version: 66.06
glider: 187
mission: 2
dive: 613
start: 10 7 110 14 58 7
data:
$ID,187
$MISSION,2
$DIVE,613
$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,-36773.336
$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,27
$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
$GPS1,144907,4745.904,-12540.669,44,0.9,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-76.2
$GPS2,145802,4745.922,-12540.627,12,1.8,12,18.7
$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,35.7,37868,-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,-112.4,0.0,0.0,0,79,0.00,0.00,-62.45,0.000,2,0.000,0.000,131,2081,2955,0,0,0,0,0,0
$GC,81,-0.45,-112.4,3.4,-2.7,12,115,10.50,2.05,-14.60,0.000,4,0.230,0.076,2695,3316,3611,0,0,0,0,0,0
$GC,280,-0.45,-112.4,37.2,-12.5,49,286,0.00,1.98,0.00,0.000,6,0.000,0.049,2695,2076,3613,0,0,0,0,0,0
$GC,606,-0.45,-112.4,72.7,-10.1,110,612,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2073,3615,0,0,0,0,0,0
$GC,934,-0.45,-112.4,107.4,-9.8,165,935,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2073,3615,0,0,0,0,0,0
$GC,1246,-0.45,-112.4,130.9,-7.6,195,1247,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2073,3616,0,0,0,0,0,0
$GC,1557,-0.45,-112.4,155.1,-8.0,225,1560,0.00,1.90,0.00,0.000,4,0.000,0.056,2695,842,3615,0,0,0,0,0,0
$GC,1582,-0.45,-112.4,157.3,-8.9,227,1590,0.00,1.98,0.00,0.000,6,0.000,0.054,2692,2085,3615,0,0,0,0,0,0
$GC,1898,-0.45,-112.4,182.1,-8.3,258,1902,0.00,2.00,0.00,0.000,4,0.000,0.066,2690,3306,3614,0,0,0,0,0,0
$GC,1946,-0.47,-112.4,186.0,-8.6,262,1951,0.00,1.92,0.00,0.000,6,0.000,0.050,2690,2086,3614,0,0,0,0,0,0
$GC,2261,-0.47,-112.4,211.8,-8.3,293,2262,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2085,3614,0,0,0,0,0,0
$GC,2573,-0.47,-112.4,236.2,-7.4,323,2576,0.00,2.00,0.00,0.000,4,0.000,0.067,2687,3308,3613,0,0,0,0,0,0
$GC,2631,-0.48,-112.4,240.6,-7.1,328,2636,0.00,1.92,0.00,0.000,6,0.000,0.051,2686,2096,3612,0,0,0,0,0,0
$GC,2946,-0.48,-112.4,265.0,-7.6,359,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2096,3612,0,0,0,0,0,0
$GC,3259,-0.48,-112.4,288.4,-7.8,389,3262,0.00,1.98,0.00,0.000,4,0.000,0.067,2686,3309,3611,0,0,0,0,0,0
$GC,3300,-0.50,-112.4,291.8,-7.2,393,3304,0.00,1.90,0.00,0.000,6,0.000,0.051,2686,2107,3611,0,0,0,0,0,0
$GC,3622,-0.50,-112.4,317.0,-8.1,424,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2107,3611,0,0,0,0,0,0
$GC,3934,-0.50,-112.4,340.1,-7.1,454,3937,0.00,1.98,0.00,0.000,4,0.000,0.067,2686,3310,3611,0,0,0,0,0,0
$GC,3966,-0.51,-112.4,342.3,-6.5,457,3969,0.00,1.90,0.00,0.000,6,0.000,0.053,2686,2099,3610,0,0,0,0,0,0
$GC,4286,-0.51,-112.4,365.5,-7.6,488,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2099,3610,0,0,0,0,0,0
$GC,4598,-0.51,-112.4,389.5,-7.8,518,4599,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2099,3609,0,0,0,0,0,0
$GC,4909,-0.51,-112.4,413.0,-7.3,548,4910,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2099,3608,0,0,0,0,0,0
$GC,5219,-0.51,-112.4,435.7,-7.7,578,5222,0.00,2.00,0.00,0.000,4,0.000,0.068,2685,3312,3608,0,0,0,0,0,0
$GC,5250,-0.53,-112.4,438.0,-7.3,581,5253,0.00,1.88,0.00,0.000,6,0.000,0.054,2685,2109,3608,0,0,0,0,0,0
$GC,5570,-0.53,-112.4,461.4,-7.6,612,5571,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2109,3607,0,0,0,0,0,0
$GC,5883,-0.53,-112.4,483.9,-7.1,642,5886,0.00,1.98,0.00,0.000,4,0.000,0.069,2686,3308,3606,0,0,0,0,0,0
$GC,5914,-0.54,-112.4,486.3,-7.1,645,5918,0.00,1.90,0.00,0.000,6,0.000,0.054,2685,2116,3606,0,0,0,0,0,0
$GC,6236,-0.55,-112.4,510.5,-7.6,676,6237,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2116,3606,0,0,0,0,0,0
$GC,6548,-0.56,-112.4,533.7,-7.0,706,6550,0.00,2.03,0.00,0.000,4,0.000,0.060,2686,837,3606,0,0,0,0,0,0
$GC,6580,-0.57,-112.4,536.0,-7.5,709,6583,0.00,2.05,0.00,0.000,6,0.000,0.058,2685,2127,3605,0,0,0,0,0,0
$GC,6896,-0.58,-112.4,556.3,-6.5,739,6899,0.00,1.95,0.00,0.000,4,0.000,0.070,2685,3316,3605,0,0,0,0,0,0
$GC,6986,-0.60,-112.4,562.2,-6.7,747,6993,0.00,1.90,0.00,0.000,6,0.000,0.054,2685,2127,3605,0,0,0,0,0,0
$GC,7302,-0.62,-112.4,583.8,-6.7,778,7303,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,2127,3605,0,0,0,0,0,0
$GC,7611,-0.63,-112.4,604.0,-6.5,804,7614,0.00,2.03,0.00,0.000,4,0.000,0.061,2685,843,3605,0,0,0,0,0,0
$GC,7637,-0.64,-112.4,605.8,-7.0,804,7643,0.08,2.05,0.00,0.000,6,0.064,0.060,2640,2118,3604,0,0,0,0,0,0
$GC,7945,-0.64,-112.4,633.2,-8.8,815,7949,0.00,1.98,0.00,0.000,4,0.000,0.069,2632,3309,3604,0,0,0,0,0,0
$GC,7989,-0.64,-112.4,637.0,-9.0,816,7992,0.00,1.88,0.00,0.000,6,0.000,0.054,2631,2122,3603,0,0,0,0,0,0
$GC,8312,-0.63,-112.4,667.4,-9.1,827,8316,0.00,2.05,0.00,0.000,4,0.000,0.062,2631,850,3603,0,0,0,0,0,0
$GC,8387,-0.62,-112.4,674.4,-8.5,829,8391,0.12,2.03,0.00,0.000,6,0.158,0.059,2658,2123,3602,0,0,0,0,0,0
$GC,8711,-0.62,-112.4,698.1,-7.3,840,8715,0.00,1.95,0.00,0.000,4,0.000,0.068,2651,3311,3602,0,0,0,0,0,0
$GC,8791,-0.62,-112.4,704.5,-7.7,842,8795,0.00,1.90,0.00,0.000,6,0.000,0.054,2651,2122,3602,0,0,0,0,0,0
$GC,9111,-0.62,-112.4,730.7,-8.1,853,9114,0.00,1.98,0.00,0.000,4,0.000,0.071,2643,3317,3602,0,0,0,0,0,0
$GC,9153,-0.62,-112.4,734.3,-8.9,854,9156,0.00,1.90,0.00,0.000,6,0.000,0.055,2643,2133,3601,0,0,0,0,0,0
$GC,9477,-0.62,-112.4,761.9,-8.4,865,9478,0.00,0.00,0.00,0.000,6,0.000,0.000,2642,2133,3601,0,0,0,0,0,0
$GC,9782,-0.62,-112.4,789.1,-9.2,875,9782,0.00,0.00,0.00,0.000,6,0.000,0.000,2643,2133,3601,0,0,0,0,0,0
$GC,10084,-0.62,-112.4,815.0,-8.4,885,10088,0.00,2.08,0.00,0.000,4,0.000,0.063,2643,850,3601,0,0,0,0,0,0
$GC,10106,-0.62,-112.4,816.9,-8.9,885,10109,0.00,2.08,0.00,0.000,6,0.000,0.061,2635,2132,3600,0,0,0,0,0,0
$GC,10420,-0.62,-112.4,841.9,-7.8,896,10423,0.00,1.92,0.00,0.000,4,0.000,0.070,2627,3317,3600,0,0,0,0,0,0
$GC,10542,-0.62,-112.4,851.8,-7.3,899,10548,0.00,1.88,0.00,0.000,6,0.000,0.055,2627,2151,3600,0,0,0,0,0,0
$GC,10851,-0.60,-112.4,876.0,-8.1,910,10852,0.12,0.00,0.00,0.000,6,0.163,0.000,2662,2151,3600,0,0,0,0,0,0
$GC,11155,-0.60,-112.4,896.0,-6.4,920,11155,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2151,3600,0,0,0,0,0,0
$GC,11457,-0.60,-112.4,915.3,-6.1,930,11461,0.00,1.92,0.00,0.000,4,0.000,0.071,2659,3308,3599,0,0,0,0,0,0
$GC,11478,-0.61,-112.4,916.6,-6.8,930,11482,0.00,1.85,0.00,0.000,6,0.000,0.057,2659,2163,3599,0,0,0,0,0,0
$GC,11793,-0.61,-112.4,938.2,-7.7,941,11796,0.00,2.10,0.00,0.000,4,0.000,0.064,2659,846,3599,0,0,0,0,0,0
$GC,11920,-0.61,-112.4,948.8,-8.3,945,11924,0.00,2.10,0.00,0.000,6,0.000,0.061,2659,2138,3599,0,0,0,0,0,0
$GC,12257,-0.70,-112.4,970.4,-1.3,956,12260,0.00,1.90,0.00,0.000,4,0.000,0.071,2659,3308,3598,0,0,0,0,0,0
$GC,12502,-0.83,-112.4,970.4,-0.6,963,12506,0.17,1.83,0.00,0.000,6,0.105,0.057,2595,2180,3598,0,0,0,0,0,0
$STATE,12722,end dive,NO_VERTICAL_VELOCITY
$STATE,12722,begin apogee
$GC,12728,-0.14,0.0,970.3,0.0,971,12827,0.57,0.00,96.75,1.224,6,0.055,0.000,2821,1993,3150,0,0,0,0,0,0
$STATE,12827,end apogee,CONTROL_FINISHED_OK
$STATE,12827,begin climb
$GC,12830,0.45,112.4,970.3,0.0,974,12941,0.50,2.22,102.40,1.186,4,0.057,0.064,3022,766,2691,0,0,0,0,0,0
$GC,13081,0.43,133.7,962.5,5.3,982,13105,0.00,2.08,20.12,1.120,6,0.000,0.059,3022,2006,2605,0,0,0,0,0,0
$GC,13411,0.39,133.7,938.5,8.4,992,13415,0.15,2.03,0.00,0.000,4,0.166,0.067,2983,3239,2601,0,0,0,0,0,0
$GC,13437,0.37,133.7,936.4,7.3,993,13440,0.00,2.03,0.00,0.000,6,0.000,0.058,2990,2010,2601,0,0,0,0,0,0
$GC,13773,0.35,133.7,909.7,9.3,1004,13776,0.00,2.03,0.00,0.000,4,0.000,0.070,2990,3240,2600,0,0,0,0,0,0
$GC,13825,0.32,133.7,904.7,9.4,1005,13829,0.10,2.00,0.00,0.000,6,0.133,0.058,2965,2013,2599,0,0,0,0,0,0
$GC,14140,0.33,145.8,886.0,5.7,1016,14155,0.00,2.05,11.50,1.071,4,0.000,0.070,2965,3232,2554,0,0,0,0,0,0
$GC,14218,0.32,145.8,880.9,6.6,1018,14222,0.00,1.95,0.00,0.000,6,0.000,0.058,2969,2033,2554,0,0,0,0,0,0
$GC,14532,0.33,166.4,863.2,5.4,1029,14556,0.00,2.00,19.58,1.111,4,0.000,0.068,2970,3224,2471,0,0,0,0,0,0
$GC,14584,0.33,166.4,860.0,6.7,1030,14588,0.00,1.92,0.00,0.000,6,0.000,0.058,2974,2050,2469,0,0,0,0,0,0
$GC,14898,0.33,166.4,838.0,7.3,1041,14901,0.00,2.12,0.00,0.000,4,0.000,0.067,2978,762,2467,0,0,0,0,0,0
$GC,14908,0.33,166.4,837.3,7.1,1041,14912,0.00,2.08,0.00,0.000,6,0.000,0.060,2979,2039,2467,0,0,0,0,0,0
$GC,15234,0.33,166.4,815.9,6.8,1052,15237,0.00,1.98,0.00,0.000,4,0.000,0.070,2978,3239,2467,0,0,0,0,0,0
$GC,15329,0.31,166.4,808.3,8.8,1055,15332,0.00,1.90,0.00,0.000,6,0.000,0.058,2984,2065,2466,0,0,0,0,0,0
$GC,15665,0.31,166.4,784.2,7.1,1066,15665,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2065,2466,0,0,0,0,0,0
$GC,15968,0.31,166.4,763.3,6.6,1076,15968,0.00,0.00,0.00,0.000,6,0.000,0.000,2983,2065,2466,0,0,0,0,0,0
$GC,16271,0.31,166.4,743.6,6.8,1086,16275,0.00,1.95,0.00,0.000,4,0.000,0.069,2984,3232,2465,0,0,0,0,0,0
$GC,16319,0.30,166.4,739.8,9.1,1087,16323,0.12,1.88,0.00,0.000,6,0.159,0.058,2956,2057,2465,0,0,0,0,0,0
$GC,16638,0.30,166.4,719.8,6.4,1098,16642,0.00,1.98,0.00,0.000,4,0.000,0.070,2956,3239,2465,0,0,0,0,0,0
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$STATE,26307,end climb,SURFACE_DEPTH_REACHED
$STATE,26307,begin surface coast
$FINISH,1.2,1.023308
$STATE,26366,end surface coast,CONTROL_FINISHED_OK
$STATE,26366,begin surface
$SM_CCo,26443,0.00,0.000,0,0,1459,414.56
$SM_GC,1.98,7.82,0.00,0.00,0.042,0.000,0.000,145,2076,1459,-8.39,0.03,414.56
$IRIDIUM_FIX,4722.92,-12543.78,010100,070757
$TT8_MAMPS,0.052923
$HUMID,41.73
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,22.5,64.561
$10V_AH,9.9,63.303
$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,20.850,172.800,474.025,0.000,0.000,24.197,34.872,297.477,0.000,0.000,12.402,0.000,20503.623,565.044,4966.150,892.559,0.000,2373.743,0.000,4246.305,0.000,0.533,0.000
$DEVICE_MAMPS,230.100,230.100,1224.132,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1496.234,1360.001,1846.492,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298404
$DATA_FILE_SIZE,113508,2050
$CAP_FILE_SIZE,248112,0
$CFSIZE,260165632,216403968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.112,354.7,1
$GPS,071010,221954,4749.371,-12536.887,27,0.9,44,18.8