version: 66.06
glider: 187
mission: 2
dive: 456
start: 9 18 110 22 36 37
data:
$ID,187
$MISSION,2
$DIVE,456
$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,-32958.746
$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,36
$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
$GPS1,222837,4723.951,-12613.124,41,0.9,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-75.9
$GPS2,223631,4723.936,-12613.147,12,0.9,17,18.7
$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,47.6,113561,-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,-112.4,0.0,0.0,0,73,0.00,0.00,-57.85,0.000,2,0.000,0.000,132,2087,2958,0,0,0,0,0,0
$GC,75,-0.45,-112.4,3.3,-2.7,11,104,10.50,2.03,-14.40,0.000,4,0.235,0.078,2696,3299,3610,0,0,0,0,0,0
$GC,274,-0.44,-112.4,38.8,-12.2,48,280,0.00,1.95,0.00,0.000,6,0.000,0.049,2696,2074,3614,0,0,0,0,0,0
$GC,601,-0.44,-112.4,77.0,-10.4,109,607,0.00,1.98,0.00,0.000,4,0.000,0.056,2696,845,3616,0,0,0,0,0,0
$GC,655,-0.44,-112.4,82.8,-10.6,119,660,0.00,1.95,0.00,0.000,6,0.000,0.054,2691,2068,3616,0,0,0,0,0,0
$GC,975,-0.44,-112.4,114.7,-9.3,165,980,0.00,2.03,0.00,0.000,4,0.000,0.063,2681,3305,3617,0,0,0,0,0,0
$GC,1061,-0.44,-112.4,122.6,-8.9,173,1065,0.00,1.92,0.00,0.000,6,0.000,0.048,2681,2082,3616,0,0,0,0,0,0
$GC,1381,-0.44,-112.4,154.2,-9.9,204,1386,0.00,2.03,0.00,0.000,4,0.000,0.064,2673,3313,3616,0,0,0,0,0,0
$GC,1424,-0.44,-112.4,158.6,-10.1,208,1428,0.10,1.90,0.00,0.000,6,0.116,0.049,2708,2103,3616,0,0,0,0,0,0
$GC,1745,-0.46,-112.4,184.4,-7.5,239,1748,0.00,2.03,0.00,0.000,4,0.000,0.057,2708,838,3616,0,0,0,0,0,0
$GC,1787,-0.47,-112.4,187.8,-7.9,243,1791,0.00,2.00,0.00,0.000,6,0.000,0.055,2708,2099,3616,0,0,0,0,0,0
$GC,2109,-0.48,-112.4,211.0,-7.2,274,2112,0.00,1.95,0.00,0.000,4,0.000,0.066,2708,3309,3615,0,0,0,0,0,0
$GC,2188,-0.50,-112.4,216.8,-6.8,281,2193,0.00,1.90,0.00,0.000,6,0.000,0.048,2708,2099,3615,0,0,0,0,0,0
$GC,2503,-0.52,-112.4,238.8,-6.8,312,2504,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2099,3614,0,0,0,0,0,0
$GC,2816,-0.53,-112.4,260.0,-6.9,342,2819,0.00,1.95,0.00,0.000,4,0.000,0.065,2708,3310,3613,0,0,0,0,0,0
$GC,2868,-0.56,-112.4,263.4,-6.7,347,2872,0.00,1.88,0.00,0.000,6,0.000,0.050,2707,2117,3613,0,0,0,0,0,0
$GC,3189,-0.57,-112.4,284.9,-6.7,378,3193,0.10,1.95,0.00,0.000,4,0.108,0.065,2650,3317,3613,0,0,0,0,0,0
$GC,3220,-0.57,-112.4,287.7,-9.1,381,3224,0.00,1.90,0.00,0.000,6,0.000,0.050,2649,2116,3612,0,0,0,0,0,0
$GC,3543,-0.56,-112.4,320.8,-10.1,412,3546,0.00,1.95,0.00,0.000,4,0.000,0.067,2642,3310,3612,0,0,0,0,0,0
$GC,3632,-0.55,-112.4,330.1,-10.1,420,3639,0.10,1.85,0.00,0.000,6,0.120,0.051,2677,2140,3611,0,0,0,0,0,0
$GC,3949,-0.55,-112.4,355.9,-8.2,451,3953,0.00,2.08,0.00,0.000,4,0.000,0.058,2677,850,3611,0,0,0,0,0,0
$GC,3985,-0.55,-112.4,359.0,-8.5,454,3992,0.00,2.05,0.00,0.000,6,0.000,0.058,2676,2131,3611,0,0,0,0,0,0
$GC,4301,-0.55,-112.4,384.5,-7.9,485,4305,0.00,1.95,0.00,0.000,4,0.000,0.068,2673,3309,3610,0,0,0,0,0,0
$GC,4376,-0.55,-112.4,390.3,-7.9,492,4379,0.00,1.85,0.00,0.000,6,0.000,0.051,2672,2137,3610,0,0,0,0,0,0
$GC,4697,-0.55,-112.4,414.8,-7.6,523,4700,0.00,1.90,0.00,0.000,4,0.000,0.068,2666,3309,3609,0,0,0,0,0,0
$GC,4766,-0.55,-112.4,419.8,-7.4,529,4771,0.00,1.85,0.00,0.000,6,0.000,0.052,2666,2145,3609,0,0,0,0,0,0
$GC,5081,-0.55,-112.4,443.2,-7.4,560,5085,0.00,1.92,0.00,0.000,4,0.000,0.067,2660,3300,3608,0,0,0,0,0,0
$GC,5182,-0.55,-112.4,450.7,-7.3,569,5188,0.00,1.80,0.00,0.000,6,0.000,0.052,2659,2166,3608,0,0,0,0,0,0
$GC,5497,-0.55,-112.4,475.2,-8.0,600,5501,0.00,1.90,0.00,0.000,4,0.000,0.068,2652,3305,3607,0,0,0,0,0,0
$GC,5551,-0.55,-112.4,479.6,-8.7,605,5554,0.00,1.77,0.00,0.000,6,0.000,0.053,2652,2187,3608,0,0,0,0,0,0
$GC,5871,-0.54,-112.4,507.1,-9.0,636,5876,0.00,1.88,0.00,0.000,4,0.000,0.070,2644,3306,3606,0,0,0,0,0,0
$GC,6000,-0.54,-112.4,519.0,-9.5,648,6003,0.10,1.77,0.00,0.000,6,0.122,0.053,2678,2188,3606,0,0,0,0,0,0
$GC,6321,-0.54,-112.4,543.8,-8.0,679,6324,0.00,1.85,0.00,0.000,4,0.000,0.068,2673,3306,3606,0,0,0,0,0,0
$GC,6406,-0.54,-112.4,550.5,-8.0,687,6409,0.00,1.75,0.00,0.000,6,0.000,0.052,2673,2200,3605,0,0,0,0,0,0
$GC,6727,-0.54,-112.4,577.2,-8.6,718,6730,0.00,1.83,0.00,0.000,4,0.000,0.071,2672,3308,3605,0,0,0,0,0,0
$GC,6833,-0.54,-112.4,586.3,-8.7,728,6837,0.00,1.73,0.00,0.000,6,0.000,0.053,2671,2218,3605,0,0,0,0,0,0
$GC,7160,-0.54,-112.4,613.1,-8.1,750,7164,0.00,1.83,0.00,0.000,4,0.000,0.069,2666,3313,3604,0,0,0,0,0,0
$GC,7225,-0.54,-112.4,618.1,-8.3,752,7228,0.00,1.73,0.00,0.000,6,0.000,0.052,2666,2225,3604,0,0,0,0,0,0
$GC,7560,-0.54,-112.4,645.8,-8.4,763,7563,0.00,1.80,0.00,0.000,4,0.000,0.071,2663,3305,3604,0,0,0,0,0,0
$GC,7639,-0.54,-112.4,652.7,-9.0,765,7643,0.00,1.70,0.00,0.000,6,0.000,0.053,2663,2236,3604,0,0,0,0,0,0
$GC,7959,-0.54,-112.4,679.1,-8.0,776,7962,0.00,1.80,0.00,0.000,4,0.000,0.071,2663,3313,3603,0,0,0,0,0,0
$GC,8044,-0.54,-112.4,686.0,-8.3,778,8048,0.00,1.70,0.00,0.000,6,0.000,0.053,2663,2245,3603,0,0,0,0,0,0
$GC,8358,-0.54,-112.4,709.7,-7.4,789,8362,0.00,1.77,0.00,0.000,4,0.000,0.071,2663,3309,3603,0,0,0,0,0,0
$GC,8411,-0.54,-112.4,713.4,-7.1,790,8415,0.00,1.65,0.00,0.000,6,0.000,0.054,2663,2266,3603,0,0,0,0,0,0
$GC,8725,-0.54,-112.4,736.2,-7.3,801,8729,0.00,1.73,0.00,0.000,4,0.000,0.070,2663,3302,3603,0,0,0,0,0,0
$GC,8762,-0.54,-112.4,738.8,-6.8,802,8766,0.00,1.67,0.00,0.000,6,0.000,0.054,2663,2262,3603,0,0,0,0,0,0
$GC,9092,-0.54,-112.4,763.3,-7.8,813,9093,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2261,3602,0,0,0,0,0,0
$GC,9395,-0.54,-112.4,786.0,-7.4,823,9396,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2261,3602,0,0,0,0,0,0
$GC,9699,-0.54,-112.4,808.5,-7.3,833,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2261,3602,0,0,0,0,0,0
$GC,10003,-0.54,-112.4,829.6,-6.9,843,10004,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2261,3601,0,0,0,0,0,0
$GC,10305,-0.54,-112.4,850.9,-6.9,853,10310,0.00,2.30,0.00,0.000,4,0.000,0.062,2662,849,3601,0,0,0,0,0,0
$GC,10343,-0.54,-112.4,853.5,-7.1,854,10347,0.00,2.33,0.00,0.000,6,0.000,0.062,2663,2274,3600,0,0,0,0,0,0
$GC,10673,-0.54,-112.4,875.9,-6.7,865,10677,0.00,1.73,0.00,0.000,4,0.000,0.073,2663,3305,3600,0,0,0,0,0,0
$GC,10747,-0.55,-112.4,880.9,-6.7,867,10751,0.00,1.65,0.00,0.000,6,0.000,0.054,2662,2272,3600,0,0,0,0,0,0
$GC,11072,-0.55,-112.4,902.4,-6.6,878,11076,0.00,1.75,0.00,0.000,4,0.000,0.072,2662,3312,3599,0,0,0,0,0,0
$GC,11110,-0.55,-112.4,904.9,-6.5,879,11113,0.00,1.65,0.00,0.000,6,0.000,0.056,2663,2280,3599,0,0,0,0,0,0
$GC,11439,-0.55,-112.4,927.5,-7.0,890,11443,0.00,2.33,0.00,0.000,4,0.000,0.061,2663,844,3599,0,0,0,0,0,0
$GC,11465,-0.55,-112.4,929.6,-8.6,890,11471,0.00,2.35,0.00,0.000,6,0.000,0.063,2662,2282,3599,0,0,0,0,0,0
$GC,11774,-0.55,-112.4,952.1,-7.3,901,11778,0.00,1.70,0.00,0.000,4,0.000,0.073,2662,3306,3598,0,0,0,0,0,0
$GC,11903,-0.56,-112.4,961.7,-7.1,905,11906,0.00,1.62,0.00,0.000,6,0.000,0.056,2663,2293,3599,0,0,0,0,0,0
$GC,12237,-0.56,-112.4,986.7,-7.6,916,12241,0.00,1.67,0.00,0.000,4,0.000,0.072,2662,3305,3598,0,0,0,0,0,0
$GC,12279,-0.56,-112.4,989.9,-8.6,917,12283,0.00,1.62,0.00,0.000,6,0.000,0.056,2662,2293,3598,0,0,0,0,0,0
$STATE,12288,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12288,begin apogee
$GC,12292,-0.14,0.0,990.7,7.1,917,12392,0.43,0.00,94.80,1.237,6,0.118,0.000,2803,1999,3149,0,0,0,0,0,0
$STATE,12392,end apogee,CONTROL_FINISHED_OK
$STATE,12392,begin climb
$GC,12395,0.45,112.4,994.4,0.0,921,12502,0.55,2.15,100.38,1.200,4,0.071,0.063,3009,771,2690,0,0,0,0,0,0
$GC,12527,0.42,113.6,991.7,6.1,925,12531,0.00,2.15,0.00,0.000,6,0.000,0.059,3009,2000,2688,0,0,0,0,0,0
$GC,12847,0.38,113.6,967.0,7.8,936,12850,0.00,2.08,0.00,0.000,4,0.000,0.070,3009,3234,2684,0,0,0,0,0,0
$GC,12953,0.33,113.6,957.4,9.3,939,12957,0.17,2.00,0.00,0.000,6,0.150,0.057,2967,2025,2684,0,0,0,0,0,0
$GC,13278,0.32,113.6,935.5,6.8,950,13282,0.00,2.05,0.00,0.000,4,0.000,0.069,2967,3234,2682,0,0,0,0,0,0
$GC,13325,0.29,113.6,931.9,7.4,951,13330,0.00,1.98,0.00,0.000,6,0.000,0.058,2973,2028,2682,0,0,0,0,0,0
$GC,13646,0.27,113.6,907.4,7.8,962,13646,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2028,2682,0,0,0,0,0,0
$GC,13948,0.25,113.6,885.5,7.0,972,13953,0.12,2.03,0.00,0.000,4,0.168,0.070,2940,3233,2682,0,0,0,0,0,0
$GC,13985,0.25,113.6,883.2,6.4,973,13989,0.00,1.95,0.00,0.000,6,0.000,0.058,2946,2034,2682,0,0,0,0,0,0
$GC,14316,0.26,134.4,865.3,5.3,984,14340,0.00,2.05,18.38,1.108,4,0.000,0.071,2946,3246,2602,0,0,0,0,0,0
$GC,14361,0.26,134.4,862.5,6.5,985,14366,0.00,1.98,0.00,0.000,6,0.000,0.058,2946,2042,2601,0,0,0,0,0,0
$GC,14681,0.26,134.4,842.9,6.4,996,14685,0.00,2.12,0.00,0.000,4,0.000,0.067,2946,759,2600,0,0,0,0,0,0
$GC,14697,0.26,134.4,842.0,6.6,996,14701,0.00,2.10,0.00,0.000,6,0.000,0.061,2946,2048,2600,0,0,0,0,0,0
$GC,15016,0.26,134.4,820.5,6.7,1007,15020,0.00,1.95,0.00,0.000,4,0.000,0.067,2946,3234,2600,0,0,0,0,0,0
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$STATE,25479,end climb,SURFACE_DEPTH_REACHED
$STATE,25479,begin surface coast
$FINISH,1.1,1.013227
$STATE,25522,end surface coast,CONTROL_FINISHED_OK
$STATE,25522,begin surface
$SM_CCo,25597,0.00,0.000,0,0,1626,373.84
$SM_GC,2.15,7.88,0.00,0.00,0.041,0.000,0.000,143,2088,1626,-8.41,0.37,373.84
$IRIDIUM_FIX,4703.87,-12614.72,131299,151533
$TT8_MAMPS,0.052923
$HUMID,41.49
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,22.9,49.367
$10V_AH,10.1,47.454
$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,20.400,230.650,423.350,0.000,0.000,27.898,36.418,249.485,0.000,0.000,17.168,0.000,19762.387,604.528,4872.562,785.764,0.000,2412.944,0.000,4157.355,0.000,0.534,0.000
$DEVICE_MAMPS,234.702,95.875,1237.171,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1397.694,1475.523,1715.176,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298604
$DATA_FILE_SIZE,113767,1950
$CAP_FILE_SIZE,253560,0
$CFSIZE,260165632,226099200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.023,264.3,1
$GPS,190910,054407,4725.733,-12609.341,35,1.0,35,18.7