version: 66.06
glider: 187
mission: 2
dive: 284
start: 8 21 110 16 49 19
data:
$ID,187
$MISSION,2
$DIVE,284
$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,-29216.41
$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,28
$R_STBD_OVSHOOT,35
$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
$GPS1,164206,4703.577,-12651.176,62,0.8,74,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.98
$_SM_ANGLEo,-77.9
$GPS2,164914,4703.549,-12651.166,10,2.0,10,18.6
$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,22.4,173814,-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,11,begin dive
$GC,13,-0.45,-112.4,0.0,0.0,0,67,0.00,0.00,-53.05,0.000,2,0.000,0.000,133,2083,2963,0,0,0,0,0,0
$GC,69,-0.45,-112.4,3.0,-2.2,10,102,10.35,2.00,-15.60,0.000,4,0.242,0.073,2680,840,3611,0,0,0,0,0,0
$GC,203,-0.41,-112.4,30.8,-20.0,35,209,0.00,1.95,0.00,0.000,6,0.000,0.057,2673,2060,3612,0,0,0,0,0,0
$GC,530,-0.37,-112.4,83.3,-15.3,96,536,0.15,2.03,0.00,0.000,4,0.163,0.064,2708,3313,3615,0,0,0,0,0,0
$GC,599,-0.37,-112.4,92.0,-11.5,109,606,0.00,1.92,0.00,0.000,6,0.000,0.048,2707,2077,3615,0,0,0,0,0,0
$GC,918,-0.37,-112.4,128.5,-10.2,146,922,0.00,2.00,0.00,0.000,4,0.000,0.062,2699,3310,3616,0,0,0,0,0,0
$GC,997,-0.37,-112.4,136.1,-9.1,153,1006,0.00,1.88,0.00,0.000,6,0.000,0.048,2699,2109,3616,0,0,0,0,0,0
$GC,1314,-0.37,-112.4,165.3,-8.9,184,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2109,3616,0,0,0,0,0,0
$GC,1625,-0.37,-112.4,193.4,-8.7,214,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2109,3616,0,0,0,0,0,0
$GC,1936,-0.37,-112.4,221.4,-9.5,244,1939,0.00,1.92,0.00,0.000,4,0.000,0.067,2692,3310,3616,0,0,0,0,0,0
$GC,1987,-0.37,-112.4,226.0,-8.8,249,1992,0.00,1.90,0.00,0.000,6,0.000,0.051,2692,2092,3616,0,0,0,0,0,0
$GC,2309,-0.37,-112.4,254.2,-8.4,280,2312,0.00,1.98,0.00,0.000,4,0.000,0.067,2684,3310,3615,0,0,0,0,0,0
$GC,2340,-0.37,-112.4,257.1,-9.1,283,2344,0.00,1.88,0.00,0.000,6,0.000,0.052,2684,2106,3615,0,0,0,0,0,0
$GC,2660,-0.37,-112.4,285.8,-8.8,314,2662,0.10,0.00,0.00,0.000,6,0.166,0.000,2711,2106,3614,0,0,0,0,0,0
$GC,2971,-0.38,-112.4,309.3,-7.7,344,2975,0.00,1.95,0.00,0.000,4,0.000,0.070,2707,3308,3613,0,0,0,0,0,0
$GC,3019,-0.40,-112.4,313.2,-7.8,348,3026,0.00,1.85,0.00,0.000,6,0.000,0.051,2707,2117,3613,0,0,0,0,0,0
$GC,3335,-0.40,-112.4,338.5,-8.0,379,3339,0.00,1.98,0.00,0.000,4,0.000,0.058,2707,814,3613,0,0,0,0,0,0
$GC,3388,-0.41,-112.4,343.2,-8.7,384,3392,0.00,2.05,0.00,0.000,6,0.000,0.058,2706,2117,3612,0,0,0,0,0,0
$GC,3709,-0.44,-112.4,367.2,-6.7,415,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2117,3612,0,0,0,0,0,0
$GC,4021,-0.46,-112.4,387.8,-6.3,445,4024,0.00,1.98,0.00,0.000,4,0.000,0.061,2705,843,3611,0,0,0,0,0,0
$GC,4089,-0.46,-112.4,392.3,-6.4,451,4095,0.00,2.00,0.00,0.000,6,0.000,0.059,2706,2102,3611,0,0,0,0,0,0
$GC,4404,-0.48,-112.4,413.0,-6.6,482,4409,0.00,1.95,0.00,0.000,4,0.000,0.070,2705,3307,3610,0,0,0,0,0,0
$GC,4516,-0.50,-112.4,420.5,-6.6,492,4523,0.00,1.88,0.00,0.000,6,0.000,0.054,2705,2102,3610,0,0,0,0,0,0
$GC,4833,-0.51,-112.4,442.5,-7.1,523,4836,0.10,1.95,0.00,0.000,4,0.112,0.070,2649,3302,3609,0,0,0,0,0,0
$GC,4885,-0.50,-112.4,447.7,-10.2,528,4889,0.00,1.88,0.00,0.000,6,0.000,0.054,2648,2100,3609,0,0,0,0,0,0
$GC,5207,-0.48,-112.4,480.4,-10.0,559,5210,0.10,1.92,0.00,0.000,4,0.176,0.071,2668,3313,3608,0,0,0,0,0,0
$GC,5232,-0.48,-112.4,482.7,-8.5,561,5240,0.00,1.90,0.00,0.000,6,0.000,0.054,2668,2107,3608,0,0,0,0,0,0
$GC,5548,-0.47,-112.4,509.6,-8.3,592,5552,0.00,1.95,0.00,0.000,4,0.000,0.071,2660,3304,3608,0,0,0,0,0,0
$GC,5590,-0.47,-112.4,513.3,-8.7,596,5595,0.00,1.88,0.00,0.000,6,0.000,0.054,2660,2104,3607,0,0,0,0,0,0
$GC,5911,-0.46,-112.4,543.1,-9.4,627,5915,0.00,1.95,0.00,0.000,4,0.000,0.071,2652,3302,3606,0,0,0,0,0,0
$GC,5964,-0.46,-112.4,548.0,-9.6,632,5969,0.08,1.85,0.00,0.000,6,0.124,0.054,2678,2125,3606,0,0,0,0,0,0
$GC,6285,-0.46,-112.4,573.8,-7.8,663,6285,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,2125,3606,0,0,0,0,0,0
$GC,6596,-0.46,-112.4,597.6,-7.6,693,6600,0.00,1.92,0.00,0.000,4,0.000,0.072,2673,3307,3605,0,0,0,0,0,0
$GC,6648,-0.46,-112.4,601.7,-8.0,696,6653,0.00,1.85,0.00,0.000,6,0.000,0.054,2673,2132,3605,0,0,0,0,0,0
$GC,6963,-0.46,-112.4,626.0,-7.6,707,6966,0.00,1.92,0.00,0.000,4,0.000,0.072,2666,3310,3604,0,0,0,0,0,0
$GC,6988,-0.46,-112.4,628.2,-8.8,707,6995,0.00,1.85,0.00,0.000,6,0.000,0.056,2666,2140,3605,0,0,0,0,0,0
$GC,7297,-0.46,-112.4,651.9,-7.6,718,7298,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2139,3604,0,0,0,0,0,0
$GC,7601,-0.46,-112.4,674.4,-7.4,728,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2140,3604,0,0,0,0,0,0
$GC,7904,-0.46,-112.4,696.2,-7.2,738,7909,0.00,1.90,0.00,0.000,4,0.000,0.071,2662,3306,3603,0,0,0,0,0,0
$GC,7936,-0.46,-112.4,698.4,-7.5,739,7940,0.00,1.83,0.00,0.000,6,0.000,0.055,2661,2151,3603,0,0,0,0,0,0
$GC,8271,-0.46,-112.4,723.2,-7.4,750,8272,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2151,3603,0,0,0,0,0,0
$GC,8574,-0.46,-112.4,745.7,-7.3,760,8579,0.00,1.90,0.00,0.000,4,0.000,0.071,2654,3312,3602,0,0,0,0,0,0
$GC,8622,-0.46,-112.4,749.4,-7.7,761,8627,0.12,1.83,0.00,0.000,6,0.150,0.056,2689,2157,3602,0,0,0,0,0,0
$GC,8942,-0.46,-112.4,769.2,-6.1,772,8943,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2157,3602,0,0,0,0,0,0
$GC,9245,-0.46,-112.4,787.6,-6.0,782,9246,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2157,3602,0,0,0,0,0,0
$GC,9548,-0.46,-112.4,805.6,-5.9,792,9553,0.00,2.05,0.00,0.000,4,0.000,0.063,2689,856,3601,0,0,0,0,0,0
$GC,9575,-0.47,-112.4,807.5,-6.6,792,9581,0.00,2.08,0.00,0.000,6,0.000,0.063,2689,2162,3601,0,0,0,0,0,0
$GC,9884,-0.48,-112.4,825.0,-5.6,803,9888,0.00,1.88,0.00,0.000,4,0.000,0.074,2689,3313,3601,0,0,0,0,0,0
$GC,9942,-0.50,-112.4,828.3,-5.7,804,9948,0.00,1.77,0.00,0.000,6,0.000,0.057,2689,2178,3600,0,0,0,0,0,0
$GC,10251,-0.51,-112.4,845.9,-5.6,815,10255,0.00,2.10,0.00,0.000,4,0.000,0.064,2689,849,3600,0,0,0,0,0,0
$GC,10298,-0.52,-112.4,848.9,-6.5,816,10302,0.00,2.10,0.00,0.000,6,0.000,0.064,2689,2164,3600,0,0,0,0,0,0
$GC,10618,-0.54,-112.4,866.7,-5.7,827,10622,0.00,1.83,0.00,0.000,4,0.000,0.074,2689,3300,3599,0,0,0,0,0,0
$GC,10676,-0.56,-112.4,869.9,-5.4,828,10682,0.08,1.77,0.00,0.000,6,0.068,0.057,2642,2169,3600,0,0,0,0,0,0
$GC,10984,-0.55,-112.4,893.7,-7.8,839,10989,0.00,2.08,0.00,0.000,4,0.000,0.063,2642,850,3599,0,0,0,0,0,0
$GC,11044,-0.54,-112.4,898.6,-8.2,840,11049,0.00,2.10,0.00,0.000,6,0.000,0.064,2635,2165,3598,0,0,0,0,0,0
$GC,11351,-0.52,-112.4,923.6,-8.0,851,11356,0.12,1.88,0.00,0.000,4,0.169,0.073,2663,3313,3598,0,0,0,0,0,0
$GC,11410,-0.52,-112.4,927.7,-6.2,852,11416,0.00,1.80,0.00,0.000,6,0.000,0.058,2663,2179,3598,0,0,0,0,0,0
$GC,11719,-0.52,-112.4,948.8,-7.0,863,11723,0.00,2.10,0.00,0.000,4,0.000,0.065,2663,849,3598,0,0,0,0,0,0
$GC,11761,-0.52,-112.4,952.1,-7.6,864,11765,0.00,2.10,0.00,0.000,6,0.000,0.064,2663,2167,3598,0,0,0,0,0,0
$GC,12086,-0.52,-112.4,975.7,-7.3,875,12090,0.00,1.83,0.00,0.000,4,0.000,0.074,2663,3302,3598,0,0,0,0,0,0
$GC,12117,-0.52,-112.4,977.9,-6.8,876,12121,0.00,1.80,0.00,0.000,6,0.000,0.058,2663,2168,3598,0,0,0,0,0,0
$STATE,12300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12300,begin apogee
$GC,12303,-0.14,0.0,990.8,7.0,882,12398,0.40,0.00,93.22,1.233,6,0.125,0.000,2791,1999,3150,0,0,0,0,0,0
$STATE,12399,end apogee,CONTROL_FINISHED_OK
$STATE,12399,begin climb
$GC,12401,0.45,112.4,993.0,0.0,885,12503,0.57,0.00,99.07,1.197,6,0.081,0.000,2983,1999,2691,0,0,0,0,0,0
$GC,12785,0.43,112.4,970.1,7.4,898,12789,0.00,2.10,0.00,0.000,4,0.000,0.069,2983,3231,2685,0,0,0,0,0,0
$GC,12876,0.39,112.4,962.8,8.0,900,12882,0.10,1.98,0.00,0.000,6,0.154,0.058,2963,2024,2685,0,0,0,0,0,0
$GC,13184,0.37,112.4,943.3,6.4,911,13188,0.00,2.00,0.00,0.000,4,0.000,0.070,2962,3232,2685,0,0,0,0,0,0
$GC,13221,0.34,112.4,940.8,7.1,912,13225,0.00,1.95,0.00,0.000,6,0.000,0.058,2969,2028,2685,0,0,0,0,0,0
$GC,13552,0.32,112.4,918.4,6.7,923,13555,0.00,2.00,0.00,0.000,4,0.000,0.071,2969,3230,2685,0,0,0,0,0,0
$GC,13609,0.29,112.4,914.1,7.8,924,13616,0.12,1.92,0.00,0.000,6,0.142,0.058,2937,2032,2685,0,0,0,0,0,0
$GC,13918,0.30,125.2,897.0,5.6,935,13933,0.00,1.95,11.52,1.076,4,0.000,0.070,2937,3238,2638,0,0,0,0,0,0
$GC,13992,0.29,125.2,892.4,7.0,937,13997,0.00,1.90,0.00,0.000,6,0.000,0.058,2942,2059,2637,0,0,0,0,0,0
$GC,14312,0.29,127.6,873.3,6.0,948,14315,0.00,1.95,0.00,0.000,4,0.000,0.071,2942,3233,2637,0,0,0,0,0,0
$GC,14332,0.29,127.6,871.9,6.2,948,14336,0.00,1.90,0.00,0.000,6,0.000,0.059,2946,2058,2637,0,0,0,0,0,0
$GC,14646,0.29,127.6,852.0,6.4,959,14651,0.00,0.00,3.90,0.734,6,0.000,0.000,2946,2058,2629,0,0,0,0,0,0
$GC,14950,0.29,127.6,832.5,6.4,969,14954,0.00,1.95,0.00,0.000,4,0.000,0.071,2946,3236,2629,0,0,0,0,0,0
$GC,14965,0.28,127.6,831.3,6.5,969,14969,0.00,1.88,0.00,0.000,6,0.000,0.059,2946,2064,2629,0,0,0,0,0,0
$GC,15284,0.28,127.6,810.9,6.2,980,15289,0.00,1.90,0.00,0.000,4,0.000,0.071,2946,3230,2628,0,0,0,0,0,0
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$STATE,24494,end climb,SURFACE_DEPTH_REACHED
$STATE,24494,begin surface coast
$FINISH,1.2,1.011652
$STATE,24532,end surface coast,CONTROL_FINISHED_OK
$STATE,24532,begin surface
$SM_CCo,24605,0.00,0.000,0,0,1285,457.48
$SM_GC,2.07,7.95,0.00,0.00,0.048,0.000,0.000,153,2073,1285,-8.33,-0.06,457.48
$IRIDIUM_FIX,4648.08,-12637.66,151199,090905
$TT8_MAMPS,0.052923
$HUMID,39.80
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,23.5,31.359
$10V_AH,10.2,27.668
$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,20.900,203.625,501.075,0.000,0.000,28.328,29.580,241.229,0.000,0.000,10.258,0.000,19280.824,699.652,4370.765,638.879,0.000,2349.883,0.000,3706.328,0.000,0.533,0.000
$DEVICE_MAMPS,241.605,131.924,1232.569,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1223.115,1445.063,1459.680,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298588
$DATA_FILE_SIZE,101240,1765
$CAP_FILE_SIZE,241302,0
$CFSIZE,260165632,239067136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081, 92.6,1
$GPS,210810,234025,4705.146,-12648.029,44,1.4,44,18.6