version: 66.06
glider: 187
mission: 2
dive: 599
start: 10 3 110 2 45 3
data:
$ID,187
$MISSION,2
$DIVE,599
$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,-36493.438
$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,24
$R_STBD_OVSHOOT,21
$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
$GPS1,022901,4737.237,-12544.607,48,1.2,48,18.7
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-75.7
$GPS2,024456,4737.249,-12544.580,17,1.5,17,18.7
$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,209.1,117615,-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,13,-0.45,-112.4,0.0,0.0,0,68,0.00,0.00,-53.50,0.000,2,0.000,0.000,131,2083,2972,0,0,0,0,0,0
$GC,71,-0.45,-112.4,3.2,-2.4,10,100,10.50,2.05,-13.98,0.000,4,0.230,0.077,2694,3314,3611,0,0,0,0,0,0
$GC,201,-0.44,-112.4,28.3,-15.3,34,207,0.00,2.00,0.00,0.000,6,0.000,0.048,2694,2062,3613,0,0,0,0,0,0
$GC,527,-0.43,-112.4,68.6,-12.9,95,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2058,3615,0,0,0,0,0,0
$GC,857,-0.43,-112.4,102.3,-9.3,155,861,0.00,2.08,0.00,0.000,4,0.000,0.063,2686,3314,3615,0,0,0,0,0,0
$GC,883,-0.43,-112.4,104.7,-9.2,157,890,0.00,1.95,0.00,0.000,6,0.000,0.048,2686,2075,3615,0,0,0,0,0,0
$GC,1199,-0.43,-112.4,133.4,-8.4,188,1202,0.00,2.03,0.00,0.000,4,0.000,0.063,2679,3305,3615,0,0,0,0,0,0
$GC,1230,-0.43,-112.4,136.1,-8.7,191,1234,0.10,1.92,0.00,0.000,6,0.112,0.048,2715,2079,3615,0,0,0,0,0,0
$GC,1552,-0.44,-112.4,156.0,-5.9,222,1555,0.00,2.03,0.00,0.000,4,0.000,0.064,2712,3307,3614,0,0,0,0,0,0
$GC,1642,-0.47,-112.4,161.7,-6.3,230,1647,0.00,1.92,0.00,0.000,6,0.000,0.049,2712,2087,3614,0,0,0,0,0,0
$GC,1957,-0.48,-112.4,181.8,-7.2,261,1961,0.00,2.03,0.00,0.000,4,0.000,0.066,2709,3310,3613,0,0,0,0,0,0
$GC,1989,-0.50,-112.4,184.0,-7.6,264,1993,0.00,1.92,0.00,0.000,6,0.000,0.050,2708,2095,3613,0,0,0,0,0,0
$GC,2311,-0.52,-112.4,208.0,-7.7,295,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2095,3612,0,0,0,0,0,0
$GC,2623,-0.53,-112.4,229.0,-6.3,325,2626,0.00,2.00,0.00,0.000,4,0.000,0.065,2704,3323,3611,0,0,0,0,0,0
$GC,2681,-0.55,-112.4,233.1,-6.9,330,2687,0.00,1.95,0.00,0.000,6,0.000,0.051,2705,2093,3611,0,0,0,0,0,0
$GC,2997,-0.57,-112.4,252.8,-5.9,361,3000,0.00,2.00,0.00,0.000,4,0.000,0.067,2704,3313,3611,0,0,0,0,0,0
$GC,3045,-0.59,-112.4,255.7,-5.6,365,3051,0.12,1.90,0.00,0.000,6,0.091,0.051,2642,2097,3611,0,0,0,0,0,0
$GC,3359,-0.57,-112.4,285.2,-9.5,396,3360,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2096,3610,0,0,0,0,0,0
$GC,3673,-0.55,-112.4,314.4,-9.7,426,3676,0.12,2.00,0.00,0.000,4,0.159,0.066,2670,3321,3609,0,0,0,0,0,0
$GC,3762,-0.55,-112.4,321.8,-7.1,434,3766,0.00,1.92,0.00,0.000,6,0.000,0.051,2669,2110,3609,0,0,0,0,0,0
$GC,4083,-0.55,-112.4,347.2,-8.1,465,4087,0.00,1.98,0.00,0.000,4,0.000,0.067,2662,3310,3608,0,0,0,0,0,0
$GC,4142,-0.55,-112.4,352.0,-7.7,470,4147,0.00,1.90,0.00,0.000,6,0.000,0.051,2662,2112,3608,0,0,0,0,0,0
$GC,4457,-0.55,-112.4,378.4,-8.4,501,4461,0.00,2.00,0.00,0.000,4,0.000,0.067,2653,3315,3607,0,0,0,0,0,0
$GC,4521,-0.55,-112.4,383.9,-8.7,507,4524,0.00,1.90,0.00,0.000,6,0.000,0.052,2653,2120,3607,0,0,0,0,0,0
$GC,4842,-0.55,-112.4,411.9,-8.7,538,4845,0.00,1.98,0.00,0.000,4,0.000,0.068,2645,3321,3606,0,0,0,0,0,0
$GC,4907,-0.55,-112.4,417.4,-8.6,544,4910,0.10,1.88,0.00,0.000,6,0.155,0.053,2672,2126,3606,0,0,0,0,0,0
$GC,5226,-0.55,-112.4,440.9,-7.3,575,5230,0.00,1.98,0.00,0.000,4,0.000,0.068,2666,3308,3605,0,0,0,0,0,0
$GC,5306,-0.55,-112.4,447.1,-8.2,582,5313,0.00,1.88,0.00,0.000,6,0.000,0.052,2666,2127,3605,0,0,0,0,0,0
$GC,5623,-0.55,-112.4,470.6,-7.5,613,5626,0.00,1.95,0.00,0.000,4,0.000,0.068,2659,3313,3604,0,0,0,0,0,0
$GC,5696,-0.55,-112.4,476.2,-6.6,620,5700,0.00,1.85,0.00,0.000,6,0.000,0.051,2659,2143,3604,0,0,0,0,0,0
$GC,6017,-0.55,-112.4,501.0,-8.1,651,6018,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2141,3604,0,0,0,0,0,0
$GC,6329,-0.55,-112.4,526.8,-8.3,681,6332,0.00,1.95,0.00,0.000,4,0.000,0.069,2651,3311,3602,0,0,0,0,0,0
$GC,6419,-0.55,-112.4,534.9,-8.6,689,6425,0.00,1.85,0.00,0.000,6,0.000,0.053,2651,2152,3602,0,0,0,0,0,0
$GC,6734,-0.55,-112.4,562.9,-9.0,720,6738,0.00,1.95,0.00,0.000,4,0.000,0.070,2643,3314,3602,0,0,0,0,0,0
$GC,6820,-0.55,-112.4,570.7,-9.5,728,6823,0.08,1.85,0.00,0.000,6,0.123,0.053,2669,2156,3602,0,0,0,0,0,0
$GC,7140,-0.55,-112.4,594.9,-7.5,759,7144,0.00,1.92,0.00,0.000,4,0.000,0.070,2665,3308,3601,0,0,0,0,0,0
$GC,7199,-0.55,-112.4,599.2,-7.4,764,7204,0.00,1.83,0.00,0.000,6,0.000,0.054,2665,2163,3601,0,0,0,0,0,0
$GC,7518,-0.55,-112.4,622.6,-7.2,776,7518,0.00,0.00,0.00,0.000,6,0.000,0.000,2665,2163,3601,0,0,0,0,0,0
$GC,7821,-0.55,-112.4,644.8,-7.4,786,7825,0.00,1.90,0.00,0.000,4,0.000,0.071,2663,3310,3600,0,0,0,0,0,0
$GC,7901,-0.55,-112.4,650.7,-7.0,788,7905,0.00,1.80,0.00,0.000,6,0.000,0.052,2663,2181,3600,0,0,0,0,0,0
$GC,8220,-0.55,-112.4,675.6,-8.0,799,8224,0.00,1.88,0.00,0.000,4,0.000,0.070,2663,3316,3599,0,0,0,0,0,0
$GC,8311,-0.55,-112.4,682.8,-7.8,801,8317,0.00,1.80,0.00,0.000,6,0.000,0.054,2663,2188,3599,0,0,0,0,0,0
$GC,8620,-0.55,-112.4,707.5,-8.0,812,8623,0.00,1.85,0.00,0.000,4,0.000,0.071,2663,3322,3599,0,0,0,0,0,0
$GC,8704,-0.55,-112.4,714.2,-7.4,814,8708,0.00,1.80,0.00,0.000,6,0.000,0.054,2663,2199,3598,0,0,0,0,0,0
$GC,9018,-0.55,-112.4,737.4,-7.3,825,9022,0.00,1.85,0.00,0.000,4,0.000,0.071,2663,3314,3598,0,0,0,0,0,0
$GC,9067,-0.55,-112.4,740.8,-7.2,826,9070,0.00,1.77,0.00,0.000,6,0.000,0.054,2663,2205,3598,0,0,0,0,0,0
$GC,9385,-0.55,-112.4,762.7,-6.8,837,9389,0.00,1.83,0.00,0.000,4,0.000,0.070,2663,3306,3598,0,0,0,0,0,0
$GC,9433,-0.55,-112.4,766.0,-6.7,838,9437,0.00,1.75,0.00,0.000,6,0.000,0.055,2663,2215,3597,0,0,0,0,0,0
$GC,9753,-0.55,-112.4,786.9,-6.3,849,9756,0.00,1.80,0.00,0.000,4,0.000,0.071,2663,3312,3597,0,0,0,0,0,0
$GC,9784,-0.55,-112.4,788.9,-6.2,850,9788,0.00,1.77,0.00,0.000,6,0.000,0.056,2663,2210,3597,0,0,0,0,0,0
$GC,10119,-0.55,-112.4,809.2,-6.2,861,10123,0.00,1.83,0.00,0.000,4,0.000,0.071,2663,3306,3597,0,0,0,0,0,0
$GC,10173,-0.56,-112.4,812.5,-5.6,862,10176,0.00,1.73,0.00,0.000,6,0.000,0.056,2663,2217,3597,0,0,0,0,0,0
$GC,10486,-0.56,-112.4,833.1,-6.7,873,10487,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2218,3596,0,0,0,0,0,0
$GC,10791,-0.56,-112.4,854.7,-7.1,883,10793,0.00,1.80,0.00,0.000,4,0.000,0.072,2663,3313,3596,0,0,0,0,0,0
$GC,10816,-0.56,-112.4,856.6,-8.0,883,10822,0.00,1.77,0.00,0.000,6,0.000,0.057,2663,2216,3596,0,0,0,0,0,0
$GC,11125,-0.56,-112.4,878.1,-6.9,894,11128,0.00,1.83,0.00,0.000,4,0.000,0.072,2663,3309,3595,0,0,0,0,0,0
$GC,11173,-0.57,-112.4,881.4,-6.5,895,11176,0.00,1.73,0.00,0.000,6,0.000,0.054,2663,2233,3595,0,0,0,0,0,0
$GC,11493,-0.57,-112.4,902.7,-6.9,906,11493,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2233,3595,0,0,0,0,0,0
$GC,11795,-0.57,-112.4,922.4,-6.3,916,11796,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2232,3595,0,0,0,0,0,0
$GC,12099,-0.57,-112.4,942.0,-6.6,926,12100,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2232,3595,0,0,0,0,0,0
$GC,12403,-0.57,-112.4,963.2,-7.3,936,12406,0.00,1.77,0.00,0.000,4,0.000,0.073,2663,3310,3594,0,0,0,0,0,0
$GC,12445,-0.59,-112.4,966.3,-6.9,937,12448,0.00,1.75,0.00,0.000,6,0.000,0.057,2663,2232,3594,0,0,0,0,0,0
$STATE,12767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12767,begin apogee
$GC,12773,-0.14,0.0,990.1,7.3,948,12870,0.45,0.00,95.40,1.238,6,0.116,0.000,2809,1998,3150,0,0,0,0,0,0
$STATE,12871,end apogee,CONTROL_FINISHED_OK
$STATE,12871,begin climb
$GC,12873,0.45,112.4,993.0,0.0,951,12984,0.52,2.22,102.20,1.197,4,0.061,0.064,3014,777,2690,0,0,0,0,0,0
$GC,13010,0.42,124.8,990.6,5.7,955,13029,0.00,2.12,12.95,1.069,6,0.000,0.058,3015,2007,2640,0,0,0,0,0,0
$GC,13362,0.39,124.8,962.4,8.1,967,13365,0.12,2.05,0.00,0.000,4,0.172,0.067,2983,3234,2636,0,0,0,0,0,0
$GC,13499,0.36,124.8,951.4,7.6,971,13503,0.00,2.00,0.00,0.000,6,0.000,0.054,2990,2016,2635,0,0,0,0,0,0
$GC,13819,0.34,124.8,927.8,7.4,982,13822,0.00,2.05,0.00,0.000,4,0.000,0.067,2990,3237,2634,0,0,0,0,0,0
$GC,13883,0.31,124.8,922.3,8.8,984,13886,0.15,1.95,0.00,0.000,6,0.164,0.056,2960,2018,2634,0,0,0,0,0,0
$GC,14218,0.31,124.8,901.5,6.1,995,14222,0.00,2.05,0.00,0.000,4,0.000,0.068,2960,3237,2634,0,0,0,0,0,0
$GC,14255,0.30,124.8,898.9,7.4,996,14258,0.00,1.95,0.00,0.000,6,0.000,0.058,2965,2021,2633,0,0,0,0,0,0
$GC,14585,0.30,124.8,877.3,6.4,1007,14589,0.00,2.03,0.00,0.000,4,0.000,0.070,2965,3239,2633,0,0,0,0,0,0
$GC,14638,0.28,124.8,873.6,7.4,1008,14641,0.00,1.98,0.00,0.000,6,0.000,0.058,2973,2021,2633,0,0,0,0,0,0
$GC,14953,0.26,124.8,853.2,6.5,1019,14956,0.12,2.00,0.00,0.000,4,0.164,0.070,2939,3242,2633,0,0,0,0,0,0
$GC,14994,0.27,128.0,850.6,6.0,1020,14998,0.00,1.98,0.00,0.000,6,0.000,0.057,2942,2024,2632,0,0,0,0,0,0
$GC,15313,0.27,129.6,832.0,6.1,1031,15322,0.00,2.03,4.22,0.763,4,0.000,0.069,2942,3239,2621,0,0,0,0,0,0
$GC,15367,0.27,129.6,828.5,6.9,1032,15370,0.00,1.92,0.00,0.000,6,0.000,0.058,2946,2043,2621,0,0,0,0,0,0
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$STATE,27552,end climb,SURFACE_DEPTH_REACHED
$STATE,27552,begin surface coast
$FINISH,1.2,1.009493
$STATE,27600,end surface coast,CONTROL_FINISHED_OK
$STATE,27601,begin surface
$SM_CCo,27678,0.00,0.000,0,0,1578,385.61
$SM_GC,2.15,7.88,0.00,0.00,0.044,0.000,0.000,132,2084,1578,-8.41,0.25,385.61
$IRIDIUM_FIX,4719.74,-12542.64,281299,020238
$TT8_MAMPS,0.052923
$HUMID,41.61
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,22.5,62.369
$10V_AH,9.9,60.858
$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,20.825,234.600,447.525,0.000,0.000,81.997,165.822,384.652,0.000,0.000,17.310,0.000,21441.750,612.184,5314.753,1217.057,0.000,2556.498,0.000,4522.055,0.000,0.535,0.000
$DEVICE_MAMPS,230.100,76.700,1237.938,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1549.332,1411.135,1905.040,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298580
$DATA_FILE_SIZE,116743,2127
$CAP_FILE_SIZE,279709,0
$CFSIZE,260165632,218066944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.023,  5.9,1
$GPS,031010,102737,4735.503,-12548.201,57,0.8,57,18.7