version: 66.06
glider: 187
mission: 2
dive: 635
start: 10 11 110 3 54 15
data:
$ID,187
$MISSION,2
$DIVE,635
$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,-37378.812
$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,25
$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
$GPS1,034637,4757.064,-12524.985,102,0.9,102,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.05
$_SM_ANGLEo,-77.0
$GPS2,035407,4757.021,-12525.121,13,1.1,24,18.8
$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,32.9,9898,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.45,-112.4,0.0,0.0,0,64,0.00,0.00,-49.65,0.000,2,0.000,0.000,131,2052,2885,0,0,0,0,0,0
$GC,66,-0.45,-112.4,3.2,-2.2,9,101,10.38,1.92,-17.50,0.000,4,0.229,0.071,2700,841,3607,0,0,0,0,0,0
$GC,218,-0.45,-112.4,25.2,-10.7,37,224,0.00,1.98,0.00,0.000,6,0.000,0.056,2694,2069,3608,0,0,0,0,0,0
$GC,545,-0.45,-112.4,55.0,-9.1,98,551,0.00,2.00,0.00,0.000,4,0.000,0.063,2686,3307,3610,0,0,0,0,0,0
$GC,621,-0.45,-112.4,61.7,-8.5,112,627,0.00,1.98,0.00,0.000,6,0.000,0.049,2685,2055,3610,0,0,0,0,0,0
$GC,948,-0.45,-112.4,92.8,-10.0,173,954,0.00,1.92,0.00,0.000,4,0.000,0.056,2685,842,3611,0,0,0,0,0,0
$GC,1070,-0.45,-112.4,105.0,-9.4,191,1076,0.00,1.90,0.00,0.000,6,0.000,0.054,2679,2043,3611,0,0,0,0,0,0
$GC,1386,-0.45,-112.4,133.7,-9.0,222,1389,0.00,1.90,0.00,0.000,4,0.000,0.056,2681,846,3611,0,0,0,0,0,0
$GC,1412,-0.45,-112.4,136.1,-9.3,224,1417,0.00,1.88,0.00,0.000,6,0.000,0.054,2677,2029,3611,0,0,0,0,0,0
$GC,1727,-0.45,-112.4,164.5,-8.8,255,1731,0.10,2.08,0.00,0.000,4,0.163,0.063,2697,3304,3611,0,0,0,0,0,0
$GC,1791,-0.47,-112.4,169.3,-7.2,261,1795,0.00,1.98,0.00,0.000,6,0.000,0.048,2697,2044,3611,0,0,0,0,0,0
$GC,2113,-0.47,-112.4,191.6,-7.2,292,2116,0.00,1.85,0.00,0.000,4,0.000,0.057,2696,846,3611,0,0,0,0,0,0
$GC,2160,-0.49,-112.4,195.3,-7.3,296,2165,0.00,1.90,0.00,0.000,6,0.000,0.055,2695,2044,3610,0,0,0,0,0,0
$GC,2476,-0.49,-112.4,218.1,-6.4,327,2479,0.00,2.05,0.00,0.000,4,0.000,0.064,2686,3330,3609,0,0,0,0,0,0
$GC,2529,-0.50,-112.4,221.9,-6.3,332,2532,0.00,2.03,0.00,0.000,6,0.000,0.050,2686,2052,3610,0,0,0,0,0,0
$GC,2850,-0.50,-112.4,245.9,-7.2,363,2853,0.00,1.90,0.00,0.000,4,0.000,0.056,2686,835,3609,0,0,0,0,0,0
$GC,2918,-0.50,-112.4,251.6,-7.7,369,2925,0.00,1.92,0.00,0.000,6,0.000,0.055,2682,2047,3609,0,0,0,0,0,0
$GC,3235,-0.50,-112.4,276.3,-6.6,400,3238,0.00,1.90,0.00,0.000,4,0.000,0.056,2682,835,3609,0,0,0,0,0,0
$GC,3272,-0.50,-112.4,279.0,-7.6,403,3277,0.00,1.90,0.00,0.000,6,0.000,0.055,2678,2034,3609,0,0,0,0,0,0
$GC,3587,-0.50,-112.4,301.4,-6.7,434,3590,0.00,2.08,0.00,0.000,4,0.000,0.065,2669,3304,3608,0,0,0,0,0,0
$GC,3651,-0.50,-112.4,306.4,-7.5,440,3654,0.00,1.95,0.00,0.000,6,0.000,0.050,2669,2031,3608,0,0,0,0,0,0
$GC,3972,-0.50,-112.4,331.5,-8.0,471,3975,0.00,1.88,0.00,0.000,4,0.000,0.056,2669,847,3608,0,0,0,0,0,0
$GC,4036,-0.50,-112.4,337.3,-8.7,477,4039,0.00,1.88,0.00,0.000,6,0.000,0.056,2663,2040,3607,0,0,0,0,0,0
$GC,4357,-0.50,-112.4,366.9,-8.9,508,4360,0.00,2.03,0.00,0.000,4,0.000,0.065,2659,3319,3607,0,0,0,0,0,0
$GC,4415,-0.50,-112.4,372.1,-8.8,513,4421,0.08,2.03,0.00,0.000,6,0.115,0.051,2688,2041,3607,0,0,0,0,0,0
$GC,4731,-0.50,-112.4,395.9,-7.5,544,4734,0.00,2.08,0.00,0.000,4,0.000,0.067,2681,3316,3607,0,0,0,0,0,0
$GC,4784,-0.52,-112.4,400.1,-7.5,549,4787,0.00,2.00,0.00,0.000,6,0.000,0.051,2681,2037,3607,0,0,0,0,0,0
$GC,5105,-0.52,-112.4,425.8,-8.1,580,5108,0.00,2.08,0.00,0.000,4,0.000,0.067,2673,3309,3606,0,0,0,0,0,0
$GC,5157,-0.53,-112.4,430.0,-8.3,585,5161,0.00,1.98,0.00,0.000,6,0.000,0.052,2673,2063,3607,0,0,0,0,0,0
$STATE,5437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5437,begin apogee
$GC,5442,-0.14,0.0,452.5,8.1,612,5539,0.43,0.00,91.30,0.877,6,0.110,0.000,2812,1987,3149,0,0,0,0,0,0
$STATE,5539,end apogee,CONTROL_FINISHED_OK
$STATE,5539,begin climb
$GC,5542,0.45,112.4,455.4,0.0,622,5642,0.52,2.08,92.80,0.851,4,0.071,0.060,3011,771,2690,0,0,0,0,0,0
$GC,5760,0.44,121.4,450.0,5.8,642,5775,0.00,2.00,8.57,0.729,6,0.000,0.055,3012,1998,2655,0,0,0,0,0,0
$GC,6085,0.43,144.6,429.9,5.3,674,6110,0.00,2.05,20.55,0.818,4,0.000,0.065,3011,3233,2559,0,0,0,0,0,0
$GC,6293,0.40,144.6,416.6,6.6,693,6299,0.10,1.92,0.00,0.000,6,0.133,0.052,2986,2037,2557,0,0,0,0,0,0
$GC,6609,0.42,168.5,400.1,5.2,724,6631,0.00,0.00,20.95,0.814,6,0.000,0.000,2986,2036,2462,0,0,0,0,0,0
$GC,6939,0.42,168.5,380.2,6.2,756,6942,0.00,1.95,0.00,0.000,4,0.000,0.064,2986,3227,2460,0,0,0,0,0,0
$GC,7030,0.43,192.8,375.1,5.2,764,7056,0.00,1.90,21.00,0.804,6,0.000,0.054,2990,2025,2364,0,0,0,0,0,0
$GC,7365,0.43,192.8,353.7,7.2,797,7368,0.00,2.05,0.00,0.000,4,0.000,0.063,2997,771,2360,0,0,0,0,0,0
$GC,7408,0.43,192.8,351.1,6.4,801,7411,0.00,1.98,0.00,0.000,6,0.000,0.056,2997,2026,2360,0,0,0,0,0,0
$GC,7729,0.43,192.8,329.3,6.9,832,7732,0.00,1.92,0.00,0.000,4,0.000,0.064,2997,3232,2359,0,0,0,0,0,0
$GC,7776,0.43,192.8,325.8,8.1,836,7781,0.00,1.92,0.00,0.000,6,0.000,0.054,2998,2017,2359,0,0,0,0,0,0
$GC,8092,0.44,199.3,305.8,5.9,867,8102,0.00,0.00,6.40,0.662,6,0.000,0.000,2999,2017,2338,0,0,0,0,0,0
$GC,8413,0.44,199.3,286.3,6.3,898,8416,0.00,2.00,0.00,0.000,4,0.000,0.063,3003,767,2336,0,0,0,0,0,0
$GC,8433,0.44,200.8,284.9,6.1,900,8436,0.00,2.00,0.00,0.000,6,0.000,0.056,3003,2022,2336,0,0,0,0,0,0
$GC,8754,0.44,200.8,263.6,6.9,931,8757,0.00,1.95,0.00,0.000,4,0.000,0.065,3002,3239,2336,0,0,0,0,0,0
$GC,8812,0.44,200.8,259.2,8.0,936,8819,0.00,1.92,0.00,0.000,6,0.000,0.054,3009,2037,2335,0,0,0,0,0,0
$GC,9129,0.44,200.8,234.9,8.0,967,9132,0.00,2.03,0.00,0.000,4,0.000,0.063,3013,757,2335,0,0,0,0,0,0
$GC,9149,0.44,200.8,233.2,8.2,969,9153,0.00,2.03,0.00,0.000,6,0.000,0.056,3013,2032,2336,0,0,0,0,0,0
$GC,9471,0.44,200.8,209.4,6.8,1000,9474,0.00,1.95,0.00,0.000,4,0.000,0.064,3013,3240,2336,0,0,0,0,0,0
$GC,9536,0.42,200.8,204.4,7.5,1006,9539,0.00,1.90,0.00,0.000,6,0.000,0.054,3013,2049,2335,0,0,0,0,0,0
$GC,9856,0.43,205.8,183.3,5.9,1037,9866,0.00,0.00,6.88,0.623,6,0.000,0.000,3013,2049,2310,0,0,0,0,0,0
$GC,10176,0.44,231.1,164.9,5.2,1068,10200,0.00,0.00,22.65,0.690,6,0.000,0.000,3013,2049,2207,0,0,0,0,0,0
$GC,10508,0.45,238.6,146.4,5.8,1100,10518,0.00,2.10,7.05,0.603,4,0.000,0.063,3014,764,2177,0,0,0,0,0,0
$GC,10544,0.45,249.0,144.4,5.7,1103,10560,0.00,2.05,10.77,0.635,6,0.000,0.055,3013,2049,2133,0,0,0,0,0,0
$GC,10871,0.45,249.0,124.9,7.1,1135,10872,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2048,2128,0,0,0,0,0,0
$GC,11182,0.45,249.0,102.8,7.7,1165,11185,0.00,1.90,0.00,0.000,4,0.000,0.064,3014,3236,2128,0,0,0,0,0,0
$GC,11208,0.45,249.0,100.4,8.9,1167,11215,0.00,1.92,0.00,0.000,6,0.000,0.053,3014,2034,2127,0,0,0,0,0,0
$GC,11536,0.46,259.8,78.6,5.7,1228,11553,0.00,2.05,9.40,0.601,4,0.000,0.063,3014,766,2089,0,0,0,0,0,0
$GC,11596,0.48,259.8,74.6,6.5,1239,11602,0.00,2.00,0.00,0.000,6,0.000,0.056,3014,2023,2089,0,0,0,0,0,0
$GC,11925,0.50,274.9,55.5,5.6,1300,11942,0.00,0.00,13.93,0.611,6,0.000,0.000,3013,2023,2028,0,0,0,0,0,0
$GC,12265,0.54,305.5,38.9,5.0,1363,12298,0.00,2.05,26.02,0.612,4,0.000,0.062,3014,768,1903,0,0,0,0,0,0
$GC,12309,0.57,310.3,36.2,5.9,1371,12320,0.00,2.03,5.53,0.490,6,0.000,0.056,3013,2026,1885,0,0,0,0,0,0
$GC,12643,0.65,342.9,16.2,4.9,1433,12678,0.15,2.00,27.15,0.594,4,0.097,0.065,3072,3228,1751,0,0,0,0,0,0
$GC,12801,0.72,367.1,7.7,5.2,1462,12828,0.00,1.92,20.50,0.576,6,0.000,0.052,3072,2028,1651,0,0,0,0,0,0
$STATE,12898,end climb,SURFACE_DEPTH_REACHED
$STATE,12898,begin surface coast
$FINISH,1.2,1.008983
$STATE,12965,end surface coast,CONTROL_FINISHED_OK
$STATE,12965,begin surface
$SM_CCo,13041,0.00,0.000,0,0,1643,369.42
$SM_GC,2.03,7.80,0.00,0.00,0.041,0.000,0.000,132,2082,1643,-8.41,0.20,369.42
$IRIDIUM_FIX,4742.09,-12529.27,050100,000044
$TT8_MAMPS,0.051389
$HUMID,41.49
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.7,67.333
$10V_AH,9.9,66.149
$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,19.550,110.675,411.450,0.000,0.000,25.856,34.257,226.449,0.000,0.000,24.707,0.000,8770.997,465.016,3576.066,648.312,0.000,1714.758,0.000,3085.158,0.000,0.533,0.000
$DEVICE_MAMPS,228.566,125.021,876.681,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1025.204,1176.979,1768.513,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298412
$DATA_FILE_SIZE,85257,1493
$CAP_FILE_SIZE,155236,0
$CFSIZE,260165632,214728704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.153,239.1,1
$GPS,111010,073256,4757.432,-12525.162,41,2.4,61,18.8