version: 66.06
glider: 187
mission: 2
dive: 604
start: 10 4 110 17 43 24
data:
$ID,187
$MISSION,2
$DIVE,604
$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,657.40399
$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,-36600.961
$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,32
$R_STBD_OVSHOOT,24
$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
$GPS1,172051,4728.753,-12602.762,92,2.7,111,18.7
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-73.6
$GPS2,174316,4728.506,-12602.756,18,2.7,37,18.7
$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,216.2,89526,-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,-112.4,0.0,0.0,0,66,0.00,0.00,-51.88,0.000,2,0.000,0.000,130,2066,2787,0,0,0,0,0,0
$GC,69,-0.45,-112.4,3.0,-2.3,10,107,10.65,2.05,-20.33,0.000,4,0.235,0.079,2699,3302,3610,0,0,0,0,0,0
$GC,273,-0.45,-112.4,36.0,-12.5,48,278,0.00,1.92,0.00,0.000,6,0.000,0.046,2698,2077,3613,0,0,0,0,0,0
$GC,600,-0.45,-112.4,70.9,-11.0,109,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2073,3614,0,0,0,0,0,0
$GC,930,-0.45,-112.4,105.7,-9.0,165,933,0.00,2.00,0.00,0.000,4,0.000,0.060,2691,3318,3614,0,0,0,0,0,0
$GC,1005,-0.45,-112.4,112.3,-8.4,172,1008,0.00,1.90,0.00,0.000,6,0.000,0.048,2691,2087,3614,0,0,0,0,0,0
$GC,1325,-0.45,-112.4,138.8,-8.2,203,1326,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2085,3614,0,0,0,0,0,0
$GC,1637,-0.45,-112.4,165.3,-8.7,233,1637,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2085,3613,0,0,0,0,0,0
$GC,1948,-0.45,-112.4,191.1,-7.8,263,1951,0.00,2.00,0.00,0.000,4,0.000,0.066,2689,3313,3611,0,0,0,0,0,0
$GC,1995,-0.47,-112.4,194.9,-7.7,267,2001,0.00,1.92,0.00,0.000,6,0.000,0.048,2689,2087,3611,0,0,0,0,0,0
$GC,2311,-0.47,-112.4,219.8,-7.7,298,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2088,3610,0,0,0,0,0,0
$GC,2623,-0.47,-112.4,243.3,-7.7,328,2626,0.00,2.00,0.00,0.000,4,0.000,0.065,2681,3315,3609,0,0,0,0,0,0
$GC,2659,-0.48,-112.4,246.4,-7.5,331,2665,0.00,1.92,0.00,0.000,6,0.000,0.049,2681,2095,3608,0,0,0,0,0,0
$GC,2975,-0.48,-112.4,273.8,-9.0,362,2978,0.00,1.98,0.00,0.000,4,0.000,0.064,2673,3311,3608,0,0,0,0,0,0
$GC,3029,-0.48,-112.4,278.4,-8.6,367,3032,0.00,1.88,0.00,0.000,6,0.000,0.049,2673,2102,3608,0,0,0,0,0,0
$GC,3349,-0.48,-112.4,306.0,-8.0,398,3352,0.00,1.98,0.00,0.000,4,0.000,0.065,2665,3302,3606,0,0,0,0,0,0
$GC,3370,-0.48,-112.4,307.8,-8.6,400,3374,0.12,1.88,0.00,0.000,6,0.137,0.051,2702,2116,3606,0,0,0,0,0,0
$GC,3691,-0.49,-112.4,328.1,-6.4,431,3694,0.00,1.95,0.00,0.000,4,0.000,0.065,2702,3302,3605,0,0,0,0,0,0
$GC,3770,-0.51,-112.4,332.8,-6.0,438,3777,0.00,1.83,0.00,0.000,6,0.000,0.050,2702,2142,3605,0,0,0,0,0,0
$GC,4087,-0.53,-112.4,350.8,-5.4,469,4090,0.00,1.90,0.00,0.000,4,0.000,0.067,2702,3309,3605,0,0,0,0,0,0
$GC,4156,-0.55,-112.4,354.6,-5.7,475,4161,0.00,1.80,0.00,0.000,6,0.000,0.051,2702,2166,3604,0,0,0,0,0,0
$GC,4471,-0.56,-112.4,371.9,-5.2,506,4475,0.00,1.90,0.00,0.000,4,0.000,0.066,2700,3315,3603,0,0,0,0,0,0
$GC,4503,-0.59,-112.4,373.7,-5.9,509,4507,0.08,1.80,0.00,0.000,6,0.060,0.051,2646,2174,3603,0,0,0,0,0,0
$GC,4824,-0.58,-112.4,402.8,-9.8,540,4827,0.00,1.88,0.00,0.000,4,0.000,0.067,2640,3304,3602,0,0,0,0,0,0
$GC,4877,-0.58,-112.4,407.8,-9.1,545,4880,0.00,1.77,0.00,0.000,6,0.000,0.051,2640,2184,3602,0,0,0,0,0,0
$GC,5197,-0.56,-112.4,438.3,-9.3,576,5201,0.12,1.85,0.00,0.000,4,0.160,0.067,2669,3302,3601,0,0,0,0,0,0
$GC,5289,-0.57,-112.4,445.2,-7.1,584,5293,0.00,1.73,0.00,0.000,6,0.000,0.051,2669,2212,3601,0,0,0,0,0,0
$GC,5603,-0.57,-112.4,468.5,-7.5,615,5607,0.00,1.80,0.00,0.000,4,0.000,0.066,2663,3307,3600,0,0,0,0,0,0
$GC,5635,-0.57,-112.4,470.7,-7.0,618,5639,0.00,1.73,0.00,0.000,6,0.000,0.051,2662,2215,3600,0,0,0,0,0,0
$GC,5957,-0.57,-112.4,495.8,-8.2,649,5957,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2214,3600,0,0,0,0,0,0
$GC,6269,-0.57,-112.4,521.2,-8.1,679,6272,0.00,1.77,0.00,0.000,4,0.000,0.067,2655,3310,3599,0,0,0,0,0,0
$GC,6327,-0.57,-112.4,526.2,-8.0,684,6333,0.00,1.73,0.00,0.000,6,0.000,0.051,2655,2225,3599,0,0,0,0,0,0
$GC,6643,-0.57,-112.4,553.1,-8.1,715,6644,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2225,3598,0,0,0,0,0,0
$GC,6956,-0.57,-112.4,579.5,-8.1,745,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2225,3598,0,0,0,0,0,0
$GC,7282,-0.57,-112.4,605.4,-7.6,773,7286,0.00,1.77,0.00,0.000,4,0.000,0.067,2648,3305,3597,0,0,0,0,0,0
$GC,7347,-0.57,-112.4,610.3,-7.9,775,7350,0.00,1.73,0.00,0.000,6,0.000,0.053,2648,2223,3596,0,0,0,0,0,0
$GC,7682,-0.57,-112.4,638.3,-8.6,786,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2223,3596,0,0,0,0,0,0
$GC,7985,-0.57,-112.4,663.6,-8.0,796,7989,0.00,1.77,0.00,0.000,4,0.000,0.068,2641,3306,3596,0,0,0,0,0,0
$GC,8055,-0.57,-112.4,669.1,-8.3,798,8058,0.00,1.70,0.00,0.000,6,0.000,0.053,2640,2241,3596,0,0,0,0,0,0
$GC,8384,-0.57,-112.4,697.2,-8.5,809,8388,0.00,1.75,0.00,0.000,4,0.000,0.069,2633,3301,3595,0,0,0,0,0,0
$GC,8416,-0.57,-112.4,699.9,-8.5,810,8420,0.10,1.70,0.00,0.000,6,0.121,0.054,2668,2235,3595,0,0,0,0,0,0
$GC,8752,-0.57,-112.4,722.9,-6.9,821,8755,0.00,1.75,0.00,0.000,4,0.000,0.071,2663,3309,3594,0,0,0,0,0,0
$GC,8783,-0.57,-112.4,725.1,-7.4,822,8786,0.00,1.70,0.00,0.000,6,0.000,0.054,2663,2246,3594,0,0,0,0,0,0
$GC,9119,-0.57,-112.4,750.0,-7.5,833,9120,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2245,3594,0,0,0,0,0,0
$GC,9421,-0.57,-112.4,771.8,-7.0,843,9425,0.00,1.75,0.00,0.000,4,0.000,0.071,2662,3305,3593,0,0,0,0,0,0
$GC,9469,-0.59,-112.4,775.0,-5.9,844,9473,0.00,1.67,0.00,0.000,6,0.000,0.054,2663,2256,3593,0,0,0,0,0,0
$GC,9789,-0.59,-112.4,796.5,-6.8,855,9792,0.00,1.75,0.00,0.000,4,0.000,0.071,2663,3331,3593,0,0,0,0,0,0
$GC,9826,-0.60,-112.4,799.2,-7.0,856,9829,0.00,1.70,0.00,0.000,6,0.000,0.054,2663,2267,3592,0,0,0,0,0,0
$GC,10156,-0.60,-112.4,822.9,-7.2,867,10156,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2267,3592,0,0,0,0,0,0
$GC,10460,-0.60,-112.4,843.5,-6.7,877,10463,0.00,1.70,0.00,0.000,4,0.000,0.071,2662,3309,3592,0,0,0,0,0,0
$GC,10517,-0.61,-112.4,847.5,-6.6,878,10523,0.00,1.65,0.00,0.000,6,0.000,0.054,2662,2275,3592,0,0,0,0,0,0
$GC,10826,-0.61,-112.4,868.9,-6.9,889,10830,0.00,1.73,0.00,0.000,4,0.000,0.071,2662,3313,3591,0,0,0,0,0,0
$GC,10874,-0.63,-112.4,872.2,-6.6,890,10878,0.00,1.65,0.00,0.000,6,0.000,0.054,2663,2282,3591,0,0,0,0,0,0
$GC,11193,-0.64,-112.4,893.0,-6.4,901,11197,0.00,2.28,0.00,0.000,4,0.000,0.061,2662,842,3591,0,0,0,0,0,0
$GC,11267,-0.68,-112.4,897.6,-6.6,903,11271,0.00,2.35,0.00,0.000,6,0.000,0.062,2662,2279,3591,0,0,0,0,0,0
$GC,11593,-0.72,-112.4,916.8,-5.9,914,11597,0.12,1.73,0.00,0.000,4,0.099,0.072,2602,3305,3591,0,0,0,0,0,0
$GC,11629,-0.72,-112.4,919.1,-6.6,915,11633,0.00,1.65,0.00,0.000,6,0.000,0.054,2603,2279,3590,0,0,0,0,0,0
$GC,11960,-0.72,-112.4,939.7,-6.2,926,11963,0.00,2.30,0.00,0.000,4,0.000,0.061,2602,842,3590,0,0,0,0,0,0
$GC,12023,-0.72,-112.4,943.9,-6.5,928,12027,0.00,2.33,0.00,0.000,6,0.000,0.063,2594,2261,3590,0,0,0,0,0,0
$GC,12358,-0.72,-112.4,964.2,-5.9,939,12362,0.12,2.33,0.00,0.000,4,0.162,0.063,2629,841,3590,0,0,0,0,0,0
$GC,12434,-0.72,-112.4,968.5,-5.2,941,12437,0.00,2.28,0.00,0.000,6,0.000,0.063,2625,2243,3589,0,0,0,0,0,0
$GC,12752,-0.73,-112.4,984.6,-5.2,952,12756,0.00,2.25,0.00,0.000,4,0.000,0.062,2625,846,3589,0,0,0,0,0,0
$GC,12811,-0.73,-112.4,987.7,-5.7,953,12817,0.00,2.42,0.00,0.000,6,0.000,0.064,2621,2338,3589,0,0,0,0,0,0
$STATE,12874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12874,begin apogee
$GC,12879,-0.14,0.0,991.2,5.3,956,12976,0.57,0.00,95.00,1.236,6,0.107,0.000,2811,1991,3150,0,0,0,0,0,0
$STATE,12977,end apogee,CONTROL_FINISHED_OK
$STATE,12977,begin climb
$GC,12979,0.45,112.4,994.3,0.0,959,13091,0.52,2.17,102.55,1.201,4,0.061,0.062,3013,781,2690,0,0,0,0,0,0
$GC,13138,0.42,112.4,988.6,8.5,964,13141,0.00,2.10,0.00,0.000,6,0.000,0.058,3013,1992,2688,0,0,0,0,0,0
$GC,13468,0.38,112.4,959.7,8.4,975,13472,0.12,2.08,0.00,0.000,4,0.170,0.068,2982,3241,2685,0,0,0,0,0,0
$GC,13592,0.35,112.4,950.4,7.5,978,13596,0.00,1.98,0.00,0.000,6,0.000,0.055,2988,2013,2685,0,0,0,0,0,0
$GC,13900,0.33,112.4,930.3,6.4,989,13901,0.00,0.00,0.00,0.000,6,0.000,0.000,2988,2013,2684,0,0,0,0,0,0
$GC,14203,0.30,112.4,909.9,6.8,999,14207,0.12,2.05,0.00,0.000,4,0.167,0.068,2956,3233,2684,0,0,0,0,0,0
$GC,14299,0.29,112.4,904.1,6.5,1002,14302,0.00,1.98,0.00,0.000,6,0.000,0.057,2961,2013,2683,0,0,0,0,0,0
$GC,14635,0.30,129.0,886.5,5.5,1013,14653,0.00,2.03,14.73,1.104,4,0.000,0.070,2961,3227,2623,0,0,0,0,0,0
$GC,14697,0.29,129.0,882.4,6.4,1015,14700,0.00,1.98,0.00,0.000,6,0.000,0.057,2968,2013,2621,0,0,0,0,0,0
$GC,15033,0.29,133.9,862.1,5.9,1026,15042,0.00,1.98,5.32,0.877,4,0.000,0.068,2968,3233,2605,0,0,0,0,0,0
$GC,15096,0.27,133.9,858.1,6.7,1028,15100,0.00,1.95,0.00,0.000,6,0.000,0.056,2974,2027,2605,0,0,0,0,0,0
$GC,15426,0.27,145.3,839.3,5.7,1039,15444,0.12,2.03,11.98,1.055,4,0.162,0.069,2940,3233,2556,0,0,0,0,0,0
$GC,15505,0.28,173.8,835.2,5.1,1041,15535,0.00,1.95,26.48,1.105,6,0.000,0.057,2944,2034,2441,0,0,0,0,0,0
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$STATE,27063,end climb,SURFACE_DEPTH_REACHED
$STATE,27063,begin surface coast
$FINISH,1.3,1.011304
$STATE,27097,end surface coast,CONTROL_FINISHED_OK
$STATE,27097,begin surface
$SM_CCo,27112,146.75,0.538,2,0,470,657.40
$SM_GC,2.07,0.00,0.00,146.75,0.000,0.000,0.538,133,2056,470,-8.46,-0.54,657.40
$IRIDIUM_FIX,4710.21,-12600.00,291299,171759
$TT8_MAMPS,0.052156
$HUMID,38.85
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,17.00
$XPDR_PINGS,0
$24V_AH,22.5,63.168
$10V_AH,9.9,61.739
$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,20.850,191.275,462.950,146.750,0.000,146.192,227.973,483.779,0.000,0.000,40.870,0.000,21252.180,755.138,5140.166,1421.769,0.000,2610.438,0.000,4338.152,0.000,0.535,0.000
$DEVICE_MAMPS,234.702,79.001,1236.404,537.667,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1510.586,1380.573,1808.884,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298556
$DATA_FILE_SIZE,113751,2081
$CAP_FILE_SIZE,272369,0
$CFSIZE,260165632,217460736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.044, 24.0,1
$GPS,051010,011855,4727.235,-12606.499,40,1.2,40,18.7