version: 66.06
glider: 187
mission: 2
dive: 111
start: 7 27 110 4 59 37
data:
$ID,187
$MISSION,2
$DIVE,111
$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,-25690.701
$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,2835
$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,22
$R_STBD_OVSHOOT,30
$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
$GPS1,045231,4708.592,-12644.302,70,1.1,70,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.79
$_SM_ANGLEo,-74.5
$GPS2,045931,4708.567,-12644.257,13,1.2,24,18.6
$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,222.6,25438,-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,-112.4,0.0,0.0,0,75,0.00,0.00,-60.90,0.000,2,0.000,0.000,131,2080,3181,0,0,0,0,0,0
$GC,77,-0.45,-112.4,3.4,-3.5,11,100,10.25,2.00,-9.38,0.000,4,0.244,0.078,2675,3305,3611,0,0,0,0,0,0
$GC,190,-0.40,-112.4,31.6,-21.4,32,197,0.00,1.95,0.00,0.000,6,0.000,0.051,2675,2069,3615,0,0,0,0,0,0
$GC,516,-0.36,-112.4,90.9,-17.7,93,523,0.15,0.00,0.00,0.000,6,0.156,0.000,2717,2066,3616,0,0,0,0,0,0
$GC,839,-0.36,-112.4,124.3,-8.6,131,843,0.00,1.98,0.00,0.000,4,0.000,0.067,2710,3296,3618,0,0,0,0,0,0
$GC,972,-0.36,-112.4,135.3,-8.2,143,979,0.00,1.92,0.00,0.000,6,0.000,0.050,2710,2066,3618,0,0,0,0,0,0
$GC,1287,-0.36,-112.4,162.6,-8.7,174,1288,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2064,3618,0,0,0,0,0,0
$GC,1598,-0.36,-112.4,190.0,-8.9,204,1602,0.00,2.00,0.00,0.000,4,0.000,0.069,2704,3307,3618,0,0,0,0,0,0
$GC,1656,-0.36,-112.4,195.2,-8.8,209,1664,0.00,1.92,0.00,0.000,6,0.000,0.051,2704,2074,3618,0,0,0,0,0,0
$GC,1972,-0.36,-112.4,225.4,-8.9,240,1972,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2074,3618,0,0,0,0,0,0
$GC,2283,-0.36,-112.4,251.4,-8.0,270,2287,0.00,1.95,0.00,0.000,4,0.000,0.068,2703,3298,3618,0,0,0,0,0,0
$GC,2346,-0.36,-112.4,256.5,-7.8,276,2351,0.00,1.90,0.00,0.000,6,0.000,0.052,2702,2084,3618,0,0,0,0,0,0
$GC,2668,-0.36,-112.4,283.3,-8.2,307,2671,0.00,1.95,0.00,0.000,4,0.000,0.070,2696,3304,3618,0,0,0,0,0,0
$GC,2714,-0.36,-112.4,287.5,-8.3,311,2721,0.00,1.90,0.00,0.000,6,0.000,0.052,2696,2088,3618,0,0,0,0,0,0
$GC,3030,-0.36,-112.4,315.4,-9.3,342,3031,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2086,3618,0,0,0,0,0,0
$GC,3341,-0.36,-112.4,343.4,-8.8,372,3345,0.00,1.95,0.00,0.000,4,0.000,0.071,2696,3306,3618,0,0,0,0,0,0
$GC,3415,-0.36,-112.4,350.0,-8.3,379,3419,0.00,1.88,0.00,0.000,6,0.000,0.053,2695,2099,3618,0,0,0,0,0,0
$GC,3735,-0.36,-112.4,379.6,-9.5,410,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2098,3617,0,0,0,0,0,0
$GC,4046,-0.36,-112.4,406.5,-8.6,440,4051,0.00,1.92,0.00,0.000,4,0.000,0.070,2691,3302,3617,0,0,0,0,0,0
$GC,4072,-0.36,-112.4,408.6,-8.4,442,4079,0.00,1.90,0.00,0.000,6,0.000,0.055,2690,2092,3617,0,0,0,0,0,0
$GC,4388,-0.36,-112.4,434.9,-8.0,473,4392,0.00,2.00,0.00,0.000,4,0.000,0.072,2690,3314,3617,0,0,0,0,0,0
$GC,4425,-0.36,-112.4,437.9,-7.3,476,4431,0.00,1.90,0.00,0.000,6,0.000,0.054,2690,2102,3617,0,0,0,0,0,0
$GC,4740,-0.36,-112.4,461.8,-7.6,507,4741,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2101,3617,0,0,0,0,0,0
$GC,5051,-0.36,-112.4,484.9,-7.6,537,5055,0.00,1.95,0.00,0.000,4,0.000,0.072,2689,3306,3616,0,0,0,0,0,0
$GC,5104,-0.36,-112.4,488.6,-6.8,542,5109,0.00,1.88,0.00,0.000,6,0.000,0.055,2690,2110,3616,0,0,0,0,0,0
$GC,5425,-0.36,-112.4,511.8,-6.9,573,5429,0.00,2.00,0.00,0.000,4,0.000,0.062,2690,841,3616,0,0,0,0,0,0
$GC,5440,-0.36,-112.4,513.0,-7.5,574,5447,0.10,2.03,0.00,0.000,6,0.173,0.061,2713,2118,3616,0,0,0,0,0,0
$GC,5757,-0.38,-112.4,531.4,-5.7,605,5761,0.00,1.90,0.00,0.000,4,0.000,0.073,2709,3301,3616,0,0,0,0,0,0
$GC,5825,-0.40,-112.4,535.6,-6.2,611,5832,0.00,1.85,0.00,0.000,6,0.000,0.055,2709,2120,3616,0,0,0,0,0,0
$GC,6141,-0.41,-112.4,554.6,-6.1,642,6145,0.00,1.92,0.00,0.000,4,0.000,0.073,2709,3306,3616,0,0,0,0,0,0
$GC,6184,-0.44,-112.4,556.9,-5.8,646,6188,0.00,1.83,0.00,0.000,6,0.000,0.056,2710,2134,3616,0,0,0,0,0,0
$GC,6504,-0.45,-112.4,575.0,-5.3,677,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2132,3616,0,0,0,0,0,0
$GC,6815,-0.47,-112.4,591.6,-5.4,707,6819,0.00,2.03,0.00,0.000,4,0.000,0.064,2709,848,3616,0,0,0,0,0,0
$GC,6841,-0.48,-112.4,593.2,-5.5,709,6848,0.00,2.03,0.00,0.000,6,0.000,0.062,2709,2137,3616,0,0,0,0,0,0
$GC,7153,-0.50,-112.4,609.5,-5.1,728,7157,0.10,1.88,0.00,0.000,4,0.112,0.074,2652,3302,3616,0,0,0,0,0,0
$GC,7237,-0.50,-112.4,616.2,-8.7,730,7242,0.00,1.83,0.00,0.000,6,0.000,0.057,2651,2142,3616,0,0,0,0,0,0
$GC,7551,-0.48,-112.4,644.1,-9.0,741,7556,0.00,2.05,0.00,0.000,4,0.000,0.064,2651,842,3616,0,0,0,0,0,0
$GC,7583,-0.46,-112.4,647.3,-9.9,742,7588,0.10,2.05,0.00,0.000,6,0.138,0.063,2679,2142,3616,0,0,0,0,0,0
$GC,7918,-0.46,-112.4,672.5,-7.4,753,7919,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2142,3616,0,0,0,0,0,0
$GC,8222,-0.46,-112.4,695.5,-7.6,763,8222,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2142,3616,0,0,0,0,0,0
$GC,8525,-0.46,-112.4,719.5,-8.1,773,8530,0.00,1.90,0.00,0.000,4,0.000,0.074,2673,3307,3616,0,0,0,0,0,0
$GC,8572,-0.46,-112.4,723.4,-8.1,774,8577,0.00,1.83,0.00,0.000,6,0.000,0.057,2673,2149,3616,0,0,0,0,0,0
$GC,8892,-0.46,-112.4,749.4,-8.0,785,8893,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2146,3616,0,0,0,0,0,0
$GC,9195,-0.46,-112.4,771.9,-7.1,795,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2146,3616,0,0,0,0,0,0
$GC,9499,-0.46,-112.4,792.7,-6.8,805,9503,0.00,1.92,0.00,0.000,4,0.000,0.075,2666,3317,3617,0,0,0,0,0,0
$GC,9541,-0.46,-112.4,795.7,-7.7,806,9546,0.00,1.85,0.00,0.000,6,0.000,0.058,2665,2142,3616,0,0,0,0,0,0
$GC,9866,-0.46,-112.4,820.4,-7.7,817,9870,0.00,1.90,0.00,0.000,4,0.000,0.075,2657,3313,3617,0,0,0,0,0,0
$GC,9892,-0.46,-112.4,822.6,-8.5,817,9899,0.00,1.83,0.00,0.000,6,0.000,0.058,2658,2152,3616,0,0,0,0,0,0
$GC,10201,-0.46,-112.4,849.0,-8.6,828,10205,0.00,2.03,0.00,0.000,4,0.000,0.064,2658,853,3617,0,0,0,0,0,0
$GC,10222,-0.46,-112.4,850.8,-9.1,828,10226,0.08,2.05,0.00,0.000,6,0.137,0.064,2679,2151,3617,0,0,0,0,0,0
$GC,10535,-0.46,-112.4,872.7,-6.7,839,10540,0.00,1.88,0.00,0.000,4,0.000,0.075,2674,3313,3617,0,0,0,0,0,0
$GC,10588,-0.46,-112.4,876.3,-7.1,840,10593,0.00,1.83,0.00,0.000,6,0.000,0.058,2674,2155,3617,0,0,0,0,0,0
$GC,10903,-0.46,-112.4,898.3,-7.1,851,10904,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2153,3617,0,0,0,0,0,0
$GC,11206,-0.46,-112.4,918.1,-6.2,861,11210,0.00,2.05,0.00,0.000,4,0.000,0.065,2674,847,3618,0,0,0,0,0,0
$GC,11238,-0.46,-112.4,920.2,-7.1,862,11242,0.00,2.08,0.00,0.000,6,0.000,0.066,2672,2145,3617,0,0,0,0,0,0
$GC,11573,-0.46,-112.4,940.6,-6.2,873,11574,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2145,3618,0,0,0,0,0,0
$GC,11876,-0.46,-112.4,957.9,-5.6,883,11877,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2145,3619,0,0,0,0,0,0
$GC,12180,-0.46,-112.4,975.4,-5.8,893,12184,0.00,1.88,0.00,0.000,4,0.000,0.076,2668,3312,3618,0,0,0,0,0,0
$GC,12222,-0.46,-112.4,977.9,-6.0,894,12227,0.00,1.85,0.00,0.000,6,0.000,0.060,2668,2143,3619,0,0,0,0,0,0
$STATE,12455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12455,begin apogee
$GC,12458,-0.14,0.0,991.8,6.0,902,12557,0.38,0.00,97.65,1.230,6,0.125,0.000,2789,2003,3149,0,0,0,0,0,0
$STATE,12558,end apogee,CONTROL_FINISHED_OK
$STATE,12558,begin climb
$GC,12559,0.45,112.4,993.3,0.0,905,12661,0.55,0.00,99.43,1.190,6,0.085,0.000,2976,2003,2691,0,0,0,0,0,0
$GC,12952,0.43,112.4,968.4,7.2,918,12956,0.00,2.08,0.00,0.000,4,0.000,0.072,2977,3231,2686,0,0,0,0,0,0
$GC,13048,0.39,112.4,960.7,7.6,921,13052,0.00,2.00,0.00,0.000,6,0.000,0.060,2984,2010,2686,0,0,0,0,0,0
$GC,13383,0.36,112.4,935.5,7.4,932,13388,0.12,2.05,0.00,0.000,4,0.175,0.073,2953,3237,2686,0,0,0,0,0,0
$GC,13452,0.34,112.4,930.9,6.9,934,13457,0.00,1.98,0.00,0.000,6,0.000,0.061,2960,2017,2686,0,0,0,0,0,0
$GC,13782,0.32,116.5,910.5,6.0,945,13788,0.00,0.00,4.40,0.808,6,0.000,0.000,2959,2017,2675,0,0,0,0,0,0
$GC,14086,0.30,117.4,892.0,6.1,955,14090,0.00,2.03,0.00,0.000,4,0.000,0.074,2959,3235,2675,0,0,0,0,0,0
$GC,14128,0.28,117.4,889.1,6.9,956,14133,0.15,1.98,0.00,0.000,6,0.168,0.061,2926,2015,2675,0,0,0,0,0,0
$GC,14452,0.30,163.3,874.2,4.4,967,14498,0.00,2.05,41.78,1.141,4,0.000,0.071,2926,3232,2484,0,0,0,0,0,0
$GC,14525,0.32,181.9,870.7,5.4,969,14546,0.00,2.00,17.90,1.080,6,0.000,0.060,2926,2022,2408,0,0,0,0,0,0
$GC,14870,0.35,211.5,853.4,5.0,981,14902,0.00,0.00,26.98,1.101,6,0.000,0.000,2926,2023,2286,0,0,0,0,0,0
$GC,15203,0.38,228.7,835.9,5.5,992,15220,0.00,0.00,15.75,1.060,6,0.000,0.000,2926,2022,2217,0,0,0,0,0,0
$GC,15507,0.41,243.1,819.1,5.6,1002,15522,0.12,0.00,13.80,1.042,6,0.100,0.000,2978,2021,2159,0,0,0,0,0,0
$GC,15810,0.41,243.1,790.8,9.6,1012,15814,0.00,2.03,0.00,0.000,4,0.000,0.073,2978,3227,2156,0,0,0,0,0,0
$GC,15858,0.40,243.1,785.7,11.6,1013,15862,0.00,1.98,0.00,0.000,6,0.000,0.061,2982,2022,2156,0,0,0,0,0,0
$GC,16177,0.40,243.1,753.5,10.1,1024,16181,0.00,2.03,0.00,0.000,4,0.000,0.073,2981,3233,2156,0,0,0,0,0,0
$GC,16203,0.38,243.1,750.6,11.0,1024,16210,0.00,1.92,0.00,0.000,6,0.000,0.061,2983,2038,2155,0,0,0,0,0,0
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$STATE,26404,end climb,SURFACE_DEPTH_REACHED
$STATE,26404,begin surface coast
$FINISH,0.9,1.012882
$STATE,26452,end surface coast,CONTROL_FINISHED_OK
$STATE,26453,begin surface
$SM_CCo,26525,0.00,0.000,0,0,1589,382.67
$SM_GC,1.63,7.68,0.00,0.00,0.042,0.000,0.000,137,2081,1589,-8.34,0.17,382.67
$IRIDIUM_FIX,4651.23,-12637.00,201099,212145
$TT8_MAMPS,0.052156
$HUMID,36.84
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,18.20
$XPDR_PINGS,0
$24V_AH,23.6,14.099
$10V_AH,10.3,9.620
$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
$DEVICE_SECS,20.475,208.475,441.500,0.000,0.000,22.166,30.839,243.862,0.000,0.000,24.431,0.000,20716.125,724.270,4896.942,568.121,0.000,2509.896,0.000,4156.649,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1403.278,1676.112,1731.106,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298584
$DATA_FILE_SIZE,113672,2033
$CAP_FILE_SIZE,259452,0
$CFSIZE,260165632,251002880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.103, 60.2,1
$GPS,270710,122237,4707.834,-12646.783,39,1.6,39,18.6