version: 66.06
glider: 187
mission: 2
dive: 103
start: 7 24 110 17 22 25
data:
$ID,187
$MISSION,2
$DIVE,103
$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,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,-25540.854
$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,2845
$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,0.0089999996
$PITCH_ADJ_DBAND,1
$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,21
$R_STBD_OVSHOOT,28
$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,0.0012300001
$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
$GPS1,171225,4714.318,-12627.672,119,1.2,120,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-73.2
$GPS2,172219,4714.304,-12627.633,12,1.2,23,18.6
$SPEED_LIMITS,0.106,0.196
$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,251.2,48714,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.74,-112.4,0.0,0.0,0,71,0.00,0.00,-55.83,0.000,2,0.000,0.000,131,2079,3111,0,0,0,0,0,0
$GC,73,-0.74,-112.4,3.6,-3.6,10,101,10.05,1.98,-10.85,0.000,4,0.249,0.078,2592,3303,3612,0,0,0,0,0,0
$GC,159,-0.57,-112.4,30.7,-32.6,26,164,0.20,1.95,0.00,0.000,6,0.158,0.054,2652,2077,3613,0,0,0,0,0,0
$GC,484,-0.48,-112.4,94.0,-18.2,87,491,0.12,0.00,0.00,0.000,6,0.182,0.000,2687,2073,3616,0,0,0,0,0,0
$GC,801,-0.45,-112.4,135.7,-10.9,121,805,0.00,1.95,0.00,0.000,4,0.000,0.057,2687,824,3617,0,0,0,0,0,0
$GC,875,-0.43,-112.4,144.1,-11.0,128,880,0.00,1.95,0.00,0.000,6,0.000,0.054,2682,2067,3617,0,0,0,0,0,0
$GC,1196,-0.40,-112.4,177.5,-10.3,159,1201,0.12,1.98,0.00,0.000,4,0.160,0.065,2710,3313,3617,0,0,0,0,0,0
$GC,1281,-0.42,-112.4,184.5,-8.3,167,1286,0.00,1.95,0.00,0.000,6,0.000,0.050,2710,2053,3617,0,0,0,0,0,0
$GC,1602,-0.42,-112.4,210.2,-8.1,198,1606,0.00,2.03,0.00,0.000,4,0.000,0.067,2709,3312,3616,0,0,0,0,0,0
$GC,1645,-0.44,-112.4,213.6,-8.1,202,1649,0.00,1.90,0.00,0.000,6,0.000,0.051,2708,2085,3616,0,0,0,0,0,0
$GC,1965,-0.44,-112.4,240.6,-8.4,233,1966,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2084,3615,0,0,0,0,0,0
$GC,2276,-0.46,-112.4,267.7,-8.9,263,2280,0.00,1.98,0.00,0.000,4,0.000,0.070,2703,3306,3615,0,0,0,0,0,0
$GC,2307,-0.47,-112.4,270.6,-9.1,266,2312,0.00,1.92,0.00,0.000,6,0.000,0.053,2703,2080,3614,0,0,0,0,0,0
$GC,2628,-0.47,-112.4,298.2,-8.2,297,2629,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2077,3614,0,0,0,0,0,0
$GC,2939,-0.47,-112.4,322.2,-7.2,327,2939,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2077,3613,0,0,0,0,0,0
$GC,3249,-0.47,-112.4,344.7,-7.8,357,3253,0.00,1.98,0.00,0.000,4,0.000,0.070,2700,3301,3612,0,0,0,0,0,0
$GC,3286,-0.49,-112.4,347.3,-7.3,360,3293,0.00,1.92,0.00,0.000,6,0.000,0.054,2700,2073,3612,0,0,0,0,0,0
$GC,3602,-0.49,-112.4,369.9,-6.8,391,3606,0.00,2.00,0.00,0.000,4,0.000,0.072,2697,3311,3612,0,0,0,0,0,0
$GC,3649,-0.51,-112.4,373.1,-7.1,395,3657,0.00,1.90,0.00,0.000,6,0.000,0.054,2697,2085,3611,0,0,0,0,0,0
$GC,3965,-0.51,-112.4,392.8,-6.0,426,3965,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2085,3611,0,0,0,0,0,0
$GC,4275,-0.51,-112.4,411.0,-5.8,456,4280,0.00,1.98,0.00,0.000,4,0.000,0.072,2694,3303,3609,0,0,0,0,0,0
$GC,4351,-0.52,-112.4,415.5,-5.8,463,4354,0.00,1.88,0.00,0.000,6,0.000,0.056,2694,2100,3610,0,0,0,0,0,0
$GC,4670,-0.52,-112.4,436.3,-7.1,494,4671,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2099,3609,0,0,0,0,0,0
$GC,4981,-0.52,-112.4,458.5,-7.3,524,4985,0.00,1.92,0.00,0.000,4,0.000,0.073,2691,3304,3608,0,0,0,0,0,0
$GC,5018,-0.54,-112.4,461.3,-6.9,527,5026,0.00,1.90,0.00,0.000,6,0.000,0.056,2691,2095,3608,0,0,0,0,0,0
$GC,5334,-0.54,-112.4,484.5,-7.5,558,5334,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2095,3608,0,0,0,0,0,0
$GC,5644,-0.54,-112.4,508.6,-7.8,588,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2095,3607,0,0,0,0,0,0
$GC,5955,-0.54,-112.4,532.8,-8.2,618,5959,0.00,1.95,0.00,0.000,4,0.000,0.074,2692,3299,3606,0,0,0,0,0,0
$GC,5991,-0.56,-112.4,535.8,-7.9,621,5999,0.00,1.90,0.00,0.000,6,0.000,0.057,2691,2091,3607,0,0,0,0,0,0
$GC,6308,-0.56,-112.4,561.5,-8.3,652,6311,0.00,1.98,0.00,0.000,4,0.000,0.074,2691,3310,3605,0,0,0,0,0,0
$GC,6340,-0.57,-112.4,564.0,-8.0,655,6343,0.00,1.88,0.00,0.000,6,0.000,0.057,2692,2111,3605,0,0,0,0,0,0
$GC,6659,-0.57,-112.4,588.6,-6.9,686,6664,0.00,1.98,0.00,0.000,4,0.000,0.074,2692,3316,3605,0,0,0,0,0,0
$GC,6681,-0.59,-112.4,589.9,-6.7,688,6685,0.08,1.90,0.00,0.000,6,0.064,0.058,2640,2100,3605,0,0,0,0,0,0
$GC,7007,-0.55,-112.4,620.5,-9.3,706,7008,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2099,3604,0,0,0,0,0,0
$GC,7310,-0.51,-112.4,647.9,-9.1,716,7312,0.12,0.00,0.00,0.000,6,0.171,0.000,2674,2099,3604,0,0,0,0,0,0
$GC,7613,-0.51,-112.4,670.1,-7.3,726,7614,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2099,3603,0,0,0,0,0,0
$GC,7917,-0.51,-112.4,693.9,-8.1,736,7922,0.00,1.98,0.00,0.000,4,0.000,0.075,2667,3306,3603,0,0,0,0,0,0
$GC,8013,-0.51,-112.4,702.2,-8.4,739,8018,0.00,1.90,0.00,0.000,6,0.000,0.058,2667,2102,3603,0,0,0,0,0,0
$GC,8348,-0.50,-112.4,733.1,-9.4,750,8353,0.00,1.95,0.00,0.000,4,0.000,0.075,2660,3302,3602,0,0,0,0,0,0
$GC,8385,-0.50,-112.4,736.8,-9.5,751,8390,0.00,1.90,0.00,0.000,6,0.000,0.058,2660,2098,3602,0,0,0,0,0,0
$GC,8715,-0.49,-112.4,768.4,-9.5,762,8716,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2097,3602,0,0,0,0,0,0
$GC,9019,-0.47,-112.4,794.0,-7.9,772,9024,0.10,1.95,0.00,0.000,4,0.170,0.075,2681,3301,3601,0,0,0,0,0,0
$GC,9051,-0.49,-112.4,796.1,-5.9,773,9055,0.00,1.88,0.00,0.000,6,0.000,0.059,2681,2106,3601,0,0,0,0,0,0
$GC,9386,-0.49,-112.4,815.5,-5.6,784,9390,0.00,1.95,0.00,0.000,4,0.000,0.075,2675,3303,3601,0,0,0,0,0,0
$GC,9444,-0.50,-112.4,819.0,-6.3,785,9451,0.00,1.88,0.00,0.000,6,0.000,0.058,2675,2115,3600,0,0,0,0,0,0
$GC,9753,-0.50,-112.4,836.5,-5.6,796,9758,0.00,1.92,0.00,0.000,4,0.000,0.076,2668,3313,3601,0,0,0,0,0,0
$GC,9811,-0.50,-112.4,839.9,-6.2,797,9818,0.00,1.88,0.00,0.000,6,0.000,0.058,2668,2124,3600,0,0,0,0,0,0
$GC,10120,-0.50,-112.4,858.7,-6.1,808,10124,0.00,1.90,0.00,0.000,4,0.000,0.075,2661,3303,3600,0,0,0,0,0,0
$GC,10151,-0.50,-112.4,860.7,-6.8,809,10156,0.00,1.85,0.00,0.000,6,0.000,0.059,2661,2132,3600,0,0,0,0,0,0
$GC,10487,-0.49,-112.4,885.8,-7.7,820,10491,0.00,1.90,0.00,0.000,4,0.000,0.076,2653,3309,3599,0,0,0,0,0,0
$GC,10523,-0.49,-112.4,889.0,-8.6,821,10529,0.12,1.88,0.00,0.000,6,0.153,0.059,2689,2123,3599,0,0,0,0,0,0
$GC,10854,-0.51,-112.4,909.6,-6.2,832,10855,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2122,3599,0,0,0,0,0,0
$GC,11157,-0.53,-112.4,928.6,-6.2,842,11158,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,2122,3599,0,0,0,0,0,0
$GC,11461,-0.55,-112.4,946.6,-5.9,852,11465,0.00,1.90,0.00,0.000,4,0.000,0.077,2688,3298,3598,0,0,0,0,0,0
$GC,11487,-0.57,-112.4,948.2,-6.3,852,11493,0.00,1.85,0.00,0.000,6,0.000,0.061,2689,2129,3598,0,0,0,0,0,0
$GC,11796,-0.59,-112.4,965.4,-5.6,863,11797,0.10,0.00,0.00,0.000,6,0.114,0.000,2644,2129,3598,0,0,0,0,0,0
$GC,12099,-0.57,-112.4,988.6,-7.8,873,12100,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,2129,3598,0,0,0,0,0,0
$STATE,12128,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12128,begin apogee
$GC,12131,-0.22,0.0,991.1,7.9,874,12227,0.40,0.00,93.57,1.229,6,0.135,0.000,2772,1992,3150,0,0,0,0,0,0
$STATE,12227,end apogee,CONTROL_FINISHED_OK
$STATE,12227,begin climb
$GC,12228,0.74,112.4,993.4,0.0,877,12335,0.95,2.17,99.95,1.190,4,0.088,0.068,3093,763,2690,0,0,0,0,0,0
$GC,12361,0.60,112.4,983.6,12.4,881,12366,0.17,2.12,0.00,0.000,6,0.187,0.062,3048,1999,2688,0,0,0,0,0,0
$GC,12675,0.49,112.4,947.5,11.4,892,12680,0.17,2.08,0.00,0.000,4,0.183,0.073,3001,3230,2684,0,0,0,0,0,0
$GC,12777,0.40,112.4,937.2,10.4,895,12782,0.10,1.98,0.00,0.000,6,0.165,0.060,2979,2019,2683,0,0,0,0,0,0
$GC,13107,0.35,112.4,911.7,7.5,906,13111,0.00,2.05,0.00,0.000,4,0.000,0.074,2979,3239,2683,0,0,0,0,0,0
$GC,13144,0.28,112.4,908.9,7.3,907,13148,0.15,2.00,0.00,0.000,6,0.146,0.061,2939,2016,2683,0,0,0,0,0,0
$GC,13474,0.30,140.6,891.4,5.1,918,13499,0.00,0.00,24.58,1.127,6,0.000,0.000,2938,2015,2576,0,0,0,0,0,0
$GC,13777,0.33,165.7,875.7,5.2,928,13804,0.00,2.10,23.20,1.111,4,0.000,0.074,2939,3234,2474,0,0,0,0,0,0
$GC,13839,0.32,165.7,872.0,7.2,929,13844,0.00,2.03,0.00,0.000,6,0.000,0.061,2940,2019,2471,0,0,0,0,0,0
$GC,14169,0.32,165.7,851.3,6.3,940,14170,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2020,2470,0,0,0,0,0,0
$GC,14473,0.32,165.7,831.4,6.7,950,14473,0.00,0.00,0.00,0.000,6,0.000,0.000,2940,2020,2470,0,0,0,0,0,0
$GC,14776,0.32,165.7,811.4,6.6,960,14781,0.00,2.05,0.00,0.000,4,0.000,0.074,2940,3243,2470,0,0,0,0,0,0
$GC,14824,0.31,165.7,808.0,7.4,961,14829,0.00,1.98,0.00,0.000,6,0.000,0.062,2942,2023,2470,0,0,0,0,0,0
$GC,15143,0.31,165.7,786.2,7.0,972,15144,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2023,2470,0,0,0,0,0,0
$GC,15446,0.31,165.7,764.9,7.2,982,15447,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2023,2471,0,0,0,0,0,0
$GC,15750,0.31,165.7,743.0,7.2,992,15755,0.00,2.03,0.00,0.000,4,0.000,0.071,2945,764,2472,0,0,0,0,0,0
$GC,15776,0.31,165.7,741.1,6.7,992,15783,0.00,2.03,0.00,0.000,6,0.000,0.063,2945,2029,2472,0,0,0,0,0,0
$GC,16085,0.31,165.7,718.6,7.4,1003,16090,0.00,1.95,0.00,0.000,4,0.000,0.073,2945,3233,2472,0,0,0,0,0,0
$GC,16143,0.29,165.7,713.8,8.1,1004,16150,0.00,1.92,0.00,0.000,6,0.000,0.061,2946,2031,2472,0,0,0,0,0,0
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$STATE,26242,end climb,SURFACE_DEPTH_REACHED
$STATE,26242,begin surface coast
$FINISH,1.6,1.023982
$STATE,26253,end surface coast,CONTROL_FINISHED_OK
$STATE,26253,begin surface
$SM_CCo,26267,16.90,0.347,1,0,1723,350.04
$SM_GC,1.34,0.00,0.00,16.90,0.000,0.000,0.347,140,2060,1723,-8.45,-0.42,350.04
$IRIDIUM_FIX,4657.54,-12507.57,181099,171757
$TT8_MAMPS,0.05369
$HUMID,38.14
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,17.80
$XPDR_PINGS,0
$24V_AH,23.6,12.851
$10V_AH,10.3,8.294
$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,21.575,196.350,393.425,16.900,0.000,58.038,71.718,282.896,0.000,0.000,23.877,0.000,20725.234,692.864,4780.725,649.468,0.000,2421.449,0.000,4035.578,0.000,0.535,0.000
$DEVICE_MAMPS,248.508,87.438,1228.734,346.684,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1386.774,1650.440,1665.128,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298572
$DATA_FILE_SIZE,113606,2007
$CAP_FILE_SIZE,258386,0
$CFSIZE,260165632,251949056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.105, 98.1,1
$GPS,250710,004206,4714.196,-12630.155,74,1.1,74,18.6