version: 66.06
glider: 187
mission: 2
dive: 608
start: 10 6 110 0 24 19
data:
$ID,187
$MISSION,2
$DIVE,608
$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,-36683.902
$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,28
$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
$GPS1,001507,4733.566,-12556.379,40,1.0,40,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.13
$_SM_ANGLEo,-74.9
$GPS2,002414,4733.525,-12556.382,14,1.7,14,18.7
$SPEED_LIMITS,0.106,0.196
$TGT_NAME,CANYON
$TGT_LATLONG,4801.600,-12521.000
$TGT_RADIUS,2000.000
$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,24.9,68000,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.45,-112.4,0.0,0.0,0,74,0.00,0.00,-57.22,0.000,2,0.000,0.000,131,2070,2907,0,0,0,0,0,0
$GC,76,-0.45,-112.4,3.1,-1.8,11,109,10.52,2.00,-16.45,0.000,4,0.232,0.071,2698,842,3611,0,0,0,0,0,0
$GC,200,-0.43,-112.4,27.0,-17.2,34,206,0.00,1.98,0.00,0.000,6,0.000,0.055,2692,2068,3613,0,0,0,0,0,0
$GC,527,-0.41,-112.4,66.4,-11.1,95,533,0.00,2.05,0.00,0.000,4,0.000,0.064,2683,3314,3615,0,0,0,0,0,0
$GC,629,-0.41,-112.4,76.8,-10.5,114,635,0.10,1.95,0.00,0.000,6,0.113,0.048,2717,2080,3615,0,0,0,0,0,0
$GC,952,-0.42,-112.4,106.5,-9.1,168,956,0.00,1.95,0.00,0.000,4,0.000,0.054,2718,846,3616,0,0,0,0,0,0
$GC,997,-0.44,-112.4,110.2,-8.3,172,1000,0.00,2.00,0.00,0.000,6,0.000,0.054,2718,2105,3616,0,0,0,0,0,0
$GC,1317,-0.45,-112.4,133.8,-6.8,203,1320,0.00,1.98,0.00,0.000,4,0.000,0.064,2718,3309,3616,0,0,0,0,0,0
$GC,1372,-0.48,-112.4,137.4,-6.6,208,1375,0.00,1.85,0.00,0.000,6,0.000,0.048,2717,2102,3615,0,0,0,0,0,0
$GC,1692,-0.50,-112.4,157.4,-5.9,239,1695,0.00,1.98,0.00,0.000,4,0.000,0.057,2717,855,3615,0,0,0,0,0,0
$GC,1729,-0.52,-112.4,159.7,-6.2,242,1734,0.00,2.00,0.00,0.000,6,0.000,0.054,2717,2113,3615,0,0,0,0,0,0
$GC,2044,-0.54,-112.4,177.8,-6.1,273,2048,0.10,1.92,0.00,0.000,4,0.108,0.066,2663,3310,3614,0,0,0,0,0,0
$GC,2109,-0.54,-112.4,183.5,-9.5,279,2112,0.00,1.85,0.00,0.000,6,0.000,0.051,2663,2122,3614,0,0,0,0,0,0
$GC,2429,-0.54,-112.4,213.8,-9.1,310,2430,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2122,3614,0,0,0,0,0,0
$GC,2742,-0.54,-112.4,241.3,-8.5,340,2743,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2122,3613,0,0,0,0,0,0
$GC,3052,-0.53,-112.4,269.1,-9.3,370,3055,0.00,1.92,0.00,0.000,4,0.000,0.067,2662,3313,3612,0,0,0,0,0,0
$GC,3104,-0.53,-112.4,273.9,-8.9,375,3108,0.00,1.88,0.00,0.000,6,0.000,0.051,2661,2129,3612,0,0,0,0,0,0
$GC,3426,-0.53,-112.4,302.4,-8.9,406,3429,0.00,1.95,0.00,0.000,4,0.000,0.068,2653,3320,3611,0,0,0,0,0,0
$GC,3490,-0.53,-112.4,308.2,-8.9,412,3493,0.10,1.83,0.00,0.000,6,0.154,0.052,2681,2149,3611,0,0,0,0,0,0
$GC,3810,-0.53,-112.4,333.2,-7.9,443,3810,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2150,3610,0,0,0,0,0,0
$GC,4122,-0.53,-112.4,357.8,-7.9,473,4125,0.00,1.88,0.00,0.000,4,0.000,0.068,2675,3309,3610,0,0,0,0,0,0
$GC,4148,-0.53,-112.4,360.1,-7.6,475,4153,0.00,1.83,0.00,0.000,6,0.000,0.053,2675,2163,3609,0,0,0,0,0,0
$GC,4463,-0.53,-112.4,383.7,-7.3,506,4467,0.00,2.10,0.00,0.000,4,0.000,0.060,2675,850,3609,0,0,0,0,0,0
$GC,4486,-0.53,-112.4,385.3,-7.7,508,4489,0.00,2.08,0.00,0.000,6,0.000,0.058,2673,2159,3609,0,0,0,0,0,0
$GC,4801,-0.53,-112.4,406.7,-7.0,538,4804,0.00,1.88,0.00,0.000,4,0.000,0.068,2665,3310,3608,0,0,0,0,0,0
$GC,4870,-0.53,-112.4,412.0,-7.6,544,4875,0.00,1.77,0.00,0.000,6,0.000,0.051,2665,2160,3608,0,0,0,0,0,0
$GC,5185,-0.53,-112.4,438.1,-8.0,575,5189,0.00,2.10,0.00,0.000,4,0.000,0.058,2665,848,3608,0,0,0,0,0,0
$GC,5211,-0.53,-112.4,440.3,-8.9,577,5218,0.00,2.12,0.00,0.000,6,0.000,0.058,2663,2167,3608,0,0,0,0,0,0
$GC,5527,-0.53,-112.4,466.0,-8.1,608,5531,0.00,1.90,0.00,0.000,4,0.000,0.067,2662,3312,3607,0,0,0,0,0,0
$GC,5617,-0.53,-112.4,473.1,-8.4,616,5623,0.00,1.80,0.00,0.000,6,0.000,0.053,2663,2183,3607,0,0,0,0,0,0
$GC,5933,-0.53,-112.4,497.2,-7.4,647,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2183,3607,0,0,0,0,0,0
$GC,6245,-0.53,-112.4,521.7,-7.7,677,6246,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2183,3606,0,0,0,0,0,0
$GC,6555,-0.53,-112.4,546.2,-7.7,707,6558,0.00,1.85,0.00,0.000,4,0.000,0.070,2662,3315,3605,0,0,0,0,0,0
$GC,6597,-0.53,-112.4,549.7,-8.3,711,6600,0.00,1.80,0.00,0.000,6,0.000,0.054,2662,2186,3605,0,0,0,0,0,0
$GC,6918,-0.53,-112.4,576.7,-8.6,742,6921,0.00,1.85,0.00,0.000,4,0.000,0.071,2658,3309,3605,0,0,0,0,0,0
$GC,6961,-0.53,-112.4,580.3,-9.0,746,6964,0.00,1.75,0.00,0.000,6,0.000,0.054,2658,2187,3605,0,0,0,0,0,0
$GC,7302,-0.53,-112.4,607.9,-7.9,773,7302,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2187,3604,0,0,0,0,0,0
$GC,7603,-0.53,-112.4,630.7,-7.2,783,7607,0.00,1.88,0.00,0.000,4,0.000,0.071,2650,3308,3604,0,0,0,0,0,0
$GC,7656,-0.53,-112.4,634.7,-6.8,784,7660,0.08,1.77,0.00,0.000,6,0.120,0.054,2678,2195,3604,0,0,0,0,0,0
$GC,7971,-0.53,-112.4,652.1,-5.2,795,7974,0.00,1.85,0.00,0.000,4,0.000,0.071,2677,3313,3603,0,0,0,0,0,0
$GC,8002,-0.54,-112.4,653.9,-5.3,796,8005,0.00,1.77,0.00,0.000,6,0.000,0.054,2676,2203,3603,0,0,0,0,0,0
$GC,8337,-0.54,-112.4,674.0,-6.2,807,8341,0.00,2.20,0.00,0.000,4,0.000,0.062,2676,853,3602,0,0,0,0,0,0
$GC,8364,-0.54,-112.4,675.8,-7.4,807,8369,0.00,2.17,0.00,0.000,6,0.000,0.061,2676,2207,3602,0,0,0,0,0,0
$GC,8672,-0.54,-112.4,695.2,-6.3,818,8676,0.00,1.83,0.00,0.000,4,0.000,0.070,2673,3308,3602,0,0,0,0,0,0
$GC,8725,-0.55,-112.4,698.5,-6.3,819,8729,0.00,1.75,0.00,0.000,6,0.000,0.054,2673,2212,3602,0,0,0,0,0,0
$GC,9040,-0.55,-112.4,717.8,-6.1,830,9043,0.00,2.17,0.00,0.000,4,0.000,0.061,2672,846,3601,0,0,0,0,0,0
$GC,9081,-0.55,-112.4,720.7,-7.4,831,9085,0.00,2.20,0.00,0.000,6,0.000,0.060,2672,2199,3601,0,0,0,0,0,0
$GC,9401,-0.55,-112.4,740.9,-6.5,842,9404,0.00,1.85,0.00,0.000,4,0.000,0.071,2668,3307,3601,0,0,0,0,0,0
$GC,9476,-0.57,-112.4,746.0,-6.6,844,9479,0.00,1.73,0.00,0.000,6,0.000,0.055,2668,2203,3600,0,0,0,0,0,0
$GC,9800,-0.57,-112.4,768.7,-7.1,855,9804,0.00,2.17,0.00,0.000,4,0.000,0.061,2668,856,3601,0,0,0,0,0,0
$GC,9832,-0.57,-112.4,771.0,-7.3,856,9835,0.00,2.20,0.00,0.000,6,0.000,0.061,2665,2206,3601,0,0,0,0,0,0
$GC,10167,-0.57,-112.4,795.3,-7.4,867,10171,0.00,1.83,0.00,0.000,4,0.000,0.071,2663,3311,3600,0,0,0,0,0,0
$GC,10215,-0.58,-112.4,799.1,-7.8,868,10218,0.00,1.75,0.00,0.000,6,0.000,0.055,2663,2218,3600,0,0,0,0,0,0
$GC,10535,-0.58,-112.4,823.5,-7.7,879,10538,0.00,2.17,0.00,0.000,4,0.000,0.062,2663,841,3600,0,0,0,0,0,0
$GC,10571,-0.58,-112.4,826.5,-7.3,880,10575,0.00,2.25,0.00,0.000,6,0.000,0.062,2663,2216,3600,0,0,0,0,0,0
$GC,10896,-0.58,-112.4,852.5,-8.0,891,10899,0.00,1.80,0.00,0.000,4,0.000,0.073,2663,3305,3600,0,0,0,0,0,0
$GC,10960,-0.59,-112.4,857.3,-7.4,893,10964,0.00,1.75,0.00,0.000,6,0.000,0.054,2663,2213,3599,0,0,0,0,0,0
$GC,11295,-0.59,-112.4,882.6,-7.2,904,11298,0.00,2.20,0.00,0.000,4,0.000,0.060,2663,849,3599,0,0,0,0,0,0
$GC,11332,-0.59,-112.4,885.6,-7.5,905,11335,0.00,2.22,0.00,0.000,6,0.000,0.061,2663,2215,3599,0,0,0,0,0,0
$GC,11663,-0.59,-112.4,910.7,-7.5,916,11665,0.00,1.80,0.00,0.000,4,0.000,0.072,2663,3317,3599,0,0,0,0,0,0
$GC,11726,-0.61,-112.4,915.3,-6.7,918,11730,0.00,1.75,0.00,0.000,6,0.000,0.056,2663,2233,3598,0,0,0,0,0,0
$GC,12062,-0.61,-112.4,938.0,-6.8,929,12062,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2233,3598,0,0,0,0,0,0
$GC,12364,-0.61,-112.4,957.8,-6.4,939,12365,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2233,3598,0,0,0,0,0,0
$GC,12668,-0.61,-112.4,976.3,-6.2,949,12668,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2233,3597,0,0,0,0,0,0
$STATE,12908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12908,begin apogee
$GC,12914,-0.14,0.0,991.1,6.2,957,13013,0.45,0.00,96.82,1.236,6,0.113,0.000,2810,2001,3150,0,0,0,0,0,0
$STATE,13014,end apogee,CONTROL_FINISHED_OK
$STATE,13014,begin climb
$GC,13016,0.45,112.4,993.0,0.0,960,13127,0.52,2.25,102.50,1.202,4,0.063,0.064,3014,771,2691,0,0,0,0,0,0
$GC,13159,0.42,112.4,988.6,7.8,964,13162,0.00,2.10,0.00,0.000,6,0.000,0.058,3014,1998,2688,0,0,0,0,0,0
$GC,13472,0.38,112.4,961.8,8.5,975,13476,0.12,2.10,0.00,0.000,4,0.170,0.070,2983,3232,2685,0,0,0,0,0,0
$GC,13581,0.35,112.4,953.3,7.9,978,13584,0.00,1.95,0.00,0.000,6,0.000,0.058,2988,2019,2685,0,0,0,0,0,0
$GC,13904,0.33,112.4,929.3,7.2,989,13908,0.00,2.05,0.00,0.000,4,0.000,0.070,2989,3234,2684,0,0,0,0,0,0
$GC,13958,0.30,112.4,925.2,8.2,990,13961,0.12,1.98,0.00,0.000,6,0.140,0.058,2958,2026,2683,0,0,0,0,0,0
$GC,14272,0.31,130.0,907.4,5.5,1001,14291,0.00,2.00,15.57,1.117,4,0.000,0.069,2958,3241,2619,0,0,0,0,0,0
$GC,14345,0.30,130.0,902.6,6.7,1003,14349,0.00,1.95,0.00,0.000,6,0.000,0.057,2963,2048,2618,0,0,0,0,0,0
$GC,14665,0.30,130.0,881.4,6.8,1014,14668,0.00,1.92,0.00,0.000,4,0.000,0.070,2964,3236,2617,0,0,0,0,0,0
$GC,14701,0.28,130.0,878.5,7.6,1015,14705,0.00,1.92,0.00,0.000,6,0.000,0.058,2970,2053,2616,0,0,0,0,0,0
$GC,15031,0.27,130.0,855.7,6.8,1026,15032,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2053,2616,0,0,0,0,0,0
$GC,15335,0.26,130.0,835.0,6.7,1036,15338,0.00,1.92,0.00,0.000,4,0.000,0.070,2970,3234,2616,0,0,0,0,0,0
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$STATE,27171,end climb,SURFACE_DEPTH_REACHED
$STATE,27173,begin surface coast
$FINISH,1.3,1.023218
$STATE,27204,end surface coast,CONTROL_FINISHED_OK
$STATE,27204,begin surface
$SM_CCo,27280,0.00,0.000,0,0,1515,401.07
$SM_GC,2.30,8.05,0.00,0.00,0.046,0.000,0.000,136,2070,1515,-8.40,-0.14,401.07
$IRIDIUM_FIX,4716.56,-12406.19,301299,161651
$TT8_MAMPS,0.052923
$HUMID,41.37
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,17.00
$XPDR_PINGS,0
$24V_AH,22.4,63.800
$10V_AH,9.9,62.435
$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
$DEVICE_SECS,20.850,234.375,452.425,0.000,0.000,31.318,39.465,294.459,0.000,0.000,14.956,0.000,21155.223,607.546,5097.998,917.311,0.000,2486.941,0.000,4323.301,0.000,0.534,0.000
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$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1535.400,1390.977,1863.364,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298392
$DATA_FILE_SIZE,113667,2099
$CAP_FILE_SIZE,266760,0
$CFSIZE,260165632,216989696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.026,330.0,1
$GPS,061010,080007,4736.046,-12553.088,48,1.3,48,18.7