version: 66.06
glider: 187
mission: 2
dive: 275
start: 8 18 110 21 47 20
data:
$ID,187
$MISSION,2
$DIVE,275
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$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,-29038.697
$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,30
$R_STBD_OVSHOOT,18
$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
$GPS1,213931,4711.165,-12635.160,83,1.8,83,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-74.5
$GPS2,214714,4711.097,-12635.120,12,1.7,12,18.6
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$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,217.2,37548,-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,-112.4,0.0,0.0,0,66,0.00,0.00,-52.03,0.000,2,0.000,0.000,131,2059,2940,0,0,0,0,0,0
$GC,68,-0.45,-112.4,3.1,-2.2,10,101,10.30,2.05,-16.02,0.000,4,0.241,0.080,2671,3311,3611,0,0,0,0,0,0
$GC,218,-0.41,-112.4,32.0,-18.0,38,224,0.00,1.95,0.00,0.000,6,0.000,0.051,2671,2077,3613,0,0,0,0,0,0
$GC,545,-0.38,-112.4,79.9,-15.2,99,551,0.15,2.03,0.00,0.000,4,0.157,0.064,2706,3318,3615,0,0,0,0,0,0
$GC,608,-0.38,-112.4,87.7,-11.1,111,615,0.00,1.92,0.00,0.000,6,0.000,0.049,2706,2083,3615,0,0,0,0,0,0
$GC,932,-0.38,-112.4,124.7,-9.8,152,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2080,3616,0,0,0,0,0,0
$GC,1244,-0.38,-112.4,153.1,-9.2,182,1247,0.00,1.92,0.00,0.000,4,0.000,0.057,2705,845,3617,0,0,0,0,0,0
$GC,1269,-0.38,-112.4,155.4,-8.9,184,1275,0.00,1.98,0.00,0.000,6,0.000,0.054,2700,2097,3617,0,0,0,0,0,0
$GC,1585,-0.38,-112.4,182.9,-8.5,215,1589,0.00,1.92,0.00,0.000,4,0.000,0.064,2692,3303,3617,0,0,0,0,0,0
$GC,1639,-0.38,-112.4,187.5,-8.6,220,1642,0.00,1.85,0.00,0.000,6,0.000,0.051,2692,2089,3617,0,0,0,0,0,0
$GC,1958,-0.38,-112.4,216.1,-9.1,251,1959,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2088,3616,0,0,0,0,0,0
$GC,2270,-0.38,-112.4,244.7,-9.3,281,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2088,3616,0,0,0,0,0,0
$GC,2580,-0.38,-112.4,272.3,-8.7,311,2584,0.00,1.98,0.00,0.000,4,0.000,0.068,2684,3304,3615,0,0,0,0,0,0
$GC,2606,-0.38,-112.4,274.7,-9.2,313,2613,0.00,1.88,0.00,0.000,6,0.000,0.052,2684,2097,3615,0,0,0,0,0,0
$GC,2921,-0.38,-112.4,302.9,-8.8,344,2922,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2098,3615,0,0,0,0,0,0
$GC,3233,-0.38,-112.4,331.0,-9.2,374,3234,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2098,3615,0,0,0,0,0,0
$GC,3543,-0.38,-112.4,357.9,-8.5,404,3543,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2097,3614,0,0,0,0,0,0
$GC,3854,-0.38,-112.4,382.7,-7.7,434,3854,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2097,3614,0,0,0,0,0,0
$GC,4164,-0.38,-112.4,406.4,-7.5,464,4164,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2097,3614,0,0,0,0,0,0
$GC,4474,-0.38,-112.4,429.8,-7.6,494,4475,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2098,3613,0,0,0,0,0,0
$GC,4784,-0.38,-112.4,454.1,-7.8,524,4788,0.00,1.95,0.00,0.000,4,0.000,0.071,2676,3303,3613,0,0,0,0,0,0
$GC,4842,-0.38,-112.4,458.9,-8.1,529,4850,0.10,1.88,0.00,0.000,6,0.124,0.054,2711,2103,3613,0,0,0,0,0,0
$GC,5158,-0.40,-112.4,479.9,-6.5,560,5162,0.00,1.95,0.00,0.000,4,0.000,0.071,2709,3306,3612,0,0,0,0,0,0
$GC,5206,-0.42,-112.4,483.1,-6.6,564,5212,0.00,1.88,0.00,0.000,6,0.000,0.054,2709,2105,3612,0,0,0,0,0,0
$GC,5522,-0.43,-112.4,504.2,-6.7,595,5525,0.00,1.92,0.00,0.000,4,0.000,0.072,2709,3306,3612,0,0,0,0,0,0
$GC,5591,-0.45,-112.4,508.9,-6.2,601,5597,0.00,1.88,0.00,0.000,6,0.000,0.054,2709,2107,3612,0,0,0,0,0,0
$GC,5906,-0.47,-112.4,529.7,-6.9,632,5910,0.00,1.95,0.00,0.000,4,0.000,0.071,2708,3305,3612,0,0,0,0,0,0
$GC,5943,-0.49,-112.4,532.0,-6.5,635,5949,0.00,1.85,0.00,0.000,6,0.000,0.055,2708,2122,3612,0,0,0,0,0,0
$GC,6259,-0.51,-112.4,553.4,-6.8,666,6260,0.10,0.00,0.00,0.000,6,0.111,0.000,2657,2122,3611,0,0,0,0,0,0
$GC,6568,-0.51,-112.4,584.2,-10.0,696,6573,0.00,1.92,0.00,0.000,4,0.000,0.071,2649,3301,3611,0,0,0,0,0,0
$GC,6605,-0.51,-112.4,588.1,-10.3,699,6613,0.00,1.88,0.00,0.000,6,0.000,0.056,2649,2114,3611,0,0,0,0,0,0
$GC,6938,-0.49,-112.4,623.5,-10.7,718,6941,0.00,1.95,0.00,0.000,4,0.000,0.072,2641,3310,3611,0,0,0,0,0,0
$GC,6974,-0.48,-112.4,627.5,-10.7,719,6979,0.10,1.85,0.00,0.000,6,0.130,0.056,2674,2126,3611,0,0,0,0,0,0
$GC,7304,-0.48,-112.4,655.3,-8.0,730,7305,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2127,3611,0,0,0,0,0,0
$GC,7608,-0.48,-112.4,677.6,-7.3,740,7612,0.00,1.92,0.00,0.000,4,0.000,0.073,2669,3303,3611,0,0,0,0,0,0
$GC,7650,-0.48,-112.4,680.7,-7.2,741,7654,0.00,1.85,0.00,0.000,6,0.000,0.057,2670,2130,3611,0,0,0,0,0,0
$GC,7974,-0.48,-112.4,704.3,-7.4,752,7979,0.00,1.92,0.00,0.000,4,0.000,0.072,2661,3307,3611,0,0,0,0,0,0
$GC,8017,-0.48,-112.4,707.5,-7.5,753,8021,0.00,1.83,0.00,0.000,6,0.000,0.057,2661,2140,3611,0,0,0,0,0,0
$GC,8341,-0.48,-112.4,734.4,-8.5,764,8346,0.00,1.90,0.00,0.000,4,0.000,0.071,2653,3305,3611,0,0,0,0,0,0
$GC,8373,-0.48,-112.4,737.2,-8.7,765,8377,0.00,1.85,0.00,0.000,6,0.000,0.056,2654,2134,3611,0,0,0,0,0,0
$GC,8709,-0.48,-112.4,768.2,-9.3,776,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2134,3610,0,0,0,0,0,0
$GC,9012,-0.48,-112.4,795.8,-8.9,786,9016,0.00,1.92,0.00,0.000,4,0.000,0.073,2646,3310,3611,0,0,0,0,0,0
$GC,9076,-0.48,-112.4,801.6,-8.1,788,9081,0.08,1.85,0.00,0.000,6,0.132,0.057,2674,2141,3611,0,0,0,0,0,0
$GC,9411,-0.48,-112.4,826.2,-7.1,799,9412,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2141,3611,0,0,0,0,0,0
$GC,9714,-0.48,-112.4,846.4,-6.5,809,9719,0.00,1.90,0.00,0.000,4,0.000,0.074,2669,3299,3611,0,0,0,0,0,0
$GC,9746,-0.48,-112.4,848.4,-7.0,810,9751,0.00,1.85,0.00,0.000,6,0.000,0.058,2668,2130,3610,0,0,0,0,0,0
$GC,10082,-0.48,-112.4,871.0,-6.6,821,10083,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2131,3611,0,0,0,0,0,0
$GC,10385,-0.48,-112.4,892.3,-6.9,831,10389,0.00,1.92,0.00,0.000,4,0.000,0.074,2663,3308,3611,0,0,0,0,0,0
$GC,10459,-0.48,-112.4,897.6,-7.4,833,10464,0.00,1.85,0.00,0.000,6,0.000,0.058,2662,2140,3611,0,0,0,0,0,0
$GC,10784,-0.48,-112.4,922.2,-7.9,844,10785,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2140,3611,0,0,0,0,0,0
$GC,11087,-0.48,-112.4,946.2,-7.8,854,11092,0.00,1.92,0.00,0.000,4,0.000,0.074,2662,3308,3611,0,0,0,0,0,0
$GC,11124,-0.48,-112.4,949.3,-7.9,855,11129,0.00,1.85,0.00,0.000,6,0.000,0.058,2662,2143,3610,0,0,0,0,0,0
$GC,11455,-0.48,-112.4,976.0,-8.0,866,11459,0.00,1.90,0.00,0.000,4,0.000,0.075,2662,3298,3611,0,0,0,0,0,0
$GC,11507,-0.48,-112.4,980.1,-8.8,867,11512,0.00,1.83,0.00,0.000,6,0.000,0.058,2662,2148,3610,0,0,0,0,0,0
$STATE,11638,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11638,begin apogee
$GC,11642,-0.14,0.0,990.3,7.7,872,11739,0.40,0.00,95.53,1.236,6,0.123,0.000,2792,1993,3150,0,0,0,0,0,0
$STATE,11739,end apogee,CONTROL_FINISHED_OK
$STATE,11739,begin climb
$GC,11741,0.45,112.4,992.9,0.0,875,11846,0.55,2.12,98.45,1.200,4,0.084,0.067,2987,780,2690,0,0,0,0,0,0
$GC,11878,0.43,112.4,987.9,6.2,879,11882,0.00,2.08,0.00,0.000,6,0.000,0.059,2987,1998,2687,0,0,0,0,0,0
$GC,12197,0.39,112.4,962.1,8.3,890,12201,0.00,2.08,0.00,0.000,4,0.000,0.069,2987,3231,2685,0,0,0,0,0,0
$GC,12326,0.35,112.4,950.0,9.8,894,12330,0.15,1.98,0.00,0.000,6,0.149,0.059,2952,2021,2684,0,0,0,0,0,0
$GC,12660,0.34,112.4,926.1,7.0,905,12664,0.00,2.03,0.00,0.000,4,0.000,0.071,2952,3233,2684,0,0,0,0,0,0
$GC,12702,0.32,112.4,923.0,7.7,906,12707,0.00,1.98,0.00,0.000,6,0.000,0.058,2957,2011,2685,0,0,0,0,0,0
$GC,13028,0.30,112.4,900.3,6.9,917,13028,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2011,2685,0,0,0,0,0,0
$GC,13331,0.29,115.4,881.3,6.0,927,13335,0.00,2.03,0.00,0.000,4,0.000,0.072,2957,3233,2685,0,0,0,0,0,0
$GC,13460,0.26,115.4,872.6,7.0,931,13463,0.17,1.92,0.00,0.000,6,0.163,0.060,2918,2013,2685,0,0,0,0,0,0
$GC,13794,0.29,169.3,858.5,4.1,942,13849,0.00,2.12,48.95,1.138,4,0.000,0.071,2918,3241,2458,0,0,0,0,0,0
$GC,13882,0.30,177.8,854.3,5.8,944,13896,0.00,2.03,8.75,0.977,6,0.000,0.059,2917,2015,2424,0,0,0,0,0,0
$GC,14222,0.33,200.7,836.6,5.3,956,14246,0.00,2.05,20.85,1.087,4,0.000,0.067,2918,765,2330,0,0,0,0,0,0
$GC,14273,0.36,201.8,833.9,6.1,956,14279,0.00,2.05,0.00,0.000,6,0.000,0.061,2918,2018,2328,0,0,0,0,0,0
$GC,14582,0.38,209.7,816.2,5.8,967,14596,0.12,2.05,8.82,0.986,4,0.101,0.071,2972,3236,2294,0,0,0,0,0,0
$GC,14662,0.37,209.7,808.9,10.0,969,14665,0.00,1.95,0.00,0.000,6,0.000,0.060,2973,2021,2292,0,0,0,0,0,0
$GC,14980,0.37,209.7,780.4,9.0,980,14984,0.00,2.05,0.00,0.000,4,0.000,0.069,2973,767,2292,0,0,0,0,0,0
$GC,15011,0.37,209.7,777.7,8.0,981,15016,0.00,2.03,0.00,0.000,6,0.000,0.061,2973,2028,2292,0,0,0,0,0,0
$GC,15347,0.37,209.7,749.1,8.3,992,15351,0.00,1.98,0.00,0.000,4,0.000,0.071,2973,3233,2292,0,0,0,0,0,0
$GC,15411,0.36,209.7,743.2,8.6,994,15415,0.00,1.92,0.00,0.000,6,0.000,0.059,2973,2029,2291,0,0,0,0,0,0
$GC,15746,0.36,209.7,716.0,8.2,1005,15750,0.00,2.05,0.00,0.000,4,0.000,0.069,2974,764,2291,0,0,0,0,0,0
$GC,15772,0.36,209.7,714.1,7.3,1005,15779,0.00,2.03,0.00,0.000,6,0.000,0.062,2974,2031,2291,0,0,0,0,0,0
$GC,16081,0.36,209.7,689.5,7.8,1016,16085,0.00,1.95,0.00,0.000,4,0.000,0.071,2973,3229,2291,0,0,0,0,0,0
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$STATE,25777,end climb,SURFACE_DEPTH_REACHED
$STATE,25777,begin surface coast
$FINISH,1.0,1.023858
$STATE,25814,end surface coast,CONTROL_FINISHED_OK
$STATE,25814,begin surface
$SM_CCo,25828,12.05,0.239,1,0,1722,350.04
$SM_GC,2.96,0.00,0.00,12.05,0.000,0.000,0.239,132,2050,1722,-8.45,-0.71,350.04
$IRIDIUM_FIX,4654.38,-12627.49,121199,141432
$TT8_MAMPS,0.05369
$HUMID,40.74
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,23.5,30.032
$10V_AH,10.2,26.178
$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,20.775,180.425,392.775,12.050,0.000,27.431,33.692,266.507,0.000,0.000,12.731,0.000,20072.168,602.492,4901.327,690.565,0.000,2378.793,0.000,4190.773,0.000,0.533,0.000
$DEVICE_MAMPS,240.838,79.768,1236.404,239.304,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1403.902,1662.239,1785.907,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,113831,2028
$CAP_FILE_SIZE,249082,0
$CFSIZE,260165632,240107520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.045,122.8,1
$GPS,190810,050037,4709.439,-12638.739,133,1.0,133,18.6