version: 66.06
glider: 187
mission: 2
dive: 102
start: 7 24 110 10 15 44
data:
$ID,187
$MISSION,2
$DIVE,102
$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,-25516.344
$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,0.0089999996
$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,24
$R_STBD_OVSHOOT,31
$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,0.0012300001
$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
$GPS1,100901,4715.876,-12625.332,103,1.1,103,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-72.6
$GPS2,101538,4715.796,-12625.331,13,2.0,13,18.6
$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,235.1,52662,-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,-0.74,-112.4,0.0,0.0,0,72,0.00,0.00,-58.47,0.000,2,0.000,0.000,131,2080,3161,0,0,0,0,0,0
$GC,73,-0.74,-112.4,3.6,-4.1,11,96,9.95,2.00,-9.48,0.000,4,0.246,0.077,2588,3307,3612,0,0,0,0,0,0
$GC,336,-0.62,-112.4,72.8,-21.8,60,342,0.17,1.95,0.00,0.000,6,0.146,0.050,2642,2068,3616,0,0,0,0,0,0
$GC,656,-0.55,-112.4,126.9,-15.2,105,660,0.00,2.00,0.00,0.000,4,0.000,0.066,2635,3307,3617,0,0,0,0,0,0
$GC,720,-0.50,-112.4,136.3,-15.4,111,724,0.12,1.95,0.00,0.000,6,0.130,0.051,2676,2072,3617,0,0,0,0,0,0
$GC,1041,-0.47,-112.4,175.4,-12.0,142,1042,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2068,3618,0,0,0,0,0,0
$GC,1352,-0.45,-112.4,208.7,-9.8,172,1355,0.00,1.95,0.00,0.000,4,0.000,0.068,2670,3306,3618,0,0,0,0,0,0
$GC,1377,-0.43,-112.4,211.4,-10.1,174,1386,0.12,1.95,0.00,0.000,6,0.149,0.052,2706,2065,3618,0,0,0,0,0,0
$GC,1693,-0.43,-112.4,234.3,-6.7,205,1697,0.00,1.98,0.00,0.000,4,0.000,0.069,2700,3300,3618,0,0,0,0,0,0
$GC,1735,-0.44,-112.4,237.1,-7.0,209,1740,0.00,1.90,0.00,0.000,6,0.000,0.053,2699,2089,3618,0,0,0,0,0,0
$GC,2056,-0.44,-112.4,260.4,-7.2,240,2060,0.00,1.98,0.00,0.000,4,0.000,0.069,2696,3310,3617,0,0,0,0,0,0
$GC,2077,-0.44,-112.4,261.9,-7.2,242,2082,0.00,1.92,0.00,0.000,6,0.000,0.054,2696,2088,3617,0,0,0,0,0,0
$GC,2398,-0.44,-112.4,286.4,-7.9,273,2398,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2085,3618,0,0,0,0,0,0
$GC,2709,-0.44,-112.4,311.6,-8.5,303,2713,0.00,1.95,0.00,0.000,4,0.000,0.071,2696,3302,3617,0,0,0,0,0,0
$GC,2740,-0.45,-112.4,314.1,-8.6,306,2745,0.00,1.92,0.00,0.000,6,0.000,0.054,2695,2078,3617,0,0,0,0,0,0
$GC,3061,-0.45,-112.4,342.2,-8.9,337,3062,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2076,3616,0,0,0,0,0,0
$GC,3372,-0.45,-112.4,365.9,-6.9,367,3376,0.00,1.98,0.00,0.000,4,0.000,0.071,2695,3297,3616,0,0,0,0,0,0
$GC,3419,-0.47,-112.4,369.4,-7.3,371,3425,0.00,1.90,0.00,0.000,6,0.000,0.054,2695,2086,3616,0,0,0,0,0,0
$GC,3734,-0.47,-112.4,391.4,-6.8,402,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2085,3615,0,0,0,0,0,0
$GC,4045,-0.47,-112.4,413.8,-7.6,432,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2085,3615,0,0,0,0,0,0
$GC,4355,-0.47,-112.4,437.1,-7.5,462,4360,0.00,1.98,0.00,0.000,4,0.000,0.072,2695,3302,3615,0,0,0,0,0,0
$GC,4398,-0.49,-112.4,440.3,-7.1,466,4402,0.00,1.88,0.00,0.000,6,0.000,0.057,2694,2099,3615,0,0,0,0,0,0
$GC,4718,-0.50,-112.4,462.4,-6.9,497,4719,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2099,3614,0,0,0,0,0,0
$GC,5030,-0.52,-112.4,483.0,-6.7,527,5033,0.00,1.95,0.00,0.000,4,0.000,0.072,2695,3303,3614,0,0,0,0,0,0
$GC,5083,-0.54,-112.4,486.6,-6.7,532,5087,0.00,1.88,0.00,0.000,6,0.000,0.056,2695,2100,3614,0,0,0,0,0,0
$GC,5403,-0.54,-112.4,509.6,-7.6,563,5407,0.00,1.95,0.00,0.000,4,0.000,0.073,2695,3299,3614,0,0,0,0,0,0
$GC,5435,-0.56,-112.4,511.9,-7.5,566,5439,0.00,1.88,0.00,0.000,6,0.000,0.057,2695,2104,3614,0,0,0,0,0,0
$GC,5756,-0.57,-112.4,537.3,-8.2,597,5757,0.10,0.00,0.00,0.000,6,0.108,0.000,2646,2102,3613,0,0,0,0,0,0
$GC,6066,-0.54,-112.4,570.9,-10.8,627,6071,0.00,1.98,0.00,0.000,4,0.000,0.073,2637,3311,3613,0,0,0,0,0,0
$GC,6098,-0.51,-112.4,574.6,-11.2,630,6102,0.10,1.88,0.00,0.000,6,0.129,0.058,2672,2110,3612,0,0,0,0,0,0
$GC,6418,-0.51,-112.4,603.4,-8.8,659,6422,0.00,1.95,0.00,0.000,4,0.000,0.074,2666,3301,3612,0,0,0,0,0,0
$GC,6460,-0.51,-112.4,607.1,-9.1,660,6464,0.00,1.88,0.00,0.000,6,0.000,0.058,2666,2110,3612,0,0,0,0,0,0
$GC,6785,-0.50,-112.4,634.6,-8.3,671,6789,0.00,1.92,0.00,0.000,4,0.000,0.075,2659,3295,3612,0,0,0,0,0,0
$GC,6816,-0.50,-112.4,637.1,-8.1,672,6821,0.00,1.88,0.00,0.000,6,0.000,0.058,2658,2107,3612,0,0,0,0,0,0
$GC,7152,-0.48,-112.4,665.7,-8.5,683,7156,0.10,1.95,0.00,0.000,4,0.171,0.074,2680,3306,3612,0,0,0,0,0,0
$GC,7177,-0.48,-112.4,667.7,-7.9,683,7184,0.00,1.88,0.00,0.000,6,0.000,0.058,2679,2117,3612,0,0,0,0,0,0
$GC,7486,-0.48,-112.4,689.1,-7.0,694,7487,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2117,3612,0,0,0,0,0,0
$GC,7789,-0.48,-112.4,709.6,-6.7,704,7790,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2117,3612,0,0,0,0,0,0
$GC,8093,-0.48,-112.4,730.1,-6.7,714,8098,0.00,1.92,0.00,0.000,4,0.000,0.075,2673,3300,3611,0,0,0,0,0,0
$GC,8119,-0.48,-112.4,731.9,-7.3,714,8127,0.00,1.88,0.00,0.000,6,0.000,0.059,2673,2114,3611,0,0,0,0,0,0
$GC,8428,-0.48,-112.4,753.6,-7.2,725,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2114,3611,0,0,0,0,0,0
$GC,8731,-0.48,-112.4,775.1,-7.0,735,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2114,3611,0,0,0,0,0,0
$GC,9034,-0.48,-112.4,795.5,-6.9,745,9039,0.00,1.95,0.00,0.000,4,0.000,0.077,2669,3300,3611,0,0,0,0,0,0
$GC,9066,-0.48,-112.4,797.8,-7.0,746,9071,0.00,1.88,0.00,0.000,6,0.000,0.060,2668,2117,3611,0,0,0,0,0,0
$GC,9402,-0.48,-112.4,822.0,-7.3,757,9406,0.00,1.92,0.00,0.000,4,0.000,0.076,2662,3294,3611,0,0,0,0,0,0
$GC,9422,-0.48,-112.4,823.7,-8.7,757,9427,0.00,1.88,0.00,0.000,6,0.000,0.060,2661,2110,3611,0,0,0,0,0,0
$GC,9736,-0.48,-112.4,848.4,-8.0,768,9737,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2109,3611,0,0,0,0,0,0
$GC,10040,-0.48,-112.4,873.3,-8.2,778,10044,0.00,1.98,0.00,0.000,4,0.000,0.077,2657,3308,3611,0,0,0,0,0,0
$GC,10072,-0.48,-112.4,875.8,-8.6,779,10077,0.10,1.90,0.00,0.000,6,0.158,0.060,2685,2107,3610,0,0,0,0,0,0
$GC,10407,-0.50,-112.4,898.1,-6.5,790,10408,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2107,3610,0,0,0,0,0,0
$GC,10711,-0.52,-112.4,917.0,-6.3,800,10715,0.00,1.95,0.00,0.000,4,0.000,0.077,2682,3299,3611,0,0,0,0,0,0
$GC,10748,-0.54,-112.4,919.5,-6.1,801,10752,0.00,1.85,0.00,0.000,6,0.000,0.060,2681,2122,3611,0,0,0,0,0,0
$GC,11077,-0.55,-112.4,941.0,-6.3,812,11082,0.00,2.00,0.00,0.000,4,0.000,0.067,2681,848,3610,0,0,0,0,0,0
$GC,11104,-0.57,-112.4,942.9,-7.7,812,11110,0.00,2.00,0.00,0.000,6,0.000,0.065,2679,2110,3610,0,0,0,0,0,0
$GC,11412,-0.58,-112.4,962.6,-6.4,823,11417,0.00,1.95,0.00,0.000,4,0.000,0.077,2673,3309,3610,0,0,0,0,0,0
$GC,11460,-0.60,-112.4,965.9,-7.0,824,11465,0.00,1.88,0.00,0.000,6,0.000,0.060,2673,2124,3610,0,0,0,0,0,0
$GC,11779,-0.60,-112.4,986.7,-6.5,835,11780,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2122,3610,0,0,0,0,0,0
$STATE,11839,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11839,begin apogee
$GC,11842,-0.22,0.0,990.8,6.6,837,11940,0.30,0.00,96.22,1.229,6,0.129,0.000,2770,2002,3150,0,0,0,0,0,0
$STATE,11940,end apogee,CONTROL_FINISHED_OK
$STATE,11940,begin climb
$GC,11941,0.74,112.4,992.9,0.0,840,12047,0.93,2.15,99.80,1.190,4,0.087,0.068,3088,760,2690,0,0,0,0,0,0
$GC,12067,0.60,112.4,984.2,11.5,844,12072,0.17,2.15,0.00,0.000,6,0.191,0.062,3044,2007,2687,0,0,0,0,0,0
$GC,12391,0.49,112.4,946.7,11.5,855,12396,0.15,2.05,0.00,0.000,4,0.186,0.071,3005,3233,2684,0,0,0,0,0,0
$GC,12530,0.40,112.4,931.6,11.0,859,12535,0.10,2.00,0.00,0.000,6,0.168,0.061,2982,2013,2683,0,0,0,0,0,0
$GC,12855,0.34,112.4,904.4,8.5,870,12859,0.00,2.03,0.00,0.000,4,0.000,0.073,2982,3234,2683,0,0,0,0,0,0
$GC,12913,0.27,112.4,898.7,10.3,871,12920,0.20,2.00,0.00,0.000,6,0.165,0.061,2934,2010,2683,0,0,0,0,0,0
$GC,13222,0.26,112.4,878.4,6.3,882,13226,0.00,2.03,0.00,0.000,4,0.000,0.074,2934,3229,2684,0,0,0,0,0,0
$GC,13269,0.24,112.4,874.9,6.6,883,13274,0.00,1.98,0.00,0.000,6,0.000,0.062,2934,2014,2684,0,0,0,0,0,0
$GC,13589,0.23,112.4,853.5,6.7,894,13593,0.00,2.03,0.00,0.000,4,0.000,0.074,2934,3234,2684,0,0,0,0,0,0
$GC,13636,0.20,112.4,850.1,7.2,895,13641,0.00,1.95,0.00,0.000,6,0.000,0.062,2935,2027,2684,0,0,0,0,0,0
$GC,13956,0.19,112.4,829.6,6.3,906,13960,0.00,2.00,0.00,0.000,4,0.000,0.075,2935,3236,2685,0,0,0,0,0,0
$GC,14019,0.16,112.4,825.1,8.0,908,14025,0.15,1.92,0.00,0.000,6,0.159,0.061,2900,2038,2685,0,0,0,0,0,0
$GC,14355,0.22,140.9,808.4,5.1,919,14381,0.00,0.00,24.73,1.091,6,0.000,0.000,2900,2036,2575,0,0,0,0,0,0
$GC,14658,0.28,140.9,790.6,6.1,929,14663,0.12,2.00,0.00,0.000,4,0.099,0.076,2955,3235,2572,0,0,0,0,0,0
$GC,14904,0.25,140.9,770.1,7.8,936,14908,0.00,1.85,0.00,0.000,6,0.000,0.061,2958,2096,2572,0,0,0,0,0,0
$GC,15218,0.23,140.9,744.9,8.0,947,15222,0.15,2.15,0.00,0.000,4,0.162,0.071,2922,768,2572,0,0,0,0,0,0
$GC,15265,0.25,140.9,741.8,7.0,948,15270,0.00,2.17,0.00,0.000,6,0.000,0.064,2921,2114,2572,0,0,0,0,0,0
$GC,15585,0.30,167.4,724.4,5.1,959,15615,0.00,1.90,23.73,1.041,4,0.000,0.075,2921,3238,2466,0,0,0,0,0,0
$GC,15640,0.31,177.0,721.3,5.8,960,15655,0.00,1.88,9.75,0.940,6,0.000,0.061,2922,2100,2428,0,0,0,0,0,0
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$STATE,24801,end climb,SURFACE_DEPTH_REACHED
$STATE,24801,begin surface coast
$FINISH,0.7,1.024020
$STATE,24849,end surface coast,CONTROL_FINISHED_OK
$STATE,24849,begin surface
$SM_CCo,24862,2.17,0.098,0,0,1723,350.04
$SM_GC,2.29,0.00,0.00,2.17,0.000,0.000,0.098,149,2080,1723,-8.43,0.14,350.04
$IRIDIUM_FIX,4700.70,-12628.71,181099,030300
$TT8_MAMPS,0.052923
$HUMID,38.22
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,17.70
$XPDR_PINGS,0
$24V_AH,23.6,12.712
$10V_AH,10.3,8.129
$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,21.700,186.450,401.950,2.175,0.000,28.503,37.652,226.022,0.000,0.000,13.328,0.000,19594.125,643.107,4504.907,485.745,0.000,2296.932,0.000,3790.222,0.000,0.535,0.000
$DEVICE_MAMPS,246.207,165.672,1228.734,98.176,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1280.684,1515.899,1497.293,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298600
$DATA_FILE_SIZE,104403,1851
$CAP_FILE_SIZE,241927,0
$CFSIZE,260165632,252084224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.122,117.4,1
$GPS,240710,171225,4714.318,-12627.672,119,1.2,120,18.6