version: 66.06
glider: 187
mission: 2
dive: 145
start: 8 6 110 19 13 7
data:
$ID,187
$MISSION,2
$DIVE,145
$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,-26369.975
$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,24
$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
$GPS1,190606,4745.320,-12524.398,51,1.0,62,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-76.7
$GPS2,191302,4745.355,-12524.381,13,1.3,13,18.7
$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,45.1,41246,-13.9,-6.111
$D_GRID,812
$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,12,begin dive
$GC,13,-0.45,-112.4,0.0,0.0,0,69,0.00,0.00,-53.83,0.000,2,0.000,0.000,132,2071,2943,0,0,0,0,0,0
$GC,70,-0.45,-112.4,3.1,-2.1,10,103,10.40,1.95,-17.33,0.000,4,0.247,0.074,2682,831,3607,0,0,0,0,0,0
$GC,193,-0.42,-112.4,23.5,-16.4,33,201,0.00,2.00,0.00,0.000,6,0.000,0.058,2676,2080,3609,0,0,0,0,0,0
$GC,521,-0.40,-112.4,78.3,-15.9,94,527,0.00,2.00,0.00,0.000,4,0.000,0.066,2667,3311,3610,0,0,0,0,0,0
$GC,611,-0.38,-112.4,91.4,-13.8,111,618,0.12,1.95,0.00,0.000,6,0.123,0.052,2709,2074,3611,0,0,0,0,0,0
$GC,934,-0.38,-112.4,121.6,-8.9,150,939,0.00,2.03,0.00,0.000,4,0.000,0.068,2703,3311,3612,0,0,0,0,0,0
$GC,998,-0.38,-112.4,127.3,-9.1,156,1003,0.00,1.95,0.00,0.000,6,0.000,0.052,2703,2077,3612,0,0,0,0,0,0
$GC,1320,-0.38,-112.4,155.0,-8.4,187,1323,0.00,1.92,0.00,0.000,4,0.000,0.061,2703,846,3612,0,0,0,0,0,0
$GC,1388,-0.38,-112.4,161.6,-9.3,193,1395,0.00,1.95,0.00,0.000,6,0.000,0.058,2700,2080,3612,0,0,0,0,0,0
$GC,1703,-0.38,-112.4,190.5,-9.8,224,1708,0.00,2.00,0.00,0.000,4,0.000,0.067,2696,3311,3612,0,0,0,0,0,0
$GC,1783,-0.38,-112.4,198.2,-9.4,231,1791,0.00,1.92,0.00,0.000,6,0.000,0.052,2695,2084,3613,0,0,0,0,0,0
$GC,2100,-0.38,-112.4,227.3,-9.1,262,2103,0.00,2.00,0.00,0.000,4,0.000,0.071,2694,3316,3613,0,0,0,0,0,0
$GC,2125,-0.38,-112.4,229.7,-9.1,264,2133,0.00,1.95,0.00,0.000,6,0.000,0.054,2694,2078,3613,0,0,0,0,0,0
$GC,2441,-0.38,-112.4,257.1,-8.0,295,2445,0.00,2.00,0.00,0.000,4,0.000,0.070,2691,3314,3613,0,0,0,0,0,0
$GC,2477,-0.38,-112.4,260.1,-7.6,298,2484,0.00,1.92,0.00,0.000,6,0.000,0.054,2691,2089,3613,0,0,0,0,0,0
$GC,2793,-0.38,-112.4,283.0,-7.5,329,2798,0.00,1.98,0.00,0.000,4,0.000,0.061,2691,843,3613,0,0,0,0,0,0
$GC,2825,-0.38,-112.4,285.7,-8.0,332,2830,0.00,2.00,0.00,0.000,6,0.000,0.060,2687,2101,3613,0,0,0,0,0,0
$GC,3145,-0.38,-112.4,312.3,-8.1,363,3150,0.00,1.98,0.00,0.000,4,0.000,0.070,2682,3314,3613,0,0,0,0,0,0
$GC,3253,-0.38,-112.4,320.7,-7.9,373,3257,0.00,1.88,0.00,0.000,6,0.000,0.054,2682,2104,3613,0,0,0,0,0,0
$GC,3573,-0.38,-112.4,347.0,-7.7,404,3578,0.10,1.98,0.00,0.000,4,0.165,0.061,2709,847,3613,0,0,0,0,0,0
$GC,3616,-0.39,-112.4,349.8,-6.3,408,3620,0.00,1.98,0.00,0.000,6,0.000,0.061,2709,2097,3613,0,0,0,0,0,0
$GC,3938,-0.41,-112.4,371.0,-7.4,439,3941,0.00,1.92,0.00,0.000,4,0.000,0.071,2708,3303,3613,0,0,0,0,0,0
$GC,3995,-0.43,-112.4,375.4,-7.2,444,4002,0.00,1.88,0.00,0.000,6,0.000,0.054,2707,2096,3613,0,0,0,0,0,0
$GC,4312,-0.44,-112.4,395.6,-6.0,475,4315,0.00,1.98,0.00,0.000,4,0.000,0.072,2704,3312,3613,0,0,0,0,0,0
$GC,4353,-0.46,-112.4,397.9,-6.1,479,4357,0.00,1.88,0.00,0.000,6,0.000,0.055,2704,2109,3613,0,0,0,0,0,0
$GC,4674,-0.47,-112.4,416.4,-6.1,510,4674,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2108,3613,0,0,0,0,0,0
$GC,4985,-0.48,-112.4,437.0,-6.8,540,4986,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2108,3613,0,0,0,0,0,0
$GC,5295,-0.49,-112.4,457.3,-5.9,570,5296,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2108,3613,0,0,0,0,0,0
$GC,5605,-0.50,-112.4,479.3,-7.5,600,5609,0.00,1.95,0.00,0.000,4,0.000,0.074,2704,3304,3614,0,0,0,0,0,0
$GC,5642,-0.52,-112.4,481.8,-6.5,603,5649,0.12,1.88,0.00,0.000,6,0.095,0.056,2643,2113,3614,0,0,0,0,0,0
$GC,5958,-0.50,-112.4,513.6,-10.3,634,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2113,3614,0,0,0,0,0,0
$GC,6270,-0.49,-112.4,545.1,-10.7,664,6271,0.12,0.00,0.00,0.000,6,0.164,0.000,2678,2113,3614,0,0,0,0,0,0
$GC,6579,-0.49,-112.4,569.9,-7.5,694,6583,0.00,1.98,0.00,0.000,4,0.000,0.064,2678,850,3615,0,0,0,0,0,0
$GC,6621,-0.49,-112.4,573.3,-8.3,698,6625,0.00,2.03,0.00,0.000,6,0.000,0.061,2677,2126,3615,0,0,0,0,0,0
$GC,6941,-0.49,-112.4,599.1,-8.4,729,6946,0.00,1.95,0.00,0.000,4,0.000,0.072,2673,3320,3615,0,0,0,0,0,0
$GC,6984,-0.49,-112.4,603.0,-8.8,731,6988,0.00,1.90,0.00,0.000,6,0.000,0.056,2672,2115,3615,0,0,0,0,0,0
$GC,7309,-0.49,-112.4,631.2,-8.8,742,7309,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2115,3615,0,0,0,0,0,0
$GC,7612,-0.49,-112.4,657.1,-8.6,752,7613,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2115,3615,0,0,0,0,0,0
$GC,7915,-0.49,-112.4,682.8,-8.3,762,7920,0.00,2.00,0.00,0.000,4,0.000,0.064,2672,841,3616,0,0,0,0,0,0
$GC,7952,-0.49,-112.4,686.1,-9.4,763,7957,0.00,2.03,0.00,0.000,6,0.000,0.062,2667,2120,3616,0,0,0,0,0,0
$GC,8282,-0.49,-112.4,714.6,-8.2,774,8283,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2120,3616,0,0,0,0,0,0
$GC,8586,-0.49,-112.4,740.6,-8.6,784,8590,0.00,1.92,0.00,0.000,4,0.000,0.073,2661,3312,3617,0,0,0,0,0,0
$GC,8628,-0.49,-112.4,744.3,-8.3,785,8633,0.00,1.90,0.00,0.000,6,0.000,0.058,2662,2110,3616,0,0,0,0,0,0
$GC,8953,-0.49,-112.4,771.9,-8.2,796,8957,0.00,1.92,0.00,0.000,4,0.000,0.074,2654,3305,3617,0,0,0,0,0,0
$GC,9043,-0.49,-112.4,779.6,-8.6,798,9049,0.00,1.88,0.00,0.000,6,0.000,0.058,2653,2117,3617,0,0,0,0,0,0
$GC,9352,-0.49,-112.4,805.7,-8.3,809,9356,0.00,1.92,0.00,0.000,4,0.000,0.074,2646,3308,3617,0,0,0,0,0,0
$GC,9378,-0.49,-112.4,808.1,-9.3,809,9386,0.12,1.88,0.00,0.000,6,0.150,0.058,2681,2121,3617,0,0,0,0,0,0
$STATE,9443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9443,begin apogee
$GC,9446,-0.14,0.0,812.2,6.4,812,9542,0.32,0.00,95.00,1.113,6,0.123,0.000,2789,2001,3150,0,0,0,0,0,0
$STATE,9543,end apogee,CONTROL_FINISHED_OK
$STATE,9543,begin climb
$GC,9544,0.45,112.4,813.8,0.0,815,9646,0.55,2.08,95.97,1.083,4,0.084,0.064,2986,770,2691,0,0,0,0,0,0
$GC,9660,0.43,112.4,808.9,6.3,819,9665,0.00,2.10,0.00,0.000,6,0.000,0.061,2986,2004,2689,0,0,0,0,0,0
$GC,9996,0.40,112.4,781.5,8.3,830,10000,0.00,2.08,0.00,0.000,4,0.000,0.071,2986,3237,2685,0,0,0,0,0,0
$GC,10102,0.36,112.4,771.5,9.6,833,10107,0.12,2.00,0.00,0.000,6,0.174,0.058,2957,2016,2685,0,0,0,0,0,0
$GC,10427,0.34,112.4,749.7,6.4,844,10431,0.00,2.00,0.00,0.000,4,0.000,0.072,2956,3227,2684,0,0,0,0,0,0
$GC,10491,0.32,112.4,745.4,6.1,846,10495,0.00,1.92,0.00,0.000,6,0.000,0.059,2957,2031,2684,0,0,0,0,0,0
$GC,10826,0.30,112.4,725.7,6.2,857,10830,0.00,1.98,0.00,0.000,4,0.000,0.071,2957,3238,2683,0,0,0,0,0,0
$GC,10943,0.28,112.4,717.3,7.0,860,10948,0.12,1.92,0.00,0.000,6,0.170,0.058,2928,2044,2683,0,0,0,0,0,0
$GC,11257,0.30,135.8,700.3,5.3,871,11277,0.00,0.00,19.55,1.013,6,0.000,0.000,2928,2043,2596,0,0,0,0,0,0
$GC,11561,0.31,159.9,684.2,5.2,881,11583,0.00,0.00,21.58,1.005,6,0.000,0.000,2928,2043,2498,0,0,0,0,0,0
$GC,11864,0.32,163.6,666.4,6.0,891,11873,0.00,2.03,4.38,0.714,4,0.000,0.072,2928,3245,2483,0,0,0,0,0,0
$GC,11895,0.32,163.6,664.3,7.2,892,11900,0.00,1.95,0.00,0.000,6,0.000,0.061,2927,2040,2483,0,0,0,0,0,0
$GC,12231,0.34,165.4,644.4,6.0,903,12235,0.00,1.98,0.00,0.000,4,0.000,0.074,2927,3230,2483,0,0,0,0,0,0
$GC,12251,0.34,165.4,643.0,6.5,903,12256,0.00,1.92,0.00,0.000,6,0.000,0.060,2928,2041,2482,0,0,0,0,0,0
$GC,12566,0.36,185.0,625.2,5.4,914,12590,0.00,2.10,19.83,0.969,4,0.000,0.069,2929,763,2395,0,0,0,0,0,0
$GC,12601,0.41,227.9,623.4,4.5,915,12642,0.08,2.10,37.30,0.969,6,0.068,0.063,2973,2050,2221,0,0,0,0,0,0
$GC,12946,0.41,227.9,597.5,7.5,928,12950,0.00,1.98,0.00,0.000,4,0.000,0.073,2973,3230,2214,0,0,0,0,0,0
$GC,12961,0.41,227.9,596.3,7.4,929,12968,0.00,1.95,0.00,0.000,6,0.000,0.061,2973,2041,2213,0,0,0,0,0,0
$GC,13277,0.41,227.9,573.1,7.8,960,13281,0.00,2.08,0.00,0.000,4,0.000,0.071,2973,775,2213,0,0,0,0,0,0
$GC,13303,0.41,227.9,571.2,7.1,962,13309,0.00,2.05,0.00,0.000,6,0.000,0.063,2974,2048,2213,0,0,0,0,0,0
$GC,13618,0.41,227.9,547.7,7.0,993,13623,0.00,1.98,0.00,0.000,4,0.000,0.071,2973,3240,2212,0,0,0,0,0,0
$GC,13650,0.41,227.9,545.2,7.5,996,13655,0.00,1.92,0.00,0.000,6,0.000,0.061,2974,2043,2212,0,0,0,0,0,0
$GC,13972,0.41,227.9,524.0,6.4,1027,13976,0.00,2.05,0.00,0.000,4,0.000,0.069,2973,763,2211,0,0,0,0,0,0
$GC,13981,0.41,227.9,523.4,6.5,1028,13986,0.00,2.05,0.00,0.000,6,0.000,0.063,2974,2046,2212,0,0,0,0,0,0
$GC,14302,0.41,227.9,502.5,6.2,1059,14307,0.00,1.95,0.00,0.000,4,0.000,0.071,2974,3241,2211,0,0,0,0,0,0
$GC,14334,0.41,227.9,500.3,6.2,1062,14339,0.00,1.92,0.00,0.000,6,0.000,0.060,2974,2043,2210,0,0,0,0,0,0
$GC,14656,0.41,228.6,480.3,6.1,1093,14659,0.00,2.03,0.00,0.000,4,0.000,0.069,2974,771,2211,0,0,0,0,0,0
$GC,14676,0.41,235.0,479.0,5.9,1095,14688,0.00,2.05,6.30,0.771,6,0.000,0.061,2974,2060,2191,0,0,0,0,0,0
$GC,14997,0.41,236.7,459.8,6.1,1126,15001,0.00,1.90,0.00,0.000,4,0.000,0.071,2974,3227,2190,0,0,0,0,0,0
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$STATE,21386,end climb,SURFACE_DEPTH_REACHED
$STATE,21386,begin surface coast
$FINISH,1.0,1.024380
$STATE,21419,end surface coast,CONTROL_FINISHED_OK
$STATE,21419,begin surface
$SM_CCo,21492,0.00,0.000,0,0,1494,406.22
$SM_GC,2.23,7.78,0.00,0.00,0.048,0.000,0.000,142,2066,1494,-8.34,-0.25,406.22
$IRIDIUM_FIX,4726.11,-12534.12,311099,040423
$TT8_MAMPS,0.051389
$HUMID,37.59
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,23.9,19.022
$10V_AH,10.3,15.245
$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,20.075,192.750,444.375,0.000,0.000,24.629,31.552,244.504,0.000,0.000,14.060,0.000,16204.449,671.115,4461.562,529.115,0.000,2296.364,0.000,3789.465,0.000,0.533,0.000
$DEVICE_MAMPS,246.974,132.691,1112.917,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1292.299,1540.657,1707.511,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298600
$DATA_FILE_SIZE,104276,1868
$CAP_FILE_SIZE,226668,0
$CFSIZE,260165632,247001088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.032,322.8,1
$GPS,070810,011207,4746.990,-12521.171,32,1.0,32,18.7