version: 66.06
glider: 187
mission: 2
dive: 587
start: 9 29 110 22 4 45
data:
$ID,187
$MISSION,2
$DIVE,587
$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,-36219.59
$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,2855
$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,21
$R_STBD_OVSHOOT,26
$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
$GPS1,215701,4748.820,-12517.191,136,0.9,136,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-75.9
$GPS2,220437,4748.815,-12517.169,11,1.1,16,18.7
$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,242.7,158248,-13.9,-6.111
$D_GRID,586
$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,12,-0.45,-112.4,0.0,0.0,0,72,0.00,0.00,-57.60,0.000,2,0.000,0.000,131,2073,3078,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.3,-2.8,11,102,10.60,2.03,-11.38,0.000,4,0.236,0.077,2691,3306,3610,0,0,0,0,0,0
$GC,140,-0.42,-112.4,18.2,-17.7,23,146,0.00,2.00,0.00,0.000,6,0.000,0.051,2690,2064,3612,0,0,0,0,0,0
$GC,466,-0.42,-112.4,55.9,-10.7,84,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2060,3614,0,0,0,0,0,0
$GC,792,-0.42,-112.4,85.5,-9.2,145,797,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2059,3615,0,0,0,0,0,0
$GC,1113,-0.42,-112.4,112.4,-7.9,191,1116,0.00,1.92,0.00,0.000,4,0.000,0.056,2690,843,3615,0,0,0,0,0,0
$GC,1199,-0.42,-112.4,119.2,-8.1,199,1202,0.00,1.95,0.00,0.000,6,0.000,0.054,2690,2086,3615,0,0,0,0,0,0
$GC,1519,-0.42,-112.4,144.3,-8.4,230,1522,0.00,1.98,0.00,0.000,4,0.000,0.057,2690,846,3615,0,0,0,0,0,0
$GC,1566,-0.42,-112.4,148.4,-8.6,234,1574,0.00,1.95,0.00,0.000,6,0.000,0.054,2690,2068,3615,0,0,0,0,0,0
$GC,1883,-0.42,-112.4,174.0,-8.0,265,1886,0.00,1.95,0.00,0.000,4,0.000,0.058,2691,832,3614,0,0,0,0,0,0
$GC,1962,-0.42,-112.4,180.5,-8.2,272,1967,0.00,1.95,0.00,0.000,6,0.000,0.054,2690,2061,3614,0,0,0,0,0,0
$GC,2277,-0.42,-112.4,202.9,-6.7,303,2281,0.00,1.98,0.00,0.000,4,0.000,0.058,2690,838,3614,0,0,0,0,0,0
$GC,2325,-0.42,-112.4,206.4,-7.1,307,2331,0.00,1.92,0.00,0.000,6,0.000,0.055,2690,2046,3614,0,0,0,0,0,0
$GC,2640,-0.42,-112.4,228.7,-7.3,338,2644,0.00,1.95,0.00,0.000,4,0.000,0.058,2690,841,3613,0,0,0,0,0,0
$GC,2683,-0.42,-112.4,232.0,-7.9,342,2687,0.00,1.90,0.00,0.000,6,0.000,0.056,2690,2038,3613,0,0,0,0,0,0
$GC,3005,-0.42,-112.4,257.4,-8.4,373,3007,0.00,1.92,0.00,0.000,4,0.000,0.059,2690,831,3613,0,0,0,0,0,0
$GC,3052,-0.42,-112.4,261.7,-9.2,377,3057,0.08,1.90,0.00,0.000,6,0.127,0.055,2715,2025,3612,0,0,0,0,0,0
$GC,3367,-0.44,-112.4,284.6,-7.1,408,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2025,3612,0,0,0,0,0,0
$GC,3679,-0.46,-112.4,306.9,-6.8,438,3680,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2025,3612,0,0,0,0,0,0
$GC,3990,-0.47,-112.4,326.4,-6.2,468,3991,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,2025,3611,0,0,0,0,0,0
$GC,4300,-0.49,-112.4,344.6,-6.0,498,4301,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2025,3611,0,0,0,0,0,0
$GC,4611,-0.51,-112.4,363.5,-6.6,528,4614,0.00,1.88,0.00,0.000,4,0.000,0.058,2715,835,3611,0,0,0,0,0,0
$GC,4642,-0.53,-112.4,365.7,-7.0,531,4645,0.00,1.90,0.00,0.000,6,0.000,0.055,2715,2027,3610,0,0,0,0,0,0
$GC,4963,-0.55,-112.4,387.4,-6.9,562,4967,0.12,2.10,0.00,0.000,4,0.095,0.067,2651,3317,3610,0,0,0,0,0,0
$GC,5032,-0.55,-112.4,394.1,-9.7,568,5036,0.00,2.00,0.00,0.000,6,0.000,0.052,2651,2039,3610,0,0,0,0,0,0
$GC,5353,-0.54,-112.4,427.1,-9.6,599,5356,0.00,1.92,0.00,0.000,4,0.000,0.060,2651,848,3609,0,0,0,0,0,0
$GC,5433,-0.53,-112.4,434.9,-9.9,606,5440,0.10,1.90,0.00,0.000,6,0.127,0.056,2678,2040,3609,0,0,0,0,0,0
$GC,5749,-0.53,-112.4,457.6,-6.9,637,5749,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2040,3609,0,0,0,0,0,0
$GC,6061,-0.53,-112.4,477.4,-6.5,667,6062,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2040,3609,0,0,0,0,0,0
$GC,6371,-0.53,-112.4,498.3,-6.6,697,6374,0.00,1.90,0.00,0.000,4,0.000,0.060,2678,844,3609,0,0,0,0,0,0
$GC,6412,-0.53,-112.4,501.5,-7.8,701,6416,0.00,1.90,0.00,0.000,6,0.000,0.057,2676,2032,3607,0,0,0,0,0,0
$GC,6733,-0.53,-112.4,525.5,-7.8,732,6737,0.00,1.92,0.00,0.000,4,0.000,0.060,2677,837,3608,0,0,0,0,0,0
$GC,6786,-0.53,-112.4,529.7,-8.1,737,6790,0.00,1.90,0.00,0.000,6,0.000,0.058,2673,2022,3607,0,0,0,0,0,0
$GC,7107,-0.53,-112.4,556.5,-8.7,768,7111,0.00,1.92,0.00,0.000,4,0.000,0.061,2673,841,3607,0,0,0,0,0,0
$GC,7139,-0.53,-112.4,559.5,-9.9,771,7143,0.00,1.90,0.00,0.000,6,0.000,0.058,2673,2025,3607,0,0,0,0,0,0
$STATE,7459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7459,begin apogee
$GC,7463,-0.14,0.0,586.1,7.6,802,7561,0.43,0.00,92.43,0.966,6,0.116,0.000,2810,2025,3151,0,0,0,0,0,0
$STATE,7562,end apogee,CONTROL_FINISHED_OK
$STATE,7562,begin climb
$GC,7564,0.45,112.4,590.2,0.0,812,7666,0.52,2.15,94.53,0.939,4,0.071,0.058,3010,761,2693,0,0,0,0,0,0
$GC,7745,0.44,124.6,586.9,5.7,828,7761,0.00,2.05,12.10,0.847,6,0.000,0.054,3010,1996,2641,0,0,0,0,0,0
$GC,8071,0.41,124.6,564.6,6.7,860,8074,0.00,2.05,0.00,0.000,4,0.000,0.064,3010,3226,2638,0,0,0,0,0,0
$GC,8301,0.37,124.6,546.6,8.2,881,8306,0.15,1.92,0.00,0.000,6,0.159,0.053,2978,2016,2637,0,0,0,0,0,0
$GC,8616,0.38,140.7,528.6,5.5,912,8631,0.00,0.00,14.23,0.871,6,0.000,0.000,2978,2014,2576,0,0,0,0,0,0
$GC,8937,0.39,155.2,510.3,5.6,943,8956,0.00,0.00,13.68,0.859,6,0.000,0.000,2978,2014,2517,0,0,0,0,0,0
$GC,9267,0.39,155.2,490.2,6.3,975,9269,0.00,2.00,0.00,0.000,4,0.000,0.065,2978,3233,2515,0,0,0,0,0,0
$GC,9378,0.38,155.2,482.7,6.7,985,9383,0.00,1.95,0.00,0.000,6,0.000,0.054,2982,2020,2514,0,0,0,0,0,0
$GC,9693,0.39,165.0,463.9,5.8,1016,9704,0.00,0.00,9.62,0.810,6,0.000,0.000,2982,2020,2477,0,0,0,0,0,0
$GC,10014,0.39,169.7,445.4,5.9,1047,10026,0.00,2.00,5.47,0.693,4,0.000,0.067,2982,3229,2457,0,0,0,0,0,0
$GC,10091,0.38,169.7,440.7,6.6,1054,10094,0.00,1.92,0.00,0.000,6,0.000,0.054,2986,2006,2457,0,0,0,0,0,0
$GC,10411,0.38,169.7,420.2,6.9,1085,10414,0.00,2.03,0.00,0.000,4,0.000,0.066,2986,3227,2456,0,0,0,0,0,0
$GC,10465,0.37,169.7,416.1,7.9,1090,10468,0.00,1.92,0.00,0.000,6,0.000,0.055,2991,2030,2456,0,0,0,0,0,0
$GC,10784,0.37,169.7,392.4,7.4,1121,10785,0.00,0.00,0.00,0.000,6,0.000,0.000,2991,2029,2456,0,0,0,0,0,0
$GC,11097,0.37,169.7,371.4,6.6,1151,11100,0.00,1.95,0.00,0.000,4,0.000,0.066,2991,3237,2456,0,0,0,0,0,0
$GC,11187,0.36,169.7,364.7,7.9,1159,11193,0.00,1.92,0.00,0.000,6,0.000,0.054,2998,2031,2455,0,0,0,0,0,0
$GC,11502,0.36,169.7,341.3,7.5,1190,11506,0.00,1.98,0.00,0.000,4,0.000,0.064,2997,3232,2455,0,0,0,0,0,0
$GC,11539,0.34,169.7,338.2,8.9,1193,11545,0.10,1.92,0.00,0.000,6,0.131,0.054,2967,2026,2455,0,0,0,0,0,0
$GC,11855,0.34,170.4,318.6,6.1,1224,11859,0.00,1.98,0.00,0.000,4,0.000,0.064,2967,3237,2455,0,0,0,0,0,0
$GC,11892,0.34,170.4,316.2,6.3,1227,11900,0.00,1.92,0.00,0.000,6,0.000,0.054,2967,2036,2455,0,0,0,0,0,0
$GC,12208,0.35,192.2,298.4,5.3,1258,12232,0.00,1.98,20.05,0.771,4,0.000,0.066,2967,3232,2366,0,0,0,0,0,0
$GC,12265,0.35,192.2,294.9,6.1,1263,12272,0.00,1.90,0.00,0.000,6,0.000,0.054,2967,2048,2364,0,0,0,0,0,0
$GC,12582,0.38,208.9,276.8,5.5,1294,12602,0.00,0.00,15.12,0.742,6,0.000,0.000,2967,2048,2297,0,0,0,0,0,0
$GC,12912,0.40,217.1,257.7,5.8,1326,12923,0.00,0.00,8.40,0.681,6,0.000,0.000,2967,2048,2264,0,0,0,0,0,0
$GC,13233,0.42,232.1,239.7,5.6,1357,13251,0.00,0.00,13.98,0.713,6,0.000,0.000,2967,2048,2202,0,0,0,0,0,0
$GC,13562,0.44,236.8,220.4,5.9,1389,13573,0.00,2.10,5.07,0.578,4,0.000,0.064,2967,760,2184,0,0,0,0,0,0
$GC,13593,0.48,256.8,218.6,5.4,1392,13617,0.10,2.05,18.30,0.709,6,0.058,0.057,3022,2041,2102,0,0,0,0,0,0
$GC,13935,0.48,256.8,189.8,8.4,1425,13938,0.00,1.95,0.00,0.000,4,0.000,0.064,3022,3236,2097,0,0,0,0,0,0
$GC,13982,0.48,256.8,185.5,9.1,1429,13987,0.00,1.92,0.00,0.000,6,0.000,0.054,3026,2045,2098,0,0,0,0,0,0
$GC,14297,0.48,256.8,158.0,8.2,1460,14301,0.00,2.08,0.00,0.000,4,0.000,0.064,3033,763,2097,0,0,0,0,0,0
$GC,14334,0.48,256.8,154.8,8.1,1463,14341,0.00,2.05,0.00,0.000,6,0.000,0.055,3032,2048,2097,0,0,0,0,0,0
$GC,14650,0.48,256.8,126.8,9.9,1494,14654,0.00,1.95,0.00,0.000,4,0.000,0.063,3032,3239,2096,0,0,0,0,0,0
$GC,14725,0.47,256.8,119.1,11.2,1501,14728,0.00,1.88,0.00,0.000,6,0.000,0.054,3038,2050,2096,0,0,0,0,0,0
$GC,15046,0.47,256.8,88.4,8.4,1544,15051,0.00,2.05,0.00,0.000,4,0.000,0.064,3046,771,2096,0,0,0,0,0,0
$GC,15089,0.47,256.8,84.9,8.3,1552,15094,0.10,2.03,0.00,0.000,6,0.117,0.056,3011,2040,2096,0,0,0,0,0,0
$GC,15417,0.48,256.8,65.7,6.2,1613,15422,0.00,1.98,0.00,0.000,4,0.000,0.065,3011,3243,2095,0,0,0,0,0,0
$GC,15444,0.48,256.8,63.7,6.6,1618,15449,0.00,1.90,0.00,0.000,6,0.000,0.054,3012,2056,2095,0,0,0,0,0,0
$GC,15772,0.51,256.8,44.6,6.4,1679,15778,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2055,2095,0,0,0,0,0,0
$GC,16100,0.57,289.5,28.4,4.9,1740,16133,0.00,2.08,26.92,0.610,4,0.000,0.063,3012,772,1969,0,0,0,0,0,0
$GC,16375,0.68,349.0,15.0,3.9,1791,16430,0.15,2.05,48.58,0.596,6,0.074,0.056,3077,2052,1726,0,0,0,0,0,0
$STATE,16599,end climb,SURFACE_DEPTH_REACHED
$STATE,16599,begin surface coast
$FINISH,1.4,1.024217
$STATE,16669,end surface coast,CONTROL_FINISHED_OK
$STATE,16669,begin surface
$SM_CCo,16744,0.00,0.000,0,0,1715,352.01
$SM_GC,2.37,7.85,0.00,0.00,0.043,0.000,0.000,133,2054,1715,-8.41,-0.57,352.01
$IRIDIUM_FIX,4732.49,-12510.28,241299,181843
$TT8_MAMPS,0.052923
$HUMID,41.37
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,23.5,60.681
$10V_AH,10.0,58.807
$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,20.300,114.050,398.475,0.000,0.000,27.826,37.943,232.400,0.000,0.000,16.922,0.000,11638.418,497.716,4311.964,718.599,0.000,1979.934,0.000,3737.004,0.000,0.533,0.000
$DEVICE_MAMPS,236.236,76.700,966.420,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1338.891,1224.146,2004.296,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298584
$DATA_FILE_SIZE,101069,1846
$CAP_FILE_SIZE,187025,0
$CFSIZE,260165632,219504640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.149,108.2,1
$GPS,300910,024437,4748.102,-12518.327,28,1.9,28,18.7