version: 66.06
glider: 187
mission: 2
dive: 113
start: 7 27 110 20 6 37
data:
$ID,187
$MISSION,2
$DIVE,113
$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,-25723.84
$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,28
$R_STBD_OVSHOOT,29
$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
$GPS1,195731,4706.309,-12648.342,44,0.9,44,18.6
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-73.1
$GPS2,200631,4706.330,-12648.220,14,0.9,19,18.6
$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,229.9,18943,-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,11,begin dive
$GC,12,-0.45,-112.4,0.0,0.0,0,73,0.00,0.00,-59.62,0.000,2,0.000,0.000,131,2077,2952,0,0,0,0,0,0
$GC,75,-0.45,-112.4,3.1,-2.0,10,108,10.38,2.00,-16.30,0.000,4,0.245,0.078,2674,3306,3611,0,0,0,0,0,0
$GC,204,-0.41,-112.4,28.0,-19.9,34,210,0.00,1.95,0.00,0.000,6,0.000,0.050,2674,2071,3613,0,0,0,0,0,0
$GC,530,-0.37,-112.4,85.8,-16.1,95,535,0.15,0.00,0.00,0.000,6,0.158,0.000,2715,2068,3614,0,0,0,0,0,0
$GC,854,-0.37,-112.4,113.8,-7.6,139,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2068,3615,0,0,0,0,0,0
$GC,1166,-0.37,-112.4,139.8,-8.5,169,1167,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2068,3616,0,0,0,0,0,0
$GC,1476,-0.37,-112.4,166.6,-8.4,199,1479,0.00,2.00,0.00,0.000,4,0.000,0.066,2710,3307,3616,0,0,0,0,0,0
$GC,1516,-0.37,-112.4,170.1,-7.8,203,1521,0.00,1.92,0.00,0.000,6,0.000,0.049,2710,2075,3616,0,0,0,0,0,0
$GC,1837,-0.37,-112.4,194.2,-7.4,234,1838,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2073,3617,0,0,0,0,0,0
$GC,2149,-0.37,-112.4,217.9,-7.5,264,2152,0.00,1.90,0.00,0.000,4,0.000,0.058,2710,846,3616,0,0,0,0,0,0
$GC,2174,-0.37,-112.4,220.1,-8.2,266,2181,0.00,1.95,0.00,0.000,6,0.000,0.058,2710,2079,3617,0,0,0,0,0,0
$GC,2490,-0.37,-112.4,244.5,-8.0,297,2494,0.00,2.00,0.00,0.000,4,0.000,0.067,2708,3316,3616,0,0,0,0,0,0
$GC,2527,-0.38,-112.4,247.5,-8.7,300,2534,0.00,1.92,0.00,0.000,6,0.000,0.052,2708,2082,3616,0,0,0,0,0,0
$GC,2843,-0.38,-112.4,271.3,-7.3,331,2847,0.00,1.92,0.00,0.000,4,0.000,0.060,2707,843,3616,0,0,0,0,0,0
$GC,2863,-0.38,-112.4,273.0,-7.6,333,2868,0.00,1.98,0.00,0.000,6,0.000,0.059,2706,2093,3616,0,0,0,0,0,0
$GC,3185,-0.38,-112.4,296.5,-7.5,364,3186,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2093,3617,0,0,0,0,0,0
$GC,3496,-0.38,-112.4,320.8,-8.2,394,3499,0.00,1.92,0.00,0.000,4,0.000,0.070,2704,3318,3616,0,0,0,0,0,0
$GC,3527,-0.39,-112.4,323.3,-8.5,397,3531,0.00,1.90,0.00,0.000,6,0.000,0.054,2704,2096,3617,0,0,0,0,0,0
$GC,3847,-0.39,-112.4,349.7,-8.4,428,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2093,3616,0,0,0,0,0,0
$GC,4158,-0.39,-112.4,374.5,-8.0,458,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2093,3616,0,0,0,0,0,0
$GC,4468,-0.39,-112.4,398.1,-7.4,488,4473,0.00,1.95,0.00,0.000,4,0.000,0.061,2704,840,3616,0,0,0,0,0,0
$GC,4505,-0.39,-112.4,401.1,-7.7,491,4511,0.00,2.00,0.00,0.000,6,0.000,0.061,2704,2103,3616,0,0,0,0,0,0
$GC,4821,-0.39,-112.4,424.4,-7.5,522,4825,0.00,1.90,0.00,0.000,4,0.000,0.071,2704,3303,3616,0,0,0,0,0,0
$GC,4852,-0.40,-112.4,426.5,-7.3,525,4857,0.00,1.90,0.00,0.000,6,0.000,0.054,2704,2090,3616,0,0,0,0,0,0
$GC,5174,-0.40,-112.4,449.8,-7.2,556,5175,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2087,3616,0,0,0,0,0,0
$GC,5485,-0.40,-112.4,471.9,-7.1,586,5486,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2086,3616,0,0,0,0,0,0
$GC,5795,-0.40,-112.4,493.2,-6.9,616,5798,0.00,1.95,0.00,0.000,4,0.000,0.074,2703,3306,3617,0,0,0,0,0,0
$GC,5820,-0.42,-112.4,495.0,-6.9,618,5827,0.00,1.90,0.00,0.000,6,0.000,0.055,2703,2096,3617,0,0,0,0,0,0
$GC,6137,-0.42,-112.4,516.6,-6.7,649,6138,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2096,3617,0,0,0,0,0,0
$GC,6448,-0.42,-112.4,537.6,-6.7,679,6451,0.00,1.92,0.00,0.000,4,0.000,0.064,2702,845,3617,0,0,0,0,0,0
$GC,6479,-0.42,-112.4,540.0,-7.7,682,6483,0.00,1.98,0.00,0.000,6,0.000,0.063,2700,2097,3617,0,0,0,0,0,0
$GC,6799,-0.42,-112.4,562.1,-6.8,713,6803,0.00,1.95,0.00,0.000,4,0.000,0.072,2694,3313,3617,0,0,0,0,0,0
$GC,6820,-0.42,-112.4,563.7,-7.8,715,6824,0.00,1.90,0.00,0.000,6,0.000,0.058,2694,2095,3617,0,0,0,0,0,0
$GC,7140,-0.42,-112.4,586.5,-6.7,746,7141,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2093,3617,0,0,0,0,0,0
$GC,7459,-0.42,-112.4,608.9,-7.0,769,7459,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2092,3618,0,0,0,0,0,0
$GC,7762,-0.42,-112.4,629.8,-6.9,779,7763,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2092,3618,0,0,0,0,0,0
$GC,8066,-0.42,-112.4,650.6,-6.9,789,8066,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2093,3618,0,0,0,0,0,0
$GC,8369,-0.42,-112.4,670.8,-6.5,799,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2093,3618,0,0,0,0,0,0
$GC,8672,-0.42,-112.4,690.5,-6.6,809,8677,0.00,1.98,0.00,0.000,4,0.000,0.064,2694,840,3619,0,0,0,0,0,0
$GC,8704,-0.42,-112.4,692.8,-7.6,810,8709,0.00,2.00,0.00,0.000,6,0.000,0.064,2691,2108,3619,0,0,0,0,0,0
$GC,9039,-0.42,-112.4,716.0,-7.0,821,9040,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2108,3619,0,0,0,0,0,0
$GC,9343,-0.42,-112.4,736.5,-6.7,831,9348,0.00,2.00,0.00,0.000,4,0.000,0.065,2691,838,3619,0,0,0,0,0,0
$GC,9375,-0.42,-112.4,738.6,-6.8,832,9379,0.00,2.03,0.00,0.000,6,0.000,0.065,2691,2106,3619,0,0,0,0,0,0
$GC,9710,-0.42,-112.4,760.4,-6.5,843,9711,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2106,3620,0,0,0,0,0,0
$GC,10014,-0.42,-112.4,779.0,-6.0,853,10014,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2106,3620,0,0,0,0,0,0
$GC,10317,-0.42,-112.4,796.3,-5.6,863,10322,0.00,1.95,0.00,0.000,4,0.000,0.075,2691,3315,3621,0,0,0,0,0,0
$GC,10344,-0.43,-112.4,798.0,-5.9,863,10350,0.00,1.90,0.00,0.000,6,0.000,0.059,2691,2102,3620,0,0,0,0,0,0
$GC,10652,-0.43,-112.4,815.8,-6.1,874,10653,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2100,3621,0,0,0,0,0,0
$GC,10956,-0.44,-112.4,834.2,-6.0,884,10960,0.00,1.95,0.00,0.000,4,0.000,0.076,2691,3313,3621,0,0,0,0,0,0
$GC,10976,-0.45,-112.4,835.5,-6.3,884,10981,0.00,1.92,0.00,0.000,6,0.000,0.059,2691,2095,3621,0,0,0,0,0,0
$GC,11290,-0.47,-112.4,855.3,-6.4,895,11295,0.00,1.95,0.00,0.000,4,0.000,0.066,2691,849,3622,0,0,0,0,0,0
$GC,11311,-0.47,-112.4,856.8,-7.4,895,11316,0.00,2.00,0.00,0.000,6,0.000,0.064,2691,2106,3622,0,0,0,0,0,0
$GC,11626,-0.48,-112.4,877.7,-6.7,906,11630,0.00,1.92,0.00,0.000,4,0.000,0.074,2691,3312,3623,0,0,0,0,0,0
$GC,11689,-0.50,-112.4,881.7,-6.1,908,11694,0.00,1.88,0.00,0.000,6,0.000,0.058,2691,2112,3623,0,0,0,0,0,0
$GC,12025,-0.51,-112.4,902.9,-6.1,919,12026,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2110,3623,0,0,0,0,0,0
$GC,12328,-0.52,-112.4,921.6,-6.2,929,12333,0.00,2.00,0.00,0.000,4,0.000,0.067,2691,840,3624,0,0,0,0,0,0
$GC,12360,-0.53,-112.4,923.6,-6.3,930,12364,0.00,2.00,0.00,0.000,6,0.000,0.066,2691,2104,3624,0,0,0,0,0,0
$GC,12695,-0.54,-112.4,944.3,-6.2,941,12696,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2104,3625,0,0,0,0,0,0
$GC,12998,-0.56,-112.4,963.0,-6.1,951,13003,0.10,2.03,0.00,0.000,4,0.114,0.068,2645,838,3625,0,0,0,0,0,0
$GC,13025,-0.55,-112.4,965.2,-9.2,951,13031,0.00,2.03,0.00,0.000,6,0.000,0.067,2637,2109,3625,0,0,0,0,0,0
$STATE,13302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13302,begin apogee
$GC,13305,-0.14,0.0,990.2,8.9,961,13406,0.47,0.00,99.40,1.228,6,0.133,0.000,2789,1994,3150,0,0,0,0,0,0
$STATE,13406,end apogee,CONTROL_FINISHED_OK
$STATE,13406,begin climb
$GC,13407,0.45,112.4,992.5,0.0,964,13510,0.57,0.00,99.57,1.189,6,0.085,0.000,2979,1994,2691,0,0,0,0,0,0
$GC,13787,0.43,112.4,970.3,6.8,977,13792,0.00,2.10,0.00,0.000,4,0.000,0.073,2978,3232,2685,0,0,0,0,0,0
$GC,13921,0.39,112.4,959.9,7.6,981,13925,0.00,1.98,0.00,0.000,6,0.000,0.061,2986,2024,2684,0,0,0,0,0,0
$GC,14251,0.36,112.4,935.7,7.3,992,14255,0.12,2.03,0.00,0.000,4,0.178,0.074,2956,3233,2684,0,0,0,0,0,0
$GC,14304,0.33,112.4,932.0,6.9,993,14308,0.00,1.98,0.00,0.000,6,0.000,0.061,2962,2022,2684,0,0,0,0,0,0
$GC,14618,0.31,112.4,910.8,7.0,1004,14622,0.00,2.00,0.00,0.000,4,0.000,0.075,2962,3225,2683,0,0,0,0,0,0
$GC,14654,0.29,112.4,908.0,7.4,1005,14660,0.15,1.92,0.00,0.000,6,0.169,0.062,2930,2038,2683,0,0,0,0,0,0
$GC,14985,0.30,135.6,889.8,5.3,1016,15009,0.00,2.03,19.45,1.118,4,0.000,0.074,2930,3232,2597,0,0,0,0,0,0
$GC,15058,0.30,143.5,885.5,5.8,1018,15069,0.00,1.95,8.32,0.990,6,0.000,0.061,2933,2042,2565,0,0,0,0,0,0
$GC,15377,0.30,143.5,866.2,6.2,1029,15381,0.00,1.95,0.00,0.000,4,0.000,0.074,2933,3230,2564,0,0,0,0,0,0
$GC,15424,0.30,143.5,862.9,7.2,1030,15429,0.00,1.92,0.00,0.000,6,0.000,0.061,2933,2049,2563,0,0,0,0,0,0
$GC,15743,0.31,154.6,843.9,5.7,1041,15756,0.00,0.00,11.45,1.045,6,0.000,0.000,2933,2049,2519,0,0,0,0,0,0
$GC,16047,0.33,187.2,828.1,4.9,1051,16082,0.00,2.03,29.75,1.101,4,0.000,0.074,2933,3234,2386,0,0,0,0,0,0
$GC,16109,0.34,208.8,824.9,5.3,1053,16134,0.00,1.98,20.20,1.059,6,0.000,0.061,2933,2049,2297,0,0,0,0,0,0
$GC,16444,0.38,244.7,808.4,4.8,1064,16476,0.00,0.00,31.65,1.080,6,0.000,0.000,2933,2049,2152,0,0,0,0,0,0
$GC,16776,0.41,271.0,791.6,5.1,1075,16807,0.10,2.05,23.50,1.058,4,0.114,0.074,2977,3232,2045,0,0,0,0,0,0
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$STATE,26900,end climb,SURFACE_DEPTH_REACHED
$STATE,26901,begin surface coast
$FINISH,0.9,1.024389
$STATE,26938,end surface coast,CONTROL_FINISHED_OK
$STATE,26938,begin surface
$SM_CCo,27010,0.00,0.000,0,0,1587,383.40
$SM_GC,1.67,7.70,0.00,0.00,0.044,0.000,0.000,142,2061,1587,-8.33,-0.37,383.40
$IRIDIUM_FIX,4654.38,-12645.86,211099,121245
$TT8_MAMPS,0.052923
$HUMID,37.39
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,18.10
$XPDR_PINGS,0
$24V_AH,23.6,14.409
$10V_AH,10.3,9.952
$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,19.875,177.075,440.150,0.000,0.000,24.042,40.823,357.821,0.000,0.000,20.000,0.000,21317.572,672.995,4841.802,677.564,0.000,2427.087,0.000,4115.912,0.000,0.535,0.000
$DEVICE_MAMPS,244.673,92.040,1227.967,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1405.855,1668.772,1684.960,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298656
$DATA_FILE_SIZE,113549,2035
$CAP_FILE_SIZE,249209,0
$CFSIZE,260165632,250777600
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105, 61.4,1
$GPS,280710,033737,4705.782,-12650.732,34,1.8,34,18.6