version: 66.06
glider: 187
mission: 2
dive: 126
start: 7 31 110 20 12 7
data:
$ID,187
$MISSION,2
$DIVE,126
$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,-25980.387
$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,27
$R_STBD_OVSHOOT,26
$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
$GPS1,200425,4709.647,-12636.772,40,1.7,40,18.6
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.86
$_SM_ANGLEo,-74.9
$GPS2,201201,4709.618,-12636.749,16,1.1,16,18.6
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$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,356.8,152737,-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,12,-0.45,-112.4,0.0,0.0,0,72,0.00,0.00,-58.15,0.000,2,0.000,0.000,132,2069,3100,0,0,0,0,0,0
$GC,73,-0.45,-112.4,3.4,-3.4,11,102,10.35,1.98,-11.23,0.000,4,0.245,0.075,2681,839,3611,0,0,0,0,0,0
$GC,207,-0.41,-112.4,36.6,-21.1,36,214,0.00,1.98,0.00,0.000,6,0.000,0.059,2673,2068,3614,0,0,0,0,0,0
$GC,534,-0.36,-112.4,88.7,-15.6,97,541,0.15,2.00,0.00,0.000,4,0.162,0.066,2709,3309,3615,0,0,0,0,0,0
$GC,641,-0.36,-112.4,101.4,-11.4,116,646,0.00,1.95,0.00,0.000,6,0.000,0.050,2708,2072,3616,0,0,0,0,0,0
$GC,962,-0.36,-112.4,136.2,-10.0,147,966,0.00,1.95,0.00,0.000,4,0.000,0.058,2708,835,3616,0,0,0,0,0,0
$GC,1026,-0.36,-112.4,142.7,-9.9,153,1030,0.00,1.98,0.00,0.000,6,0.000,0.056,2704,2082,3616,0,0,0,0,0,0
$GC,1347,-0.36,-112.4,171.1,-8.3,184,1351,0.00,1.95,0.00,0.000,4,0.000,0.065,2704,3312,3616,0,0,0,0,0,0
$GC,1399,-0.36,-112.4,175.3,-7.7,189,1404,0.00,1.95,0.00,0.000,6,0.000,0.051,2703,2067,3616,0,0,0,0,0,0
$GC,1721,-0.36,-112.4,204.0,-9.4,220,1725,0.00,1.98,0.00,0.000,4,0.000,0.067,2696,3306,3616,0,0,0,0,0,0
$GC,1763,-0.36,-112.4,207.8,-9.7,224,1767,0.00,1.90,0.00,0.000,6,0.000,0.051,2696,2089,3616,0,0,0,0,0,0
$GC,2084,-0.36,-112.4,236.1,-7.8,255,2089,0.00,1.98,0.00,0.000,4,0.000,0.058,2696,842,3615,0,0,0,0,0,0
$GC,2169,-0.36,-112.4,243.5,-8.4,263,2174,0.00,1.98,0.00,0.000,6,0.000,0.058,2692,2092,3615,0,0,0,0,0,0
$GC,2490,-0.36,-112.4,270.7,-8.4,294,2495,0.00,1.95,0.00,0.000,4,0.000,0.067,2691,3311,3615,0,0,0,0,0,0
$GC,2533,-0.36,-112.4,274.1,-7.9,298,2537,0.00,1.88,0.00,0.000,6,0.000,0.053,2691,2102,3615,0,0,0,0,0,0
$GC,2853,-0.36,-112.4,300.5,-8.3,329,2858,0.00,2.00,0.00,0.000,4,0.000,0.060,2691,840,3615,0,0,0,0,0,0
$GC,2896,-0.36,-112.4,304.2,-8.7,333,2900,0.00,1.98,0.00,0.000,6,0.000,0.059,2686,2094,3614,0,0,0,0,0,0
$GC,3217,-0.36,-112.4,330.9,-8.4,364,3221,0.10,1.95,0.00,0.000,4,0.174,0.070,2706,3312,3614,0,0,0,0,0,0
$GC,3249,-0.36,-112.4,333.2,-7.2,367,3253,0.00,1.90,0.00,0.000,6,0.000,0.054,2706,2096,3614,0,0,0,0,0,0
$GC,3569,-0.36,-112.4,356.3,-7.6,398,3573,0.00,1.98,0.00,0.000,4,0.000,0.061,2706,838,3614,0,0,0,0,0,0
$GC,3659,-0.36,-112.4,363.2,-7.3,406,3666,0.00,1.98,0.00,0.000,6,0.000,0.060,2706,2084,3613,0,0,0,0,0,0
$GC,3975,-0.36,-112.4,387.6,-7.8,437,3975,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2084,3613,0,0,0,0,0,0
$GC,4285,-0.36,-112.4,411.0,-7.6,467,4290,0.00,1.98,0.00,0.000,4,0.000,0.063,2706,837,3612,0,0,0,0,0,0
$GC,4354,-0.36,-112.4,416.6,-7.5,473,4362,0.00,1.95,0.00,0.000,6,0.000,0.060,2706,2067,3612,0,0,0,0,0,0
$GC,4670,-0.36,-112.4,440.6,-7.8,504,4674,0.00,1.98,0.00,0.000,4,0.000,0.071,2705,3304,3611,0,0,0,0,0,0
$GC,4723,-0.38,-112.4,444.6,-7.8,509,4728,0.00,1.95,0.00,0.000,6,0.000,0.054,2704,2060,3611,0,0,0,0,0,0
$GC,5044,-0.38,-112.4,469.5,-7.6,540,5048,0.00,1.95,0.00,0.000,4,0.000,0.063,2704,836,3611,0,0,0,0,0,0
$GC,5075,-0.38,-112.4,471.9,-7.5,543,5080,0.00,1.98,0.00,0.000,6,0.000,0.061,2704,2084,3611,0,0,0,0,0,0
$GC,5397,-0.38,-112.4,494.4,-6.9,574,5401,0.00,1.95,0.00,0.000,4,0.000,0.071,2704,3311,3610,0,0,0,0,0,0
$GC,5471,-0.40,-112.4,499.5,-6.7,581,5476,0.00,1.92,0.00,0.000,6,0.000,0.056,2704,2086,3610,0,0,0,0,0,0
$GC,5792,-0.40,-112.4,520.9,-6.3,612,5796,0.00,1.95,0.00,0.000,4,0.000,0.064,2704,850,3609,0,0,0,0,0,0
$GC,5845,-0.41,-112.4,524.5,-6.7,617,5849,0.00,1.95,0.00,0.000,6,0.000,0.061,2704,2080,3609,0,0,0,0,0,0
$GC,6166,-0.41,-112.4,543.7,-5.9,648,6171,0.00,1.95,0.00,0.000,4,0.000,0.071,2702,3306,3609,0,0,0,0,0,0
$GC,6256,-0.42,-112.4,549.0,-6.0,656,6263,0.00,1.90,0.00,0.000,6,0.000,0.055,2702,2096,3609,0,0,0,0,0,0
$GC,6572,-0.42,-112.4,568.4,-6.2,687,6572,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2095,3609,0,0,0,0,0,0
$GC,6883,-0.42,-112.4,589.5,-7.0,717,6887,0.00,1.95,0.00,0.000,4,0.000,0.064,2702,842,3608,0,0,0,0,0,0
$GC,6914,-0.42,-112.4,591.7,-7.4,720,6918,0.00,2.00,0.00,0.000,6,0.000,0.061,2700,2110,3608,0,0,0,0,0,0
$GC,7250,-0.42,-112.4,615.5,-7.2,739,7255,0.00,1.92,0.00,0.000,4,0.000,0.072,2695,3309,3608,0,0,0,0,0,0
$GC,7330,-0.44,-112.4,621.2,-7.3,741,7335,0.00,1.88,0.00,0.000,6,0.000,0.056,2694,2116,3608,0,0,0,0,0,0
$GC,7649,-0.44,-112.4,642.6,-6.4,752,7654,0.00,2.00,0.00,0.000,4,0.000,0.063,2695,845,3607,0,0,0,0,0,0
$GC,7697,-0.44,-112.4,645.8,-7.0,753,7702,0.00,2.03,0.00,0.000,6,0.000,0.062,2693,2119,3607,0,0,0,0,0,0
$GC,8017,-0.44,-112.4,663.4,-5.3,764,8021,0.00,1.90,0.00,0.000,4,0.000,0.073,2692,3308,3607,0,0,0,0,0,0
$GC,8048,-0.44,-112.4,665.0,-5.1,765,8053,0.00,1.90,0.00,0.000,6,0.000,0.057,2691,2101,3607,0,0,0,0,0,0
$GC,8384,-0.44,-112.4,683.4,-5.7,776,8388,0.00,1.95,0.00,0.000,4,0.000,0.064,2692,850,3607,0,0,0,0,0,0
$GC,8437,-0.44,-112.4,686.8,-6.4,777,8441,0.00,2.00,0.00,0.000,6,0.000,0.062,2692,2109,3606,0,0,0,0,0,0
$GC,8750,-0.44,-112.4,706.0,-6.3,788,8755,0.00,1.92,0.00,0.000,4,0.000,0.073,2692,3309,3606,0,0,0,0,0,0
$GC,8793,-0.45,-112.4,708.8,-6.5,789,8798,0.00,1.90,0.00,0.000,6,0.000,0.057,2691,2105,3606,0,0,0,0,0,0
$GC,9118,-0.45,-112.4,730.5,-7.0,800,9122,0.00,1.98,0.00,0.000,4,0.000,0.064,2691,838,3605,0,0,0,0,0,0
$GC,9154,-0.45,-112.4,733.3,-7.7,801,9159,0.00,2.03,0.00,0.000,6,0.000,0.064,2691,2110,3605,0,0,0,0,0,0
$GC,9485,-0.45,-112.4,757.1,-7.2,812,9490,0.00,1.95,0.00,0.000,4,0.000,0.074,2692,3317,3605,0,0,0,0,0,0
$GC,9544,-0.47,-112.4,761.3,-8.0,813,9551,0.00,1.90,0.00,0.000,6,0.000,0.058,2691,2097,3605,0,0,0,0,0,0
$GC,9852,-0.47,-112.4,781.8,-6.6,824,9856,0.00,2.00,0.00,0.000,4,0.000,0.064,2691,845,3605,0,0,0,0,0,0
$GC,9899,-0.47,-112.4,785.2,-7.7,825,9904,0.00,2.00,0.00,0.000,6,0.000,0.064,2691,2099,3605,0,0,0,0,0,0
$GC,10219,-0.47,-112.4,805.0,-6.0,836,10223,0.00,1.92,0.00,0.000,4,0.000,0.074,2692,3306,3604,0,0,0,0,0,0
$GC,10288,-0.48,-112.4,809.0,-5.5,838,10293,0.00,1.90,0.00,0.000,6,0.000,0.058,2691,2102,3604,0,0,0,0,0,0
$GC,10618,-0.48,-112.4,827.1,-5.5,849,10622,0.00,2.00,0.00,0.000,4,0.000,0.065,2691,838,3604,0,0,0,0,0,0
$GC,10660,-0.48,-112.4,829.5,-6.3,850,10665,0.00,2.05,0.00,0.000,6,0.000,0.064,2691,2121,3604,0,0,0,0,0,0
$GC,10985,-0.48,-112.4,846.8,-5.2,861,10989,0.00,1.90,0.00,0.000,4,0.000,0.074,2691,3306,3604,0,0,0,0,0,0
$GC,11033,-0.50,-112.4,849.4,-5.2,862,11037,0.00,1.85,0.00,0.000,6,0.000,0.058,2691,2124,3603,0,0,0,0,0,0
$GC,11352,-0.50,-112.4,865.9,-5.3,873,11356,0.00,2.03,0.00,0.000,4,0.000,0.065,2691,848,3604,0,0,0,0,0,0
$GC,11394,-0.50,-112.4,868.5,-6.7,874,11399,0.00,2.03,0.00,0.000,6,0.000,0.064,2691,2117,3603,0,0,0,0,0,0
$GC,11719,-0.50,-112.4,886.3,-5.7,885,11724,0.00,1.90,0.00,0.000,4,0.000,0.075,2691,3305,3603,0,0,0,0,0,0
$GC,11766,-0.52,-112.4,889.0,-6.4,886,11772,0.00,1.88,0.00,0.000,6,0.000,0.059,2691,2117,3603,0,0,0,0,0,0
$GC,12086,-0.52,-112.4,907.0,-5.8,897,12090,0.00,2.03,0.00,0.000,4,0.000,0.067,2691,841,3603,0,0,0,0,0,0
$GC,12118,-0.52,-112.4,909.1,-5.8,898,12123,0.00,2.03,0.00,0.000,6,0.000,0.065,2691,2115,3603,0,0,0,0,0,0
$GC,12453,-0.52,-112.4,928.2,-5.7,909,12457,0.00,1.92,0.00,0.000,4,0.000,0.077,2691,3315,3603,0,0,0,0,0,0
$GC,12501,-0.54,-112.4,930.9,-5.2,910,12505,0.00,1.88,0.00,0.000,6,0.000,0.060,2691,2122,3603,0,0,0,0,0,0
$GC,12820,-0.54,-112.4,948.9,-5.6,921,12824,0.00,2.03,0.00,0.000,4,0.000,0.067,2691,847,3602,0,0,0,0,0,0
$GC,12846,-0.55,-112.4,950.7,-7.1,921,12853,0.00,2.08,0.00,0.000,6,0.000,0.067,2691,2139,3603,0,0,0,0,0,0
$GC,13155,-0.56,-112.4,967.5,-5.4,932,13159,0.10,1.90,0.00,0.000,4,0.114,0.077,2637,3311,3603,0,0,0,0,0,0
$GC,13251,-0.55,-112.4,975.0,-8.1,935,13255,0.00,1.88,0.00,0.000,6,0.000,0.059,2637,2126,3602,0,0,0,0,0,0
$STATE,13463,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13463,begin apogee
$GC,13467,-0.14,0.0,992.2,8.0,942,13563,0.47,0.00,94.45,1.233,6,0.133,0.000,2788,1990,3150,0,0,0,0,0,0
$STATE,13563,end apogee,CONTROL_FINISHED_OK
$STATE,13564,begin climb
$GC,13565,0.45,112.4,993.6,0.0,945,13671,0.57,2.20,99.35,1.194,4,0.086,0.070,2978,3231,2691,0,0,0,0,0,0
$GC,13691,0.42,112.4,987.5,8.2,949,13696,0.00,2.10,0.00,0.000,6,0.000,0.058,2986,2007,2689,0,0,0,0,0,0
$GC,14011,0.39,112.4,959.9,8.7,960,14015,0.00,2.08,0.00,0.000,4,0.000,0.073,2986,3233,2685,0,0,0,0,0,0
$GC,14166,0.35,112.4,945.2,9.0,964,14172,0.15,1.98,0.00,0.000,6,0.150,0.060,2950,2024,2685,0,0,0,0,0,0
$GC,14474,0.33,112.4,924.0,6.6,975,14479,0.00,2.03,0.00,0.000,4,0.000,0.073,2949,3236,2685,0,0,0,0,0,0
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$STATE,27248,end climb,SURFACE_DEPTH_REACHED
$STATE,27248,begin surface coast
$FINISH,1.3,1.023976
$STATE,27258,end surface coast,CONTROL_FINISHED_OK
$STATE,27258,begin surface
$SM_CCo,27333,0.00,0.000,0,0,1719,351.02
$SM_GC,2.15,7.75,0.00,0.00,0.045,0.000,0.000,141,2061,1719,-8.35,-0.40,351.02
$IRIDIUM_FIX,4651.23,-12635.12,251099,121205
$TT8_MAMPS,0.052923
$HUMID,38.10
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,23.7,16.207
$10V_AH,10.2,12.087
$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,20.025,268.775,402.525,0.000,0.000,31.150,33.347,275.244,0.000,0.000,16.214,0.000,21099.240,720.806,5306.083,621.707,0.000,2695.138,0.000,4510.743,0.000,0.534,0.000
$DEVICE_MAMPS,245.440,83.603,1232.569,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1429.348,1705.387,1764.464,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298600
$DATA_FILE_SIZE,116982,2067
$CAP_FILE_SIZE,279995,0
$CFSIZE,260165632,249229312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.091,102.6,1
$GPS,010810,034837,4711.171,-12634.273,41,0.9,41,18.6