version: 66.06
glider: 187
mission: 2
dive: 301
start: 8 26 110 20 32 43
data:
$ID,187
$MISSION,2
$DIVE,301
$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,-29523.223
$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,39
$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
$GPS1,202501,4733.391,-12552.490,42,1.6,42,18.7
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-74.8
$GPS2,203238,4733.295,-12552.450,16,1.5,16,18.7
$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,41.2,82591,-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,-112.4,0.0,0.0,0,68,0.00,0.00,-53.72,0.000,2,0.000,0.000,131,2086,2862,0,0,0,0,0,0
$GC,70,-0.45,-112.4,3.2,-2.2,10,103,10.38,2.03,-19.05,0.000,4,0.241,0.072,2679,837,3610,0,0,0,0,0,0
$GC,220,-0.42,-112.4,28.5,-16.2,38,226,0.00,1.95,0.00,0.000,6,0.000,0.055,2673,2061,3613,0,0,0,0,0,0
$GC,547,-0.39,-112.4,79.3,-14.6,99,553,0.12,2.00,0.00,0.000,4,0.162,0.063,2700,3302,3615,0,0,0,0,0,0
$GC,574,-0.37,-112.4,82.6,-13.3,104,580,0.00,1.92,0.00,0.000,6,0.000,0.050,2700,2074,3615,0,0,0,0,0,0
$GC,895,-0.37,-112.4,113.7,-8.3,150,899,0.00,1.95,0.00,0.000,4,0.000,0.056,2700,838,3615,0,0,0,0,0,0
$GC,953,-0.37,-112.4,118.3,-7.4,155,959,0.00,1.95,0.00,0.000,6,0.000,0.054,2696,2066,3615,0,0,0,0,0,0
$GC,1269,-0.37,-112.4,137.2,-6.0,186,1273,0.00,2.00,0.00,0.000,4,0.000,0.065,2690,3306,3615,0,0,0,0,0,0
$GC,1370,-0.37,-112.4,143.7,-6.7,195,1377,0.00,1.95,0.00,0.000,6,0.000,0.049,2690,2061,3616,0,0,0,0,0,0
$GC,1686,-0.37,-112.4,168.8,-8.4,226,1687,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2060,3615,0,0,0,0,0,0
$GC,1997,-0.37,-112.4,200.0,-10.7,256,2000,0.00,2.00,0.00,0.000,4,0.000,0.066,2682,3309,3615,0,0,0,0,0,0
$GC,2023,-0.37,-112.4,202.8,-10.5,258,2029,0.08,1.92,0.00,0.000,6,0.121,0.051,2709,2074,3615,0,0,0,0,0,0
$GC,2339,-0.39,-112.4,230.3,-8.3,289,2339,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2073,3615,0,0,0,0,0,0
$GC,2651,-0.40,-112.4,252.5,-6.0,319,2652,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2073,3614,0,0,0,0,0,0
$GC,2961,-0.41,-112.4,270.0,-5.3,349,2964,0.00,1.98,0.00,0.000,4,0.000,0.067,2705,3318,3614,0,0,0,0,0,0
$GC,3050,-0.43,-112.4,275.3,-5.8,357,3057,0.00,1.92,0.00,0.000,6,0.000,0.051,2705,2081,3614,0,0,0,0,0,0
$GC,3367,-0.43,-112.4,295.5,-6.9,388,3368,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2081,3613,0,0,0,0,0,0
$GC,3678,-0.43,-112.4,318.9,-8.4,418,3680,0.00,1.98,0.00,0.000,4,0.000,0.069,2704,3312,3613,0,0,0,0,0,0
$GC,3729,-0.44,-112.4,323.2,-7.9,423,3734,0.00,1.92,0.00,0.000,6,0.000,0.053,2703,2078,3612,0,0,0,0,0,0
$GC,4051,-0.45,-112.4,351.3,-9.2,454,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2078,3612,0,0,0,0,0,0
$GC,4363,-0.46,-112.4,377.4,-8.3,484,4365,0.00,1.98,0.00,0.000,4,0.000,0.069,2701,3308,3612,0,0,0,0,0,0
$GC,4441,-0.48,-112.4,383.7,-7.9,491,4447,0.00,1.90,0.00,0.000,6,0.000,0.053,2701,2090,3612,0,0,0,0,0,0
$GC,4756,-0.49,-112.4,407.1,-7.0,522,4761,0.00,1.98,0.00,0.000,4,0.000,0.069,2699,3305,3611,0,0,0,0,0,0
$GC,4788,-0.51,-112.4,409.4,-6.7,525,4792,0.00,1.88,0.00,0.000,6,0.000,0.054,2699,2099,3611,0,0,0,0,0,0
$GC,5111,-0.51,-112.4,429.8,-5.9,556,5111,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2100,3611,0,0,0,0,0,0
$GC,5421,-0.51,-112.4,449.3,-6.8,586,5424,0.00,1.95,0.00,0.000,4,0.000,0.071,2697,3313,3611,0,0,0,0,0,0
$GC,5457,-0.53,-112.4,451.8,-5.9,589,5463,0.00,1.90,0.00,0.000,6,0.000,0.054,2696,2095,3611,0,0,0,0,0,0
$GC,5772,-0.53,-112.4,474.9,-7.7,620,5773,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2095,3610,0,0,0,0,0,0
$GC,6084,-0.53,-112.4,498.1,-7.5,650,6087,0.00,1.92,0.00,0.000,4,0.000,0.070,2696,3308,3610,0,0,0,0,0,0
$GC,6141,-0.54,-112.4,502.6,-7.7,655,6147,0.08,1.88,0.00,0.000,6,0.067,0.054,2644,2103,3610,0,0,0,0,0,0
$GC,6457,-0.53,-112.4,535.4,-10.9,686,6461,0.00,1.98,0.00,0.000,4,0.000,0.061,2644,842,3610,0,0,0,0,0,0
$GC,6493,-0.52,-112.4,539.6,-10.8,689,6500,0.08,2.00,0.00,0.000,6,0.143,0.059,2661,2109,3610,0,0,0,0,0,0
$GC,6809,-0.52,-112.4,569.3,-9.3,720,6813,0.00,1.95,0.00,0.000,4,0.000,0.071,2655,3313,3610,0,0,0,0,0,0
$GC,6921,-0.52,-112.4,579.9,-9.8,730,6927,0.00,1.88,0.00,0.000,6,0.000,0.053,2655,2111,3610,0,0,0,0,0,0
$GC,7254,-0.52,-112.4,613.9,-10.6,755,7255,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2111,3610,0,0,0,0,0,0
$GC,7558,-0.52,-112.4,645.3,-10.2,765,7562,0.00,1.95,0.00,0.000,4,0.000,0.071,2647,3308,3610,0,0,0,0,0,0
$GC,7595,-0.52,-112.4,649.3,-11.3,766,7599,0.00,1.88,0.00,0.000,6,0.000,0.055,2647,2111,3609,0,0,0,0,0,0
$GC,7925,-0.52,-112.4,683.2,-10.2,777,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2647,2111,3610,0,0,0,0,0,0
$GC,8228,-0.52,-112.4,714.7,-10.5,787,8232,0.00,1.95,0.00,0.000,4,0.000,0.070,2639,3308,3610,0,0,0,0,0,0
$GC,8286,-0.52,-112.4,720.9,-10.6,788,8294,0.00,1.88,0.00,0.000,6,0.000,0.055,2638,2122,3610,0,0,0,0,0,0
$GC,8595,-0.50,-112.4,751.2,-9.5,799,8600,0.12,1.92,0.00,0.000,4,0.163,0.071,2667,3302,3609,0,0,0,0,0,0
$GC,8622,-0.50,-112.4,753.4,-7.9,799,8628,0.00,1.85,0.00,0.000,6,0.000,0.056,2667,2124,3610,0,0,0,0,0,0
$GC,8930,-0.50,-112.4,776.6,-7.5,810,8931,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2124,3609,0,0,0,0,0,0
$GC,9233,-0.50,-112.4,796.5,-6.3,820,9234,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,2124,3609,0,0,0,0,0,0
$GC,9537,-0.50,-112.4,814.2,-5.7,830,9541,0.00,1.95,0.00,0.000,4,0.000,0.073,2661,3313,3610,0,0,0,0,0,0
$GC,9569,-0.50,-112.4,816.2,-6.3,831,9573,0.00,1.88,0.00,0.000,6,0.000,0.057,2661,2123,3609,0,0,0,0,0,0
$GC,9904,-0.50,-112.4,837.7,-6.4,842,9905,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2124,3609,0,0,0,0,0,0
$GC,10208,-0.50,-112.4,858.4,-6.9,852,10209,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2123,3609,0,0,0,0,0,0
$GC,10511,-0.50,-112.4,879.9,-7.5,862,10512,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2123,3610,0,0,0,0,0,0
$GC,10814,-0.50,-112.4,902.4,-7.3,872,10815,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2124,3609,0,0,0,0,0,0
$GC,11118,-0.50,-112.4,924.6,-7.5,882,11122,0.00,1.95,0.00,0.000,4,0.000,0.074,2659,3311,3609,0,0,0,0,0,0
$GC,11160,-0.50,-112.4,927.8,-6.9,883,11165,0.00,1.85,0.00,0.000,6,0.000,0.058,2659,2139,3609,0,0,0,0,0,0
$GC,11485,-0.50,-112.4,952.9,-7.9,894,11486,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2139,3609,0,0,0,0,0,0
$GC,11788,-0.50,-112.4,975.6,-7.3,904,11793,0.00,1.92,0.00,0.000,4,0.000,0.072,2652,3313,3609,0,0,0,0,0,0
$GC,11836,-0.50,-112.4,979.0,-7.0,905,11840,0.00,1.85,0.00,0.000,6,0.000,0.057,2652,2138,3609,0,0,0,0,0,0
$STATE,12003,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12003,begin apogee
$GC,12007,-0.14,0.0,990.7,7.0,911,12105,0.43,0.00,95.80,1.236,6,0.124,0.000,2789,2000,3150,0,0,0,0,0,0
$STATE,12105,end apogee,CONTROL_FINISHED_OK
$STATE,12105,begin climb
$GC,12107,0.45,112.4,992.3,0.0,914,12212,0.55,0.00,99.15,1.200,6,0.084,0.000,2977,2000,2690,0,0,0,0,0,0
$GC,12531,0.43,112.4,962.7,7.9,928,12535,0.00,2.10,0.00,0.000,4,0.000,0.069,2977,3237,2685,0,0,0,0,0,0
$GC,12660,0.40,112.4,951.5,8.9,932,12663,0.00,1.98,0.00,0.000,6,0.000,0.058,2985,2014,2684,0,0,0,0,0,0
$GC,12994,0.37,112.4,924.8,7.8,943,12998,0.00,2.03,0.00,0.000,4,0.000,0.070,2985,3226,2684,0,0,0,0,0,0
$GC,13047,0.33,112.4,920.3,8.7,944,13051,0.15,1.95,0.00,0.000,6,0.146,0.058,2949,2020,2684,0,0,0,0,0,0
$GC,13361,0.32,112.4,900.3,6.5,955,13365,0.00,2.03,0.00,0.000,4,0.000,0.070,2948,3237,2684,0,0,0,0,0,0
$GC,13398,0.30,112.4,897.7,8.1,956,13402,0.00,1.95,0.00,0.000,6,0.000,0.058,2948,2026,2684,0,0,0,0,0,0
$GC,13728,0.30,112.4,876.1,6.3,967,13732,0.00,2.00,0.00,0.000,4,0.000,0.071,2948,3237,2684,0,0,0,0,0,0
$GC,13775,0.29,112.4,872.7,7.1,968,13780,0.00,1.90,0.00,0.000,6,0.000,0.058,2948,2052,2684,0,0,0,0,0,0
$GC,14095,0.27,112.4,852.1,6.5,979,14099,0.00,1.95,0.00,0.000,4,0.000,0.071,2948,3233,2684,0,0,0,0,0,0
$GC,14132,0.26,112.4,849.4,7.6,980,14136,0.00,1.88,0.00,0.000,6,0.000,0.058,2948,2062,2684,0,0,0,0,0,0
$GC,14462,0.26,112.4,827.3,6.8,991,14466,0.00,1.92,0.00,0.000,4,0.000,0.070,2948,3230,2683,0,0,0,0,0,0
$GC,14472,0.25,112.4,826.5,6.8,991,14477,0.10,1.85,0.00,0.000,6,0.143,0.058,2921,2069,2683,0,0,0,0,0,0
$GC,14797,0.26,139.7,809.5,5.1,1002,14821,0.00,0.00,23.35,1.097,6,0.000,0.000,2921,2068,2580,0,0,0,0,0,0
$GC,15100,0.28,161.1,793.4,5.3,1012,15125,0.00,2.15,19.55,1.068,4,0.000,0.067,2920,767,2492,0,0,0,0,0,0
$GC,15136,0.31,196.4,791.5,4.8,1013,15172,0.00,2.12,31.88,1.070,6,0.000,0.060,2921,2068,2349,0,0,0,0,0,0
$GC,15492,0.35,219.5,772.4,5.3,1025,15514,0.00,0.00,20.77,1.049,6,0.000,0.000,2921,2068,2255,0,0,0,0,0,0
$GC,15795,0.39,249.0,756.9,5.0,1035,15826,0.12,1.95,26.25,1.051,4,0.100,0.070,2973,3236,2135,0,0,0,0,0,0
$GC,15845,0.39,249.0,753.0,7.9,1036,15850,0.00,1.95,0.00,0.000,6,0.000,0.059,2973,2058,2132,0,0,0,0,0,0
$GC,16160,0.39,249.0,728.3,7.9,1047,16164,0.00,2.12,0.00,0.000,4,0.000,0.068,2973,767,2130,0,0,0,0,0,0
$GC,16191,0.39,249.0,725.9,7.9,1048,16196,0.00,2.10,0.00,0.000,6,0.000,0.060,2973,2067,2130,0,0,0,0,0,0
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$STATE,25050,end climb,SURFACE_DEPTH_REACHED
$STATE,25050,begin surface coast
$FINISH,1.5,1.013459
$STATE,25082,end surface coast,CONTROL_FINISHED_OK
$STATE,25082,begin surface
$SM_CCo,25156,0.00,0.000,0,0,1398,429.77
$SM_GC,2.23,7.88,0.00,0.00,0.054,0.000,0.000,145,2088,1398,-8.33,0.37,429.77
$IRIDIUM_FIX,4713.38,-12552.27,201199,131333
$TT8_MAMPS,0.052923
$HUMID,39.91
$INTERNAL_PRESSURE,8.98157
$TCM_TEMP,14.70
$XPDR_PINGS,0
$24V_AH,23.4,33.866
$10V_AH,10.2,30.427
$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,20.300,177.575,471.125,0.000,0.000,25.939,38.658,258.962,0.000,0.000,17.000,0.000,19770.422,650.305,4502.875,647.183,0.000,2302.976,0.000,3810.342,0.000,0.533,0.000
$DEVICE_MAMPS,240.838,89.739,1235.637,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1319.465,1586.597,1600.074,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,107396,1907
$CAP_FILE_SIZE,234273,0
$CFSIZE,260165632,237080576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.040,145.1,1
$GPS,270810,033300,4734.641,-12548.353,43,1.0,43,18.7