version: 66.06
glider: 187
mission: 2
dive: 108
start: 7 26 110 6 25 56
data:
$ID,187
$MISSION,2
$DIVE,108
$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,-25632.748
$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,2835
$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,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,0.00060000003
$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
$GPS1,061531,4710.425,-12638.121,38,1.3,38,18.6
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.76
$_SM_ANGLEo,-68.4
$GPS2,062550,4710.408,-12638.060,19,1.2,19,18.6
$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,235.8,33756,-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,-0.45,-112.4,0.0,0.0,0,78,0.00,0.00,-62.90,0.000,2,0.000,0.000,131,2091,3157,0,0,0,0,0,0
$GC,79,-0.45,-112.4,3.6,-3.2,12,103,10.20,2.00,-9.68,0.000,4,0.244,0.081,2675,3311,3611,0,0,0,0,0,0
$GC,257,-0.41,-112.4,45.4,-21.0,45,263,0.00,1.95,0.00,0.000,6,0.000,0.052,2675,2077,3614,0,0,0,0,0,0
$GC,583,-0.38,-112.4,97.8,-15.9,106,590,0.12,0.00,0.00,0.000,6,0.163,0.000,2709,2072,3617,0,0,0,0,0,0
$GC,898,-0.38,-112.4,129.5,-8.0,138,899,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2073,3618,0,0,0,0,0,0
$GC,1209,-0.38,-112.4,155.3,-8.7,168,1213,0.00,1.98,0.00,0.000,4,0.000,0.068,2702,3306,3617,0,0,0,0,0,0
$GC,1235,-0.38,-112.4,157.6,-9.0,170,1243,0.00,1.92,0.00,0.000,6,0.000,0.052,2702,2078,3618,0,0,0,0,0,0
$GC,1550,-0.38,-112.4,185.2,-8.6,201,1555,0.00,1.98,0.00,0.000,4,0.000,0.067,2695,3303,3618,0,0,0,0,0,0
$GC,1598,-0.38,-112.4,189.3,-8.8,205,1605,0.00,1.92,0.00,0.000,6,0.000,0.052,2695,2076,3617,0,0,0,0,0,0
$GC,1914,-0.38,-112.4,217.5,-9.0,236,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2074,3618,0,0,0,0,0,0
$GC,2224,-0.38,-112.4,247.2,-9.8,266,2229,0.00,1.95,0.00,0.000,4,0.000,0.068,2689,3300,3617,0,0,0,0,0,0
$GC,2288,-0.38,-112.4,253.4,-10.0,272,2293,0.00,1.90,0.00,0.000,6,0.000,0.053,2690,2088,3617,0,0,0,0,0,0
$GC,2609,-0.38,-112.4,284.7,-9.8,303,2613,0.00,1.98,0.00,0.000,4,0.000,0.070,2686,3311,3617,0,0,0,0,0,0
$GC,2640,-0.38,-112.4,287.8,-9.9,306,2645,0.00,1.92,0.00,0.000,6,0.000,0.054,2686,2083,3617,0,0,0,0,0,0
$GC,2962,-0.38,-112.4,319.7,-10.0,337,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2082,3617,0,0,0,0,0,0
$GC,3273,-0.38,-112.4,349.9,-9.6,367,3276,0.00,1.98,0.00,0.000,4,0.000,0.071,2679,3303,3616,0,0,0,0,0,0
$GC,3341,-0.38,-112.4,356.7,-10.1,373,3348,0.12,1.90,0.00,0.000,6,0.152,0.053,2715,2088,3616,0,0,0,0,0,0
$GC,3656,-0.39,-112.4,380.0,-7.3,404,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2088,3616,0,0,0,0,0,0
$GC,3967,-0.41,-112.4,401.5,-7.1,434,3968,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2088,3616,0,0,0,0,0,0
$GC,4278,-0.42,-112.4,423.6,-7.1,464,4282,0.00,1.98,0.00,0.000,4,0.000,0.072,2709,3306,3615,0,0,0,0,0,0
$GC,4304,-0.43,-112.4,425.5,-7.5,466,4311,0.00,1.88,0.00,0.000,6,0.000,0.055,2709,2103,3615,0,0,0,0,0,0
$GC,4619,-0.44,-112.4,447.7,-6.7,497,4620,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2102,3615,0,0,0,0,0,0
$GC,4930,-0.45,-112.4,468.2,-6.7,527,4934,0.00,1.92,0.00,0.000,4,0.000,0.072,2705,3296,3614,0,0,0,0,0,0
$GC,4984,-0.47,-112.4,471.9,-6.7,532,4987,0.00,1.88,0.00,0.000,6,0.000,0.056,2705,2095,3614,0,0,0,0,0,0
$GC,5304,-0.47,-112.4,494.7,-7.1,563,5308,0.00,1.95,0.00,0.000,4,0.000,0.073,2704,3296,3614,0,0,0,0,0,0
$GC,5351,-0.49,-112.4,498.1,-7.1,567,5358,0.00,1.88,0.00,0.000,6,0.000,0.056,2704,2100,3614,0,0,0,0,0,0
$GC,5667,-0.50,-112.4,521.2,-7.2,598,5668,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2099,3614,0,0,0,0,0,0
$GC,5978,-0.51,-112.4,542.0,-7.0,628,5980,0.10,0.00,0.00,0.000,6,0.110,0.000,2654,2100,3614,0,0,0,0,0,0
$GC,6288,-0.50,-112.4,571.0,-9.5,658,6292,0.00,1.95,0.00,0.000,4,0.000,0.073,2646,3300,3614,0,0,0,0,0,0
$GC,6335,-0.48,-112.4,575.9,-9.9,662,6343,0.10,1.88,0.00,0.000,6,0.161,0.057,2673,2108,3613,0,0,0,0,0,0
$GC,6660,-0.48,-112.4,602.8,-8.3,692,6665,0.00,1.95,0.00,0.000,4,0.000,0.074,2667,3300,3614,0,0,0,0,0,0
$GC,6681,-0.48,-112.4,604.6,-8.5,692,6686,0.00,1.88,0.00,0.000,6,0.000,0.058,2667,2112,3613,0,0,0,0,0,0
$GC,6995,-0.48,-112.4,632.0,-8.8,703,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2110,3613,0,0,0,0,0,0
$GC,7298,-0.48,-112.4,658.4,-8.7,713,7303,0.00,2.03,0.00,0.000,4,0.000,0.064,2667,841,3613,0,0,0,0,0,0
$GC,7325,-0.48,-112.4,660.8,-9.2,713,7331,0.00,2.03,0.00,0.000,6,0.000,0.064,2664,2112,3613,0,0,0,0,0,0
$GC,7633,-0.48,-112.4,686.8,-8.3,724,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2112,3613,0,0,0,0,0,0
$GC,7937,-0.50,-112.4,707.9,-6.5,734,7941,0.00,2.03,0.00,0.000,4,0.000,0.067,2663,838,3613,0,0,0,0,0,0
$GC,8011,-0.50,-112.4,713.5,-7.4,736,8016,0.00,2.25,0.00,0.000,6,0.000,0.064,2659,2249,3613,0,0,0,0,0,0
$GC,8336,-0.50,-112.4,736.5,-7.1,747,8341,0.00,2.25,0.00,0.000,4,0.000,0.067,2659,839,3613,0,0,0,0,0,0
$GC,8373,-0.50,-112.4,739.4,-7.2,748,8378,0.00,2.03,0.00,0.000,6,0.000,0.064,2653,2113,3613,0,0,0,0,0,0
$GC,8703,-0.50,-112.4,763.7,-7.2,759,8708,0.00,2.03,0.00,0.000,4,0.000,0.067,2653,846,3612,0,0,0,0,0,0
$GC,8799,-0.50,-112.4,771.2,-8.4,762,8803,0.00,2.15,0.00,0.000,6,0.000,0.064,2646,2206,3613,0,0,0,0,0,0
$GC,9134,-0.50,-112.4,796.8,-7.8,773,9139,0.00,1.80,0.00,0.000,4,0.000,0.075,2645,3308,3612,0,0,0,0,0,0
$GC,9160,-0.50,-112.4,798.9,-8.4,773,9167,0.00,1.90,0.00,0.000,6,0.000,0.058,2645,2103,3612,0,0,0,0,0,0
$GC,9469,-0.51,-112.4,822.9,-7.8,784,9473,0.00,1.92,0.00,0.000,4,0.000,0.075,2645,3302,3613,0,0,0,0,0,0
$GC,9554,-0.51,-112.4,829.8,-9.0,786,9559,0.00,2.00,0.00,0.000,6,0.000,0.058,2645,2034,3612,0,0,0,0,0,0
$GC,9868,-0.51,-112.4,853.9,-7.4,797,9872,0.00,1.88,0.00,0.000,4,0.000,0.066,2645,849,3613,0,0,0,0,0,0
$GC,9964,-0.50,-112.4,861.8,-8.6,800,9969,0.10,2.08,0.00,0.000,6,0.142,0.064,2672,2160,3613,0,0,0,0,0,0
$GC,10299,-0.52,-112.4,884.1,-6.6,811,10300,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2160,3612,0,0,0,0,0,0
$GC,10603,-0.54,-112.4,903.6,-6.3,821,10607,0.00,2.10,0.00,0.000,4,0.000,0.069,2673,847,3612,0,0,0,0,0,0
$GC,10650,-0.54,-112.4,907.1,-7.0,822,10655,0.00,1.92,0.00,0.000,6,0.000,0.065,2669,2051,3613,0,0,0,0,0,0
$GC,10970,-0.56,-112.4,927.7,-6.4,833,10974,0.00,2.03,0.00,0.000,4,0.000,0.075,2667,3304,3612,0,0,0,0,0,0
$GC,11012,-0.57,-112.4,930.5,-6.0,834,11016,0.00,1.80,0.00,0.000,6,0.000,0.061,2667,2168,3612,0,0,0,0,0,0
$GC,11337,-0.59,-112.4,951.5,-6.5,845,11341,0.00,2.10,0.00,0.000,4,0.000,0.068,2667,847,3613,0,0,0,0,0,0
$GC,11406,-0.59,-112.4,956.5,-7.4,847,11410,0.00,1.92,0.00,0.000,6,0.000,0.066,2663,2060,3613,0,0,0,0,0,0
$GC,11736,-0.61,-112.4,979.5,-7.1,858,11736,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2060,3613,0,0,0,0,0,0
$STATE,11886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11886,begin apogee
$GC,11889,-0.14,0.0,990.4,7.2,863,11988,0.38,0.00,96.62,1.224,6,0.117,0.000,2789,1994,3150,0,0,0,0,0,0
$STATE,11988,end apogee,CONTROL_FINISHED_OK
$STATE,11988,begin climb
$GC,11989,0.45,112.4,994.4,0.0,866,12096,0.55,2.20,99.35,1.189,4,0.066,0.071,2986,3233,2690,0,0,0,0,0,0
$GC,12234,0.41,112.4,981.5,7.8,873,12240,0.00,2.05,0.00,0.000,6,0.000,0.061,2994,2008,2686,0,0,0,0,0,0
$GC,12543,0.37,112.4,956.7,7.9,884,12547,0.15,2.08,0.00,0.000,4,0.173,0.072,2956,3239,2685,0,0,0,0,0,0
$GC,12644,0.35,112.4,949.2,7.6,887,12648,0.00,2.00,0.00,0.000,6,0.000,0.062,2962,2012,2685,0,0,0,0,0,0
$GC,12974,0.33,112.4,926.4,7.1,898,12978,0.00,2.05,0.00,0.000,4,0.000,0.074,2962,3238,2685,0,0,0,0,0,0
$GC,13032,0.30,112.4,921.5,8.5,899,13039,0.10,1.98,0.00,0.000,6,0.147,0.062,2939,2020,2685,0,0,0,0,0,0
$GC,13340,0.30,112.4,900.3,6.9,910,13346,0.00,2.05,0.00,0.000,4,0.000,0.074,2939,3245,2685,0,0,0,0,0,0
$GC,13415,0.28,112.4,894.3,8.2,912,13420,0.00,1.98,0.00,0.000,6,0.000,0.062,2943,2026,2685,0,0,0,0,0,0
$GC,13740,0.27,112.4,868.7,7.8,923,13744,0.00,2.03,0.00,0.000,4,0.000,0.072,2947,763,2686,0,0,0,0,0,0
$GC,13771,0.27,112.4,866.1,7.9,924,13776,0.00,2.05,0.00,0.000,6,0.000,0.064,2946,2037,2686,0,0,0,0,0,0
$GC,14107,0.26,112.4,841.3,7.2,935,14112,0.00,1.95,0.00,0.000,4,0.000,0.074,2947,3227,2686,0,0,0,0,0,0
$GC,14181,0.24,112.4,835.5,6.7,937,14186,0.12,1.92,0.00,0.000,6,0.173,0.062,2914,2034,2686,0,0,0,0,0,0
$GC,14506,0.26,148.1,818.4,4.8,948,14537,0.00,0.00,30.70,1.101,6,0.000,0.000,2914,2033,2547,0,0,0,0,0,0
$GC,14840,0.29,165.0,801.0,5.5,959,14857,0.00,0.00,16.23,1.052,6,0.000,0.000,2914,2033,2476,0,0,0,0,0,0
$GC,15143,0.32,179.4,784.2,5.6,969,15162,0.00,2.05,13.57,1.026,4,0.000,0.075,2914,3232,2417,0,0,0,0,0,0
$GC,15183,0.34,185.1,781.8,5.9,970,15194,0.00,1.95,6.78,0.887,6,0.000,0.062,2914,2040,2395,0,0,0,0,0,0
$GC,15503,0.37,195.5,763.4,5.7,981,15517,0.12,2.10,10.55,0.983,4,0.100,0.074,2971,763,2352,0,0,0,0,0,0
$GC,15544,0.37,195.5,760.2,8.2,982,15549,0.00,2.10,0.00,0.000,6,0.000,0.064,2971,2040,2352,0,0,0,0,0,0
$GC,15868,0.37,195.5,731.9,8.7,993,15873,0.00,2.00,0.00,0.000,4,0.000,0.073,2971,3234,2350,0,0,0,0,0,0
$GC,15938,0.35,195.5,725.3,9.9,995,15942,0.00,1.90,0.00,0.000,6,0.000,0.062,2973,2056,2350,0,0,0,0,0,0
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$STATE,25810,end climb,SURFACE_DEPTH_REACHED
$STATE,25810,begin surface coast
$FINISH,0.9,1.000676
$STATE,25843,end surface coast,CONTROL_FINISHED_OK
$STATE,25843,begin surface
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$HUMID,38.38
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,17.50
$XPDR_PINGS,0
$24V_AH,23.6,13.657
$10V_AH,10.3,9.122
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.750,206.875,387.550,17.525,0.000,56.231,66.980,313.810,0.000,0.000,19.955,0.000,20290.064,682.981,4809.626,678.637,0.000,2439.123,0.000,4064.594,0.000,0.534,0.000
$DEVICE_MAMPS,243.906,115.817,1224.132,358.189,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1351.238,1605.333,1610.924,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298600
$DATA_FILE_SIZE,110537,1956
$CAP_FILE_SIZE,259415,0
$CFSIZE,260165632,251359232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.145, 88.5,1
$GPS,260710,133824,4709.364,-12639.503,35,1.3,52,18.6