version: 66.06
glider: 187
mission: 2
dive: 120
start: 7 30 110 0 18 13
data:
$ID,187
$MISSION,2
$DIVE,120
$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,-25878.736
$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,29
$R_STBD_OVSHOOT,27
$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
$GPS1,001130,4701.726,-12700.750,45,1.6,45,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-71.7
$GPS2,001807,4701.718,-12700.713,17,1.4,17,18.6
$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,177.2,3307,-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,11,-0.45,-112.4,0.0,0.0,0,73,0.00,0.00,-59.67,0.000,2,0.000,0.000,131,2097,3166,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.5,-3.2,11,103,10.40,2.00,-9.43,0.000,4,0.244,0.079,2672,3310,3612,0,0,0,0,0,0
$GC,327,-0.42,-112.4,52.5,-13.0,58,333,0.00,1.95,0.00,0.000,6,0.000,0.051,2671,2073,3615,0,0,0,0,0,0
$GC,657,-0.39,-112.4,101.8,-14.1,119,658,0.12,0.00,0.00,0.000,6,0.158,0.000,2705,2070,3616,0,0,0,0,0,0
$GC,967,-0.39,-112.4,136.2,-11.3,149,971,0.00,2.00,0.00,0.000,4,0.000,0.067,2699,3300,3616,0,0,0,0,0,0
$GC,1015,-0.39,-112.4,141.3,-10.1,153,1023,0.00,1.92,0.00,0.000,6,0.000,0.050,2698,2073,3616,0,0,0,0,0,0
$GC,1331,-0.39,-112.4,172.3,-9.0,184,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2072,3616,0,0,0,0,0,0
$GC,1642,-0.39,-112.4,201.2,-9.1,214,1645,0.00,1.98,0.00,0.000,4,0.000,0.067,2691,3316,3616,0,0,0,0,0,0
$GC,1661,-0.39,-112.4,203.0,-8.9,216,1666,0.00,1.92,0.00,0.000,6,0.000,0.051,2690,2086,3616,0,0,0,0,0,0
$GC,1983,-0.39,-112.4,233.1,-9.0,247,1987,0.00,1.98,0.00,0.000,4,0.000,0.068,2685,3305,3616,0,0,0,0,0,0
$GC,2040,-0.39,-112.4,238.3,-9.0,252,2048,0.00,1.90,0.00,0.000,6,0.000,0.051,2684,2091,3615,0,0,0,0,0,0
$GC,2357,-0.39,-112.4,268.5,-9.5,283,2361,0.00,1.95,0.00,0.000,4,0.000,0.059,2684,850,3615,0,0,0,0,0,0
$GC,2393,-0.38,-112.4,272.3,-9.6,286,2400,0.12,1.95,0.00,0.000,6,0.157,0.055,2714,2090,3615,0,0,0,0,0,0
$GC,2709,-0.38,-112.4,296.6,-7.1,317,2713,0.00,1.98,0.00,0.000,4,0.000,0.067,2708,3314,3614,0,0,0,0,0,0
$GC,2756,-0.40,-112.4,299.9,-6.8,321,2765,0.00,1.90,0.00,0.000,6,0.000,0.052,2708,2097,3614,0,0,0,0,0,0
$GC,3073,-0.40,-112.4,323.3,-7.8,352,3077,0.00,1.92,0.00,0.000,4,0.000,0.068,2704,3303,3613,0,0,0,0,0,0
$GC,3105,-0.41,-112.4,325.9,-8.1,355,3108,0.00,1.88,0.00,0.000,6,0.000,0.053,2704,2093,3613,0,0,0,0,0,0
$GC,3425,-0.41,-112.4,351.7,-8.0,386,3425,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2092,3612,0,0,0,0,0,0
$GC,3735,-0.41,-112.4,376.7,-7.8,416,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2092,3612,0,0,0,0,0,0
$GC,4046,-0.41,-112.4,399.6,-7.4,446,4050,0.00,1.95,0.00,0.000,4,0.000,0.071,2704,3309,3611,0,0,0,0,0,0
$GC,4061,-0.41,-112.4,400.7,-6.8,447,4068,0.00,1.90,0.00,0.000,6,0.000,0.054,2704,2097,3611,0,0,0,0,0,0
$GC,4377,-0.41,-112.4,422.9,-7.0,478,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2097,3611,0,0,0,0,0,0
$GC,4689,-0.41,-112.4,444.4,-6.9,508,4690,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2097,3610,0,0,0,0,0,0
$GC,4999,-0.41,-112.4,465.9,-6.7,538,5002,0.00,1.92,0.00,0.000,4,0.000,0.072,2704,3316,3610,0,0,0,0,0,0
$GC,5030,-0.42,-112.4,467.9,-6.4,541,5034,0.00,1.90,0.00,0.000,6,0.000,0.056,2704,2097,3609,0,0,0,0,0,0
$GC,5350,-0.42,-112.4,488.3,-6.2,572,5351,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2096,3609,0,0,0,0,0,0
$GC,5661,-0.42,-112.4,506.8,-5.7,602,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2096,3608,0,0,0,0,0,0
$GC,5972,-0.42,-112.4,525.4,-5.9,632,5975,0.00,1.92,0.00,0.000,4,0.000,0.073,2704,3300,3607,0,0,0,0,0,0
$GC,5997,-0.44,-112.4,527.0,-6.0,634,6004,0.00,1.90,0.00,0.000,6,0.000,0.056,2704,2091,3608,0,0,0,0,0,0
$GC,6312,-0.44,-112.4,546.0,-6.2,665,6313,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2091,3607,0,0,0,0,0,0
$GC,6624,-0.44,-112.4,566.3,-7.0,695,6628,0.00,1.98,0.00,0.000,4,0.000,0.073,2704,3305,3607,0,0,0,0,0,0
$GC,6649,-0.45,-112.4,568.2,-7.6,697,6657,0.00,1.90,0.00,0.000,6,0.000,0.057,2704,2097,3606,0,0,0,0,0,0
$GC,6965,-0.46,-112.4,589.2,-6.5,728,6966,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2097,3605,0,0,0,0,0,0
$GC,7282,-0.47,-112.4,610.3,-6.5,749,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2098,3605,0,0,0,0,0,0
$GC,7586,-0.48,-112.4,630.7,-6.6,759,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2097,3604,0,0,0,0,0,0
$GC,7889,-0.49,-112.4,650.5,-6.4,769,7890,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2097,3604,0,0,0,0,0,0
$GC,8193,-0.51,-112.4,669.4,-6.3,779,8193,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2097,3603,0,0,0,0,0,0
$GC,8497,-0.52,-112.4,687.5,-5.9,789,8501,0.10,1.98,0.00,0.000,4,0.112,0.074,2650,3310,3602,0,0,0,0,0,0
$GC,8522,-0.52,-112.4,689.6,-8.8,789,8530,0.00,1.90,0.00,0.000,6,0.000,0.058,2649,2106,3603,0,0,0,0,0,0
$GC,8831,-0.50,-112.4,716.8,-8.9,800,8836,0.00,1.95,0.00,0.000,4,0.000,0.074,2643,3306,3602,0,0,0,0,0,0
$GC,8857,-0.49,-112.4,719.4,-9.8,800,8864,0.08,1.88,0.00,0.000,6,0.129,0.058,2670,2107,3602,0,0,0,0,0,0
$GC,9166,-0.49,-112.4,744.6,-8.2,811,9170,0.00,2.00,0.00,0.000,4,0.000,0.064,2670,839,3602,0,0,0,0,0,0
$GC,9187,-0.49,-112.4,746.4,-8.9,811,9191,0.00,2.00,0.00,0.000,6,0.000,0.062,2666,2099,3601,0,0,0,0,0,0
$GC,9501,-0.49,-112.4,772.9,-8.5,822,9502,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2099,3601,0,0,0,0,0,0
$GC,9804,-0.49,-112.4,796.8,-7.8,832,9809,0.00,1.95,0.00,0.000,4,0.000,0.074,2657,3309,3601,0,0,0,0,0,0
$GC,9820,-0.49,-112.4,798.1,-7.8,832,9824,0.00,1.92,0.00,0.000,6,0.000,0.059,2657,2093,3601,0,0,0,0,0,0
$GC,10139,-0.49,-112.4,823.9,-8.2,843,10144,0.00,1.98,0.00,0.000,4,0.000,0.074,2648,3302,3601,0,0,0,0,0,0
$GC,10224,-0.49,-112.4,831.2,-8.9,845,10229,0.00,1.88,0.00,0.000,6,0.000,0.058,2648,2112,3600,0,0,0,0,0,0
$GC,10538,-0.48,-112.4,859.5,-9.1,856,10543,0.12,1.92,0.00,0.000,4,0.163,0.074,2678,3303,3600,0,0,0,0,0,0
$GC,10575,-0.48,-112.4,862.5,-7.4,857,10580,0.00,1.88,0.00,0.000,6,0.000,0.059,2677,2117,3600,0,0,0,0,0,0
$GC,10905,-0.48,-112.4,886.0,-6.9,868,10906,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2117,3600,0,0,0,0,0,0
$GC,11208,-0.48,-112.4,905.5,-6.1,878,11209,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2117,3599,0,0,0,0,0,0
$GC,11512,-0.48,-112.4,923.1,-5.7,888,11513,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2117,3599,0,0,0,0,0,0
$GC,11815,-0.48,-112.4,940.1,-5.6,898,11820,0.00,2.00,0.00,0.000,4,0.000,0.067,2677,842,3598,0,0,0,0,0,0
$GC,11853,-0.48,-112.4,942.2,-5.6,899,11857,0.00,2.03,0.00,0.000,6,0.000,0.065,2676,2118,3598,0,0,0,0,0,0
$GC,12183,-0.48,-112.4,961.2,-6.0,910,12184,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2118,3597,0,0,0,0,0,0
$GC,12486,-0.48,-112.4,980.0,-6.3,920,12490,0.00,1.95,0.00,0.000,4,0.000,0.077,2676,3320,3597,0,0,0,0,0,0
$GC,12550,-0.48,-112.4,983.9,-6.3,922,12554,0.00,1.90,0.00,0.000,6,0.000,0.060,2676,2122,3596,0,0,0,0,0,0
$STATE,12671,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12671,begin apogee
$GC,12675,-0.14,0.0,991.6,6.2,926,12770,0.35,0.00,93.28,1.229,6,0.124,0.000,2789,1999,3150,0,0,0,0,0,0
$STATE,12770,end apogee,CONTROL_FINISHED_OK
$STATE,12770,begin climb
$GC,12771,0.45,112.4,993.0,0.0,929,12874,0.55,0.00,99.20,1.191,6,0.086,0.000,2976,1999,2691,0,0,0,0,0,0
$GC,13164,0.43,112.4,966.2,8.0,942,13169,0.00,2.10,0.00,0.000,4,0.000,0.072,2976,3238,2686,0,0,0,0,0,0
$GC,13309,0.39,112.4,953.0,9.6,946,13313,0.00,1.98,0.00,0.000,6,0.000,0.061,2984,2025,2686,0,0,0,0,0,0
$GC,13627,0.36,112.4,925.9,8.4,957,13632,0.12,2.03,0.00,0.000,4,0.175,0.073,2953,3239,2686,0,0,0,0,0,0
$GC,13670,0.34,112.4,922.5,8.0,958,13674,0.00,2.00,0.00,0.000,6,0.000,0.061,2960,2013,2686,0,0,0,0,0,0
$GC,13995,0.32,112.4,899.3,7.3,969,13995,0.00,0.00,0.00,0.000,6,0.000,0.000,2960,2013,2686,0,0,0,0,0,0
$GC,14298,0.30,112.4,878.1,6.8,979,14302,0.00,2.03,0.00,0.000,4,0.000,0.072,2960,3239,2686,0,0,0,0,0,0
$GC,14356,0.27,112.4,873.8,7.7,980,14363,0.15,1.95,0.00,0.000,6,0.170,0.061,2928,2029,2686,0,0,0,0,0,0
$GC,14665,0.29,143.1,858.2,5.0,991,14697,0.00,1.98,27.10,1.118,4,0.000,0.072,2928,3233,2565,0,0,0,0,0,0
$GC,14732,0.29,143.1,854.5,6.6,993,14737,0.00,1.98,0.00,0.000,6,0.000,0.061,2932,2033,2563,0,0,0,0,0,0
$GC,15062,0.30,170.4,837.2,5.1,1004,15088,0.00,0.00,24.55,1.097,6,0.000,0.000,2931,2032,2455,0,0,0,0,0,0
$GC,15366,0.32,201.3,821.8,5.0,1014,15398,0.00,2.00,28.12,1.088,4,0.000,0.072,2932,3233,2328,0,0,0,0,0,0
$GC,15433,0.33,205.4,818.1,6.0,1016,15443,0.00,1.98,4.78,0.782,6,0.000,0.060,2932,2037,2312,0,0,0,0,0,0
$GC,15764,0.34,208.8,799.0,6.0,1027,15769,0.00,0.00,4.45,0.763,6,0.000,0.000,2932,2037,2298,0,0,0,0,0,0
$GC,16067,0.36,213.9,780.9,5.9,1037,16076,0.00,1.98,6.15,0.880,4,0.000,0.073,2933,3222,2278,0,0,0,0,0,0
$GC,16103,0.37,213.9,778.4,6.7,1038,16108,0.00,1.92,0.00,0.000,6,0.000,0.062,2933,2036,2277,0,0,0,0,0,0
$GC,16433,0.38,213.9,757.8,6.3,1049,16438,0.00,2.08,0.00,0.000,4,0.000,0.070,2933,765,2277,0,0,0,0,0,0
$GC,16470,0.41,228.8,755.4,5.6,1050,16490,0.08,2.05,14.62,1.018,6,0.069,0.063,2977,2040,2216,0,0,0,0,0,0
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$STATE,26003,end climb,SURFACE_DEPTH_REACHED
$STATE,26003,begin surface coast
$FINISH,1.2,1.024164
$STATE,26040,end surface coast,CONTROL_FINISHED_OK
$STATE,26040,begin surface
$SM_CCo,26113,0.00,0.000,0,0,1572,387.08
$SM_GC,1.89,7.88,0.00,0.00,0.051,0.000,0.000,142,2084,1572,-8.34,0.25,387.08
$IRIDIUM_FIX,4638.64,-12659.13,231099,171714
$TT8_MAMPS,0.052156
$HUMID,37.99
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,17.80
$XPDR_PINGS,0
$24V_AH,23.7,15.391
$10V_AH,10.3,11.093
$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,20.925,181.075,438.425,0.000,0.000,26.216,35.673,222.315,0.000,0.000,17.429,0.000,20576.797,661.382,4692.194,541.954,0.000,2371.764,0.000,3981.944,0.000,0.535,0.000
$DEVICE_MAMPS,243.906,124.254,1228.734,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1369.995,1635.967,1678.368,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298584
$DATA_FILE_SIZE,110586,1984
$CAP_FILE_SIZE,248259,0
$CFSIZE,260165632,249982976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092, 47.1,1
$GPS,300710,073455,4659.417,-12700.717,73,1.8,73,18.6