version: 66.06
glider: 187
mission: 2
dive: 610
start: 10 6 110 15 38 31
data:
$ID,187
$MISSION,2
$DIVE,610
$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,-36711.547
$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,23
$R_STBD_OVSHOOT,34
$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
$GPS1,153007,4738.189,-12550.464,39,0.9,39,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.20
$_SM_ANGLEo,-76.9
$GPS2,153826,4738.142,-12550.465,12,1.2,12,18.7
$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,28.9,56739,-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,13,-0.45,-112.4,0.0,0.0,0,73,0.00,0.00,-57.90,0.000,2,0.000,0.000,132,2087,2944,0,0,0,0,0,0
$GC,76,-0.45,-112.4,3.4,-2.3,11,109,10.57,2.00,-14.80,0.000,4,0.234,0.077,2691,3295,3612,0,0,0,0,0,0
$GC,186,-0.43,-112.4,25.5,-16.1,31,191,0.00,1.98,0.00,0.000,6,0.000,0.050,2691,2064,3613,0,0,0,0,0,0
$GC,513,-0.42,-112.4,63.6,-11.3,92,518,0.00,2.05,0.00,0.000,4,0.000,0.065,2682,3297,3615,0,0,0,0,0,0
$GC,555,-0.42,-112.4,68.6,-11.5,100,561,0.10,1.92,0.00,0.000,6,0.114,0.050,2717,2085,3616,0,0,0,0,0,0
$GC,883,-0.42,-112.4,96.6,-7.3,161,888,0.00,1.98,0.00,0.000,4,0.000,0.056,2718,843,3616,0,0,0,0,0,0
$GC,947,-0.43,-112.4,101.6,-8.4,172,950,0.00,1.95,0.00,0.000,6,0.000,0.054,2718,2096,3616,0,0,0,0,0,0
$GC,1267,-0.45,-112.4,125.5,-7.3,203,1271,0.00,1.98,0.00,0.000,4,0.000,0.064,2718,3304,3616,0,0,0,0,0,0
$GC,1342,-0.47,-112.4,130.9,-7.3,210,1345,0.00,1.90,0.00,0.000,6,0.000,0.048,2717,2096,3616,0,0,0,0,0,0
$GC,1663,-0.49,-112.4,153.3,-7.3,241,1664,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2096,3616,0,0,0,0,0,0
$GC,1976,-0.51,-112.4,174.6,-7.3,271,1979,0.00,1.98,0.00,0.000,4,0.000,0.065,2717,3306,3616,0,0,0,0,0,0
$GC,2044,-0.54,-112.4,179.6,-6.6,277,2050,0.08,1.90,0.00,0.000,6,0.064,0.050,2664,2103,3615,0,0,0,0,0,0
$GC,2360,-0.54,-112.4,212.4,-10.5,308,2363,0.00,1.95,0.00,0.000,4,0.000,0.058,2665,848,3615,0,0,0,0,0,0
$GC,2429,-0.54,-112.4,219.7,-10.7,314,2435,0.00,2.00,0.00,0.000,6,0.000,0.056,2662,2103,3614,0,0,0,0,0,0
$GC,2745,-0.54,-112.4,251.6,-9.7,345,2748,0.00,1.95,0.00,0.000,4,0.000,0.067,2659,3308,3615,0,0,0,0,0,0
$GC,2845,-0.54,-112.4,261.4,-9.6,354,2853,0.00,1.88,0.00,0.000,6,0.000,0.049,2659,2116,3614,0,0,0,0,0,0
$GC,3163,-0.54,-112.4,291.4,-9.4,385,3164,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2115,3613,0,0,0,0,0,0
$GC,3474,-0.54,-112.4,319.6,-8.8,415,3474,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2116,3613,0,0,0,0,0,0
$GC,3785,-0.54,-112.4,344.3,-8.1,445,3788,0.00,1.95,0.00,0.000,4,0.000,0.067,2651,3313,3612,0,0,0,0,0,0
$GC,3890,-0.54,-112.4,353.6,-8.6,455,3894,0.00,1.88,0.00,0.000,6,0.000,0.049,2651,2122,3612,0,0,0,0,0,0
$GC,4212,-0.53,-112.4,382.8,-9.2,486,4215,0.12,2.00,0.00,0.000,4,0.156,0.058,2687,846,3612,0,0,0,0,0,0
$GC,4243,-0.53,-112.4,385.3,-7.3,489,4247,0.00,2.05,0.00,0.000,6,0.000,0.057,2686,2125,3611,0,0,0,0,0,0
$GC,4566,-0.53,-112.4,407.7,-7.0,520,4569,0.00,1.90,0.00,0.000,4,0.000,0.067,2680,3308,3611,0,0,0,0,0,0
$GC,4655,-0.55,-112.4,414.4,-7.5,528,4662,0.00,1.85,0.00,0.000,6,0.000,0.052,2681,2141,3611,0,0,0,0,0,0
$GC,4972,-0.55,-112.4,438.7,-8.1,559,4975,0.00,2.05,0.00,0.000,4,0.000,0.060,2680,847,3610,0,0,0,0,0,0
$GC,5019,-0.55,-112.4,442.8,-8.7,563,5024,0.00,2.05,0.00,0.000,6,0.000,0.058,2678,2125,3610,0,0,0,0,0,0
$GC,5334,-0.55,-112.4,468.4,-8.0,594,5338,0.00,1.95,0.00,0.000,4,0.000,0.068,2670,3306,3609,0,0,0,0,0,0
$GC,5411,-0.55,-112.4,474.3,-7.3,601,5414,0.00,1.83,0.00,0.000,6,0.000,0.052,2670,2126,3609,0,0,0,0,0,0
$GC,5731,-0.55,-112.4,498.4,-7.5,632,5731,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2126,3609,0,0,0,0,0,0
$GC,6043,-0.55,-112.4,521.2,-7.3,662,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2126,3608,0,0,0,0,0,0
$GC,6353,-0.55,-112.4,542.4,-6.4,692,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2126,3607,0,0,0,0,0,0
$GC,6664,-0.55,-112.4,560.6,-5.6,722,6667,0.00,1.95,0.00,0.000,4,0.000,0.070,2663,3310,3607,0,0,0,0,0,0
$GC,6695,-0.55,-112.4,562.5,-5.5,725,6699,0.00,1.85,0.00,0.000,6,0.000,0.054,2663,2149,3607,0,0,0,0,0,0
$GC,7016,-0.55,-112.4,582.2,-6.2,756,7020,0.00,2.10,0.00,0.000,4,0.000,0.060,2662,852,3606,0,0,0,0,0,0
$GC,7053,-0.55,-112.4,584.7,-7.1,759,7059,0.00,2.10,0.00,0.000,6,0.000,0.059,2663,2150,3606,0,0,0,0,0,0
$GC,7379,-0.55,-112.4,606.6,-7.1,785,7382,0.00,1.92,0.00,0.000,4,0.000,0.071,2663,3320,3606,0,0,0,0,0,0
$GC,7463,-0.55,-112.4,613.0,-8.2,787,7467,0.00,1.85,0.00,0.000,6,0.000,0.054,2663,2165,3606,0,0,0,0,0,0
$GC,7777,-0.55,-112.4,636.3,-7.6,798,7781,0.00,2.15,0.00,0.000,4,0.000,0.061,2663,844,3605,0,0,0,0,0,0
$GC,7809,-0.55,-112.4,638.9,-8.6,799,7812,0.00,2.08,0.00,0.000,6,0.000,0.060,2663,2158,3605,0,0,0,0,0,0
$GC,8144,-0.55,-112.4,666.1,-8.2,810,8148,0.00,1.92,0.00,0.000,4,0.000,0.072,2662,3309,3605,0,0,0,0,0,0
$GC,8202,-0.55,-112.4,670.9,-8.5,811,8208,0.00,1.83,0.00,0.000,6,0.000,0.053,2662,2166,3605,0,0,0,0,0,0
$GC,8512,-0.55,-112.4,695.3,-7.8,822,8515,0.00,2.12,0.00,0.000,4,0.000,0.061,2663,834,3604,0,0,0,0,0,0
$GC,8543,-0.55,-112.4,698.0,-8.6,823,8546,0.00,2.15,0.00,0.000,6,0.000,0.061,2662,2160,3604,0,0,0,0,0,0
$GC,8878,-0.55,-112.4,723.4,-7.5,834,8882,0.00,1.92,0.00,0.000,4,0.000,0.071,2655,3314,3604,0,0,0,0,0,0
$GC,8937,-0.55,-112.4,728.1,-7.9,835,8942,0.00,1.83,0.00,0.000,6,0.000,0.054,2655,2168,3603,0,0,0,0,0,0
$GC,9245,-0.55,-112.4,752.7,-8.1,846,9249,0.00,2.15,0.00,0.000,4,0.000,0.062,2655,849,3603,0,0,0,0,0,0
$GC,9277,-0.55,-112.4,755.5,-9.2,847,9280,0.00,2.15,0.00,0.000,6,0.000,0.061,2650,2173,3603,0,0,0,0,0,0
$GC,9613,-0.55,-112.4,783.6,-8.2,858,9616,0.00,1.88,0.00,0.000,4,0.000,0.071,2642,3312,3603,0,0,0,0,0,0
$GC,9670,-0.55,-112.4,788.4,-7.6,859,9676,0.10,1.83,0.00,0.000,6,0.115,0.055,2677,2174,3602,0,0,0,0,0,0
$GC,9979,-0.56,-112.4,806.2,-5.5,870,9983,0.00,2.17,0.00,0.000,4,0.000,0.063,2677,846,3602,0,0,0,0,0,0
$GC,10006,-0.57,-112.4,807.7,-6.3,870,10012,0.00,2.15,0.00,0.000,6,0.000,0.062,2677,2182,3602,0,0,0,0,0,0
$GC,10314,-0.58,-112.4,823.9,-5.1,881,10318,0.00,1.88,0.00,0.000,4,0.000,0.073,2670,3305,3602,0,0,0,0,0,0
$GC,10390,-0.60,-112.4,828.0,-5.9,883,10393,0.00,1.75,0.00,0.000,6,0.000,0.054,2670,2182,3602,0,0,0,0,0,0
$GC,10714,-0.61,-112.4,845.9,-5.5,894,10717,0.00,2.15,0.00,0.000,4,0.000,0.062,2670,846,3602,0,0,0,0,0,0
$GC,10756,-0.62,-112.4,848.6,-7.1,895,10759,0.00,2.17,0.00,0.000,6,0.000,0.061,2667,2184,3601,0,0,0,0,0,0
$GC,11081,-0.62,-112.4,867.6,-6.0,906,11084,0.00,1.85,0.00,0.000,4,0.000,0.071,2663,3310,3601,0,0,0,0,0,0
$GC,11166,-0.64,-112.4,872.9,-7.1,908,11169,0.00,1.77,0.00,0.000,6,0.000,0.053,2663,2197,3601,0,0,0,0,0,0
$GC,11480,-0.64,-112.4,892.3,-6.1,919,11481,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2196,3601,0,0,0,0,0,0
$GC,11783,-0.64,-112.4,911.3,-6.1,929,11784,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2197,3601,0,0,0,0,0,0
$GC,12087,-0.64,-112.4,929.8,-6.1,939,12087,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2196,3600,0,0,0,0,0,0
$GC,12390,-0.64,-112.4,947.5,-5.9,949,12394,0.00,1.85,0.00,0.000,4,0.000,0.072,2663,3306,3600,0,0,0,0,0,0
$GC,12444,-0.65,-112.4,950.7,-5.9,950,12447,0.00,1.73,0.00,0.000,6,0.000,0.056,2663,2201,3600,0,0,0,0,0,0
$GC,12757,-0.65,-112.4,969.2,-6.1,961,12761,0.00,2.20,0.00,0.000,4,0.000,0.062,2663,845,3600,0,0,0,0,0,0
$GC,12789,-0.65,-112.4,971.4,-7.1,962,12792,0.00,2.20,0.00,0.000,6,0.000,0.063,2663,2207,3600,0,0,0,0,0,0
$STATE,13091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13091,begin apogee
$GC,13096,-0.14,0.0,991.5,6.7,972,13196,0.45,0.00,97.07,1.239,6,0.113,0.000,2810,1996,3150,0,0,0,0,0,0
$STATE,13196,end apogee,CONTROL_FINISHED_OK
$STATE,13196,begin climb
$GC,13198,0.45,112.4,994.3,0.0,975,13310,0.52,2.22,102.65,1.203,4,0.058,0.064,3016,777,2691,0,0,0,0,0,0
$GC,13336,0.42,115.9,992.0,6.0,979,13345,0.00,2.15,4.38,0.759,6,0.000,0.058,3016,2003,2679,0,0,0,0,0,0
$GC,13656,0.38,115.9,968.3,7.6,990,13659,0.15,2.08,0.00,0.000,4,0.165,0.068,2978,3242,2675,0,0,0,0,0,0
$GC,13768,0.37,133.8,960.6,5.5,993,13791,0.00,1.98,17.15,1.134,6,0.000,0.058,2984,2023,2604,0,0,0,0,0,0
$GC,14114,0.35,133.8,937.8,6.7,1005,14117,0.00,1.98,0.00,0.000,4,0.000,0.069,2984,3237,2601,0,0,0,0,0,0
$GC,14162,0.32,133.8,934.1,7.1,1006,14165,0.12,1.98,0.00,0.000,6,0.138,0.056,2954,2023,2600,0,0,0,0,0,0
$GC,14481,0.32,134.7,914.9,6.1,1017,14484,0.00,2.00,0.00,0.000,4,0.000,0.069,2954,3244,2600,0,0,0,0,0,0
$GC,14544,0.32,134.7,910.4,7.5,1019,14548,0.00,1.95,0.00,0.000,6,0.000,0.057,2959,2040,2599,0,0,0,0,0,0
$GC,14880,0.32,134.7,888.3,6.6,1030,14883,0.00,1.98,0.00,0.000,4,0.000,0.068,2959,3238,2599,0,0,0,0,0,0
$GC,14944,0.31,134.7,883.6,7.3,1032,14947,0.00,1.90,0.00,0.000,6,0.000,0.057,2965,2047,2599,0,0,0,0,0,0
$GC,15279,0.31,134.7,860.6,7.0,1043,15283,0.00,1.98,0.00,0.000,4,0.000,0.070,2966,3239,2599,0,0,0,0,0,0
$GC,15327,0.29,134.7,857.2,7.7,1044,15331,0.00,1.90,0.00,0.000,6,0.000,0.058,2973,2064,2598,0,0,0,0,0,0
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$STATE,27721,end climb,SURFACE_DEPTH_REACHED
$STATE,27721,begin surface coast
$FINISH,1.3,1.022201
$STATE,27783,end surface coast,CONTROL_FINISHED_OK
$STATE,27783,begin surface
$SM_CCo,27858,0.00,0.000,0,0,1557,390.76
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$IRIDIUM_FIX,4716.56,-12554.14,311299,080858
$TT8_MAMPS,0.052923
$HUMID,41.06
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,22.4,64.099
$10V_AH,9.8,62.778
$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,20.750,235.350,452.475,0.000,0.000,32.384,33.424,264.858,0.000,0.000,13.110,0.000,21533.459,601.191,5265.653,909.507,0.000,2546.068,0.000,4495.316,0.000,0.533,0.000
$DEVICE_MAMPS,233.935,76.700,1239.472,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1565.683,1416.716,1903.214,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298432
$DATA_FILE_SIZE,116822,2137
$CAP_FILE_SIZE,273349,0
$CFSIZE,260165632,216743936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.034,308.8,1
$GPS,061010,232337,4740.588,-12547.363,29,1.9,29,18.7