version: 66.06
glider: 187
mission: 2
dive: 620
start: 10 9 110 5 59 37
data:
$ID,187
$MISSION,2
$DIVE,620
$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,657.40399
$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,-36923.387
$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,37
$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
$GPS1,054101,4757.235,-12525.215,130,1.2,130,18.8
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.89
$_SM_ANGLEo,-70.4
$GPS2,055932,4757.505,-12524.828,11,2.0,11,18.8
$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,22.7,8944,-13.9,-6.111
$D_GRID,342
$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,-112.4,0.0,0.0,0,52,0.00,0.00,-37.10,0.000,2,0.000,0.000,130,2091,2588,0,0,0,0,0,0
$GC,55,-0.45,-112.4,3.1,-3.8,6,100,10.52,2.00,-27.35,0.000,4,0.232,0.064,2701,835,3610,0,0,0,0,0,0
$GC,116,-0.40,-112.4,10.9,-14.0,17,122,0.00,1.95,0.00,0.000,6,0.000,0.053,2695,2057,3611,0,0,0,0,0,0
$GC,442,-0.39,-112.4,47.0,-11.8,78,448,0.12,1.98,0.00,0.000,4,0.156,0.056,2731,837,3613,0,0,0,0,0,0
$GC,535,-0.41,-112.4,55.8,-9.2,95,540,0.00,2.03,0.00,0.000,6,0.000,0.053,2731,2111,3614,0,0,0,0,0,0
$GC,863,-0.42,-112.4,76.8,-6.5,156,869,0.00,1.95,0.00,0.000,4,0.000,0.064,2729,3302,3614,0,0,0,0,0,0
$GC,939,-0.45,-112.4,82.0,-6.7,170,944,0.00,1.85,0.00,0.000,6,0.000,0.046,2729,2116,3614,0,0,0,0,0,0
$GC,1264,-0.47,-112.4,103.3,-5.8,226,1268,0.00,2.00,0.00,0.000,4,0.000,0.054,2729,846,3614,0,0,0,0,0,0
$GC,1343,-0.48,-112.4,108.4,-6.2,233,1349,0.00,2.00,0.00,0.000,6,0.000,0.052,2729,2112,3614,0,0,0,0,0,0
$GC,1659,-0.51,-112.4,126.4,-6.3,264,1663,0.12,1.95,0.00,0.000,4,0.094,0.064,2663,3312,3613,0,0,0,0,0,0
$GC,1744,-0.51,-112.4,134.0,-9.6,272,1748,0.00,1.65,0.00,0.000,6,0.000,0.048,2664,2253,3613,0,0,0,0,0,0
$GC,2065,-0.51,-112.4,164.7,-8.7,303,2068,0.00,2.22,0.00,0.000,4,0.000,0.054,2663,849,3612,0,0,0,0,0,0
$GC,2118,-0.51,-112.4,169.7,-9.0,308,2122,0.00,2.22,0.00,0.000,6,0.000,0.055,2658,2247,3611,0,0,0,0,0,0
$GC,2439,-0.50,-112.4,200.7,-9.4,339,2443,0.12,1.73,0.00,0.000,4,0.150,0.065,2687,3304,3611,0,0,0,0,0,0
$GC,2508,-0.52,-112.4,206.0,-7.2,345,2514,0.00,1.62,0.00,0.000,6,0.000,0.048,2688,2263,3611,0,0,0,0,0,0
$GC,2826,-0.52,-112.4,230.5,-8.4,376,2830,0.00,2.20,0.00,0.000,4,0.000,0.055,2688,844,3610,0,0,0,0,0,0
$GC,2852,-0.52,-112.4,232.8,-8.0,378,2855,0.00,2.25,0.00,0.000,6,0.000,0.054,2681,2260,3609,0,0,0,0,0,0
$GC,3173,-0.52,-112.4,262.6,-8.8,409,3176,0.00,1.73,0.00,0.000,4,0.000,0.066,2673,3312,3609,0,0,0,0,0,0
$GC,3252,-0.52,-112.4,269.1,-7.8,416,3259,0.00,1.62,0.00,0.000,6,0.000,0.050,2673,2281,3609,0,0,0,0,0,0
$GC,3568,-0.52,-112.4,296.6,-8.2,447,3572,0.00,2.28,0.00,0.000,4,0.000,0.058,2673,856,3608,0,0,0,0,0,0
$GC,3621,-0.52,-112.4,301.0,-8.6,452,3625,0.00,2.25,0.00,0.000,6,0.000,0.056,2673,2264,3608,0,0,0,0,0,0
$GC,3942,-0.52,-112.4,326.6,-9.5,483,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2264,3607,0,0,0,0,0,0
$STATE,4116,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4116,begin apogee
$GC,4121,-0.14,0.0,342.6,7.2,500,4213,0.43,0.00,89.60,0.801,6,0.115,0.000,2811,2002,3151,0,0,0,0,0,0
$STATE,4213,end apogee,CONTROL_FINISHED_OK
$STATE,4213,begin climb
$GC,4216,0.45,112.4,345.3,0.0,509,4318,0.52,2.10,91.40,0.776,4,0.074,0.060,3010,771,2690,0,0,0,0,0,0
$GC,4349,0.48,186.0,345.1,3.4,522,4415,0.00,2.03,61.62,0.762,6,0.000,0.054,3010,2003,2391,0,0,0,0,0,0
$GC,4725,0.48,186.0,321.6,6.7,558,4728,0.00,2.00,0.00,0.000,4,0.000,0.063,3010,3230,2384,0,0,0,0,0,0
$GC,4887,0.47,186.0,308.2,9.1,573,4890,0.00,1.90,0.00,0.000,6,0.000,0.052,3013,2029,2383,0,0,0,0,0,0
$GC,5208,0.46,186.0,281.3,8.1,604,5209,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2028,2382,0,0,0,0,0,0
$GC,5520,0.46,186.0,254.0,8.8,634,5521,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2028,2381,0,0,0,0,0,0
$GC,5830,0.46,186.0,228.4,7.5,664,5833,0.00,1.95,0.00,0.000,4,0.000,0.064,3013,3241,2381,0,0,0,0,0,0
$GC,5862,0.44,186.0,225.6,8.5,667,5865,0.00,1.92,0.00,0.000,6,0.000,0.054,3019,2021,2380,0,0,0,0,0,0
$GC,6182,0.43,186.0,199.2,8.6,698,6185,0.00,1.98,0.00,0.000,4,0.000,0.064,3019,3231,2381,0,0,0,0,0,0
$GC,6262,0.41,186.0,191.6,9.9,705,6268,0.10,1.88,0.00,0.000,6,0.125,0.053,2993,2051,2379,0,0,0,0,0,0
$GC,6578,0.41,186.0,169.5,6.7,736,6579,0.00,0.00,0.00,0.000,6,0.000,0.000,2993,2049,2379,0,0,0,0,0,0
$GC,6891,0.41,186.0,150.4,6.2,766,6894,0.00,1.90,0.00,0.000,4,0.000,0.064,2992,3242,2379,0,0,0,0,0,0
$GC,6911,0.41,186.0,148.9,6.3,768,6915,0.00,1.92,0.00,0.000,6,0.000,0.054,2996,2035,2379,0,0,0,0,0,0
$GC,7233,0.43,216.4,130.4,5.0,799,7264,0.00,1.98,24.25,0.665,4,0.000,0.065,2996,3232,2265,0,0,0,0,0,0
$GC,7306,0.43,216.4,126.2,6.3,806,7309,0.00,1.88,0.00,0.000,6,0.000,0.053,3000,2063,2264,0,0,0,0,0,0
$GC,7627,0.43,216.4,106.2,6.3,837,7630,0.00,2.10,0.00,0.000,4,0.000,0.062,3000,769,2263,0,0,0,0,0,0
$GC,7653,0.45,222.6,104.7,5.9,839,7662,0.00,2.08,6.05,0.557,6,0.000,0.056,3000,2065,2242,0,0,0,0,0,0
$GC,7982,0.45,226.5,85.6,6.0,894,7993,0.00,1.90,4.75,0.507,4,0.000,0.066,3000,3227,2226,0,0,0,0,0,0
$GC,8014,0.45,226.5,83.6,6.3,900,8021,0.00,1.85,0.00,0.000,6,0.000,0.054,3000,2066,2225,0,0,0,0,0,0
$GC,8342,0.48,239.0,66.0,5.7,961,8357,0.00,1.88,11.50,0.606,4,0.000,0.064,3000,3240,2175,0,0,0,0,0,0
$GC,8418,0.49,239.0,60.7,7.6,975,8423,0.00,1.77,0.00,0.000,6,0.000,0.053,3000,2130,2175,0,0,0,0,0,0
$GC,8745,0.55,276.1,42.3,4.7,1036,8779,0.00,1.85,31.00,0.616,4,0.000,0.064,3000,3240,2024,0,0,0,0,0,0
$GC,8919,0.61,286.1,32.2,5.7,1068,8936,0.10,1.85,9.48,0.562,6,0.060,0.051,3056,2082,1982,0,0,0,0,0,0
$GC,9257,0.66,329.1,15.5,4.5,1131,9297,0.00,2.17,35.42,0.593,4,0.000,0.061,3056,762,1808,0,0,0,0,0,0
$GC,9352,0.72,344.5,11.1,5.5,1148,9370,0.00,2.20,13.68,0.561,6,0.000,0.054,3056,2131,1744,0,0,0,0,0,0
$STATE,9528,end climb,SURFACE_DEPTH_REACHED
$STATE,9528,begin surface coast
$FINISH,1.2,1.014404
$STATE,9587,end surface coast,CONTROL_FINISHED_OK
$STATE,9587,begin surface
$SM_CCo,9602,168.35,0.545,1,0,469,657.40
$SM_GC,1.76,0.00,0.00,168.35,0.000,0.000,0.545,133,2058,469,-8.47,-0.48,657.40
$IRIDIUM_FIX,4742.09,-12522.17,030100,060659
$TT8_MAMPS,0.052156
$HUMID,39.88
$INTERNAL_PRESSURE,8.96204
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.8,65.571
$10V_AH,9.9,64.373
$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,19.900,83.050,378.750,168.350,0.000,134.370,249.084,286.103,0.000,0.000,11.719,0.000,6335.643,580.271,2910.438,1029.938,0.000,1578.438,0.000,2539.607,0.000,0.534,0.000
$DEVICE_MAMPS,231.634,104.312,800.748,545.337,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,817.389,921.479,1631.952,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298344
$DATA_FILE_SIZE,66492,1192
$CAP_FILE_SIZE,132035,0
$CFSIZE,260165632,215805952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.108,245.8,1
$GPS,091010,084337,4757.941,-12524.882,42,1.1,43,18.8