10836,-0.64,-112.4,874.3,-7.7,872,10840,0.00,1.90,0.00,0.000,4,0.000,0.061,2663,850,3601,0,0,0,0,0,0
$GC,10868,-0.64,-112.4,876.9,-9.0,873,10872,0.00,1.92,0.00,0.000,6,0.000,0.059,2662,2044,3600,0,0,0,0,0,0
$GC,11204,-0.64,-112.4,902.0,-7.6,884,11207,0.00,2.05,0.00,0.000,4,0.000,0.071,2662,3316,3600,0,0,0,0,0,0
$GC,11294,-0.66,-112.4,908.4,-6.4,886,11301,0.00,2.03,0.00,0.000,6,0.000,0.056,2662,2056,3600,0,0,0,0,0,0
$GC,11603,-0.66,-112.4,929.5,-6.7,897,11607,0.00,1.95,0.00,0.000,4,0.000,0.064,2662,849,3600,0,0,0,0,0,0
$GC,11634,-0.66,-112.4,931.7,-7.0,898,11638,0.00,1.95,0.00,0.000,6,0.000,0.061,2662,2054,3600,0,0,0,0,0,0
$GC,11970,-0.66,-112.4,952.8,-6.1,909,11973,0.00,2.08,0.00,0.000,4,0.000,0.071,2658,3310,3600,0,0,0,0,0,0
$GC,12018,-0.67,-112.4,955.8,-5.1,910,12021,0.00,2.00,0.00,0.000,6,0.000,0.057,2657,2058,3599,0,0,0,0,0,0
$GC,12337,-0.67,-112.4,975.8,-6.7,921,12340,0.00,1.98,0.00,0.000,4,0.000,0.064,2657,839,3599,0,0,0,0,0,0
$GC,12368,-0.67,-112.4,978.1,-7.5,922,12372,0.00,1.98,0.00,0.000,6,0.000,0.062,2653,2053,3599,0,0,0,0,0,0
$STATE,12550,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12550,begin apogee
$GC,12556,-0.14,0.0,991.1,7.2,928,12654,0.47,0.00,96.82,1.240,6,0.115,0.000,2807,1986,3151,0,0,0,0,0,0
$STATE,12655,end apogee,CONTROL_FINISHED_OK
$STATE,12655,begin climb
$GC,12657,0.45,112.4,993.5,0.0,931,12768,0.55,2.20,102.70,1.203,4,0.063,0.064,3018,773,2691,0,0,0,0,0,0
$GC,12832,0.42,112.4,987.7,7.6,936,12835,0.00,2.12,0.00,0.000,6,0.000,0.058,3018,2000,2688,0,0,0,0,0,0
$GC,13146,0.38,112.4,963.6,7.4,947,13149,0.15,2.08,0.00,0.000,4,0.166,0.070,2979,3240,2685,0,0,0,0,0,0
$GC,13249,0.35,112.4,957.1,6.4,950,13252,0.00,1.95,0.00,0.000,6,0.000,0.057,2986,2020,2684,0,0,0,0,0,0
$GC,13578,0.33,112.4,936.7,6.4,961,13581,0.00,2.03,0.00,0.000,4,0.000,0.071,2986,3227,2684,0,0,0,0,0,0
$GC,13724,0.30,112.4,926.1,7.1,965,13728,0.15,1.92,0.00,0.000,6,0.166,0.058,2956,2026,2683,0,0,0,0,0,0
$GC,14037,0.31,127.5,908.3,5.6,976,14056,0.00,2.05,13.07,1.103,4,0.000,0.070,2955,3244,2629,0,0,0,0,0,0
$GC,14160,0.29,127.5,900.3,7.3,979,14165,0.00,1.90,0.00,0.000,6,0.000,0.058,2960,2048,2629,0,0,0,0,0,0
$GC,14468,0.30,144.4,883.1,5.5,990,14486,0.00,0.00,16.33,1.114,6,0.000,0.000,2960,2048,2561,0,0,0,0,0,0
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$STATE,26698,end climb,SURFACE_DEPTH_REACHED
$STATE,26698,begin surface coast
$FINISH,1.1,1.016681
$STATE,26741,end surface coast,CONTROL_FINISHED_OK
$STATE,26741,begin surface
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$HUMID,40.98
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$TCM_TEMP,17.20
$XPDR_PINGS,0
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$10V_AH,9.8,63.133
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.650,251.175,456.850,0.000,0.000,28.792,34.860,290.298,0.000,0.000,13.484,0.000,20544.607,626.307,5210.597,917.744,0.000,2564.530,0.000,4429.483,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1510.952,1372.430,1878.142,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298380
$DATA_FILE_SIZE,113778,2071
$CAP_FILE_SIZE,272340,0
$CFSIZE,260165632,216502272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.057,341.1,1
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