version: 66.06
glider: 187
mission: 2
dive: 445
start: 9 15 110 12 51 31
data:
$ID,187
$MISSION,2
$DIVE,445
$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,-32742.463
$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,2855
$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,19
$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
$GPS1,124325,4704.684,-12648.642,43,1.5,43,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-74.1
$GPS2,125126,4704.705,-12648.563,17,1.7,17,18.6
$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,2.1,169944,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,14,-0.45,-112.4,0.0,0.0,0,74,0.00,0.00,-57.83,0.000,2,0.000,0.000,131,2068,2893,0,0,0,0,0,0
$GC,76,-0.45,-112.4,3.4,-3.1,11,109,10.40,2.05,-16.10,0.000,4,0.232,0.076,2695,3314,3612,0,0,0,0,0,0
$GC,296,-0.44,-112.4,41.7,-12.5,52,302,0.00,2.00,0.00,0.000,6,0.000,0.049,2695,2066,3614,0,0,0,0,0,0
$GC,622,-0.42,-112.4,84.6,-12.6,113,628,0.00,1.92,0.00,0.000,4,0.000,0.055,2695,846,3616,0,0,0,0,0,0
$GC,660,-0.40,-112.4,89.5,-12.7,120,666,0.08,1.95,0.00,0.000,6,0.136,0.054,2716,2071,3616,0,0,0,0,0,0
$GC,979,-0.40,-112.4,120.4,-9.1,160,982,0.00,1.98,0.00,0.000,4,0.000,0.062,2710,3313,3618,0,0,0,0,0,0
$GC,1085,-0.42,-112.4,130.3,-9.1,170,1089,0.00,1.92,0.00,0.000,6,0.000,0.047,2710,2079,3617,0,0,0,0,0,0
$GC,1406,-0.42,-112.4,158.8,-8.3,201,1410,0.00,2.00,0.00,0.000,4,0.000,0.062,2706,3310,3617,0,0,0,0,0,0
$GC,1465,-0.43,-112.4,163.5,-8.1,206,1471,0.00,1.92,0.00,0.000,6,0.000,0.048,2706,2082,3617,0,0,0,0,0,0
$GC,1779,-0.43,-112.4,188.8,-7.3,237,1784,0.00,1.95,0.00,0.000,4,0.000,0.054,2706,846,3616,0,0,0,0,0,0
$GC,1824,-0.43,-112.4,192.3,-8.2,241,1826,0.00,1.95,0.00,0.000,6,0.000,0.054,2705,2091,3616,0,0,0,0,0,0
$GC,2143,-0.43,-112.4,217.0,-7.6,272,2147,0.00,1.98,0.00,0.000,4,0.000,0.064,2705,3305,3616,0,0,0,0,0,0
$GC,2201,-0.45,-112.4,221.4,-7.3,277,2207,0.00,1.90,0.00,0.000,6,0.000,0.050,2704,2097,3615,0,0,0,0,0,0
$GC,2517,-0.45,-112.4,245.1,-7.6,308,2521,0.00,1.98,0.00,0.000,4,0.000,0.057,2704,849,3614,0,0,0,0,0,0
$GC,2554,-0.45,-112.4,248.0,-7.8,311,2560,0.00,1.98,0.00,0.000,6,0.000,0.054,2704,2090,3614,0,0,0,0,0,0
$GC,2869,-0.45,-112.4,270.7,-7.0,342,2873,0.00,2.00,0.00,0.000,4,0.000,0.066,2704,3314,3613,0,0,0,0,0,0
$GC,2923,-0.46,-112.4,274.5,-6.6,347,2927,0.00,1.90,0.00,0.000,6,0.000,0.051,2704,2106,3613,0,0,0,0,0,0
$GC,3243,-0.46,-112.4,297.1,-7.2,378,3244,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2106,3612,0,0,0,0,0,0
$GC,3555,-0.46,-112.4,319.3,-7.4,408,3556,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2106,3612,0,0,0,0,0,0
$GC,3867,-0.48,-112.4,342.3,-7.4,438,3869,0.00,1.98,0.00,0.000,4,0.000,0.060,2704,846,3610,0,0,0,0,0,0
$GC,3909,-0.49,-112.4,345.4,-7.4,442,3912,0.00,2.00,0.00,0.000,6,0.000,0.058,2704,2113,3610,0,0,0,0,0,0
$GC,4229,-0.50,-112.4,368.6,-7.4,473,4233,0.00,1.98,0.00,0.000,4,0.000,0.068,2704,3312,3609,0,0,0,0,0,0
$GC,4283,-0.52,-112.4,372.4,-6.9,478,4286,0.00,1.92,0.00,0.000,6,0.000,0.054,2704,2099,3609,0,0,0,0,0,0
$GC,4603,-0.53,-112.4,394.9,-7.0,509,4606,0.00,2.00,0.00,0.000,4,0.000,0.061,2704,844,3609,0,0,0,0,0,0
$GC,4640,-0.55,-112.4,397.6,-7.5,512,4645,0.00,2.00,0.00,0.000,6,0.000,0.058,2704,2097,3609,0,0,0,0,0,0
$GC,4955,-0.56,-112.4,418.2,-6.4,543,4959,0.00,2.00,0.00,0.000,4,0.000,0.067,2704,3314,3608,0,0,0,0,0,0
$GC,5019,-0.58,-112.4,422.3,-6.4,549,5023,0.08,1.90,0.00,0.000,6,0.063,0.054,2654,2115,3608,0,0,0,0,0,0
$GC,5341,-0.57,-112.4,450.7,-8.8,580,5344,0.00,2.00,0.00,0.000,4,0.000,0.061,2654,846,3606,0,0,0,0,0,0
$GC,5436,-0.56,-112.4,459.5,-8.6,589,5440,0.00,2.00,0.00,0.000,6,0.000,0.059,2646,2115,3606,0,0,0,0,0,0
$GC,5756,-0.55,-112.4,488.4,-8.9,620,5758,0.10,0.00,0.00,0.000,6,0.169,0.000,2674,2115,3605,0,0,0,0,0,0
$GC,6067,-0.55,-112.4,511.4,-7.5,650,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2115,3604,0,0,0,0,0,0
$GC,6378,-0.55,-112.4,534.4,-7.6,680,6379,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,2115,3604,0,0,0,0,0,0
$GC,6689,-0.55,-112.4,556.9,-7.2,710,6692,0.00,2.03,0.00,0.000,4,0.000,0.063,2674,842,3603,0,0,0,0,0,0
$GC,6730,-0.55,-112.4,560.0,-7.5,714,6734,0.00,2.05,0.00,0.000,6,0.000,0.061,2673,2111,3604,0,0,0,0,0,0
$GC,7052,-0.55,-112.4,583.6,-7.3,745,7055,0.00,2.00,0.00,0.000,4,0.000,0.072,2665,3313,3603,0,0,0,0,0,0
$GC,7099,-0.55,-112.4,587.2,-7.5,749,7104,0.00,1.92,0.00,0.000,6,0.000,0.055,2665,2107,3603,0,0,0,0,0,0
$GC,7421,-0.55,-112.4,612.4,-7.9,771,7425,0.00,2.03,0.00,0.000,4,0.000,0.063,2665,847,3602,0,0,0,0,0,0
$GC,7469,-0.55,-112.4,616.5,-8.5,772,7473,0.00,2.05,0.00,0.000,6,0.000,0.062,2663,2110,3602,0,0,0,0,0,0
$GC,7788,-0.55,-112.4,642.5,-8.3,783,7792,0.00,2.00,0.00,0.000,4,0.000,0.072,2662,3310,3602,0,0,0,0,0,0
$GC,7820,-0.55,-112.4,645.1,-7.9,784,7824,0.00,1.92,0.00,0.000,6,0.000,0.056,2661,2107,3601,0,0,0,0,0,0
$GC,8156,-0.55,-112.4,673.0,-8.5,795,8159,0.00,2.03,0.00,0.000,4,0.000,0.063,2661,847,3601,0,0,0,0,0,0
$GC,8192,-0.55,-112.4,676.4,-9.3,796,8196,0.00,2.05,0.00,0.000,6,0.000,0.061,2655,2116,3601,0,0,0,0,0,0
$GC,8522,-0.55,-112.4,706.4,-9.2,807,8523,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2116,3600,0,0,0,0,0,0
$GC,8825,-0.55,-112.4,735.2,-9.6,817,8826,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2116,3600,0,0,0,0,0,0
$GC,9130,-0.55,-112.4,763.5,-9.2,827,9133,0.00,2.05,0.00,0.000,4,0.000,0.064,2654,846,3599,0,0,0,0,0,0
$GC,9161,-0.55,-112.4,766.5,-10.0,828,9165,0.00,2.08,0.00,0.000,6,0.000,0.063,2650,2119,3599,0,0,0,0,0,0
$GC,9496,-0.55,-112.4,796.4,-8.7,839,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2119,3598,0,0,0,0,0,0
$GC,9800,-0.55,-112.4,822.0,-8.4,849,9803,0.00,2.08,0.00,0.000,4,0.000,0.064,2650,845,3598,0,0,0,0,0,0
$GC,9836,-0.55,-112.4,825.2,-8.9,850,9841,0.08,2.05,0.00,0.000,6,0.135,0.062,2669,2106,3598,0,0,0,0,0,0
$GC,10166,-0.55,-112.4,847.5,-6.4,861,10171,0.00,1.98,0.00,0.000,4,0.000,0.073,2663,3303,3598,0,0,0,0,0,0
$GC,10215,-0.55,-112.4,850.8,-7.0,862,10219,0.00,1.90,0.00,0.000,6,0.000,0.055,2663,2113,3597,0,0,0,0,0,0
$GC,10533,-0.55,-112.4,871.2,-6.3,873,10537,0.00,2.05,0.00,0.000,4,0.000,0.062,2663,841,3597,0,0,0,0,0,0
$GC,10576,-0.55,-112.4,873.9,-7.2,874,10580,0.00,2.08,0.00,0.000,6,0.000,0.062,2663,2118,3597,0,0,0,0,0,0
$GC,10901,-0.55,-112.4,894.0,-6.2,885,10904,0.00,1.98,0.00,0.000,4,0.000,0.073,2662,3313,3597,0,0,0,0,0,0
$GC,10943,-0.55,-112.4,896.7,-7.4,886,10947,0.00,1.92,0.00,0.000,6,0.000,0.058,2662,2115,3597,0,0,0,0,0,0
$GC,11267,-0.55,-112.4,916.3,-6.1,897,11271,0.00,2.05,0.00,0.000,4,0.000,0.063,2662,848,3597,0,0,0,0,0,0
$GC,11305,-0.55,-112.4,918.7,-6.5,898,11309,0.00,2.05,0.00,0.000,6,0.000,0.061,2662,2112,3596,0,0,0,0,0,0
$GC,11634,-0.55,-112.4,939.5,-6.4,909,11639,0.00,1.98,0.00,0.000,4,0.000,0.071,2662,3306,3596,0,0,0,0,0,0
$GC,11688,-0.56,-112.4,942.9,-6.6,910,11692,0.00,1.92,0.00,0.000,6,0.000,0.057,2662,2111,3596,0,0,0,0,0,0
$GC,12001,-0.56,-112.4,963.2,-6.5,921,12002,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2111,3596,0,0,0,0,0,0
$GC,12305,-0.56,-112.4,983.7,-6.9,931,12306,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2111,3596,0,0,0,0,0,0
$STATE,12394,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12394,begin apogee
$GC,12398,-0.14,0.0,990.4,7.2,934,12494,0.45,0.00,93.90,1.238,6,0.117,0.000,2807,1992,3150,0,0,0,0,0,0
$STATE,12495,end apogee,CONTROL_FINISHED_OK
$STATE,12495,begin climb
$GC,12497,0.45,112.4,992.9,0.0,937,12604,0.55,2.12,100.45,1.197,4,0.071,0.064,3011,773,2690,0,0,0,0,0,0
$GC,12630,0.42,112.4,990.1,6.4,941,12633,0.00,2.12,0.00,0.000,6,0.000,0.060,3011,1991,2687,0,0,0,0,0,0
$GC,12949,0.38,112.4,966.3,7.5,952,12953,0.12,2.12,0.00,0.000,4,0.176,0.069,2981,3234,2684,0,0,0,0,0,0
$GC,13052,0.35,112.4,959.0,6.7,955,13055,0.00,1.98,0.00,0.000,6,0.000,0.058,2987,2023,2684,0,0,0,0,0,0
$GC,13380,0.32,112.4,937.1,6.6,966,13385,0.00,2.03,0.00,0.000,4,0.000,0.069,2987,3233,2683,0,0,0,0,0,0
$GC,13444,0.28,112.4,932.5,6.9,968,13448,0.15,1.98,0.00,0.000,6,0.145,0.058,2951,2031,2682,0,0,0,0,0,0
$GC,13780,0.30,133.0,914.2,5.4,979,13803,0.00,2.05,17.42,1.123,4,0.000,0.069,2951,3239,2606,0,0,0,0,0,0
$GC,13852,0.28,133.0,909.7,6.9,981,13856,0.00,1.98,0.00,0.000,6,0.000,0.058,2956,2036,2606,0,0,0,0,0,0
$GC,14177,0.28,133.0,889.6,6.2,992,14181,0.00,2.00,0.00,0.000,4,0.000,0.069,2956,3234,2605,0,0,0,0,0,0
$GC,14224,0.27,133.0,886.2,7.0,993,14228,0.00,1.92,0.00,0.000,6,0.000,0.056,2963,2049,2604,0,0,0,0,0,0
$GC,14543,0.26,133.0,864.9,6.7,1004,14547,0.00,1.95,0.00,0.000,4,0.000,0.069,2962,3227,2604,0,0,0,0,0,0
$GC,14565,0.24,133.0,863.4,7.0,1004,14569,0.10,1.90,0.00,0.000,6,0.136,0.058,2937,2057,2603,0,0,0,0,0,0
$GC,14878,0.26,157.8,846.5,5.2,1015,14904,0.00,1.95,22.48,1.110,4,0.000,0.068,2937,3237,2505,0,0,0,0,0,0
$GC,14925,0.28,192.0,844.0,4.9,1015,14959,0.00,1.92,30.88,1.104,6,0.000,0.058,2938,2061,2367,0,0,0,0,0,0
$GC,15264,0.30,214.2,825.4,5.3,1026,15288,0.00,2.12,20.15,1.076,4,0.000,0.065,2938,757,2276,0,0,0,0,0,0
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$STATE,25307,end climb,SURFACE_DEPTH_REACHED
$STATE,25307,begin surface coast
$FINISH,1.0,1.000633
$STATE,25375,end surface coast,CONTROL_FINISHED_OK
$STATE,25375,begin surface
$SM_CCo,25449,0.00,0.000,0,0,1424,423.39
$SM_GC,1.86,7.93,0.00,0.00,0.044,0.000,0.000,127,2048,1424,-8.41,-0.76,423.39
$IRIDIUM_FIX,4648.08,-12649.03,101299,050523
$TT8_MAMPS,0.051389
$HUMID,40.19
$INTERNAL_PRESSURE,9.07923
$TCM_TEMP,18.50
$XPDR_PINGS,0
$24V_AH,22.9,47.751
$10V_AH,10.1,45.572
$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,20.575,224.800,463.175,0.000,0.000,33.427,35.608,253.024,0.000,0.000,17.711,0.000,19603.141,625.147,4879.209,778.018,0.000,2423.359,0.000,4154.726,0.000,0.534,0.000
$DEVICE_MAMPS,231.634,88.205,1237.938,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1370.444,1631.439,1797.335,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298588
$DATA_FILE_SIZE,113868,1982
$CAP_FILE_SIZE,253887,0
$CFSIZE,260165632,227430400
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.026,161.3,1
$GPS,150910,195637,4707.269,-12646.287,39,1.0,39,18.6