version: 66.06
glider: 187
mission: 2
dive: 619
start: 10 9 110 1 59 55
data:
$ID,187
$MISSION,2
$DIVE,619
$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,-36911.035
$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,30
$R_STBD_OVSHOOT,33
$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
$GPS1,013800,4756.574,-12525.504,97,1.0,97,18.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.10
$_SM_ANGLEo,-70.5
$GPS2,015949,4756.844,-12525.486,10,1.4,27,18.8
$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,15.0,10414,-13.9,-6.111
$D_GRID,452
$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,-58.42,0.000,2,0.000,0.000,130,2084,3009,0,0,0,0,0,0
$GC,77,-0.45,-112.4,3.1,-2.0,10,106,10.40,1.98,-13.98,0.000,4,0.226,0.074,2694,3302,3610,0,0,0,0,0,0
$GC,347,-0.45,-112.4,35.8,-7.9,60,353,0.00,1.92,0.00,0.000,6,0.000,0.045,2694,2074,3612,0,0,0,0,0,0
$GC,674,-0.45,-112.4,67.8,-8.3,121,680,0.00,1.92,0.00,0.000,4,0.000,0.052,2694,847,3613,0,0,0,0,0,0
$GC,691,-0.45,-112.4,69.5,-8.7,124,696,0.00,1.92,0.00,0.000,6,0.000,0.053,2692,2063,3613,0,0,0,0,0,0
$GC,1019,-0.45,-112.4,95.3,-7.7,185,1025,0.00,2.00,0.00,0.000,4,0.000,0.061,2683,3307,3614,0,0,0,0,0,0
$GC,1147,-0.45,-112.4,106.0,-8.5,203,1151,0.00,1.92,0.00,0.000,6,0.000,0.046,2682,2076,3614,0,0,0,0,0,0
$GC,1468,-0.45,-112.4,132.1,-7.9,234,1469,0.00,0.00,0.00,0.000,6,0.000,0.000,2682,2074,3614,0,0,0,0,0,0
$GC,1780,-0.45,-112.4,157.6,-7.8,264,1783,0.00,2.00,0.00,0.000,4,0.000,0.062,2674,3316,3613,0,0,0,0,0,0
$GC,1817,-0.45,-112.4,160.7,-8.0,267,1822,0.08,1.92,0.00,0.000,6,0.117,0.048,2702,2085,3612,0,0,0,0,0,0
$GC,2133,-0.45,-112.4,184.6,-7.9,298,2136,0.00,1.95,0.00,0.000,4,0.000,0.055,2702,849,3612,0,0,0,0,0,0
$GC,2159,-0.45,-112.4,186.9,-8.4,300,2165,0.00,1.98,0.00,0.000,6,0.000,0.053,2702,2094,3611,0,0,0,0,0,0
$GC,2475,-0.45,-112.4,209.4,-7.2,331,2477,0.00,1.95,0.00,0.000,4,0.000,0.064,2696,3321,3611,0,0,0,0,0,0
$GC,2528,-0.47,-112.4,213.6,-8.0,336,2531,0.00,1.90,0.00,0.000,6,0.000,0.049,2696,2094,3610,0,0,0,0,0,0
$GC,2849,-0.47,-112.4,236.3,-6.6,367,2851,0.00,1.95,0.00,0.000,4,0.000,0.054,2695,841,3610,0,0,0,0,0,0
$GC,2907,-0.47,-112.4,240.9,-8.3,372,2913,0.00,1.98,0.00,0.000,6,0.000,0.054,2692,2086,3610,0,0,0,0,0,0
$GC,3222,-0.47,-112.4,262.1,-6.7,403,3225,0.00,1.98,0.00,0.000,4,0.000,0.067,2691,3308,3609,0,0,0,0,0,0
$GC,3324,-0.48,-112.4,269.2,-7.2,412,3328,0.00,1.88,0.00,0.000,6,0.000,0.050,2690,2086,3608,0,0,0,0,0,0
$GC,3638,-0.48,-112.4,290.9,-6.6,443,3642,0.00,2.03,0.00,0.000,4,0.000,0.066,2689,3312,3607,0,0,0,0,0,0
$GC,3676,-0.50,-112.4,293.3,-6.0,446,3681,0.00,1.88,0.00,0.000,6,0.000,0.049,2689,2113,3607,0,0,0,0,0,0
$GC,3991,-0.50,-112.4,314.4,-6.7,477,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,2113,3607,0,0,0,0,0,0
$GC,4304,-0.50,-112.4,336.4,-6.8,507,4307,0.00,1.98,0.00,0.000,4,0.000,0.067,2686,3308,3606,0,0,0,0,0,0
$GC,4340,-0.51,-112.4,339.0,-6.5,510,4346,0.00,1.88,0.00,0.000,6,0.000,0.051,2686,2123,3605,0,0,0,0,0,0
$GC,4656,-0.51,-112.4,361.9,-7.6,541,4657,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2123,3605,0,0,0,0,0,0
$GC,4969,-0.51,-112.4,384.6,-7.3,571,4972,0.00,1.92,0.00,0.000,4,0.000,0.067,2679,3310,3605,0,0,0,0,0,0
$GC,5011,-0.51,-112.4,388.0,-7.7,575,5014,0.00,1.88,0.00,0.000,6,0.000,0.051,2679,2127,3604,0,0,0,0,0,0
$GC,5332,-0.51,-112.4,415.0,-8.4,606,5332,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2126,3604,0,0,0,0,0,0
$GC,5644,-0.51,-112.4,440.7,-8.0,636,5645,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2126,3604,0,0,0,0,0,0
$STATE,5795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5795,begin apogee
$GC,5801,-0.14,0.0,452.8,7.8,651,5898,0.40,0.00,90.53,0.875,6,0.114,0.000,2809,1999,3150,0,0,0,0,0,0
$STATE,5899,end apogee,CONTROL_FINISHED_OK
$STATE,5899,begin climb
$GC,5901,0.45,112.4,456.0,0.0,661,6002,0.52,2.05,93.15,0.850,4,0.074,0.058,3007,765,2690,0,0,0,0,0,0
$GC,6092,0.46,154.9,452.4,4.6,678,6132,0.00,2.03,36.38,0.827,6,0.000,0.054,3007,2001,2517,0,0,0,0,0,0
$GC,6449,0.45,154.9,428.4,6.9,713,6452,0.00,2.03,0.00,0.000,4,0.000,0.064,3007,3239,2512,0,0,0,0,0,0
$GC,6545,0.42,154.9,420.7,8.2,722,6548,0.00,1.98,0.00,0.000,6,0.000,0.053,3014,2013,2511,0,0,0,0,0,0
$GC,6866,0.41,154.9,396.2,8.0,753,6869,0.00,2.03,0.00,0.000,4,0.000,0.064,3014,3240,2511,0,0,0,0,0,0
$GC,6919,0.38,154.9,391.7,9.0,758,6923,0.10,1.95,0.00,0.000,6,0.130,0.054,2980,2023,2510,0,0,0,0,0,0
$GC,7239,0.38,156.6,371.9,6.0,789,7243,0.00,1.98,0.00,0.000,4,0.000,0.065,2979,3233,2510,0,0,0,0,0,0
$GC,7336,0.38,156.6,365.4,6.9,798,7339,0.00,1.90,0.00,0.000,6,0.000,0.054,2983,2024,2509,0,0,0,0,0,0
$GC,7657,0.38,156.6,346.4,6.6,829,7660,0.00,1.98,0.00,0.000,4,0.000,0.065,2983,3234,2509,0,0,0,0,0,0
$GC,7672,0.38,156.6,345.3,6.4,830,7677,0.00,1.90,0.00,0.000,6,0.000,0.054,2986,2049,2509,0,0,0,0,0,0
$GC,7988,0.38,163.7,325.7,5.9,861,8000,0.00,1.90,7.57,0.703,4,0.000,0.063,2986,3238,2482,0,0,0,0,0,0
$GC,8053,0.38,163.7,321.5,6.6,867,8056,0.00,1.88,0.00,0.000,6,0.000,0.053,2991,2062,2480,0,0,0,0,0,0
$GC,8375,0.41,204.7,304.2,4.6,898,8416,0.00,1.92,34.88,0.782,4,0.000,0.065,2991,3234,2314,0,0,0,0,0,0
$GC,8471,0.41,204.7,299.1,6.3,907,8474,0.00,1.88,0.00,0.000,6,0.000,0.054,2993,2065,2311,0,0,0,0,0,0
$GC,8791,0.42,213.9,281.3,5.8,938,8804,0.00,2.08,8.85,0.694,4,0.000,0.062,2995,762,2276,0,0,0,0,0,0
$GC,8818,0.42,227.7,279.8,5.6,940,8836,0.00,2.10,12.90,0.717,6,0.000,0.057,2995,2072,2221,0,0,0,0,0,0
$GC,9144,0.42,227.7,257.1,7.6,972,9148,0.00,1.90,0.00,0.000,4,0.000,0.065,2995,3237,2217,0,0,0,0,0,0
$GC,9181,0.42,227.7,254.3,7.5,975,9188,0.00,1.88,0.00,0.000,6,0.000,0.054,2999,2073,2216,0,0,0,0,0,0
$GC,9498,0.42,227.7,231.3,7.3,1006,9501,0.00,2.12,0.00,0.000,4,0.000,0.064,2999,754,2216,0,0,0,0,0,0
$GC,9545,0.44,227.7,228.1,7.1,1010,9548,0.00,2.10,0.00,0.000,6,0.000,0.056,3000,2071,2216,0,0,0,0,0,0
$GC,9866,0.44,227.7,202.9,8.4,1041,9866,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2071,2216,0,0,0,0,0,0
$GC,10178,0.44,227.7,179.7,6.5,1071,10179,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2070,2215,0,0,0,0,0,0
$GC,10488,0.44,227.7,158.1,7.3,1101,10491,0.00,2.12,0.00,0.000,4,0.000,0.063,3000,756,2215,0,0,0,0,0,0
$GC,10504,0.44,227.7,157.0,7.2,1102,10507,0.00,2.08,0.00,0.000,6,0.000,0.057,2999,2072,2215,0,0,0,0,0,0
$GC,10819,0.44,227.7,133.8,8.0,1132,10822,0.00,2.12,0.00,0.000,4,0.000,0.064,3000,756,2214,0,0,0,0,0,0
$GC,10829,0.44,227.7,133.0,7.4,1133,10833,0.00,2.08,0.00,0.000,6,0.000,0.056,3000,2058,2215,0,0,0,0,0,0
$GC,11150,0.44,227.7,114.8,7.0,1164,11153,0.00,1.90,0.00,0.000,4,0.000,0.064,3000,3230,2214,0,0,0,0,0,0
$GC,11225,0.44,227.7,109.0,8.4,1171,11228,0.00,1.88,0.00,0.000,6,0.000,0.054,3000,2055,2214,0,0,0,0,0,0
$GC,11547,0.44,236.3,89.1,5.8,1219,11558,0.00,2.10,7.70,0.593,4,0.000,0.062,3000,757,2186,0,0,0,0,0,0
$GC,11579,0.48,277.6,87.7,4.6,1225,11619,0.00,2.05,34.83,0.646,6,0.000,0.055,3000,2054,2018,0,0,0,0,0,0
$GC,11940,0.52,297.6,68.3,5.4,1292,11962,0.00,0.00,16.85,0.621,6,0.000,0.000,3000,2054,1937,0,0,0,0,0,0
$GC,12286,0.56,310.0,50.5,5.7,1356,12304,0.10,2.10,11.55,0.594,4,0.110,0.062,3043,764,1885,0,0,0,0,0,0
$GC,12321,0.60,310.0,48.0,6.9,1362,12326,0.00,2.08,0.00,0.000,6,0.000,0.057,3043,2056,1885,0,0,0,0,0,0
$GC,12648,0.66,353.1,27.6,4.5,1423,12688,0.00,2.15,35.88,0.606,4,0.000,0.062,3043,759,1709,0,0,0,0,0,0
$GC,12929,0.74,353.1,9.4,8.9,1475,12935,0.10,1.88,0.00,0.000,6,0.080,0.054,3091,1934,1704,0,0,0,0,0,0
$STATE,13002,end climb,SURFACE_DEPTH_REACHED
$STATE,13002,begin surface coast
$FINISH,1.2,1.013357
$STATE,13042,end surface coast,CONTROL_FINISHED_OK
$STATE,13042,begin surface
$SM_CCo,13117,0.00,0.000,0,0,1697,356.42
$SM_GC,2.42,7.95,0.00,0.00,0.051,0.000,0.000,143,2093,1697,-8.40,0.51,356.42
$IRIDIUM_FIX,4738.89,-12529.27,030100,020238
$TT8_MAMPS,0.05369
$HUMID,41.49
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,15.90
$XPDR_PINGS,0
$24V_AH,23.7,65.435
$10V_AH,9.9,64.249
$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,19.650,107.175,391.050,0.000,0.000,136.261,230.870,494.785,0.000,0.000,28.075,0.000,9110.604,435.955,3565.694,1276.603,0.000,1670.419,0.000,3088.176,0.000,0.536,0.000
$DEVICE_MAMPS,226.265,81.302,875.147,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1028.920,1165.308,1763.461,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298324
$DATA_FILE_SIZE,85324,1496
$CAP_FILE_SIZE,165562,0
$CFSIZE,260165632,215871488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.143,225.2,1
$GPS,091010,054101,4757.235,-12525.215,130,1.2,130,18.8