version: 66.06
glider: 187
mission: 2
dive: 105
start: 7 25 110 8 25 44
data:
$ID,187
$MISSION,2
$DIVE,105
$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,-25571.703
$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,2831
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$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,24
$R_STBD_OVSHOOT,31
$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,0.00050000002
$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
$GPS1,081637,4712.964,-12632.723,40,1.5,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-66.9
$GPS2,082538,4712.909,-12632.634,11,1.8,11,18.6
$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,240.2,42028,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.45,-112.4,0.0,0.0,0,124,0.00,0.00,-110.07,0.000,2,0.000,0.000,131,2082,3185,0,0,0,0,0,0
$GC,126,-0.45,-112.4,3.4,-3.1,20,150,10.48,2.03,-9.07,0.000,4,0.247,0.077,2669,3313,3611,0,0,0,0,0,0
$GC,245,-0.35,-112.4,35.2,-22.8,42,251,0.12,1.98,0.00,0.000,6,0.137,0.052,2710,2078,3614,0,0,0,0,0,0
$GC,571,-0.32,-112.4,81.2,-12.5,103,579,0.00,1.98,0.00,0.000,4,0.000,0.058,2710,835,3615,0,0,0,0,0,0
$GC,605,-0.28,-112.4,85.4,-13.1,109,611,0.08,1.95,0.00,0.000,6,0.130,0.057,2733,2066,3615,0,0,0,0,0,0
$GC,924,-0.28,-112.4,116.0,-8.3,153,929,0.00,2.05,0.00,0.000,4,0.000,0.067,2726,3320,3616,0,0,0,0,0,0
$GC,1000,-0.30,-112.4,121.7,-7.2,160,1003,0.00,1.95,0.00,0.000,6,0.000,0.051,2726,2076,3616,0,0,0,0,0,0
$GC,1319,-0.32,-112.4,145.2,-7.5,191,1324,0.00,2.00,0.00,0.000,4,0.000,0.066,2718,3307,3616,0,0,0,0,0,0
$GC,1362,-0.33,-112.4,148.4,-7.1,195,1366,0.00,1.92,0.00,0.000,6,0.000,0.051,2718,2084,3616,0,0,0,0,0,0
$GC,1683,-0.34,-112.4,173.6,-7.5,226,1687,0.00,1.92,0.00,0.000,4,0.000,0.059,2718,849,3616,0,0,0,0,0,0
$GC,1709,-0.35,-112.4,175.7,-8.1,228,1716,0.00,1.95,0.00,0.000,6,0.000,0.057,2718,2089,3616,0,0,0,0,0,0
$GC,2025,-0.36,-112.4,197.8,-7.2,259,2029,0.00,1.95,0.00,0.000,4,0.000,0.067,2718,3307,3616,0,0,0,0,0,0
$GC,2078,-0.40,-112.4,201.5,-6.7,264,2082,0.00,1.90,0.00,0.000,6,0.000,0.052,2718,2099,3615,0,0,0,0,0,0
$GC,2400,-0.41,-112.4,224.0,-7.3,295,2400,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2096,3615,0,0,0,0,0,0
$GC,2710,-0.43,-112.4,246.1,-7.3,325,2711,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2096,3614,0,0,0,0,0,0
$GC,3021,-0.45,-112.4,267.9,-7.4,355,3024,0.00,1.95,0.00,0.000,4,0.000,0.071,2718,3320,3613,0,0,0,0,0,0
$GC,3052,-0.48,-112.4,270.2,-7.0,358,3056,0.10,1.90,0.00,0.000,6,0.061,0.054,2654,2101,3613,0,0,0,0,0,0
$GC,3372,-0.44,-112.4,305.2,-10.6,389,3373,0.12,0.00,0.00,0.000,6,0.165,0.000,2689,2100,3613,0,0,0,0,0,0
$GC,3682,-0.44,-112.4,329.8,-7.5,419,3683,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2100,3612,0,0,0,0,0,0
$GC,3993,-0.44,-112.4,353.6,-7.8,449,3997,0.00,1.95,0.00,0.000,4,0.000,0.071,2689,3305,3612,0,0,0,0,0,0
$GC,4030,-0.45,-112.4,356.5,-7.7,452,4036,0.00,1.90,0.00,0.000,6,0.000,0.055,2689,2099,3612,0,0,0,0,0,0
$GC,4345,-0.45,-112.4,380.7,-7.7,483,4346,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2097,3612,0,0,0,0,0,0
$GC,4656,-0.45,-112.4,405.5,-8.1,513,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2097,3612,0,0,0,0,0,0
$GC,4966,-0.45,-112.4,432.2,-8.9,543,4967,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2097,3611,0,0,0,0,0,0
$GC,5277,-0.45,-112.4,460.4,-8.8,573,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2097,3611,0,0,0,0,0,0
$GC,5587,-0.45,-112.4,487.4,-8.4,603,5588,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2097,3611,0,0,0,0,0,0
$GC,5898,-0.45,-112.4,511.5,-7.6,633,5902,0.00,1.98,0.00,0.000,4,0.000,0.074,2689,3311,3611,0,0,0,0,0,0
$GC,5950,-0.47,-112.4,515.4,-7.4,638,5955,0.00,1.92,0.00,0.000,6,0.000,0.058,2689,2093,3611,0,0,0,0,0,0
$GC,6271,-0.47,-112.4,539.7,-7.6,669,6276,0.00,2.00,0.00,0.000,4,0.000,0.074,2687,3310,3611,0,0,0,0,0,0
$GC,6297,-0.48,-112.4,541.8,-8.1,671,6305,0.00,1.92,0.00,0.000,6,0.000,0.058,2686,2092,3611,0,0,0,0,0,0
$GC,6613,-0.48,-112.4,565.5,-7.2,702,6614,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2092,3611,0,0,0,0,0,0
$GC,6924,-0.48,-112.4,587.4,-6.9,732,6928,0.00,1.98,0.00,0.000,4,0.000,0.075,2680,3302,3611,0,0,0,0,0,0
$GC,6955,-0.48,-112.4,589.6,-7.0,735,6960,0.00,1.90,0.00,0.000,6,0.000,0.059,2680,2099,3610,0,0,0,0,0,0
$GC,7293,-0.48,-112.4,613.6,-7.1,756,7293,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2097,3610,0,0,0,0,0,0
$GC,7596,-0.48,-112.4,635.0,-6.9,766,7597,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2097,3611,0,0,0,0,0,0
$GC,7899,-0.48,-112.4,656.0,-6.8,776,7900,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2097,3610,0,0,0,0,0,0
$GC,8203,-0.48,-112.4,676.9,-6.9,786,8204,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2097,3611,0,0,0,0,0,0
$GC,8506,-0.48,-112.4,698.9,-7.3,796,8511,0.00,1.98,0.00,0.000,4,0.000,0.076,2672,3315,3610,0,0,0,0,0,0
$GC,8538,-0.48,-112.4,701.1,-7.1,797,8543,0.00,1.95,0.00,0.000,6,0.000,0.061,2672,2086,3610,0,0,0,0,0,0
$GC,8874,-0.48,-112.4,727.6,-7.9,808,8878,0.00,1.98,0.00,0.000,4,0.000,0.075,2667,3302,3610,0,0,0,0,0,0
$GC,8905,-0.48,-112.4,730.2,-8.3,809,8910,0.00,1.92,0.00,0.000,6,0.000,0.061,2667,2089,3610,0,0,0,0,0,0
$GC,9241,-0.47,-112.4,757.7,-8.4,820,9245,0.00,1.98,0.00,0.000,4,0.000,0.075,2660,3300,3611,0,0,0,0,0,0
$GC,9272,-0.47,-112.4,760.3,-9.1,821,9277,0.00,1.92,0.00,0.000,6,0.000,0.061,2660,2086,3610,0,0,0,0,0,0
$GC,9608,-0.45,-112.4,789.6,-8.8,832,9612,0.00,2.00,0.00,0.000,4,0.000,0.075,2652,3312,3610,0,0,0,0,0,0
$GC,9628,-0.44,-112.4,791.5,-9.9,832,9633,0.12,1.92,0.00,0.000,6,0.153,0.061,2687,2099,3611,0,0,0,0,0,0
$GC,9943,-0.45,-112.4,814.3,-7.1,843,9943,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2099,3611,0,0,0,0,0,0
$GC,10246,-0.46,-112.4,835.6,-6.8,853,10247,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2099,3611,0,0,0,0,0,0
$GC,10549,-0.48,-112.4,855.6,-6.7,863,10550,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2099,3611,0,0,0,0,0,0
$GC,10853,-0.49,-112.4,876.7,-7.0,873,10854,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2099,3611,0,0,0,0,0,0
$GC,11156,-0.51,-112.4,897.8,-7.1,883,11161,0.00,1.98,0.00,0.000,4,0.000,0.077,2686,3304,3611,0,0,0,0,0,0
$GC,11215,-0.54,-112.4,902.1,-6.4,884,11221,0.00,1.92,0.00,0.000,6,0.000,0.061,2686,2092,3611,0,0,0,0,0,0
$GC,11524,-0.56,-112.4,924.5,-7.3,895,11525,0.10,0.00,0.00,0.000,6,0.114,0.000,2639,2092,3612,0,0,0,0,0,0
$GC,11827,-0.53,-112.4,954.4,-10.1,905,11831,0.00,1.98,0.00,0.000,4,0.000,0.077,2631,3300,3611,0,0,0,0,0,0
$GC,11874,-0.51,-112.4,959.1,-9.8,906,11880,0.12,1.90,0.00,0.000,6,0.161,0.062,2666,2101,3611,0,0,0,0,0,0
$GC,12194,-0.51,-112.4,985.2,-7.9,917,12195,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2101,3611,0,0,0,0,0,0
$STATE,12284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12284,begin apogee
$GC,12287,-0.14,0.0,992.3,7.9,920,12385,0.35,0.00,96.57,1.226,6,0.127,0.000,2780,1999,3150,0,0,0,0,0,0
$STATE,12385,end apogee,CONTROL_FINISHED_OK
$STATE,12385,begin climb
$GC,12387,0.45,112.4,995.1,0.0,923,12490,0.57,0.00,99.60,1.188,6,0.087,0.000,2975,1999,2691,0,0,0,0,0,0
$GC,12779,0.41,112.4,970.3,7.9,936,12784,0.00,2.10,0.00,0.000,4,0.000,0.073,2975,3234,2685,0,0,0,0,0,0
$GC,12881,0.34,112.4,961.1,9.8,939,12886,0.12,2.03,0.00,0.000,6,0.148,0.063,2946,2007,2684,0,0,0,0,0,0
$GC,13211,0.32,112.4,938.8,6.6,950,13216,0.00,2.03,0.00,0.000,4,0.000,0.074,2946,3225,2683,0,0,0,0,0,0
$GC,13258,0.29,112.4,935.4,7.8,951,13263,0.00,1.98,0.00,0.000,6,0.000,0.064,2949,2013,2683,0,0,0,0,0,0
$GC,13578,0.26,112.4,913.0,7.0,962,13582,0.12,2.00,0.00,0.000,4,0.173,0.074,2916,3226,2682,0,0,0,0,0,0
$GC,13625,0.26,112.4,909.9,6.4,963,13630,0.00,2.00,0.00,0.000,6,0.000,0.064,2919,2000,2682,0,0,0,0,0,0
$GC,13945,0.28,138.1,893.1,5.2,974,13968,0.00,0.00,21.67,1.126,6,0.000,0.000,2919,2000,2587,0,0,0,0,0,0
$GC,14248,0.30,157.6,877.0,5.4,984,14272,0.00,2.12,18.35,1.101,4,0.000,0.075,2919,3240,2507,0,0,0,0,0,0
$GC,14294,0.31,157.6,874.2,6.3,985,14298,0.00,2.03,0.00,0.000,6,0.000,0.064,2919,2019,2505,0,0,0,0,0,0
$GC,14613,0.34,165.3,855.8,5.8,996,14625,0.00,2.10,8.30,0.990,4,0.000,0.074,2919,763,2475,0,0,0,0,0,0
$GC,14650,0.38,179.6,853.6,5.6,997,14671,0.08,2.05,14.15,1.054,6,0.071,0.064,2963,2016,2416,0,0,0,0,0,0
$GC,14973,0.36,179.6,826.8,8.3,1008,14977,0.00,2.05,0.00,0.000,4,0.000,0.076,2962,3237,2414,0,0,0,0,0,0
$GC,15042,0.33,179.6,820.5,9.6,1010,15047,0.00,1.98,0.00,0.000,6,0.000,0.063,2968,2024,2413,0,0,0,0,0,0
$GC,15372,0.31,179.6,792.4,8.4,1021,15373,0.12,0.00,0.00,0.000,6,0.167,0.000,2935,2024,2413,0,0,0,0,0,0
$GC,15675,0.33,186.9,773.7,5.8,1031,15686,0.00,1.98,7.68,0.945,4,0.000,0.074,2935,3244,2387,0,0,0,0,0,0
$GC,15712,0.33,186.9,771.4,6.3,1032,15716,0.00,2.00,0.00,0.000,6,0.000,0.064,2935,2021,2387,0,0,0,0,0,0
$GC,16036,0.34,186.9,751.9,6.1,1043,16037,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2021,2387,0,0,0,0,0,0
$GC,16340,0.36,186.9,732.6,6.6,1053,16341,0.00,0.00,0.00,0.000,6,0.000,0.000,2935,2021,2387,0,0,0,0,0,0
$GC,16643,0.38,186.9,712.5,6.7,1063,16648,0.00,1.98,0.00,0.000,4,0.000,0.075,2935,3229,2388,0,0,0,0,0,0
$GC,16691,0.38,186.9,709.0,7.1,1064,16695,0.00,1.92,0.00,0.000,6,0.000,0.064,2935,2035,2388,0,0,0,0,0,0
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$STATE,26115,end climb,SURFACE_DEPTH_REACHED
$STATE,26115,begin surface coast
$FINISH,0.7,1.024318
$STATE,26174,end surface coast,CONTROL_FINISHED_OK
$STATE,26174,begin surface
$SM_CCo,26186,18.27,0.368,1,0,1722,350.04
$SM_GC,1.52,0.00,0.00,18.27,0.000,0.000,0.368,138,2090,1722,-8.41,0.42,350.04
$IRIDIUM_FIX,4654.38,-12630.04,191099,010108
$TT8_MAMPS,0.052156
$HUMID,38.02
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,18.00
$XPDR_PINGS,0
$24V_AH,23.6,13.184
$10V_AH,10.3,8.625
$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,21.575,174.825,391.700,18.275,0.000,30.897,31.020,368.276,0.000,0.000,12.648,0.000,20646.137,680.438,4708.009,677.107,0.000,2377.276,0.000,3995.122,0.000,0.535,0.000
$DEVICE_MAMPS,246.974,98.176,1226.433,368.160,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1391.307,1658.787,1711.900,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298572
$DATA_FILE_SIZE,113565,2013
$CAP_FILE_SIZE,253005,0
$CFSIZE,260165632,251719680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.125,107.2,1
$GPS,250710,154401,4711.836,-12634.995,70,1.5,70,18.6