version: 66.06
glider: 187
mission: 2
dive: 623
start: 10 9 110 14 56 5
data:
$ID,187
$MISSION,2
$DIVE,623
$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,-37042.359
$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,23
$R_STBD_OVSHOOT,32
$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
$GPS1,143456,4757.983,-12524.549,16,3.4,36,18.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-72.1
$GPS2,145600,4757.875,-12524.857,38,1.2,48,18.8
$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,30.7,8391,-13.9,-6.111
$D_GRID,321
$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,-112.4,0.0,0.0,0,72,0.00,0.00,-56.88,0.000,2,0.000,0.000,130,2086,3089,0,0,0,0,0,0
$GC,75,-0.45,-112.4,3.5,-2.7,11,103,10.38,2.00,-10.90,0.000,4,0.227,0.074,2695,3306,3612,0,0,0,0,0,0
$GC,221,-0.44,-112.4,26.8,-8.8,38,227,0.00,1.98,0.00,0.000,6,0.000,0.047,2695,2059,3613,0,0,0,0,0,0
$GC,548,-0.44,-112.4,62.8,-11.1,99,553,0.00,2.05,0.00,0.000,4,0.000,0.063,2687,3302,3615,0,0,0,0,0,0
$GC,650,-0.44,-112.4,72.6,-9.0,118,656,0.00,1.92,0.00,0.000,6,0.000,0.046,2686,2070,3615,0,0,0,0,0,0
$GC,976,-0.44,-112.4,104.0,-9.3,175,979,0.00,2.00,0.00,0.000,4,0.000,0.063,2678,3306,3615,0,0,0,0,0,0
$GC,1044,-0.44,-112.4,110.0,-8.5,181,1050,0.08,1.90,0.00,0.000,6,0.114,0.048,2707,2094,3615,0,0,0,0,0,0
$GC,1361,-0.45,-112.4,132.4,-6.7,212,1364,0.00,1.95,0.00,0.000,4,0.000,0.056,2708,843,3615,0,0,0,0,0,0
$GC,1435,-0.45,-112.4,137.4,-6.5,219,1438,0.00,1.95,0.00,0.000,6,0.000,0.054,2707,2076,3615,0,0,0,0,0,0
$GC,1758,-0.47,-112.4,157.7,-6.0,250,1761,0.00,2.00,0.00,0.000,4,0.000,0.064,2707,3318,3614,0,0,0,0,0,0
$GC,1864,-0.49,-112.4,163.8,-5.3,260,1867,0.00,1.92,0.00,0.000,6,0.000,0.049,2707,2091,3613,0,0,0,0,0,0
$GC,2184,-0.50,-112.4,183.5,-6.0,291,2188,0.00,1.98,0.00,0.000,4,0.000,0.057,2707,853,3612,0,0,0,0,0,0
$GC,2211,-0.51,-112.4,185.3,-7.0,293,2216,0.00,1.98,0.00,0.000,6,0.000,0.054,2707,2096,3613,0,0,0,0,0,0
$GC,2526,-0.53,-112.4,209.7,-7.2,324,2530,0.00,1.98,0.00,0.000,4,0.000,0.064,2708,3310,3612,0,0,0,0,0,0
$GC,2558,-0.55,-112.4,212.3,-8.1,327,2561,0.00,1.92,0.00,0.000,6,0.000,0.050,2707,2087,3612,0,0,0,0,0,0
$GC,2881,-0.57,-112.4,235.5,-7.0,358,2884,0.10,1.98,0.00,0.000,4,0.107,0.058,2652,839,3611,0,0,0,0,0,0
$GC,2927,-0.57,-112.4,240.5,-11.3,362,2934,0.00,2.00,0.00,0.000,6,0.000,0.055,2646,2094,3611,0,0,0,0,0,0
$GC,3243,-0.55,-112.4,274.0,-11.0,393,3247,0.10,2.00,0.00,0.000,4,0.166,0.065,2667,3312,3610,0,0,0,0,0,0
$GC,3319,-0.55,-112.4,281.1,-9.4,400,3322,0.00,1.90,0.00,0.000,6,0.000,0.051,2667,2094,3610,0,0,0,0,0,0
$GC,3639,-0.55,-112.4,313.1,-10.4,431,3642,0.00,1.98,0.00,0.000,4,0.000,0.065,2658,3309,3609,0,0,0,0,0,0
$GC,3670,-0.55,-112.4,316.1,-10.0,434,3674,0.00,1.90,0.00,0.000,6,0.000,0.051,2659,2105,3609,0,0,0,0,0,0
$STATE,3721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3721,begin apogee
$GC,3726,-0.14,0.0,321.6,10.3,439,3818,0.45,0.00,89.78,0.788,6,0.114,0.000,2805,1994,3150,0,0,0,0,0,0
$STATE,3819,end apogee,CONTROL_FINISHED_OK
$STATE,3819,begin climb
$GC,3822,0.45,112.4,325.3,0.0,448,3918,0.55,2.03,91.32,0.763,4,0.079,0.058,3008,766,2690,0,0,0,0,0,0
$GC,3935,0.52,245.9,326.7,1.2,458,4051,0.00,2.03,109.43,0.753,6,0.000,0.054,3008,1996,2147,0,0,0,0,0,0
$GC,4362,0.52,245.9,302.8,6.4,499,4364,0.00,2.00,0.00,0.000,4,0.000,0.063,3008,3232,2139,0,0,0,0,0,0
$GC,4441,0.52,245.9,296.3,8.1,506,4447,0.00,1.98,0.00,0.000,6,0.000,0.053,3013,2008,2138,0,0,0,0,0,0
$GC,4756,0.52,245.9,272.7,7.8,537,4760,0.00,2.00,0.00,0.000,4,0.000,0.063,3013,764,2138,0,0,0,0,0,0
$GC,4788,0.52,245.9,270.4,7.6,540,4791,0.00,1.92,0.00,0.000,6,0.000,0.055,3013,2007,2138,0,0,0,0,0,0
$GC,5109,0.52,245.9,246.1,8.0,571,5112,0.00,1.95,0.00,0.000,4,0.000,0.063,3013,3232,2137,0,0,0,0,0,0
$GC,5157,0.52,245.9,242.5,7.9,575,5162,0.00,1.92,0.00,0.000,6,0.000,0.054,3013,2023,2136,0,0,0,0,0,0
$GC,5472,0.52,245.9,220.6,6.9,606,5475,0.00,2.03,0.00,0.000,4,0.000,0.063,3013,764,2136,0,0,0,0,0,0
$GC,5487,0.52,245.9,219.5,7.4,607,5493,0.00,2.00,0.00,0.000,6,0.000,0.055,3013,2023,2136,0,0,0,0,0,0
$GC,5803,0.52,245.9,197.7,6.7,638,5804,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2023,2136,0,0,0,0,0,0
$GC,6115,0.52,245.9,176.9,7.0,668,6118,0.00,1.92,0.00,0.000,4,0.000,0.064,3013,3240,2136,0,0,0,0,0,0
$GC,6157,0.52,245.9,173.8,8.2,672,6160,0.00,1.95,0.00,0.000,6,0.000,0.054,3013,2021,2135,0,0,0,0,0,0
$GC,6478,0.52,245.9,152.1,6.5,703,6481,0.00,2.00,0.00,0.000,4,0.000,0.063,3013,756,2135,0,0,0,0,0,0
$GC,6499,0.52,245.9,150.7,6.3,705,6502,0.00,1.95,0.00,0.000,6,0.000,0.056,3013,2019,2135,0,0,0,0,0,0
$GC,6820,0.52,245.9,129.9,6.5,736,6823,0.00,2.00,0.00,0.000,4,0.000,0.063,3013,758,2135,0,0,0,0,0,0
$GC,6845,0.52,245.9,128.3,6.3,738,6854,0.00,2.00,0.00,0.000,6,0.000,0.055,3013,2022,2134,0,0,0,0,0,0
$GC,7162,0.52,245.9,107.8,6.3,769,7165,0.00,1.92,0.00,0.000,4,0.000,0.065,3013,3233,2134,0,0,0,0,0,0
$GC,7177,0.52,245.9,106.8,6.5,770,7183,0.00,1.95,0.00,0.000,6,0.000,0.054,3014,2013,2134,0,0,0,0,0,0
$GC,7500,0.52,255.9,85.4,5.7,821,7513,0.00,1.98,7.53,0.584,4,0.000,0.064,3013,3239,2106,0,0,0,0,0,0
$GC,7550,0.52,255.9,82.3,6.1,830,7557,0.00,1.92,0.00,0.000,6,0.000,0.053,3013,2031,2105,0,0,0,0,0,0
$GC,7878,0.54,263.6,64.2,5.8,891,7889,0.00,0.00,7.90,0.578,6,0.000,0.000,3013,2031,2075,0,0,0,0,0,0
$GC,8210,0.57,284.2,48.5,5.4,953,8232,0.00,2.08,18.45,0.614,4,0.000,0.062,3013,759,1990,0,0,0,0,0,0
$GC,8341,0.62,319.1,42.1,4.8,977,8376,0.08,2.03,29.33,0.610,6,0.067,0.054,3064,2032,1849,0,0,0,0,0,0
$GC,8697,0.68,356.1,21.4,4.8,1043,8731,0.00,2.10,30.23,0.596,4,0.000,0.061,3064,759,1698,0,0,0,0,0,0
$GC,8853,0.77,356.1,12.2,6.7,1072,8859,0.08,2.12,0.00,0.000,6,0.080,0.055,3104,2083,1694,0,0,0,0,0,0
$STATE,9014,end climb,SURFACE_DEPTH_REACHED
$STATE,9014,begin surface coast
$FINISH,1.2,1.023762
$STATE,9055,end surface coast,CONTROL_FINISHED_OK
$STATE,9055,begin surface
$SM_CCo,9071,164.43,0.547,1,0,469,657.40
$SM_GC,1.82,0.00,0.00,164.43,0.000,0.000,0.547,128,2085,469,-8.52,0.28,657.40
$IRIDIUM_FIX,4738.89,-12527.41,030100,141424
$TT8_MAMPS,0.052156
$HUMID,40.07
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.7,65.959
$10V_AH,9.9,64.724
$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,19.625,87.200,383.950,164.425,0.000,138.509,185.830,491.035,0.000,0.000,48.414,0.000,6030.647,582.560,2724.837,1142.929,0.000,1526.069,0.000,2336.802,0.000,0.535,0.000
$DEVICE_MAMPS,227.032,87.438,787.709,546.871,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,760.749,870.379,1483.510,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298364
$DATA_FILE_SIZE,63301,1110
$CAP_FILE_SIZE,133772,0
$CFSIZE,260165632,215625728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.159,239.2,1
$GPS,091010,173107,4758.032,-12524.796,40,1.3,41,18.8