version: 66.06
glider: 187
mission: 2
dive: 629
start: 10 10 110 8 46 44
data:
$ID,187
$MISSION,2
$DIVE,629
$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,-37229.371
$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,27
$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
$GPS1,082927,4757.950,-12524.531,80,3.1,100,18.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.97
$_SM_ANGLEo,-72.6
$GPS2,084639,4757.754,-12524.432,36,2.9,55,18.8
$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,39.9,8294,-13.9,-6.111
$D_GRID,386
$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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.45,-112.4,0.0,0.0,0,70,0.00,0.00,-52.55,0.000,2,0.000,0.000,130,2064,2963,0,0,0,0,0,0
$GC,73,-0.45,-112.4,3.3,-2.3,10,106,10.57,2.08,-14.70,0.000,4,0.235,0.077,2694,3312,3611,0,0,0,0,0,0
$GC,347,-0.45,-112.4,42.8,-8.9,61,353,0.00,1.95,0.00,0.000,6,0.000,0.048,2694,2072,3614,0,0,0,0,0,0
$GC,674,-0.45,-112.4,75.5,-9.5,122,680,0.00,2.03,0.00,0.000,4,0.000,0.061,2686,3313,3615,0,0,0,0,0,0
$GC,787,-0.45,-112.4,86.7,-9.8,143,793,0.00,1.90,0.00,0.000,6,0.000,0.046,2686,2097,3615,0,0,0,0,0,0
$GC,1112,-0.45,-112.4,120.8,-10.1,186,1116,0.00,1.95,0.00,0.000,4,0.000,0.054,2686,855,3615,0,0,0,0,0,0
$GC,1219,-0.45,-112.4,131.1,-9.5,196,1222,0.00,1.92,0.00,0.000,6,0.000,0.053,2685,2107,3615,0,0,0,0,0,0
$GC,1539,-0.45,-112.4,157.3,-7.9,227,1543,0.00,1.95,0.00,0.000,4,0.000,0.063,2676,3299,3614,0,0,0,0,0,0
$GC,1685,-0.45,-112.4,168.6,-7.9,240,1692,0.08,1.88,0.00,0.000,6,0.113,0.049,2704,2108,3614,0,0,0,0,0,0
$GC,2000,-0.47,-112.4,188.5,-6.3,271,2003,0.00,1.95,0.00,0.000,4,0.000,0.066,2698,3312,3614,0,0,0,0,0,0
$GC,2091,-0.48,-112.4,194.6,-7.2,279,2096,0.00,1.85,0.00,0.000,6,0.000,0.050,2698,2130,3613,0,0,0,0,0,0
$GC,2406,-0.49,-112.4,215.2,-6.9,310,2409,0.00,1.88,0.00,0.000,4,0.000,0.066,2692,3308,3613,0,0,0,0,0,0
$GC,2503,-0.51,-112.4,221.8,-7.1,319,2506,0.00,1.83,0.00,0.000,6,0.000,0.050,2691,2136,3612,0,0,0,0,0,0
$GC,2823,-0.51,-112.4,245.2,-8.0,350,2827,0.00,1.90,0.00,0.000,4,0.000,0.065,2692,3303,3612,0,0,0,0,0,0
$GC,2882,-0.53,-112.4,250.1,-7.9,355,2887,0.00,1.80,0.00,0.000,6,0.000,0.049,2691,2140,3612,0,0,0,0,0,0
$GC,3197,-0.53,-112.4,271.7,-6.8,386,3201,0.00,2.05,0.00,0.000,4,0.000,0.056,2692,845,3611,0,0,0,0,0,0
$GC,3239,-0.53,-112.4,274.4,-6.6,390,3243,0.00,2.05,0.00,0.000,6,0.000,0.055,2692,2138,3611,0,0,0,0,0,0
$GC,3561,-0.53,-112.4,298.7,-7.2,421,3564,0.00,1.90,0.00,0.000,4,0.000,0.065,2691,3311,3610,0,0,0,0,0,0
$GC,3640,-0.54,-112.4,305.9,-8.0,428,3646,0.00,1.83,0.00,0.000,6,0.000,0.051,2691,2154,3610,0,0,0,0,0,0
$GC,3955,-0.54,-112.4,333.4,-8.3,459,3959,0.00,2.08,0.00,0.000,4,0.000,0.058,2691,850,3610,0,0,0,0,0,0
$GC,3982,-0.54,-112.4,335.6,-8.3,461,3987,0.00,2.08,0.00,0.000,6,0.000,0.056,2691,2149,3610,0,0,0,0,0,0
$GC,4297,-0.54,-112.4,356.6,-5.7,492,4301,0.00,1.90,0.00,0.000,4,0.000,0.067,2691,3305,3609,0,0,0,0,0,0
$GC,4345,-0.56,-112.4,359.9,-6.5,496,4352,0.00,1.83,0.00,0.000,6,0.000,0.049,2691,2145,3609,0,0,0,0,0,0
$GC,4661,-0.56,-112.4,381.4,-7.5,527,4664,0.00,2.05,0.00,0.000,4,0.000,0.058,2691,851,3609,0,0,0,0,0,0
$GC,4698,-0.57,-112.4,384.5,-8.0,530,4703,0.00,2.08,0.00,0.000,6,0.000,0.058,2691,2142,3609,0,0,0,0,0,0
$STATE,4721,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4721,begin apogee
$GC,4727,-0.14,0.0,386.7,8.1,533,4819,0.35,0.00,90.57,0.831,6,0.110,0.000,2807,1992,3150,0,0,0,0,0,0
$STATE,4820,end apogee,CONTROL_FINISHED_OK
$STATE,4820,begin climb
$GC,4823,0.45,112.4,390.6,0.0,542,4925,0.55,2.10,91.97,0.805,4,0.075,0.061,3012,771,2690,0,0,0,0,0,0
$GC,4984,0.47,167.0,388.7,4.1,557,5033,0.00,1.98,46.08,0.788,6,0.000,0.054,3011,2003,2469,0,0,0,0,0,0
$GC,5346,0.45,167.0,364.1,6.8,592,5349,0.00,1.98,0.00,0.000,4,0.000,0.064,3012,3229,2463,0,0,0,0,0,0
$GC,5404,0.44,167.0,359.2,8.0,597,5410,0.00,1.95,0.00,0.000,6,0.000,0.053,3014,2019,2462,0,0,0,0,0,0
$GC,5721,0.42,167.0,336.6,7.7,628,5722,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2019,2462,0,0,0,0,0,0
$GC,6032,0.41,167.0,313.2,7.3,658,6033,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2018,2461,0,0,0,0,0,0
$GC,6343,0.40,167.0,289.8,6.7,688,6346,0.00,1.92,0.00,0.000,4,0.000,0.064,3014,3228,2461,0,0,0,0,0,0
$GC,6473,0.38,167.0,279.0,9.1,700,6476,0.15,1.90,0.00,0.000,6,0.147,0.052,2979,2020,2460,0,0,0,0,0,0
$GC,6788,0.39,177.4,258.9,5.7,730,6798,0.00,0.00,8.85,0.685,6,0.000,0.000,2978,2018,2426,0,0,0,0,0,0
$GC,7108,0.40,177.4,240.2,7.1,761,7109,0.00,0.00,0.00,0.000,6,0.000,0.000,2978,2017,2425,0,0,0,0,0,0
$GC,7420,0.40,177.4,222.8,6.3,791,7423,0.00,1.95,0.00,0.000,4,0.000,0.064,2978,3229,2424,0,0,0,0,0,0
$GC,7473,0.40,177.4,219.0,7.2,796,7477,0.00,1.90,0.00,0.000,6,0.000,0.054,2978,2039,2424,0,0,0,0,0,0
$GC,7793,0.40,189.3,200.9,5.7,827,7808,0.00,2.03,11.32,0.679,4,0.000,0.061,2978,766,2377,0,0,0,0,0,0
$GC,7830,0.43,198.7,198.8,5.8,830,7844,0.00,2.03,9.40,0.649,6,0.000,0.055,2977,2046,2339,0,0,0,0,0,0
$GC,8161,0.47,249.8,182.1,4.2,862,8207,0.00,2.00,42.33,0.700,4,0.000,0.064,2978,3235,2130,0,0,0,0,0,0
$GC,8270,0.50,275.8,176.7,5.2,872,8296,0.08,1.90,22.23,0.673,6,0.063,0.053,3026,2068,2025,0,0,0,0,0,0
$GC,8613,0.50,275.8,148.8,8.5,905,8617,0.00,2.12,0.00,0.000,4,0.000,0.063,3032,770,2019,0,0,0,0,0,0
$GC,8683,0.50,275.8,143.0,8.5,911,8688,0.00,2.03,0.00,0.000,6,0.000,0.056,3032,2054,2019,0,0,0,0,0,0
$GC,8998,0.50,275.8,115.9,8.5,942,8998,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2055,2018,0,0,0,0,0,0
$GC,9313,0.50,275.8,92.0,7.1,983,9318,0.00,2.08,0.00,0.000,4,0.000,0.062,3040,768,2017,0,0,0,0,0,0
$GC,9350,0.50,275.8,89.4,6.7,990,9356,0.00,2.00,0.00,0.000,6,0.000,0.056,3040,2026,2017,0,0,0,0,0,0
$GC,9677,0.50,275.8,64.7,7.2,1051,9682,0.00,1.95,0.00,0.000,4,0.000,0.063,3040,3236,2016,0,0,0,0,0,0
$GC,9704,0.50,275.8,62.7,7.1,1056,9710,0.00,1.95,0.00,0.000,6,0.000,0.053,3046,2013,2015,0,0,0,0,0,0
$GC,10031,0.50,275.8,39.3,8.0,1117,10037,0.00,2.00,0.00,0.000,4,0.000,0.063,3050,760,2015,0,0,0,0,0,0
$GC,10107,0.51,276.3,34.6,6.1,1131,10113,0.00,1.95,0.00,0.000,6,0.000,0.055,3050,1994,2015,0,0,0,0,0,0
$GC,10436,0.56,320.8,19.9,4.5,1192,10480,0.00,2.00,36.05,0.604,4,0.000,0.061,3050,767,1841,0,0,0,0,0,0
$GC,10588,0.61,351.5,13.1,5.0,1220,10622,0.00,2.03,25.95,0.585,6,0.000,0.055,3050,2033,1714,0,0,0,0,0,0
$STATE,10791,end climb,SURFACE_DEPTH_REACHED
$STATE,10791,begin surface coast
$FINISH,1.1,1.013199
$STATE,10863,end surface coast,CONTROL_FINISHED_OK
$STATE,10863,begin surface
$SM_CCo,10938,0.00,0.000,0,0,1706,354.21
$SM_GC,2.36,7.68,0.00,0.00,0.038,0.000,0.000,140,2092,1706,-8.41,0.48,354.21
$IRIDIUM_FIX,4738.89,-12517.69,040100,080849
$TT8_MAMPS,0.052923
$HUMID,41.61
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.8,66.661
$10V_AH,9.9,65.419
$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,19.450,90.700,384.750,0.000,0.000,108.802,193.168,352.843,0.000,0.000,56.190,0.000,7406.119,427.404,3131.000,978.886,0.000,1507.194,0.000,2671.227,0.000,0.535,0.000
$DEVICE_MAMPS,234.702,122.720,830.661,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,871.462,985.496,1564.303,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298376
$DATA_FILE_SIZE,72709,1271
$CAP_FILE_SIZE,141256,0
$CFSIZE,260165632,215191552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.170,243.2,1
$GPS,101010,115000,4757.750,-12524.471,39,1.9,40,18.8