version: 66.06
glider: 187
mission: 2
dive: 143
start: 8 6 110 4 12 30
data:
$ID,187
$MISSION,2
$DIVE,143
$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,-26339.264
$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,34
$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
$GPS1,040237,4742.161,-12533.800,40,1.0,40,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-75.7
$GPS2,041225,4742.132,-12533.788,12,1.0,17,18.7
$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,60.0,54264,-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,12,-0.45,-112.4,0.0,0.0,0,81,0.00,0.00,-66.47,0.000,2,0.000,0.000,132,2084,3048,0,0,0,0,0,0
$GC,82,-0.45,-112.4,3.0,-2.1,12,111,10.43,1.98,-13.85,0.000,4,0.248,0.073,2681,828,3610,0,0,0,0,0,0
$GC,281,-0.43,-112.4,34.6,-13.3,49,288,0.00,1.98,0.00,0.000,6,0.000,0.057,2675,2066,3612,0,0,0,0,0,0
$GC,607,-0.41,-112.4,82.3,-14.0,110,614,0.00,2.00,0.00,0.000,4,0.000,0.067,2666,3302,3614,0,0,0,0,0,0
$GC,703,-0.39,-112.4,95.2,-12.9,128,710,0.10,1.90,0.00,0.000,6,0.127,0.052,2700,2086,3614,0,0,0,0,0,0
$GC,1026,-0.39,-112.4,126.6,-8.4,163,1030,0.00,1.98,0.00,0.000,4,0.000,0.060,2700,842,3615,0,0,0,0,0,0
$GC,1078,-0.39,-112.4,131.1,-8.3,168,1083,0.00,1.98,0.00,0.000,6,0.000,0.056,2697,2085,3615,0,0,0,0,0,0
$GC,1400,-0.39,-112.4,158.0,-8.9,199,1404,0.00,1.98,0.00,0.000,4,0.000,0.068,2691,3310,3615,0,0,0,0,0,0
$GC,1436,-0.39,-112.4,161.4,-9.0,202,1443,0.00,1.92,0.00,0.000,6,0.000,0.052,2691,2088,3615,0,0,0,0,0,0
$GC,1752,-0.39,-112.4,191.0,-9.6,233,1756,0.00,2.00,0.00,0.000,4,0.000,0.060,2691,832,3615,0,0,0,0,0,0
$GC,1783,-0.39,-112.4,194.2,-10.1,236,1788,0.00,2.00,0.00,0.000,6,0.000,0.058,2686,2093,3615,0,0,0,0,0,0
$GC,2104,-0.39,-112.4,224.8,-9.2,267,2109,0.00,1.98,0.00,0.000,4,0.000,0.068,2679,3309,3615,0,0,0,0,0,0
$GC,2158,-0.39,-112.4,229.6,-8.7,272,2162,0.08,1.88,0.00,0.000,6,0.127,0.053,2705,2100,3615,0,0,0,0,0,0
$GC,2478,-0.39,-112.4,254.6,-7.7,303,2483,0.00,1.98,0.00,0.000,4,0.000,0.069,2703,3307,3615,0,0,0,0,0,0
$GC,2510,-0.40,-112.4,257.3,-8.2,306,2515,0.00,1.90,0.00,0.000,6,0.000,0.054,2703,2099,3614,0,0,0,0,0,0
$GC,2832,-0.40,-112.4,285.8,-8.8,337,2833,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2099,3615,0,0,0,0,0,0
$GC,3142,-0.40,-112.4,310.1,-7.4,367,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2099,3614,0,0,0,0,0,0
$GC,3453,-0.40,-112.4,332.4,-7.2,397,3454,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2099,3615,0,0,0,0,0,0
$GC,3764,-0.40,-112.4,354.6,-7.1,427,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2099,3615,0,0,0,0,0,0
$GC,4074,-0.40,-112.4,375.2,-6.1,457,4075,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2099,3615,0,0,0,0,0,0
$GC,4384,-0.40,-112.4,396.3,-6.7,487,4385,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2099,3614,0,0,0,0,0,0
$GC,4695,-0.40,-112.4,418.1,-7.3,517,4698,0.00,1.92,0.00,0.000,4,0.000,0.064,2702,846,3615,0,0,0,0,0,0
$GC,4719,-0.40,-112.4,420.2,-7.9,519,4728,0.00,2.03,0.00,0.000,6,0.000,0.060,2701,2123,3614,0,0,0,0,0,0
$GC,5037,-0.40,-112.4,443.9,-7.2,550,5040,0.00,1.92,0.00,0.000,4,0.000,0.072,2696,3310,3614,0,0,0,0,0,0
$GC,5083,-0.41,-112.4,447.4,-7.5,554,5089,0.00,1.88,0.00,0.000,6,0.000,0.055,2696,2119,3614,0,0,0,0,0,0
$GC,5398,-0.41,-112.4,470.8,-7.6,585,5404,0.00,2.05,0.00,0.000,4,0.000,0.064,2696,835,3614,0,0,0,0,0,0
$GC,5452,-0.41,-112.4,475.0,-8.0,590,5456,0.00,2.00,0.00,0.000,6,0.000,0.060,2696,2106,3614,0,0,0,0,0,0
$GC,5772,-0.41,-112.4,499.7,-8.0,621,5777,0.00,1.95,0.00,0.000,4,0.000,0.071,2695,3308,3614,0,0,0,0,0,0
$GC,5816,-0.43,-112.4,503.0,-6.7,625,5820,0.00,1.88,0.00,0.000,6,0.000,0.057,2695,2108,3614,0,0,0,0,0,0
$GC,6136,-0.43,-112.4,527.6,-8.0,656,6140,0.00,2.00,0.00,0.000,4,0.000,0.063,2695,839,3614,0,0,0,0,0,0
$GC,6173,-0.43,-112.4,530.6,-7.8,659,6180,0.00,2.03,0.00,0.000,6,0.000,0.061,2693,2114,3614,0,0,0,0,0,0
$GC,6488,-0.43,-112.4,554.0,-7.2,690,6493,0.00,1.95,0.00,0.000,4,0.000,0.073,2692,3308,3614,0,0,0,0,0,0
$GC,6536,-0.45,-112.4,557.4,-6.8,694,6543,0.00,1.88,0.00,0.000,6,0.000,0.057,2692,2115,3614,0,0,0,0,0,0
$GC,6851,-0.45,-112.4,578.1,-6.3,725,6856,0.00,2.00,0.00,0.000,4,0.000,0.064,2692,847,3615,0,0,0,0,0,0
$GC,6883,-0.45,-112.4,580.2,-6.8,728,6888,0.00,2.03,0.00,0.000,6,0.000,0.062,2692,2117,3615,0,0,0,0,0,0
$GC,7204,-0.45,-112.4,599.3,-5.8,759,7209,0.00,1.92,0.00,0.000,4,0.000,0.073,2692,3307,3615,0,0,0,0,0,0
$GC,7300,-0.46,-112.4,604.7,-5.3,764,7305,0.00,1.85,0.00,0.000,6,0.000,0.056,2692,2124,3614,0,0,0,0,0,0
$GC,7636,-0.46,-112.4,624.0,-5.8,775,7636,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,2124,3614,0,0,0,0,0,0
$GC,7939,-0.46,-112.4,643.4,-6.7,785,7944,0.00,2.00,0.00,0.000,4,0.000,0.064,2693,847,3615,0,0,0,0,0,0
$GC,7986,-0.48,-112.4,647.0,-7.7,786,7992,0.00,2.03,0.00,0.000,6,0.000,0.062,2692,2119,3615,0,0,0,0,0,0
$GC,8306,-0.48,-112.4,669.4,-7.2,797,8310,0.00,1.92,0.00,0.000,4,0.000,0.074,2692,3307,3615,0,0,0,0,0,0
$GC,8364,-0.49,-112.4,673.8,-7.7,798,8371,0.00,1.88,0.00,0.000,6,0.000,0.058,2691,2119,3615,0,0,0,0,0,0
$GC,8673,-0.50,-112.4,697.7,-8.0,809,8677,0.00,2.00,0.00,0.000,4,0.000,0.065,2691,848,3615,0,0,0,0,0,0
$GC,8705,-0.51,-112.4,700.3,-8.1,810,8709,0.00,2.00,0.00,0.000,6,0.000,0.063,2691,2114,3615,0,0,0,0,0,0
$GC,9040,-0.52,-112.4,726.0,-7.2,821,9044,0.00,1.92,0.00,0.000,4,0.000,0.074,2691,3302,3615,0,0,0,0,0,0
$GC,9115,-0.54,-112.4,730.9,-6.3,823,9119,0.00,1.85,0.00,0.000,6,0.000,0.058,2692,2122,3615,0,0,0,0,0,0
$GC,9439,-0.55,-112.4,750.5,-5.9,834,9444,0.10,2.03,0.00,0.000,4,0.113,0.065,2643,845,3616,0,0,0,0,0,0
$GC,9498,-0.54,-112.4,755.4,-8.5,835,9505,0.00,2.03,0.00,0.000,6,0.000,0.062,2636,2124,3616,0,0,0,0,0,0
$GC,9806,-0.52,-112.4,783.6,-9.2,846,9810,0.00,1.92,0.00,0.000,4,0.000,0.075,2627,3307,3615,0,0,0,0,0,0
$GC,9886,-0.51,-112.4,791.4,-9.9,848,9891,0.15,1.88,0.00,0.000,6,0.153,0.058,2670,2122,3616,0,0,0,0,0,0
$GC,10205,-0.51,-112.4,816.2,-8.0,859,10206,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2122,3616,0,0,0,0,0,0
$GC,10508,-0.51,-112.4,840.1,-7.9,869,10513,0.00,2.03,0.00,0.000,4,0.000,0.065,2670,836,3617,0,0,0,0,0,0
$GC,10535,-0.51,-112.4,842.6,-9.5,869,10541,0.00,2.05,0.00,0.000,6,0.000,0.064,2670,2129,3617,0,0,0,0,0,0
$GC,10844,-0.51,-112.4,865.6,-7.0,880,10848,0.00,1.90,0.00,0.000,4,0.000,0.074,2663,3313,3617,0,0,0,0,0,0
$GC,10875,-0.51,-112.4,867.7,-6.9,881,10880,0.00,1.88,0.00,0.000,6,0.000,0.058,2663,2130,3617,0,0,0,0,0,0
$GC,11210,-0.51,-112.4,889.5,-6.2,892,11211,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2128,3618,0,0,0,0,0,0
$GC,11514,-0.51,-112.4,910.1,-6.8,902,11518,0.00,2.00,0.00,0.000,4,0.000,0.065,2663,852,3617,0,0,0,0,0,0
$GC,11540,-0.51,-112.4,912.2,-7.8,902,11547,0.00,2.05,0.00,0.000,6,0.000,0.064,2663,2137,3618,0,0,0,0,0,0
$GC,11850,-0.51,-112.4,932.5,-6.6,913,11850,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2137,3618,0,0,0,0,0,0
$GC,12152,-0.51,-112.4,954.0,-7.3,923,12153,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2137,3618,0,0,0,0,0,0
$GC,12455,-0.51,-112.4,975.9,-7.1,933,12460,0.00,2.05,0.00,0.000,4,0.000,0.067,2663,846,3619,0,0,0,0,0,0
$GC,12498,-0.51,-112.4,979.0,-7.3,934,12503,0.00,2.08,0.00,0.000,6,0.000,0.067,2662,2139,3619,0,0,0,0,0,0
$GC,12823,-0.55,-112.4,987.7,0.0,945,12827,0.00,1.88,0.00,0.000,4,0.000,0.078,2663,3303,3619,0,0,0,0,0,0
$GC,13069,-0.59,-112.4,987.6,0.3,952,13073,0.00,1.83,0.00,0.000,6,0.000,0.060,2662,2142,3619,0,0,0,0,0,0
$STATE,13229,end dive,NO_VERTICAL_VELOCITY
$STATE,13229,begin apogee
$GC,13233,-0.14,0.0,987.7,0.0,958,13332,0.38,0.00,97.68,1.231,6,0.099,0.000,2793,2006,3149,0,0,0,0,0,0
$STATE,13333,end apogee,CONTROL_FINISHED_OK
$STATE,13333,begin climb
$GC,13334,0.45,112.4,987.5,0.0,961,13438,0.57,2.12,99.00,1.193,4,0.090,0.070,2980,3231,2690,0,0,0,0,0,0
$GC,13517,0.42,112.4,977.6,9.2,966,13522,0.00,2.08,0.00,0.000,6,0.000,0.059,2987,2003,2686,0,0,0,0,0,0
$GC,13836,0.39,112.4,951.3,7.9,977,13841,0.00,2.08,0.00,0.000,4,0.000,0.072,2987,3229,2685,0,0,0,0,0,0
$GC,13863,0.34,112.4,949.1,8.3,977,13869,0.15,2.00,0.00,0.000,6,0.153,0.061,2952,2011,2684,0,0,0,0,0,0
$GC,14171,0.33,112.4,929.6,6.2,988,14176,0.00,2.03,0.00,0.000,4,0.000,0.072,2952,3223,2684,0,0,0,0,0,0
$GC,14214,0.31,112.4,926.5,7.9,989,14218,0.00,2.00,0.00,0.000,6,0.000,0.061,2957,2002,2684,0,0,0,0,0,0
$GC,14539,0.29,117.1,906.2,5.9,1000,14548,0.00,2.05,4.55,0.823,4,0.000,0.074,2957,3231,2672,0,0,0,0,0,0
$GC,14628,0.27,117.1,900.1,7.0,1002,14635,0.15,1.98,0.00,0.000,6,0.167,0.061,2922,2017,2672,0,0,0,0,0,0
$GC,14937,0.29,151.1,885.2,4.9,1013,14972,0.00,2.08,30.52,1.144,4,0.000,0.073,2922,3228,2533,0,0,0,0,0,0
$GC,15020,0.29,151.1,880.4,6.2,1015,15025,0.00,2.00,0.00,0.000,6,0.000,0.060,2922,2022,2530,0,0,0,0,0,0
$GC,15334,0.31,181.8,864.3,5.0,1026,15366,0.00,1.98,27.27,1.120,4,0.000,0.072,2922,3236,2410,0,0,0,0,0,0
$GC,15391,0.31,193.9,861.3,5.7,1027,15407,0.00,2.00,12.38,1.036,6,0.000,0.061,2922,2038,2359,0,0,0,0,0,0
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$STATE,27014,end climb,SURFACE_DEPTH_REACHED
$STATE,27014,begin surface coast
$FINISH,1.1,1.013322
$STATE,27073,end surface coast,CONTROL_FINISHED_OK
$STATE,27073,begin surface
$SM_CCo,27086,24.17,0.439,2,0,1723,350.04
$SM_GC,2.58,0.00,0.00,24.17,0.000,0.000,0.439,142,2046,1723,-8.41,-0.79,350.04
$IRIDIUM_FIX,4726.11,-12536.72,311099,040420
$TT8_MAMPS,0.052923
$HUMID,37.99
$INTERNAL_PRESSURE,8.99133
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.7,18.742
$10V_AH,10.2,14.923
$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,20.425,219.150,394.475,24.175,0.000,50.261,60.655,279.371,0.000,0.000,17.546,0.000,21314.990,736.187,4936.877,680.528,0.000,2536.205,0.000,4184.384,0.000,0.533,0.000
$DEVICE_MAMPS,247.741,84.370,1231.035,439.491,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1415.047,1695.506,1684.317,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298604
$DATA_FILE_SIZE,113718,2041
$CAP_FILE_SIZE,263778,0
$CFSIZE,260165632,247197696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.055,339.5,1
$GPS,060810,114551,4743.593,-12529.366,43,2.5,62,18.7