version: 66.06
glider: 187
mission: 2
dive: 468
start: 9 22 110 16 56 44
data:
$ID,187
$MISSION,2
$DIVE,468
$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,-33192.762
$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,33
$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
$GPS1,164855,4743.618,-12528.195,41,2.0,41,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-78.2
$GPS2,165638,4743.649,-12528.319,11,2.0,11,18.7
$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,73.0,47061,-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,-112.4,0.0,0.0,0,72,0.00,0.00,-56.55,0.000,2,0.000,0.000,135,2056,2926,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.3,-2.2,11,107,10.52,1.98,-15.07,0.000,4,0.238,0.074,2698,849,3612,0,0,0,0,0,0
$GC,192,-0.44,-112.4,24.3,-12.5,33,198,0.00,1.98,0.00,0.000,6,0.000,0.056,2692,2075,3614,0,0,0,0,0,0
$GC,519,-0.41,-112.4,58.6,-10.9,94,526,0.10,2.05,0.00,0.000,4,0.179,0.064,2710,3317,3616,0,0,0,0,0,0
$GC,665,-0.41,-112.4,72.0,-9.0,121,671,0.00,1.92,0.00,0.000,6,0.000,0.050,2710,2104,3616,0,0,0,0,0,0
$GC,992,-0.41,-112.4,100.5,-8.4,182,995,0.00,1.98,0.00,0.000,4,0.000,0.065,2702,3326,3617,0,0,0,0,0,0
$GC,1082,-0.41,-112.4,108.5,-8.9,190,1088,0.00,1.90,0.00,0.000,6,0.000,0.050,2702,2124,3617,0,0,0,0,0,0
$GC,1397,-0.41,-112.4,137.3,-8.6,221,1401,0.00,1.95,0.00,0.000,4,0.000,0.064,2694,3318,3617,0,0,0,0,0,0
$GC,1499,-0.42,-112.4,146.1,-8.7,230,1505,0.00,1.85,0.00,0.000,6,0.000,0.050,2694,2142,3617,0,0,0,0,0,0
$GC,1814,-0.42,-112.4,172.5,-8.1,261,1818,0.00,1.92,0.00,0.000,4,0.000,0.066,2691,3319,3616,0,0,0,0,0,0
$GC,1894,-0.44,-112.4,179.0,-7.9,268,1899,0.00,1.80,0.00,0.000,6,0.000,0.050,2690,2172,3616,0,0,0,0,0,0
$GC,2209,-0.44,-112.4,205.7,-8.0,299,2213,0.00,1.88,0.00,0.000,4,0.000,0.066,2684,3313,3616,0,0,0,0,0,0
$GC,2305,-0.44,-112.4,213.4,-8.2,308,2309,0.00,1.75,0.00,0.000,6,0.000,0.050,2684,2194,3616,0,0,0,0,0,0
$GC,2626,-0.44,-112.4,237.7,-7.1,339,2630,0.00,1.85,0.00,0.000,4,0.000,0.066,2677,3314,3615,0,0,0,0,0,0
$GC,2702,-0.44,-112.4,243.2,-7.5,346,2705,0.12,1.73,0.00,0.000,6,0.142,0.049,2712,2198,3615,0,0,0,0,0,0
$GC,3022,-0.45,-112.4,261.7,-5.9,377,3025,0.00,1.85,0.00,0.000,4,0.000,0.066,2707,3317,3614,0,0,0,0,0,0
$GC,3070,-0.48,-112.4,264.8,-6.6,381,3076,0.00,1.75,0.00,0.000,6,0.000,0.051,2707,2207,3614,0,0,0,0,0,0
$GC,3386,-0.49,-112.4,285.5,-6.5,412,3389,0.00,1.80,0.00,0.000,4,0.000,0.067,2704,3316,3614,0,0,0,0,0,0
$GC,3444,-0.51,-112.4,289.6,-6.6,417,3450,0.00,1.73,0.00,0.000,6,0.000,0.051,2704,2225,3613,0,0,0,0,0,0
$GC,3760,-0.53,-112.4,310.6,-6.8,448,3763,0.00,1.77,0.00,0.000,4,0.000,0.067,2704,3316,3613,0,0,0,0,0,0
$GC,3793,-0.55,-112.4,312.5,-6.1,451,3796,0.00,1.67,0.00,0.000,6,0.000,0.052,2704,2239,3613,0,0,0,0,0,0
$GC,4112,-0.56,-112.4,332.8,-6.2,482,4116,0.00,1.77,0.00,0.000,4,0.000,0.067,2704,3313,3612,0,0,0,0,0,0
$GC,4172,-0.58,-112.4,336.4,-6.1,487,4177,0.08,1.67,0.00,0.000,6,0.064,0.051,2653,2252,3612,0,0,0,0,0,0
$GC,4486,-0.57,-112.4,364.3,-9.1,518,4490,0.00,1.75,0.00,0.000,4,0.000,0.068,2646,3309,3612,0,0,0,0,0,0
$GC,4556,-0.57,-112.4,370.8,-9.2,524,4561,0.00,1.62,0.00,0.000,6,0.000,0.051,2646,2281,3611,0,0,0,0,0,0
$GC,4871,-0.56,-112.4,401.1,-9.7,555,4875,0.00,1.73,0.00,0.000,4,0.000,0.069,2639,3315,3611,0,0,0,0,0,0
$GC,4951,-0.56,-112.4,409.0,-9.5,562,4957,0.08,1.62,0.00,0.000,6,0.126,0.051,2666,2287,3611,0,0,0,0,0,0
$GC,5266,-0.56,-112.4,436.0,-8.5,593,5270,0.00,1.70,0.00,0.000,4,0.000,0.067,2662,3313,3611,0,0,0,0,0,0
$GC,5325,-0.56,-112.4,440.9,-7.8,598,5331,0.00,1.60,0.00,0.000,6,0.000,0.051,2662,2297,3611,0,0,0,0,0,0
$GC,5640,-0.56,-112.4,467.9,-8.6,629,5644,0.00,1.70,0.00,0.000,4,0.000,0.070,2662,3314,3610,0,0,0,0,0,0
$GC,5678,-0.56,-112.4,471.1,-8.7,632,5683,0.00,1.60,0.00,0.000,6,0.000,0.052,2662,2304,3610,0,0,0,0,0,0
$GC,5993,-0.56,-112.4,498.1,-8.5,663,5997,0.00,1.67,0.00,0.000,4,0.000,0.069,2662,3312,3610,0,0,0,0,0,0
$GC,6040,-0.56,-112.4,502.0,-8.3,667,6046,0.00,1.60,0.00,0.000,6,0.000,0.052,2662,2312,3609,0,0,0,0,0,0
$GC,6356,-0.56,-112.4,528.2,-8.0,698,6360,0.00,1.67,0.00,0.000,4,0.000,0.069,2660,3316,3609,0,0,0,0,0,0
$GC,6398,-0.56,-112.4,531.7,-8.0,702,6402,0.00,1.58,0.00,0.000,6,0.000,0.052,2659,2323,3609,0,0,0,0,0,0
$GC,6720,-0.56,-112.4,557.3,-8.0,733,6721,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2323,3609,0,0,0,0,0,0
$GC,7032,-0.56,-112.4,582.8,-8.3,763,7033,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2323,3608,0,0,0,0,0,0
$GC,7359,-0.56,-112.4,609.8,-8.0,787,7362,0.00,1.65,0.00,0.000,4,0.000,0.071,2659,3309,3607,0,0,0,0,0,0
$GC,7405,-0.56,-112.4,613.6,-7.8,788,7410,0.00,1.58,0.00,0.000,6,0.000,0.053,2659,2327,3607,0,0,0,0,0,0
$GC,7725,-0.56,-112.4,637.9,-7.5,799,7729,0.00,1.65,0.00,0.000,4,0.000,0.069,2659,3316,3607,0,0,0,0,0,0
$GC,7800,-0.56,-112.4,643.6,-8.0,801,7803,0.00,1.55,0.00,0.000,6,0.000,0.053,2659,2338,3607,0,0,0,0,0,0
$GC,8124,-0.56,-112.4,668.9,-7.7,812,8128,0.00,1.62,0.00,0.000,4,0.000,0.071,2659,3309,3606,0,0,0,0,0,0
$GC,8178,-0.56,-112.4,672.6,-6.6,813,8181,0.00,1.52,0.00,0.000,6,0.000,0.054,2659,2349,3606,0,0,0,0,0,0
$GC,8491,-0.56,-112.4,694.2,-6.7,824,8495,0.00,2.45,0.00,0.000,4,0.000,0.060,2659,846,3606,0,0,0,0,0,0
$GC,8523,-0.56,-112.4,696.5,-6.7,825,8527,0.00,2.42,0.00,0.000,6,0.000,0.061,2654,2340,3606,0,0,0,0,0,0
$GC,8858,-0.56,-112.4,720.1,-7.0,836,8862,0.00,1.62,0.00,0.000,4,0.000,0.071,2647,3316,3605,0,0,0,0,0,0
$GC,8900,-0.56,-112.4,723.2,-7.6,837,8904,0.00,1.58,0.00,0.000,6,0.000,0.055,2646,2340,3605,0,0,0,0,0,0
$GC,9225,-0.56,-112.4,747.9,-7.5,848,9229,0.00,2.42,0.00,0.000,4,0.000,0.061,2646,850,3605,0,0,0,0,0,0
$GC,9246,-0.56,-112.4,749.7,-8.8,848,9250,0.08,2.42,0.00,0.000,6,0.134,0.061,2665,2340,3605,0,0,0,0,0,0
$GC,9561,-0.56,-112.4,770.6,-6.9,859,9564,0.00,1.62,0.00,0.000,4,0.000,0.071,2660,3316,3605,0,0,0,0,0,0
$GC,9608,-0.56,-112.4,774.1,-7.3,860,9612,0.00,1.58,0.00,0.000,6,0.000,0.055,2660,2341,3604,0,0,0,0,0,0
$GC,9927,-0.56,-112.4,796.6,-7.0,871,9931,0.00,2.42,0.00,0.000,4,0.000,0.061,2660,850,3604,0,0,0,0,0,0
$GC,9964,-0.56,-112.4,799.4,-7.0,872,9968,0.00,2.45,0.00,0.000,6,0.000,0.062,2653,2367,3604,0,0,0,0,0,0
$GC,10294,-0.56,-112.4,823.7,-7.4,883,10295,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,2367,3604,0,0,0,0,0,0
$GC,10597,-0.56,-112.4,846.6,-7.6,893,10601,0.00,1.58,0.00,0.000,4,0.000,0.071,2646,3309,3603,0,0,0,0,0,0
$GC,10630,-0.56,-112.4,849.0,-8.3,894,10633,0.00,1.52,0.00,0.000,6,0.000,0.057,2646,2354,3603,0,0,0,0,0,0
$GC,10964,-0.56,-112.4,874.0,-7.5,905,10968,0.00,2.47,0.00,0.000,4,0.000,0.063,2646,845,3603,0,0,0,0,0,0
$GC,10996,-0.56,-112.4,876.4,-7.6,906,11000,0.08,2.45,0.00,0.000,6,0.134,0.063,2666,2341,3603,0,0,0,0,0,0
$GC,11332,-0.56,-112.4,898.6,-6.5,917,11336,0.00,1.62,0.00,0.000,4,0.000,0.074,2662,3308,3603,0,0,0,0,0,0
$GC,11368,-0.57,-112.4,901.0,-6.9,918,11372,0.00,1.55,0.00,0.000,6,0.000,0.057,2662,2343,3603,0,0,0,0,0,0
$GC,11699,-0.57,-112.4,923.3,-6.8,929,11703,0.00,2.45,0.00,0.000,4,0.000,0.064,2662,852,3603,0,0,0,0,0,0
$GC,11746,-0.57,-112.4,926.6,-6.9,930,11751,0.00,2.42,0.00,0.000,6,0.000,0.062,2659,2334,3603,0,0,0,0,0,0
$GC,12066,-0.59,-112.4,948.1,-6.2,941,12069,0.00,1.65,0.00,0.000,4,0.000,0.074,2659,3314,3602,0,0,0,0,0,0
$GC,12098,-0.65,-112.4,948.1,0.4,942,12102,0.00,1.58,0.00,0.000,6,0.000,0.058,2659,2338,3602,0,0,0,0,0,0
$STATE,12400,end dive,NO_VERTICAL_VELOCITY
$STATE,12400,begin apogee
$GC,12405,-0.14,0.0,948.1,0.0,952,12502,0.43,0.00,94.97,1.208,6,0.080,0.000,2813,1998,3150,0,0,0,0,0,0
$STATE,12502,end apogee,CONTROL_FINISHED_OK
$STATE,12502,begin climb
$GC,12504,0.45,112.4,948.1,0.0,955,12611,0.52,2.20,99.90,1.168,4,0.074,0.064,3000,3244,2690,0,0,0,0,0,0
$GC,12669,0.41,112.4,940.6,8.4,960,12673,0.00,2.12,0.00,0.000,6,0.000,0.054,3008,2015,2687,0,0,0,0,0,0
$GC,12989,0.38,112.4,914.9,8.0,971,12992,0.12,2.08,0.00,0.000,4,0.180,0.067,2978,3244,2685,0,0,0,0,0,0
$GC,13025,0.35,112.4,912.1,7.6,972,13029,0.00,2.05,0.00,0.000,6,0.000,0.057,2985,2003,2684,0,0,0,0,0,0
$GC,13356,0.32,112.4,888.5,7.0,983,13359,0.00,2.08,0.00,0.000,4,0.000,0.068,2985,3247,2683,0,0,0,0,0,0
$GC,13424,0.29,112.4,883.2,7.6,985,13429,0.12,2.00,0.00,0.000,6,0.144,0.056,2955,2023,2683,0,0,0,0,0,0
$GC,13754,0.30,122.9,864.3,5.7,996,13768,0.00,2.05,9.15,1.013,4,0.000,0.068,2956,3248,2648,0,0,0,0,0,0
$GC,13839,0.28,122.9,858.9,6.4,998,13842,0.00,1.98,0.00,0.000,6,0.000,0.056,2960,2037,2648,0,0,0,0,0,0
$GC,14153,0.28,138.0,841.1,5.6,1009,14168,0.00,0.00,14.55,1.069,6,0.000,0.000,2960,2036,2586,0,0,0,0,0,0
$GC,14456,0.28,142.8,823.8,5.9,1019,14465,0.00,1.95,5.60,0.868,4,0.000,0.066,2960,3241,2567,0,0,0,0,0,0
$GC,14541,0.27,142.8,817.6,7.8,1021,14546,0.00,1.95,0.00,0.000,6,0.000,0.056,2961,2044,2566,0,0,0,0,0,0
$GC,14850,0.27,142.8,797.7,6.3,1032,14853,0.00,2.00,0.00,0.000,4,0.000,0.068,2960,3236,2566,0,0,0,0,0,0
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$STATE,26216,end climb,SURFACE_DEPTH_REACHED
$STATE,26216,begin surface coast
$FINISH,1.3,0.999525
$STATE,26266,end surface coast,CONTROL_FINISHED_OK
$STATE,26266,begin surface
$SM_CCo,26341,0.00,0.000,0,0,1649,368.20
$SM_GC,2.70,7.95,0.00,0.00,0.046,0.000,0.000,141,2062,1649,-8.40,-0.37,368.20
$IRIDIUM_FIX,4722.92,-12523.34,171299,090903
$TT8_MAMPS,0.052923
$HUMID,40.54
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,22.9,51.119
$10V_AH,10.1,49.537
$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,20.800,247.875,424.700,0.000,0.000,24.540,30.268,251.826,0.000,0.000,11.879,0.000,20115.912,633.943,5224.277,784.393,0.000,2560.110,0.000,4443.128,0.000,0.533,0.000
$DEVICE_MAMPS,237.770,74.399,1208.025,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1498.598,1414.032,1871.925,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298604
$DATA_FILE_SIZE,116866,2076
$CAP_FILE_SIZE,271091,0
$CFSIZE,260165632,224612352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.132,359.5,1
$GPS,230910,001637,4745.182,-12523.940,34,1.3,34,18.7