version: 66.06
glider: 187
mission: 2
dive: 96
start: 7 22 110 14 45 57
data:
$ID,187
$MISSION,2
$DIVE,96
$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,-25397.434
$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,26
$R_STBD_OVSHOOT,29
$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
$GPS1,144128,4723.506,-12605.830,61,2.8,80,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-67.7
$GPS2,144552,4723.485,-12605.801,14,3.7,33,18.6
$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,236.4,81105,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.74,-112.4,0.0,0.0,0,73,0.00,0.00,-58.25,0.000,2,0.000,0.000,132,2075,3118,0,0,0,0,0,0
$GC,74,-0.74,-112.4,3.1,-3.1,11,102,10.00,1.98,-10.95,0.000,4,0.248,0.077,2590,3300,3611,0,0,0,0,0,0
$GC,208,-0.52,-112.4,41.3,-25.4,36,215,0.25,1.92,0.00,0.000,6,0.147,0.048,2668,2075,3612,0,0,0,0,0,0
$GC,535,-0.43,-112.4,93.3,-14.7,97,541,0.12,0.00,0.00,0.000,6,0.167,0.000,2704,2072,3614,0,0,0,0,0,0
$GC,851,-0.41,-112.4,124.8,-9.2,133,855,0.00,2.00,0.00,0.000,4,0.000,0.064,2699,3311,3616,0,0,0,0,0,0
$GC,877,-0.41,-112.4,127.4,-10.0,135,884,0.00,1.95,0.00,0.000,6,0.000,0.049,2698,2064,3616,0,0,0,0,0,0
$GC,1193,-0.41,-112.4,158.7,-9.3,166,1197,0.00,2.00,0.00,0.000,4,0.000,0.067,2696,3300,3616,0,0,0,0,0,0
$GC,1240,-0.41,-112.4,163.1,-9.0,170,1247,0.00,1.92,0.00,0.000,6,0.000,0.050,2696,2068,3616,0,0,0,0,0,0
$GC,1555,-0.41,-112.4,191.8,-8.7,201,1556,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2067,3616,0,0,0,0,0,0
$GC,1866,-0.41,-112.4,216.8,-7.9,231,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2067,3616,0,0,0,0,0,0
$GC,2177,-0.41,-112.4,241.0,-7.8,261,2181,0.00,2.00,0.00,0.000,4,0.000,0.070,2695,3302,3615,0,0,0,0,0,0
$GC,2208,-0.41,-112.4,243.4,-6.9,264,2213,0.00,1.92,0.00,0.000,6,0.000,0.052,2696,2074,3615,0,0,0,0,0,0
$GC,2529,-0.41,-112.4,268.8,-7.8,295,2530,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2071,3615,0,0,0,0,0,0
$GC,2841,-0.41,-112.4,293.7,-7.9,325,2844,0.00,1.98,0.00,0.000,4,0.000,0.071,2696,3309,3614,0,0,0,0,0,0
$GC,2897,-0.43,-112.4,298.4,-8.1,330,2906,0.00,1.92,0.00,0.000,6,0.000,0.053,2696,2077,3614,0,0,0,0,0,0
$GC,3214,-0.43,-112.4,323.1,-7.8,361,3218,0.00,1.98,0.00,0.000,4,0.000,0.070,2695,3303,3614,0,0,0,0,0,0
$GC,3234,-0.43,-112.4,324.8,-8.0,363,3239,0.00,1.92,0.00,0.000,6,0.000,0.054,2695,2077,3614,0,0,0,0,0,0
$GC,3556,-0.43,-112.4,349.6,-7.8,394,3560,0.00,1.98,0.00,0.000,4,0.000,0.071,2693,3296,3614,0,0,0,0,0,0
$GC,3581,-0.43,-112.4,351.7,-7.7,396,3589,0.00,1.90,0.00,0.000,6,0.000,0.054,2693,2082,3614,0,0,0,0,0,0
$GC,3897,-0.43,-112.4,375.5,-7.5,427,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2082,3614,0,0,0,0,0,0
$GC,4209,-0.43,-112.4,397.3,-6.6,457,4209,0.00,0.00,0.00,0.000,6,0.000,0.000,2693,2082,3614,0,0,0,0,0,0
$GC,4519,-0.43,-112.4,418.1,-6.6,487,4522,0.00,1.98,0.00,0.000,4,0.000,0.072,2692,3303,3614,0,0,0,0,0,0
$GC,4550,-0.46,-112.4,420.3,-6.9,490,4554,0.00,1.88,0.00,0.000,6,0.000,0.056,2691,2096,3614,0,0,0,0,0,0
$GC,4870,-0.46,-112.4,442.1,-6.5,521,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2094,3614,0,0,0,0,0,0
$GC,5181,-0.46,-112.4,465.3,-7.8,551,5182,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2094,3614,0,0,0,0,0,0
$GC,5491,-0.46,-112.4,489.2,-7.8,581,5496,0.00,1.95,0.00,0.000,4,0.000,0.074,2692,3296,3615,0,0,0,0,0,0
$GC,5523,-0.49,-112.4,491.6,-7.6,584,5528,0.00,1.90,0.00,0.000,6,0.000,0.056,2691,2086,3614,0,0,0,0,0,0
$GC,5844,-0.49,-112.4,514.2,-6.9,615,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2084,3615,0,0,0,0,0,0
$GC,6154,-0.49,-112.4,535.0,-6.4,645,6155,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2084,3615,0,0,0,0,0,0
$GC,6465,-0.49,-112.4,555.1,-7.2,675,6466,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2083,3616,0,0,0,0,0,0
$GC,6775,-0.49,-112.4,577.4,-7.2,705,6780,0.00,1.98,0.00,0.000,4,0.000,0.074,2691,3300,3616,0,0,0,0,0,0
$GC,6812,-0.52,-112.4,580.2,-7.5,708,6819,0.00,1.90,0.00,0.000,6,0.000,0.057,2691,2084,3616,0,0,0,0,0,0
$GC,7137,-0.54,-112.4,605.2,-7.7,736,7141,0.00,1.95,0.00,0.000,4,0.000,0.073,2691,3302,3617,0,0,0,0,0,0
$GC,7174,-0.58,-112.4,608.0,-7.7,737,7178,0.08,1.90,0.00,0.000,6,0.065,0.057,2641,2085,3617,0,0,0,0,0,0
$GC,7504,-0.53,-112.4,641.8,-10.4,748,7505,0.12,0.00,0.00,0.000,6,0.171,0.000,2675,2082,3617,0,0,0,0,0,0
$GC,7807,-0.53,-112.4,667.1,-8.2,758,7807,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2082,3617,0,0,0,0,0,0
$GC,8110,-0.53,-112.4,691.6,-8.2,768,8115,0.00,1.98,0.00,0.000,4,0.000,0.074,2669,3304,3618,0,0,0,0,0,0
$GC,8158,-0.53,-112.4,695.7,-8.4,769,8163,0.00,1.92,0.00,0.000,6,0.000,0.058,2668,2084,3617,0,0,0,0,0,0
$GC,8477,-0.53,-112.4,723.0,-8.4,780,8482,0.00,1.98,0.00,0.000,4,0.000,0.073,2662,3303,3619,0,0,0,0,0,0
$GC,8519,-0.53,-112.4,726.6,-8.9,781,8524,0.00,1.90,0.00,0.000,6,0.000,0.058,2661,2097,3619,0,0,0,0,0,0
$GC,8844,-0.51,-112.4,753.6,-8.2,792,8845,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2097,3619,0,0,0,0,0,0
$GC,9147,-0.51,-112.4,777.8,-7.8,802,9148,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2097,3620,0,0,0,0,0,0
$GC,9451,-0.50,-112.4,800.5,-7.4,812,9452,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2097,3620,0,0,0,0,0,0
$GC,9755,-0.50,-112.4,821.7,-7.0,822,9755,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2097,3621,0,0,0,0,0,0
$GC,10058,-0.50,-112.4,841.8,-6.7,832,10059,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2097,3622,0,0,0,0,0,0
$GC,10361,-0.50,-112.4,861.6,-6.4,842,10366,0.00,1.95,0.00,0.000,4,0.000,0.074,2654,3302,3622,0,0,0,0,0,0
$GC,10398,-0.50,-112.4,864.3,-7.5,843,10403,0.00,1.92,0.00,0.000,6,0.000,0.059,2654,2086,3622,0,0,0,0,0,0
$GC,10728,-0.48,-112.4,888.5,-7.4,854,10730,0.12,0.00,0.00,0.000,6,0.164,0.000,2689,2083,3623,0,0,0,0,0,0
$GC,11032,-0.51,-112.4,905.7,-5.5,864,11037,0.00,1.95,0.00,0.000,4,0.000,0.076,2689,3295,3624,0,0,0,0,0,0
$GC,11085,-0.57,-112.4,908.8,-5.6,865,11090,0.00,1.88,0.00,0.000,6,0.000,0.059,2689,2102,3624,0,0,0,0,0,0
$GC,11399,-0.61,-112.4,927.7,-6.0,876,11400,0.12,0.00,0.00,0.000,6,0.100,0.000,2637,2099,3625,0,0,0,0,0,0
$GC,11703,-0.56,-112.4,954.8,-8.9,886,11703,0.00,0.00,0.00,0.000,6,0.000,0.000,2637,2099,3625,0,0,0,0,0,0
$GC,12006,-0.52,-112.4,982.5,-9.0,896,12011,0.15,1.95,0.00,0.000,4,0.157,0.077,2672,3298,3626,0,0,0,0,0,0
$GC,12048,-0.56,-112.4,985.7,-7.0,897,12053,0.00,1.90,0.00,0.000,6,0.000,0.060,2672,2099,3626,0,0,0,0,0,0
$STATE,12129,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12129,begin apogee
$GC,12132,-0.22,0.0,991.7,7.3,900,12234,0.32,0.00,99.75,1.229,6,0.126,0.000,2777,1992,3150,0,0,0,0,0,0
$STATE,12234,end apogee,CONTROL_FINISHED_OK
$STATE,12234,begin climb
$GC,12235,0.74,112.4,994.6,0.0,903,12339,0.90,0.00,99.95,1.190,6,0.087,0.000,3078,1992,2691,0,0,0,0,0,0
$GC,12627,0.51,112.4,951.0,13.7,916,12632,0.25,2.08,0.00,0.000,4,0.186,0.072,3014,3222,2684,0,0,0,0,0,0
$GC,12734,0.34,112.4,938.5,10.3,919,12739,0.20,1.98,0.00,0.000,6,0.159,0.061,2962,2020,2684,0,0,0,0,0,0
$GC,13059,0.28,112.4,913.4,7.5,930,13063,0.00,2.00,0.00,0.000,4,0.000,0.074,2962,3225,2683,0,0,0,0,0,0
$GC,13122,0.20,112.4,908.0,8.7,932,13127,0.17,2.00,0.00,0.000,6,0.166,0.061,2915,2001,2683,0,0,0,0,0,0
$GC,13458,0.22,130.9,889.2,5.4,943,13478,0.00,2.05,15.57,1.095,4,0.000,0.075,2915,3220,2616,0,0,0,0,0,0
$GC,13542,0.22,130.9,883.9,6.2,945,13547,0.00,2.00,0.00,0.000,6,0.000,0.061,2916,2002,2614,0,0,0,0,0,0
$GC,13856,0.26,146.8,866.2,5.5,956,13876,0.00,2.08,15.15,1.082,4,0.000,0.074,2916,3231,2550,0,0,0,0,0,0
$GC,13902,0.27,155.3,863.5,5.8,957,13919,0.00,2.00,9.25,0.997,6,0.000,0.061,2917,2017,2516,0,0,0,0,0,0
$GC,14221,0.34,182.8,846.7,5.1,968,14251,0.10,0.00,25.65,1.100,6,0.113,0.000,2962,2015,2404,0,0,0,0,0,0
$GC,14553,0.31,182.8,822.1,7.5,979,14558,0.00,2.03,0.00,0.000,4,0.000,0.074,2963,3223,2400,0,0,0,0,0,0
$GC,14617,0.27,182.8,816.6,8.9,981,14622,0.10,1.98,0.00,0.000,6,0.176,0.061,2937,2019,2399,0,0,0,0,0,0
$GC,14952,0.27,184.6,796.2,6.0,992,14953,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2018,2399,0,0,0,0,0,0
$GC,15256,0.29,184.6,777.8,6.1,1002,15260,0.00,1.98,0.00,0.000,4,0.000,0.074,2937,3225,2399,0,0,0,0,0,0
$GC,15293,0.29,184.6,775.2,7.5,1003,15297,0.00,1.95,0.00,0.000,6,0.000,0.062,2936,2023,2399,0,0,0,0,0,0
$GC,15623,0.29,184.6,754.2,6.5,1014,15623,0.00,0.00,0.00,0.000,6,0.000,0.000,2937,2022,2399,0,0,0,0,0,0
$GC,15926,0.30,184.6,734.5,6.6,1024,15931,0.00,2.00,0.00,0.000,4,0.000,0.071,2937,766,2399,0,0,0,0,0,0
$GC,15953,0.36,200.4,732.8,5.5,1024,15973,0.00,2.00,16.05,1.025,6,0.000,0.063,2937,2020,2332,0,0,0,0,0,0
$GC,16293,0.38,200.4,709.7,6.8,1036,16297,0.00,2.00,0.00,0.000,4,0.000,0.073,2937,3233,2329,0,0,0,0,0,0
$GC,16361,0.38,200.4,704.7,7.2,1038,16366,0.00,1.95,0.00,0.000,6,0.000,0.060,2937,2027,2329,0,0,0,0,0,0
$GC,16691,0.41,200.4,683.8,6.2,1049,16696,0.12,2.05,0.00,0.000,4,0.101,0.071,2991,759,2329,0,0,0,0,0,0
$GC,16717,0.38,200.4,681.8,7.3,1049,16724,0.00,2.05,0.00,0.000,6,0.000,0.064,2991,2033,2329,0,0,0,0,0,0
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$STATE,26499,end climb,SURFACE_DEPTH_REACHED
$STATE,26499,begin surface coast
$FINISH,0.7,1.012450
$STATE,26543,end surface coast,CONTROL_FINISHED_OK
$STATE,26543,begin surface
$SM_CCo,26554,22.38,0.408,1,0,1722,350.04
$SM_GC,1.78,0.00,0.00,22.38,0.000,0.000,0.408,139,2054,1722,-8.45,-0.59,350.04
$IRIDIUM_FIX,4707.04,-12605.15,161099,131327
$TT8_MAMPS,0.052923
$HUMID,38.26
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,17.10
$XPDR_PINGS,0
$24V_AH,23.6,11.877
$10V_AH,10.3,7.191
$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,21.900,164.750,380.375,22.375,0.000,29.532,33.609,113.296,0.000,0.000,34.284,0.000,20969.750,651.137,4837.755,382.550,0.000,2376.952,0.000,4074.297,0.000,0.536,0.000
$DEVICE_MAMPS,247.741,95.875,1228.734,408.044,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1425.501,1687.728,1734.774,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298608
$DATA_FILE_SIZE,116765,2059
$CAP_FILE_SIZE,245179,0
$CFSIZE,260165632,252747776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$CURRENT,0.053, 53.4,1
$GPS,220710,221007,4723.167,-12609.616,51,1.6,51,18.6