version: 66.06
glider: 187
mission: 2
dive: 260
start: 8 14 110 5 13 14
data:
$ID,187
$MISSION,2
$DIVE,260
$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,-28798.812
$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,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,0.00060000003
$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
$GPS1,050555,4735.922,-12543.146,58,1.1,58,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.81
$_SM_ANGLEo,-75.2
$GPS2,051308,4735.838,-12543.217,14,1.1,14,18.7
$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,209.2,117519,-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,-58.25,0.000,2,0.000,0.000,131,2042,3076,0,0,0,0,0,0
$GC,73,-0.45,-112.4,3.3,-2.6,11,102,10.55,2.05,-11.98,0.000,4,0.249,0.081,2676,3309,3609,0,0,0,0,0,0
$GC,342,-0.43,-112.4,46.4,-13.3,61,348,0.00,1.95,0.00,0.000,6,0.000,0.051,2676,2075,3613,0,0,0,0,0,0
$GC,668,-0.41,-112.4,88.4,-11.4,122,675,0.00,2.03,0.00,0.000,4,0.000,0.067,2667,3311,3614,0,0,0,0,0,0
$GC,840,-0.40,-112.4,108.0,-11.1,148,844,0.10,1.92,0.00,0.000,6,0.127,0.051,2701,2086,3615,0,0,0,0,0,0
$GC,1160,-0.40,-112.4,138.7,-9.4,179,1164,0.00,2.00,0.00,0.000,4,0.000,0.067,2695,3312,3615,0,0,0,0,0,0
$GC,1175,-0.40,-112.4,140.4,-10.0,180,1183,0.00,1.90,0.00,0.000,6,0.000,0.052,2695,2097,3615,0,0,0,0,0,0
$GC,1492,-0.40,-112.4,166.8,-7.5,211,1493,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2098,3615,0,0,0,0,0,0
$GC,1803,-0.40,-112.4,189.6,-7.2,241,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2098,3615,0,0,0,0,0,0
$GC,2113,-0.40,-112.4,215.8,-8.8,271,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2098,3615,0,0,0,0,0,0
$GC,2424,-0.51,-112.4,239.3,-5.8,301,2427,0.00,1.95,0.00,0.000,4,0.000,0.070,2695,3311,3615,0,0,0,0,0,0
$GC,2476,-0.53,-112.4,242.8,-6.7,306,2480,0.00,1.90,0.00,0.000,6,0.000,0.054,2695,2098,3614,0,0,0,0,0,0
$GC,2798,-0.53,-112.4,268.8,-7.9,337,2801,0.00,1.95,0.00,0.000,4,0.000,0.061,2695,848,3614,0,0,0,0,0,0
$GC,2830,-0.53,-112.4,271.3,-8.2,340,2833,0.00,1.98,0.00,0.000,6,0.000,0.061,2695,2114,3614,0,0,0,0,0,0
$GC,3149,-0.53,-112.4,294.4,-7.0,371,3150,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2114,3614,0,0,0,0,0,0
$GC,3460,-0.53,-112.4,317.3,-7.5,401,3464,0.00,1.92,0.00,0.000,4,0.000,0.070,2692,3307,3613,0,0,0,0,0,0
$GC,3508,-0.54,-112.4,321.0,-7.0,405,3514,0.00,1.85,0.00,0.000,6,0.000,0.054,2692,2121,3613,0,0,0,0,0,0
$GC,3823,-0.54,-112.4,346.9,-9.1,436,3824,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2120,3613,0,0,0,0,0,0
$GC,4135,-0.54,-112.4,373.0,-7.6,466,4136,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2120,3613,0,0,0,0,0,0
$GC,4445,-0.54,-112.4,396.6,-7.8,496,4446,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2120,3613,0,0,0,0,0,0
$GC,4756,-0.54,-112.4,420.5,-7.6,526,4759,0.00,1.98,0.00,0.000,4,0.000,0.063,2692,846,3612,0,0,0,0,0,0
$GC,4791,-0.54,-112.4,423.3,-7.2,529,4797,0.00,2.03,0.00,0.000,6,0.000,0.061,2692,2116,3612,0,0,0,0,0,0
$GC,5107,-0.54,-112.4,445.7,-7.3,560,5111,0.00,1.92,0.00,0.000,4,0.000,0.071,2691,3300,3612,0,0,0,0,0,0
$GC,5149,-0.56,-112.4,448.5,-6.4,564,5154,0.08,1.85,0.00,0.000,6,0.064,0.056,2640,2116,3612,0,0,0,0,0,0
$GC,5471,-0.54,-112.4,479.0,-10.0,595,5472,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,2116,3612,0,0,0,0,0,0
$GC,5782,-0.53,-112.4,510.7,-9.7,625,5785,0.00,1.92,0.00,0.000,4,0.000,0.072,2635,3313,3612,0,0,0,0,0,0
$GC,5828,-0.53,-112.4,515.3,-8.9,629,5834,0.00,1.88,0.00,0.000,6,0.000,0.056,2635,2115,3612,0,0,0,0,0,0
$GC,6144,-0.51,-112.4,543.9,-8.9,660,6145,0.12,0.00,0.00,0.000,6,0.167,0.000,2669,2116,3612,0,0,0,0,0,0
$GC,6454,-0.51,-112.4,566.3,-7.2,690,6458,0.00,1.92,0.00,0.000,4,0.000,0.073,2664,3310,3612,0,0,0,0,0,0
$GC,6491,-0.51,-112.4,569.1,-7.6,693,6498,0.00,1.88,0.00,0.000,6,0.000,0.057,2663,2124,3612,0,0,0,0,0,0
$GC,6808,-0.51,-112.4,594.8,-8.5,724,6811,0.00,1.92,0.00,0.000,4,0.000,0.074,2662,3304,3612,0,0,0,0,0,0
$GC,6828,-0.51,-112.4,596.5,-8.8,726,6832,0.00,1.88,0.00,0.000,6,0.000,0.056,2662,2117,3612,0,0,0,0,0,0
$GC,7142,-0.51,-112.4,623.3,-8.5,739,7143,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2117,3612,0,0,0,0,0,0
$GC,7446,-0.51,-112.4,649.8,-8.8,749,7450,0.00,2.00,0.00,0.000,4,0.000,0.064,2662,846,3612,0,0,0,0,0,0
$GC,7466,-0.51,-112.4,651.7,-9.8,749,7472,0.00,2.05,0.00,0.000,6,0.000,0.063,2659,2126,3612,0,0,0,0,0,0
$GC,7781,-0.51,-112.4,677.7,-8.0,760,7781,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2126,3612,0,0,0,0,0,0
$GC,8084,-0.51,-112.4,700.5,-7.3,770,8088,0.00,1.90,0.00,0.000,4,0.000,0.073,2652,3300,3612,0,0,0,0,0,0
$GC,8175,-0.51,-112.4,707.3,-7.9,772,8181,0.00,1.83,0.00,0.000,6,0.000,0.057,2652,2139,3611,0,0,0,0,0,0
$GC,8483,-0.51,-112.4,730.1,-7.4,783,8484,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2138,3612,0,0,0,0,0,0
$GC,8787,-0.51,-112.4,752.5,-7.5,793,8791,0.00,1.92,0.00,0.000,4,0.000,0.074,2645,3313,3612,0,0,0,0,0,0
$GC,8829,-0.51,-112.4,755.7,-7.7,794,8833,0.00,1.85,0.00,0.000,6,0.000,0.057,2645,2134,3612,0,0,0,0,0,0
$GC,9154,-0.51,-112.4,781.2,-7.8,805,9158,0.00,1.92,0.00,0.000,4,0.000,0.074,2638,3303,3612,0,0,0,0,0,0
$GC,9212,-0.51,-112.4,786.1,-8.3,806,9220,0.10,1.85,0.00,0.000,6,0.166,0.058,2664,2135,3612,0,0,0,0,0,0
$GC,9521,-0.51,-112.4,807.1,-6.6,817,9525,0.00,1.92,0.00,0.000,4,0.000,0.075,2664,3305,3612,0,0,0,0,0,0
$GC,9552,-0.51,-112.4,809.1,-6.5,818,9557,0.00,1.85,0.00,0.000,6,0.000,0.058,2662,2136,3611,0,0,0,0,0,0
$GC,9888,-0.51,-112.4,828.2,-5.5,829,9892,0.00,1.92,0.00,0.000,4,0.000,0.075,2663,3306,3612,0,0,0,0,0,0
$GC,9931,-0.51,-112.4,830.6,-6.1,830,9934,0.00,1.85,0.00,0.000,6,0.000,0.058,2663,2131,3612,0,0,0,0,0,0
$GC,10255,-0.51,-112.4,849.5,-6.0,841,10255,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2130,3611,0,0,0,0,0,0
$GC,10558,-0.51,-112.4,870.4,-7.5,851,10562,0.00,1.92,0.00,0.000,4,0.000,0.075,2663,3304,3611,0,0,0,0,0,0
$GC,10585,-0.51,-112.4,872.4,-7.7,851,10591,0.00,1.83,0.00,0.000,6,0.000,0.058,2663,2142,3612,0,0,0,0,0,0
$GC,10893,-0.51,-112.4,896.5,-8.0,862,10894,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2141,3612,0,0,0,0,0,0
$GC,11196,-0.51,-112.4,920.1,-7.8,872,11201,0.00,1.92,0.00,0.000,4,0.000,0.076,2663,3307,3612,0,0,0,0,0,0
$GC,11239,-0.52,-112.4,923.4,-8.1,873,11243,0.00,1.85,0.00,0.000,6,0.000,0.059,2663,2134,3612,0,0,0,0,0,0
$GC,11563,-0.52,-112.4,949.5,-8.1,884,11564,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2134,3612,0,0,0,0,0,0
$GC,11867,-0.52,-112.4,973.6,-8.0,894,11871,0.00,1.92,0.00,0.000,4,0.000,0.076,2663,3299,3612,0,0,0,0,0,0
$GC,11894,-0.54,-112.4,975.7,-7.0,894,11901,0.00,1.80,0.00,0.000,6,0.000,0.058,2663,2152,3612,0,0,0,0,0,0
$STATE,12109,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12109,begin apogee
$GC,12113,-0.14,0.0,991.5,7.3,902,12211,0.38,0.00,96.18,1.232,6,0.123,0.000,2785,1999,3150,0,0,0,0,0,0
$STATE,12211,end apogee,CONTROL_FINISHED_OK
$STATE,12211,begin climb
$GC,12213,0.45,112.4,993.9,0.0,905,12318,0.55,2.15,98.80,1.193,4,0.084,0.067,2982,774,2691,0,0,0,0,0,0
$GC,12344,0.43,112.4,990.0,6.1,909,12348,0.00,2.10,0.00,0.000,6,0.000,0.061,2982,2000,2688,0,0,0,0,0,0
$GC,12668,0.40,112.4,966.6,7.4,920,12672,0.00,2.08,0.00,0.000,4,0.000,0.071,2982,3231,2685,0,0,0,0,0,0
$GC,12785,0.36,112.4,956.5,7.8,923,12790,0.10,2.00,0.00,0.000,6,0.150,0.059,2960,2012,2684,0,0,0,0,0,0
$GC,13100,0.35,112.4,935.1,6.8,934,13104,0.00,2.05,0.00,0.000,4,0.000,0.072,2960,3236,2685,0,0,0,0,0,0
$GC,13152,0.32,112.4,931.0,8.0,935,13157,0.00,1.98,0.00,0.000,6,0.000,0.060,2966,2018,2685,0,0,0,0,0,0
$GC,13466,0.30,112.4,905.2,8.4,946,13471,0.12,2.03,0.00,0.000,4,0.172,0.073,2934,3234,2685,0,0,0,0,0,0
$GC,13509,0.29,112.4,901.9,8.3,947,13513,0.00,1.95,0.00,0.000,6,0.000,0.061,2938,2024,2685,0,0,0,0,0,0
$GC,13833,0.29,112.4,877.4,7.2,958,13834,0.00,0.00,0.00,0.000,6,0.000,0.000,2938,2025,2684,0,0,0,0,0,0
$GC,14137,0.30,126.5,858.7,5.6,968,14150,0.00,0.00,12.62,1.068,6,0.000,0.000,2938,2025,2634,0,0,0,0,0,0
$GC,14441,0.32,165.9,842.8,4.7,978,14480,0.00,2.08,35.22,1.114,4,0.000,0.072,2938,3234,2473,0,0,0,0,0,0
$GC,14529,0.32,165.9,837.9,6.8,980,14535,0.00,2.00,0.00,0.000,6,0.000,0.059,2942,2025,2470,0,0,0,0,0,0
$GC,14838,0.33,179.3,820.8,5.6,991,14854,0.00,2.00,12.40,1.036,4,0.000,0.070,2942,3238,2419,0,0,0,0,0,0
$GC,14889,0.33,179.3,817.4,7.8,992,14896,0.00,2.00,0.00,0.000,6,0.000,0.059,2946,2025,2416,0,0,0,0,0,0
$GC,15198,0.33,179.3,796.2,7.0,1003,15199,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2025,2416,0,0,0,0,0,0
$GC,15502,0.33,179.3,773.8,7.4,1013,15503,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2025,2416,0,0,0,0,0,0
$GC,15805,0.33,179.3,753.8,6.3,1023,15809,0.00,2.00,0.00,0.000,4,0.000,0.072,2946,3231,2416,0,0,0,0,0,0
$GC,15869,0.33,179.3,749.4,7.0,1025,15873,0.00,1.90,0.00,0.000,6,0.000,0.060,2946,2046,2415,0,0,0,0,0,0
$GC,16204,0.33,179.3,728.2,6.5,1036,16205,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2046,2416,0,0,0,0,0,0
$GC,16508,0.33,179.3,709.0,6.3,1046,16508,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2046,2415,0,0,0,0,0,0
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$STATE,26345,end climb,SURFACE_DEPTH_REACHED
$STATE,26345,begin surface coast
$FINISH,1.0,1.024240
$STATE,26415,end surface coast,CONTROL_FINISHED_OK
$STATE,26415,begin surface
$SM_CCo,26429,22.52,0.417,1,0,1722,350.04
$SM_GC,2.12,0.00,0.00,22.52,0.000,0.000,0.417,144,2078,1722,-8.41,0.08,350.04
$IRIDIUM_FIX,4719.74,-12519.65,071199,212107
$TT8_MAMPS,0.052923
$HUMID,38.54
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.6,27.875
$10V_AH,10.2,23.670
$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,19.975,192.125,376.200,22.525,0.000,32.374,31.170,239.169,0.000,0.000,14.869,0.000,20738.395,641.546,4859.793,609.653,0.000,2397.340,0.000,4120.601,0.000,0.533,0.000
$DEVICE_MAMPS,249.275,133.458,1231.802,417.248,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1419.270,1699.299,1810.935,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298604
$DATA_FILE_SIZE,113858,2051
$CAP_FILE_SIZE,248426,0
$CFSIZE,260165632,241868800
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.036,330.9,1
$GPS,140810,123507,4734.196,-12547.383,38,1.4,38,18.7