version: 66.06
glider: 187
mission: 2
dive: 417
start: 9 6 110 18 4 13
data:
$ID,187
$MISSION,2
$DIVE,417
$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,-32244.783
$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,29
$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
$GPS1,175630,4740.657,-12536.303,75,0.9,80,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-76.7
$GPS2,180407,4740.646,-12536.344,11,1.1,16,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$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,195.0,129736,-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,-57.88,0.000,2,0.000,0.000,132,2066,3063,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.3,-2.4,11,102,10.57,2.00,-11.98,0.000,4,0.239,0.077,2690,3309,3612,0,0,0,0,0,0
$GC,273,-0.44,-112.4,38.4,-12.7,48,279,0.00,1.98,0.00,0.000,6,0.000,0.050,2691,2072,3615,0,0,0,0,0,0
$GC,599,-0.42,-112.4,77.1,-10.0,109,605,0.00,2.05,0.00,0.000,4,0.000,0.066,2682,3309,3617,0,0,0,0,0,0
$GC,813,-0.41,-112.4,98.0,-10.1,149,819,0.10,1.90,0.00,0.000,6,0.121,0.049,2717,2097,3617,0,0,0,0,0,0
$GC,1134,-0.41,-112.4,122.8,-6.7,182,1138,0.00,1.98,0.00,0.000,4,0.000,0.064,2712,3307,3617,0,0,0,0,0,0
$GC,1299,-0.42,-112.4,133.6,-6.6,197,1305,0.00,1.83,0.00,0.000,6,0.000,0.049,2711,2143,3617,0,0,0,0,0,0
$GC,1615,-0.42,-112.4,155.0,-7.1,228,1619,0.00,1.90,0.00,0.000,4,0.000,0.066,2704,3308,3617,0,0,0,0,0,0
$GC,1722,-0.42,-112.4,162.9,-7.5,238,1725,0.00,1.80,0.00,0.000,6,0.000,0.050,2704,2162,3617,0,0,0,0,0,0
$GC,2042,-0.42,-112.4,187.5,-7.8,269,2046,0.00,1.88,0.00,0.000,4,0.000,0.067,2704,3313,3617,0,0,0,0,0,0
$GC,2122,-0.43,-112.4,194.2,-8.6,276,2129,0.00,1.77,0.00,0.000,6,0.000,0.050,2703,2182,3616,0,0,0,0,0,0
$GC,2439,-0.43,-112.4,219.3,-7.4,307,2441,0.00,1.83,0.00,0.000,4,0.000,0.067,2696,3313,3616,0,0,0,0,0,0
$GC,2534,-0.43,-112.4,226.4,-7.6,316,2537,0.00,1.75,0.00,0.000,6,0.000,0.051,2696,2190,3616,0,0,0,0,0,0
$GC,2854,-0.43,-112.4,248.5,-6.9,347,2858,0.00,1.83,0.00,0.000,4,0.000,0.067,2691,3305,3615,0,0,0,0,0,0
$GC,2955,-0.43,-112.4,255.7,-6.8,356,2961,0.00,1.75,0.00,0.000,6,0.000,0.050,2691,2186,3615,0,0,0,0,0,0
$GC,3271,-0.43,-112.4,279.6,-7.8,387,3275,0.00,1.85,0.00,0.000,4,0.000,0.068,2690,3310,3615,0,0,0,0,0,0
$GC,3379,-0.43,-112.4,288.1,-8.3,397,3382,0.00,1.70,0.00,0.000,6,0.000,0.051,2691,2211,3614,0,0,0,0,0,0
$GC,3698,-0.43,-112.4,312.2,-7.4,428,3703,0.00,1.80,0.00,0.000,4,0.000,0.068,2690,3307,3614,0,0,0,0,0,0
$GC,3794,-0.43,-112.4,319.6,-8.3,437,3798,0.00,1.70,0.00,0.000,6,0.000,0.051,2690,2221,3613,0,0,0,0,0,0
$GC,4115,-0.43,-112.4,345.3,-8.1,468,4119,0.00,1.80,0.00,0.000,4,0.000,0.068,2690,3313,3613,0,0,0,0,0,0
$GC,4179,-0.43,-112.4,350.5,-7.6,474,4183,0.00,1.70,0.00,0.000,6,0.000,0.051,2690,2230,3613,0,0,0,0,0,0
$GC,4501,-0.43,-112.4,376.9,-8.4,505,4504,0.00,1.77,0.00,0.000,4,0.000,0.070,2690,3306,3613,0,0,0,0,0,0
$GC,4574,-0.43,-112.4,383.1,-8.3,512,4578,0.00,1.67,0.00,0.000,6,0.000,0.052,2690,2239,3612,0,0,0,0,0,0
$GC,4895,-0.43,-112.4,408.8,-7.9,543,4899,0.00,1.77,0.00,0.000,4,0.000,0.069,2690,3313,3612,0,0,0,0,0,0
$GC,4959,-0.44,-112.4,413.8,-7.5,549,4963,0.00,1.67,0.00,0.000,6,0.000,0.051,2690,2248,3612,0,0,0,0,0,0
$GC,5281,-0.44,-112.4,436.2,-6.4,580,5284,0.00,1.73,0.00,0.000,4,0.000,0.071,2686,3311,3612,0,0,0,0,0,0
$GC,5338,-0.44,-112.4,440.3,-7.7,585,5345,0.00,1.67,0.00,0.000,6,0.000,0.052,2686,2254,3611,0,0,0,0,0,0
$GC,5655,-0.44,-112.4,461.9,-7.0,616,5658,0.00,1.73,0.00,0.000,4,0.000,0.070,2685,3301,3611,0,0,0,0,0,0
$GC,5719,-0.44,-112.4,466.4,-7.1,622,5722,0.00,1.62,0.00,0.000,6,0.000,0.053,2685,2265,3611,0,0,0,0,0,0
$GC,6038,-0.44,-112.4,489.9,-7.8,653,6042,0.00,1.73,0.00,0.000,4,0.000,0.071,2683,3308,3610,0,0,0,0,0,0
$GC,6071,-0.44,-112.4,492.2,-8.3,656,6075,0.08,1.62,0.00,0.000,6,0.127,0.053,2709,2271,3610,0,0,0,0,0,0
$GC,6391,-0.45,-112.4,512.1,-5.5,687,6395,0.00,1.73,0.00,0.000,4,0.000,0.071,2709,3312,3610,0,0,0,0,0,0
$GC,6418,-0.48,-112.4,513.9,-6.9,689,6423,0.00,1.65,0.00,0.000,6,0.000,0.054,2709,2267,3610,0,0,0,0,0,0
$GC,6733,-0.49,-112.4,529.6,-4.3,720,6737,0.00,1.73,0.00,0.000,4,0.000,0.070,2705,3313,3610,0,0,0,0,0,0
$GC,6771,-0.51,-112.4,531.3,-4.5,723,6777,0.00,1.62,0.00,0.000,6,0.000,0.053,2704,2281,3610,0,0,0,0,0,0
$GC,7087,-0.53,-112.4,544.0,-4.0,754,7089,0.00,1.70,0.00,0.000,4,0.000,0.071,2704,3307,3609,0,0,0,0,0,0
$GC,7129,-0.55,-112.4,545.4,-3.7,758,7132,0.00,1.60,0.00,0.000,6,0.000,0.054,2704,2294,3609,0,0,0,0,0,0
$GC,7449,-0.56,-112.4,557.8,-4.4,789,7453,0.00,1.67,0.00,0.000,4,0.000,0.071,2704,3307,3609,0,0,0,0,0,0
$GC,7493,-0.58,-112.4,559.9,-5.5,793,7496,0.08,1.60,0.00,0.000,6,0.066,0.054,2656,2294,3608,0,0,0,0,0,0
$GC,7812,-0.58,-112.4,583.3,-8.1,824,7816,0.00,1.67,0.00,0.000,4,0.000,0.069,2649,3306,3608,0,0,0,0,0,0
$GC,7849,-0.58,-112.4,586.3,-8.7,827,7855,0.00,1.58,0.00,0.000,6,0.000,0.053,2649,2307,3608,0,0,0,0,0,0
$GC,8161,-0.57,-112.4,614.4,-9.3,848,8162,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2308,3608,0,0,0,0,0,0
$GC,8465,-0.56,-112.4,641.9,-8.8,858,8469,0.00,1.67,0.00,0.000,4,0.000,0.071,2643,3313,3607,0,0,0,0,0,0
$GC,8507,-0.56,-112.4,645.7,-9.4,859,8511,0.08,1.60,0.00,0.000,6,0.129,0.054,2670,2302,3607,0,0,0,0,0,0
$GC,8832,-0.56,-112.4,670.6,-7.7,870,8836,0.00,2.35,0.00,0.000,4,0.000,0.061,2669,846,3607,0,0,0,0,0,0
$GC,8868,-0.56,-112.4,673.7,-8.3,871,8873,0.00,2.33,0.00,0.000,6,0.000,0.061,2664,2295,3606,0,0,0,0,0,0
$GC,9199,-0.56,-112.4,698.8,-7.4,882,9200,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2295,3606,0,0,0,0,0,0
$GC,9502,-0.56,-112.4,720.7,-7.1,892,9506,0.00,2.35,0.00,0.000,4,0.000,0.062,2664,847,3606,0,0,0,0,0,0
$GC,9534,-0.56,-112.4,723.2,-8.0,893,9538,0.00,2.35,0.00,0.000,6,0.000,0.062,2662,2302,3606,0,0,0,0,0,0
$GC,9870,-0.56,-112.4,747.8,-7.3,904,9873,0.00,2.35,0.00,0.000,4,0.000,0.062,2663,857,3605,0,0,0,0,0,0
$GC,9938,-0.56,-112.4,753.4,-7.8,906,9942,0.00,2.33,0.00,0.000,6,0.000,0.062,2663,2297,3606,0,0,0,0,0,0
$GC,10268,-0.56,-112.4,777.6,-7.3,917,10272,0.00,2.35,0.00,0.000,4,0.000,0.063,2663,850,3606,0,0,0,0,0,0
$GC,10306,-0.56,-112.4,780.6,-8.0,918,10309,0.00,2.33,0.00,0.000,6,0.000,0.061,2663,2290,3605,0,0,0,0,0,0
$GC,10635,-0.56,-112.4,804.0,-7.0,929,10640,0.00,2.33,0.00,0.000,4,0.000,0.062,2663,855,3605,0,0,0,0,0,0
$GC,10667,-0.56,-112.4,806.3,-7.2,930,10671,0.00,2.30,0.00,0.000,6,0.000,0.061,2663,2283,3605,0,0,0,0,0,0
$GC,11003,-0.56,-112.4,830.8,-7.3,941,11006,0.00,2.33,0.00,0.000,4,0.000,0.063,2663,825,3605,0,0,0,0,0,0
$GC,11039,-0.56,-112.4,833.7,-8.1,942,11043,0.00,2.35,0.00,0.000,6,0.000,0.063,2663,2277,3605,0,0,0,0,0,0
$GC,11370,-0.56,-112.4,855.9,-6.5,953,11373,0.00,2.33,0.00,0.000,4,0.000,0.064,2663,849,3604,0,0,0,0,0,0
$GC,11385,-0.56,-112.4,857.1,-6.6,953,11389,0.00,2.33,0.00,0.000,6,0.000,0.063,2663,2280,3604,0,0,0,0,0,0
$GC,11704,-0.56,-112.4,877.5,-6.2,964,11708,0.00,2.33,0.00,0.000,4,0.000,0.064,2663,850,3604,0,0,0,0,0,0
$GC,11736,-0.56,-112.4,879.7,-6.7,965,11740,0.00,2.33,0.00,0.000,6,0.000,0.061,2663,2285,3604,0,0,0,0,0,0
$GC,12072,-0.56,-112.4,900.1,-6.1,976,12075,0.00,2.30,0.00,0.000,4,0.000,0.063,2663,846,3604,0,0,0,0,0,0
$GC,12097,-0.56,-112.4,901.8,-7.3,976,12103,0.00,2.33,0.00,0.000,6,0.000,0.064,2663,2275,3603,0,0,0,0,0,0
$GC,12406,-0.56,-112.4,920.8,-6.4,987,12410,0.00,2.33,0.00,0.000,4,0.000,0.063,2663,849,3603,0,0,0,0,0,0
$GC,12433,-0.56,-112.4,922.6,-7.6,987,12438,0.00,2.30,0.00,0.000,6,0.000,0.063,2662,2266,3604,0,0,0,0,0,0
$GC,12741,-0.56,-112.4,944.5,-7.3,998,12742,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2267,3603,0,0,0,0,0,0
$GC,13044,-0.56,-112.4,965.5,-6.9,1008,13048,0.00,2.30,0.00,0.000,4,0.000,0.062,2663,848,3603,0,0,0,0,0,0
$GC,13071,-0.56,-112.4,967.4,-8.7,1008,13077,0.00,2.30,0.00,0.000,6,0.000,0.063,2663,2271,3603,0,0,0,0,0,0
$GC,13379,-0.56,-112.4,988.3,-6.7,1019,13380,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2270,3602,0,0,0,0,0,0
$STATE,13408,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13408,begin apogee
$GC,13412,-0.14,0.0,990.5,6.8,1020,13509,0.45,0.00,95.25,1.236,6,0.118,0.000,2807,1994,3150,0,0,0,0,0,0
$STATE,13510,end apogee,CONTROL_FINISHED_OK
$STATE,13510,begin climb
$GC,13512,0.45,112.4,992.8,0.0,1023,13618,0.55,2.12,100.00,1.196,4,0.071,0.062,3011,773,2690,0,0,0,0,0,0
$GC,13660,0.41,112.4,987.7,7.8,1028,13664,0.00,2.10,0.00,0.000,6,0.000,0.058,3011,1990,2688,0,0,0,0,0,0
$GC,13996,0.38,112.4,960.7,8.1,1039,13999,0.12,2.08,0.00,0.000,4,0.177,0.068,2982,3233,2684,0,0,0,0,0,0
$GC,14177,0.34,112.4,945.7,8.3,1044,14181,0.00,1.98,0.00,0.000,6,0.000,0.056,2986,2024,2684,0,0,0,0,0,0
$GC,14491,0.31,112.4,922.6,7.2,1055,14492,0.12,0.00,0.00,0.000,6,0.172,0.000,2956,2024,2684,0,0,0,0,0,0
$GC,14794,0.32,145.2,906.9,4.9,1065,14826,0.00,2.08,27.80,1.145,4,0.000,0.069,2956,3237,2558,0,0,0,0,0,0
$GC,14896,0.32,170.0,901.2,5.2,1068,14924,0.00,1.98,23.25,1.119,6,0.000,0.057,2961,2020,2455,0,0,0,0,0,0
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$STATE,27108,end climb,SURFACE_DEPTH_REACHED
$STATE,27108,begin surface coast
$FINISH,2.1,1.023879
$STATE,27113,end surface coast,CONTROL_FINISHED_OK
$STATE,27113,begin surface
$SM_CCo,27189,0.00,0.000,0,0,1627,373.59
$SM_GC,2.42,7.80,0.00,0.00,0.048,0.000,0.000,142,2079,1627,-8.41,0.08,373.59
$IRIDIUM_FIX,4722.92,-12534.86,011299,101000
$TT8_MAMPS,0.052156
$HUMID,39.52
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,23.1,43.743
$10V_AH,10.2,40.800
$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,20.225,229.175,416.350,0.000,0.000,24.562,31.920,246.534,0.000,0.000,16.642,0.000,21082.598,615.771,5195.530,707.124,0.000,2522.182,0.000,4402.922,0.000,0.534,0.000
$DEVICE_MAMPS,239.304,77.467,1235.637,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1458.249,1743.642,1795.531,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298604
$DATA_FILE_SIZE,116622,2107
$CAP_FILE_SIZE,266121,0
$CFSIZE,260165632,230744064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.106,  7.4,1
$GPS,070910,013836,4739.607,-12539.014,45,1.2,56,18.7