version: 66.06
glider: 187
mission: 2
dive: 446
start: 9 15 110 20 4 37
data:
$ID,187
$MISSION,2
$DIVE,446
$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,-32761.979
$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,27
$R_STBD_OVSHOOT,25
$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
$GPS1,195637,4707.269,-12646.287,39,1.0,39,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-73.8
$GPS2,200431,4707.263,-12646.282,13,1.1,18,18.6
$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,29.5,164904,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.45,-112.4,0.0,0.0,0,72,0.00,0.00,-57.70,0.000,2,0.000,0.000,127,2048,2808,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.0,-2.1,11,107,10.27,1.95,-18.98,0.000,4,0.227,0.068,2699,838,3609,0,0,0,0,0,0
$GC,246,-0.43,-112.4,32.5,-14.4,43,252,0.00,1.98,0.00,0.000,6,0.000,0.054,2692,2071,3611,0,0,0,0,0,0
$GC,572,-0.41,-112.4,75.9,-13.2,104,578,0.00,2.03,0.00,0.000,4,0.000,0.062,2683,3314,3613,0,0,0,0,0,0
$GC,775,-0.41,-112.4,101.1,-11.5,142,779,0.10,1.95,0.00,0.000,6,0.117,0.047,2717,2074,3614,0,0,0,0,0,0
$GC,1095,-0.41,-112.4,126.4,-7.3,173,1099,0.00,1.92,0.00,0.000,4,0.000,0.054,2718,846,3615,0,0,0,0,0,0
$GC,1127,-0.41,-112.4,128.6,-7.4,176,1131,0.00,1.98,0.00,0.000,6,0.000,0.052,2718,2093,3615,0,0,0,0,0,0
$GC,1448,-0.42,-112.4,151.5,-7.2,207,1452,0.00,1.98,0.00,0.000,4,0.000,0.062,2715,3313,3614,0,0,0,0,0,0
$GC,1512,-0.44,-112.4,156.1,-7.5,213,1516,0.00,1.92,0.00,0.000,6,0.000,0.046,2715,2081,3614,0,0,0,0,0,0
$GC,1834,-0.46,-112.4,178.9,-7.3,244,1837,0.00,2.00,0.00,0.000,4,0.000,0.064,2709,3313,3614,0,0,0,0,0,0
$GC,1881,-0.48,-112.4,182.2,-7.1,248,1886,0.00,1.90,0.00,0.000,6,0.000,0.048,2708,2103,3613,0,0,0,0,0,0
$GC,2197,-0.49,-112.4,205.3,-7.1,279,2200,0.00,1.98,0.00,0.000,4,0.000,0.057,2708,852,3613,0,0,0,0,0,0
$GC,2249,-0.50,-112.4,209.4,-7.9,284,2253,0.00,1.98,0.00,0.000,6,0.000,0.054,2708,2100,3612,0,0,0,0,0,0
$GC,2570,-0.51,-112.4,234.4,-7.9,315,2574,0.00,1.95,0.00,0.000,4,0.000,0.064,2705,3309,3611,0,0,0,0,0,0
$GC,2646,-0.53,-112.4,240.2,-7.7,322,2649,0.00,1.88,0.00,0.000,6,0.000,0.051,2705,2103,3611,0,0,0,0,0,0
$GC,2965,-0.54,-112.4,266.5,-8.3,353,2969,0.00,1.98,0.00,0.000,4,0.000,0.058,2705,855,3610,0,0,0,0,0,0
$GC,2992,-0.55,-112.4,268.7,-9.1,355,2998,0.00,1.98,0.00,0.000,6,0.000,0.056,2704,2103,3610,0,0,0,0,0,0
$GC,3307,-0.56,-112.4,292.9,-7.2,386,3311,0.00,1.98,0.00,0.000,4,0.000,0.067,2704,3310,3609,0,0,0,0,0,0
$GC,3361,-0.58,-112.4,296.7,-6.8,391,3365,0.08,1.90,0.00,0.000,6,0.064,0.051,2641,2107,3609,0,0,0,0,0,0
$GC,3681,-0.56,-112.4,329.6,-10.5,422,3685,0.12,2.03,0.00,0.000,4,0.161,0.059,2676,848,3608,0,0,0,0,0,0
$GC,3718,-0.56,-112.4,333.1,-8.8,425,3725,0.00,2.00,0.00,0.000,6,0.000,0.057,2672,2098,3608,0,0,0,0,0,0
$GC,4034,-0.56,-112.4,360.5,-8.2,456,4038,0.00,1.95,0.00,0.000,4,0.000,0.066,2664,3305,3607,0,0,0,0,0,0
$GC,4109,-0.56,-112.4,367.0,-8.7,463,4112,0.00,1.88,0.00,0.000,6,0.000,0.053,2664,2106,3607,0,0,0,0,0,0
$GC,4429,-0.56,-112.4,394.8,-8.8,494,4433,0.00,2.00,0.00,0.000,4,0.000,0.060,2664,850,3606,0,0,0,0,0,0
$GC,4455,-0.56,-112.4,397.3,-9.8,496,4461,0.00,2.00,0.00,0.000,6,0.000,0.058,2663,2100,3605,0,0,0,0,0,0
$GC,4771,-0.56,-112.4,425.8,-9.3,527,4775,0.00,2.00,0.00,0.000,4,0.000,0.068,2663,3314,3604,0,0,0,0,0,0
$GC,4835,-0.56,-112.4,431.5,-8.7,533,4839,0.00,1.90,0.00,0.000,6,0.000,0.054,2663,2111,3605,0,0,0,0,0,0
$GC,5155,-0.56,-112.4,461.0,-9.1,564,5156,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2111,3604,0,0,0,0,0,0
$GC,5467,-0.56,-112.4,489.1,-9.0,594,5470,0.00,1.98,0.00,0.000,4,0.000,0.070,2663,3302,3603,0,0,0,0,0,0
$GC,5509,-0.56,-112.4,492.7,-8.3,598,5512,0.00,1.88,0.00,0.000,6,0.000,0.053,2663,2122,3602,0,0,0,0,0,0
$GC,5829,-0.56,-112.4,521.0,-9.1,629,5833,0.00,2.05,0.00,0.000,4,0.000,0.060,2663,842,3602,0,0,0,0,0,0
$GC,5931,-0.56,-112.4,530.4,-9.9,638,5936,0.00,2.03,0.00,0.000,6,0.000,0.061,2662,2105,3602,0,0,0,0,0,0
$GC,6246,-0.56,-112.4,557.8,-8.4,669,6250,0.00,2.05,0.00,0.000,4,0.000,0.063,2663,837,3601,0,0,0,0,0,0
$GC,6277,-0.56,-112.4,560.6,-9.2,672,6282,0.00,2.03,0.00,0.000,6,0.000,0.060,2663,2098,3601,0,0,0,0,0,0
$GC,6600,-0.56,-112.4,586.1,-7.6,703,6600,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2098,3600,0,0,0,0,0,0
$GC,6906,-0.56,-112.4,609.8,-7.7,725,6910,0.00,2.03,0.00,0.000,4,0.000,0.063,2663,844,3599,0,0,0,0,0,0
$GC,6970,-0.56,-112.4,615.0,-8.1,727,6974,0.00,2.00,0.00,0.000,6,0.000,0.061,2662,2086,3598,0,0,0,0,0,0
$GC,7305,-0.56,-112.4,642.2,-8.3,738,7309,0.00,2.00,0.00,0.000,4,0.000,0.063,2662,849,3598,0,0,0,0,0,0
$GC,7332,-0.56,-112.4,644.5,-8.8,738,7337,0.00,2.00,0.00,0.000,6,0.000,0.061,2663,2088,3598,0,0,0,0,0,0
$GC,7641,-0.56,-112.4,670.7,-8.3,749,7641,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2088,3598,0,0,0,0,0,0
$GC,7944,-0.58,-112.4,693.0,-7.3,759,7948,0.00,2.00,0.00,0.000,4,0.000,0.071,2662,3309,3597,0,0,0,0,0,0
$GC,7991,-0.59,-112.4,696.6,-8.1,760,7996,0.00,1.95,0.00,0.000,6,0.000,0.054,2662,2082,3597,0,0,0,0,0,0
$GC,8311,-0.61,-112.4,719.4,-7.1,771,8315,0.00,1.95,0.00,0.000,4,0.000,0.061,2662,846,3596,0,0,0,0,0,0
$GC,8363,-0.61,-112.4,723.4,-7.3,772,8368,0.00,1.80,0.00,0.000,6,0.000,0.061,2663,1964,3596,0,0,0,0,0,0
$GC,8678,-0.62,-112.4,744.8,-6.7,783,8682,0.00,2.22,0.00,0.000,4,0.000,0.071,2662,3313,3596,0,0,0,0,0,0
$GC,8704,-0.62,-112.4,746.5,-6.4,783,8710,0.00,1.90,0.00,0.000,6,0.000,0.058,2662,2125,3596,0,0,0,0,0,0
$GC,9013,-0.64,-112.4,766.0,-6.2,794,9016,0.00,1.95,0.00,0.000,4,0.000,0.071,2662,3307,3595,0,0,0,0,0,0
$GC,9093,-0.66,-112.4,771.0,-6.5,796,9097,0.00,2.08,0.00,0.000,6,0.000,0.057,2662,2013,3595,0,0,0,0,0,0
$GC,9412,-0.68,-112.4,790.1,-5.9,807,9413,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2013,3595,0,0,0,0,0,0
$GC,9715,-0.70,-112.4,807.5,-5.8,817,9719,0.00,2.15,0.00,0.000,4,0.000,0.071,2662,3313,3594,0,0,0,0,0,0
$GC,9775,-0.71,-112.4,811.0,-6.3,818,9780,0.12,2.22,0.00,0.000,6,0.093,0.056,2608,1912,3594,0,0,0,0,0,0
$GC,10082,-0.71,-112.4,834.3,-7.8,829,10086,0.00,2.30,0.00,0.000,4,0.000,0.069,2598,3313,3594,0,0,0,0,0,0
$GC,10195,-0.69,-112.4,843.6,-8.3,832,10198,0.08,2.05,0.00,0.000,6,0.134,0.054,2624,2031,3593,0,0,0,0,0,0
$GC,10513,-0.69,-112.4,868.2,-7.9,843,10517,0.00,2.10,0.00,0.000,4,0.000,0.070,2622,3305,3593,0,0,0,0,0,0
$GC,10571,-0.69,-112.4,873.0,-8.2,844,10578,0.00,2.12,0.00,0.000,6,0.000,0.057,2622,1985,3593,0,0,0,0,0,0
$GC,10881,-0.69,-112.4,898.0,-8.1,855,10885,0.00,2.20,0.00,0.000,4,0.000,0.071,2622,3311,3593,0,0,0,0,0,0
$GC,10998,-0.69,-112.4,907.4,-8.1,858,11002,0.00,2.20,0.00,0.000,6,0.000,0.058,2622,1945,3593,0,0,0,0,0,0
$GC,11312,-0.68,-112.4,932.8,-8.4,869,11315,0.00,2.22,0.00,0.000,4,0.000,0.071,2613,3309,3593,0,0,0,0,0,0
$GC,11477,-0.67,-112.4,948.5,-8.8,874,11481,0.00,2.05,0.00,0.000,6,0.000,0.055,2613,2030,3592,0,0,0,0,0,0
$GC,11807,-0.64,-112.4,979.4,-9.3,885,11811,0.12,1.92,0.00,0.000,4,0.166,0.062,2646,816,3592,0,0,0,0,0,0
$GC,11838,-0.64,-112.4,982.1,-7.9,886,11842,0.00,1.95,0.00,0.000,6,0.000,0.061,2641,2025,3592,0,0,0,0,0,0
$STATE,11960,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11960,begin apogee
$GC,11964,-0.14,0.0,991.2,7.3,890,12059,0.52,0.00,93.53,1.235,6,0.121,0.000,2809,2025,3150,0,0,0,0,0,0
$STATE,12060,end apogee,CONTROL_FINISHED_OK
$STATE,12060,begin climb
$GC,12062,0.45,112.4,992.7,0.0,893,12169,0.55,2.20,100.55,1.197,4,0.071,0.063,3013,770,2690,0,0,0,0,0,0
$GC,12211,0.42,112.4,986.2,8.4,898,12215,0.00,2.12,0.00,0.000,6,0.000,0.058,3014,1993,2687,0,0,0,0,0,0
$GC,12547,0.38,112.4,956.1,9.1,909,12550,0.15,2.10,0.00,0.000,4,0.168,0.069,2976,3241,2684,0,0,0,0,0,0
$GC,12739,0.35,112.4,940.0,8.8,915,12742,0.00,2.00,0.00,0.000,6,0.000,0.057,2982,2020,2683,0,0,0,0,0,0
$GC,13074,0.32,112.4,914.8,7.2,926,13077,0.00,2.05,0.00,0.000,4,0.000,0.069,2982,3245,2683,0,0,0,0,0,0
$GC,13186,0.29,112.4,905.6,8.8,929,13189,0.12,1.95,0.00,0.000,6,0.141,0.058,2953,2052,2682,0,0,0,0,0,0
$GC,13505,0.29,114.2,886.2,6.0,940,13508,0.00,1.98,0.00,0.000,4,0.000,0.070,2952,3238,2682,0,0,0,0,0,0
$GC,13568,0.27,114.2,881.6,7.6,942,13572,0.00,1.90,0.00,0.000,6,0.000,0.058,2957,2068,2682,0,0,0,0,0,0
$GC,13904,0.26,114.7,860.8,6.1,953,13908,0.00,1.92,0.00,0.000,4,0.000,0.070,2957,3248,2681,0,0,0,0,0,0
$GC,13978,0.24,114.7,855.6,6.9,955,13982,0.00,1.90,0.00,0.000,6,0.000,0.058,2964,2078,2681,0,0,0,0,0,0
$GC,14303,0.23,114.7,835.3,6.1,966,14307,0.12,1.95,0.00,0.000,4,0.168,0.069,2930,3241,2681,0,0,0,0,0,0
$GC,14356,0.24,136.1,832.3,5.3,967,14380,0.00,1.85,19.62,1.095,6,0.000,0.058,2932,2094,2595,0,0,0,0,0,0
$GC,14702,0.25,146.6,813.0,5.7,979,14716,0.00,1.88,10.50,1.019,4,0.000,0.068,2933,3248,2551,0,0,0,0,0,0
$GC,14758,0.25,146.6,809.2,7.1,981,14763,0.00,1.88,0.00,0.000,6,0.000,0.058,2933,2102,2550,0,0,0,0,0,0
$GC,15094,0.25,157.1,790.1,5.7,992,15106,0.00,0.00,10.70,1.012,6,0.000,0.000,2933,2102,2509,0,0,0,0,0,0
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$STATE,26065,end climb,SURFACE_DEPTH_REACHED
$STATE,26065,begin surface coast
$FINISH,1.0,1.022901
$STATE,26106,end surface coast,CONTROL_FINISHED_OK
$STATE,26106,begin surface
$SM_CCo,26180,0.00,0.000,0,0,1436,420.69
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$HUMID,41.02
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$TCM_TEMP,17.50
$XPDR_PINGS,0
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$10V_AH,10.1,45.744
$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
$DEVICE_SECS,20.625,252.575,463.075,0.000,0.000,27.622,31.560,253.781,0.000,0.000,18.888,0.000,20052.318,661.491,5097.514,797.150,0.000,2559.893,0.000,4343.228,0.000,0.535,0.000
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$SENSOR_SECS,1399.074,1657.502,1780.838,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,116681,2024
$CAP_FILE_SIZE,270106,0
$CFSIZE,260165632,227291136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.016, 67.1,1
$GPS,160910,032155,4709.134,-12643.192,40,1.3,40,18.6