version: 66.06
glider: 187
mission: 2
dive: 611
start: 10 6 110 23 33 20
data:
$ID,187
$MISSION,2
$DIVE,611
$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,-36746.184
$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
$GPS1,232337,4740.588,-12547.363,29,1.9,29,18.7
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-76.1
$GPS2,233315,4740.601,-12547.372,14,2.1,33,18.7
$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,31.2,50788,-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,-112.4,0.0,0.0,0,75,0.00,0.00,-58.83,0.000,2,0.000,0.000,132,2069,2937,0,0,0,0,0,0
$GC,78,-0.45,-112.4,3.3,-2.1,11,111,10.57,2.00,-15.07,0.000,4,0.235,0.071,2701,843,3611,0,0,0,0,0,0
$GC,172,-0.43,-112.4,21.9,-16.2,28,177,0.00,2.00,0.00,0.000,6,0.000,0.057,2696,2077,3613,0,0,0,0,0,0
$GC,498,-0.42,-112.4,59.8,-10.3,89,503,0.00,2.03,0.00,0.000,4,0.000,0.064,2688,3308,3615,0,0,0,0,0,0
$GC,659,-0.42,-112.4,76.7,-10.3,119,665,0.08,1.95,0.00,0.000,6,0.117,0.049,2714,2079,3616,0,0,0,0,0,0
$GC,989,-0.43,-112.4,104.1,-7.4,176,993,0.00,2.03,0.00,0.000,4,0.000,0.064,2709,3309,3616,0,0,0,0,0,0
$GC,1022,-0.44,-112.4,106.2,-6.8,179,1025,0.00,1.90,0.00,0.000,6,0.000,0.050,2709,2076,3616,0,0,0,0,0,0
$GC,1342,-0.45,-112.4,128.3,-7.2,210,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2075,3616,0,0,0,0,0,0
$GC,1654,-0.47,-112.4,150.0,-6.7,240,1657,0.00,2.03,0.00,0.000,4,0.000,0.065,2708,3320,3615,0,0,0,0,0,0
$GC,1707,-0.49,-112.4,153.5,-6.8,245,1710,0.00,1.92,0.00,0.000,6,0.000,0.050,2707,2095,3615,0,0,0,0,0,0
$GC,2027,-0.50,-112.4,175.8,-7.1,276,2031,0.00,1.98,0.00,0.000,4,0.000,0.057,2708,852,3615,0,0,0,0,0,0
$GC,2054,-0.51,-112.4,177.7,-7.6,278,2060,0.00,1.98,0.00,0.000,6,0.000,0.055,2707,2094,3614,0,0,0,0,0,0
$GC,2370,-0.53,-112.4,199.7,-7.1,309,2373,0.00,2.00,0.00,0.000,4,0.000,0.066,2706,3309,3614,0,0,0,0,0,0
$GC,2417,-0.55,-112.4,203.0,-7.0,313,2423,0.00,1.92,0.00,0.000,6,0.000,0.051,2706,2094,3614,0,0,0,0,0,0
$GC,2734,-0.57,-112.4,225.9,-7.4,344,2735,0.10,0.00,0.00,0.000,6,0.107,0.000,2653,2094,3613,0,0,0,0,0,0
$GC,3043,-0.57,-112.4,257.3,-10.0,374,3047,0.00,2.00,0.00,0.000,4,0.000,0.065,2644,3305,3612,0,0,0,0,0,0
$GC,3070,-0.57,-112.4,260.0,-9.9,376,3075,0.00,1.90,0.00,0.000,6,0.000,0.050,2644,2096,3612,0,0,0,0,0,0
$GC,3385,-0.55,-112.4,291.9,-9.8,407,3389,0.10,2.00,0.00,0.000,4,0.169,0.057,2672,848,3611,0,0,0,0,0,0
$GC,3411,-0.55,-112.4,294.4,-9.2,409,3417,0.00,2.00,0.00,0.000,6,0.000,0.056,2667,2100,3611,0,0,0,0,0,0
$GC,3727,-0.55,-112.4,321.4,-8.2,440,3730,0.00,1.98,0.00,0.000,4,0.000,0.065,2658,3304,3611,0,0,0,0,0,0
$GC,3822,-0.55,-112.4,329.5,-8.8,449,3826,0.00,1.88,0.00,0.000,6,0.000,0.050,2658,2113,3611,0,0,0,0,0,0
$GC,4143,-0.55,-112.4,358.9,-9.0,480,4147,0.00,2.03,0.00,0.000,4,0.000,0.058,2658,846,3610,0,0,0,0,0,0
$GC,4267,-0.55,-112.4,370.6,-9.5,491,4272,0.00,2.00,0.00,0.000,6,0.000,0.057,2651,2097,3610,0,0,0,0,0,0
$GC,4581,-0.55,-112.4,400.9,-9.8,522,4585,0.00,2.00,0.00,0.000,4,0.000,0.067,2642,3311,3609,0,0,0,0,0,0
$GC,4640,-0.55,-112.4,406.4,-9.0,527,4646,0.08,1.92,0.00,0.000,6,0.123,0.052,2670,2099,3609,0,0,0,0,0,0
$GC,4955,-0.55,-112.4,431.9,-7.8,558,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2099,3609,0,0,0,0,0,0
$GC,5268,-0.55,-112.4,455.1,-7.3,588,5271,0.00,1.98,0.00,0.000,4,0.000,0.068,2664,3316,3608,0,0,0,0,0,0
$GC,5294,-0.55,-112.4,457.2,-7.8,590,5300,0.00,1.92,0.00,0.000,6,0.000,0.054,2664,2106,3608,0,0,0,0,0,0
$GC,5609,-0.55,-112.4,481.3,-7.8,621,5613,0.00,2.03,0.00,0.000,4,0.000,0.060,2663,845,3607,0,0,0,0,0,0
$GC,5658,-0.55,-112.4,485.4,-8.4,625,5662,0.00,2.03,0.00,0.000,6,0.000,0.058,2663,2120,3607,0,0,0,0,0,0
$GC,5972,-0.55,-112.4,510.3,-7.9,656,5976,0.00,1.98,0.00,0.000,4,0.000,0.069,2663,3308,3607,0,0,0,0,0,0
$GC,6059,-0.55,-112.4,516.7,-7.4,664,6062,0.00,1.88,0.00,0.000,6,0.000,0.054,2663,2116,3606,0,0,0,0,0,0
$GC,6379,-0.55,-112.4,541.4,-7.8,695,6383,0.00,2.05,0.00,0.000,4,0.000,0.060,2663,850,3606,0,0,0,0,0,0
$GC,6406,-0.55,-112.4,543.6,-8.5,697,6411,0.00,2.03,0.00,0.000,6,0.000,0.058,2663,2112,3606,0,0,0,0,0,0
$GC,6721,-0.55,-112.4,567.6,-7.6,728,6725,0.00,1.98,0.00,0.000,4,0.000,0.069,2662,3305,3605,0,0,0,0,0,0
$GC,6748,-0.55,-112.4,569.6,-7.8,730,6754,0.00,1.90,0.00,0.000,6,0.000,0.054,2663,2120,3605,0,0,0,0,0,0
$GC,7063,-0.55,-112.4,593.3,-7.6,761,7067,0.00,2.05,0.00,0.000,4,0.000,0.061,2663,844,3605,0,0,0,0,0,0
$GC,7143,-0.55,-112.4,599.8,-8.6,768,7149,0.00,2.03,0.00,0.000,6,0.000,0.059,2663,2101,3605,0,0,0,0,0,0
$GC,7452,-0.55,-112.4,622.4,-7.3,779,7455,0.00,2.00,0.00,0.000,4,0.000,0.071,2663,3317,3604,0,0,0,0,0,0
$GC,7515,-0.55,-112.4,626.8,-7.1,781,7519,0.00,1.92,0.00,0.000,6,0.000,0.054,2662,2115,3604,0,0,0,0,0,0
$GC,7851,-0.55,-112.4,650.7,-7.1,792,7854,0.00,2.00,0.00,0.000,4,0.000,0.070,2655,3306,3604,0,0,0,0,0,0
$GC,7889,-0.55,-112.4,653.5,-6.9,793,7891,0.00,1.88,0.00,0.000,6,0.000,0.055,2655,2110,3603,0,0,0,0,0,0
$GC,8218,-0.55,-112.4,677.8,-7.2,804,8221,0.00,2.05,0.00,0.000,4,0.000,0.062,2655,842,3603,0,0,0,0,0,0
$GC,8292,-0.55,-112.4,683.5,-8.0,806,8296,0.00,2.05,0.00,0.000,6,0.000,0.060,2650,2111,3603,0,0,0,0,0,0
$GC,8617,-0.55,-112.4,706.1,-6.8,817,8620,0.00,1.95,0.00,0.000,4,0.000,0.071,2642,3312,3602,0,0,0,0,0,0
$GC,8691,-0.55,-112.4,711.2,-7.1,819,8695,0.08,1.90,0.00,0.000,6,0.121,0.054,2670,2125,3602,0,0,0,0,0,0
$GC,9017,-0.55,-112.4,729.0,-5.4,830,9018,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,2125,3602,0,0,0,0,0,0
$GC,9319,-0.55,-112.4,745.3,-5.4,840,9323,0.00,2.08,0.00,0.000,4,0.000,0.062,2670,840,3601,0,0,0,0,0,0
$GC,9356,-0.55,-112.4,747.7,-6.0,841,9360,0.00,2.08,0.00,0.000,6,0.000,0.061,2667,2125,3601,0,0,0,0,0,0
$GC,9687,-0.55,-112.4,766.6,-5.9,852,9690,0.00,1.98,0.00,0.000,4,0.000,0.072,2663,3302,3601,0,0,0,0,0,0
$GC,9740,-0.56,-112.4,770.0,-7.1,853,9743,0.00,1.88,0.00,0.000,6,0.000,0.054,2662,2130,3601,0,0,0,0,0,0
$GC,10053,-0.56,-112.4,790.5,-6.7,864,10057,0.00,2.08,0.00,0.000,4,0.000,0.061,2663,844,3601,0,0,0,0,0,0
$GC,10086,-0.56,-112.4,792.6,-6.9,865,10089,0.00,2.08,0.00,0.000,6,0.000,0.062,2662,2122,3601,0,0,0,0,0,0
$GC,10420,-0.56,-112.4,814.4,-6.5,876,10424,0.00,1.95,0.00,0.000,4,0.000,0.071,2662,3302,3600,0,0,0,0,0,0
$GC,10495,-0.57,-112.4,819.2,-6.1,878,10499,0.00,1.88,0.00,0.000,6,0.000,0.054,2662,2132,3601,0,0,0,0,0,0
$GC,10820,-0.57,-112.4,841.0,-7.0,889,10821,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2131,3600,0,0,0,0,0,0
$GC,11123,-0.57,-112.4,861.5,-6.7,899,11127,0.00,1.95,0.00,0.000,4,0.000,0.071,2658,3308,3599,0,0,0,0,0,0
$GC,11160,-0.59,-112.4,864.0,-7.0,900,11164,0.00,1.90,0.00,0.000,6,0.000,0.054,2658,2125,3599,0,0,0,0,0,0
$GC,11491,-0.59,-112.4,885.1,-6.1,911,11494,0.00,2.05,0.00,0.000,4,0.000,0.062,2658,838,3599,0,0,0,0,0,0
$GC,11516,-0.59,-112.4,886.9,-6.8,911,11522,0.00,2.10,0.00,0.000,6,0.000,0.061,2654,2130,3599,0,0,0,0,0,0
$GC,11825,-0.59,-112.4,906.3,-6.2,922,11829,0.00,1.95,0.00,0.000,4,0.000,0.072,2646,3305,3599,0,0,0,0,0,0
$GC,11900,-0.59,-112.4,911.1,-6.5,924,11903,0.00,1.83,0.00,0.000,6,0.000,0.057,2646,2142,3599,0,0,0,0,0,0
$GC,12224,-0.59,-112.4,932.5,-6.5,935,12225,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2143,3599,0,0,0,0,0,0
$GC,12528,-0.59,-112.4,952.8,-6.8,945,12528,0.00,0.00,0.00,0.000,6,0.000,0.000,2646,2143,3598,0,0,0,0,0,0
$GC,12832,-0.59,-112.4,973.4,-6.5,955,12835,0.00,1.95,0.00,0.000,4,0.000,0.073,2638,3310,3598,0,0,0,0,0,0
$GC,12900,-0.59,-112.4,977.9,-6.3,957,12904,0.00,1.88,0.00,0.000,6,0.000,0.056,2637,2145,3598,0,0,0,0,0,0
$STATE,13076,end dive,TARGET_DEPTH_EXCEEDED
$STATE,13076,begin apogee
$GC,13082,-0.14,0.0,990.1,6.9,963,13181,0.52,0.00,96.93,1.236,6,0.120,0.000,2805,1993,3150,0,0,0,0,0,0
$STATE,13181,end apogee,CONTROL_FINISHED_OK
$STATE,13182,begin climb
$GC,13184,0.45,112.4,991.7,0.0,966,13295,0.55,2.22,102.60,1.202,4,0.064,0.064,3014,773,2690,0,0,0,0,0,0
$GC,13311,0.42,112.4,988.2,7.0,970,13314,0.00,2.15,0.00,0.000,6,0.000,0.059,3014,2004,2689,0,0,0,0,0,0
$GC,13640,0.39,112.4,959.6,9.0,981,13644,0.12,2.08,0.00,0.000,4,0.172,0.068,2983,3226,2685,0,0,0,0,0,0
$GC,13795,0.36,112.4,946.6,8.6,985,13800,0.00,1.98,0.00,0.000,6,0.000,0.058,2989,2021,2685,0,0,0,0,0,0
$GC,14103,0.33,112.4,923.7,7.4,996,14107,0.00,2.03,0.00,0.000,4,0.000,0.070,2989,3226,2684,0,0,0,0,0,0
$GC,14260,0.30,112.4,911.0,8.2,1000,14265,0.17,1.92,0.00,0.000,6,0.159,0.058,2952,2027,2684,0,0,0,0,0,0
$GC,14568,0.31,127.3,893.2,5.6,1011,14586,0.00,2.05,12.93,1.093,4,0.000,0.070,2951,3241,2630,0,0,0,0,0,0
$GC,14636,0.30,127.3,889.1,7.0,1013,14639,0.00,1.95,0.00,0.000,6,0.000,0.058,2956,2031,2629,0,0,0,0,0,0
$GC,14965,0.30,134.0,869.7,5.9,1024,14976,0.00,2.03,7.45,0.983,4,0.000,0.069,2956,3236,2603,0,0,0,0,0,0
$GC,15050,0.29,134.0,864.1,6.6,1026,15057,0.00,1.90,0.00,0.000,6,0.000,0.056,2961,2066,2602,0,0,0,0,0,0
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$STATE,27340,end climb,SURFACE_DEPTH_REACHED
$STATE,27340,begin surface coast
$FINISH,1.1,1.002969
$STATE,27399,end surface coast,CONTROL_FINISHED_OK
$STATE,27399,begin surface
$SM_CCo,27474,0.00,0.000,0,0,1457,415.05
$SM_GC,2.01,7.82,0.00,0.00,0.044,0.000,0.000,140,2095,1457,-8.40,0.57,415.05
$IRIDIUM_FIX,4707.04,-12556.27,311299,151549
$TT8_MAMPS,0.052156
$HUMID,41.14
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,22.4,64.252
$10V_AH,9.9,62.959
$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,20.575,247.525,469.650,0.000,0.000,31.018,45.506,300.161,0.000,0.000,34.008,0.000,21046.555,644.129,5355.393,954.327,0.000,2616.014,0.000,4555.144,0.000,0.533,0.000
$DEVICE_MAMPS,235.469,79.768,1235.637,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1548.718,1408.352,1951.903,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298380
$DATA_FILE_SIZE,116601,2127
$CAP_FILE_SIZE,274358,0
$CFSIZE,260165632,216621056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.050,340.1,1
$GPS,071010,071207,4743.281,-12544.238,34,1.2,34,18.7