version: 66.06
glider: 187
mission: 2
dive: 75
start: 7 19 110 14 20 19
data:
$ID,187
$MISSION,2
$DIVE,75
$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,270
$T_MISSION,360
$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,100
$T_WATCHDOG,10
$RELAUNCH,-7
$APOGEE_PITCH,-5
$MAX_BUOY,200
$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,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$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,-24838.734
$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,2850
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,35
$C_ROLL_DIVE,2000
$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,1
$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,0.0012300001
$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
$GPS1,140854,4739.756,-12527.147,46,1.9,46,18.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-70.1
$GPS2,142013,4739.805,-12527.073,11,2.0,16,18.7
$SPEED_LIMITS,0.212,0.316
$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,210.9,138603,-17.9,-12.222
$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,11,-1.02,-195.5,0.0,0.0,0,92,0.00,0.00,-79.12,0.000,2,0.000,0.000,132,2009,3170,0,0,0,0,0,0
$GC,94,-1.02,-195.5,3.3,-6.8,14,127,9.82,2.00,-15.48,0.000,4,0.251,0.077,2508,3237,3951,0,0,0,0,0,0
$GC,227,-0.77,-195.5,53.9,-39.9,39,234,0.30,1.98,0.00,0.000,6,0.166,0.051,2594,1999,3952,0,0,0,0,0,0
$GC,554,-0.70,-195.5,126.2,-18.3,88,556,0.10,0.00,0.00,0.000,6,0.193,0.000,2619,1995,3954,0,0,0,0,0,0
$GC,865,-0.68,-195.5,173.8,-15.2,118,869,0.00,2.03,0.00,0.000,4,0.000,0.067,2613,3236,3954,0,0,0,0,0,0
$GC,885,-0.67,-195.5,176.9,-15.2,120,890,0.00,1.98,0.00,0.000,6,0.000,0.051,2613,1989,3954,0,0,0,0,0,0
$GC,1207,-0.65,-195.5,226.4,-15.9,151,1211,0.00,2.03,0.00,0.000,4,0.000,0.065,2604,3237,3954,0,0,0,0,0,0
$GC,1280,-0.65,-195.5,237.6,-14.7,158,1285,0.12,1.95,0.00,0.000,6,0.151,0.051,2638,1999,3955,0,0,0,0,0,0
$GC,1601,-0.67,-195.5,280.2,-13.2,189,1606,0.00,1.98,0.00,0.000,4,0.000,0.067,2633,3233,3954,0,0,0,0,0,0
$GC,1628,-0.71,-195.5,283.7,-13.9,191,1634,0.00,1.95,0.00,0.000,6,0.000,0.051,2633,1996,3955,0,0,0,0,0,0
$GC,1943,-0.73,-195.5,324.3,-12.5,222,1948,0.00,2.00,0.00,0.000,4,0.000,0.067,2625,3232,3955,0,0,0,0,0,0
$GC,1991,-0.77,-195.5,330.2,-12.3,226,1997,0.00,1.92,0.00,0.000,6,0.000,0.052,2625,2007,3955,0,0,0,0,0,0
$GC,2306,-0.77,-195.5,370.1,-12.4,257,2311,0.00,2.00,0.00,0.000,4,0.000,0.068,2617,3233,3955,0,0,0,0,0,0
$GC,2365,-0.80,-195.5,377.3,-12.0,262,2371,0.00,1.92,0.00,0.000,6,0.000,0.052,2616,2009,3955,0,0,0,0,0,0
$GC,2680,-0.80,-195.5,420.4,-13.8,293,2685,0.00,2.00,0.00,0.000,4,0.000,0.068,2609,3233,3954,0,0,0,0,0,0
$GC,2734,-0.82,-195.5,427.4,-13.8,298,2738,0.00,1.90,0.00,0.000,6,0.000,0.054,2609,2018,3955,0,0,0,0,0,0
$GC,3054,-0.82,-195.5,473.4,-14.0,329,3059,0.00,2.00,0.00,0.000,4,0.000,0.069,2603,3242,3954,0,0,0,0,0,0
$GC,3096,-0.82,-195.5,479.4,-13.8,333,3101,0.00,1.95,0.00,0.000,6,0.000,0.054,2603,2004,3954,0,0,0,0,0,0
$GC,3418,-0.82,-195.5,526.5,-14.0,364,3422,0.00,2.00,0.00,0.000,4,0.000,0.071,2598,3233,3954,0,0,0,0,0,0
$GC,3465,-0.83,-195.5,533.0,-13.0,368,3473,0.00,1.92,0.00,0.000,6,0.000,0.054,2598,2012,3954,0,0,0,0,0,0
$GC,3781,-0.83,-195.5,577.0,-13.9,399,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,2008,3955,0,0,0,0,0,0
$GC,4108,-0.83,-195.5,620.8,-13.1,421,4113,0.00,2.00,0.00,0.000,4,0.000,0.070,2590,3235,3954,0,0,0,0,0,0
$GC,4204,-0.83,-195.5,633.0,-11.6,424,4209,0.00,1.92,0.00,0.000,6,0.000,0.055,2591,2012,3955,0,0,0,0,0,0
$GC,4540,-0.82,-195.5,676.5,-12.8,435,4544,0.00,1.98,0.00,0.000,4,0.000,0.071,2582,3230,3955,0,0,0,0,0,0
$GC,4619,-0.82,-195.5,686.4,-12.8,437,4624,0.00,1.90,0.00,0.000,6,0.000,0.055,2583,2023,3955,0,0,0,0,0,0
$GC,4939,-0.79,-195.5,728.9,-13.3,448,4943,0.00,1.95,0.00,0.000,4,0.000,0.071,2574,3228,3954,0,0,0,0,0,0
$GC,4986,-0.79,-195.5,735.3,-13.1,449,4990,0.00,1.90,0.00,0.000,6,0.000,0.056,2574,2023,3954,0,0,0,0,0,0
$GC,5305,-0.76,-195.5,780.8,-14.2,460,5310,0.12,1.95,0.00,0.000,4,0.176,0.071,2600,3226,3955,0,0,0,0,0,0
$GC,5364,-0.79,-195.5,788.0,-11.8,461,5370,0.00,1.88,0.00,0.000,6,0.000,0.057,2599,2030,3955,0,0,0,0,0,0
$GC,5672,-0.79,-195.5,826.6,-12.8,472,5677,0.00,1.98,0.00,0.000,4,0.000,0.072,2594,3236,3954,0,0,0,0,0,0
$GC,5731,-0.82,-195.5,834.1,-12.2,473,5737,0.00,1.88,0.00,0.000,6,0.000,0.057,2594,2037,3955,0,0,0,0,0,0
$GC,6039,-0.82,-195.5,873.9,-12.9,484,6044,0.00,1.98,0.00,0.000,4,0.000,0.072,2588,3241,3955,0,0,0,0,0,0
$GC,6087,-0.84,-195.5,879.9,-13.3,485,6091,0.00,1.90,0.00,0.000,6,0.000,0.057,2587,2038,3955,0,0,0,0,0,0
$GC,6406,-0.84,-195.5,922.1,-13.5,496,6411,0.00,1.92,0.00,0.000,4,0.000,0.073,2579,3240,3956,0,0,0,0,0,0
$GC,6453,-0.84,-195.5,928.6,-13.6,497,6458,0.00,1.90,0.00,0.000,6,0.000,0.057,2579,2036,3955,0,0,0,0,0,0
$GC,6773,-0.82,-195.5,973.5,-14.1,508,6777,0.00,1.95,0.00,0.000,4,0.000,0.073,2570,3240,3956,0,0,0,0,0,0
$GC,6804,-0.82,-195.5,978.0,-14.1,509,6809,0.00,1.90,0.00,0.000,6,0.000,0.057,2570,2037,3956,0,0,0,0,0,0
$STATE,6896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6896,begin apogee
$GC,6899,-0.22,0.0,991.6,14.7,512,7072,0.65,0.00,171.57,1.216,6,0.141,0.000,2777,1996,3150,0,0,0,0,0,0
$STATE,7073,end apogee,CONTROL_FINISHED_OK
$STATE,7073,begin climb
$GC,7074,1.02,195.5,997.2,0.0,517,7255,1.20,0.00,175.65,1.178,6,0.077,0.000,3175,1996,2353,0,0,0,0,0,0
$GC,7557,0.76,195.5,905.6,24.0,533,7562,0.30,2.10,0.00,0.000,4,0.206,0.069,3103,3232,2347,0,0,0,0,0,0
$GC,7626,0.59,195.5,891.0,20.5,535,7631,0.22,2.03,0.00,0.000,6,0.172,0.058,3045,2009,2346,0,0,0,0,0,0
$GC,7956,0.51,195.5,843.2,14.3,546,7961,0.12,2.05,0.00,0.000,4,0.179,0.071,3012,3231,2347,0,0,0,0,0,0
$GC,8014,0.46,195.5,835.1,13.6,547,8021,0.00,2.03,0.00,0.000,6,0.000,0.058,3019,1998,2347,0,0,0,0,0,0
$GC,8323,0.42,196.2,796.6,12.2,558,8328,0.12,2.05,0.00,0.000,4,0.183,0.071,2988,3229,2347,0,0,0,0,0,0
$GC,8381,0.42,196.2,789.6,12.4,559,8388,0.00,1.98,0.00,0.000,6,0.000,0.058,2993,2012,2347,0,0,0,0,0,0
$GC,8690,0.43,218.3,754.8,11.3,570,8712,0.00,0.00,20.77,1.038,6,0.000,0.000,2993,2012,2260,0,0,0,0,0,0
$GC,8993,0.47,250.8,721.8,10.9,580,9027,0.00,2.12,28.95,1.029,4,0.000,0.070,3002,758,2127,0,0,0,0,0,0
$GC,9057,0.52,277.4,715.0,11.1,582,9089,0.00,2.05,24.83,1.004,6,0.000,0.058,3002,2009,2018,0,0,0,0,0,0
$GC,9391,0.53,286.7,676.2,11.8,593,9401,0.00,0.00,8.95,0.904,6,0.000,0.000,3002,2009,1981,0,0,0,0,0,0
$GC,9694,0.55,300.9,640.3,11.6,603,9709,0.00,0.00,13.93,0.945,6,0.000,0.000,3002,2009,1923,0,0,0,0,0,0
$GC,9998,0.63,345.5,607.6,10.3,613,10043,0.15,2.12,39.65,0.969,4,0.090,0.071,3072,762,1741,0,0,0,0,0,0
$GC,10070,0.58,345.5,597.0,16.3,616,10074,0.10,2.08,0.00,0.000,6,0.143,0.058,3041,2015,1739,0,0,0,0,0,0
$GC,10390,0.58,345.5,552.0,14.3,647,10395,0.00,2.10,0.00,0.000,4,0.000,0.070,3048,760,1735,0,0,0,0,0,0
$GC,10416,0.58,345.5,548.3,14.3,649,10423,0.00,2.05,0.00,0.000,6,0.000,0.059,3048,2017,1735,0,0,0,0,0,0
$GC,10732,0.56,345.5,500.5,15.5,680,10733,0.00,0.00,0.00,0.000,6,0.000,0.000,3048,2018,1735,0,0,0,0,0,0
$GC,11043,0.54,345.5,452.7,15.5,710,11047,0.00,2.05,0.00,0.000,4,0.000,0.070,3054,762,1735,0,0,0,0,0,0
$GC,11084,0.54,345.5,446.0,16.0,714,11090,0.00,2.00,0.00,0.000,6,0.000,0.059,3054,2004,1734,0,0,0,0,0,0
$GC,11406,0.52,345.5,395.5,15.3,745,11410,0.12,2.00,0.00,0.000,4,0.171,0.069,3021,3232,1735,0,0,0,0,0,0
$GC,11448,0.56,345.5,389.7,13.3,749,11453,0.00,1.98,0.00,0.000,6,0.000,0.058,3023,2006,1734,0,0,0,0,0,0
$GC,11769,0.59,353.3,350.6,11.9,780,11782,0.00,1.98,7.30,0.744,4,0.000,0.069,3026,757,1709,0,0,0,0,0,0
$GC,11834,0.69,382.4,343.3,11.0,786,11867,0.10,1.98,25.83,0.813,6,0.067,0.058,3082,2007,1590,0,0,0,0,0,0
$GC,12174,0.66,382.4,288.1,16.4,819,12179,0.00,2.00,0.00,0.000,4,0.000,0.067,3081,3224,1585,0,0,0,0,0,0
$GC,12206,0.63,382.4,282.6,17.0,822,12211,0.12,2.00,0.00,0.000,6,0.170,0.059,3050,1996,1585,0,0,0,0,0,0
$GC,12527,0.63,382.4,237.1,14.1,853,12531,0.00,1.98,0.00,0.000,4,0.000,0.068,3055,763,1585,0,0,0,0,0,0
$GC,12591,0.66,382.4,228.5,12.9,859,12595,0.00,1.98,0.00,0.000,6,0.000,0.058,3055,2007,1585,0,0,0,0,0,0
$GC,12911,0.66,382.4,184.6,13.3,890,12912,0.00,0.00,0.00,0.000,6,0.000,0.000,3055,2008,1585,0,0,0,0,0,0
$GC,13222,0.68,382.4,144.2,12.8,920,13226,0.00,2.00,0.00,0.000,4,0.000,0.069,3060,771,1584,0,0,0,0,0,0
$GC,13254,0.72,392.6,140.3,11.8,923,13268,0.00,1.95,9.35,0.661,6,0.000,0.059,3060,2003,1549,0,0,0,0,0,0
$GC,13580,0.75,398.1,99.3,12.0,955,13593,0.00,0.00,6.00,0.585,6,0.000,0.000,3060,2004,1526,0,0,0,0,0,0
$GC,13913,0.90,473.6,63.1,9.0,1017,13984,0.22,2.08,62.00,0.636,4,0.075,0.067,3165,765,1217,0,0,0,0,0,0
$GC,14000,0.86,473.6,48.7,18.7,1033,14006,0.10,2.00,0.00,0.000,6,0.143,0.057,3134,1994,1215,0,0,0,0,0,0
$GC,14326,0.91,484.8,4.1,11.8,1094,14339,0.00,2.08,9.12,0.562,4,0.000,0.068,3134,3238,1173,0,0,0,0,0,0
$STATE,14342,end climb,SURFACE_DEPTH_REACHED
$STATE,14342,begin surface coast
$FINISH,0.6,1.022306
$STATE,14363,end surface coast,CONTROL_FINISHED_OK
$STATE,14364,begin surface
$SM_CCo,14438,0.00,0.000,0,0,1168,485.94
$SM_GC,1.51,8.02,0.00,0.00,0.047,0.000,0.000,153,1985,1168,-8.38,-0.42,485.94
$IRIDIUM_FIX,4719.74,-12528.55,131099,141436
$TT8_MAMPS,0.052156
$HUMID,39.76
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.2,9.602
$10V_AH,10.3,5.108
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,22.050,123.225,603.900,0.000,0.000,83.957,143.952,238.798,0.000,0.000,16.497,0.000,11000.916,733.020,2770.899,592.067,0.000,1813.806,0.000,2328.568,0.000,0.534,0.000
$DEVICE_MAMPS,250.809,161.070,1216.462,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,758.160,899.364,944.342,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298636
$DATA_FILE_SIZE,63290,1101
$CAP_FILE_SIZE,157767,0
$CFSIZE,260165632,254308352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,331.6,1
$GPS,190710,182200,4738.678,-12530.530,42,1.5,47,18.7