version: 66.06
glider: 187
mission: 2
dive: 603
start: 10 4 110 9 54 33
data:
$ID,187
$MISSION,2
$DIVE,603
$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,-36559.457
$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
$GPS1,094531,4730.536,-12559.002,88,1.0,88,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.18
$_SM_ANGLEo,-75.9
$GPS2,095427,4730.493,-12558.981,12,1.5,19,18.7
$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,213.3,95546,-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,14,-0.45,-112.4,0.0,0.0,0,63,0.00,0.00,-47.60,0.000,2,0.000,0.000,131,2079,2845,0,0,0,0,0,0
$GC,66,-0.45,-112.4,3.0,-1.8,9,98,10.52,2.00,-17.85,0.000,4,0.231,0.074,2691,3317,3610,0,0,0,0,0,0
$GC,159,-0.43,-112.4,20.5,-16.8,26,164,0.00,2.00,0.00,0.000,6,0.000,0.050,2691,2073,3612,0,0,0,0,0,0
$GC,486,-0.41,-112.4,63.8,-12.2,87,492,0.10,2.05,0.00,0.000,4,0.170,0.063,2711,3310,3614,0,0,0,0,0,0
$GC,546,-0.41,-112.4,69.9,-9.5,98,551,0.00,1.95,0.00,0.000,6,0.000,0.048,2711,2082,3615,0,0,0,0,0,0
$GC,872,-0.41,-112.4,99.5,-8.4,159,879,0.00,1.98,0.00,0.000,4,0.000,0.055,2711,846,3616,0,0,0,0,0,0
$GC,921,-0.41,-112.4,103.7,-8.6,164,926,0.00,1.92,0.00,0.000,6,0.000,0.053,2709,2064,3616,0,0,0,0,0,0
$GC,1236,-0.41,-112.4,129.5,-7.9,195,1240,0.00,2.03,0.00,0.000,4,0.000,0.063,2708,3300,3616,0,0,0,0,0,0
$GC,1300,-0.43,-112.4,134.6,-8.1,201,1303,0.00,1.95,0.00,0.000,6,0.000,0.049,2708,2068,3616,0,0,0,0,0,0
$GC,1622,-0.44,-112.4,160.1,-8.0,232,1622,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2066,3616,0,0,0,0,0,0
$GC,1934,-0.45,-112.4,182.8,-7.0,262,1937,0.00,2.03,0.00,0.000,4,0.000,0.065,2705,3307,3615,0,0,0,0,0,0
$GC,1959,-0.47,-112.4,184.7,-7.0,264,1966,0.00,1.92,0.00,0.000,6,0.000,0.049,2705,2084,3615,0,0,0,0,0,0
$GC,2277,-0.48,-112.4,207.0,-7.3,295,2280,0.00,2.00,0.00,0.000,4,0.000,0.065,2704,3306,3614,0,0,0,0,0,0
$GC,2302,-0.50,-112.4,209.0,-6.8,297,2309,0.00,1.92,0.00,0.000,6,0.000,0.049,2704,2087,3614,0,0,0,0,0,0
$GC,2619,-0.51,-112.4,230.8,-6.6,328,2622,0.00,2.00,0.00,0.000,4,0.000,0.066,2704,3312,3614,0,0,0,0,0,0
$GC,2656,-0.54,-112.4,233.2,-6.8,331,2662,0.00,1.92,0.00,0.000,6,0.000,0.051,2704,2080,3614,0,0,0,0,0,0
$GC,2971,-0.55,-112.4,253.5,-6.0,362,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,2079,3613,0,0,0,0,0,0
$GC,3284,-0.57,-112.4,272.8,-6.0,392,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2079,3612,0,0,0,0,0,0
$GC,3594,-0.58,-112.4,291.8,-6.0,422,3597,0.10,2.03,0.00,0.000,4,0.109,0.066,2648,3316,3611,0,0,0,0,0,0
$GC,3667,-0.58,-112.4,298.2,-8.5,428,3673,0.00,1.95,0.00,0.000,6,0.000,0.051,2648,2089,3611,0,0,0,0,0,0
$GC,3983,-0.57,-112.4,328.4,-9.6,459,3987,0.00,2.03,0.00,0.000,4,0.000,0.066,2639,3310,3611,0,0,0,0,0,0
$GC,4015,-0.57,-112.4,331.4,-9.8,462,4019,0.08,1.92,0.00,0.000,6,0.123,0.051,2665,2099,3611,0,0,0,0,0,0
$GC,4337,-0.57,-112.4,357.7,-8.4,493,4338,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2098,3610,0,0,0,0,0,0
$GC,4648,-0.57,-112.4,383.5,-8.3,523,4651,0.00,1.98,0.00,0.000,4,0.000,0.067,2659,3306,3610,0,0,0,0,0,0
$GC,4695,-0.57,-112.4,387.6,-8.3,527,4701,0.00,1.90,0.00,0.000,6,0.000,0.051,2659,2108,3609,0,0,0,0,0,0
$GC,5010,-0.57,-112.4,416.2,-9.2,558,5014,0.00,2.00,0.00,0.000,4,0.000,0.067,2651,3311,3609,0,0,0,0,0,0
$GC,5031,-0.57,-112.4,418.2,-9.6,560,5035,0.00,1.92,0.00,0.000,6,0.000,0.052,2651,2104,3609,0,0,0,0,0,0
$GC,5353,-0.57,-112.4,449.8,-9.6,591,5353,0.00,0.00,0.00,0.000,6,0.000,0.000,2651,2105,3609,0,0,0,0,0,0
$GC,5664,-0.57,-112.4,479.0,-9.0,621,5667,0.00,1.98,0.00,0.000,4,0.000,0.067,2643,3306,3607,0,0,0,0,0,0
$GC,5707,-0.57,-112.4,483.0,-8.9,625,5710,0.00,1.88,0.00,0.000,6,0.000,0.052,2642,2112,3608,0,0,0,0,0,0
$GC,6027,-0.57,-112.4,512.7,-9.0,656,6028,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2111,3607,0,0,0,0,0,0
$GC,6339,-0.57,-112.4,540.1,-8.9,686,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2111,3607,0,0,0,0,0,0
$GC,6649,-0.57,-112.4,567.5,-8.9,716,6652,0.00,1.98,0.00,0.000,4,0.000,0.067,2634,3308,3606,0,0,0,0,0,0
$GC,6671,-0.57,-112.4,569.5,-8.9,718,6674,0.12,1.90,0.00,0.000,6,0.148,0.053,2669,2106,3606,0,0,0,0,0,0
$GC,6990,-0.57,-112.4,593.7,-7.6,749,6994,0.00,2.00,0.00,0.000,4,0.000,0.067,2662,3302,3605,0,0,0,0,0,0
$GC,7033,-0.57,-112.4,596.9,-7.0,753,7037,0.00,1.90,0.00,0.000,6,0.000,0.054,2663,2111,3605,0,0,0,0,0,0
$GC,7348,-0.57,-112.4,621.1,-7.6,766,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2111,3605,0,0,0,0,0,0
$GC,7651,-0.57,-112.4,644.8,-7.7,776,7655,0.00,2.00,0.00,0.000,4,0.000,0.068,2663,3306,3605,0,0,0,0,0,0
$GC,7688,-0.57,-112.4,647.7,-8.2,777,7692,0.00,1.90,0.00,0.000,6,0.000,0.053,2662,2120,3604,0,0,0,0,0,0
$GC,8019,-0.57,-112.4,673.3,-7.7,788,8020,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2121,3604,0,0,0,0,0,0
$GC,8321,-0.57,-112.4,697.3,-7.8,798,8325,0.00,2.00,0.00,0.000,4,0.000,0.070,2662,3310,3603,0,0,0,0,0,0
$GC,8375,-0.58,-112.4,701.6,-7.9,799,8378,0.00,1.90,0.00,0.000,6,0.000,0.054,2662,2129,3603,0,0,0,0,0,0
$GC,8690,-0.58,-112.4,725.4,-7.6,810,8692,0.00,1.95,0.00,0.000,4,0.000,0.070,2657,3306,3603,0,0,0,0,0,0
$GC,8725,-0.58,-112.4,728.2,-8.1,811,8729,0.00,1.88,0.00,0.000,6,0.000,0.054,2656,2136,3603,0,0,0,0,0,0
$GC,9056,-0.58,-112.4,752.3,-7.3,822,9056,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2136,3602,0,0,0,0,0,0
$GC,9360,-0.58,-112.4,775.2,-7.8,832,9363,0.00,1.95,0.00,0.000,4,0.000,0.070,2649,3316,3602,0,0,0,0,0,0
$GC,9391,-0.58,-112.4,777.9,-7.8,833,9395,0.00,1.90,0.00,0.000,6,0.000,0.054,2649,2135,3602,0,0,0,0,0,0
$GC,9726,-0.58,-112.4,805.6,-8.3,844,9727,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2135,3601,0,0,0,0,0,0
$GC,10030,-0.58,-112.4,828.7,-7.4,854,10033,0.00,1.95,0.00,0.000,4,0.000,0.071,2641,3313,3601,0,0,0,0,0,0
$GC,10093,-0.58,-112.4,833.2,-7.2,856,10098,0.00,1.88,0.00,0.000,6,0.000,0.054,2641,2144,3600,0,0,0,0,0,0
$GC,10429,-0.58,-112.4,856.9,-7.0,867,10429,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,2143,3601,0,0,0,0,0,0
$GC,10733,-0.58,-112.4,877.7,-7.0,877,10736,0.00,1.90,0.00,0.000,4,0.000,0.071,2633,3306,3600,0,0,0,0,0,0
$GC,10769,-0.58,-112.4,880.7,-7.1,878,10773,0.08,1.88,0.00,0.000,6,0.127,0.055,2660,2143,3600,0,0,0,0,0,0
$GC,11099,-0.58,-112.4,903.1,-6.9,889,11100,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,2143,3600,0,0,0,0,0,0
$GC,11403,-0.58,-112.4,923.5,-6.6,899,11406,0.00,1.90,0.00,0.000,4,0.000,0.070,2660,3305,3600,0,0,0,0,0,0
$GC,11472,-0.60,-112.4,928.0,-6.2,901,11475,0.00,1.85,0.00,0.000,6,0.000,0.055,2660,2157,3599,0,0,0,0,0,0
$GC,11802,-0.60,-112.4,948.7,-6.3,912,11803,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,2156,3599,0,0,0,0,0,0
$GC,12105,-0.60,-112.4,967.9,-6.2,922,12109,0.00,1.92,0.00,0.000,4,0.000,0.071,2660,3310,3599,0,0,0,0,0,0
$GC,12153,-0.61,-112.4,971.0,-5.9,923,12157,0.00,1.85,0.00,0.000,6,0.000,0.055,2660,2158,3599,0,0,0,0,0,0
$STATE,12470,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12470,begin apogee
$GC,12475,-0.14,0.0,991.0,6.2,934,12574,0.45,0.00,96.95,1.236,6,0.114,0.000,2809,1987,3151,0,0,0,0,0,0
$STATE,12575,end apogee,CONTROL_FINISHED_OK
$STATE,12575,begin climb
$GC,12577,0.45,112.4,993.0,0.0,937,12689,0.52,2.17,102.60,1.200,4,0.061,0.062,3013,782,2690,0,0,0,0,0,0
$GC,12725,0.42,112.4,988.5,7.6,941,12731,0.00,2.12,0.00,0.000,6,0.000,0.058,3013,2000,2688,0,0,0,0,0,0
$GC,13034,0.38,112.4,963.0,8.6,952,13038,0.12,2.10,0.00,0.000,4,0.170,0.069,2982,3252,2685,0,0,0,0,0,0
$GC,13178,0.35,112.4,950.9,9.8,956,13181,0.00,2.00,0.00,0.000,6,0.000,0.057,2989,2032,2685,0,0,0,0,0,0
$GC,13497,0.33,112.4,926.7,7.7,967,13498,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2032,2685,0,0,0,0,0,0
$GC,13801,0.30,112.4,902.0,8.0,977,13802,0.12,0.00,0.00,0.000,6,0.169,0.000,2957,2033,2684,0,0,0,0,0,0
$GC,14104,0.31,121.9,883.4,5.8,987,14118,0.00,2.03,8.52,1.021,4,0.000,0.070,2957,3239,2652,0,0,0,0,0,0
$GC,14195,0.30,121.9,877.8,6.5,989,14199,0.00,1.95,0.00,0.000,6,0.000,0.057,2961,2019,2651,0,0,0,0,0,0
$GC,14502,0.30,130.7,859.8,5.8,1000,14516,0.00,2.03,9.07,1.023,4,0.000,0.070,2961,3232,2617,0,0,0,0,0,0
$GC,14555,0.29,130.7,856.4,6.9,1001,14558,0.00,1.95,0.00,0.000,6,0.000,0.058,2968,2034,2616,0,0,0,0,0,0
$GC,14869,0.29,130.7,837.0,6.2,1012,14870,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2034,2616,0,0,0,0,0,0
$GC,15172,0.29,130.7,818.2,6.3,1022,15176,0.00,2.03,0.00,0.000,4,0.000,0.069,2968,3241,2615,0,0,0,0,0,0
$GC,15257,0.27,130.7,812.2,7.9,1024,15261,0.10,1.95,0.00,0.000,6,0.132,0.056,2942,2032,2615,0,0,0,0,0,0
$GC,15572,0.28,157.6,795.8,5.1,1035,15602,0.00,0.00,24.88,1.093,6,0.000,0.000,2942,2032,2506,0,0,0,0,0,0
$GC,15905,0.30,181.8,778.1,5.2,1046,15935,0.00,2.05,22.48,1.069,4,0.000,0.067,2942,3237,2407,0,0,0,0,0,0
$GC,16000,0.30,181.8,772.8,6.4,1049,16003,0.00,1.95,0.00,0.000,6,0.000,0.055,2942,2031,2405,0,0,0,0,0,0
$GC,16335,0.33,213.8,756.1,4.9,1060,16365,0.00,0.00,28.88,1.065,6,0.000,0.000,2942,2031,2278,0,0,0,0,0,0
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$STATE,26528,end climb,SURFACE_DEPTH_REACHED
$STATE,26528,begin surface coast
$FINISH,1.1,1.015836
$STATE,26571,end surface coast,CONTROL_FINISHED_OK
$STATE,26571,begin surface
$SM_CCo,26647,0.00,0.000,0,0,1519,400.08
$SM_GC,2.20,8.02,0.00,0.00,0.047,0.000,0.000,149,2068,1519,-8.39,-0.23,400.08
$IRIDIUM_FIX,4713.38,-12552.27,291299,020253
$TT8_MAMPS,0.052156
$HUMID,41.69
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,15.60
$XPDR_PINGS,0
$24V_AH,22.4,62.971
$10V_AH,9.9,61.556
$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,21.050,207.150,450.100,0.000,0.000,28.916,35.248,285.819,0.000,0.000,19.515,0.000,20603.934,616.750,5010.396,902.450,0.000,2431.717,0.000,4270.518,0.000,0.534,0.000
$DEVICE_MAMPS,230.867,99.710,1235.637,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1510.269,1370.722,1868.976,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298596
$DATA_FILE_SIZE,113680,2068
$CAP_FILE_SIZE,257355,0
$CFSIZE,260165632,217608192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.030, 61.4,1
$GPS,041010,172051,4728.753,-12602.762,92,2.7,111,18.7