version: 66.06
glider: 187
mission: 2
dive: 273
start: 8 18 110 6 33 49
data:
$ID,187
$MISSION,2
$DIVE,273
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$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,-29009.783
$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
$GPS1,062607,4714.028,-12627.699,60,1.1,60,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-74.9
$GPS2,063344,4713.979,-12627.683,13,1.6,13,18.6
$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,216.0,48337,-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,12,begin dive
$GC,13,-0.45,-112.4,0.0,0.0,0,70,0.00,0.00,-54.35,0.000,2,0.000,0.000,131,2078,2907,0,0,0,0,0,0
$GC,71,-0.45,-112.4,3.1,-2.4,10,104,10.35,2.00,-16.88,0.000,4,0.242,0.074,2674,3314,3609,0,0,0,0,0,0
$GC,216,-0.42,-112.4,28.6,-15.6,37,222,0.00,1.95,0.00,0.000,6,0.000,0.049,2674,2073,3611,0,0,0,0,0,0
$GC,542,-0.38,-112.4,78.3,-13.3,98,549,0.12,2.00,0.00,0.000,4,0.164,0.064,2700,3303,3613,0,0,0,0,0,0
$GC,564,-0.35,-112.4,81.1,-13.3,102,570,0.00,1.92,0.00,0.000,6,0.000,0.050,2700,2079,3614,0,0,0,0,0,0
$GC,890,-0.33,-112.4,116.8,-10.0,149,894,0.00,1.92,0.00,0.000,4,0.000,0.055,2700,838,3615,0,0,0,0,0,0
$GC,916,-0.32,-112.4,119.5,-10.6,151,922,0.10,1.95,0.00,0.000,6,0.125,0.055,2730,2075,3614,0,0,0,0,0,0
$GC,1231,-0.32,-112.4,143.8,-7.6,182,1236,0.00,2.00,0.00,0.000,4,0.000,0.065,2723,3314,3615,0,0,0,0,0,0
$GC,1280,-0.34,-112.4,147.4,-7.1,186,1286,0.00,1.92,0.00,0.000,6,0.000,0.050,2723,2076,3614,0,0,0,0,0,0
$GC,1595,-0.34,-112.4,171.8,-7.3,217,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2075,3614,0,0,0,0,0,0
$GC,1907,-0.34,-112.4,192.9,-6.5,247,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,2075,3613,0,0,0,0,0,0
$GC,2218,-0.35,-112.4,213.9,-6.6,277,2221,0.00,1.98,0.00,0.000,4,0.000,0.067,2721,3308,3612,0,0,0,0,0,0
$GC,2238,-0.36,-112.4,215.5,-6.9,279,2242,0.00,1.90,0.00,0.000,6,0.000,0.051,2720,2084,3612,0,0,0,0,0,0
$GC,2559,-0.36,-112.4,236.8,-6.6,310,2563,0.00,1.98,0.00,0.000,4,0.000,0.068,2715,3307,3611,0,0,0,0,0,0
$GC,2591,-0.38,-112.4,238.8,-7.0,313,2594,0.00,1.90,0.00,0.000,6,0.000,0.052,2715,2081,3611,0,0,0,0,0,0
$GC,2911,-0.38,-112.4,261.6,-7.0,344,2911,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2081,3611,0,0,0,0,0,0
$GC,3222,-0.38,-112.4,283.6,-6.9,374,3226,0.00,1.95,0.00,0.000,4,0.000,0.068,2708,3302,3610,0,0,0,0,0,0
$GC,3248,-0.39,-112.4,285.5,-7.1,376,3255,0.00,1.88,0.00,0.000,6,0.000,0.053,2708,2094,3610,0,0,0,0,0,0
$GC,3563,-0.39,-112.4,309.3,-7.4,407,3564,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2094,3609,0,0,0,0,0,0
$GC,3875,-0.39,-112.4,333.6,-7.9,437,3878,0.00,1.95,0.00,0.000,4,0.000,0.069,2701,3309,3608,0,0,0,0,0,0
$GC,3911,-0.40,-112.4,336.4,-7.8,440,3918,0.00,1.90,0.00,0.000,6,0.000,0.053,2701,2093,3608,0,0,0,0,0,0
$GC,4226,-0.40,-112.4,360.7,-7.6,471,4227,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2093,3607,0,0,0,0,0,0
$GC,4537,-0.40,-112.4,383.8,-7.1,501,4541,0.00,1.98,0.00,0.000,4,0.000,0.071,2696,3305,3606,0,0,0,0,0,0
$GC,4581,-0.42,-112.4,386.9,-7.4,505,4584,0.00,1.85,0.00,0.000,6,0.000,0.054,2697,2100,3606,0,0,0,0,0,0
$GC,4900,-0.42,-112.4,410.3,-7.7,536,4904,0.00,1.95,0.00,0.000,4,0.000,0.070,2691,3305,3605,0,0,0,0,0,0
$GC,4943,-0.43,-112.4,413.4,-7.3,540,4947,0.00,1.85,0.00,0.000,6,0.000,0.054,2691,2116,3605,0,0,0,0,0,0
$GC,5264,-0.43,-112.4,437.8,-7.0,571,5265,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2115,3604,0,0,0,0,0,0
$GC,5576,-0.43,-112.4,460.0,-7.3,601,5579,0.00,1.92,0.00,0.000,4,0.000,0.072,2685,3313,3604,0,0,0,0,0,0
$GC,5607,-0.43,-112.4,462.3,-7.8,604,5610,0.00,1.88,0.00,0.000,6,0.000,0.055,2685,2117,3604,0,0,0,0,0,0
$GC,5927,-0.43,-112.4,486.8,-8.0,635,5931,0.00,1.92,0.00,0.000,4,0.000,0.071,2678,3301,3603,0,0,0,0,0,0
$GC,5964,-0.43,-112.4,489.9,-8.6,638,5970,0.00,1.85,0.00,0.000,6,0.000,0.054,2677,2118,3603,0,0,0,0,0,0
$GC,6279,-0.43,-112.4,515.8,-7.7,669,6283,0.00,1.92,0.00,0.000,4,0.000,0.071,2670,3303,3602,0,0,0,0,0,0
$GC,6317,-0.43,-112.4,519.2,-8.9,672,6324,0.00,1.85,0.00,0.000,6,0.000,0.055,2670,2117,3602,0,0,0,0,0,0
$GC,6632,-0.43,-112.4,546.1,-8.6,703,6636,0.00,1.95,0.00,0.000,4,0.000,0.072,2662,3311,3603,0,0,0,0,0,0
$GC,6697,-0.43,-112.4,551.6,-8.9,709,6700,0.08,1.85,0.00,0.000,6,0.131,0.056,2705,2132,3602,0,0,0,0,0,0
$GC,7016,-0.44,-112.4,572.8,-6.6,740,7017,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2131,3601,0,0,0,0,0,0
$GC,7328,-0.45,-112.4,593.5,-6.7,770,7331,0.00,1.90,0.00,0.000,4,0.000,0.074,2704,3312,3601,0,0,0,0,0,0
$GC,7369,-0.47,-112.4,596.5,-7.1,774,7374,0.00,1.83,0.00,0.000,6,0.000,0.056,2704,2146,3601,0,0,0,0,0,0
$GC,7695,-0.49,-112.4,619.4,-7.1,788,7695,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2145,3600,0,0,0,0,0,0
$GC,7998,-0.50,-112.4,640.4,-6.8,798,8002,0.00,1.88,0.00,0.000,4,0.000,0.073,2704,3302,3600,0,0,0,0,0,0
$GC,8029,-0.52,-112.4,642.3,-6.4,799,8034,0.08,1.83,0.00,0.000,6,0.066,0.057,2655,2139,3600,0,0,0,0,0,0
$GC,8365,-0.51,-112.4,670.5,-8.3,810,8369,0.00,1.88,0.00,0.000,4,0.000,0.072,2647,3306,3598,0,0,0,0,0,0
$GC,8412,-0.51,-112.4,674.5,-8.3,811,8417,0.00,1.83,0.00,0.000,6,0.000,0.056,2647,2151,3598,0,0,0,0,0,0
$GC,8732,-0.49,-112.4,701.8,-8.7,822,8732,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2151,3598,0,0,0,0,0,0
$GC,9036,-0.48,-112.4,729.0,-9.2,832,9040,0.12,1.90,0.00,0.000,4,0.165,0.073,2676,3311,3597,0,0,0,0,0,0
$GC,9083,-0.49,-112.4,732.8,-7.7,833,9087,0.00,1.83,0.00,0.000,6,0.000,0.057,2675,2157,3597,0,0,0,0,0,0
$GC,9402,-0.49,-112.4,757.3,-7.6,844,9403,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2158,3597,0,0,0,0,0,0
$GC,9706,-0.49,-112.4,779.3,-7.2,854,9707,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2157,3597,0,0,0,0,0,0
$GC,10009,-0.49,-112.4,799.8,-6.6,864,10013,0.00,1.85,0.00,0.000,4,0.000,0.073,2668,3300,3596,0,0,0,0,0,0
$GC,10062,-0.49,-112.4,803.4,-6.6,865,10067,0.00,1.80,0.00,0.000,6,0.000,0.058,2669,2165,3596,0,0,0,0,0,0
$GC,10376,-0.49,-112.4,824.9,-6.8,876,10377,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2163,3596,0,0,0,0,0,0
$GC,10679,-0.49,-112.4,845.6,-6.8,886,10684,0.00,1.85,0.00,0.000,4,0.000,0.074,2662,3306,3595,0,0,0,0,0,0
$GC,10706,-0.49,-112.4,847.6,-7.5,886,10712,0.00,1.80,0.00,0.000,6,0.000,0.058,2662,2170,3595,0,0,0,0,0,0
$GC,11015,-0.49,-112.4,870.1,-7.4,897,11019,0.00,1.85,0.00,0.000,4,0.000,0.074,2654,3310,3595,0,0,0,0,0,0
$GC,11057,-0.49,-112.4,873.2,-8.1,898,11061,0.00,1.80,0.00,0.000,6,0.000,0.058,2654,2175,3595,0,0,0,0,0,0
$GC,11381,-0.49,-112.4,897.9,-7.8,909,11382,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,2175,3595,0,0,0,0,0,0
$GC,11685,-0.49,-112.4,920.5,-7.5,919,11689,0.00,1.83,0.00,0.000,4,0.000,0.074,2648,3306,3594,0,0,0,0,0,0
$GC,11775,-0.49,-112.4,927.1,-7.4,921,11782,0.00,1.77,0.00,0.000,6,0.000,0.058,2647,2187,3594,0,0,0,0,0,0
$GC,12084,-0.49,-112.4,951.0,-8.0,932,12088,0.00,1.83,0.00,0.000,4,0.000,0.074,2640,3313,3593,0,0,0,0,0,0
$GC,12164,-0.49,-112.4,957.5,-7.6,934,12168,0.10,1.75,0.00,0.000,6,0.130,0.058,2674,2196,3594,0,0,0,0,0,0
$GC,12483,-0.49,-112.4,979.8,-7.0,945,12487,0.00,1.80,0.00,0.000,4,0.000,0.074,2673,3303,3593,0,0,0,0,0,0
$GC,12542,-0.50,-112.4,984.0,-7.4,946,12548,0.00,1.73,0.00,0.000,6,0.000,0.058,2672,2211,3594,0,0,0,0,0,0
$STATE,12636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12636,begin apogee
$GC,12640,-0.14,0.0,990.9,7.3,950,12734,0.35,0.00,92.22,1.238,6,0.124,0.000,2786,1995,3150,0,0,0,0,0,0
$STATE,12734,end apogee,CONTROL_FINISHED_OK
$STATE,12734,begin climb
$GC,12736,0.45,112.4,993.5,0.0,953,12838,0.55,0.00,98.57,1.203,6,0.086,0.000,2974,1995,2691,0,0,0,0,0,0
$GC,13129,0.43,112.4,971.2,7.2,966,13133,0.00,2.10,0.00,0.000,4,0.000,0.071,2974,3232,2686,0,0,0,0,0,0
$GC,13165,0.40,112.4,968.3,8.5,967,13170,0.00,2.03,0.00,0.000,6,0.000,0.058,2983,2003,2685,0,0,0,0,0,0
$GC,13496,0.37,112.4,941.5,8.1,978,13500,0.00,2.03,0.00,0.000,4,0.000,0.068,2991,768,2685,0,0,0,0,0,0
$GC,13538,0.34,112.4,938.0,8.0,979,13543,0.12,1.98,0.00,0.000,6,0.143,0.061,2953,1993,2685,0,0,0,0,0,0
$GC,13863,0.33,112.4,915.2,7.1,990,13867,0.00,2.05,0.00,0.000,4,0.000,0.071,2954,3237,2685,0,0,0,0,0,0
$GC,13974,0.31,112.4,906.6,6.8,993,13979,0.00,1.98,0.00,0.000,6,0.000,0.058,2959,2007,2685,0,0,0,0,0,0
$GC,14294,0.29,112.4,884.8,6.6,1004,14298,0.00,2.03,0.00,0.000,4,0.000,0.069,2968,759,2686,0,0,0,0,0,0
$GC,14347,0.27,112.4,881.3,6.7,1005,14351,0.12,1.98,0.00,0.000,6,0.142,0.061,2929,1997,2686,0,0,0,0,0,0
$GC,14661,0.29,143.3,865.4,5.0,1016,14693,0.00,2.00,27.12,1.131,4,0.000,0.069,2928,3232,2563,0,0,0,0,0,0
$GC,14757,0.29,143.3,860.1,6.2,1019,14760,0.00,1.98,0.00,0.000,6,0.000,0.058,2932,2004,2562,0,0,0,0,0,0
$GC,15091,0.30,154.2,841.2,5.7,1030,15106,0.00,2.05,10.27,1.029,4,0.000,0.071,2932,3230,2521,0,0,0,0,0,0
$GC,15181,0.30,154.2,835.3,7.3,1032,15188,0.00,1.95,0.00,0.000,6,0.000,0.058,2933,2025,2520,0,0,0,0,0,0
$GC,15489,0.30,154.2,816.5,6.1,1043,15493,0.00,1.98,0.00,0.000,4,0.000,0.071,2933,3230,2520,0,0,0,0,0,0
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$STATE,26875,end climb,SURFACE_DEPTH_REACHED
$STATE,26875,begin surface coast
$FINISH,1.0,1.013000
$STATE,26923,end surface coast,CONTROL_FINISHED_OK
$STATE,26923,begin surface
$SM_CCo,26937,20.45,0.400,1,0,1722,350.04
$SM_GC,1.53,0.00,0.00,20.45,0.000,0.000,0.400,138,2049,1722,-8.42,-0.71,350.04
$IRIDIUM_FIX,4657.54,-12620.51,111199,232323
$TT8_MAMPS,0.05369
$HUMID,39.44
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,17.70
$XPDR_PINGS,0
$24V_AH,23.6,29.757
$10V_AH,10.2,25.842
$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,20.350,209.250,384.150,20.450,0.000,31.618,42.061,250.208,0.000,0.000,13.422,0.000,20958.301,637.572,5084.734,695.931,0.000,2474.053,0.000,4338.795,0.000,0.533,0.000
$DEVICE_MAMPS,241.605,74.399,1237.938,400.374,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1451.599,1711.710,1856.662,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298604
$DATA_FILE_SIZE,116948,2097
$CAP_FILE_SIZE,263231,0
$CFSIZE,260165632,240324608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.044,115.3,1
$GPS,180810,140430,4711.904,-12631.001,53,1.4,59,18.6