version: 66.06
glider: 187
mission: 2
dive: 285
start: 8 21 110 23 47 13
data:
$ID,187
$MISSION,2
$DIVE,285
$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,-29231.633
$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,28
$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
$GPS1,234025,4705.146,-12648.029,44,1.4,44,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.87
$_SM_ANGLEo,-75.1
$GPS2,234708,4705.098,-12647.988,14,1.5,14,18.6
$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,21.2,168940,-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,-112.4,0.0,0.0,0,87,0.00,0.00,-71.90,0.000,2,0.000,0.000,133,2072,2986,0,0,0,0,0,0
$GC,88,-0.45,-112.4,3.1,-2.0,13,117,10.35,2.00,-14.65,0.000,4,0.242,0.073,2681,834,3610,0,0,0,0,0,0
$GC,239,-0.42,-112.4,32.4,-18.1,41,246,0.00,1.98,0.00,0.000,6,0.000,0.055,2674,2073,3612,0,0,0,0,0,0
$GC,566,-0.39,-112.4,83.7,-14.4,102,572,0.12,2.00,0.00,0.000,4,0.166,0.064,2700,3317,3614,0,0,0,0,0,0
$GC,668,-0.39,-112.4,94.8,-10.5,121,674,0.00,1.92,0.00,0.000,6,0.000,0.049,2700,2082,3614,0,0,0,0,0,0
$GC,984,-0.39,-112.4,127.4,-9.4,156,988,0.00,1.92,0.00,0.000,4,0.000,0.056,2700,846,3615,0,0,0,0,0,0
$GC,1010,-0.39,-112.4,130.0,-10.3,158,1017,0.00,1.98,0.00,0.000,6,0.000,0.054,2696,2091,3616,0,0,0,0,0,0
$GC,1326,-0.39,-112.4,160.7,-9.7,189,1330,0.00,1.95,0.00,0.000,4,0.000,0.064,2687,3307,3615,0,0,0,0,0,0
$GC,1438,-0.39,-112.4,171.8,-10.4,199,1444,0.00,1.92,0.00,0.000,6,0.000,0.049,2687,2077,3615,0,0,0,0,0,0
$GC,1753,-0.39,-112.4,203.8,-9.9,230,1754,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2075,3615,0,0,0,0,0,0
$GC,2064,-0.39,-112.4,232.6,-8.9,260,2065,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,2075,3614,0,0,0,0,0,0
$GC,2375,-0.39,-112.4,259.5,-8.1,290,2378,0.00,1.98,0.00,0.000,4,0.000,0.067,2678,3311,3613,0,0,0,0,0,0
$GC,2406,-0.39,-112.4,262.3,-8.8,293,2410,0.00,1.90,0.00,0.000,6,0.000,0.051,2678,2085,3613,0,0,0,0,0,0
$GC,2727,-0.38,-112.4,292.4,-9.4,324,2731,0.12,1.98,0.00,0.000,4,0.158,0.068,2707,3306,3612,0,0,0,0,0,0
$GC,2748,-0.38,-112.4,294.1,-8.0,326,2752,0.00,1.90,0.00,0.000,6,0.000,0.052,2707,2090,3612,0,0,0,0,0,0
$GC,3069,-0.38,-112.4,316.9,-7.2,357,3073,0.00,1.95,0.00,0.000,4,0.000,0.059,2707,841,3611,0,0,0,0,0,0
$GC,3132,-0.38,-112.4,321.7,-8.0,363,3137,0.00,2.05,0.00,0.000,6,0.000,0.058,2706,2143,3611,0,0,0,0,0,0
$GC,3454,-0.38,-112.4,346.2,-7.7,394,3457,0.00,1.88,0.00,0.000,4,0.000,0.069,2699,3306,3610,0,0,0,0,0,0
$GC,3576,-0.38,-112.4,355.3,-7.1,405,3583,0.00,1.80,0.00,0.000,6,0.000,0.052,2699,2156,3611,0,0,0,0,0,0
$GC,3892,-0.38,-112.4,378.9,-7.7,436,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2156,3610,0,0,0,0,0,0
$GC,4204,-0.38,-112.4,401.7,-7.3,466,4206,0.00,1.83,0.00,0.000,4,0.000,0.070,2694,3308,3609,0,0,0,0,0,0
$GC,4256,-0.39,-112.4,405.3,-6.9,471,4259,0.00,1.75,0.00,0.000,6,0.000,0.053,2694,2183,3608,0,0,0,0,0,0
$GC,4577,-0.39,-112.4,427.5,-6.9,502,4580,0.00,2.08,0.00,0.000,4,0.000,0.061,2694,844,3608,0,0,0,0,0,0
$GC,4609,-0.39,-112.4,429.8,-7.2,505,4612,0.00,2.10,0.00,0.000,6,0.000,0.060,2692,2189,3608,0,0,0,0,0,0
$GC,4928,-0.39,-112.4,450.4,-6.7,536,4933,0.00,1.80,0.00,0.000,4,0.000,0.071,2685,3300,3607,0,0,0,0,0,0
$GC,4997,-0.39,-112.4,455.0,-7.1,542,5004,0.00,1.75,0.00,0.000,6,0.000,0.054,2686,2186,3606,0,0,0,0,0,0
$GC,5313,-0.39,-112.4,476.2,-6.7,573,5318,0.00,1.83,0.00,0.000,4,0.000,0.071,2679,3305,3605,0,0,0,0,0,0
$GC,5361,-0.39,-112.4,479.8,-7.6,577,5367,0.00,1.73,0.00,0.000,6,0.000,0.054,2679,2207,3605,0,0,0,0,0,0
$GC,5676,-0.39,-112.4,503.5,-7.8,608,5681,0.00,1.80,0.00,0.000,4,0.000,0.072,2672,3309,3605,0,0,0,0,0,0
$GC,5719,-0.39,-112.4,506.9,-8.2,612,5723,0.12,1.73,0.00,0.000,6,0.150,0.054,2707,2213,3605,0,0,0,0,0,0
$GC,6041,-0.41,-112.4,525.8,-5.9,643,6042,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,2213,3604,0,0,0,0,0,0
$GC,6352,-0.42,-112.4,543.9,-5.9,673,6355,0.00,1.77,0.00,0.000,4,0.000,0.072,2707,3317,3604,0,0,0,0,0,0
$GC,6388,-0.45,-112.4,546.2,-6.2,676,6395,0.00,1.70,0.00,0.000,6,0.000,0.055,2707,2233,3604,0,0,0,0,0,0
$GC,6703,-0.46,-112.4,565.2,-6.1,707,6707,0.00,2.17,0.00,0.000,4,0.000,0.061,2708,845,3603,0,0,0,0,0,0
$GC,6735,-0.48,-112.4,567.2,-6.8,710,6739,0.00,2.20,0.00,0.000,6,0.000,0.061,2707,2235,3603,0,0,0,0,0,0
$GC,7056,-0.49,-112.4,586.5,-6.3,741,7060,0.00,1.75,0.00,0.000,4,0.000,0.072,2705,3313,3603,0,0,0,0,0,0
$GC,7093,-0.52,-112.4,588.8,-6.4,744,7101,0.08,1.67,0.00,0.000,6,0.068,0.055,2656,2236,3603,0,0,0,0,0,0
$GC,7415,-0.51,-112.4,616.0,-8.6,764,7419,0.00,2.17,0.00,0.000,4,0.000,0.063,2656,836,3602,0,0,0,0,0,0
$GC,7478,-0.51,-112.4,621.6,-7.7,766,7482,0.00,2.20,0.00,0.000,6,0.000,0.062,2650,2226,3602,0,0,0,0,0,0
$GC,7814,-0.49,-112.4,650.7,-8.6,777,7818,0.00,1.75,0.00,0.000,4,0.000,0.072,2643,3302,3602,0,0,0,0,0,0
$GC,7898,-0.49,-112.4,657.9,-8.4,779,7903,0.12,1.67,0.00,0.000,6,0.152,0.055,2678,2239,3601,0,0,0,0,0,0
$GC,8213,-0.49,-112.4,678.0,-6.2,790,8217,0.00,2.20,0.00,0.000,4,0.000,0.062,2678,841,3601,0,0,0,0,0,0
$GC,8249,-0.49,-112.4,680.5,-6.8,791,8254,0.00,2.20,0.00,0.000,6,0.000,0.062,2677,2226,3601,0,0,0,0,0,0
$GC,8580,-0.49,-112.4,700.0,-5.7,802,8584,0.00,1.73,0.00,0.000,4,0.000,0.073,2672,3305,3600,0,0,0,0,0,0
$GC,8676,-0.49,-112.4,705.4,-5.8,805,8680,0.00,1.65,0.00,0.000,6,0.000,0.055,2671,2245,3600,0,0,0,0,0,0
$GC,9011,-0.49,-112.4,725.2,-5.8,816,9015,0.00,2.20,0.00,0.000,4,0.000,0.063,2672,849,3600,0,0,0,0,0,0
$GC,9042,-0.49,-112.4,727.2,-6.3,817,9047,0.00,2.22,0.00,0.000,6,0.000,0.063,2672,2248,3600,0,0,0,0,0,0
$GC,9378,-0.49,-112.4,748.7,-6.8,828,9382,0.00,1.70,0.00,0.000,4,0.000,0.071,2665,3310,3598,0,0,0,0,0,0
$GC,9484,-0.49,-112.4,756.1,-7.5,831,9488,0.00,1.65,0.00,0.000,6,0.000,0.055,2665,2264,3599,0,0,0,0,0,0
$GC,9809,-0.49,-112.4,778.8,-7.0,842,9813,0.00,1.67,0.00,0.000,4,0.000,0.073,2659,3305,3598,0,0,0,0,0,0
$GC,9867,-0.49,-112.4,783.0,-7.7,843,9873,0.00,1.60,0.00,0.000,6,0.000,0.056,2659,2294,3598,0,0,0,0,0,0
$GC,10176,-0.49,-112.4,804.8,-7.1,854,10180,0.00,1.65,0.00,0.000,4,0.000,0.073,2652,3307,3598,0,0,0,0,0,0
$GC,10218,-0.49,-112.4,807.8,-6.5,855,10222,0.00,1.58,0.00,0.000,6,0.000,0.056,2652,2304,3598,0,0,0,0,0,0
$GC,10543,-0.49,-112.4,830.5,-7.0,866,10547,0.00,2.30,0.00,0.000,4,0.000,0.064,2652,848,3598,0,0,0,0,0,0
$GC,10574,-0.49,-112.4,833.0,-8.0,867,10579,0.08,2.35,0.00,0.000,6,0.140,0.064,2671,2321,3598,0,0,0,0,0,0
$GC,10910,-0.49,-112.4,854.6,-6.7,878,10914,0.00,1.58,0.00,0.000,4,0.000,0.074,2666,3299,3598,0,0,0,0,0,0
$GC,10963,-0.49,-112.4,858.5,-7.3,879,10967,0.00,1.55,0.00,0.000,6,0.000,0.058,2666,2321,3598,0,0,0,0,0,0
$GC,11277,-0.49,-112.4,881.3,-7.4,890,11281,0.00,2.33,0.00,0.000,4,0.000,0.064,2666,848,3597,0,0,0,0,0,0
$GC,11314,-0.49,-112.4,884.0,-8.1,891,11318,0.00,2.35,0.00,0.000,6,0.000,0.064,2664,2318,3597,0,0,0,0,0,0
$GC,11643,-0.49,-112.4,909.1,-7.7,902,11648,0.00,1.60,0.00,0.000,4,0.000,0.074,2664,3307,3597,0,0,0,0,0,0
$GC,11680,-0.49,-112.4,912.0,-7.6,903,11685,0.00,1.55,0.00,0.000,6,0.000,0.058,2664,2328,3597,0,0,0,0,0,0
$GC,12011,-0.49,-112.4,936.3,-7.5,914,12015,0.00,2.33,0.00,0.000,4,0.000,0.064,2664,852,3597,0,0,0,0,0,0
$GC,12058,-0.49,-112.4,940.1,-9.0,915,12063,0.00,2.35,0.00,0.000,6,0.000,0.064,2664,2321,3597,0,0,0,0,0,0
$GC,12377,-0.49,-112.4,963.3,-7.2,926,12382,0.00,1.60,0.00,0.000,4,0.000,0.074,2663,3307,3596,0,0,0,0,0,0
$GC,12420,-0.49,-112.4,966.4,-7.6,927,12424,0.00,1.52,0.00,0.000,6,0.000,0.057,2663,2334,3596,0,0,0,0,0,0
$GC,12744,-0.49,-112.4,989.6,-7.1,938,12749,0.00,2.35,0.00,0.000,4,0.000,0.064,2663,846,3596,0,0,0,0,0,0
$STATE,12754,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12754,begin apogee
$GC,12759,-0.14,0.0,990.4,7.3,938,12854,0.38,0.00,92.72,1.233,6,0.127,0.000,2786,1999,3150,0,0,0,0,0,0
$STATE,12854,end apogee,CONTROL_FINISHED_OK
$STATE,12854,begin climb
$GC,12856,0.45,112.4,992.9,0.0,941,12962,0.60,2.17,98.82,1.199,4,0.083,0.067,2991,774,2690,0,0,0,0,0,0
$GC,12972,0.44,125.8,990.1,5.6,945,12992,0.00,2.10,13.48,1.073,6,0.000,0.061,2991,1993,2635,0,0,0,0,0,0
$GC,13296,0.41,125.8,965.5,7.7,956,13299,0.00,2.08,0.00,0.000,4,0.000,0.070,2991,3234,2631,0,0,0,0,0,0
$GC,13370,0.37,125.8,958.9,8.4,958,13374,0.12,2.00,0.00,0.000,6,0.150,0.058,2962,2017,2630,0,0,0,0,0,0
$GC,13694,0.35,125.8,937.7,6.5,969,13698,0.00,2.05,0.00,0.000,4,0.000,0.068,2969,767,2629,0,0,0,0,0,0
$GC,13709,0.34,125.8,936.7,6.3,969,13713,0.00,2.03,0.00,0.000,6,0.000,0.061,2969,2013,2630,0,0,0,0,0,0
$GC,14029,0.32,125.8,915.2,6.7,980,14033,0.00,2.03,0.00,0.000,4,0.000,0.071,2969,3233,2628,0,0,0,0,0,0
$GC,14060,0.29,125.8,912.7,7.1,981,14065,0.12,1.98,0.00,0.000,6,0.142,0.059,2937,2007,2628,0,0,0,0,0,0
$GC,14395,0.31,150.7,895.3,5.2,992,14418,0.00,0.00,21.27,1.131,6,0.000,0.000,2936,2007,2535,0,0,0,0,0,0
$GC,14699,0.32,175.0,879.0,5.2,1002,14723,0.00,0.00,22.67,1.120,6,0.000,0.000,2937,2007,2436,0,0,0,0,0,0
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$GC,25279,0.81,360.8,24.6,6.4,1895,25286,0.00,2.25,0.00,0.000,6,0.000,0.058,3096,2184,1667,0,0,0,0,0,0
$STATE,25572,end climb,SURFACE_DEPTH_REACHED
$STATE,25572,begin surface coast
$FINISH,1.1,1.022680
$STATE,25616,end surface coast,CONTROL_FINISHED_OK
$STATE,25616,begin surface
$SM_CCo,25690,0.00,0.000,0,0,1662,365.01
$SM_GC,1.92,7.82,0.00,0.00,0.048,0.000,0.000,141,2062,1662,-8.34,-0.37,365.01
$IRIDIUM_FIX,4648.08,-12700.41,151199,161607
$TT8_MAMPS,0.052923
$HUMID,39.84
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,17.70
$XPDR_PINGS,0
$24V_AH,23.5,31.500
$10V_AH,10.2,27.830
$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,20.425,226.400,407.050,0.000,0.000,24.902,31.639,217.946,0.000,0.000,14.591,0.000,19885.455,676.740,4851.864,638.434,0.000,2471.894,0.000,4135.263,0.000,0.534,0.000
$DEVICE_MAMPS,241.605,86.671,1233.336,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1356.187,1603.582,1634.636,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,110478,1958
$CAP_FILE_SIZE,253200,0
$CFSIZE,260165632,238936064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.047,150.8,1
$GPS,220810,065624,4706.946,-12645.690,27,1.5,44,18.6