version: 66.06
glider: 187
mission: 2
dive: 142
start: 8 5 110 20 36 20
data:
$ID,187
$MISSION,2
$DIVE,142
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,4
$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,-26321.09
$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,33
$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
$GPS1,202730,4740.163,-12538.027,41,0.9,46,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-77.6
$GPS2,203614,4740.091,-12538.005,13,1.5,13,18.7
$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,52.1,60708,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,11,-0.45,-112.4,0.0,0.0,0,72,0.00,0.00,-58.53,0.000,2,0.000,0.000,133,2099,3051,0,0,0,0,0,0
$GC,73,-0.45,-112.4,3.3,-2.4,11,102,10.45,1.98,-13.07,0.000,4,0.249,0.072,2678,838,3609,0,0,0,0,0,0
$GC,266,-0.42,-112.4,36.2,-13.7,47,273,0.00,1.98,0.00,0.000,6,0.000,0.057,2672,2071,3612,0,0,0,0,0,0
$GC,593,-0.40,-112.4,83.2,-13.0,108,599,0.12,0.00,0.00,0.000,6,0.161,0.000,2705,2070,3614,0,0,0,0,0,0
$GC,913,-0.40,-112.4,112.5,-8.2,155,913,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,2071,3614,0,0,0,0,0,0
$GC,1223,-0.40,-112.4,137.8,-7.6,185,1228,0.00,2.03,0.00,0.000,4,0.000,0.067,2699,3318,3614,0,0,0,0,0,0
$GC,1260,-0.40,-112.4,140.9,-8.2,188,1267,0.00,2.00,0.00,0.000,6,0.000,0.052,2699,2052,3615,0,0,0,0,0,0
$GC,1576,-0.40,-112.4,167.7,-8.5,219,1580,0.00,2.08,0.00,0.000,4,0.000,0.067,2692,3319,3615,0,0,0,0,0,0
$GC,1634,-0.40,-112.4,172.9,-9.3,224,1640,0.00,1.98,0.00,0.000,6,0.000,0.052,2691,2064,3615,0,0,0,0,0,0
$GC,1949,-0.40,-112.4,201.9,-9.1,255,1954,0.00,2.05,0.00,0.000,4,0.000,0.070,2692,3313,3615,0,0,0,0,0,0
$GC,1981,-0.40,-112.4,204.7,-8.4,258,1986,0.00,1.98,0.00,0.000,6,0.000,0.053,2691,2060,3615,0,0,0,0,0,0
$GC,2303,-0.40,-112.4,234.2,-9.5,289,2307,0.00,2.03,0.00,0.000,4,0.000,0.070,2691,3309,3615,0,0,0,0,0,0
$GC,2350,-0.40,-112.4,238.6,-8.8,293,2357,0.00,1.95,0.00,0.000,6,0.000,0.054,2691,2069,3615,0,0,0,0,0,0
$GC,2666,-0.40,-112.4,267.1,-8.7,324,2666,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2068,3615,0,0,0,0,0,0
$GC,2976,-0.40,-112.4,294.4,-8.8,354,2977,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2068,3615,0,0,0,0,0,0
$GC,3287,-0.40,-112.4,321.6,-8.7,384,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2069,3615,0,0,0,0,0,0
$GC,3597,-0.40,-112.4,348.1,-8.5,414,3601,0.00,2.00,0.00,0.000,4,0.000,0.071,2691,3304,3615,0,0,0,0,0,0
$GC,3677,-0.40,-112.4,354.5,-7.7,421,3684,0.00,1.90,0.00,0.000,6,0.000,0.054,2691,2086,3615,0,0,0,0,0,0
$GC,3992,-0.40,-112.4,380.0,-8.1,452,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2086,3615,0,0,0,0,0,0
$GC,4303,-0.40,-112.4,403.9,-7.9,482,4304,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2086,3615,0,0,0,0,0,0
$GC,4613,-0.40,-112.4,427.8,-8.0,512,4618,0.00,2.00,0.00,0.000,4,0.000,0.072,2691,3314,3615,0,0,0,0,0,0
$GC,4671,-0.41,-112.4,432.4,-7.9,517,4679,0.00,1.90,0.00,0.000,6,0.000,0.055,2691,2094,3615,0,0,0,0,0,0
$GC,4986,-0.41,-112.4,457.2,-8.0,548,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2094,3615,0,0,0,0,0,0
$GC,5298,-0.41,-112.4,480.1,-7.4,578,5299,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2094,3616,0,0,0,0,0,0
$GC,5608,-0.41,-112.4,502.5,-7.0,608,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2094,3616,0,0,0,0,0,0
$GC,5919,-0.41,-112.4,524.5,-7.6,638,5922,0.00,1.98,0.00,0.000,4,0.000,0.073,2691,3305,3616,0,0,0,0,0,0
$GC,5966,-0.43,-112.4,528.1,-7.4,642,5973,0.00,1.90,0.00,0.000,6,0.000,0.057,2690,2093,3616,0,0,0,0,0,0
$GC,6282,-0.43,-112.4,552.8,-7.8,673,6283,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2093,3616,0,0,0,0,0,0
$GC,6593,-0.43,-112.4,576.4,-7.5,703,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2093,3617,0,0,0,0,0,0
$GC,6904,-0.43,-112.4,599.4,-7.3,733,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2093,3617,0,0,0,0,0,0
$GC,7226,-0.43,-112.4,621.8,-6.9,745,7231,0.00,1.98,0.00,0.000,4,0.000,0.064,2690,845,3618,0,0,0,0,0,0
$GC,7252,-0.43,-112.4,623.7,-7.3,745,7260,0.00,2.00,0.00,0.000,6,0.000,0.063,2690,2098,3618,0,0,0,0,0,0
$GC,7561,-0.43,-112.4,644.6,-6.7,756,7566,0.00,1.92,0.00,0.000,4,0.000,0.073,2690,3303,3618,0,0,0,0,0,0
$GC,7636,-0.44,-112.4,649.8,-7.1,758,7640,0.00,1.88,0.00,0.000,6,0.000,0.057,2690,2104,3618,0,0,0,0,0,0
$GC,7960,-0.44,-112.4,671.4,-6.7,769,7965,0.00,2.00,0.00,0.000,4,0.000,0.064,2690,829,3618,0,0,0,0,0,0
$GC,7992,-0.44,-112.4,673.7,-7.4,770,7997,0.00,2.00,0.00,0.000,6,0.000,0.064,2690,2094,3618,0,0,0,0,0,0
$GC,8327,-0.44,-112.4,695.8,-6.3,781,8332,0.00,1.98,0.00,0.000,4,0.000,0.074,2690,3325,3619,0,0,0,0,0,0
$GC,8397,-0.46,-112.4,699.8,-5.6,783,8401,0.00,1.92,0.00,0.000,6,0.000,0.058,2690,2100,3619,0,0,0,0,0,0
$GC,8727,-0.47,-112.4,718.4,-5.3,794,8731,0.00,1.98,0.00,0.000,4,0.000,0.065,2690,841,3619,0,0,0,0,0,0
$GC,8779,-0.47,-112.4,721.5,-6.0,795,8784,0.00,2.03,0.00,0.000,6,0.000,0.064,2687,2108,3619,0,0,0,0,0,0
$GC,9094,-0.47,-112.4,738.2,-5.3,806,9098,0.00,1.92,0.00,0.000,4,0.000,0.074,2686,3310,3619,0,0,0,0,0,0
$GC,9163,-0.48,-112.4,741.6,-4.9,808,9167,0.00,1.90,0.00,0.000,6,0.000,0.058,2686,2098,3620,0,0,0,0,0,0
$GC,9492,-0.48,-112.4,758.3,-5.1,819,9497,0.00,1.98,0.00,0.000,4,0.000,0.064,2686,837,3620,0,0,0,0,0,0
$GC,9530,-0.48,-112.4,760.5,-6.2,820,9534,0.00,2.00,0.00,0.000,6,0.000,0.063,2686,2103,3620,0,0,0,0,0,0
$GC,9859,-0.48,-112.4,779.7,-6.0,831,9864,0.00,1.92,0.00,0.000,4,0.000,0.074,2684,3306,3621,0,0,0,0,0,0
$GC,9940,-0.50,-112.4,784.6,-5.9,833,9944,0.00,1.88,0.00,0.000,6,0.000,0.058,2684,2113,3621,0,0,0,0,0,0
$GC,10258,-0.50,-112.4,803.6,-6.1,844,10259,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2113,3622,0,0,0,0,0,0
$GC,10562,-0.50,-112.4,820.6,-5.5,854,10563,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,2113,3622,0,0,0,0,0,0
$GC,10866,-0.51,-112.4,838.0,-5.9,864,10870,0.00,2.00,0.00,0.000,4,0.000,0.066,2684,845,3623,0,0,0,0,0,0
$GC,10897,-0.51,-112.4,840.0,-6.2,865,10902,0.00,2.03,0.00,0.000,6,0.000,0.063,2683,2112,3623,0,0,0,0,0,0
$GC,11232,-0.51,-112.4,859.5,-5.8,876,11237,0.00,1.92,0.00,0.000,4,0.000,0.074,2678,3313,3623,0,0,0,0,0,0
$GC,11307,-0.53,-112.4,864.3,-6.4,878,11311,0.00,1.90,0.00,0.000,6,0.000,0.059,2678,2105,3624,0,0,0,0,0,0
$GC,11631,-0.53,-112.4,885.1,-6.5,889,11636,0.00,2.00,0.00,0.000,4,0.000,0.067,2677,846,3624,0,0,0,0,0,0
$GC,11658,-0.53,-112.4,886.9,-7.7,889,11665,0.00,2.03,0.00,0.000,6,0.000,0.064,2677,2113,3624,0,0,0,0,0,0
$GC,11967,-0.53,-112.4,906.7,-6.6,900,11971,0.00,1.92,0.00,0.000,4,0.000,0.077,2677,3306,3625,0,0,0,0,0,0
$GC,12036,-0.54,-112.4,911.4,-6.7,902,12040,0.00,1.88,0.00,0.000,6,0.000,0.059,2677,2115,3625,0,0,0,0,0,0
$GC,12365,-0.54,-112.4,932.7,-6.5,913,12370,0.00,2.00,0.00,0.000,4,0.000,0.066,2677,846,3626,0,0,0,0,0,0
$GC,12413,-0.54,-112.4,935.7,-6.2,914,12418,0.00,2.03,0.00,0.000,6,0.000,0.064,2677,2112,3626,0,0,0,0,0,0
$GC,12732,-0.54,-112.4,955.7,-6.3,925,12737,0.00,1.95,0.00,0.000,4,0.000,0.075,2676,3315,3626,0,0,0,0,0,0
$GC,12802,-0.56,-112.4,960.0,-6.2,927,12806,0.00,1.90,0.00,0.000,6,0.000,0.060,2676,2109,3626,0,0,0,0,0,0
$GC,13132,-0.56,-112.4,981.3,-6.4,938,13136,0.00,2.00,0.00,0.000,4,0.000,0.067,2676,840,3627,0,0,0,0,0,0
$GC,13163,-0.56,-112.4,983.2,-6.7,939,13168,0.00,2.05,0.00,0.000,6,0.000,0.066,2676,2115,3627,0,0,0,0,0,0
$STATE,13285,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13285,begin apogee
$GC,13288,-0.14,0.0,991.3,6.5,943,13390,0.35,0.00,99.43,1.234,6,0.122,0.000,2789,2003,3150,0,0,0,0,0,0
$STATE,13390,end apogee,CONTROL_FINISHED_OK
$STATE,13390,begin climb
$GC,13391,0.45,112.4,993.3,0.0,946,13496,0.55,2.12,98.78,1.196,4,0.083,0.069,2987,767,2691,0,0,0,0,0,0
$GC,13516,0.43,114.9,989.0,6.0,950,13525,0.00,2.10,3.78,0.681,6,0.000,0.063,2986,1991,2681,0,0,0,0,0,0
$GC,13845,0.39,114.9,962.2,8.4,961,13850,0.00,2.10,0.00,0.000,4,0.000,0.072,2987,3233,2677,0,0,0,0,0,0
$GC,14021,0.35,114.9,945.3,9.2,966,14026,0.17,2.00,0.00,0.000,6,0.173,0.059,2951,2015,2676,0,0,0,0,0,0
$GC,14341,0.34,114.9,924.2,6.7,977,14345,0.00,2.03,0.00,0.000,4,0.000,0.071,2951,3232,2676,0,0,0,0,0,0
$GC,14405,0.32,114.9,919.4,8.2,979,14409,0.00,1.92,0.00,0.000,6,0.000,0.060,2956,2039,2676,0,0,0,0,0,0
$GC,14740,0.30,114.9,895.6,7.1,990,14744,0.00,1.98,0.00,0.000,4,0.000,0.072,2956,3231,2676,0,0,0,0,0,0
$GC,14809,0.27,114.9,890.0,8.7,992,14813,0.10,1.90,0.00,0.000,6,0.148,0.060,2930,2052,2676,0,0,0,0,0,0
$GC,15138,0.27,114.9,868.5,6.7,1003,15139,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2052,2676,0,0,0,0,0,0
$GC,15442,0.27,114.9,848.0,6.7,1013,15447,0.00,1.98,0.00,0.000,4,0.000,0.074,2930,3236,2677,0,0,0,0,0,0
$GC,15479,0.26,114.9,845.1,7.6,1014,15484,0.00,1.90,0.00,0.000,6,0.000,0.061,2933,2047,2677,0,0,0,0,0,0
$GC,15809,0.26,114.9,822.5,6.7,1025,15810,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,2046,2677,0,0,0,0,0,0
$GC,16112,0.26,114.9,802.0,6.6,1035,16117,0.00,1.98,0.00,0.000,4,0.000,0.074,2933,3236,2677,0,0,0,0,0,0
$GC,16139,0.25,114.9,800.2,6.5,1035,16145,0.00,1.88,0.00,0.000,6,0.000,0.061,2933,2060,2677,0,0,0,0,0,0
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$STATE,26610,end climb,SURFACE_DEPTH_REACHED
$STATE,26610,begin surface coast
$FINISH,1.1,1.012354
$STATE,26648,end surface coast,CONTROL_FINISHED_OK
$STATE,26648,begin surface
$SM_CCo,26721,0.00,0.000,0,0,1536,395.91
$SM_GC,1.98,7.75,0.00,0.00,0.043,0.000,0.000,143,2086,1536,-8.35,0.31,395.91
$IRIDIUM_FIX,4719.74,-12540.05,301099,131337
$TT8_MAMPS,0.052156
$HUMID,38.22
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,23.7,18.595
$10V_AH,10.2,14.756
$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,19.900,210.000,454.800,0.000,0.000,30.569,46.838,315.995,0.000,0.000,13.731,0.000,20967.537,698.830,4860.675,676.708,0.000,2495.754,0.000,4130.959,0.000,0.533,0.000
$DEVICE_MAMPS,248.508,121.953,1234.103,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1372.278,1642.533,1681.353,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298608
$DATA_FILE_SIZE,110513,1980
$CAP_FILE_SIZE,255189,0
$CFSIZE,260165632,247328768
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.074,340.8,1
$GPS,060810,040237,4742.161,-12533.800,40,1.0,40,18.7