version: 66.06
glider: 187
mission: 2
dive: 421
start: 9 8 110 0 20 50
data:
$ID,187
$MISSION,2
$DIVE,421
$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,-32313.605
$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,25
$R_STBD_OVSHOOT,26
$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
$GPS1,001307,4734.480,-12547.857,78,1.2,78,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-78.2
$GPS2,002044,4734.455,-12547.870,17,1.2,17,18.7
$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,195.9,111229,-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,-112.4,0.0,0.0,0,66,0.00,0.00,-52.62,0.000,2,0.000,0.000,132,2078,2934,0,0,0,0,0,0
$GC,68,-0.45,-112.4,3.3,-2.4,10,102,10.55,2.03,-15.43,0.000,4,0.238,0.078,2695,3303,3611,0,0,0,0,0,0
$GC,272,-0.44,-112.4,33.5,-11.0,48,279,0.00,1.98,0.00,0.000,6,0.000,0.049,2695,2066,3614,0,0,0,0,0,0
$GC,599,-0.42,-112.4,73.2,-9.9,109,605,0.00,2.05,0.00,0.000,4,0.000,0.065,2686,3304,3615,0,0,0,0,0,0
$GC,669,-0.42,-112.4,80.1,-9.5,122,675,0.08,1.92,0.00,0.000,6,0.125,0.050,2712,2086,3615,0,0,0,0,0,0
$GC,991,-0.42,-112.4,109.9,-9.0,173,995,0.00,2.00,0.00,0.000,4,0.000,0.066,2706,3304,3616,0,0,0,0,0,0
$GC,1045,-0.42,-112.4,114.6,-8.5,178,1048,0.00,1.88,0.00,0.000,6,0.000,0.050,2705,2096,3616,0,0,0,0,0,0
$GC,1365,-0.42,-112.4,139.7,-6.7,209,1369,0.00,1.98,0.00,0.000,4,0.000,0.065,2698,3303,3616,0,0,0,0,0,0
$GC,1445,-0.42,-112.4,145.9,-7.2,216,1451,0.00,1.88,0.00,0.000,6,0.000,0.050,2698,2110,3616,0,0,0,0,0,0
$GC,1761,-0.42,-112.4,171.4,-7.7,247,1762,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2110,3615,0,0,0,0,0,0
$GC,2073,-0.42,-112.4,194.5,-7.9,277,2076,0.00,1.95,0.00,0.000,4,0.000,0.067,2693,3314,3616,0,0,0,0,0,0
$GC,2136,-0.42,-112.4,199.9,-8.7,283,2140,0.00,1.88,0.00,0.000,6,0.000,0.050,2694,2117,3615,0,0,0,0,0,0
$GC,2456,-0.42,-112.4,228.6,-8.9,314,2460,0.00,1.95,0.00,0.000,4,0.000,0.065,2690,3312,3615,0,0,0,0,0,0
$GC,2525,-0.42,-112.4,234.4,-7.9,320,2531,0.00,1.88,0.00,0.000,6,0.000,0.050,2691,2118,3615,0,0,0,0,0,0
$GC,2841,-0.42,-112.4,259.0,-7.4,351,2845,0.00,1.95,0.00,0.000,4,0.000,0.067,2684,3306,3614,0,0,0,0,0,0
$GC,2867,-0.42,-112.4,261.1,-8.2,353,2875,0.08,1.85,0.00,0.000,6,0.122,0.051,2712,2128,3614,0,0,0,0,0,0
$GC,3184,-0.44,-112.4,281.8,-6.5,384,3187,0.00,1.92,0.00,0.000,4,0.000,0.067,2708,3301,3614,0,0,0,0,0,0
$GC,3220,-0.46,-112.4,284.4,-7.2,387,3227,0.00,1.83,0.00,0.000,6,0.000,0.051,2708,2140,3614,0,0,0,0,0,0
$GC,3537,-0.47,-112.4,306.0,-6.8,418,3540,0.00,1.90,0.00,0.000,4,0.000,0.067,2705,3315,3614,0,0,0,0,0,0
$GC,3557,-0.48,-112.4,307.4,-6.5,420,3561,0.00,1.85,0.00,0.000,6,0.000,0.052,2705,2139,3613,0,0,0,0,0,0
$GC,3878,-0.50,-112.4,331.7,-7.6,451,3879,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2139,3613,0,0,0,0,0,0
$GC,4190,-0.51,-112.4,354.3,-7.5,481,4191,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2139,3612,0,0,0,0,0,0
$GC,4500,-0.52,-112.4,379.1,-8.2,511,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2139,3612,0,0,0,0,0,0
$GC,4811,-0.54,-112.4,402.8,-7.1,541,4812,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2139,3612,0,0,0,0,0,0
$GC,5122,-0.55,-112.4,424.5,-6.5,571,5125,0.00,1.90,0.00,0.000,4,0.000,0.067,2705,3309,3611,0,0,0,0,0,0
$GC,5154,-0.57,-112.4,426.7,-7.1,574,5157,0.00,1.80,0.00,0.000,6,0.000,0.053,2705,2138,3611,0,0,0,0,0,0
$GC,5474,-0.58,-112.4,448.2,-6.7,605,5475,0.12,0.00,0.00,0.000,6,0.096,0.000,2644,2137,3611,0,0,0,0,0,0
$GC,5784,-0.57,-112.4,481.9,-10.7,635,5788,0.00,1.92,0.00,0.000,4,0.000,0.069,2637,3305,3610,0,0,0,0,0,0
$GC,5810,-0.55,-112.4,484.8,-11.0,637,5817,0.10,1.85,0.00,0.000,6,0.127,0.053,2671,2130,3610,0,0,0,0,0,0
$GC,6125,-0.55,-112.4,511.1,-8.0,668,6130,0.00,1.95,0.00,0.000,4,0.000,0.069,2665,3311,3609,0,0,0,0,0,0
$GC,6157,-0.55,-112.4,513.6,-8.3,671,6161,0.00,1.85,0.00,0.000,6,0.000,0.053,2665,2138,3609,0,0,0,0,0,0
$GC,6478,-0.55,-112.4,540.8,-7.9,702,6482,0.00,1.92,0.00,0.000,4,0.000,0.070,2662,3305,3609,0,0,0,0,0,0
$GC,6499,-0.55,-112.4,542.6,-8.7,704,6503,0.00,1.85,0.00,0.000,6,0.000,0.054,2662,2135,3609,0,0,0,0,0,0
$GC,6820,-0.55,-112.4,567.8,-7.7,735,6821,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2135,3608,0,0,0,0,0,0
$GC,7131,-0.55,-112.4,592.7,-8.3,765,7134,0.00,1.92,0.00,0.000,4,0.000,0.070,2658,3318,3608,0,0,0,0,0,0
$GC,7184,-0.55,-112.4,597.1,-8.6,770,7188,0.00,1.88,0.00,0.000,6,0.000,0.054,2658,2132,3607,0,0,0,0,0,0
$GC,7498,-0.55,-112.4,626.1,-9.3,783,7499,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2132,3607,0,0,0,0,0,0
$GC,7801,-0.55,-112.4,653.7,-9.2,793,7806,0.00,1.95,0.00,0.000,4,0.000,0.070,2650,3306,3607,0,0,0,0,0,0
$GC,7839,-0.55,-112.4,657.2,-9.1,794,7843,0.00,1.85,0.00,0.000,6,0.000,0.054,2650,2140,3607,0,0,0,0,0,0
$GC,8168,-0.55,-112.4,687.7,-9.2,805,8169,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2140,3606,0,0,0,0,0,0
$GC,8472,-0.55,-112.4,716.2,-9.3,815,8473,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2139,3606,0,0,0,0,0,0
$GC,8776,-0.55,-112.4,743.0,-8.7,825,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2140,3605,0,0,0,0,0,0
$GC,9079,-0.55,-112.4,770.2,-9.0,835,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2140,3605,0,0,0,0,0,0
$GC,9382,-0.55,-112.4,796.8,-8.7,845,9383,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2140,3605,0,0,0,0,0,0
$GC,9687,-0.55,-112.4,821.9,-8.1,855,9688,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,2139,3604,0,0,0,0,0,0
$GC,9990,-0.55,-112.4,845.3,-7.5,865,9993,0.00,1.95,0.00,0.000,4,0.000,0.071,2642,3311,3604,0,0,0,0,0,0
$GC,10010,-0.55,-112.4,846.9,-7.7,865,10015,0.08,1.88,0.00,0.000,6,0.130,0.056,2669,2140,3604,0,0,0,0,0,0
$GC,10324,-0.55,-112.4,865.4,-5.7,876,10328,0.00,1.95,0.00,0.000,4,0.000,0.071,2664,3312,3604,0,0,0,0,0,0
$GC,10372,-0.55,-112.4,868.3,-5.5,877,10376,0.00,1.85,0.00,0.000,6,0.000,0.056,2664,2151,3603,0,0,0,0,0,0
$GC,10691,-0.55,-112.4,887.9,-6.3,888,10695,0.00,1.92,0.00,0.000,4,0.000,0.072,2664,3306,3603,0,0,0,0,0,0
$GC,10712,-0.55,-112.4,889.1,-6.3,888,10716,0.00,1.85,0.00,0.000,6,0.000,0.056,2663,2144,3603,0,0,0,0,0,0
$GC,11027,-0.55,-112.4,909.9,-6.8,899,11027,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2143,3603,0,0,0,0,0,0
$GC,11330,-0.55,-112.4,931.6,-7.3,909,11330,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2143,3603,0,0,0,0,0,0
$GC,11633,-0.55,-112.4,954.8,-7.9,919,11637,0.00,1.95,0.00,0.000,4,0.000,0.073,2663,3309,3602,0,0,0,0,0,0
$GC,11670,-0.55,-112.4,957.8,-7.7,920,11674,0.00,1.85,0.00,0.000,6,0.000,0.057,2663,2149,3603,0,0,0,0,0,0
$GC,12001,-0.55,-112.4,981.9,-7.2,931,12001,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2149,3603,0,0,0,0,0,0
$STATE,12120,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12120,begin apogee
$GC,12124,-0.14,0.0,990.3,6.9,935,12221,0.45,0.00,94.78,1.235,6,0.117,0.000,2808,1994,3150,0,0,0,0,0,0
$STATE,12221,end apogee,CONTROL_FINISHED_OK
$STATE,12221,begin climb
$GC,12223,0.45,112.4,992.5,0.0,938,12330,0.55,2.15,99.93,1.194,4,0.071,0.062,3012,768,2690,0,0,0,0,0,0
$GC,12376,0.42,112.4,987.4,7.1,943,12381,0.00,2.10,0.00,0.000,6,0.000,0.058,3013,1991,2687,0,0,0,0,0,0
$GC,12707,0.38,112.4,960.6,8.0,954,12711,0.12,2.10,0.00,0.000,4,0.173,0.069,2982,3234,2684,0,0,0,0,0,0
$GC,12856,0.34,112.4,948.9,7.0,958,12860,0.00,2.00,0.00,0.000,6,0.000,0.057,2988,2014,2684,0,0,0,0,0,0
$GC,13170,0.32,112.4,926.5,7.2,969,13174,0.12,1.98,0.00,0.000,4,0.171,0.068,2957,3233,2683,0,0,0,0,0,0
$GC,13249,0.29,112.4,921.1,6.4,971,13254,0.00,1.98,0.00,0.000,6,0.000,0.057,2963,2011,2683,0,0,0,0,0,0
$GC,13569,0.28,112.4,899.9,6.8,982,13573,0.00,1.98,0.00,0.000,4,0.000,0.068,2963,3234,2683,0,0,0,0,0,0
$GC,13627,0.25,112.4,895.8,6.6,983,13633,0.10,1.95,0.00,0.000,6,0.145,0.057,2940,2028,2682,0,0,0,0,0,0
$GC,13936,0.26,132.2,878.8,5.4,994,13954,0.00,0.00,16.73,1.105,6,0.000,0.000,2941,2028,2611,0,0,0,0,0,0
$GC,14239,0.28,151.8,862.1,5.4,1004,14261,0.00,2.05,17.95,1.095,4,0.000,0.070,2940,3233,2531,0,0,0,0,0,0
$GC,14302,0.28,151.8,858.2,6.4,1006,14306,0.00,1.98,0.00,0.000,6,0.000,0.057,2945,2029,2529,0,0,0,0,0,0
$GC,14633,0.28,154.9,838.1,6.0,1017,14638,0.00,0.00,4.28,0.766,6,0.000,0.000,2944,2030,2518,0,0,0,0,0,0
$GC,14936,0.29,170.8,820.7,5.5,1027,14955,0.00,2.03,15.43,1.063,4,0.000,0.069,2944,3235,2453,0,0,0,0,0,0
$GC,14993,0.29,170.8,817.3,7.2,1028,14999,0.00,1.95,0.00,0.000,6,0.000,0.058,2946,2039,2451,0,0,0,0,0,0
$GC,15302,0.29,170.8,798.5,6.3,1039,15302,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2038,2451,0,0,0,0,0,0
$GC,15605,0.29,176.3,779.8,5.9,1049,15612,0.00,0.00,6.05,0.885,6,0.000,0.000,2945,2038,2431,0,0,0,0,0,0
$GC,15909,0.30,185.4,762.1,5.8,1059,15920,0.00,0.00,9.50,0.978,6,0.000,0.000,2946,2038,2394,0,0,0,0,0,0
$GC,16212,0.30,187.2,744.1,6.0,1069,16213,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2038,2393,0,0,0,0,0,0
$GC,16516,0.30,191.0,725.7,6.0,1079,16523,0.00,0.00,6.40,0.880,6,0.000,0.000,2946,2038,2371,0,0,0,0,0,0
$GC,16819,0.30,191.0,705.8,6.8,1089,16820,0.00,0.00,0.00,0.000,6,0.000,0.000,2946,2038,2370,0,0,0,0,0,0
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$STATE,26243,end climb,SURFACE_DEPTH_REACHED
$STATE,26243,begin surface coast
$FINISH,1.5,1.024037
$STATE,26290,end surface coast,CONTROL_FINISHED_OK
$STATE,26290,begin surface
$SM_CCo,26304,12.05,0.239,1,0,1723,350.04
$SM_GC,2.53,0.00,0.00,12.05,0.000,0.000,0.239,136,2077,1723,-8.50,0.03,350.04
$IRIDIUM_FIX,4719.74,-12537.46,021299,090923
$TT8_MAMPS,0.052156
$HUMID,39.91
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.80
$XPDR_PINGS,0
$24V_AH,23.1,44.306
$10V_AH,10.1,41.482
$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,20.550,172.575,401.850,12.050,0.000,24.319,33.051,244.112,0.000,0.000,17.366,0.000,20601.527,579.281,4830.374,723.427,0.000,2307.020,0.000,4111.167,0.000,0.533,0.000
$DEVICE_MAMPS,237.770,162.604,1234.870,239.304,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1417.456,1703.501,1809.448,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298588
$DATA_FILE_SIZE,113652,2046
$CAP_FILE_SIZE,245661,0
$CFSIZE,260165632,230285312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$CURRENT,0.024,359.7,1
$GPS,080910,074137,4731.993,-12551.038,106,1.3,106,18.7