version: 66.06
glider: 187
mission: 2
dive: 306
start: 8 28 110 8 37 31
data:
$ID,187
$MISSION,2
$DIVE,306
$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,-29626.502
$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,23
$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
$GPS1,082937,4741.788,-12536.217,57,1.6,57,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-75.4
$GPS2,083725,4741.756,-12536.367,16,1.9,21,18.7
$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,62.4,57342,-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,-112.4,0.0,0.0,0,68,0.00,0.00,-53.75,0.000,2,0.000,0.000,132,2039,2946,0,0,0,0,0,0
$GC,70,-0.45,-112.4,3.1,-2.2,10,103,10.50,1.95,-16.38,0.000,4,0.244,0.075,2681,838,3611,0,0,0,0,0,0
$GC,183,-0.42,-112.4,23.2,-15.0,31,189,0.00,1.98,0.00,0.000,6,0.000,0.058,2674,2071,3612,0,0,0,0,0,0
$GC,509,-0.39,-112.4,71.4,-13.9,92,516,0.12,2.03,0.00,0.000,4,0.163,0.066,2701,3315,3615,0,0,0,0,0,0
$GC,616,-0.39,-112.4,82.9,-10.1,112,623,0.00,1.95,0.00,0.000,6,0.000,0.051,2701,2077,3615,0,0,0,0,0,0
$GC,942,-0.39,-112.4,120.3,-11.2,158,947,0.00,1.95,0.00,0.000,4,0.000,0.058,2701,842,3615,0,0,0,0,0,0
$GC,1012,-0.39,-112.4,127.6,-9.5,164,1018,0.00,1.98,0.00,0.000,6,0.000,0.056,2696,2091,3616,0,0,0,0,0,0
$GC,1327,-0.39,-112.4,155.0,-7.9,195,1331,0.00,1.98,0.00,0.000,4,0.000,0.066,2689,3312,3616,0,0,0,0,0,0
$GC,1423,-0.39,-112.4,161.5,-6.5,204,1427,0.00,1.90,0.00,0.000,6,0.000,0.051,2689,2096,3615,0,0,0,0,0,0
$GC,1745,-0.39,-112.4,182.7,-6.9,235,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2096,3615,0,0,0,0,0,0
$GC,2057,-0.39,-112.4,205.6,-7.6,265,2060,0.00,1.95,0.00,0.000,4,0.000,0.067,2681,3317,3616,0,0,0,0,0,0
$GC,2081,-0.39,-112.4,208.0,-8.2,267,2088,0.00,1.92,0.00,0.000,6,0.000,0.051,2680,2094,3616,0,0,0,0,0,0
$GC,2398,-0.39,-112.4,235.7,-9.1,298,2401,0.00,1.98,0.00,0.000,4,0.000,0.067,2673,3309,3615,0,0,0,0,0,0
$GC,2445,-0.39,-112.4,240.1,-9.4,302,2451,0.08,1.88,0.00,0.000,6,0.126,0.051,2700,2102,3615,0,0,0,0,0,0
$GC,2760,-0.39,-112.4,264.4,-7.7,333,2764,0.00,1.98,0.00,0.000,4,0.000,0.058,2700,852,3615,0,0,0,0,0,0
$GC,2798,-0.39,-112.4,267.4,-8.0,336,2804,0.00,1.98,0.00,0.000,6,0.000,0.057,2700,2106,3614,0,0,0,0,0,0
$GC,3113,-0.39,-112.4,289.0,-6.7,367,3117,0.00,1.92,0.00,0.000,4,0.000,0.067,2693,3303,3615,0,0,0,0,0,0
$GC,3214,-0.40,-112.4,295.8,-6.4,376,3220,0.00,1.85,0.00,0.000,6,0.000,0.052,2693,2112,3614,0,0,0,0,0,0
$GC,3529,-0.40,-112.4,317.8,-7.1,407,3534,0.00,1.92,0.00,0.000,4,0.000,0.068,2692,3301,3614,0,0,0,0,0,0
$GC,3556,-0.40,-112.4,319.8,-7.5,409,3563,0.00,1.85,0.00,0.000,6,0.000,0.053,2691,2114,3614,0,0,0,0,0,0
$GC,3871,-0.40,-112.4,343.2,-7.7,440,3872,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2114,3614,0,0,0,0,0,0
$GC,4183,-0.40,-112.4,367.0,-7.6,470,4184,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2114,3613,0,0,0,0,0,0
$GC,4493,-0.40,-112.4,392.2,-8.2,500,4497,0.00,1.95,0.00,0.000,4,0.000,0.071,2691,3313,3613,0,0,0,0,0,0
$GC,4551,-0.42,-112.4,396.9,-7.7,505,4558,0.00,1.88,0.00,0.000,6,0.000,0.053,2691,2111,3613,0,0,0,0,0,0
$GC,4866,-0.42,-112.4,423.7,-8.8,536,4870,0.00,1.95,0.00,0.000,4,0.000,0.069,2691,3312,3613,0,0,0,0,0,0
$GC,4893,-0.43,-112.4,425.9,-8.5,538,4898,0.00,1.85,0.00,0.000,6,0.000,0.054,2691,2128,3613,0,0,0,0,0,0
$GC,5208,-0.43,-112.4,452.6,-8.4,569,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2128,3612,0,0,0,0,0,0
$GC,5519,-0.43,-112.4,476.4,-7.4,599,5523,0.00,1.92,0.00,0.000,4,0.000,0.071,2690,3309,3612,0,0,0,0,0,0
$GC,5556,-0.44,-112.4,479.2,-7.4,602,5561,0.00,1.85,0.00,0.000,6,0.000,0.054,2691,2123,3612,0,0,0,0,0,0
$GC,5871,-0.44,-112.4,500.8,-6.6,633,5872,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2123,3612,0,0,0,0,0,0
$GC,6183,-0.44,-112.4,521.4,-6.5,663,6186,0.00,1.92,0.00,0.000,4,0.000,0.071,2690,3318,3612,0,0,0,0,0,0
$GC,6213,-0.45,-112.4,523.4,-6.5,666,6217,0.00,1.85,0.00,0.000,6,0.000,0.054,2690,2138,3612,0,0,0,0,0,0
$GC,6535,-0.45,-112.4,544.4,-6.6,697,6538,0.00,1.88,0.00,0.000,4,0.000,0.070,2690,3304,3612,0,0,0,0,0,0
$GC,6571,-0.47,-112.4,546.9,-6.4,700,6577,0.00,1.83,0.00,0.000,6,0.000,0.054,2690,2141,3611,0,0,0,0,0,0
$GC,6886,-0.47,-112.4,568.4,-7.1,731,6891,0.00,2.08,0.00,0.000,4,0.000,0.062,2690,841,3611,0,0,0,0,0,0
$GC,6923,-0.47,-112.4,571.1,-7.1,734,6930,0.00,2.05,0.00,0.000,6,0.000,0.060,2690,2133,3611,0,0,0,0,0,0
$GC,7239,-0.47,-112.4,594.7,-7.8,765,7244,0.00,1.90,0.00,0.000,4,0.000,0.071,2690,3302,3611,0,0,0,0,0,0
$GC,7287,-0.48,-112.4,598.4,-8.1,769,7294,0.00,1.83,0.00,0.000,6,0.000,0.054,2690,2138,3611,0,0,0,0,0,0
$GC,7616,-0.49,-112.4,625.2,-8.3,782,7620,0.00,1.90,0.00,0.000,4,0.000,0.071,2690,3299,3611,0,0,0,0,0,0
$GC,7670,-0.51,-112.4,629.2,-7.4,783,7673,0.00,1.80,0.00,0.000,6,0.000,0.055,2690,2148,3611,0,0,0,0,0,0
$GC,7983,-0.51,-112.4,649.7,-6.2,794,7987,0.00,1.90,0.00,0.000,4,0.000,0.072,2690,3309,3611,0,0,0,0,0,0
$GC,8020,-0.53,-112.4,652.0,-6.1,795,8024,0.00,1.83,0.00,0.000,6,0.000,0.055,2690,2147,3612,0,0,0,0,0,0
$GC,8351,-0.53,-112.4,671.0,-5.8,806,8354,0.00,2.08,0.00,0.000,4,0.000,0.063,2690,846,3611,0,0,0,0,0,0
$GC,8387,-0.54,-112.4,673.4,-6.1,807,8391,0.00,2.05,0.00,0.000,6,0.000,0.062,2690,2135,3611,0,0,0,0,0,0
$GC,8717,-0.54,-112.4,692.3,-5.8,818,8722,0.00,1.92,0.00,0.000,4,0.000,0.074,2690,3309,3611,0,0,0,0,0,0
$GC,8803,-0.56,-112.4,697.1,-6.2,820,8807,0.08,1.83,0.00,0.000,6,0.068,0.056,2641,2143,3611,0,0,0,0,0,0
$GC,9116,-0.55,-112.4,721.9,-7.9,831,9120,0.00,2.08,0.00,0.000,4,0.000,0.063,2641,845,3611,0,0,0,0,0,0
$GC,9154,-0.53,-112.4,725.2,-8.7,832,9157,0.00,2.08,0.00,0.000,6,0.000,0.061,2634,2154,3611,0,0,0,0,0,0
$GC,9483,-0.52,-112.4,753.2,-8.6,843,9488,0.12,1.88,0.00,0.000,4,0.167,0.071,2661,3309,3611,0,0,0,0,0,0
$GC,9589,-0.52,-112.4,760.5,-6.3,846,9594,0.00,1.83,0.00,0.000,6,0.000,0.055,2662,2157,3611,0,0,0,0,0,0
$GC,9915,-0.52,-112.4,781.8,-6.6,857,9915,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2156,3611,0,0,0,0,0,0
$GC,10218,-0.52,-112.4,801.7,-6.7,867,10218,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2156,3611,0,0,0,0,0,0
$GC,10521,-0.52,-112.4,821.9,-6.6,877,10525,0.00,2.08,0.00,0.000,4,0.000,0.063,2661,846,3611,0,0,0,0,0,0
$GC,10548,-0.52,-112.4,823.6,-8.1,877,10554,0.00,2.10,0.00,0.000,6,0.000,0.062,2654,2162,3611,0,0,0,0,0,0
$GC,10856,-0.52,-112.4,846.1,-7.6,888,10860,0.00,1.88,0.00,0.000,4,0.000,0.073,2646,3310,3611,0,0,0,0,0,0
$GC,10904,-0.52,-112.4,850.0,-8.1,889,10908,0.00,1.83,0.00,0.000,6,0.000,0.057,2646,2163,3611,0,0,0,0,0,0
$GC,11224,-0.52,-112.4,878.1,-9.0,900,11227,0.00,1.88,0.00,0.000,4,0.000,0.074,2638,3303,3611,0,0,0,0,0,0
$GC,11298,-0.52,-112.4,885.1,-9.2,902,11302,0.00,1.77,0.00,0.000,6,0.000,0.057,2638,2178,3611,0,0,0,0,0,0
$GC,11622,-0.51,-112.4,915.1,-9.0,913,11627,0.12,2.12,0.00,0.000,4,0.165,0.064,2673,847,3611,0,0,0,0,0,0
$GC,11655,-0.51,-112.4,917.6,-7.7,914,11658,0.00,2.10,0.00,0.000,6,0.000,0.064,2668,2157,3611,0,0,0,0,0,0
$GC,11989,-0.51,-112.4,941.1,-7.2,925,11993,0.00,1.88,0.00,0.000,4,0.000,0.074,2663,3305,3611,0,0,0,0,0,0
$GC,12031,-0.51,-112.4,944.1,-7.1,926,12036,0.00,1.83,0.00,0.000,6,0.000,0.057,2663,2157,3610,0,0,0,0,0,0
$GC,12357,-0.51,-112.4,968.1,-7.7,937,12360,0.00,2.08,0.00,0.000,4,0.000,0.064,2663,847,3611,0,0,0,0,0,0
$GC,12382,-0.51,-112.4,970.4,-9.3,937,12389,0.00,2.10,0.00,0.000,6,0.000,0.062,2663,2161,3611,0,0,0,0,0,0
$STATE,12629,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12629,begin apogee
$GC,12633,-0.14,0.0,990.7,8.3,946,12731,0.38,0.00,96.15,1.236,6,0.122,0.000,2785,1997,3150,0,0,0,0,0,0
$STATE,12732,end apogee,CONTROL_FINISHED_OK
$STATE,12732,begin climb
$GC,12733,0.45,112.4,993.7,0.0,949,12839,0.57,2.12,99.15,1.199,4,0.087,0.066,2986,773,2691,0,0,0,0,0,0
$GC,12870,0.44,141.3,989.9,5.1,953,12901,0.00,2.10,26.92,1.146,6,0.000,0.059,2986,1998,2574,0,0,0,0,0,0
$GC,13215,0.42,141.3,963.5,7.9,965,13219,0.00,2.08,0.00,0.000,4,0.000,0.068,2986,3237,2567,0,0,0,0,0,0
$GC,13321,0.39,141.3,954.5,9.2,968,13325,0.10,1.98,0.00,0.000,6,0.147,0.058,2965,2032,2567,0,0,0,0,0,0
$GC,13646,0.37,141.3,930.1,7.9,979,13650,0.00,2.03,0.00,0.000,4,0.000,0.069,2964,3240,2567,0,0,0,0,0,0
$GC,13694,0.35,141.3,925.9,8.6,980,13698,0.00,1.98,0.00,0.000,6,0.000,0.058,2971,2022,2566,0,0,0,0,0,0
$GC,14013,0.33,141.3,897.9,8.4,991,14013,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2022,2567,0,0,0,0,0,0
$GC,14316,0.32,141.3,873.7,7.8,1001,14321,0.12,2.00,0.00,0.000,4,0.168,0.069,2938,3231,2567,0,0,0,0,0,0
$GC,14375,0.32,141.3,869.6,7.5,1002,14381,0.00,1.90,0.00,0.000,6,0.000,0.058,2943,2046,2566,0,0,0,0,0,0
$GC,14683,0.32,151.4,851.2,5.7,1013,14697,0.00,2.10,8.95,1.017,4,0.000,0.067,2946,759,2532,0,0,0,0,0,0
$GC,14714,0.34,174.2,849.5,5.3,1014,14739,0.00,2.05,21.45,1.092,6,0.000,0.060,2946,2037,2439,0,0,0,0,0,0
$GC,15049,0.34,174.2,827.8,6.5,1025,15052,0.00,1.92,0.00,0.000,4,0.000,0.070,2946,3233,2436,0,0,0,0,0,0
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$STATE,26108,end climb,SURFACE_DEPTH_REACHED
$STATE,26108,begin surface coast
$FINISH,1.6,1.024216
$STATE,26146,end surface coast,CONTROL_FINISHED_OK
$STATE,26146,begin surface
$SM_CCo,26221,0.00,0.000,0,0,1679,360.59
$SM_GC,2.70,7.75,0.00,0.00,0.041,0.000,0.000,136,2068,1679,-8.35,-0.20,360.59
$IRIDIUM_FIX,4722.92,-12534.86,221199,010109
$TT8_MAMPS,0.052156
$HUMID,38.54
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.4,34.604
$10V_AH,10.2,31.250
$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
$DEVICE_SECS,20.575,243.850,412.275,0.000,0.000,33.123,39.176,252.421,0.000,0.000,21.693,0.000,20334.482,674.765,4923.379,714.509,0.000,2510.771,0.000,4182.713,0.000,0.533,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1388.056,1683.204,1730.554,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298588
$DATA_FILE_SIZE,110644,2005
$CAP_FILE_SIZE,262663,0
$CFSIZE,260165632,236466176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.086,307.3,1
$GPS,280810,155531,4743.080,-12533.105,41,1.5,41,18.7