version: 66.06
glider: 187
mission: 2
dive: 638
start: 10 11 110 13 31 30
data:
$ID,187
$MISSION,2
$DIVE,638
$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,-37454.09
$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,29
$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
$GPS1,132430,4758.052,-12524.463,40,1.3,47,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.15
$_SM_ANGLEo,-77.3
$GPS2,133125,4758.018,-12524.375,14,1.4,25,18.8
$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,32.9,7842,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.45,-112.4,0.0,0.0,0,72,0.00,0.00,-56.42,0.000,2,0.000,0.000,132,2085,2961,0,0,0,0,0,0
$GC,75,-0.45,-112.4,3.1,-1.8,11,108,10.48,2.00,-15.43,0.000,4,0.232,0.078,2690,3295,3611,0,0,0,0,0,0
$GC,301,-0.45,-112.4,35.3,-9.5,53,306,0.00,1.92,0.00,0.000,6,0.000,0.049,2691,2076,3613,0,0,0,0,0,0
$GC,628,-0.45,-112.4,68.2,-8.7,114,634,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2073,3614,0,0,0,0,0,0
$GC,955,-0.45,-112.4,93.7,-7.3,175,961,0.00,2.00,0.00,0.000,4,0.000,0.062,2683,3294,3615,0,0,0,0,0,0
$GC,1096,-0.45,-112.4,104.6,-7.8,196,1099,0.00,1.90,0.00,0.000,6,0.000,0.049,2683,2071,3615,0,0,0,0,0,0
$GC,1416,-0.45,-112.4,131.9,-8.2,227,1419,0.00,2.03,0.00,0.000,4,0.000,0.063,2674,3305,3615,0,0,0,0,0,0
$GC,1496,-0.45,-112.4,138.6,-8.0,234,1502,0.08,1.90,0.00,0.000,6,0.116,0.048,2702,2096,3615,0,0,0,0,0,0
$GC,1813,-0.47,-112.4,162.8,-7.9,265,1816,0.00,1.98,0.00,0.000,4,0.000,0.064,2703,3295,3615,0,0,0,0,0,0
$GC,1854,-0.49,-112.4,166.5,-8.5,269,1858,0.00,1.88,0.00,0.000,6,0.000,0.050,2703,2105,3615,0,0,0,0,0,0
$GC,2175,-0.50,-112.4,191.9,-7.9,300,2179,0.00,1.98,0.00,0.000,4,0.000,0.065,2703,3301,3614,0,0,0,0,0,0
$GC,2229,-0.52,-112.4,195.9,-7.4,305,2232,0.00,1.83,0.00,0.000,6,0.000,0.051,2703,2125,3614,0,0,0,0,0,0
$GC,2549,-0.54,-112.4,216.8,-6.3,336,2553,0.00,1.95,0.00,0.000,4,0.000,0.066,2703,3305,3614,0,0,0,0,0,0
$GC,2582,-0.56,-112.4,218.5,-5.6,339,2585,0.00,1.85,0.00,0.000,6,0.000,0.049,2703,2130,3614,0,0,0,0,0,0
$GC,2903,-0.57,-112.4,239.0,-6.9,370,2906,0.00,1.92,0.00,0.000,4,0.000,0.065,2703,3311,3613,0,0,0,0,0,0
$GC,2945,-0.59,-112.4,242.0,-7.1,374,2949,0.08,1.85,0.00,0.000,6,0.063,0.051,2651,2141,3613,0,0,0,0,0,0
$GC,3265,-0.58,-112.4,274.0,-10.1,405,3269,0.00,1.92,0.00,0.000,4,0.000,0.067,2643,3301,3612,0,0,0,0,0,0
$GC,3351,-0.58,-112.4,283.1,-11.0,413,3354,0.00,1.80,0.00,0.000,6,0.000,0.051,2642,2134,3612,0,0,0,0,0,0
$GC,3671,-0.57,-112.4,319.4,-11.3,444,3675,0.00,1.92,0.00,0.000,4,0.000,0.067,2635,3298,3612,0,0,0,0,0,0
$STATE,3685,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3685,begin apogee
$GC,3692,-0.14,0.0,321.4,11.8,445,3788,0.50,0.00,90.28,0.794,6,0.120,0.000,2800,2001,3149,0,0,0,0,0,0
$STATE,3788,end apogee,CONTROL_FINISHED_OK
$STATE,3788,begin climb
$GC,3790,0.45,112.4,326.0,0.0,455,3884,0.55,0.00,90.85,0.769,6,0.080,0.000,2996,2001,2691,0,0,0,0,0,0
$GC,4192,0.48,175.7,316.4,3.8,494,4248,0.00,2.08,51.72,0.762,4,0.000,0.063,2995,3227,2433,0,0,0,0,0,0
$GC,4313,0.48,175.7,309.0,7.6,505,4319,0.00,2.00,0.00,0.000,6,0.000,0.052,2999,1999,2429,0,0,0,0,0,0
$GC,4629,0.48,175.7,287.3,6.9,536,4633,0.00,2.00,0.00,0.000,4,0.000,0.063,3003,772,2427,0,0,0,0,0,0
$GC,4652,0.48,175.7,285.8,6.8,538,4655,0.00,1.92,0.00,0.000,6,0.000,0.055,3003,1996,2427,0,0,0,0,0,0
$GC,4972,0.48,175.7,264.1,7.2,569,4975,0.00,2.03,0.00,0.000,4,0.000,0.064,3003,3226,2426,0,0,0,0,0,0
$GC,5015,0.47,175.7,260.3,9.1,573,5018,0.00,1.92,0.00,0.000,6,0.000,0.053,3010,2007,2426,0,0,0,0,0,0
$GC,5336,0.47,175.7,236.9,7.3,604,5339,0.00,1.95,0.00,0.000,4,0.000,0.064,3010,3237,2425,0,0,0,0,0,0
$GC,5372,0.45,175.7,234.2,7.5,607,5378,0.00,1.92,0.00,0.000,6,0.000,0.053,3013,2028,2425,0,0,0,0,0,0
$GC,5688,0.45,175.7,212.1,6.6,638,5688,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2027,2425,0,0,0,0,0,0
$GC,6000,0.44,175.7,190.9,7.0,668,6003,0.00,1.92,0.00,0.000,4,0.000,0.064,3013,3229,2424,0,0,0,0,0,0
$GC,6015,0.43,175.7,189.7,6.9,669,6023,0.00,1.92,0.00,0.000,6,0.000,0.054,3020,2023,2424,0,0,0,0,0,0
$GC,6332,0.42,175.7,167.3,7.1,700,6332,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2023,2424,0,0,0,0,0,0
$GC,6645,0.40,175.7,145.4,7.2,730,6646,0.12,0.00,0.00,0.000,6,0.157,0.000,2985,2022,2424,0,0,0,0,0,0
$GC,6952,0.43,215.0,130.0,4.7,760,6988,0.00,2.00,31.60,0.673,4,0.000,0.061,2986,759,2273,0,0,0,0,0,0
$GC,7015,0.46,237.2,126.8,5.3,765,7041,0.00,2.03,19.20,0.647,6,0.000,0.055,2986,2027,2182,0,0,0,0,0,0
$GC,7351,0.48,255.6,107.2,5.4,798,7371,0.00,0.00,16.00,0.638,6,0.000,0.000,2986,2027,2106,0,0,0,0,0,0
$GC,7689,0.53,302.2,90.9,4.4,848,7734,0.12,1.95,38.55,0.644,4,0.094,0.061,3045,3233,1916,0,0,0,0,0,0
$GC,7744,0.53,302.2,87.1,7.2,858,7751,0.00,1.98,0.00,0.000,6,0.000,0.054,3050,2023,1914,0,0,0,0,0,0
$GC,8072,0.53,302.2,60.4,7.9,919,8077,0.00,2.05,0.00,0.000,4,0.000,0.063,3054,768,1911,0,0,0,0,0,0
$GC,8141,0.53,302.2,55.2,7.8,932,8147,0.00,1.95,0.00,0.000,6,0.000,0.055,3054,1989,1911,0,0,0,0,0,0
$GC,8467,0.55,309.5,28.2,5.8,993,8480,0.00,2.00,6.00,0.522,4,0.000,0.063,3054,3238,1888,0,0,0,0,0,0
$GC,8640,0.57,326.8,18.9,5.5,1025,8662,0.00,1.92,15.70,0.588,6,0.000,0.053,3054,2033,1817,0,0,0,0,0,0
$STATE,8933,end climb,SURFACE_DEPTH_REACHED
$STATE,8933,begin surface coast
$FINISH,1.1,1.013919
$STATE,9008,end surface coast,CONTROL_FINISHED_OK
$STATE,9008,begin surface
$SM_CCo,9024,20.62,0.400,1,0,1723,350.04
$SM_GC,1.63,0.00,0.00,20.62,0.000,0.000,0.400,134,2089,1723,-8.50,0.40,350.04
$IRIDIUM_FIX,4738.89,-12524.79,050100,101026
$TT8_MAMPS,0.052156
$HUMID,41.96
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,23.9,67.630
$10V_AH,9.8,66.479
$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,19.650,70.325,359.900,20.625,0.000,34.139,36.856,195.514,0.000,0.000,25.393,0.000,5844.345,420.407,2642.880,532.848,0.000,1328.825,0.000,2279.276,0.000,0.534,0.000
$DEVICE_MAMPS,232.401,123.487,793.845,400.374,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,749.830,848.291,1432.567,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298408
$DATA_FILE_SIZE,60254,1094
$CAP_FILE_SIZE,111687,0
$CFSIZE,260165632,214577152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.103,241.5,1
$GPS,111010,160337,4758.250,-12523.865,55,1.0,56,18.8