version: 66.06
glider: 187
mission: 2
dive: 309
start: 8 29 110 6 30 12
data:
$ID,187
$MISSION,2
$DIVE,309
$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,-29680.875
$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,27
$R_STBD_OVSHOOT,37
$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
$GPS1,062231,4745.150,-12527.116,77,1.4,77,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-76.9
$GPS2,063007,4745.064,-12527.224,15,1.5,20,18.7
$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,74.7,44481,-13.9,-6.111
$D_GRID,837
$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,-112.4,0.0,0.0,0,73,0.00,0.00,-58.17,0.000,2,0.000,0.000,131,2084,2999,0,0,0,0,0,0
$GC,75,-0.45,-112.4,3.3,-2.3,11,103,10.43,2.03,-14.00,0.000,4,0.242,0.072,2681,837,3611,0,0,0,0,0,0
$GC,199,-0.43,-112.4,25.1,-14.5,34,205,0.00,1.95,0.00,0.000,6,0.000,0.056,2675,2061,3613,0,0,0,0,0,0
$GC,525,-0.41,-112.4,71.3,-13.1,95,531,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2061,3616,0,0,0,0,0,0
$GC,853,-0.39,-112.4,109.8,-11.8,149,854,0.12,0.00,0.00,0.000,6,0.161,0.000,2709,2061,3616,0,0,0,0,0,0
$GC,1164,-0.39,-112.4,138.0,-8.4,179,1164,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2061,3616,0,0,0,0,0,0
$GC,1475,-0.39,-112.4,162.5,-7.5,209,1478,0.00,2.00,0.00,0.000,4,0.000,0.067,2702,3313,3616,0,0,0,0,0,0
$GC,1542,-0.40,-112.4,167.7,-7.5,215,1549,0.00,1.90,0.00,0.000,6,0.000,0.050,2702,2095,3616,0,0,0,0,0,0
$GC,1858,-0.40,-112.4,192.5,-7.8,246,1859,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2095,3616,0,0,0,0,0,0
$GC,2169,-0.40,-112.4,215.9,-6.9,276,2173,0.00,1.98,0.00,0.000,4,0.000,0.067,2694,3312,3615,0,0,0,0,0,0
$GC,2244,-0.40,-112.4,221.2,-6.5,283,2247,0.00,1.85,0.00,0.000,6,0.000,0.052,2694,2097,3615,0,0,0,0,0,0
$GC,2564,-0.40,-112.4,244.4,-7.7,314,2568,0.00,1.95,0.00,0.000,4,0.000,0.067,2687,3303,3614,0,0,0,0,0,0
$GC,2665,-0.40,-112.4,252.7,-8.5,323,2671,0.00,1.85,0.00,0.000,6,0.000,0.052,2687,2115,3614,0,0,0,0,0,0
$GC,2980,-0.40,-112.4,281.0,-9.3,354,2985,0.00,1.92,0.00,0.000,4,0.000,0.068,2683,3303,3613,0,0,0,0,0,0
$GC,3061,-0.40,-112.4,288.5,-9.3,361,3066,0.00,1.85,0.00,0.000,6,0.000,0.052,2682,2117,3613,0,0,0,0,0,0
$GC,3376,-0.40,-112.4,316.5,-8.3,392,3380,0.00,1.92,0.00,0.000,4,0.000,0.068,2674,3302,3613,0,0,0,0,0,0
$GC,3434,-0.40,-112.4,321.9,-8.8,397,3441,0.08,1.83,0.00,0.000,6,0.130,0.052,2700,2132,3613,0,0,0,0,0,0
$GC,3750,-0.40,-112.4,344.1,-6.7,428,3754,0.00,1.92,0.00,0.000,4,0.000,0.070,2696,3312,3612,0,0,0,0,0,0
$GC,3792,-0.41,-112.4,347.0,-6.8,432,3797,0.00,1.83,0.00,0.000,6,0.000,0.054,2696,2140,3612,0,0,0,0,0,0
$GC,4114,-0.41,-112.4,369.1,-7.0,463,4114,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2140,3612,0,0,0,0,0,0
$GC,4425,-0.41,-112.4,391.5,-7.2,493,4428,0.00,1.88,0.00,0.000,4,0.000,0.071,2690,3308,3611,0,0,0,0,0,0
$GC,4493,-0.41,-112.4,396.7,-7.2,499,4499,0.00,1.85,0.00,0.000,6,0.000,0.054,2690,2134,3611,0,0,0,0,0,0
$GC,4809,-0.41,-112.4,422.6,-8.5,530,4813,0.00,1.92,0.00,0.000,4,0.000,0.070,2691,3313,3611,0,0,0,0,0,0
$GC,4921,-0.42,-112.4,431.6,-7.7,540,4928,0.00,1.80,0.00,0.000,6,0.000,0.052,2690,2158,3611,0,0,0,0,0,0
$GC,5237,-0.42,-112.4,457.2,-8.2,571,5240,0.00,1.88,0.00,0.000,4,0.000,0.071,2690,3310,3610,0,0,0,0,0,0
$GC,5327,-0.43,-112.4,464.4,-7.5,579,5333,0.00,1.77,0.00,0.000,6,0.000,0.054,2690,2171,3610,0,0,0,0,0,0
$GC,5643,-0.43,-112.4,490.4,-8.3,610,5646,0.00,1.85,0.00,0.000,4,0.000,0.071,2690,3303,3610,0,0,0,0,0,0
$GC,5711,-0.45,-112.4,495.9,-8.2,616,5718,0.00,1.77,0.00,0.000,6,0.000,0.054,2690,2167,3609,0,0,0,0,0,0
$GC,6027,-0.45,-112.4,522.0,-8.4,647,6031,0.00,1.88,0.00,0.000,4,0.000,0.071,2689,3309,3609,0,0,0,0,0,0
$GC,6064,-0.46,-112.4,525.1,-8.8,650,6070,0.00,1.77,0.00,0.000,6,0.000,0.054,2688,2175,3608,0,0,0,0,0,0
$GC,6379,-0.46,-112.4,551.4,-8.5,681,6384,0.00,2.10,0.00,0.000,4,0.000,0.061,2689,841,3608,0,0,0,0,0,0
$GC,6406,-0.46,-112.4,553.8,-9.2,683,6412,0.00,2.10,0.00,0.000,6,0.000,0.059,2686,2168,3608,0,0,0,0,0,0
$GC,6721,-0.46,-112.4,580.3,-8.1,714,6725,0.00,1.85,0.00,0.000,4,0.000,0.071,2682,3306,3607,0,0,0,0,0,0
$GC,6753,-0.46,-112.4,583.0,-8.5,717,6757,0.00,1.77,0.00,0.000,6,0.000,0.054,2682,2169,3607,0,0,0,0,0,0
$GC,7092,-0.46,-112.4,609.3,-7.5,742,7096,0.00,2.08,0.00,0.000,4,0.000,0.061,2682,852,3607,0,0,0,0,0,0
$GC,7118,-0.46,-112.4,611.2,-7.6,742,7124,0.00,2.08,0.00,0.000,6,0.000,0.060,2677,2163,3607,0,0,0,0,0,0
$GC,7427,-0.46,-112.4,633.8,-7.2,753,7428,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,2163,3606,0,0,0,0,0,0
$GC,7730,-0.46,-112.4,656.6,-7.8,763,7734,0.00,1.88,0.00,0.000,4,0.000,0.071,2669,3314,3606,0,0,0,0,0,0
$GC,7756,-0.46,-112.4,658.7,-8.5,763,7762,0.00,1.83,0.00,0.000,6,0.000,0.055,2669,2163,3605,0,0,0,0,0,0
$GC,8065,-0.46,-112.4,683.4,-8.0,774,8070,0.00,2.08,0.00,0.000,4,0.000,0.062,2669,846,3605,0,0,0,0,0,0
$GC,8107,-0.46,-112.4,687.1,-8.7,775,8112,0.00,2.10,0.00,0.000,6,0.000,0.061,2663,2166,3605,0,0,0,0,0,0
$GC,8432,-0.46,-112.4,712.9,-8.0,786,8436,0.00,1.88,0.00,0.000,4,0.000,0.072,2662,3313,3605,0,0,0,0,0,0
$GC,8479,-0.46,-112.4,716.6,-7.9,787,8484,0.00,1.80,0.00,0.000,6,0.000,0.054,2662,2169,3605,0,0,0,0,0,0
$GC,8799,-0.46,-112.4,739.9,-7.3,798,8803,0.00,2.08,0.00,0.000,4,0.000,0.062,2662,848,3604,0,0,0,0,0,0
$GC,8831,-0.46,-112.4,742.5,-8.5,799,8835,0.08,2.10,0.00,0.000,6,0.136,0.061,2680,2169,3604,0,0,0,0,0,0
$GC,9166,-0.46,-112.4,763.4,-6.1,810,9167,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,2169,3604,0,0,0,0,0,0
$GC,9469,-0.46,-112.4,783.3,-6.7,820,9474,0.00,1.85,0.00,0.000,4,0.000,0.071,2674,3306,3604,0,0,0,0,0,0
$GC,9501,-0.46,-112.4,785.3,-6.2,821,9505,0.00,1.77,0.00,0.000,6,0.000,0.056,2674,2175,3603,0,0,0,0,0,0
$GC,9836,-0.46,-112.4,807.7,-6.6,832,9837,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2175,3604,0,0,0,0,0,0
$GC,10140,-0.46,-112.4,828.6,-7.0,842,10144,0.00,1.85,0.00,0.000,4,0.000,0.073,2667,3304,3603,0,0,0,0,0,0
$GC,10198,-0.46,-112.4,833.1,-7.3,843,10204,0.00,1.80,0.00,0.000,6,0.000,0.056,2667,2170,3603,0,0,0,0,0,0
$GC,10507,-0.54,-112.4,835.3,0.1,854,10511,0.00,2.10,0.00,0.000,4,0.000,0.064,2667,846,3603,0,0,0,0,0,0
$GC,10753,-0.62,-112.4,835.6,-0.6,861,10757,0.00,2.12,0.00,0.000,6,0.000,0.061,2667,2179,3603,0,0,0,0,0,0
$STATE,10913,end dive,NO_VERTICAL_VELOCITY
$STATE,10913,begin apogee
$GC,10918,-0.14,0.0,835.6,0.0,867,11012,0.35,0.00,92.90,1.131,6,0.075,0.000,2799,1997,3149,0,0,0,0,0,0
$STATE,11013,end apogee,CONTROL_FINISHED_OK
$STATE,11013,begin climb
$GC,11014,0.45,112.4,835.4,0.0,870,11119,0.50,2.15,96.43,1.104,4,0.061,0.064,2991,771,2690,0,0,0,0,0,0
$GC,11134,0.47,172.8,832.4,3.9,874,11196,0.00,2.08,54.28,1.075,6,0.000,0.058,2991,1993,2444,0,0,0,0,0,0
$GC,11498,0.45,172.8,804.1,8.0,886,11502,0.00,2.08,0.00,0.000,4,0.000,0.067,2991,3234,2437,0,0,0,0,0,0
$GC,11588,0.42,172.8,796.0,9.2,888,11596,0.00,2.00,0.00,0.000,6,0.000,0.056,2999,2018,2436,0,0,0,0,0,0
$GC,11897,0.40,172.8,770.3,7.8,899,11901,0.12,2.00,0.00,0.000,4,0.170,0.067,2967,3226,2436,0,0,0,0,0,0
$GC,11924,0.39,172.8,768.4,6.5,899,11929,0.00,1.95,0.00,0.000,6,0.000,0.058,2972,2022,2435,0,0,0,0,0,0
$GC,12232,0.39,172.8,748.3,6.4,910,12232,0.00,0.00,0.00,0.000,6,0.000,0.000,2972,2021,2435,0,0,0,0,0,0
$GC,12535,0.39,172.8,727.5,7.1,920,12540,0.00,2.00,0.00,0.000,4,0.000,0.070,2972,3237,2435,0,0,0,0,0,0
$GC,12556,0.39,172.8,725.9,7.3,920,12561,0.00,1.95,0.00,0.000,6,0.000,0.058,2973,2021,2434,0,0,0,0,0,0
$GC,12870,0.39,172.8,704.6,6.8,931,12874,0.00,2.00,0.00,0.000,4,0.000,0.066,2973,768,2433,0,0,0,0,0,0
$GC,13004,0.39,172.8,695.3,7.7,935,13008,0.00,1.98,0.00,0.000,6,0.000,0.059,2974,2007,2433,0,0,0,0,0,0
$GC,13334,0.39,172.8,671.7,7.5,946,13338,0.00,2.00,0.00,0.000,4,0.000,0.067,2974,759,2433,0,0,0,0,0,0
$GC,13429,0.39,172.8,664.0,8.8,949,13434,0.00,1.95,0.00,0.000,6,0.000,0.060,2973,1983,2433,0,0,0,0,0,0
$GC,13765,0.39,172.8,638.4,7.4,960,13769,0.00,1.95,0.00,0.000,4,0.000,0.066,2974,766,2433,0,0,0,0,0,0
$GC,13866,0.39,172.8,630.9,8.1,963,13870,0.00,1.92,0.00,0.000,6,0.000,0.060,2974,1965,2434,0,0,0,0,0,0
$GC,14196,0.39,172.8,606.7,7.2,974,14200,0.00,1.92,0.00,0.000,4,0.000,0.067,2974,765,2433,0,0,0,0,0,0
$GC,14271,0.39,172.8,601.6,6.2,976,14274,0.00,1.88,0.00,0.000,6,0.000,0.061,2974,1946,2433,0,0,0,0,0,0
$GC,14591,0.39,172.8,579.1,7.3,1004,14595,0.00,1.90,0.00,0.000,4,0.000,0.067,2974,758,2433,0,0,0,0,0,0
$GC,14655,0.39,172.8,574.6,6.4,1010,14659,0.00,1.85,0.00,0.000,6,0.000,0.061,2974,1921,2433,0,0,0,0,0,0
$GC,14975,0.39,175.3,552.8,6.0,1041,14980,0.00,1.88,0.00,0.000,4,0.000,0.067,2974,760,2433,0,0,0,0,0,0
$GC,15045,0.39,175.3,548.4,6.1,1047,15051,0.00,1.80,0.00,0.000,6,0.000,0.060,2974,1901,2433,0,0,0,0,0,0
$GC,15361,0.39,183.0,529.0,5.8,1078,15372,0.00,1.80,8.00,0.844,4,0.000,0.066,2975,762,2402,0,0,0,0,0,0
$GC,15409,0.40,193.0,526.1,5.7,1082,15426,0.00,1.80,9.85,0.858,6,0.000,0.060,2975,1893,2363,0,0,0,0,0,0
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$STATE,23056,end climb,SURFACE_DEPTH_REACHED
$STATE,23056,begin surface coast
$FINISH,1.2,1.024330
$STATE,23094,end surface coast,CONTROL_FINISHED_OK
$STATE,23094,begin surface
$SM_CCo,23110,19.35,0.387,1,0,1721,350.04
$SM_GC,1.69,0.00,0.00,19.35,0.000,0.000,0.387,137,2074,1721,-8.43,-0.03,350.04
$IRIDIUM_FIX,4745.30,-12540.12,221199,232343
$TT8_MAMPS,0.05369
$HUMID,40.07
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,23.4,35.020
$10V_AH,10.2,31.745
$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,19.775,184.775,378.925,19.350,0.000,23.445,39.470,251.039,0.000,0.000,20.316,0.000,17419.082,615.729,4850.088,664.700,0.000,2353.284,0.000,4157.935,0.000,0.533,0.000
$DEVICE_MAMPS,241.605,73.632,1131.325,387.335,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1367.809,1626.887,1861.147,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298588
$DATA_FILE_SIZE,110436,1977
$CAP_FILE_SIZE,234968,0
$CFSIZE,260165632,236150784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.105,325.1,1
$GPS,290810,125725,4746.034,-12524.338,79,0.9,79,18.7