version: 66.06
glider: 187
mission: 2
dive: 436
start: 9 12 110 18 4 56
data:
$ID,187
$MISSION,2
$DIVE,436
$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,-32571.129
$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,30
$R_STBD_OVSHOOT,33
$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
$GPS1,175707,4710.049,-12639.223,54,0.9,54,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.99
$_SM_ANGLEo,-76.4
$GPS2,180450,4710.000,-12639.147,18,1.1,18,18.6
$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,214.7,32198,-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,-112.4,0.0,0.0,0,72,0.00,0.00,-56.75,0.000,2,0.000,0.000,131,2080,2970,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.3,-2.5,11,102,10.43,2.03,-14.20,0.000,4,0.233,0.075,2695,3305,3610,0,0,0,0,0,0
$GC,135,-0.38,-112.4,17.2,-21.0,22,141,0.10,1.95,0.00,0.000,6,0.134,0.048,2727,2082,3612,0,0,0,0,0,0
$GC,462,-0.38,-112.4,63.1,-10.5,83,468,0.00,1.98,0.00,0.000,4,0.000,0.062,2721,3296,3614,0,0,0,0,0,0
$GC,553,-0.38,-112.4,71.7,-9.0,100,559,0.00,1.92,0.00,0.000,6,0.000,0.048,2721,2074,3615,0,0,0,0,0,0
$GC,884,-0.38,-112.4,105.3,-9.1,157,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,2071,3616,0,0,0,0,0,0
$GC,1196,-0.38,-112.4,134.6,-10.3,187,1199,0.00,1.98,0.00,0.000,4,0.000,0.064,2713,3301,3616,0,0,0,0,0,0
$GC,1231,-0.40,-112.4,138.3,-9.5,190,1238,0.00,1.92,0.00,0.000,6,0.000,0.048,2713,2071,3616,0,0,0,0,0,0
$GC,1547,-0.40,-112.4,161.6,-6.9,221,1551,0.00,2.03,0.00,0.000,4,0.000,0.064,2708,3305,3615,0,0,0,0,0,0
$GC,1579,-0.41,-112.4,163.9,-7.1,224,1583,0.00,1.92,0.00,0.000,6,0.000,0.049,2708,2077,3615,0,0,0,0,0,0
$GC,1899,-0.41,-112.4,190.1,-8.2,255,1903,0.00,2.00,0.00,0.000,4,0.000,0.065,2705,3295,3615,0,0,0,0,0,0
$GC,1976,-0.43,-112.4,195.9,-7.9,262,1978,0.00,1.88,0.00,0.000,6,0.000,0.050,2705,2071,3614,0,0,0,0,0,0
$GC,2295,-0.43,-112.4,223.5,-8.9,293,2299,0.00,2.00,0.00,0.000,4,0.000,0.066,2705,3292,3614,0,0,0,0,0,0
$GC,2327,-0.44,-112.4,226.1,-8.4,296,2331,0.00,1.88,0.00,0.000,6,0.000,0.051,2704,2096,3613,0,0,0,0,0,0
$GC,2648,-0.46,-112.4,248.9,-6.2,327,2652,0.00,1.98,0.00,0.000,4,0.000,0.055,2705,849,3613,0,0,0,0,0,0
$GC,2759,-0.46,-112.4,255.9,-6.5,337,2765,0.00,1.83,0.00,0.000,6,0.000,0.054,2705,2007,3612,0,0,0,0,0,0
$GC,3075,-0.48,-112.4,275.5,-6.6,368,3079,0.00,2.08,0.00,0.000,4,0.000,0.065,2704,3295,3611,0,0,0,0,0,0
$GC,3108,-0.50,-112.4,277.6,-7.0,371,3111,0.00,1.80,0.00,0.000,6,0.000,0.051,2705,2145,3611,0,0,0,0,0,0
$GC,3428,-0.54,-112.4,300.9,-7.3,402,3432,0.00,1.90,0.00,0.000,4,0.000,0.067,2705,3295,3611,0,0,0,0,0,0
$GC,3508,-0.56,-112.4,307.0,-7.7,409,3513,0.00,1.98,0.00,0.000,6,0.000,0.052,2705,2043,3610,0,0,0,0,0,0
$GC,3823,-0.57,-112.4,331.6,-7.7,440,3827,0.00,2.08,0.00,0.000,4,0.000,0.067,2705,3302,3610,0,0,0,0,0,0
$GC,3850,-0.59,-112.4,333.8,-7.9,442,3857,0.08,1.98,0.00,0.000,6,0.062,0.052,2651,2051,3609,0,0,0,0,0,0
$GC,4165,-0.57,-112.4,368.6,-10.9,473,4166,0.00,0.00,0.00,0.000,6,0.000,0.000,2652,2049,3609,0,0,0,0,0,0
$GC,4477,-0.56,-112.4,401.2,-10.0,503,4480,0.00,2.05,0.00,0.000,4,0.000,0.068,2643,3309,3608,0,0,0,0,0,0
$GC,4513,-0.56,-112.4,405.0,-9.6,506,4520,0.00,1.98,0.00,0.000,6,0.000,0.051,2643,2055,3608,0,0,0,0,0,0
$GC,4828,-0.55,-112.4,437.0,-10.0,537,4833,0.12,2.05,0.00,0.000,4,0.160,0.068,2672,3298,3607,0,0,0,0,0,0
$GC,4860,-0.55,-112.4,439.9,-8.5,540,4864,0.00,1.95,0.00,0.000,6,0.000,0.053,2672,2061,3607,0,0,0,0,0,0
$GC,5182,-0.55,-112.4,467.6,-8.7,571,5185,0.00,2.03,0.00,0.000,4,0.000,0.068,2664,3307,3606,0,0,0,0,0,0
$GC,5255,-0.55,-112.4,474.4,-8.3,578,5259,0.00,1.98,0.00,0.000,6,0.000,0.052,2664,2058,3606,0,0,0,0,0,0
$GC,5576,-0.55,-112.4,504.0,-8.9,609,5580,0.00,2.05,0.00,0.000,4,0.000,0.068,2663,3298,3605,0,0,0,0,0,0
$GC,5645,-0.55,-112.4,509.8,-7.6,615,5652,0.00,1.92,0.00,0.000,6,0.000,0.053,2663,2076,3605,0,0,0,0,0,0
$GC,5962,-0.55,-112.4,536.4,-8.2,646,5965,0.00,2.00,0.00,0.000,4,0.000,0.070,2663,3299,3604,0,0,0,0,0,0
$GC,6014,-0.55,-112.4,540.7,-8.1,651,6018,0.00,1.92,0.00,0.000,6,0.000,0.053,2663,2081,3604,0,0,0,0,0,0
$GC,6336,-0.55,-112.4,568.6,-9.0,682,6339,0.00,2.03,0.00,0.000,4,0.000,0.070,2663,3301,3603,0,0,0,0,0,0
$GC,6361,-0.55,-112.4,571.0,-8.9,684,6368,0.00,1.92,0.00,0.000,6,0.000,0.054,2663,2085,3603,0,0,0,0,0,0
$GC,6678,-0.55,-112.4,599.7,-9.3,715,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2085,3603,0,0,0,0,0,0
$GC,6992,-0.55,-112.4,628.2,-9.2,726,6995,0.00,2.00,0.00,0.000,4,0.000,0.071,2662,3302,3602,0,0,0,0,0,0
$GC,7071,-0.55,-112.4,635.2,-8.4,728,7075,0.00,1.92,0.00,0.000,6,0.000,0.054,2662,2086,3602,0,0,0,0,0,0
$GC,7391,-0.55,-112.4,662.3,-8.2,739,7394,0.00,2.03,0.00,0.000,4,0.000,0.071,2661,3302,3601,0,0,0,0,0,0
$GC,7432,-0.55,-112.4,665.8,-7.9,740,7437,0.00,1.90,0.00,0.000,6,0.000,0.054,2661,2099,3601,0,0,0,0,0,0
$GC,7757,-0.55,-112.4,690.4,-7.3,751,7761,0.00,2.00,0.00,0.000,4,0.000,0.070,2659,3300,3600,0,0,0,0,0,0
$GC,7799,-0.55,-112.4,693.5,-6.8,752,7804,0.00,1.92,0.00,0.000,6,0.000,0.054,2659,2093,3600,0,0,0,0,0,0
$GC,8125,-0.55,-112.4,716.3,-7.1,763,8128,0.00,1.98,0.00,0.000,4,0.000,0.070,2651,3298,3600,0,0,0,0,0,0
$GC,8156,-0.55,-112.4,718.7,-7.2,764,8160,0.00,1.90,0.00,0.000,6,0.000,0.054,2650,2102,3600,0,0,0,0,0,0
$GC,8492,-0.55,-112.4,744.1,-7.7,775,8496,0.00,1.98,0.00,0.000,4,0.000,0.071,2643,3302,3599,0,0,0,0,0,0
$GC,8528,-0.55,-112.4,747.0,-7.9,776,8533,0.10,1.90,0.00,0.000,6,0.125,0.054,2677,2107,3598,0,0,0,0,0,0
$GC,8858,-0.55,-112.4,769.1,-6.9,787,8863,0.00,1.95,0.00,0.000,4,0.000,0.071,2677,3290,3598,0,0,0,0,0,0
$GC,8896,-0.56,-112.4,771.5,-7.2,788,8899,0.00,1.90,0.00,0.000,6,0.000,0.055,2676,2099,3598,0,0,0,0,0,0
$GC,9225,-0.56,-112.4,795.3,-7.3,799,9230,0.00,1.98,0.00,0.000,4,0.000,0.071,2676,3296,3598,0,0,0,0,0,0
$GC,9262,-0.57,-112.4,797.9,-7.4,800,9266,0.00,1.90,0.00,0.000,6,0.000,0.055,2676,2104,3598,0,0,0,0,0,0
$GC,9593,-0.57,-112.4,821.4,-7.1,811,9597,0.00,1.98,0.00,0.000,4,0.000,0.071,2676,3297,3597,0,0,0,0,0,0
$GC,9640,-0.59,-112.4,824.7,-6.9,812,9644,0.00,1.90,0.00,0.000,6,0.000,0.055,2676,2108,3598,0,0,0,0,0,0
$GC,9959,-0.59,-112.4,846.1,-6.9,823,9963,0.00,1.98,0.00,0.000,4,0.000,0.071,2676,3304,3597,0,0,0,0,0,0
$GC,9992,-0.60,-112.4,848.2,-6.1,824,9995,0.00,1.90,0.00,0.000,6,0.000,0.056,2676,2117,3597,0,0,0,0,0,0
$GC,10326,-0.60,-112.4,871.2,-6.9,835,10330,0.00,1.95,0.00,0.000,4,0.000,0.071,2676,3297,3597,0,0,0,0,0,0
$GC,10363,-0.62,-112.4,873.7,-7.0,836,10367,0.00,1.88,0.00,0.000,6,0.000,0.055,2676,2117,3597,0,0,0,0,0,0
$GC,10694,-0.62,-112.4,895.6,-6.5,847,10697,0.00,1.95,0.00,0.000,4,0.000,0.072,2673,3296,3596,0,0,0,0,0,0
$GC,10730,-0.63,-112.4,898.0,-6.3,848,10734,0.00,1.88,0.00,0.000,6,0.000,0.055,2672,2122,3596,0,0,0,0,0,0
$GC,11061,-0.63,-112.4,917.9,-6.0,859,11064,0.00,1.95,0.00,0.000,4,0.000,0.072,2673,3302,3596,0,0,0,0,0,0
$GC,11103,-0.65,-112.4,920.2,-5.3,860,11107,0.00,1.88,0.00,0.000,6,0.000,0.056,2673,2132,3596,0,0,0,0,0,0
$GC,11427,-0.65,-112.4,938.1,-5.6,871,11431,0.00,1.92,0.00,0.000,4,0.000,0.073,2673,3295,3595,0,0,0,0,0,0
$GC,11460,-0.66,-112.4,939.9,-5.2,872,11463,0.00,1.85,0.00,0.000,6,0.000,0.057,2672,2140,3595,0,0,0,0,0,0
$GC,11794,-0.66,-112.4,959.3,-6.0,883,11795,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2139,3595,0,0,0,0,0,0
$GC,12098,-0.66,-112.4,977.4,-6.0,893,12102,0.00,1.92,0.00,0.000,4,0.000,0.071,2672,3293,3595,0,0,0,0,0,0
$GC,12151,-0.68,-112.4,980.8,-6.1,894,12155,0.08,1.85,0.00,0.000,6,0.064,0.056,2626,2137,3595,0,0,0,0,0,0
$STATE,12281,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12281,begin apogee
$GC,12285,-0.14,0.0,991.7,8.6,899,12381,0.57,0.00,93.38,1.239,6,0.127,0.000,2807,1999,3150,0,0,0,0,0,0
$STATE,12381,end apogee,CONTROL_FINISHED_OK
$STATE,12381,begin climb
$GC,12383,0.45,112.4,993.7,0.0,902,12490,0.55,2.15,99.90,1.197,4,0.071,0.061,3011,774,2690,0,0,0,0,0,0
$GC,12526,0.42,112.4,988.5,6.7,906,12533,0.00,2.10,0.00,0.000,6,0.000,0.058,3011,1987,2687,0,0,0,0,0,0
$GC,12835,0.38,112.4,961.5,8.9,917,12839,0.12,2.10,0.00,0.000,4,0.173,0.067,2981,3237,2685,0,0,0,0,0,0
$GC,12973,0.34,112.4,949.3,8.2,921,12977,0.00,2.00,0.00,0.000,6,0.000,0.056,2987,2020,2684,0,0,0,0,0,0
$GC,13298,0.32,112.4,923.5,7.8,932,13302,0.00,2.03,0.00,0.000,4,0.000,0.069,2987,3259,2684,0,0,0,0,0,0
$GC,13362,0.28,112.4,918.1,9.0,934,13366,0.15,2.03,0.00,0.000,6,0.142,0.056,2950,2017,2683,0,0,0,0,0,0
$GC,13697,0.29,118.9,898.2,5.9,945,13704,0.00,0.00,5.70,0.910,6,0.000,0.000,2950,2016,2664,0,0,0,0,0,0
$GC,14000,0.29,118.9,879.5,6.1,955,14004,0.00,2.05,0.00,0.000,4,0.000,0.069,2950,3237,2664,0,0,0,0,0,0
$GC,14043,0.27,118.9,876.6,7.1,956,14047,0.00,1.98,0.00,0.000,6,0.000,0.057,2956,2019,2664,0,0,0,0,0,0
$GC,14368,0.26,118.9,856.3,6.1,967,14372,0.00,2.05,0.00,0.000,4,0.000,0.070,2956,3240,2664,0,0,0,0,0,0
$GC,14410,0.24,118.9,853.4,8.1,968,14414,0.00,1.95,0.00,0.000,6,0.000,0.057,2961,2035,2663,0,0,0,0,0,0
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$STATE,26621,end climb,SURFACE_DEPTH_REACHED
$STATE,26621,begin surface coast
$FINISH,1.3,1.021668
$STATE,26654,end surface coast,CONTROL_FINISHED_OK
$STATE,26654,begin surface
$SM_CCo,26729,0.00,0.000,0,0,1499,404.99
$SM_GC,1.91,7.90,0.00,0.00,0.042,0.000,0.000,143,2078,1499,-8.40,0.08,404.99
$IRIDIUM_FIX,4654.38,-12643.33,071299,101004
$TT8_MAMPS,0.05369
$HUMID,39.91
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,17.40
$XPDR_PINGS,0
$24V_AH,23.0,46.435
$10V_AH,10.1,44.068
$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,20.725,213.525,444.350,0.000,0.000,26.292,31.003,247.065,0.000,0.000,18.155,0.000,20757.527,629.001,5016.669,742.472,0.000,2460.985,0.000,4259.246,0.000,0.534,0.000
$DEVICE_MAMPS,233.168,128.856,1238.705,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1410.845,1648.270,1775.092,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298588
$DATA_FILE_SIZE,113625,2039
$CAP_FILE_SIZE,260881,0
$CFSIZE,260165632,228483072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.022, 50.4,1
$GPS,130910,013125,4708.318,-12643.237,42,1.0,42,18.6