version: 66.06
glider: 187
mission: 2
dive: 431
start: 9 11 110 3 58 14
data:
$ID,187
$MISSION,2
$DIVE,431
$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,-32489.215
$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,25
$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
$GPS1,035031,4719.356,-12619.563,92,0.8,92,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-78.2
$GPS2,035808,4719.341,-12619.561,13,1.5,13,18.6
$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,215.0,62385,-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,11,begin dive
$GC,13,-0.45,-112.4,0.0,0.0,0,68,0.00,0.00,-53.05,0.000,2,0.000,0.000,133,2077,2957,0,0,0,0,0,0
$GC,70,-0.45,-112.4,3.3,-2.1,10,99,10.50,2.03,-14.48,0.000,4,0.237,0.073,2700,839,3611,0,0,0,0,0,0
$GC,125,-0.35,-112.4,16.7,-23.7,20,131,0.12,1.98,0.00,0.000,6,0.133,0.058,2735,2066,3612,0,0,0,0,0,0
$GC,452,-0.35,-112.4,53.1,-10.5,81,458,0.00,2.05,0.00,0.000,4,0.000,0.064,2728,3315,3614,0,0,0,0,0,0
$GC,474,-0.35,-112.4,55.3,-10.3,85,480,0.00,1.98,0.00,0.000,6,0.000,0.051,2728,2072,3615,0,0,0,0,0,0
$GC,801,-0.35,-112.4,88.0,-8.5,146,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2070,3616,0,0,0,0,0,0
$GC,1121,-0.35,-112.4,113.2,-7.8,191,1124,0.00,2.03,0.00,0.000,4,0.000,0.065,2722,3305,3616,0,0,0,0,0,0
$GC,1147,-0.36,-112.4,115.3,-7.9,193,1154,0.00,1.92,0.00,0.000,6,0.000,0.048,2722,2075,3616,0,0,0,0,0,0
$GC,1462,-0.36,-112.4,141.3,-8.0,224,1463,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2074,3616,0,0,0,0,0,0
$GC,1774,-0.37,-112.4,162.6,-6.7,254,1777,0.00,2.00,0.00,0.000,4,0.000,0.064,2718,3316,3616,0,0,0,0,0,0
$GC,1816,-0.39,-112.4,165.3,-6.1,258,1819,0.00,1.92,0.00,0.000,6,0.000,0.050,2718,2089,3616,0,0,0,0,0,0
$GC,2138,-0.41,-112.4,189.3,-7.7,289,2140,0.00,2.00,0.00,0.000,4,0.000,0.066,2712,3320,3616,0,0,0,0,0,0
$GC,2163,-0.42,-112.4,191.3,-7.4,291,2169,0.00,1.92,0.00,0.000,6,0.000,0.051,2711,2097,3615,0,0,0,0,0,0
$GC,2479,-0.43,-112.4,214.7,-7.7,322,2482,0.00,1.98,0.00,0.000,4,0.000,0.066,2708,3320,3615,0,0,0,0,0,0
$GC,2511,-0.45,-112.4,217.2,-8.2,325,2514,0.00,1.92,0.00,0.000,6,0.000,0.051,2707,2093,3615,0,0,0,0,0,0
$GC,2831,-0.45,-112.4,243.3,-7.7,356,2831,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2093,3614,0,0,0,0,0,0
$GC,3142,-0.46,-112.4,264.8,-6.3,386,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2093,3614,0,0,0,0,0,0
$GC,3453,-0.47,-112.4,283.9,-5.9,416,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2093,3613,0,0,0,0,0,0
$GC,3764,-0.48,-112.4,303.1,-6.6,446,3767,0.00,2.00,0.00,0.000,4,0.000,0.067,2703,3320,3612,0,0,0,0,0,0
$GC,3799,-0.50,-112.4,305.7,-6.6,449,3807,0.00,1.95,0.00,0.000,6,0.000,0.053,2703,2091,3612,0,0,0,0,0,0
$GC,4115,-0.50,-112.4,328.3,-7.1,480,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2091,3611,0,0,0,0,0,0
$GC,4427,-0.50,-112.4,350.8,-7.1,510,4430,0.00,2.00,0.00,0.000,4,0.000,0.069,2699,3314,3611,0,0,0,0,0,0
$GC,4463,-0.51,-112.4,353.5,-7.2,513,4471,0.00,1.92,0.00,0.000,6,0.000,0.054,2699,2096,3611,0,0,0,0,0,0
$GC,4779,-0.51,-112.4,376.8,-7.4,544,4780,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2096,3610,0,0,0,0,0,0
$GC,5091,-0.51,-112.4,398.4,-6.4,574,5091,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2096,3610,0,0,0,0,0,0
$GC,5402,-0.51,-112.4,416.6,-5.6,604,5405,0.00,2.00,0.00,0.000,4,0.000,0.070,2695,3315,3609,0,0,0,0,0,0
$GC,5422,-0.52,-112.4,417.8,-5.7,606,5426,0.00,1.95,0.00,0.000,6,0.000,0.055,2694,2093,3609,0,0,0,0,0,0
$GC,5744,-0.52,-112.4,436.1,-5.7,637,5744,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2093,3609,0,0,0,0,0,0
$GC,6055,-0.52,-112.4,455.5,-6.4,667,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2093,3608,0,0,0,0,0,0
$GC,6366,-0.52,-112.4,477.3,-7.7,697,6369,0.00,2.00,0.00,0.000,4,0.000,0.070,2691,3311,3607,0,0,0,0,0,0
$GC,6407,-0.54,-112.4,480.4,-7.3,701,6412,0.00,1.95,0.00,0.000,6,0.000,0.055,2692,2089,3607,0,0,0,0,0,0
$GC,6728,-0.54,-112.4,505.5,-7.9,732,6729,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2089,3606,0,0,0,0,0,0
$GC,7039,-0.54,-112.4,530.3,-8.2,762,7040,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2089,3606,0,0,0,0,0,0
$GC,7350,-0.54,-112.4,554.2,-7.4,792,7354,0.00,2.03,0.00,0.000,4,0.000,0.071,2692,3306,3605,0,0,0,0,0,0
$GC,7371,-0.55,-112.4,555.8,-7.7,794,7374,0.00,1.95,0.00,0.000,6,0.000,0.056,2691,2086,3605,0,0,0,0,0,0
$GC,7691,-0.56,-112.4,577.1,-6.0,825,7692,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2086,3605,0,0,0,0,0,0
$GC,8003,-0.58,-112.4,594.9,-5.7,855,8006,0.00,2.03,0.00,0.000,4,0.000,0.071,2691,3313,3604,0,0,0,0,0,0
$GC,8046,-0.59,-112.4,597.3,-5.3,859,8049,0.00,1.95,0.00,0.000,6,0.000,0.056,2691,2095,3604,0,0,0,0,0,0
$GC,8369,-0.61,-112.4,616.1,-5.9,873,8370,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2095,3604,0,0,0,0,0,0
$GC,8673,-0.62,-112.4,635.1,-6.6,883,8677,0.10,2.00,0.00,0.000,4,0.114,0.070,2636,3321,3604,0,0,0,0,0,0
$GC,8715,-0.61,-112.4,638.8,-9.2,884,8719,0.00,1.95,0.00,0.000,6,0.000,0.055,2636,2099,3603,0,0,0,0,0,0
$GC,9040,-0.59,-112.4,670.2,-9.6,895,9041,0.00,0.00,0.00,0.000,6,0.000,0.000,2636,2099,3603,0,0,0,0,0,0
$GC,9344,-0.58,-112.4,699.2,-9.8,905,9347,0.10,2.00,0.00,0.000,4,0.176,0.071,2656,3317,3603,0,0,0,0,0,0
$GC,9380,-0.58,-112.4,702.5,-7.7,906,9384,0.00,1.95,0.00,0.000,6,0.000,0.056,2655,2099,3603,0,0,0,0,0,0
$GC,9710,-0.58,-112.4,729.3,-8.0,917,9711,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2099,3603,0,0,0,0,0,0
$GC,10014,-0.58,-112.4,753.1,-7.7,927,10018,0.00,2.03,0.00,0.000,4,0.000,0.071,2647,3312,3602,0,0,0,0,0,0
$GC,10050,-0.58,-112.4,756.0,-7.6,928,10055,0.00,1.92,0.00,0.000,6,0.000,0.056,2647,2104,3602,0,0,0,0,0,0
$GC,10381,-0.58,-112.4,782.9,-8.0,939,10381,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2104,3602,0,0,0,0,0,0
$GC,10685,-0.58,-112.4,807.7,-8.0,949,10685,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2104,3602,0,0,0,0,0,0
$GC,10988,-0.58,-112.4,832.5,-8.1,959,10988,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2104,3602,0,0,0,0,0,0
$GC,11291,-0.58,-112.4,857.5,-8.2,969,11292,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2104,3601,0,0,0,0,0,0
$GC,11594,-0.58,-112.4,882.6,-8.2,979,11598,0.00,1.98,0.00,0.000,4,0.000,0.071,2639,3303,3600,0,0,0,0,0,0
$GC,11616,-0.58,-112.4,884.3,-9.2,979,11620,0.00,1.92,0.00,0.000,6,0.000,0.056,2639,2100,3600,0,0,0,0,0,0
$GC,11929,-0.58,-112.4,910.6,-8.4,990,11930,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2100,3600,0,0,0,0,0,0
$GC,12233,-0.58,-112.4,935.1,-8.0,1000,12234,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2100,3600,0,0,0,0,0,0
$GC,12537,-0.58,-112.4,959.4,-8.1,1010,12538,0.00,0.00,0.00,0.000,6,0.000,0.000,2639,2100,3599,0,0,0,0,0,0
$GC,12840,-0.58,-112.4,984.2,-8.3,1020,12844,0.00,2.00,0.00,0.000,4,0.000,0.072,2636,3309,3599,0,0,0,0,0,0
$GC,12893,-0.58,-112.4,988.4,-8.2,1021,12897,0.08,1.92,0.00,0.000,6,0.134,0.056,2661,2107,3599,0,0,0,0,0,0
$STATE,12932,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12932,begin apogee
$GC,12937,-0.14,0.0,991.3,6.9,1023,13034,0.45,0.00,94.90,1.233,6,0.118,0.000,2807,1987,3150,0,0,0,0,0,0
$STATE,13034,end apogee,CONTROL_FINISHED_OK
$STATE,13034,begin climb
$GC,13036,0.45,112.4,993.3,0.0,1026,13143,0.55,2.12,100.20,1.195,4,0.071,0.062,3012,766,2690,0,0,0,0,0,0
$GC,13195,0.42,112.4,987.2,6.3,1031,13200,0.00,2.12,0.00,0.000,6,0.000,0.059,3012,1997,2687,0,0,0,0,0,0
$GC,13520,0.38,112.4,959.1,8.7,1042,13524,0.12,2.10,0.00,0.000,4,0.176,0.069,2982,3229,2684,0,0,0,0,0,0
$GC,13675,0.35,112.4,946.2,8.5,1046,13680,0.00,2.00,0.00,0.000,6,0.000,0.058,2988,2017,2684,0,0,0,0,0,0
$GC,13983,0.32,112.4,923.7,7.3,1057,13987,0.00,2.03,0.00,0.000,4,0.000,0.068,2988,3227,2683,0,0,0,0,0,0
$GC,14032,0.28,112.4,919.9,7.9,1058,14035,0.15,1.98,0.00,0.000,6,0.143,0.058,2952,2019,2682,0,0,0,0,0,0
$GC,14350,0.29,128.1,901.9,5.5,1069,14369,0.00,2.05,13.48,1.091,4,0.000,0.070,2952,3234,2627,0,0,0,0,0,0
$GC,14408,0.28,128.1,898.3,6.8,1070,14413,0.00,1.98,0.00,0.000,6,0.000,0.059,2958,2025,2626,0,0,0,0,0,0
$GC,14716,0.28,128.1,878.6,6.2,1081,14716,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2025,2625,0,0,0,0,0,0
$GC,15019,0.28,128.1,859.6,6.1,1091,15023,0.00,2.03,0.00,0.000,4,0.000,0.069,2958,3236,2625,0,0,0,0,0,0
$GC,15067,0.26,128.1,856.0,8.0,1092,15071,0.00,1.95,0.00,0.000,6,0.000,0.058,2964,2027,2624,0,0,0,0,0,0
$GC,15386,0.25,128.1,834.2,6.9,1103,15387,0.00,0.00,0.00,0.000,6,0.000,0.000,2964,2027,2624,0,0,0,0,0,0
$GC,15690,0.23,128.1,813.3,6.9,1113,15694,0.12,2.00,0.00,0.000,4,0.167,0.069,2931,3227,2624,0,0,0,0,0,0
$GC,15743,0.24,131.5,809.9,6.0,1114,15754,0.00,1.92,4.22,0.764,6,0.000,0.057,2933,2032,2613,0,0,0,0,0,0
$GC,16056,0.25,151.6,792.9,5.4,1125,16076,0.00,0.00,18.77,1.071,6,0.000,0.000,2932,2033,2531,0,0,0,0,0,0
$GC,16360,0.26,172.9,776.6,5.3,1135,16381,0.00,0.00,19.83,1.058,6,0.000,0.000,2933,2031,2445,0,0,0,0,0,0
$GC,16663,0.28,193.5,760.2,5.4,1145,16684,0.00,0.00,19.30,1.042,6,0.000,0.000,2932,2030,2361,0,0,0,0,0,0
$GC,16967,0.31,210.4,743.4,5.5,1155,16984,0.00,0.00,15.85,1.017,6,0.000,0.000,2932,2031,2292,0,0,0,0,0,0
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$STATE,26956,end climb,SURFACE_DEPTH_REACHED
$STATE,26956,begin surface coast
$FINISH,1.1,1.010999
$STATE,27004,end surface coast,CONTROL_FINISHED_OK
$STATE,27005,begin surface
$SM_CCo,27079,0.00,0.000,0,0,1606,378.74
$SM_GC,2.10,7.88,0.00,0.00,0.045,0.000,0.000,134,2092,1606,-8.41,0.48,378.74
$IRIDIUM_FIX,4703.87,-12614.72,051299,202021
$TT8_MAMPS,0.05369
$HUMID,39.40
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,17.90
$XPDR_PINGS,0
$24V_AH,23.0,45.710
$10V_AH,10.1,43.219
$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,20.475,191.350,429.500,0.000,0.000,26.492,31.289,247.055,0.000,0.000,13.486,0.000,21033.537,618.535,5069.756,769.688,0.000,2431.619,0.000,4333.020,0.000,0.534,0.000
$DEVICE_MAMPS,237.003,109.681,1233.336,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1491.242,1767.378,1949.809,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,119917,2154
$CAP_FILE_SIZE,257737,0
$CFSIZE,260165632,229072896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.014, 39.2,1
$GPS,110910,113036,4717.407,-12623.709,40,0.9,45,18.6