version: 66.06
glider: 187
mission: 2
dive: 467
start: 9 22 110 9 11 32
data:
$ID,187
$MISSION,2
$DIVE,467
$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,-33180.25
$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,23
$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
$GPS1,090337,4741.783,-12532.420,38,1.4,38,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.19
$_SM_ANGLEo,-77.8
$GPS2,091126,4741.814,-12532.417,14,1.4,14,18.7
$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,66.9,53173,-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,-112.4,0.0,0.0,0,66,0.00,0.00,-51.40,0.000,2,0.000,0.000,134,2081,2887,0,0,0,0,0,0
$GC,69,-0.45,-112.4,3.2,-1.8,10,102,10.50,2.03,-16.75,0.000,4,0.235,0.071,2698,842,3611,0,0,0,0,0,0
$GC,187,-0.43,-112.4,22.2,-13.2,32,193,0.00,2.00,0.00,0.000,6,0.000,0.056,2692,2073,3613,0,0,0,0,0,0
$GC,513,-0.42,-112.4,61.0,-11.3,93,520,0.00,1.98,0.00,0.000,4,0.000,0.058,2691,846,3615,0,0,0,0,0,0
$GC,599,-0.41,-112.4,69.3,-8.7,109,606,0.10,1.98,0.00,0.000,6,0.125,0.054,2718,2076,3614,0,0,0,0,0,0
$GC,927,-0.41,-112.4,94.7,-8.2,170,933,0.00,2.03,0.00,0.000,4,0.000,0.064,2712,3316,3615,0,0,0,0,0,0
$GC,1014,-0.42,-112.4,102.3,-9.0,184,1017,0.00,1.92,0.00,0.000,6,0.000,0.050,2712,2081,3615,0,0,0,0,0,0
$GC,1333,-0.42,-112.4,128.3,-7.0,215,1334,0.00,0.00,0.00,0.000,6,0.000,0.000,2712,2080,3615,0,0,0,0,0,0
$GC,1645,-0.42,-112.4,150.7,-7.4,245,1648,0.00,2.00,0.00,0.000,4,0.000,0.066,2708,3312,3615,0,0,0,0,0,0
$GC,1681,-0.44,-112.4,153.5,-7.6,248,1687,0.00,1.92,0.00,0.000,6,0.000,0.051,2707,2097,3615,0,0,0,0,0,0
$GC,1997,-0.44,-112.4,176.0,-6.9,279,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2097,3615,0,0,0,0,0,0
$GC,2309,-0.45,-112.4,198.5,-7.6,309,2312,0.00,1.98,0.00,0.000,4,0.000,0.066,2704,3321,3614,0,0,0,0,0,0
$GC,2340,-0.46,-112.4,201.0,-7.5,312,2343,0.00,1.95,0.00,0.000,6,0.000,0.051,2704,2090,3614,0,0,0,0,0,0
$GC,2661,-0.46,-112.4,225.5,-7.4,343,2662,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2089,3614,0,0,0,0,0,0
$GC,2973,-0.46,-112.4,247.6,-7.1,373,2976,0.00,2.00,0.00,0.000,4,0.000,0.067,2704,3311,3613,0,0,0,0,0,0
$GC,3015,-0.48,-112.4,250.8,-6.8,377,3019,0.00,1.92,0.00,0.000,6,0.000,0.051,2704,2099,3613,0,0,0,0,0,0
$GC,3335,-0.48,-112.4,274.7,-7.4,408,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2099,3612,0,0,0,0,0,0
$GC,3648,-0.49,-112.4,295.9,-6.4,438,3651,0.00,1.98,0.00,0.000,4,0.000,0.068,2704,3316,3612,0,0,0,0,0,0
$GC,3684,-0.51,-112.4,298.4,-6.2,441,3691,0.00,1.92,0.00,0.000,6,0.000,0.052,2704,2103,3612,0,0,0,0,0,0
$GC,4000,-0.53,-112.4,320.4,-7.0,472,4001,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2103,3611,0,0,0,0,0,0
$GC,4312,-0.54,-112.4,342.1,-6.8,502,4313,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2103,3611,0,0,0,0,0,0
$GC,4622,-0.55,-112.4,363.2,-6.9,532,4623,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2103,3610,0,0,0,0,0,0
$GC,4933,-0.57,-112.4,385.2,-7.0,562,4936,0.00,1.98,0.00,0.000,4,0.000,0.069,2704,3320,3610,0,0,0,0,0,0
$GC,4958,-0.59,-112.4,387.1,-7.0,564,4965,0.08,1.95,0.00,0.000,6,0.065,0.053,2652,2098,3610,0,0,0,0,0,0
$GC,5275,-0.59,-112.4,417.0,-9.2,595,5275,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2098,3609,0,0,0,0,0,0
$GC,5587,-0.59,-112.4,445.5,-8.7,625,5590,0.00,2.00,0.00,0.000,4,0.000,0.068,2643,3314,3608,0,0,0,0,0,0
$GC,5628,-0.59,-112.4,449.4,-8.8,629,5632,0.00,1.92,0.00,0.000,6,0.000,0.054,2643,2109,3608,0,0,0,0,0,0
$GC,5949,-0.58,-112.4,480.5,-9.4,660,5950,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2108,3608,0,0,0,0,0,0
$GC,6261,-0.56,-112.4,509.2,-8.7,690,6264,0.00,1.98,0.00,0.000,4,0.000,0.070,2635,3317,3607,0,0,0,0,0,0
$GC,6287,-0.55,-112.4,511.9,-9.4,692,6293,0.10,1.92,0.00,0.000,6,0.125,0.054,2669,2114,3607,0,0,0,0,0,0
$GC,6603,-0.55,-112.4,533.6,-6.6,723,6603,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2114,3607,0,0,0,0,0,0
$GC,6914,-0.55,-112.4,554.8,-7.6,753,6914,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2114,3606,0,0,0,0,0,0
$GC,7225,-0.55,-112.4,578.2,-7.7,783,7228,0.00,1.95,0.00,0.000,4,0.000,0.069,2663,3309,3606,0,0,0,0,0,0
$GC,7256,-0.55,-112.4,580.8,-8.2,786,7260,0.00,1.90,0.00,0.000,6,0.000,0.053,2663,2118,3606,0,0,0,0,0,0
$GC,7586,-0.55,-112.4,608.3,-8.5,812,7587,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2118,3606,0,0,0,0,0,0
$GC,7889,-0.55,-112.4,632.7,-7.8,822,7892,0.00,1.98,0.00,0.000,4,0.000,0.070,2663,3305,3605,0,0,0,0,0,0
$GC,7920,-0.55,-112.4,635.1,-7.3,823,7924,0.00,1.88,0.00,0.000,6,0.000,0.054,2663,2127,3605,0,0,0,0,0,0
$GC,8255,-0.55,-112.4,661.1,-7.9,834,8259,0.00,2.05,0.00,0.000,4,0.000,0.061,2663,850,3605,0,0,0,0,0,0
$GC,8287,-0.55,-112.4,663.7,-8.1,835,8291,0.00,2.05,0.00,0.000,6,0.000,0.061,2662,2120,3605,0,0,0,0,0,0
$GC,8622,-0.55,-112.4,690.9,-7.9,846,8627,0.00,1.98,0.00,0.000,4,0.000,0.070,2663,3308,3604,0,0,0,0,0,0
$GC,8681,-0.55,-112.4,695.3,-7.5,847,8686,0.00,1.90,0.00,0.000,6,0.000,0.055,2663,2123,3604,0,0,0,0,0,0
$GC,8990,-0.55,-112.4,718.9,-7.7,858,8993,0.00,2.05,0.00,0.000,4,0.000,0.062,2663,851,3604,0,0,0,0,0,0
$GC,9026,-0.55,-112.4,721.9,-8.8,859,9030,0.00,2.05,0.00,0.000,6,0.000,0.060,2663,2119,3604,0,0,0,0,0,0
$GC,9356,-0.55,-112.4,746.2,-7.3,870,9360,0.00,1.98,0.00,0.000,4,0.000,0.070,2663,3308,3604,0,0,0,0,0,0
$GC,9410,-0.55,-112.4,750.1,-7.4,871,9413,0.00,1.88,0.00,0.000,6,0.000,0.056,2663,2135,3604,0,0,0,0,0,0
$GC,9723,-0.55,-112.4,771.3,-6.6,882,9724,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2134,3603,0,0,0,0,0,0
$GC,10027,-0.55,-112.4,790.6,-6.2,892,10027,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2134,3603,0,0,0,0,0,0
$GC,10331,-0.55,-112.4,809.8,-6.4,902,10332,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2134,3603,0,0,0,0,0,0
$GC,10634,-0.55,-112.4,829.3,-6.5,912,10638,0.00,1.95,0.00,0.000,4,0.000,0.071,2663,3297,3602,0,0,0,0,0,0
$GC,10687,-0.56,-112.4,832.7,-6.1,913,10691,0.00,1.88,0.00,0.000,6,0.000,0.056,2662,2132,3602,0,0,0,0,0,0
$GC,11001,-0.56,-112.4,852.7,-6.1,924,11002,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2133,3602,0,0,0,0,0,0
$GC,11304,-0.56,-112.4,871.5,-6.3,934,11308,0.00,2.10,0.00,0.000,4,0.000,0.064,2663,844,3602,0,0,0,0,0,0
$GC,11330,-0.56,-112.4,873.4,-7.5,934,11336,0.00,2.08,0.00,0.000,6,0.000,0.062,2662,2121,3602,0,0,0,0,0,0
$GC,11639,-0.56,-112.4,892.7,-6.2,945,11643,0.00,1.98,0.00,0.000,4,0.000,0.071,2663,3301,3601,0,0,0,0,0,0
$GC,11671,-0.56,-112.4,894.6,-6.0,946,11675,0.00,1.88,0.00,0.000,6,0.000,0.058,2663,2138,3601,0,0,0,0,0,0
$GC,12006,-0.56,-112.4,916.6,-6.8,957,12007,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2137,3601,0,0,0,0,0,0
$GC,12309,-0.56,-112.4,937.0,-6.6,967,12310,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2137,3601,0,0,0,0,0,0
$GC,12613,-0.56,-112.4,956.8,-6.6,977,12614,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2137,3601,0,0,0,0,0,0
$GC,12916,-0.56,-112.4,977.1,-6.6,987,12917,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2137,3600,0,0,0,0,0,0
$STATE,13127,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13127,begin apogee
$GC,13132,-0.14,0.0,991.2,6.6,994,13229,0.45,0.00,95.35,1.232,6,0.116,0.000,2808,2002,3150,0,0,0,0,0,0
$STATE,13229,end apogee,CONTROL_FINISHED_OK
$STATE,13229,begin climb
$GC,13232,0.45,112.4,993.2,0.0,997,13339,0.55,2.20,100.57,1.196,4,0.069,0.064,3014,767,2691,0,0,0,0,0,0
$GC,13370,0.41,112.4,989.0,6.6,1001,13374,0.00,2.15,0.00,0.000,6,0.000,0.058,3014,1998,2688,0,0,0,0,0,0
$GC,13684,0.37,112.4,961.2,8.9,1012,13688,0.15,2.12,0.00,0.000,4,0.166,0.069,2977,3240,2685,0,0,0,0,0,0
$GC,13785,0.35,112.4,952.9,8.0,1015,13789,0.00,2.03,0.00,0.000,6,0.000,0.057,2983,2019,2684,0,0,0,0,0,0
$GC,14115,0.32,112.4,927.6,7.7,1026,14119,0.00,2.05,0.00,0.000,4,0.000,0.069,2983,3232,2683,0,0,0,0,0,0
$GC,14184,0.29,112.4,921.8,8.3,1028,14188,0.12,1.98,0.00,0.000,6,0.143,0.058,2955,2025,2683,0,0,0,0,0,0
$GC,14515,0.30,124.6,902.2,5.7,1039,14529,0.00,2.00,10.88,1.062,4,0.000,0.067,2955,3247,2640,0,0,0,0,0,0
$GC,14593,0.28,124.6,897.0,6.8,1041,14597,0.00,1.95,0.00,0.000,6,0.000,0.058,2959,2050,2639,0,0,0,0,0,0
$GC,14908,0.27,124.6,876.9,6.4,1052,14911,0.00,1.98,0.00,0.000,4,0.000,0.069,2959,3252,2638,0,0,0,0,0,0
$GC,14950,0.25,124.6,873.9,7.0,1053,14953,0.00,1.95,0.00,0.000,6,0.000,0.058,2966,2056,2638,0,0,0,0,0,0
$GC,15274,0.24,124.6,853.3,6.2,1064,15278,0.12,1.98,0.00,0.000,4,0.165,0.070,2933,3230,2638,0,0,0,0,0,0
$GC,15328,0.24,126.6,850.2,6.0,1065,15331,0.00,1.90,0.00,0.000,6,0.000,0.058,2933,2062,2638,0,0,0,0,0,0
$GC,15641,0.27,176.2,835.9,4.3,1076,15690,0.00,2.00,45.20,1.123,4,0.000,0.070,2933,3230,2431,0,0,0,0,0,0
$GC,15708,0.29,197.0,832.5,5.4,1078,15733,0.00,1.90,19.62,1.063,6,0.000,0.058,2933,2081,2346,0,0,0,0,0,0
$GC,16037,0.30,200.5,813.8,6.0,1089,16040,0.00,2.17,0.00,0.000,4,0.000,0.067,2934,760,2340,0,0,0,0,0,0
$GC,16057,0.32,200.5,812.6,6.4,1089,16065,0.00,2.15,3.65,0.663,6,0.000,0.060,2934,2079,2333,0,0,0,0,0,0
$GC,16366,0.34,207.3,794.2,5.9,1100,16379,0.00,1.95,7.55,0.940,4,0.000,0.069,2934,3243,2305,0,0,0,0,0,0
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$STATE,27268,end climb,SURFACE_DEPTH_REACHED
$STATE,27268,begin surface coast
$FINISH,1.3,1.021769
$STATE,27310,end surface coast,CONTROL_FINISHED_OK
$STATE,27310,begin surface
$SM_CCo,27384,0.00,0.000,0,0,1613,376.78
$SM_GC,2.74,7.75,0.00,0.00,0.045,0.000,0.000,145,2058,1613,-8.39,-0.48,376.78
$IRIDIUM_FIX,4722.92,-12534.86,171299,010111
$TT8_MAMPS,0.05369
$HUMID,39.44
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,22.8,50.979
$10V_AH,10.1,49.362
$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,20.075,189.975,427.350,0.000,0.000,24.830,33.525,249.616,0.000,0.000,14.955,0.000,21437.141,567.463,5043.199,757.423,0.000,2380.292,0.000,4288.548,0.000,0.533,0.000
$DEVICE_MAMPS,234.702,108.147,1231.802,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1561.089,1447.704,1937.842,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298628
$DATA_FILE_SIZE,120104,2146
$CAP_FILE_SIZE,252914,0
$CFSIZE,260165632,224747520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.121,342.3,1
$GPS,220910,164855,4743.618,-12528.195,41,2.0,41,18.7