version: 66.06
glider: 187
mission: 2
dive: 81
start: 7 21 110 1 54 25
data:
$ID,187
$MISSION,2
$DIVE,81
$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,480
$T_MISSION,540
$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,100
$T_WATCHDOG,10
$RELAUNCH,-7
$APOGEE_PITCH,-5
$MAX_BUOY,125
$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,-24972.084
$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,2845
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$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,23
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1
$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,0.0012300001
$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
$GPS1,014807,4730.717,-12549.393,36,1.2,36,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-74.6
$GPS2,015420,4730.690,-12549.354,13,1.4,13,18.7
$SPEED_LIMITS,0.119,0.212
$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,218.8,105796,-14.9,-6.875
$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,12,-0.80,-122.2,0.0,0.0,0,78,0.00,0.00,-63.83,0.000,2,0.000,0.000,131,2102,3107,0,0,0,0,0,0
$GC,79,-0.80,-122.2,3.5,-4.2,12,107,10.00,1.95,-11.57,0.000,4,0.247,0.080,2574,3297,3651,0,0,0,0,0,0
$GC,331,-0.61,-122.2,72.9,-23.2,59,338,0.22,1.95,0.00,0.000,6,0.151,0.052,2643,2068,3655,0,0,0,0,0,0
$GC,651,-0.53,-122.2,124.6,-14.3,104,656,0.10,2.00,0.00,0.000,4,0.193,0.068,2663,3297,3657,0,0,0,0,0,0
$GC,720,-0.49,-122.2,133.1,-11.3,110,727,0.00,1.95,0.00,0.000,6,0.000,0.052,2662,2069,3657,0,0,0,0,0,0
$GC,1036,-0.45,-122.2,170.5,-11.7,141,1040,0.12,1.98,0.00,0.000,4,0.158,0.069,2690,3291,3658,0,0,0,0,0,0
$GC,1072,-0.48,-122.2,174.2,-9.3,144,1080,0.00,1.92,0.00,0.000,6,0.000,0.052,2690,2074,3658,0,0,0,0,0,0
$GC,1389,-0.48,-122.2,202.7,-9.4,175,1393,0.00,1.98,0.00,0.000,4,0.000,0.070,2684,3302,3658,0,0,0,0,0,0
$GC,1415,-0.50,-122.2,205.1,-9.3,177,1422,0.00,1.95,0.00,0.000,6,0.000,0.053,2683,2069,3658,0,0,0,0,0,0
$GC,1730,-0.50,-122.2,237.2,-10.0,208,1731,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,2067,3658,0,0,0,0,0,0
$GC,2042,-0.50,-122.2,268.1,-10.1,238,2045,0.00,1.98,0.00,0.000,4,0.000,0.070,2676,3297,3658,0,0,0,0,0,0
$GC,2094,-0.52,-122.2,273.4,-9.6,243,2098,0.00,1.90,0.00,0.000,6,0.000,0.054,2676,2078,3658,0,0,0,0,0,0
$GC,2415,-0.52,-122.2,307.3,-10.4,274,2416,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2076,3658,0,0,0,0,0,0
$GC,2726,-0.52,-122.2,338.7,-9.5,304,2727,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2075,3658,0,0,0,0,0,0
$GC,3036,-0.52,-122.2,367.7,-9.6,334,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2075,3658,0,0,0,0,0,0
$GC,3347,-0.52,-122.2,398.8,-10.5,364,3350,0.00,1.95,0.00,0.000,4,0.000,0.072,2667,3296,3658,0,0,0,0,0,0
$GC,3399,-0.54,-122.2,404.1,-10.3,369,3403,0.00,1.92,0.00,0.000,6,0.000,0.056,2667,2075,3657,0,0,0,0,0,0
$GC,3720,-0.54,-122.2,438.0,-10.6,400,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2073,3658,0,0,0,0,0,0
$GC,4031,-0.54,-122.2,470.0,-9.9,430,4032,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2073,3657,0,0,0,0,0,0
$GC,4341,-0.54,-122.2,500.1,-9.0,460,4345,0.00,1.98,0.00,0.000,4,0.000,0.074,2660,3300,3657,0,0,0,0,0,0
$GC,4388,-0.54,-122.2,504.4,-9.3,464,4394,0.00,1.92,0.00,0.000,6,0.000,0.057,2660,2082,3657,0,0,0,0,0,0
$GC,4703,-0.54,-122.2,532.0,-8.9,495,4704,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2080,3657,0,0,0,0,0,0
$GC,5014,-0.54,-122.2,559.6,-9.1,525,5018,0.00,1.95,0.00,0.000,4,0.000,0.074,2656,3292,3657,0,0,0,0,0,0
$GC,5045,-0.54,-122.2,562.6,-9.3,528,5050,0.00,1.92,0.00,0.000,6,0.000,0.058,2656,2077,3657,0,0,0,0,0,0
$GC,5367,-0.54,-122.2,593.3,-9.5,559,5371,0.00,1.98,0.00,0.000,4,0.000,0.074,2648,3302,3657,0,0,0,0,0,0
$GC,5408,-0.54,-122.2,597.4,-9.7,563,5413,0.00,1.92,0.00,0.000,6,0.000,0.058,2647,2084,3657,0,0,0,0,0,0
$GC,5743,-0.51,-122.2,630.9,-10.1,576,5744,0.10,0.00,0.00,0.000,6,0.183,0.000,2673,2082,3657,0,0,0,0,0,0
$GC,6047,-0.53,-122.2,656.3,-8.3,586,6048,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2082,3657,0,0,0,0,0,0
$GC,6350,-0.55,-122.2,679.1,-7.5,596,6355,0.00,1.98,0.00,0.000,4,0.000,0.075,2667,3308,3657,0,0,0,0,0,0
$GC,6398,-0.58,-122.2,682.6,-7.4,597,6403,0.00,1.92,0.00,0.000,6,0.000,0.058,2667,2090,3657,0,0,0,0,0,0
$GC,6717,-0.58,-122.2,706.9,-7.7,608,6722,0.00,1.98,0.00,0.000,4,0.000,0.075,2661,3302,3657,0,0,0,0,0,0
$GC,6743,-0.58,-122.2,708.9,-7.6,608,6750,0.00,1.92,0.00,0.000,6,0.000,0.059,2660,2088,3657,0,0,0,0,0,0
$GC,7052,-0.58,-122.2,734.5,-8.1,619,7053,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2085,3657,0,0,0,0,0,0
$GC,7355,-0.58,-122.2,758.9,-8.0,629,7356,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2085,3657,0,0,0,0,0,0
$GC,7659,-0.58,-122.2,783.0,-8.1,639,7659,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2085,3657,0,0,0,0,0,0
$GC,7962,-0.58,-122.2,809.2,-9.0,649,7967,0.00,1.95,0.00,0.000,4,0.000,0.077,2653,3292,3657,0,0,0,0,0,0
$GC,7994,-0.58,-122.2,812.1,-9.7,650,7998,0.00,1.92,0.00,0.000,6,0.000,0.061,2652,2080,3657,0,0,0,0,0,0
$GC,8329,-0.58,-122.2,842.8,-8.8,661,8330,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2077,3657,0,0,0,0,0,0
$GC,8633,-0.58,-122.2,867.6,-7.9,671,8638,0.00,1.98,0.00,0.000,4,0.000,0.077,2644,3303,3657,0,0,0,0,0,0
$GC,8680,-0.58,-122.2,871.8,-8.7,672,8685,0.00,1.92,0.00,0.000,6,0.000,0.060,2644,2089,3657,0,0,0,0,0,0
$GC,9000,-0.56,-122.2,898.6,-8.5,683,9004,0.00,1.95,0.00,0.000,4,0.000,0.077,2637,3296,3657,0,0,0,0,0,0
$GC,9037,-0.56,-122.2,901.8,-8.3,684,9041,0.00,1.90,0.00,0.000,6,0.000,0.061,2636,2086,3657,0,0,0,0,0,0
$GC,9366,-0.53,-122.2,931.2,-9.1,695,9368,0.12,0.00,0.00,0.000,6,0.173,0.000,2670,2084,3657,0,0,0,0,0,0
$GC,9670,-0.56,-122.2,952.9,-7.0,705,9674,0.00,1.95,0.00,0.000,4,0.000,0.077,2665,3293,3658,0,0,0,0,0,0
$GC,9697,-0.59,-122.2,954.9,-8.7,705,9703,0.00,1.88,0.00,0.000,6,0.000,0.061,2664,2099,3658,0,0,0,0,0,0
$GC,10005,-0.61,-122.2,976.6,-6.9,716,10009,0.00,1.92,0.00,0.000,4,0.000,0.077,2659,3292,3658,0,0,0,0,0,0
$GC,10042,-0.65,-122.2,979.3,-6.9,717,10047,0.00,1.88,0.00,0.000,6,0.000,0.061,2660,2101,3658,0,0,0,0,0,0
$STATE,10219,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10219,begin apogee
$GC,10222,-0.22,0.0,991.8,7.0,723,10331,0.35,0.00,106.97,1.228,6,0.129,0.000,2773,1995,3150,0,0,0,0,0,0
$STATE,10331,end apogee,CONTROL_FINISHED_OK
$STATE,10331,begin climb
$GC,10332,0.80,122.2,993.6,0.0,726,10445,1.00,0.00,110.43,1.189,6,0.087,0.000,3097,1995,2651,0,0,0,0,0,0
$GC,10734,0.56,122.2,943.5,14.5,740,10739,0.25,2.08,0.00,0.000,4,0.188,0.073,3032,3218,2645,0,0,0,0,0,0
$GC,10857,0.39,122.2,928.2,12.4,743,10863,0.22,1.98,0.00,0.000,6,0.163,0.061,2974,2020,2645,0,0,0,0,0,0
$GC,11165,0.33,122.2,904.6,7.2,754,11169,0.00,2.03,0.00,0.000,4,0.000,0.074,2974,3225,2644,0,0,0,0,0,0
$GC,11234,0.24,122.2,898.8,8.0,756,11239,0.20,2.00,0.00,0.000,6,0.161,0.061,2925,2008,2644,0,0,0,0,0,0
$GC,11565,0.31,168.0,882.0,5.1,767,11609,0.00,2.10,39.75,1.139,4,0.000,0.074,2925,3224,2464,0,0,0,0,0,0
$GC,11642,0.34,171.8,877.7,6.7,769,11651,0.00,2.03,4.72,0.789,6,0.000,0.061,2925,2013,2449,0,0,0,0,0,0
$GC,11961,0.41,200.9,859.1,5.8,780,11993,0.15,2.08,27.02,1.108,4,0.089,0.071,2995,757,2329,0,0,0,0,0,0
$GC,12012,0.37,200.9,854.7,8.5,781,12017,0.00,2.10,0.00,0.000,6,0.000,0.064,2995,2005,2327,0,0,0,0,0,0
$GC,12326,0.32,200.9,822.2,10.6,792,12331,0.17,2.05,0.00,0.000,4,0.154,0.072,2947,3230,2325,0,0,0,0,0,0
$GC,12401,0.32,200.9,815.6,7.8,794,12405,0.00,1.98,0.00,0.000,6,0.000,0.061,2947,2017,2324,0,0,0,0,0,0
$GC,12725,0.34,200.9,791.5,7.2,805,12726,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2017,2324,0,0,0,0,0,0
$GC,13029,0.36,200.9,768.1,7.8,815,13029,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2017,2325,0,0,0,0,0,0
$GC,13332,0.38,200.9,744.2,7.8,825,13337,0.00,2.03,0.00,0.000,4,0.000,0.075,2947,3234,2326,0,0,0,0,0,0
$GC,13369,0.38,200.9,741.2,8.2,826,13374,0.00,1.98,0.00,0.000,6,0.000,0.062,2947,2014,2325,0,0,0,0,0,0
$GC,13699,0.40,200.9,716.3,7.4,837,13700,0.00,0.00,0.00,0.000,6,0.000,0.000,2947,2014,2326,0,0,0,0,0,0
$GC,14003,0.42,200.9,694.8,7.1,847,14007,0.10,2.00,0.00,0.000,4,0.117,0.075,2990,3226,2326,0,0,0,0,0,0
$GC,14034,0.37,200.9,691.7,11.2,848,14039,0.00,1.95,0.00,0.000,6,0.000,0.063,2995,2020,2326,0,0,0,0,0,0
$GC,14370,0.32,200.9,657.3,10.3,859,14374,0.15,2.00,0.00,0.000,4,0.165,0.075,2954,3236,2327,0,0,0,0,0,0
$GC,14401,0.32,200.9,654.2,9.6,860,14406,0.00,1.95,0.00,0.000,6,0.000,0.062,2955,2023,2327,0,0,0,0,0,0
$GC,14736,0.32,200.9,626.9,8.1,871,14741,0.00,2.00,0.00,0.000,4,0.000,0.072,2955,766,2327,0,0,0,0,0,0
$GC,14768,0.36,200.9,624.4,7.1,872,14773,0.00,2.03,0.00,0.000,6,0.000,0.064,2955,2028,2327,0,0,0,0,0,0
$GC,15103,0.36,200.9,598.9,7.6,883,15108,0.00,2.00,0.00,0.000,4,0.000,0.074,2955,3240,2328,0,0,0,0,0,0
$GC,15168,0.36,200.9,593.5,8.4,889,15172,0.00,1.92,0.00,0.000,6,0.000,0.062,2955,2029,2328,0,0,0,0,0,0
$GC,15488,0.38,217.2,571.5,6.3,920,15505,0.00,0.00,15.57,0.940,6,0.000,0.000,2956,2030,2264,0,0,0,0,0,0
$GC,15809,0.41,218.6,549.7,6.8,951,15809,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2029,2262,0,0,0,0,0,0
$GC,16119,0.43,218.6,526.1,7.7,981,16120,0.00,0.00,0.00,0.000,6,0.000,0.000,2955,2029,2262,0,0,0,0,0,0
$GC,16430,0.45,218.6,501.4,7.8,1011,16431,0.10,0.00,0.00,0.000,6,0.121,0.000,2998,2027,2262,0,0,0,0,0,0
$GC,16739,0.42,218.6,468.9,11.0,1041,16744,0.00,2.00,0.00,0.000,4,0.000,0.075,2998,3235,2263,0,0,0,0,0,0
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$STATE,23009,end climb,SURFACE_DEPTH_REACHED
$STATE,23010,begin surface coast
$FINISH,0.8,1.023952
$STATE,23048,end surface coast,CONTROL_FINISHED_OK
$STATE,23048,begin surface
$SM_CCo,23060,29.73,0.437,2,0,1722,350.04
$SM_GC,1.72,0.00,0.00,29.73,0.000,0.000,0.437,141,2078,1722,-8.45,0.08,350.04
$IRIDIUM_FIX,4713.38,-12547.82,141099,191934
$TT8_MAMPS,0.05369
$HUMID,37.91
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,23.5,10.555
$10V_AH,10.3,5.943
$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,21.875,154.075,398.100,29.725,0.000,32.884,36.364,204.770,0.000,0.000,13.683,0.000,18124.600,663.747,4172.706,477.986,0.000,2162.062,0.000,3540.209,0.000,0.534,0.000
$DEVICE_MAMPS,246.974,127.322,1227.967,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1223.615,1449.875,1485.398,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298592
$DATA_FILE_SIZE,97795,1768
$CAP_FILE_SIZE,218607,0
$CFSIZE,260165632,253616128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.028, 77.8,1
$GPS,210710,082045,4729.192,-12552.959,43,2.9,62,18.7