version: 66.06
glider: 187
mission: 2
dive: 302
start: 8 27 110 3 39 55
data:
$ID,187
$MISSION,2
$DIVE,302
$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,-29536.037
$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,26
$R_STBD_OVSHOOT,28
$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
$GPS1,033300,4734.641,-12548.353,43,1.0,43,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-73.2
$GPS2,033950,4734.586,-12548.339,12,1.3,12,18.7
$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,25.3,77027,-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,-112.4,0.0,0.0,0,81,0.00,0.00,-66.47,0.000,2,0.000,0.000,131,2086,2934,0,0,0,0,0,0
$GC,83,-0.45,-112.4,3.0,-2.1,12,118,10.35,2.03,-16.88,0.000,4,0.240,0.075,2678,834,3611,0,0,0,0,0,0
$GC,234,-0.43,-112.4,29.4,-15.7,40,241,0.00,1.98,0.00,0.000,6,0.000,0.056,2672,2072,3613,0,0,0,0,0,0
$GC,561,-0.41,-112.4,75.1,-13.1,101,568,0.12,2.00,0.00,0.000,4,0.162,0.064,2699,3307,3615,0,0,0,0,0,0
$GC,637,-0.41,-112.4,83.1,-10.4,115,643,0.00,1.92,0.00,0.000,6,0.000,0.051,2698,2081,3615,0,0,0,0,0,0
$GC,962,-0.41,-112.4,117.5,-10.6,161,966,0.00,1.92,0.00,0.000,4,0.000,0.057,2698,845,3615,0,0,0,0,0,0
$GC,1042,-0.41,-112.4,125.6,-9.5,168,1050,0.00,1.98,0.00,0.000,6,0.000,0.055,2693,2085,3616,0,0,0,0,0,0
$GC,1358,-0.41,-112.4,152.7,-7.1,199,1362,0.00,1.98,0.00,0.000,4,0.000,0.066,2684,3311,3615,0,0,0,0,0,0
$GC,1426,-0.41,-112.4,157.9,-7.1,205,1434,0.00,1.95,0.00,0.000,6,0.000,0.051,2684,2072,3615,0,0,0,0,0,0
$GC,1742,-0.41,-112.4,183.9,-8.0,236,1743,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2070,3615,0,0,0,0,0,0
$GC,2053,-0.41,-112.4,207.9,-7.9,266,2054,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2070,3615,0,0,0,0,0,0
$GC,2364,-0.41,-112.4,234.3,-8.9,296,2367,0.00,2.00,0.00,0.000,4,0.000,0.068,2676,3318,3614,0,0,0,0,0,0
$GC,2421,-0.41,-112.4,239.5,-8.9,301,2428,0.00,1.92,0.00,0.000,6,0.000,0.052,2676,2092,3614,0,0,0,0,0,0
$GC,2737,-0.41,-112.4,268.6,-9.2,332,2741,0.00,1.98,0.00,0.000,4,0.000,0.068,2667,3306,3613,0,0,0,0,0,0
$GC,2780,-0.41,-112.4,272.7,-9.7,336,2784,0.08,1.88,0.00,0.000,6,0.128,0.052,2693,2097,3613,0,0,0,0,0,0
$GC,3101,-0.41,-112.4,297.6,-7.4,367,3104,0.00,1.95,0.00,0.000,4,0.000,0.068,2689,3301,3613,0,0,0,0,0,0
$GC,3133,-0.41,-112.4,300.0,-7.5,370,3136,0.00,1.85,0.00,0.000,6,0.000,0.054,2689,2114,3613,0,0,0,0,0,0
$GC,3453,-0.41,-112.4,325.2,-8.0,401,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2114,3612,0,0,0,0,0,0
$GC,3764,-0.41,-112.4,351.1,-8.2,431,3767,0.00,1.95,0.00,0.000,4,0.000,0.071,2686,3311,3611,0,0,0,0,0,0
$GC,3817,-0.41,-112.4,355.6,-8.3,436,3821,0.00,1.85,0.00,0.000,6,0.000,0.054,2685,2126,3611,0,0,0,0,0,0
$GC,4137,-0.41,-112.4,383.6,-9.0,467,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2126,3611,0,0,0,0,0,0
$GC,4449,-0.41,-112.4,411.8,-9.2,497,4452,0.00,1.90,0.00,0.000,4,0.000,0.070,2679,3309,3610,0,0,0,0,0,0
$GC,4506,-0.41,-112.4,417.4,-9.4,502,4512,0.00,1.88,0.00,0.000,6,0.000,0.054,2679,2119,3610,0,0,0,0,0,0
$GC,4822,-0.41,-112.4,447.2,-9.2,533,4826,0.00,1.92,0.00,0.000,4,0.000,0.070,2672,3301,3609,0,0,0,0,0,0
$GC,4885,-0.41,-112.4,453.5,-10.3,539,4890,0.08,1.85,0.00,0.000,6,0.126,0.054,2698,2116,3609,0,0,0,0,0,0
$GC,5206,-0.41,-112.4,478.7,-6.7,570,5207,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2117,3609,0,0,0,0,0,0
$GC,5518,-0.42,-112.4,499.0,-6.5,600,5521,0.00,1.92,0.00,0.000,4,0.000,0.071,2695,3313,3609,0,0,0,0,0,0
$GC,5592,-0.43,-112.4,504.1,-6.9,607,5595,0.00,1.85,0.00,0.000,6,0.000,0.054,2694,2124,3608,0,0,0,0,0,0
$GC,5912,-0.43,-112.4,526.4,-7.2,638,5916,0.00,2.00,0.00,0.000,4,0.000,0.061,2694,848,3607,0,0,0,0,0,0
$GC,5949,-0.43,-112.4,529.4,-7.6,641,5956,0.00,2.03,0.00,0.000,6,0.000,0.060,2692,2128,3607,0,0,0,0,0,0
$GC,6264,-0.43,-112.4,552.2,-7.3,672,6269,0.00,1.90,0.00,0.000,4,0.000,0.070,2692,3305,3606,0,0,0,0,0,0
$GC,6333,-0.45,-112.4,557.1,-6.5,678,6340,0.00,1.83,0.00,0.000,6,0.000,0.054,2692,2138,3606,0,0,0,0,0,0
$GC,6650,-0.45,-112.4,578.7,-6.7,709,6653,0.00,1.88,0.00,0.000,4,0.000,0.071,2691,3301,3606,0,0,0,0,0,0
$GC,6681,-0.46,-112.4,580.8,-6.8,712,6685,0.00,1.80,0.00,0.000,6,0.000,0.056,2691,2151,3606,0,0,0,0,0,0
$GC,7022,-0.46,-112.4,604.1,-6.8,741,7023,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2150,3605,0,0,0,0,0,0
$GC,7324,-0.46,-112.4,624.5,-6.7,751,7328,0.00,1.90,0.00,0.000,4,0.000,0.071,2691,3309,3605,0,0,0,0,0,0
$GC,7367,-0.48,-112.4,627.3,-6.3,752,7371,0.00,1.83,0.00,0.000,6,0.000,0.055,2691,2146,3605,0,0,0,0,0,0
$GC,7692,-0.49,-112.4,647.7,-6.4,763,7693,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2145,3604,0,0,0,0,0,0
$GC,7995,-0.50,-112.4,668.0,-6.8,773,7999,0.00,1.90,0.00,0.000,4,0.000,0.071,2691,3306,3604,0,0,0,0,0,0
$GC,8032,-0.52,-112.4,670.6,-6.5,774,8036,0.00,1.80,0.00,0.000,6,0.000,0.056,2691,2158,3604,0,0,0,0,0,0
$GC,8362,-0.53,-112.4,692.9,-6.9,785,8366,0.00,1.88,0.00,0.000,4,0.000,0.072,2691,3306,3604,0,0,0,0,0,0
$GC,8399,-0.55,-112.4,695.4,-7.0,786,8403,0.00,1.83,0.00,0.000,6,0.000,0.056,2691,2144,3604,0,0,0,0,0,0
$GC,8729,-0.56,-112.4,717.9,-6.8,797,8730,0.12,0.00,0.00,0.000,6,0.099,0.000,2634,2144,3604,0,0,0,0,0,0
$GC,9033,-0.54,-112.4,747.2,-9.6,807,9036,0.00,1.90,0.00,0.000,4,0.000,0.071,2625,3306,3603,0,0,0,0,0,0
$GC,9080,-0.53,-112.4,752.1,-9.7,808,9084,0.10,1.80,0.00,0.000,6,0.136,0.056,2659,2161,3604,0,0,0,0,0,0
$GC,9400,-0.53,-112.4,778.3,-8.3,819,9400,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2160,3603,0,0,0,0,0,0
$GC,9703,-0.53,-112.4,803.4,-8.3,829,9703,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2160,3603,0,0,0,0,0,0
$GC,10006,-0.53,-112.4,828.6,-8.4,839,10007,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2160,3602,0,0,0,0,0,0
$GC,10309,-0.53,-112.4,853.9,-8.2,849,10314,0.00,1.88,0.00,0.000,4,0.000,0.072,2653,3305,3602,0,0,0,0,0,0
$GC,10384,-0.53,-112.4,860.5,-8.5,851,10388,0.00,1.77,0.00,0.000,6,0.000,0.057,2653,2172,3602,0,0,0,0,0,0
$GC,10709,-0.53,-112.4,889.4,-8.9,862,10709,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2172,3602,0,0,0,0,0,0
$GC,11012,-0.53,-112.4,915.0,-8.3,872,11013,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2172,3602,0,0,0,0,0,0
$GC,11316,-0.53,-112.4,939.4,-7.8,882,11317,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2172,3601,0,0,0,0,0,0
$GC,11619,-0.53,-112.4,962.0,-7.3,892,11620,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2172,3601,0,0,0,0,0,0
$GC,11922,-0.53,-112.4,982.6,-6.5,902,11923,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2172,3600,0,0,0,0,0,0
$STATE,12042,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12042,begin apogee
$GC,12047,-0.14,0.0,990.1,6.3,906,12142,0.43,0.00,93.60,1.236,6,0.125,0.000,2790,2002,3150,0,0,0,0,0,0
$STATE,12143,end apogee,CONTROL_FINISHED_OK
$STATE,12143,begin climb
$GC,12144,0.45,112.4,991.3,0.0,909,12250,0.55,2.17,98.72,1.198,4,0.084,0.065,2986,767,2690,0,0,0,0,0,0
$GC,12259,0.43,112.4,986.0,6.6,912,12265,0.00,2.12,0.00,0.000,6,0.000,0.058,2986,1999,2689,0,0,0,0,0,0
$GC,12568,0.39,112.4,957.1,9.8,923,12572,0.00,2.10,0.00,0.000,4,0.000,0.070,2986,3239,2685,0,0,0,0,0,0
$GC,12724,0.36,112.4,939.9,10.8,927,12729,0.17,1.95,0.00,0.000,6,0.166,0.058,2950,2029,2684,0,0,0,0,0,0
$GC,13031,0.35,112.4,915.7,7.5,938,13032,0.00,0.00,0.00,0.000,6,0.000,0.000,2950,2029,2684,0,0,0,0,0,0
$GC,13335,0.33,112.4,894.0,7.1,948,13339,0.00,1.98,0.00,0.000,4,0.000,0.070,2950,3229,2682,0,0,0,0,0,0
$GC,13382,0.31,112.9,890.5,6.1,949,13386,0.00,1.95,0.00,0.000,6,0.000,0.058,2955,2017,2682,0,0,0,0,0,0
$GC,13702,0.30,112.9,868.7,6.6,960,13706,0.00,2.03,0.00,0.000,4,0.000,0.071,2955,3241,2682,0,0,0,0,0,0
$GC,13718,0.28,112.9,867.8,6.6,960,13722,0.10,1.95,0.00,0.000,6,0.143,0.059,2929,2032,2682,0,0,0,0,0,0
$GC,14036,0.30,139.3,850.9,5.1,971,14063,0.00,1.98,22.75,1.115,4,0.000,0.068,2929,3236,2580,0,0,0,0,0,0
$GC,14088,0.30,142.3,848.1,6.0,971,14097,0.00,1.95,3.88,0.700,6,0.000,0.058,2932,2031,2569,0,0,0,0,0,0
$GC,14429,0.31,165.9,830.1,5.2,983,14454,0.00,1.98,22.00,1.091,4,0.000,0.067,2932,3236,2473,0,0,0,0,0,0
$GC,14474,0.31,165.9,827.6,6.2,983,14478,0.00,1.98,0.00,0.000,6,0.000,0.058,2933,2026,2471,0,0,0,0,0,0
$GC,14788,0.32,181.3,810.4,5.5,994,14808,0.00,2.08,14.15,1.047,4,0.000,0.067,2933,770,2411,0,0,0,0,0,0
$GC,14824,0.37,229.8,808.5,4.3,995,14873,0.00,2.08,43.40,1.088,6,0.000,0.060,2933,2045,2213,0,0,0,0,0,0
$GC,15183,0.39,232.9,787.8,6.0,1007,15187,0.00,1.98,0.00,0.000,4,0.000,0.071,2933,3231,2206,0,0,0,0,0,0
$GC,15198,0.40,232.9,786.7,6.5,1007,15203,0.00,1.92,0.00,0.000,6,0.000,0.059,2933,2049,2205,0,0,0,0,0,0
$GC,15518,0.42,232.9,766.4,6.3,1018,15522,0.10,2.10,0.00,0.000,4,0.114,0.068,2979,765,2205,0,0,0,0,0,0
$GC,15544,0.42,232.9,764.6,7.5,1018,15550,0.00,2.05,0.00,0.000,6,0.000,0.061,2979,2038,2204,0,0,0,0,0,0
$GC,15852,0.42,232.9,736.4,9.1,1029,15856,0.00,1.95,0.00,0.000,4,0.000,0.069,2979,3226,2205,0,0,0,0,0,0
$GC,15873,0.42,232.9,734.4,8.8,1029,15878,0.00,1.92,0.00,0.000,6,0.000,0.058,2983,2038,2204,0,0,0,0,0,0
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$STATE,25472,end climb,SURFACE_DEPTH_REACHED
$STATE,25472,begin surface coast
$FINISH,1.3,1.023988
$STATE,25499,end surface coast,CONTROL_FINISHED_OK
$STATE,25500,begin surface
$SM_CCo,25573,0.00,0.000,0,0,1043,516.85
$SM_GC,2.24,8.00,0.00,0.00,0.045,0.000,0.000,141,2049,1043,-8.34,-0.74,516.85
$IRIDIUM_FIX,4716.56,-12603.75,201199,202005
$TT8_MAMPS,0.052923
$HUMID,37.83
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,15.70
$XPDR_PINGS,0
$24V_AH,23.4,34.022
$10V_AH,10.1,30.594
$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,20.425,200.125,525.975,0.000,0.000,25.525,32.189,224.935,0.000,0.000,12.186,0.000,19824.242,681.912,4803.333,633.667,0.000,2476.184,0.000,4094.450,0.000,0.533,0.000
$DEVICE_MAMPS,240.071,77.467,1235.637,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1396.816,1664.533,1833.643,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298604
$DATA_FILE_SIZE,113613,2021
$CAP_FILE_SIZE,245509,0
$CFSIZE,260165632,236957696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.023,199.8,1
$GPS,270810,104707,4736.720,-12545.233,42,1.4,42,18.7