version: 66.06
glider: 187
mission: 2
dive: 106
start: 7 25 110 16 0 43
data:
$ID,187
$MISSION,2
$DIVE,106
$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,-25595.453
$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,20
$R_STBD_OVSHOOT,34
$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
$GPS1,154401,4711.836,-12634.995,70,1.5,70,18.6
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.64
$_SM_ANGLEo,-71.2
$GPS2,160037,4711.710,-12634.924,18,1.5,23,18.6
$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,246.8,38386,-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,-112.4,0.0,0.0,0,74,0.00,0.00,-60.58,0.000,2,0.000,0.000,131,2088,3212,0,0,0,0,0,0
$GC,76,-0.45,-112.4,3.6,-3.6,11,99,10.35,1.92,-8.32,0.000,4,0.245,0.076,2671,3302,3610,0,0,0,0,0,0
$GC,226,-0.37,-112.4,39.7,-21.2,39,233,0.10,1.95,0.00,0.000,6,0.137,0.051,2704,2070,3612,0,0,0,0,0,0
$GC,553,-0.33,-112.4,85.7,-12.3,100,560,0.00,2.00,0.00,0.000,4,0.000,0.067,2697,3296,3614,0,0,0,0,0,0
$GC,612,-0.30,-112.4,93.0,-12.1,111,620,0.10,1.90,0.00,0.000,6,0.122,0.051,2732,2080,3614,0,0,0,0,0,0
$GC,936,-0.30,-112.4,120.7,-7.8,149,940,0.00,1.95,0.00,0.000,4,0.000,0.058,2732,838,3615,0,0,0,0,0,0
$GC,994,-0.32,-112.4,125.3,-7.6,154,1001,0.00,1.95,0.00,0.000,6,0.000,0.056,2732,2066,3615,0,0,0,0,0,0
$GC,1310,-0.33,-112.4,146.6,-6.8,185,1314,0.00,2.00,0.00,0.000,4,0.000,0.067,2726,3304,3615,0,0,0,0,0,0
$GC,1336,-0.36,-112.4,148.5,-7.1,187,1343,0.00,1.95,0.00,0.000,6,0.000,0.051,2725,2061,3615,0,0,0,0,0,0
$GC,1652,-0.37,-112.4,171.9,-7.8,218,1656,0.00,2.00,0.00,0.000,4,0.000,0.068,2719,3300,3615,0,0,0,0,0,0
$GC,1721,-0.40,-112.4,177.6,-8.4,224,1728,0.00,1.90,0.00,0.000,6,0.000,0.052,2719,2077,3615,0,0,0,0,0,0
$GC,2036,-0.41,-112.4,202.6,-7.3,255,2041,0.00,1.92,0.00,0.000,4,0.000,0.059,2719,839,3614,0,0,0,0,0,0
$GC,2170,-0.42,-112.4,212.6,-7.6,267,2177,0.00,1.92,0.00,0.000,6,0.000,0.058,2718,2065,3614,0,0,0,0,0,0
$GC,2486,-0.43,-112.4,234.2,-7.2,298,2490,0.00,1.92,0.00,0.000,4,0.000,0.061,2718,849,3614,0,0,0,0,0,0
$GC,2672,-0.45,-112.4,247.9,-7.0,315,2679,0.00,1.90,0.00,0.000,6,0.000,0.058,2719,2052,3614,0,0,0,0,0,0
$GC,2988,-0.46,-112.4,269.0,-7.3,346,2992,0.12,1.90,0.00,0.000,4,0.097,0.062,2655,846,3613,0,0,0,0,0,0
$GC,3233,-0.41,-112.4,297.1,-11.5,369,3238,0.15,1.88,0.00,0.000,6,0.162,0.059,2694,2035,3613,0,0,0,0,0,0
$GC,3555,-0.41,-112.4,321.4,-7.1,400,3558,0.00,1.85,0.00,0.000,4,0.000,0.063,2694,849,3612,0,0,0,0,0,0
$GC,3767,-0.41,-112.4,339.0,-7.9,420,3772,0.00,1.85,0.00,0.000,6,0.000,0.059,2692,2023,3612,0,0,0,0,0,0
$GC,4089,-0.41,-112.4,365.5,-8.4,451,4093,0.00,1.83,0.00,0.000,4,0.000,0.063,2692,854,3612,0,0,0,0,0,0
$GC,4249,-0.41,-112.4,380.9,-9.9,466,4253,0.00,1.80,0.00,0.000,6,0.000,0.060,2689,2004,3612,0,0,0,0,0,0
$GC,4569,-0.41,-112.4,412.0,-9.9,497,4574,0.00,1.85,0.00,0.000,4,0.000,0.064,2689,847,3612,0,0,0,0,0,0
$GC,4784,-0.41,-112.4,434.6,-11.0,517,4787,0.00,1.80,0.00,0.000,6,0.000,0.061,2686,1994,3612,0,0,0,0,0,0
$GC,5103,-0.41,-112.4,466.2,-9.7,548,5108,0.00,1.85,0.00,0.000,4,0.000,0.064,2686,838,3611,0,0,0,0,0,0
$GC,5243,-0.39,-112.4,480.6,-10.4,561,5247,0.00,1.80,0.00,0.000,6,0.000,0.061,2683,1981,3611,0,0,0,0,0,0
$GC,5564,-0.38,-112.4,512.8,-10.1,592,5567,0.00,1.80,0.00,0.000,4,0.000,0.065,2682,847,3611,0,0,0,0,0,0
$GC,5744,-0.37,-112.4,531.6,-9.7,609,5750,0.12,1.80,0.00,0.000,6,0.163,0.061,2712,1982,3611,0,0,0,0,0,0
$GC,6066,-0.40,-112.4,555.5,-7.0,640,6070,0.00,1.77,0.00,0.000,4,0.000,0.065,2713,849,3611,0,0,0,0,0,0
$GC,6130,-0.42,-112.4,560.1,-7.3,646,6134,0.00,1.77,0.00,0.000,6,0.000,0.062,2712,1976,3611,0,0,0,0,0,0
$GC,6450,-0.44,-112.4,580.7,-6.1,677,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,1976,3610,0,0,0,0,0,0
$GC,6761,-0.47,-112.4,598.6,-5.9,707,6765,0.00,1.77,0.00,0.000,4,0.000,0.066,2712,848,3610,0,0,0,0,0,0
$GC,6819,-0.49,-112.4,602.4,-6.0,710,6825,0.08,1.77,0.00,0.000,6,0.069,0.062,2663,1967,3610,0,0,0,0,0,0
$GC,7127,-0.47,-112.4,628.4,-8.6,721,7132,0.00,1.77,0.00,0.000,4,0.000,0.066,2662,835,3610,0,0,0,0,0,0
$GC,7234,-0.44,-112.4,638.5,-9.8,724,7239,0.12,1.80,0.00,0.000,6,0.165,0.062,2690,1968,3610,0,0,0,0,0,0
$GC,7558,-0.44,-112.4,663.0,-7.7,735,7563,0.00,1.77,0.00,0.000,4,0.000,0.066,2690,847,3610,0,0,0,0,0,0
$GC,7611,-0.44,-112.4,667.5,-8.7,736,7616,0.00,1.77,0.00,0.000,6,0.000,0.063,2690,1964,3610,0,0,0,0,0,0
$GC,7925,-0.44,-112.4,691.7,-7.8,747,7926,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1964,3610,0,0,0,0,0,0
$GC,8229,-0.44,-112.4,714.0,-7.2,757,8234,0.00,1.77,0.00,0.000,4,0.000,0.067,2690,847,3610,0,0,0,0,0,0
$GC,8276,-0.44,-112.4,717.7,-8.2,758,8281,0.00,1.77,0.00,0.000,6,0.000,0.065,2690,1959,3610,0,0,0,0,0,0
$GC,8596,-0.44,-112.4,739.5,-6.6,769,8600,0.00,1.75,0.00,0.000,4,0.000,0.067,2689,848,3610,0,0,0,0,0,0
$GC,8643,-0.44,-112.4,743.0,-7.2,770,8648,0.00,1.75,0.00,0.000,6,0.000,0.064,2690,1947,3610,0,0,0,0,0,0
$GC,8962,-0.45,-112.4,763.7,-6.4,781,8967,0.00,1.75,0.00,0.000,4,0.000,0.067,2690,846,3610,0,0,0,0,0,0
$GC,9010,-0.45,-112.4,767.2,-7.1,782,9014,0.00,1.75,0.00,0.000,6,0.000,0.065,2690,1944,3610,0,0,0,0,0,0
$GC,9329,-0.46,-112.4,788.2,-6.5,793,9330,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1944,3610,0,0,0,0,0,0
$GC,9633,-0.48,-112.4,807.7,-6.3,803,9637,0.00,2.20,0.00,0.000,4,0.000,0.076,2690,3300,3610,0,0,0,0,0,0
$GC,9659,-0.50,-112.4,809.5,-6.6,803,9665,0.00,2.10,0.00,0.000,6,0.000,0.061,2690,1960,3610,0,0,0,0,0,0
$GC,9968,-0.51,-112.4,829.3,-6.6,814,9972,0.00,1.77,0.00,0.000,4,0.000,0.068,2690,841,3610,0,0,0,0,0,0
$GC,10064,-0.53,-112.4,836.3,-7.1,817,10068,0.00,1.75,0.00,0.000,6,0.000,0.065,2690,1941,3610,0,0,0,0,0,0
$GC,10399,-0.54,-112.4,859.1,-7.0,828,10403,0.00,1.75,0.00,0.000,4,0.000,0.068,2690,839,3610,0,0,0,0,0,0
$GC,10452,-0.55,-112.4,863.0,-8.0,829,10457,0.10,1.75,0.00,0.000,6,0.114,0.065,2644,1937,3610,0,0,0,0,0,0
$GC,10766,-0.52,-112.4,891.8,-9.3,840,10767,0.00,0.00,0.00,0.000,6,0.000,0.000,2644,1937,3610,0,0,0,0,0,0
$GC,11069,-0.50,-112.4,920.6,-9.5,850,11074,0.00,1.75,0.00,0.000,4,0.000,0.069,2644,838,3611,0,0,0,0,0,0
$GC,11117,-0.47,-112.4,925.4,-10.1,851,11122,0.15,1.75,0.00,0.000,6,0.163,0.065,2680,1934,3610,0,0,0,0,0,0
$GC,11436,-0.47,-112.4,948.9,-7.1,862,11437,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1934,3611,0,0,0,0,0,0
$GC,11739,-0.47,-112.4,971.0,-7.4,872,11740,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1934,3611,0,0,0,0,0,0
$STATE,12012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12012,begin apogee
$GC,12015,-0.14,0.0,991.4,7.3,881,12113,0.32,0.00,96.35,1.226,6,0.127,0.000,2787,2005,3150,0,0,0,0,0,0
$STATE,12113,end apogee,CONTROL_FINISHED_OK
$STATE,12113,begin climb
$GC,12115,0.45,112.4,994.0,0.0,884,12217,0.57,0.00,100.18,1.188,6,0.087,0.000,2976,2005,2691,0,0,0,0,0,0
$GC,12497,0.41,112.4,971.7,7.2,897,12501,0.00,2.08,0.00,0.000,4,0.000,0.072,2976,3230,2686,0,0,0,0,0,0
$GC,12742,0.34,112.4,949.2,10.0,904,12747,0.15,1.95,0.00,0.000,6,0.172,0.061,2945,2044,2686,0,0,0,0,0,0
$GC,13056,0.32,112.4,926.7,7.1,915,13060,0.00,1.98,0.00,0.000,4,0.000,0.074,2945,3225,2686,0,0,0,0,0,0
$GC,13301,0.29,112.4,907.2,8.1,922,13306,0.00,1.90,0.00,0.000,6,0.000,0.062,2946,2057,2687,0,0,0,0,0,0
$GC,13616,0.27,112.4,885.5,6.7,933,13620,0.00,1.92,0.00,0.000,4,0.000,0.074,2947,3220,2687,0,0,0,0,0,0
$GC,13861,0.23,112.4,867.4,6.4,940,13866,0.15,1.85,0.00,0.000,6,0.166,0.062,2909,2077,2688,0,0,0,0,0,0
$GC,14175,0.27,159.4,852.8,4.4,951,14220,0.00,1.95,41.20,1.125,4,0.000,0.075,2909,3230,2500,0,0,0,0,0,0
$GC,14375,0.29,160.6,842.1,6.1,957,14380,0.00,1.88,0.00,0.000,6,0.000,0.061,2909,2096,2495,0,0,0,0,0,0
$GC,14700,0.35,197.7,826.3,4.8,968,14740,0.10,1.98,34.10,1.100,4,0.114,0.074,2952,3234,2342,0,0,0,0,0,0
$GC,14798,0.34,197.7,818.8,9.1,971,14803,0.00,1.88,0.00,0.000,6,0.000,0.062,2955,2115,2338,0,0,0,0,0,0
$GC,15128,0.34,197.7,794.5,7.3,982,15133,0.00,1.90,0.00,0.000,4,0.000,0.075,2955,3234,2337,0,0,0,0,0,0
$GC,15304,0.33,197.7,780.6,8.4,987,15309,0.00,1.80,0.00,0.000,6,0.000,0.063,2956,2134,2336,0,0,0,0,0,0
$GC,15623,0.33,197.7,759.2,6.4,998,15628,0.00,1.85,0.00,0.000,4,0.000,0.074,2955,3236,2336,0,0,0,0,0,0
$GC,15794,0.32,197.7,746.8,6.7,1003,15799,0.00,1.75,0.00,0.000,6,0.000,0.062,2955,2157,2336,0,0,0,0,0,0
$GC,16119,0.32,197.7,724.3,7.3,1014,16124,0.00,1.80,0.00,0.000,4,0.000,0.075,2955,3234,2336,0,0,0,0,0,0
$GC,16253,0.31,197.7,713.1,8.8,1018,16257,0.00,1.67,0.00,0.000,6,0.000,0.062,2956,2186,2336,0,0,0,0,0,0
$GC,16582,0.31,197.7,687.8,7.6,1029,16586,0.00,1.75,0.00,0.000,4,0.000,0.075,2956,3236,2336,0,0,0,0,0,0
$GC,16705,0.31,197.7,677.4,8.4,1032,16712,0.00,1.65,0.00,0.000,6,0.000,0.062,2955,2209,2336,0,0,0,0,0,0
$GC,17013,0.31,197.7,653.3,7.7,1043,17018,0.00,1.70,0.00,0.000,4,0.000,0.076,2955,3231,2336,0,0,0,0,0,0
$GC,17119,0.31,197.7,644.1,9.8,1046,17124,0.00,1.62,0.00,0.000,6,0.000,0.062,2956,2221,2335,0,0,0,0,0,0
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$STATE,25969,end climb,SURFACE_DEPTH_REACHED
$STATE,25969,begin surface coast
$FINISH,0.9,1.024083
$STATE,26001,end surface coast,CONTROL_FINISHED_OK
$STATE,26001,begin surface
$SM_CCo,26016,17.45,0.361,1,0,1722,350.04
$SM_GC,1.42,0.00,0.00,17.45,0.000,0.000,0.361,149,2061,1722,-8.38,-0.40,350.04
$IRIDIUM_FIX,4654.38,-12634.46,191099,161608
$TT8_MAMPS,0.052156
$HUMID,38.02
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,17.60
$XPDR_PINGS,0
$24V_AH,23.6,13.338
$10V_AH,10.3,8.800
$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,20.650,198.175,386.975,17.450,0.000,101.452,139.175,434.285,0.000,0.000,23.118,0.000,20060.412,695.052,5288.433,952.671,0.000,2625.419,0.000,4526.014,0.000,0.536,0.000
$DEVICE_MAMPS,245.440,123.487,1225.666,361.257,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1376.663,1636.251,1684.471,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298600
$DATA_FILE_SIZE,113762,1991
$CAP_FILE_SIZE,275968,0
$CFSIZE,260165632,251576320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.134,100.2,1
$GPS,250710,231601,4710.326,-12636.442,62,1.2,62,18.6