version: 66.06
glider: 187
mission: 2
dive: 104
start: 7 25 110 1 0 37
data:
$ID,187
$MISSION,2
$DIVE,104
$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,657.40399
$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,-25558.426
$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,2831
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,35
$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,28
$R_STBD_OVSHOOT,24
$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,0.00050000002
$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
$GPS1,004206,4714.196,-12630.155,74,1.1,74,18.6
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,2
$_SM_DEPTHo,1.75
$_SM_ANGLEo,-74.9
$GPS2,010032,4713.873,-12630.236,16,1.2,16,18.6
$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,238.1,45534,-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,12,-0.45,-112.4,0.0,0.0,0,71,0.00,0.00,-56.58,0.000,2,0.000,0.000,131,2060,3115,0,0,0,0,0,0
$GC,72,-0.45,-112.4,3.3,-2.3,10,100,10.30,2.03,-10.82,0.000,4,0.244,0.077,2667,3314,3610,0,0,0,0,0,0
$GC,308,-0.39,-112.4,53.0,-15.4,54,315,0.10,1.95,0.00,0.000,6,0.138,0.050,2699,2074,3613,0,0,0,0,0,0
$GC,634,-0.36,-112.4,97.7,-13.1,115,641,0.00,1.95,0.00,0.000,4,0.000,0.058,2699,844,3615,0,0,0,0,0,0
$GC,725,-0.34,-112.4,108.7,-11.1,125,731,0.00,1.92,0.00,0.000,6,0.000,0.055,2696,2062,3616,0,0,0,0,0,0
$GC,1041,-0.32,-112.4,139.2,-8.3,156,1045,0.10,2.00,0.00,0.000,4,0.173,0.065,2717,3308,3615,0,0,0,0,0,0
$GC,1099,-0.34,-112.4,143.3,-6.6,161,1105,0.00,1.95,0.00,0.000,6,0.000,0.050,2716,2063,3616,0,0,0,0,0,0
$GC,1414,-0.34,-112.4,166.6,-8.0,192,1419,0.00,1.92,0.00,0.000,4,0.000,0.058,2716,836,3616,0,0,0,0,0,0
$GC,1462,-0.36,-112.4,170.6,-8.1,196,1470,0.00,1.95,0.00,0.000,6,0.000,0.057,2716,2067,3616,0,0,0,0,0,0
$GC,1777,-0.37,-112.4,197.1,-8.7,227,1782,0.00,2.03,0.00,0.000,4,0.000,0.067,2713,3325,3615,0,0,0,0,0,0
$GC,1804,-0.39,-112.4,199.2,-8.4,229,1810,0.00,1.95,0.00,0.000,6,0.000,0.051,2711,2071,3615,0,0,0,0,0,0
$GC,2119,-0.40,-112.4,225.5,-8.0,260,2120,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2070,3615,0,0,0,0,0,0
$GC,2430,-0.41,-112.4,248.4,-7.5,290,2431,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2070,3615,0,0,0,0,0,0
$GC,2740,-0.42,-112.4,274.4,-8.6,320,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2070,3615,0,0,0,0,0,0
$GC,3051,-0.44,-112.4,299.9,-8.0,350,3055,0.00,2.00,0.00,0.000,4,0.000,0.071,2710,3305,3615,0,0,0,0,0,0
$GC,3098,-0.46,-112.4,303.6,-8.0,354,3106,0.00,1.95,0.00,0.000,6,0.000,0.054,2710,2059,3615,0,0,0,0,0,0
$GC,3415,-0.48,-112.4,328.0,-7.9,385,3418,0.00,2.03,0.00,0.000,4,0.000,0.071,2709,3307,3615,0,0,0,0,0,0
$GC,3440,-0.50,-112.4,330.0,-7.8,387,3448,0.12,1.95,0.00,0.000,6,0.092,0.054,2646,2064,3614,0,0,0,0,0,0
$GC,3757,-0.46,-112.4,366.4,-11.3,418,3758,0.12,0.00,0.00,0.000,6,0.168,0.000,2680,2063,3614,0,0,0,0,0,0
$GC,4067,-0.45,-112.4,393.9,-8.9,448,4068,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2063,3614,0,0,0,0,0,0
$GC,4378,-0.44,-112.4,422.0,-9.3,478,4379,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2063,3614,0,0,0,0,0,0
$GC,4688,-0.44,-112.4,450.5,-9.0,508,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2063,3614,0,0,0,0,0,0
$GC,4999,-0.44,-112.4,477.6,-8.4,538,5000,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2063,3614,0,0,0,0,0,0
$GC,5309,-0.44,-112.4,502.2,-7.9,568,5312,0.00,2.03,0.00,0.000,4,0.000,0.074,2674,3312,3614,0,0,0,0,0,0
$GC,5334,-0.44,-112.4,504.3,-7.8,570,5342,0.00,1.95,0.00,0.000,6,0.000,0.057,2673,2071,3614,0,0,0,0,0,0
$GC,5651,-0.43,-112.4,530.4,-8.5,601,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2070,3614,0,0,0,0,0,0
$GC,5962,-0.42,-112.4,557.9,-8.5,631,5963,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2070,3614,0,0,0,0,0,0
$GC,6272,-0.41,-112.4,584.7,-8.5,661,6275,0.00,2.00,0.00,0.000,4,0.000,0.074,2666,3306,3614,0,0,0,0,0,0
$GC,6308,-0.41,-112.4,587.9,-9.1,664,6315,0.12,1.95,0.00,0.000,6,0.151,0.058,2701,2067,3614,0,0,0,0,0,0
$GC,6641,-0.43,-112.4,609.8,-6.4,687,6645,0.00,2.03,0.00,0.000,4,0.000,0.074,2701,3313,3615,0,0,0,0,0,0
$GC,6683,-0.46,-112.4,612.5,-6.6,688,6687,0.00,1.92,0.00,0.000,6,0.000,0.058,2701,2082,3615,0,0,0,0,0,0
$GC,7007,-0.48,-112.4,632.4,-6.1,699,7008,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2081,3615,0,0,0,0,0,0
$GC,7311,-0.50,-112.4,651.0,-6.3,709,7315,0.00,2.00,0.00,0.000,4,0.000,0.074,2699,3310,3615,0,0,0,0,0,0
$GC,7353,-0.54,-112.4,653.8,-6.1,710,7358,0.10,1.92,0.00,0.000,6,0.060,0.058,2639,2078,3616,0,0,0,0,0,0
$GC,7678,-0.50,-112.4,685.4,-9.7,721,7679,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2076,3616,0,0,0,0,0,0
$GC,7981,-0.47,-112.4,714.2,-9.4,731,7986,0.15,2.00,0.00,0.000,4,0.161,0.074,2675,3308,3617,0,0,0,0,0,0
$GC,8007,-0.47,-112.4,716.2,-7.7,731,8014,0.00,1.95,0.00,0.000,6,0.000,0.059,2675,2075,3616,0,0,0,0,0,0
$GC,8316,-0.47,-112.4,736.7,-6.5,742,8321,0.00,2.00,0.00,0.000,4,0.000,0.075,2668,3308,3617,0,0,0,0,0,0
$GC,8342,-0.47,-112.4,738.4,-7.3,742,8349,0.00,1.92,0.00,0.000,6,0.000,0.058,2667,2086,3617,0,0,0,0,0,0
$GC,8651,-0.47,-112.4,758.4,-6.4,753,8652,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2083,3618,0,0,0,0,0,0
$GC,8954,-0.47,-112.4,779.7,-7.0,763,8959,0.00,2.00,0.00,0.000,4,0.000,0.074,2660,3318,3619,0,0,0,0,0,0
$GC,9044,-0.47,-112.4,786.3,-6.9,765,9051,0.00,1.95,0.00,0.000,6,0.000,0.058,2660,2082,3619,0,0,0,0,0,0
$GC,9354,-0.46,-112.4,810.3,-8.0,776,9354,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2081,3619,0,0,0,0,0,0
$GC,9657,-0.44,-112.4,834.8,-8.0,786,9657,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2081,3620,0,0,0,0,0,0
$GC,9960,-0.43,-112.4,858.2,-7.7,796,9962,0.12,0.00,0.00,0.000,6,0.160,0.000,2695,2081,3620,0,0,0,0,0,0
$GC,10264,-0.45,-112.4,874.2,-5.1,806,10268,0.00,1.98,0.00,0.000,4,0.000,0.076,2694,3304,3621,0,0,0,0,0,0
$GC,10317,-0.49,-112.4,876.9,-5.8,807,10321,0.00,1.90,0.00,0.000,6,0.000,0.059,2694,2099,3621,0,0,0,0,0,0
$GC,10631,-0.52,-112.4,891.0,-4.4,818,10635,0.00,1.95,0.00,0.000,4,0.000,0.076,2692,3313,3622,0,0,0,0,0,0
$GC,10657,-0.55,-112.4,892.3,-4.8,818,10664,0.12,1.92,0.00,0.000,6,0.098,0.059,2628,2096,3622,0,0,0,0,0,0
$GC,10966,-0.51,-112.4,916.3,-8.0,829,10970,0.12,1.98,0.00,0.000,4,0.164,0.076,2655,3310,3622,0,0,0,0,0,0
$GC,10997,-0.51,-112.4,918.6,-6.5,830,11002,0.00,1.90,0.00,0.000,6,0.000,0.060,2655,2107,3622,0,0,0,0,0,0
$GC,11333,-0.50,-112.4,941.2,-6.8,841,11333,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2106,3623,0,0,0,0,0,0
$GC,11636,-0.49,-112.4,963.5,-7.7,851,11637,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2107,3624,0,0,0,0,0,0
$GC,11940,-0.48,-112.4,988.1,-8.3,861,11944,0.00,1.95,0.00,0.000,4,0.000,0.077,2650,3314,3625,0,0,0,0,0,0
$STATE,11965,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11965,begin apogee
$GC,11969,-0.14,0.0,990.4,8.0,861,12071,0.38,0.00,99.55,1.226,6,0.131,0.000,2776,2000,3150,0,0,0,0,0,0
$STATE,12071,end apogee,CONTROL_FINISHED_OK
$STATE,12071,begin climb
$GC,12073,0.45,112.4,993.7,0.0,865,12177,0.57,0.00,99.68,1.190,6,0.091,0.000,2970,2000,2691,0,0,0,0,0,0
$GC,12496,0.41,112.4,970.9,6.3,879,12501,0.00,2.08,0.00,0.000,4,0.000,0.074,2970,3224,2685,0,0,0,0,0,0
$GC,12602,0.36,112.4,963.0,8.4,882,12608,0.00,2.03,0.00,0.000,6,0.000,0.061,2974,2000,2684,0,0,0,0,0,0
$GC,12927,0.31,112.4,939.5,7.5,893,12932,0.15,2.05,0.00,0.000,4,0.164,0.074,2934,3226,2685,0,0,0,0,0,0
$GC,12959,0.29,112.4,937.2,6.1,894,12964,0.00,1.98,0.00,0.000,6,0.000,0.062,2934,2007,2684,0,0,0,0,0,0
$GC,13294,0.29,115.6,917.3,6.0,905,13299,0.00,2.05,0.00,0.000,4,0.000,0.074,2934,3233,2684,0,0,0,0,0,0
$GC,13358,0.27,116.1,912.9,6.1,907,13363,0.00,1.98,0.00,0.000,6,0.000,0.061,2938,2005,2683,0,0,0,0,0,0
$GC,13693,0.26,116.1,892.5,6.1,918,13698,0.00,2.03,0.00,0.000,4,0.000,0.075,2938,3227,2683,0,0,0,0,0,0
$GC,13768,0.23,116.1,887.4,7.6,920,13773,0.12,1.98,0.00,0.000,6,0.166,0.061,2910,2007,2683,0,0,0,0,0,0
$GC,14093,0.27,150.0,871.3,4.9,931,14128,0.00,2.05,31.85,1.134,4,0.000,0.074,2910,3236,2538,0,0,0,0,0,0
$GC,14171,0.29,150.0,867.0,6.6,933,14175,0.00,2.00,0.00,0.000,6,0.000,0.061,2910,2020,2535,0,0,0,0,0,0
$GC,14485,0.33,180.8,850.7,5.0,944,14517,0.00,0.00,28.08,1.111,6,0.000,0.000,2910,2019,2412,0,0,0,0,0,0
$GC,14818,0.39,213.5,834.0,4.9,955,14853,0.12,2.10,29.23,1.098,4,0.099,0.074,2963,3231,2278,0,0,0,0,0,0
$GC,14880,0.38,213.5,829.3,9.1,957,14884,0.00,2.00,0.00,0.000,6,0.000,0.061,2964,2033,2276,0,0,0,0,0,0
$GC,15215,0.38,213.5,803.1,7.7,968,15220,0.00,2.12,0.00,0.000,4,0.000,0.072,2969,757,2273,0,0,0,0,0,0
$GC,15247,0.38,213.5,800.6,7.6,969,15251,0.00,2.05,0.00,0.000,6,0.000,0.064,2969,2020,2273,0,0,0,0,0,0
$GC,15582,0.37,213.5,775.6,7.2,980,15586,0.00,2.00,0.00,0.000,4,0.000,0.073,2969,3226,2272,0,0,0,0,0,0
$GC,15646,0.35,213.5,770.2,8.7,982,15650,0.00,1.95,0.00,0.000,6,0.000,0.062,2973,2028,2272,0,0,0,0,0,0
$GC,15981,0.34,213.5,744.8,7.6,993,15983,0.12,0.00,0.00,0.000,6,0.161,0.000,2939,2028,2272,0,0,0,0,0,0
$GC,16285,0.37,235.2,728.2,5.3,1003,16305,0.00,0.00,19.25,1.033,6,0.000,0.000,2939,2028,2190,0,0,0,0,0,0
$GC,16588,0.40,235.2,710.7,6.2,1013,16592,0.00,2.00,0.00,0.000,4,0.000,0.075,2939,3226,2188,0,0,0,0,0,0
$GC,16614,0.42,235.2,708.9,7.8,1013,16621,0.00,1.95,0.00,0.000,6,0.000,0.062,2939,2033,2187,0,0,0,0,0,0
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$STATE,25901,end climb,SURFACE_DEPTH_REACHED
$STATE,25901,begin surface coast
$FINISH,0.8,1.023970
$STATE,25933,end surface coast,CONTROL_FINISHED_OK
$STATE,25933,begin surface
$SM_CCo,25945,146.77,0.524,2,0,469,657.40
$SM_GC,1.45,0.00,0.00,146.77,0.000,0.000,0.524,133,2081,469,-8.40,0.17,657.40
$IRIDIUM_FIX,4657.54,-12624.94,191099,010121
$TT8_MAMPS,0.052923
$HUMID,35.86
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,17.90
$XPDR_PINGS,0
$24V_AH,23.6,13.038
$10V_AH,10.3,8.462
$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,21.800,186.675,450.575,146.775,0.000,144.050,187.535,370.269,0.000,0.000,16.942,0.000,20651.225,836.012,4672.185,1009.558,0.000,2544.058,0.000,3963.936,0.000,0.535,0.000
$DEVICE_MAMPS,243.906,155.701,1225.666,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1349.642,1612.431,1663.747,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298584
$DATA_FILE_SIZE,110572,1954
$CAP_FILE_SIZE,266677,0
$CFSIZE,260165632,251797504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$CURRENT,0.113, 99.2,1
$GPS,250710,081637,4712.964,-12632.723,40,1.5,40,18.6