version: 66.06
glider: 187
mission: 2
dive: 616
start: 10 8 110 11 34 32
data:
$ID,187
$MISSION,2
$DIVE,616
$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,-36842.582
$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,34
$R_STBD_OVSHOOT,25
$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
$GPS1,111725,4753.833,-12528.996,42,1.1,42,18.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-75.0
$GPS2,113426,4753.998,-12528.827,24,1.4,24,18.8
$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,15.4,17095,-13.9,-6.111
$D_GRID,528
$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,14,-0.45,-112.4,0.0,0.0,0,68,0.00,0.00,-52.33,0.000,2,0.000,0.000,130,2064,2878,0,0,0,0,0,0
$GC,70,-0.45,-112.4,3.0,-2.0,9,105,10.52,2.03,-17.90,0.000,4,0.231,0.075,2695,3317,3608,0,0,0,0,0,0
$GC,334,-0.45,-112.4,39.9,-10.4,58,339,0.00,1.98,0.00,0.000,6,0.000,0.048,2695,2073,3612,0,0,0,0,0,0
$GC,660,-0.45,-112.4,70.0,-9.5,119,666,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2070,3613,0,0,0,0,0,0
$GC,984,-0.45,-112.4,102.9,-9.2,177,988,0.00,1.95,0.00,0.000,4,0.000,0.056,2695,836,3613,0,0,0,0,0,0
$GC,1027,-0.45,-112.4,106.7,-8.6,181,1031,0.00,1.98,0.00,0.000,6,0.000,0.054,2691,2080,3612,0,0,0,0,0,0
$GC,1347,-0.45,-112.4,132.6,-9.0,212,1351,0.00,2.00,0.00,0.000,4,0.000,0.064,2688,3303,3612,0,0,0,0,0,0
$GC,1433,-0.45,-112.4,139.8,-8.3,220,1437,0.00,1.92,0.00,0.000,6,0.000,0.048,2688,2078,3612,0,0,0,0,0,0
$GC,1753,-0.45,-112.4,164.5,-7.6,251,1757,0.00,1.95,0.00,0.000,4,0.000,0.057,2688,848,3612,0,0,0,0,0,0
$GC,1822,-0.45,-112.4,170.1,-8.0,257,1828,0.00,1.98,0.00,0.000,6,0.000,0.054,2685,2086,3611,0,0,0,0,0,0
$GC,2138,-0.45,-112.4,197.7,-9.2,288,2142,0.00,2.00,0.00,0.000,4,0.000,0.064,2676,3308,3611,0,0,0,0,0,0
$GC,2196,-0.45,-112.4,203.2,-9.1,293,2202,0.08,1.92,0.00,0.000,6,0.117,0.050,2703,2090,3610,0,0,0,0,0,0
$GC,2512,-0.47,-112.4,226.9,-7.2,324,2516,0.00,1.98,0.00,0.000,4,0.000,0.058,2703,848,3610,0,0,0,0,0,0
$GC,2570,-0.48,-112.4,231.5,-8.0,329,2576,0.00,1.98,0.00,0.000,6,0.000,0.054,2704,2088,3610,0,0,0,0,0,0
$GC,2886,-0.49,-112.4,254.5,-7.3,360,2887,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2087,3609,0,0,0,0,0,0
$GC,3199,-0.50,-112.4,276.9,-7.8,390,3200,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2087,3608,0,0,0,0,0,0
$GC,3509,-0.52,-112.4,300.4,-7.5,420,3510,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2088,3608,0,0,0,0,0,0
$GC,3819,-0.53,-112.4,322.8,-7.9,450,3822,0.00,1.95,0.00,0.000,4,0.000,0.066,2699,3309,3607,0,0,0,0,0,0
$GC,3850,-0.55,-112.4,325.5,-8.4,453,3853,0.00,1.92,0.00,0.000,6,0.000,0.052,2698,2079,3607,0,0,0,0,0,0
$GC,4172,-0.56,-112.4,347.4,-6.2,484,4174,0.00,1.92,0.00,0.000,4,0.000,0.060,2699,846,3607,0,0,0,0,0,0
$GC,4251,-0.57,-112.4,352.1,-6.0,491,4257,0.00,1.95,0.00,0.000,6,0.000,0.057,2696,2083,3606,0,0,0,0,0,0
$GC,4566,-0.57,-112.4,371.9,-6.1,522,4567,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2083,3606,0,0,0,0,0,0
$GC,4879,-0.57,-112.4,392.5,-6.3,552,4879,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2083,3605,0,0,0,0,0,0
$GC,5189,-0.59,-112.4,411.6,-6.2,582,5192,0.00,1.98,0.00,0.000,4,0.000,0.067,2691,3308,3605,0,0,0,0,0,0
$GC,5220,-0.60,-112.4,413.8,-6.8,585,5223,0.00,1.92,0.00,0.000,6,0.000,0.054,2691,2069,3604,0,0,0,0,0,0
$GC,5542,-0.60,-112.4,435.2,-6.8,616,5544,0.00,1.95,0.00,0.000,4,0.000,0.061,2691,835,3604,0,0,0,0,0,0
$GC,5589,-0.61,-112.4,438.8,-7.9,620,5594,0.10,1.95,0.00,0.000,6,0.107,0.058,2644,2068,3604,0,0,0,0,0,0
$GC,5904,-0.60,-112.4,467.5,-9.0,651,5908,0.00,2.05,0.00,0.000,4,0.000,0.067,2635,3306,3603,0,0,0,0,0,0
$GC,5931,-0.59,-112.4,470.0,-9.8,653,5936,0.00,1.95,0.00,0.000,6,0.000,0.054,2635,2056,3603,0,0,0,0,0,0
$GC,6246,-0.57,-112.4,501.0,-9.6,684,6247,0.12,0.00,0.00,0.000,6,0.163,0.000,2670,2054,3603,0,0,0,0,0,0
$GC,6556,-0.57,-112.4,523.8,-7.7,714,6560,0.00,2.10,0.00,0.000,4,0.000,0.068,2663,3309,3602,0,0,0,0,0,0
$GC,6593,-0.57,-112.4,527.0,-8.7,717,6600,0.00,1.98,0.00,0.000,6,0.000,0.054,2663,2074,3602,0,0,0,0,0,0
$STATE,6607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6607,begin apogee
$GC,6612,-0.14,0.0,528.2,8.3,719,6709,0.45,0.00,91.45,0.927,6,0.114,0.000,2809,1984,3150,0,0,0,0,0,0
$STATE,6710,end apogee,CONTROL_FINISHED_OK
$STATE,6710,begin climb
$GC,6713,0.45,112.4,531.7,0.0,729,6814,0.52,2.05,94.75,0.901,4,0.074,0.060,3008,766,2690,0,0,0,0,0,0
$GC,6858,0.46,157.3,530.7,4.5,742,6902,0.00,2.05,39.45,0.878,6,0.000,0.056,3008,2000,2507,0,0,0,0,0,0
$GC,7219,0.44,157.3,502.2,7.8,777,7222,0.00,2.05,0.00,0.000,4,0.000,0.066,3008,3240,2501,0,0,0,0,0,0
$GC,7316,0.42,157.3,493.7,9.6,786,7319,0.00,1.95,0.00,0.000,6,0.000,0.054,3014,2021,2500,0,0,0,0,0,0
$GC,7637,0.40,157.3,469.3,6.8,817,7640,0.00,1.95,0.00,0.000,4,0.000,0.066,3014,3233,2500,0,0,0,0,0,0
$GC,7701,0.37,157.3,464.1,7.6,823,7704,0.17,1.90,0.00,0.000,6,0.147,0.054,2972,2034,2499,0,0,0,0,0,0
$GC,8022,0.38,172.4,445.2,5.6,854,8043,0.00,2.00,12.60,0.818,4,0.000,0.066,2972,3233,2446,0,0,0,0,0,0
$GC,8079,0.38,172.4,441.7,6.7,859,8085,0.00,1.92,0.00,0.000,6,0.000,0.054,2973,2040,2445,0,0,0,0,0,0
$GC,8395,0.38,172.4,422.9,6.5,890,8398,0.00,1.95,0.00,0.000,4,0.000,0.067,2973,3240,2445,0,0,0,0,0,0
$GC,8432,0.38,172.4,420.3,7.5,893,8439,0.00,1.90,0.00,0.000,6,0.000,0.055,2973,2059,2444,0,0,0,0,0,0
$GC,8747,0.38,172.4,399.3,6.6,924,8751,0.00,2.10,0.00,0.000,4,0.000,0.064,2973,769,2444,0,0,0,0,0,0
$GC,8763,0.38,172.4,398.3,7.0,925,8770,0.00,2.03,0.00,0.000,6,0.000,0.058,2973,2065,2444,0,0,0,0,0,0
$GC,9078,0.38,172.4,377.4,6.6,956,9082,0.00,1.90,0.00,0.000,4,0.000,0.067,2974,3228,2443,0,0,0,0,0,0
$GC,9137,0.38,172.4,373.2,7.0,961,9143,0.00,1.88,0.00,0.000,6,0.000,0.054,2974,2058,2443,0,0,0,0,0,0
$GC,9452,0.38,172.4,352.7,6.6,992,9453,0.00,0.00,0.00,0.000,6,0.000,0.000,2973,2057,2443,0,0,0,0,0,0
$GC,9765,0.38,172.4,331.9,6.5,1022,9768,0.00,1.90,0.00,0.000,4,0.000,0.067,2973,3233,2443,0,0,0,0,0,0
$GC,9796,0.38,172.4,329.6,7.4,1025,9800,0.00,1.88,0.00,0.000,6,0.000,0.055,2973,2066,2443,0,0,0,0,0,0
$GC,10117,0.38,172.4,309.9,6.4,1056,10121,0.00,2.12,0.00,0.000,4,0.000,0.064,2974,760,2442,0,0,0,0,0,0
$GC,10132,0.40,213.8,309.3,4.6,1057,10172,0.00,2.08,35.28,0.792,6,0.000,0.058,2974,2058,2277,0,0,0,0,0,0
$GC,10490,0.43,236.7,289.9,5.3,1092,10510,0.00,0.00,19.60,0.759,6,0.000,0.000,2974,2058,2185,0,0,0,0,0,0
$GC,10819,0.45,247.1,271.1,5.7,1124,10831,0.00,0.00,10.10,0.706,6,0.000,0.000,2974,2058,2142,0,0,0,0,0,0
$GC,11140,0.49,275.6,254.1,5.1,1155,11171,0.12,0.00,24.88,0.746,6,0.097,0.000,3030,2058,2026,0,0,0,0,0,0
$GC,11480,0.49,275.6,227.4,8.3,1188,11483,0.00,2.12,0.00,0.000,4,0.000,0.065,3037,763,2022,0,0,0,0,0,0
$GC,11500,0.49,275.6,225.6,8.7,1190,11504,0.00,2.08,0.00,0.000,6,0.000,0.057,3037,2058,2022,0,0,0,0,0,0
$GC,11822,0.49,275.6,194.6,9.6,1221,11825,0.00,2.10,0.00,0.000,4,0.000,0.064,3044,759,2021,0,0,0,0,0,0
$GC,11858,0.49,275.6,191.0,10.0,1224,11865,0.00,2.05,0.00,0.000,6,0.000,0.056,3043,2045,2020,0,0,0,0,0,0
$GC,12175,0.48,275.6,159.6,9.9,1255,12178,0.12,1.90,0.00,0.000,4,0.155,0.064,3008,3233,2019,0,0,0,0,0,0
$GC,12196,0.48,275.6,157.7,8.5,1257,12199,0.00,1.88,0.00,0.000,6,0.000,0.055,3010,2050,2018,0,0,0,0,0,0
$GC,12517,0.48,275.6,132.8,7.3,1288,12520,0.00,2.08,0.00,0.000,4,0.000,0.064,3011,760,2019,0,0,0,0,0,0
$GC,12550,0.49,275.6,130.7,6.4,1291,12553,0.00,2.03,0.00,0.000,6,0.000,0.057,3012,2047,2019,0,0,0,0,0,0
$GC,12870,0.49,275.6,105.1,8.7,1322,12874,0.00,1.92,0.00,0.000,4,0.000,0.064,3012,3239,2019,0,0,0,0,0,0
$GC,12880,0.49,275.6,104.3,8.5,1323,12884,0.00,1.90,0.00,0.000,6,0.000,0.054,3013,2052,2018,0,0,0,0,0,0
$GC,13205,0.51,275.6,81.1,6.9,1378,13211,0.00,2.08,0.00,0.000,4,0.000,0.063,3012,759,2018,0,0,0,0,0,0
$GC,13228,0.52,275.6,79.7,6.6,1382,13233,0.00,2.08,0.00,0.000,6,0.000,0.057,3013,2062,2018,0,0,0,0,0,0
$GC,13555,0.54,275.6,59.8,6.5,1443,13560,0.00,2.10,0.00,0.000,4,0.000,0.064,3013,761,2018,0,0,0,0,0,0
$GC,13582,0.56,275.6,58.1,6.2,1448,13587,0.00,2.05,0.00,0.000,6,0.000,0.056,3013,2048,2018,0,0,0,0,0,0
$GC,13910,0.59,284.5,38.8,5.8,1509,13922,0.00,1.90,7.90,0.571,4,0.000,0.062,3013,3243,1990,0,0,0,0,0,0
$GC,13955,0.62,305.9,36.3,5.3,1517,13983,0.08,1.92,19.38,0.607,6,0.068,0.053,3063,2037,1902,0,0,0,0,0,0
$GC,14305,0.69,383.0,16.6,3.3,1582,14374,0.00,2.05,62.25,0.600,4,0.000,0.060,3063,756,1587,0,0,0,0,0,0
$STATE,14473,end climb,SURFACE_DEPTH_REACHED
$STATE,14473,begin surface coast
$FINISH,1.4,1.023982
$STATE,14500,end surface coast,CONTROL_FINISHED_OK
$STATE,14500,begin surface
$SM_CCo,14578,0.00,0.000,0,0,1576,385.86
$SM_GC,2.22,7.80,0.00,0.00,0.042,0.000,0.000,136,2081,1576,-8.40,0.17,385.86
$IRIDIUM_FIX,4735.69,-12528.16,020100,111100
$TT8_MAMPS,0.052923
$HUMID,41.57
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,15.40
$XPDR_PINGS,0
$24V_AH,23.4,64.991
$10V_AH,9.9,63.787
$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,20.100,119.375,417.625,0.000,0.000,91.085,111.196,493.202,0.000,0.000,24.856,0.000,10171.585,485.262,3771.012,1123.888,0.000,1804.153,0.000,3253.147,0.000,0.533,0.000
$DEVICE_MAMPS,230.867,99.710,926.536,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1114.086,1324.521,1787.149,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298336
$DATA_FILE_SIZE,91544,1618
$CAP_FILE_SIZE,177581,0
$CFSIZE,260165632,216145920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.046,142.2,1
$GPS,081010,153901,4755.085,-12526.934,71,0.9,71,18.8