version: 66.06
glider: 187
mission: 2
dive: 423
start: 9 8 110 15 12 43
data:
$ID,187
$MISSION,2
$DIVE,423
$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,-32345.361
$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,2855
$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,28
$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
$GPS1,150506,4729.638,-12554.149,34,1.2,34,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-76.0
$GPS2,151237,4729.544,-12554.083,11,1.3,16,18.7
$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,225.5,99628,-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,-112.4,0.0,0.0,0,73,0.00,0.00,-59.40,0.000,2,0.000,0.000,131,2066,2993,0,0,0,0,0,0
$GC,75,-0.45,-112.4,3.5,-2.8,11,104,10.52,2.00,-13.50,0.000,4,0.238,0.077,2691,3309,3610,0,0,0,0,0,0
$GC,210,-0.42,-112.4,29.3,-14.5,36,217,0.00,1.98,0.00,0.000,6,0.000,0.050,2691,2070,3613,0,0,0,0,0,0
$GC,537,-0.39,-112.4,69.7,-12.8,97,544,0.12,2.05,0.00,0.000,4,0.165,0.066,2718,3310,3615,0,0,0,0,0,0
$GC,625,-0.40,-112.4,78.3,-9.3,113,631,0.00,1.90,0.00,0.000,6,0.000,0.050,2718,2110,3615,0,0,0,0,0,0
$GC,952,-0.40,-112.4,101.6,-6.1,172,955,0.00,1.98,0.00,0.000,4,0.000,0.067,2710,3310,3616,0,0,0,0,0,0
$GC,1009,-0.41,-112.4,105.4,-6.4,177,1017,0.00,1.85,0.00,0.000,6,0.000,0.049,2709,2134,3616,0,0,0,0,0,0
$GC,1325,-0.41,-112.4,130.3,-8.2,208,1328,0.00,1.90,0.00,0.000,4,0.000,0.067,2703,3312,3616,0,0,0,0,0,0
$GC,1383,-0.43,-112.4,135.1,-7.7,213,1391,0.00,1.83,0.00,0.000,6,0.000,0.050,2703,2145,3616,0,0,0,0,0,0
$GC,1699,-0.43,-112.4,164.0,-8.9,244,1702,0.00,2.03,0.00,0.000,4,0.000,0.058,2703,846,3616,0,0,0,0,0,0
$GC,1735,-0.43,-112.4,167.3,-8.6,247,1741,0.00,2.08,0.00,0.000,6,0.000,0.057,2700,2147,3615,0,0,0,0,0,0
$GC,2051,-0.43,-112.4,191.2,-7.5,278,2055,0.00,1.90,0.00,0.000,4,0.000,0.066,2692,3313,3615,0,0,0,0,0,0
$GC,2131,-0.44,-112.4,197.1,-7.2,285,2138,0.00,1.80,0.00,0.000,6,0.000,0.051,2692,2163,3615,0,0,0,0,0,0
$GC,2447,-0.44,-112.4,222.1,-8.4,316,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2163,3615,0,0,0,0,0,0
$GC,2759,-0.44,-112.4,250.5,-9.7,346,2760,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2163,3615,0,0,0,0,0,0
$GC,3069,-0.44,-112.4,277.5,-8.2,376,3070,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2163,3614,0,0,0,0,0,0
$GC,3380,-0.44,-112.4,303.2,-8.3,406,3383,0.00,1.88,0.00,0.000,4,0.000,0.069,2691,3316,3614,0,0,0,0,0,0
$GC,3416,-0.45,-112.4,306.3,-8.1,409,3423,0.00,1.83,0.00,0.000,6,0.000,0.053,2691,2158,3613,0,0,0,0,0,0
$GC,3732,-0.45,-112.4,333.1,-8.9,440,3735,0.00,1.90,0.00,0.000,4,0.000,0.069,2691,3309,3613,0,0,0,0,0,0
$GC,3757,-0.45,-112.4,335.5,-9.1,442,3764,0.00,1.80,0.00,0.000,6,0.000,0.053,2690,2167,3613,0,0,0,0,0,0
$GC,4073,-0.45,-112.4,362.3,-8.6,473,4077,0.00,1.88,0.00,0.000,4,0.000,0.069,2691,3306,3612,0,0,0,0,0,0
$GC,4111,-0.46,-112.4,365.3,-8.2,476,4116,0.00,1.80,0.00,0.000,6,0.000,0.053,2690,2167,3612,0,0,0,0,0,0
$GC,4426,-0.46,-112.4,390.8,-8.2,507,4430,0.00,1.88,0.00,0.000,4,0.000,0.069,2690,3302,3611,0,0,0,0,0,0
$GC,4458,-0.48,-112.4,393.2,-8.2,510,4461,0.00,1.77,0.00,0.000,6,0.000,0.053,2690,2177,3611,0,0,0,0,0,0
$GC,4779,-0.48,-112.4,417.4,-7.6,541,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2177,3611,0,0,0,0,0,0
$GC,5091,-0.48,-112.4,439.2,-7.3,571,5094,0.00,1.85,0.00,0.000,4,0.000,0.071,2690,3310,3611,0,0,0,0,0,0
$GC,5155,-0.49,-112.4,443.4,-6.7,577,5158,0.00,1.77,0.00,0.000,6,0.000,0.053,2690,2183,3611,0,0,0,0,0,0
$GC,5474,-0.49,-112.4,464.9,-7.0,608,5479,0.00,1.85,0.00,0.000,4,0.000,0.070,2689,3301,3610,0,0,0,0,0,0
$GC,5517,-0.51,-112.4,468.0,-7.4,612,5521,0.00,1.75,0.00,0.000,6,0.000,0.054,2689,2192,3610,0,0,0,0,0,0
$GC,5838,-0.51,-112.4,491.3,-7.1,643,5842,0.00,1.85,0.00,0.000,4,0.000,0.070,2686,3310,3610,0,0,0,0,0,0
$GC,5875,-0.52,-112.4,494.1,-6.8,646,5881,0.00,1.75,0.00,0.000,6,0.000,0.054,2686,2203,3610,0,0,0,0,0,0
$GC,6190,-0.52,-112.4,517.5,-7.4,677,6194,0.00,1.83,0.00,0.000,4,0.000,0.070,2681,3307,3609,0,0,0,0,0,0
$GC,6213,-0.52,-112.4,519.1,-8.2,679,6216,0.00,1.73,0.00,0.000,6,0.000,0.054,2681,2198,3609,0,0,0,0,0,0
$GC,6532,-0.52,-112.4,544.0,-7.7,710,6533,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2197,3608,0,0,0,0,0,0
$GC,6844,-0.52,-112.4,566.9,-7.4,740,6847,0.00,1.80,0.00,0.000,4,0.000,0.071,2674,3316,3608,0,0,0,0,0,0
$GC,6897,-0.53,-112.4,571.0,-8.1,745,6900,0.00,1.75,0.00,0.000,6,0.000,0.054,2674,2207,3607,0,0,0,0,0,0
$GC,7217,-0.53,-112.4,597.7,-8.4,776,7222,0.00,1.83,0.00,0.000,4,0.000,0.070,2667,3307,3607,0,0,0,0,0,0
$GC,7249,-0.53,-112.4,600.2,-8.1,779,7253,0.00,1.73,0.00,0.000,6,0.000,0.054,2667,2214,3607,0,0,0,0,0,0
$GC,7584,-0.53,-112.4,626.1,-7.5,790,7588,0.00,1.80,0.00,0.000,4,0.000,0.070,2663,3304,3607,0,0,0,0,0,0
$GC,7616,-0.53,-112.4,628.6,-7.2,791,7620,0.00,1.73,0.00,0.000,6,0.000,0.054,2663,2215,3606,0,0,0,0,0,0
$GC,7951,-0.53,-112.4,654.8,-8.0,802,7955,0.00,1.83,0.00,0.000,4,0.000,0.071,2663,3313,3606,0,0,0,0,0,0
$GC,7972,-0.53,-112.4,656.6,-8.6,802,7976,0.00,1.75,0.00,0.000,6,0.000,0.054,2663,2220,3606,0,0,0,0,0,0
$GC,8287,-0.53,-112.4,682.7,-8.4,813,8290,0.00,1.80,0.00,0.000,4,0.000,0.072,2663,3306,3606,0,0,0,0,0,0
$GC,8344,-0.53,-112.4,687.4,-7.7,814,8350,0.00,1.73,0.00,0.000,6,0.000,0.054,2663,2227,3605,0,0,0,0,0,0
$GC,8653,-0.53,-112.4,712.5,-8.0,825,8657,0.00,1.80,0.00,0.000,4,0.000,0.071,2663,3310,3605,0,0,0,0,0,0
$GC,8707,-0.53,-112.4,716.9,-8.2,826,8710,0.00,1.70,0.00,0.000,6,0.000,0.054,2663,2239,3605,0,0,0,0,0,0
$GC,9020,-0.53,-112.4,740.4,-7.4,837,9024,0.00,1.77,0.00,0.000,4,0.000,0.072,2663,3306,3604,0,0,0,0,0,0
$GC,9062,-0.53,-112.4,743.4,-7.0,838,9067,0.00,1.70,0.00,0.000,6,0.000,0.054,2663,2244,3604,0,0,0,0,0,0
$GC,9387,-0.53,-112.4,768.9,-8.3,849,9388,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2244,3604,0,0,0,0,0,0
$GC,9690,-0.53,-112.4,793.1,-8.0,859,9694,0.00,1.77,0.00,0.000,4,0.000,0.072,2663,3310,3604,0,0,0,0,0,0
$GC,9760,-0.53,-112.4,798.5,-7.5,861,9764,0.00,1.67,0.00,0.000,6,0.000,0.055,2663,2256,3604,0,0,0,0,0,0
$GC,10090,-0.53,-112.4,823.5,-7.5,872,10094,0.00,1.75,0.00,0.000,4,0.000,0.074,2663,3304,3603,0,0,0,0,0,0
$GC,10137,-0.53,-112.4,827.1,-7.8,873,10141,0.00,1.67,0.00,0.000,6,0.000,0.055,2663,2259,3603,0,0,0,0,0,0
$GC,10457,-0.53,-112.4,850.1,-7.2,884,10461,0.00,1.75,0.00,0.000,4,0.000,0.072,2663,3309,3604,0,0,0,0,0,0
$GC,10499,-0.53,-112.4,853.2,-7.3,885,10503,0.00,1.65,0.00,0.000,6,0.000,0.055,2663,2267,3603,0,0,0,0,0,0
$GC,10824,-0.53,-112.4,878.8,-8.2,896,10828,0.00,1.75,0.00,0.000,4,0.000,0.072,2662,3313,3603,0,0,0,0,0,0
$GC,10876,-0.53,-112.4,883.0,-8.6,897,10881,0.00,1.65,0.00,0.000,6,0.000,0.055,2663,2283,3603,0,0,0,0,0,0
$GC,11191,-0.53,-112.4,908.4,-8.3,908,11195,0.00,1.70,0.00,0.000,4,0.000,0.073,2662,3301,3603,0,0,0,0,0,0
$GC,11227,-0.53,-112.4,911.4,-8.0,909,11232,0.00,1.62,0.00,0.000,6,0.000,0.056,2663,2290,3602,0,0,0,0,0,0
$GC,11558,-0.53,-112.4,938.4,-8.2,920,11562,0.00,1.70,0.00,0.000,4,0.000,0.073,2663,3308,3602,0,0,0,0,0,0
$GC,11594,-0.53,-112.4,941.5,-7.7,921,11599,0.00,1.62,0.00,0.000,6,0.000,0.056,2663,2298,3602,0,0,0,0,0,0
$GC,11925,-0.53,-112.4,967.5,-7.7,932,11929,0.00,1.70,0.00,0.000,4,0.000,0.074,2663,3313,3602,0,0,0,0,0,0
$GC,11962,-0.53,-112.4,970.3,-7.7,933,11966,0.00,1.60,0.00,0.000,6,0.000,0.056,2663,2305,3602,0,0,0,0,0,0
$STATE,12259,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12259,begin apogee
$GC,12264,-0.14,0.0,990.7,6.6,943,12360,0.45,0.00,94.72,1.236,6,0.120,0.000,2807,1993,3150,0,0,0,0,0,0
$STATE,12361,end apogee,CONTROL_FINISHED_OK
$STATE,12361,begin climb
$GC,12363,0.45,112.4,992.5,0.0,946,12470,0.55,2.12,100.05,1.193,4,0.073,0.062,3009,771,2690,0,0,0,0,0,0
$GC,12543,0.42,112.4,983.3,9.0,952,12547,0.00,2.10,0.00,0.000,6,0.000,0.058,3008,1997,2686,0,0,0,0,0,0
$GC,12879,0.38,112.4,952.4,9.3,963,12882,0.00,2.10,0.00,0.000,4,0.000,0.069,3009,3234,2684,0,0,0,0,0,0
$GC,13008,0.34,112.4,939.4,9.5,967,13011,0.12,2.00,0.00,0.000,6,0.156,0.058,2969,2016,2683,0,0,0,0,0,0
$GC,13342,0.32,112.4,915.6,6.8,978,13346,0.00,2.03,0.00,0.000,4,0.000,0.067,2976,763,2683,0,0,0,0,0,0
$GC,13416,0.30,112.4,910.6,6.5,980,13420,0.00,2.00,0.00,0.000,6,0.000,0.061,2976,1996,2682,0,0,0,0,0,0
$GC,13742,0.28,112.4,887.6,7.0,991,13745,0.00,2.03,0.00,0.000,4,0.000,0.068,2976,3229,2682,0,0,0,0,0,0
$GC,13891,0.25,112.4,876.4,7.8,995,13895,0.17,1.95,0.00,0.000,6,0.161,0.058,2938,2002,2682,0,0,0,0,0,0
$GC,14205,0.26,129.8,859.1,5.5,1006,14223,0.00,2.03,14.80,1.085,4,0.000,0.068,2945,762,2620,0,0,0,0,0,0
$GC,14283,0.27,145.4,854.3,5.5,1008,14302,0.00,2.00,14.68,1.070,6,0.000,0.060,2945,1997,2557,0,0,0,0,0,0
$GC,14635,0.27,149.4,832.5,6.0,1020,14643,0.00,2.03,5.00,0.833,4,0.000,0.070,2945,3237,2540,0,0,0,0,0,0
$GC,14676,0.27,149.4,829.7,7.0,1021,14680,0.00,2.03,0.00,0.000,6,0.000,0.058,2946,1994,2540,0,0,0,0,0,0
$GC,14995,0.27,149.4,809.3,6.6,1032,14999,0.00,2.00,0.00,0.000,4,0.000,0.067,2946,759,2539,0,0,0,0,0,0
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$STATE,26249,end climb,SURFACE_DEPTH_REACHED
$STATE,26249,begin surface coast
$FINISH,1.3,1.023966
$STATE,26297,end surface coast,CONTROL_FINISHED_OK
$STATE,26297,begin surface
$SM_CCo,26312,19.85,0.393,1,0,1722,350.04
$SM_GC,1.64,0.00,0.00,19.85,0.000,0.000,0.393,137,2079,1722,-8.48,0.11,350.04
$IRIDIUM_FIX,4713.38,-12550.40,031299,070756
$TT8_MAMPS,0.052923
$HUMID,40.62
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,23.0,44.585
$10V_AH,10.1,41.822
$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
$DEVICE_SECS,20.250,238.375,390.275,19.850,0.000,27.760,34.348,236.856,0.000,0.000,16.817,0.000,20146.324,630.798,5208.349,762.008,0.000,2541.816,0.000,4442.270,0.000,0.534,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1426.701,1706.928,1868.286,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298604
$DATA_FILE_SIZE,116720,2060
$CAP_FILE_SIZE,270237,0
$CFSIZE,260165632,230027264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.044, 45.5,1
$GPS,080910,223255,4728.854,-12557.743,55,1.3,55,18.7