version: 66.06
glider: 187
mission: 2
dive: 259
start: 8 13 110 21 38 32
data:
$ID,187
$MISSION,2
$DIVE,259
$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,-28783.312
$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,26
$R_STBD_OVSHOOT,25
$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
$GPS1,213107,4738.278,-12539.153,36,1.6,36,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-75.9
$GPS2,213826,4738.286,-12539.244,16,1.5,16,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$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,200.7,124224,-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,-112.4,0.0,0.0,0,66,0.00,0.00,-52.80,0.000,2,0.000,0.000,132,2083,2936,0,0,0,0,0,0
$GC,68,-0.45,-112.4,3.1,-2.3,9,103,10.57,2.00,-16.12,0.000,4,0.250,0.081,2672,3302,3612,0,0,0,0,0,0
$GC,278,-0.43,-112.4,37.5,-15.1,48,284,0.00,1.95,0.00,0.000,6,0.000,0.051,2672,2073,3614,0,0,0,0,0,0
$GC,604,-0.40,-112.4,88.9,-14.1,109,612,0.12,2.03,0.00,0.000,4,0.164,0.067,2699,3307,3616,0,0,0,0,0,0
$GC,680,-0.40,-112.4,97.0,-9.9,123,687,0.00,1.92,0.00,0.000,6,0.000,0.051,2698,2082,3616,0,0,0,0,0,0
$GC,1003,-0.40,-112.4,127.8,-10.0,157,1006,0.00,1.98,0.00,0.000,4,0.000,0.067,2691,3300,3617,0,0,0,0,0,0
$GC,1071,-0.40,-112.4,134.3,-8.7,163,1077,0.00,1.90,0.00,0.000,6,0.000,0.051,2691,2096,3617,0,0,0,0,0,0
$GC,1387,-0.40,-112.4,165.1,-9.1,194,1391,0.00,1.95,0.00,0.000,4,0.000,0.056,2691,847,3617,0,0,0,0,0,0
$GC,1413,-0.40,-112.4,167.6,-9.6,196,1419,0.00,1.98,0.00,0.000,6,0.000,0.056,2686,2103,3617,0,0,0,0,0,0
$GC,1728,-0.40,-112.4,195.9,-8.8,227,1733,0.00,1.92,0.00,0.000,4,0.000,0.066,2677,3306,3617,0,0,0,0,0,0
$GC,1771,-0.40,-112.4,199.5,-8.5,231,1775,0.00,1.88,0.00,0.000,6,0.000,0.051,2677,2111,3617,0,0,0,0,0,0
$GC,2093,-0.39,-112.4,230.7,-10.5,262,2094,0.12,0.00,0.00,0.000,6,0.159,0.000,2711,2110,3617,0,0,0,0,0,0
$GC,2403,-0.39,-112.4,255.9,-7.3,292,2407,0.00,1.95,0.00,0.000,4,0.000,0.070,2707,3310,3617,0,0,0,0,0,0
$GC,2435,-0.40,-112.4,258.1,-7.4,295,2438,0.00,1.85,0.00,0.000,6,0.000,0.054,2707,2119,3616,0,0,0,0,0,0
$GC,2755,-0.40,-112.4,281.5,-7.9,326,2756,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2119,3616,0,0,0,0,0,0
$GC,3066,-0.40,-112.4,305.4,-7.4,356,3067,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2118,3616,0,0,0,0,0,0
$GC,3376,-0.40,-112.4,326.0,-5.9,386,3380,0.00,2.00,0.00,0.000,4,0.000,0.062,2707,845,3615,0,0,0,0,0,0
$GC,3402,-0.40,-112.4,327.6,-6.2,388,3408,0.00,2.00,0.00,0.000,6,0.000,0.060,2707,2112,3615,0,0,0,0,0,0
$GC,3717,-0.40,-112.4,347.2,-6.5,419,3722,0.00,1.92,0.00,0.000,4,0.000,0.070,2705,3303,3615,0,0,0,0,0,0
$GC,3755,-0.42,-112.4,349.5,-6.4,422,3761,0.00,1.85,0.00,0.000,6,0.000,0.054,2705,2114,3615,0,0,0,0,0,0
$GC,4070,-0.42,-112.4,373.7,-8.2,453,4071,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2114,3615,0,0,0,0,0,0
$GC,4381,-0.42,-112.4,400.6,-8.4,483,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2114,3615,0,0,0,0,0,0
$GC,4692,-0.42,-112.4,425.2,-7.9,513,4693,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2114,3614,0,0,0,0,0,0
$GC,5002,-0.42,-112.4,447.8,-6.3,543,5003,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2114,3614,0,0,0,0,0,0
$GC,5312,-0.43,-112.4,468.5,-6.8,573,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2114,3613,0,0,0,0,0,0
$GC,5623,-0.44,-112.4,490.1,-7.0,603,5626,0.00,1.95,0.00,0.000,4,0.000,0.074,2705,3303,3613,0,0,0,0,0,0
$GC,5648,-0.46,-112.4,491.8,-6.7,605,5656,0.00,1.88,0.00,0.000,6,0.000,0.056,2704,2108,3613,0,0,0,0,0,0
$GC,5964,-0.47,-112.4,512.7,-6.6,636,5968,0.00,1.98,0.00,0.000,4,0.000,0.074,2704,3313,3613,0,0,0,0,0,0
$GC,5996,-0.49,-112.4,514.7,-6.6,639,6000,0.00,1.85,0.00,0.000,6,0.000,0.056,2704,2128,3613,0,0,0,0,0,0
$GC,6318,-0.50,-112.4,536.5,-6.7,670,6321,0.00,1.90,0.00,0.000,4,0.000,0.074,2704,3309,3613,0,0,0,0,0,0
$GC,6343,-0.52,-112.4,538.4,-6.7,672,6350,0.08,1.88,0.00,0.000,6,0.065,0.056,2655,2122,3613,0,0,0,0,0,0
$GC,6659,-0.51,-112.4,569.9,-10.3,703,6660,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2122,3613,0,0,0,0,0,0
$GC,6970,-0.50,-112.4,598.1,-8.5,733,6971,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2122,3613,0,0,0,0,0,0
$GC,7293,-0.49,-112.4,625.1,-8.2,745,7297,0.00,2.03,0.00,0.000,4,0.000,0.064,2655,848,3612,0,0,0,0,0,0
$GC,7330,-0.48,-112.4,628.5,-9.2,746,7334,0.00,2.03,0.00,0.000,6,0.000,0.062,2651,2122,3612,0,0,0,0,0,0
$GC,7660,-0.46,-112.4,656.6,-8.7,757,7661,0.12,0.00,0.00,0.000,6,0.160,0.000,2686,2122,3612,0,0,0,0,0,0
$GC,7964,-0.46,-112.4,677.4,-6.5,767,7968,0.00,1.92,0.00,0.000,4,0.000,0.073,2681,3307,3612,0,0,0,0,0,0
$GC,8000,-0.47,-112.4,679.8,-6.6,768,8005,0.00,1.88,0.00,0.000,6,0.000,0.057,2681,2122,3612,0,0,0,0,0,0
$GC,8330,-0.47,-112.4,700.3,-6.3,779,8335,0.00,1.95,0.00,0.000,4,0.000,0.074,2675,3310,3612,0,0,0,0,0,0
$GC,8362,-0.47,-112.4,702.2,-6.1,780,8367,0.00,1.85,0.00,0.000,6,0.000,0.058,2675,2132,3612,0,0,0,0,0,0
$GC,8697,-0.47,-112.4,723.7,-6.7,791,8698,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2132,3612,0,0,0,0,0,0
$GC,9001,-0.47,-112.4,746.4,-7.8,801,9002,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2132,3612,0,0,0,0,0,0
$GC,9305,-0.47,-112.4,769.2,-7.5,811,9309,0.00,1.95,0.00,0.000,4,0.000,0.075,2668,3314,3612,0,0,0,0,0,0
$GC,9341,-0.47,-112.4,772.4,-8.4,812,9346,0.00,1.90,0.00,0.000,6,0.000,0.059,2667,2119,3612,0,0,0,0,0,0
$GC,9671,-0.47,-112.4,799.1,-8.1,823,9672,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2119,3612,0,0,0,0,0,0
$GC,9975,-0.47,-112.4,822.7,-8.0,833,9976,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2119,3612,0,0,0,0,0,0
$GC,10279,-0.47,-112.4,848.8,-8.7,843,10283,0.00,1.95,0.00,0.000,4,0.000,0.076,2662,3303,3612,0,0,0,0,0,0
$GC,10299,-0.47,-112.4,851.0,-10.4,843,10304,0.00,1.85,0.00,0.000,6,0.000,0.059,2662,2128,3612,0,0,0,0,0,0
$GC,10613,-0.47,-112.4,879.8,-9.1,854,10614,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2128,3612,0,0,0,0,0,0
$GC,10917,-0.47,-112.4,903.6,-7.3,864,10921,0.00,1.95,0.00,0.000,4,0.000,0.075,2658,3313,3612,0,0,0,0,0,0
$GC,10954,-0.47,-112.4,906.3,-7.1,865,10958,0.00,1.88,0.00,0.000,6,0.000,0.059,2657,2131,3612,0,0,0,0,0,0
$GC,11284,-0.47,-112.4,928.9,-6.8,876,11284,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2131,3612,0,0,0,0,0,0
$GC,11588,-0.47,-112.4,949.5,-6.7,886,11588,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2131,3612,0,0,0,0,0,0
$GC,11891,-0.47,-112.4,971.0,-7.3,896,11891,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2131,3612,0,0,0,0,0,0
$STATE,12162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12162,begin apogee
$GC,12166,-0.14,0.0,992.1,7.6,905,12264,0.40,0.00,96.15,1.235,6,0.128,0.000,2786,1995,3150,0,0,0,0,0,0
$STATE,12264,end apogee,CONTROL_FINISHED_OK
$STATE,12264,begin climb
$GC,12266,0.45,112.4,994.4,0.0,908,12372,0.55,2.15,98.65,1.194,4,0.087,0.067,2982,773,2690,0,0,0,0,0,0
$GC,12408,0.43,112.4,988.4,6.3,912,12413,0.00,2.10,0.00,0.000,6,0.000,0.063,2982,2003,2688,0,0,0,0,0,0
$GC,12722,0.40,112.4,963.8,7.8,923,12726,0.00,2.08,0.00,0.000,4,0.000,0.072,2981,3231,2686,0,0,0,0,0,0
$GC,12856,0.37,112.4,952.0,8.4,927,12860,0.10,2.00,0.00,0.000,6,0.146,0.061,2960,2013,2685,0,0,0,0,0,0
$GC,13187,0.36,121.9,931.3,5.8,938,13197,0.00,0.00,9.00,1.035,6,0.000,0.000,2960,2012,2653,0,0,0,0,0,0
$GC,13489,0.35,140.1,914.6,5.4,948,13510,0.00,2.03,17.42,1.120,4,0.000,0.071,2960,3238,2577,0,0,0,0,0,0
$GC,13601,0.33,140.1,907.6,6.4,951,13604,0.00,2.00,0.00,0.000,6,0.000,0.060,2964,2019,2575,0,0,0,0,0,0
$GC,13914,0.32,143.6,888.3,6.0,962,13923,0.00,2.05,4.18,0.774,4,0.000,0.074,2964,3233,2564,0,0,0,0,0,0
$GC,13967,0.30,143.6,884.7,7.4,963,13971,0.10,1.98,0.00,0.000,6,0.140,0.061,2939,2020,2564,0,0,0,0,0,0
$GC,14280,0.30,147.7,867.0,6.0,974,14287,0.00,0.00,5.62,0.900,6,0.000,0.000,2939,2020,2547,0,0,0,0,0,0
$GC,14584,0.30,147.7,846.0,7.2,984,14585,0.00,0.00,0.00,0.000,6,0.000,0.000,2939,2020,2546,0,0,0,0,0,0
$GC,14887,0.30,147.7,824.8,6.8,994,14892,0.00,2.00,0.00,0.000,4,0.000,0.072,2939,3235,2547,0,0,0,0,0,0
$GC,14919,0.30,147.7,822.6,7.7,995,14923,0.00,1.95,0.00,0.000,6,0.000,0.061,2941,2021,2547,0,0,0,0,0,0
$GC,15255,0.30,147.7,801.6,6.1,1006,15255,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2021,2546,0,0,0,0,0,0
$GC,15558,0.30,147.7,782.3,6.4,1016,15558,0.00,0.00,0.00,0.000,6,0.000,0.000,2941,2021,2547,0,0,0,0,0,0
$GC,15862,0.30,155.0,763.8,5.8,1026,15875,0.00,2.03,8.12,0.963,4,0.000,0.074,2942,3234,2518,0,0,0,0,0,0
$GC,15924,0.30,155.0,759.9,6.9,1028,15928,0.00,1.95,0.00,0.000,6,0.000,0.061,2945,2026,2517,0,0,0,0,0,0
$GC,16259,0.30,155.0,739.2,6.2,1039,16259,0.00,0.00,0.00,0.000,6,0.000,0.000,2945,2026,2517,0,0,0,0,0,0
$GC,16562,0.30,155.0,718.1,7.3,1049,16567,0.00,2.00,0.00,0.000,4,0.000,0.074,2944,3238,2517,0,0,0,0,0,0
$GC,16621,0.30,155.0,713.3,8.5,1050,16627,0.00,1.95,0.00,0.000,6,0.000,0.061,2946,2023,2517,0,0,0,0,0,0
$GC,16929,0.30,155.0,690.3,7.3,1061,16930,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2023,2517,0,0,0,0,0,0
$GC,17233,0.30,155.0,669.0,7.1,1071,17233,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2022,2517,0,0,0,0,0,0
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$STATE,26665,end climb,SURFACE_DEPTH_REACHED
$STATE,26665,begin surface coast
$FINISH,1.0,1.012689
$STATE,26730,end surface coast,CONTROL_FINISHED_OK
$STATE,26730,begin surface
$SM_CCo,26743,18.08,0.375,1,0,1723,350.04
$SM_GC,1.67,0.00,0.00,18.08,0.000,0.000,0.375,136,2043,1723,-8.43,-0.90,350.04
$IRIDIUM_FIX,4722.92,-12532.26,071199,141420
$TT8_MAMPS,0.052156
$HUMID,38.30
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,23.6,27.741
$10V_AH,10.2,23.502
$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,20.025,165.775,399.600,18.075,0.000,25.436,32.731,245.697,0.000,0.000,16.784,0.000,21107.812,627.787,4811.255,616.128,0.000,2341.387,0.000,4088.110,0.000,0.533,0.000
$DEVICE_MAMPS,250.042,85.904,1234.870,375.063,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1420.317,1688.519,1766.591,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,113492,2051
$CAP_FILE_SIZE,244096,0
$CFSIZE,260165632,241987584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.032,293.0,1
$GPS,140810,050555,4735.922,-12543.146,58,1.1,58,18.7