version: 66.06
glider: 187
mission: 2
dive: 308
start: 8 28 110 23 16 7
data:
$ID,187
$MISSION,2
$DIVE,308
$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,-29659.928
$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,23
$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
$GPS1,230837,4744.705,-12529.664,36,1.6,36,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-70.9
$GPS2,231602,4744.692,-12529.698,13,1.7,13,18.7
$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,82.0,47450,-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,-112.4,0.0,0.0,0,84,0.00,0.00,-69.72,0.000,2,0.000,0.000,131,2081,3039,0,0,0,0,0,0
$GC,86,-0.45,-112.4,3.3,-2.2,13,115,10.45,1.98,-13.12,0.000,4,0.241,0.073,2678,829,3609,0,0,0,0,0,0
$GC,264,-0.43,-112.4,35.0,-15.2,46,270,0.00,2.00,0.00,0.000,6,0.000,0.056,2672,2073,3612,0,0,0,0,0,0
$GC,590,-0.40,-112.4,77.1,-12.0,107,596,0.12,2.03,0.00,0.000,4,0.163,0.064,2698,3318,3613,0,0,0,0,0,0
$GC,692,-0.40,-112.4,86.8,-9.0,126,698,0.00,1.95,0.00,0.000,6,0.000,0.050,2698,2077,3614,0,0,0,0,0,0
$GC,1012,-0.40,-112.4,117.8,-8.3,169,1013,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2075,3614,0,0,0,0,0,0
$GC,1324,-0.40,-112.4,141.9,-7.3,199,1325,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2075,3615,0,0,0,0,0,0
$GC,1634,-0.40,-112.4,166.3,-7.4,229,1637,0.00,2.00,0.00,0.000,4,0.000,0.067,2690,3320,3614,0,0,0,0,0,0
$GC,1659,-0.40,-112.4,168.4,-7.6,231,1666,0.00,1.92,0.00,0.000,6,0.000,0.051,2690,2093,3614,0,0,0,0,0,0
$GC,1975,-0.40,-112.4,193.1,-8.0,262,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2092,3614,0,0,0,0,0,0
$GC,2287,-0.40,-112.4,218.7,-8.1,292,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2092,3613,0,0,0,0,0,0
$GC,2597,-0.40,-112.4,243.9,-8.1,322,2598,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2092,3612,0,0,0,0,0,0
$GC,2908,-0.40,-112.4,269.4,-8.2,352,2911,0.00,1.98,0.00,0.000,4,0.000,0.069,2683,3317,3612,0,0,0,0,0,0
$GC,2965,-0.40,-112.4,274.5,-8.4,357,2972,0.00,1.92,0.00,0.000,6,0.000,0.052,2683,2095,3611,0,0,0,0,0,0
$GC,3282,-0.40,-112.4,303.0,-9.0,388,3285,0.00,1.98,0.00,0.000,4,0.000,0.069,2674,3323,3611,0,0,0,0,0,0
$GC,3333,-0.40,-112.4,307.9,-9.3,393,3338,0.00,1.90,0.00,0.000,6,0.000,0.053,2674,2107,3611,0,0,0,0,0,0
$GC,3655,-0.40,-112.4,340.1,-10.1,424,3656,0.10,0.00,0.00,0.000,6,0.169,0.000,2700,2107,3611,0,0,0,0,0,0
$GC,3965,-0.40,-112.4,366.5,-8.4,454,3969,0.00,1.98,0.00,0.000,4,0.000,0.069,2695,3316,3611,0,0,0,0,0,0
$GC,4039,-0.41,-112.4,372.6,-7.8,461,4043,0.00,1.90,0.00,0.000,6,0.000,0.053,2694,2100,3610,0,0,0,0,0,0
$GC,4360,-0.41,-112.4,398.4,-8.0,492,4361,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2100,3610,0,0,0,0,0,0
$GC,4672,-0.41,-112.4,422.8,-7.8,522,4675,0.00,1.92,0.00,0.000,4,0.000,0.070,2692,3313,3610,0,0,0,0,0,0
$GC,4788,-0.43,-112.4,431.7,-7.4,533,4792,0.00,1.85,0.00,0.000,6,0.000,0.053,2691,2125,3608,0,0,0,0,0,0
$GC,5108,-0.43,-112.4,456.0,-7.8,564,5113,0.00,1.92,0.00,0.000,4,0.000,0.070,2691,3306,3609,0,0,0,0,0,0
$GC,5141,-0.44,-112.4,458.2,-6.8,567,5145,0.00,1.85,0.00,0.000,6,0.000,0.054,2691,2125,3608,0,0,0,0,0,0
$GC,5462,-0.44,-112.4,482.0,-7.3,598,5463,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2125,3607,0,0,0,0,0,0
$GC,5774,-0.44,-112.4,505.5,-7.2,628,5776,0.00,1.90,0.00,0.000,4,0.000,0.071,2691,3318,3607,0,0,0,0,0,0
$GC,5825,-0.45,-112.4,509.1,-6.9,633,5829,0.00,1.85,0.00,0.000,6,0.000,0.054,2691,2140,3607,0,0,0,0,0,0
$GC,6147,-0.45,-112.4,530.9,-6.5,664,6150,0.00,2.00,0.00,0.000,4,0.000,0.061,2691,845,3606,0,0,0,0,0,0
$GC,6183,-0.45,-112.4,533.5,-6.9,667,6189,0.00,2.03,0.00,0.000,6,0.000,0.058,2691,2131,3606,0,0,0,0,0,0
$GC,6499,-0.45,-112.4,552.9,-6.0,698,6503,0.00,1.92,0.00,0.000,4,0.000,0.070,2691,3317,3605,0,0,0,0,0,0
$GC,6568,-0.47,-112.4,556.7,-5.7,704,6575,0.00,1.85,0.00,0.000,6,0.000,0.054,2691,2136,3606,0,0,0,0,0,0
$GC,6883,-0.47,-112.4,572.6,-5.0,735,6887,0.00,2.03,0.00,0.000,4,0.000,0.062,2691,846,3605,0,0,0,0,0,0
$GC,6915,-0.47,-112.4,574.3,-6.3,738,6919,0.00,2.05,0.00,0.000,6,0.000,0.060,2691,2141,3606,0,0,0,0,0,0
$GC,7237,-0.47,-112.4,588.1,-4.2,769,7240,0.00,1.88,0.00,0.000,4,0.000,0.071,2691,3313,3605,0,0,0,0,0,0
$GC,7294,-0.48,-112.4,590.8,-4.7,774,7301,0.00,1.83,0.00,0.000,6,0.000,0.054,2691,2147,3605,0,0,0,0,0,0
$GC,7608,-0.48,-112.4,607.1,-5.7,797,7609,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2146,3604,0,0,0,0,0,0
$GC,7910,-0.48,-112.4,626.4,-6.8,807,7915,0.00,1.90,0.00,0.000,4,0.000,0.071,2691,3305,3604,0,0,0,0,0,0
$GC,7942,-0.50,-112.4,628.6,-7.0,808,7947,0.00,1.80,0.00,0.000,6,0.000,0.055,2691,2156,3604,0,0,0,0,0,0
$GC,8278,-0.50,-112.4,650.5,-6.3,819,8278,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2155,3604,0,0,0,0,0,0
$GC,8581,-0.50,-112.4,669.5,-6.3,829,8582,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2155,3603,0,0,0,0,0,0
$GC,8884,-0.51,-112.4,688.2,-6.2,839,8889,0.00,1.90,0.00,0.000,4,0.000,0.072,2691,3315,3603,0,0,0,0,0,0
$GC,8911,-0.53,-112.4,689.8,-6.4,839,8917,0.00,1.83,0.00,0.000,6,0.000,0.057,2691,2157,3603,0,0,0,0,0,0
$GC,9220,-0.54,-112.4,708.7,-6.0,850,9220,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2157,3603,0,0,0,0,0,0
$GC,9523,-0.55,-112.4,727.7,-6.5,860,9527,0.00,1.90,0.00,0.000,4,0.000,0.071,2690,3314,3602,0,0,0,0,0,0
$GC,9582,-0.57,-112.4,731.3,-6.0,861,9587,0.08,1.80,0.00,0.000,6,0.066,0.055,2641,2166,3603,0,0,0,0,0,0
$GC,9890,-0.56,-112.4,757.2,-8.6,872,9894,0.00,1.88,0.00,0.000,4,0.000,0.071,2634,3308,3602,0,0,0,0,0,0
$GC,9922,-0.54,-112.4,760.1,-8.7,873,9926,0.00,1.80,0.00,0.000,6,0.000,0.057,2634,2167,3602,0,0,0,0,0,0
$GC,10257,-0.53,-112.4,790.5,-9.4,884,10261,0.10,1.88,0.00,0.000,4,0.179,0.073,2653,3310,3602,0,0,0,0,0,0
$GC,10299,-0.53,-112.4,794.1,-7.9,885,10303,0.00,1.83,0.00,0.000,6,0.000,0.057,2653,2163,3601,0,0,0,0,0,0
$GC,10624,-0.53,-112.4,821.9,-8.8,896,10628,0.00,1.90,0.00,0.000,4,0.000,0.073,2645,3313,3601,0,0,0,0,0,0
$GC,10661,-0.53,-112.4,825.1,-9.0,897,10665,0.00,1.80,0.00,0.000,6,0.000,0.057,2645,2180,3601,0,0,0,0,0,0
$GC,10991,-0.52,-112.4,853.5,-8.9,908,10995,0.00,2.10,0.00,0.000,4,0.000,0.063,2645,850,3600,0,0,0,0,0,0
$GC,11023,-0.51,-112.4,856.3,-9.2,909,11027,0.08,2.12,0.00,0.000,6,0.144,0.061,2663,2183,3600,0,0,0,0,0,0
$GC,11358,-0.51,-112.4,882.1,-7.5,920,11358,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2183,3600,0,0,0,0,0,0
$GC,11661,-0.51,-112.4,904.4,-7.3,930,11662,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2183,3599,0,0,0,0,0,0
$GC,11965,-0.57,-112.4,912.7,0.1,940,11969,0.00,1.83,0.00,0.000,4,0.000,0.072,2662,3317,3600,0,0,0,0,0,0
$STATE,12203,end dive,NO_VERTICAL_VELOCITY
$STATE,12203,begin apogee
$GC,12209,-0.14,0.0,912.7,0.0,947,12304,0.32,0.00,92.97,1.181,6,0.085,0.000,2789,1994,3150,0,0,0,0,0,0
$STATE,12305,end apogee,CONTROL_FINISHED_OK
$STATE,12305,begin climb
$GC,12306,0.45,112.4,912.6,0.0,950,12409,0.57,2.17,98.15,1.151,4,0.076,0.069,2984,3240,2690,0,0,0,0,0,0
$GC,12457,0.41,112.4,906.7,6.6,955,12461,0.00,2.10,0.00,0.000,6,0.000,0.057,2991,2009,2687,0,0,0,0,0,0
$GC,12771,0.38,112.4,881.5,8.0,966,12772,0.12,0.00,0.00,0.000,6,0.170,0.000,2961,2009,2685,0,0,0,0,0,0
$GC,13074,0.37,112.4,861.4,6.6,976,13079,0.00,2.05,0.00,0.000,4,0.000,0.069,2961,3230,2684,0,0,0,0,0,0
$GC,13165,0.35,112.4,854.8,7.6,978,13171,0.00,1.98,0.00,0.000,6,0.000,0.057,2966,2007,2684,0,0,0,0,0,0
$GC,13474,0.33,112.4,833.5,6.8,989,13478,0.00,2.03,0.00,0.000,4,0.000,0.070,2966,3237,2684,0,0,0,0,0,0
$GC,13505,0.30,112.4,831.2,7.0,990,13510,0.10,1.98,0.00,0.000,6,0.139,0.058,2941,2012,2683,0,0,0,0,0,0
$GC,13841,0.31,123.4,811.9,5.7,1001,13855,0.00,2.03,9.30,0.998,4,0.000,0.071,2941,3238,2647,0,0,0,0,0,0
$GC,13893,0.30,129.6,808.5,5.9,1002,13904,0.00,1.98,7.03,0.921,6,0.000,0.058,2946,2013,2621,0,0,0,0,0,0
$GC,14207,0.31,141.4,790.1,5.7,1013,14222,0.00,2.00,11.70,1.015,4,0.000,0.069,2946,3247,2572,0,0,0,0,0,0
$GC,14259,0.30,141.4,786.6,7.7,1014,14265,0.00,1.98,0.00,0.000,6,0.000,0.058,2946,2027,2571,0,0,0,0,0,0
$GC,14568,0.30,141.4,766.2,6.7,1025,14571,0.00,2.05,0.00,0.000,4,0.000,0.067,2946,766,2571,0,0,0,0,0,0
$GC,14620,0.31,164.3,762.7,5.3,1026,14645,0.00,2.00,21.00,1.047,6,0.000,0.059,2946,2014,2480,0,0,0,0,0,0
$GC,14966,0.31,164.3,739.6,6.7,1038,14969,0.00,1.98,0.00,0.000,4,0.000,0.070,2946,3235,2477,0,0,0,0,0,0
$GC,15040,0.31,164.3,733.9,8.0,1040,15044,0.00,1.95,0.00,0.000,6,0.000,0.058,2946,2022,2476,0,0,0,0,0,0
$GC,15364,0.31,164.3,713.2,6.4,1051,15365,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2023,2475,0,0,0,0,0,0
$GC,15668,0.31,164.3,694.1,6.3,1061,15669,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2023,2475,0,0,0,0,0,0
$GC,15971,0.31,164.9,675.2,6.1,1071,15975,0.00,1.98,0.00,0.000,4,0.000,0.070,2946,3225,2475,0,0,0,0,0,0
$GC,16013,0.31,164.9,672.4,6.9,1072,16018,0.00,1.92,0.00,0.000,6,0.000,0.058,2946,2030,2475,0,0,0,0,0,0
$GC,16338,0.31,168.1,653.0,6.0,1083,16344,0.00,0.00,4.25,0.714,6,0.000,0.000,2946,2029,2464,0,0,0,0,0,0
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$STATE,25299,end climb,SURFACE_DEPTH_REACHED
$STATE,25299,begin surface coast
$FINISH,1.2,1.012044
$STATE,25415,end surface coast,CONTROL_FINISHED_OK
$STATE,25415,begin surface
$SM_CCo,25489,0.00,0.000,0,0,1657,365.99
$SM_GC,2.40,7.70,0.00,0.00,0.046,0.000,0.000,143,2087,1657,-8.34,0.34,365.99
$IRIDIUM_FIX,4716.56,-12647.09,221199,161628
$TT8_MAMPS,0.052156
$HUMID,39.25
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,23.5,34.892
$10V_AH,10.2,31.579
$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,20.100,176.625,408.825,0.000,0.000,25.357,35.506,248.086,0.000,0.000,14.069,0.000,19780.988,591.319,4856.835,662.033,0.000,2342.108,0.000,4146.647,0.000,0.533,0.000
$DEVICE_MAMPS,240.838,121.953,1181.180,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1408.271,1688.969,1781.413,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298604
$DATA_FILE_SIZE,113574,2032
$CAP_FILE_SIZE,242660,0
$CFSIZE,260165632,236253184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.120,311.4,1
$GPS,290810,062231,4745.150,-12527.116,77,1.4,77,18.7