version: 66.06
glider: 187
mission: 2
dive: 283
start: 8 21 110 9 37 31
data:
$ID,187
$MISSION,2
$DIVE,283
$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,-29205.521
$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,25
$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
$GPS1,093007,4702.425,-12654.621,36,1.0,36,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.96
$_SM_ANGLEo,-76.9
$GPS2,093726,4702.373,-12654.593,13,1.7,13,18.6
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$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,26.3,178540,-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,-112.4,0.0,0.0,0,78,0.00,0.00,-63.17,0.000,2,0.000,0.000,131,2077,3086,0,0,0,0,0,0
$GC,80,-0.45,-112.4,3.4,-2.6,12,109,10.40,2.00,-11.32,0.000,4,0.244,0.074,2678,836,3612,0,0,0,0,0,0
$GC,184,-0.41,-112.4,29.2,-20.7,31,190,0.08,1.98,0.00,0.000,6,0.146,0.058,2696,2071,3614,0,0,0,0,0,0
$GC,510,-0.38,-112.4,79.0,-13.0,92,516,0.00,2.00,0.00,0.000,4,0.000,0.064,2689,3312,3615,0,0,0,0,0,0
$GC,601,-0.37,-112.4,90.6,-12.5,109,607,0.00,1.92,0.00,0.000,6,0.000,0.049,2689,2077,3616,0,0,0,0,0,0
$GC,923,-0.35,-112.4,127.3,-9.9,147,928,0.12,1.98,0.00,0.000,4,0.156,0.061,2717,3313,3617,0,0,0,0,0,0
$GC,971,-0.35,-112.4,131.2,-7.5,151,977,0.00,1.90,0.00,0.000,6,0.000,0.048,2717,2095,3618,0,0,0,0,0,0
$GC,1286,-0.35,-112.4,158.6,-9.1,182,1287,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2094,3617,0,0,0,0,0,0
$GC,1598,-0.35,-112.4,185.1,-7.9,212,1601,0.00,1.95,0.00,0.000,4,0.000,0.065,2710,3313,3618,0,0,0,0,0,0
$GC,1656,-0.36,-112.4,189.8,-8.2,217,1662,0.00,1.88,0.00,0.000,6,0.000,0.049,2709,2104,3617,0,0,0,0,0,0
$GC,1971,-0.36,-112.4,213.6,-7.1,248,1975,0.00,1.95,0.00,0.000,4,0.000,0.057,2709,850,3617,0,0,0,0,0,0
$GC,2014,-0.36,-112.4,216.7,-6.9,252,2018,0.00,1.98,0.00,0.000,6,0.000,0.056,2709,2109,3616,0,0,0,0,0,0
$GC,2335,-0.36,-112.4,240.1,-7.4,283,2338,0.00,1.92,0.00,0.000,4,0.000,0.067,2707,3306,3616,0,0,0,0,0,0
$GC,2426,-0.38,-112.4,246.6,-6.9,291,2432,0.00,1.85,0.00,0.000,6,0.000,0.051,2707,2115,3616,0,0,0,0,0,0
$GC,2741,-0.38,-112.4,269.8,-7.6,322,2742,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2115,3616,0,0,0,0,0,0
$GC,3053,-0.38,-112.4,293.3,-7.6,352,3054,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2115,3615,0,0,0,0,0,0
$GC,3363,-0.38,-112.4,316.5,-7.5,382,3366,0.00,1.92,0.00,0.000,4,0.000,0.068,2705,3318,3614,0,0,0,0,0,0
$GC,3395,-0.39,-112.4,318.9,-7.6,385,3398,0.00,1.83,0.00,0.000,6,0.000,0.054,2705,2115,3614,0,0,0,0,0,0
$GC,3714,-0.39,-112.4,345.0,-8.0,416,3715,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2115,3614,0,0,0,0,0,0
$GC,4026,-0.39,-112.4,369.5,-7.5,446,4029,0.00,1.90,0.00,0.000,4,0.000,0.069,2705,3308,3613,0,0,0,0,0,0
$GC,4056,-0.41,-112.4,371.7,-7.2,449,4061,0.00,1.85,0.00,0.000,6,0.000,0.052,2704,2119,3613,0,0,0,0,0,0
$GC,4377,-0.41,-112.4,393.4,-6.2,480,4378,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2119,3613,0,0,0,0,0,0
$GC,4688,-0.42,-112.4,412.5,-5.7,510,4692,0.00,1.95,0.00,0.000,4,0.000,0.070,2704,3314,3612,0,0,0,0,0,0
$GC,4720,-0.44,-112.4,414.4,-5.9,513,4723,0.00,1.88,0.00,0.000,6,0.000,0.054,2704,2114,3612,0,0,0,0,0,0
$GC,5041,-0.45,-112.4,433.7,-6.1,544,5042,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2114,3612,0,0,0,0,0,0
$GC,5353,-0.46,-112.4,453.2,-6.8,574,5355,0.00,1.92,0.00,0.000,4,0.000,0.071,2704,3309,3612,0,0,0,0,0,0
$GC,5420,-0.48,-112.4,457.9,-6.6,580,5426,0.00,1.85,0.00,0.000,6,0.000,0.054,2704,2122,3612,0,0,0,0,0,0
$GC,5736,-0.49,-112.4,479.4,-7.0,611,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2121,3612,0,0,0,0,0,0
$GC,6047,-0.51,-112.4,501.3,-6.8,641,6050,0.00,1.92,0.00,0.000,4,0.000,0.071,2704,3301,3612,0,0,0,0,0,0
$GC,6078,-0.52,-112.4,503.6,-7.2,644,6082,0.08,1.85,0.00,0.000,6,0.068,0.055,2654,2121,3612,0,0,0,0,0,0
$GC,6399,-0.51,-112.4,535.4,-10.0,675,6400,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2120,3612,0,0,0,0,0,0
$GC,6710,-0.50,-112.4,566.1,-10.0,705,6714,0.00,2.03,0.00,0.000,4,0.000,0.063,2654,847,3612,0,0,0,0,0,0
$GC,6741,-0.49,-112.4,569.3,-10.4,708,6745,0.00,2.05,0.00,0.000,6,0.000,0.061,2649,2139,3612,0,0,0,0,0,0
$GC,7082,-0.48,-112.4,604.1,-10.4,739,7086,0.10,1.90,0.00,0.000,4,0.169,0.071,2670,3313,3612,0,0,0,0,0,0
$GC,7145,-0.48,-112.4,609.8,-8.0,741,7150,0.00,1.85,0.00,0.000,6,0.000,0.055,2670,2139,3612,0,0,0,0,0,0
$GC,7481,-0.48,-112.4,639.5,-8.9,752,7485,0.00,2.05,0.00,0.000,4,0.000,0.062,2669,847,3611,0,0,0,0,0,0
$GC,7507,-0.48,-112.4,642.2,-10.8,752,7513,0.00,2.05,0.00,0.000,6,0.000,0.061,2664,2141,3611,0,0,0,0,0,0
$GC,7816,-0.48,-112.4,669.9,-8.9,763,7820,0.00,1.90,0.00,0.000,4,0.000,0.071,2659,3313,3612,0,0,0,0,0,0
$GC,7890,-0.48,-112.4,676.5,-8.6,765,7894,0.00,1.83,0.00,0.000,6,0.000,0.056,2660,2146,3611,0,0,0,0,0,0
$GC,8215,-0.48,-112.4,706.2,-9.5,776,8215,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2146,3611,0,0,0,0,0,0
$GC,8518,-0.48,-112.4,734.8,-9.3,786,8522,0.00,1.90,0.00,0.000,4,0.000,0.072,2652,3306,3611,0,0,0,0,0,0
$GC,8550,-0.48,-112.4,737.9,-9.5,787,8554,0.00,1.83,0.00,0.000,6,0.000,0.056,2651,2144,3611,0,0,0,0,0,0
$GC,8885,-0.48,-112.4,768.8,-9.0,798,8886,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2145,3611,0,0,0,0,0,0
$GC,9189,-0.48,-112.4,794.0,-8.0,808,9189,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2144,3612,0,0,0,0,0,0
$GC,9492,-0.48,-112.4,817.3,-7.5,818,9496,0.00,1.90,0.00,0.000,4,0.000,0.073,2644,3306,3611,0,0,0,0,0,0
$GC,9540,-0.48,-112.4,821.0,-8.1,819,9544,0.10,1.80,0.00,0.000,6,0.127,0.058,2678,2158,3612,0,0,0,0,0,0
$GC,9859,-0.48,-112.4,839.6,-5.7,830,9860,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2158,3611,0,0,0,0,0,0
$GC,10163,-0.48,-112.4,856.9,-5.7,840,10167,0.00,1.90,0.00,0.000,4,0.000,0.074,2675,3313,3612,0,0,0,0,0,0
$GC,10216,-0.49,-112.4,860.3,-6.4,841,10220,0.00,1.83,0.00,0.000,6,0.000,0.058,2675,2159,3612,0,0,0,0,0,0
$GC,10529,-0.49,-112.4,880.4,-6.6,852,10534,0.00,2.08,0.00,0.000,4,0.000,0.065,2674,847,3611,0,0,0,0,0,0
$GC,10572,-0.49,-112.4,883.6,-6.6,853,10576,0.00,2.08,0.00,0.000,6,0.000,0.064,2673,2150,3611,0,0,0,0,0,0
$GC,10897,-0.49,-112.4,906.7,-7.2,864,10901,0.00,1.90,0.00,0.000,4,0.000,0.074,2670,3312,3611,0,0,0,0,0,0
$GC,10950,-0.49,-112.4,910.7,-8.6,865,10954,0.00,1.80,0.00,0.000,6,0.000,0.058,2669,2167,3612,0,0,0,0,0,0
$GC,11264,-0.49,-112.4,934.1,-7.6,876,11265,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2167,3612,0,0,0,0,0,0
$GC,11567,-0.49,-112.4,957.4,-7.8,886,11572,0.00,1.88,0.00,0.000,4,0.000,0.075,2663,3305,3612,0,0,0,0,0,0
$GC,11609,-0.49,-112.4,960.7,-7.6,887,11614,0.00,1.83,0.00,0.000,6,0.000,0.058,2663,2158,3612,0,0,0,0,0,0
$GC,11934,-0.49,-112.4,986.4,-8.0,898,11938,0.00,1.90,0.00,0.000,4,0.000,0.074,2663,3312,3612,0,0,0,0,0,0
$GC,11966,-0.49,-112.4,988.9,-8.1,899,11970,0.00,1.80,0.00,0.000,6,0.000,0.060,2663,2174,3612,0,0,0,0,0,0
$STATE,11980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11980,begin apogee
$GC,11984,-0.14,0.0,990.1,7.6,899,12082,0.35,0.00,96.05,1.233,6,0.127,0.000,2781,2002,3150,0,0,0,0,0,0
$STATE,12082,end apogee,CONTROL_FINISHED_OK
$STATE,12082,begin climb
$GC,12084,0.45,112.4,992.6,0.0,902,12187,0.57,2.17,99.18,1.199,4,0.089,0.070,2976,3237,2691,0,0,0,0,0,0
$GC,12204,0.44,151.7,989.5,4.7,906,12244,0.00,2.12,36.17,1.157,6,0.000,0.058,2984,2005,2531,0,0,0,0,0,0
$GC,12570,0.42,151.7,959.6,8.3,919,12573,0.00,2.08,0.00,0.000,4,0.000,0.071,2984,3235,2523,0,0,0,0,0,0
$GC,12633,0.39,151.7,953.5,9.0,921,12637,0.08,2.03,0.00,0.000,6,0.153,0.058,2970,2009,2523,0,0,0,0,0,0
$GC,12968,0.38,151.7,927.5,7.8,932,12973,0.00,2.03,0.00,0.000,4,0.000,0.070,2969,3230,2523,0,0,0,0,0,0
$GC,13022,0.36,151.7,922.9,8.3,933,13025,0.00,1.98,0.00,0.000,6,0.000,0.059,2973,2011,2522,0,0,0,0,0,0
$GC,13335,0.34,151.7,896.4,8.5,944,13339,0.00,2.00,0.00,0.000,4,0.000,0.070,2973,3225,2522,0,0,0,0,0,0
$GC,13388,0.32,151.7,891.2,9.5,945,13393,0.10,1.92,0.00,0.000,6,0.139,0.060,2942,2032,2522,0,0,0,0,0,0
$GC,13702,0.32,151.7,868.4,7.4,956,13703,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2032,2521,0,0,0,0,0,0
$GC,14005,0.32,151.7,844.9,7.6,966,14006,0.00,0.00,0.00,0.000,6,0.000,0.000,2942,2032,2521,0,0,0,0,0,0
$GC,14309,0.32,151.7,821.1,7.7,976,14313,0.00,1.95,0.00,0.000,4,0.000,0.071,2942,3228,2520,0,0,0,0,0,0
$GC,14324,0.32,151.7,819.9,7.8,976,14329,0.00,1.95,0.00,0.000,6,0.000,0.059,2942,2016,2520,0,0,0,0,0,0
$GC,14644,0.32,151.7,795.2,7.5,987,14648,0.00,1.98,0.00,0.000,4,0.000,0.071,2943,3225,2520,0,0,0,0,0,0
$GC,14659,0.32,151.7,794.0,7.6,987,14664,0.00,1.92,0.00,0.000,6,0.000,0.060,2946,2029,2520,0,0,0,0,0,0
$GC,14979,0.32,151.7,771.2,6.8,998,14980,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2029,2520,0,0,0,0,0,0
$GC,15282,0.32,151.7,751.3,6.4,1008,15286,0.00,1.95,0.00,0.000,4,0.000,0.071,2946,3225,2520,0,0,0,0,0,0
$GC,15314,0.32,151.7,748.9,7.9,1009,15318,0.00,1.90,0.00,0.000,6,0.000,0.060,2946,2032,2520,0,0,0,0,0,0
$GC,15650,0.32,152.3,727.9,6.1,1020,15653,0.00,2.03,0.00,0.000,4,0.000,0.068,2946,765,2519,0,0,0,0,0,0
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$STATE,25307,end climb,SURFACE_DEPTH_REACHED
$STATE,25307,begin surface coast
$FINISH,1.1,1.012132
$STATE,25350,end surface coast,CONTROL_FINISHED_OK
$STATE,25350,begin surface
$SM_CCo,25363,12.45,0.249,1,0,1723,350.04
$SM_GC,2.39,0.00,0.00,12.45,0.000,0.000,0.249,141,2084,1723,-8.42,0.25,350.04
$IRIDIUM_FIX,4644.93,-12700.41,151199,020224
$TT8_MAMPS,0.052923
$HUMID,39.09
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,17.80
$XPDR_PINGS,0
$24V_AH,23.4,31.193
$10V_AH,10.2,27.520
$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,20.300,199.750,401.950,12.450,0.000,24.881,33.332,248.360,0.000,0.000,13.804,0.000,19784.592,631.035,4701.558,662.134,0.000,2339.446,0.000,3999.782,0.000,0.534,0.000
$DEVICE_MAMPS,243.906,123.487,1232.569,249.275,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1360.435,1604.926,1724.782,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298604
$DATA_FILE_SIZE,110522,1963
$CAP_FILE_SIZE,245918,0
$CFSIZE,260165632,239165440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.061,186.3,1
$GPS,210810,164206,4703.577,-12651.176,62,0.8,74,18.6