version: 66.06
glider: 187
mission: 2
dive: 607
start: 10 5 110 16 45 13
data:
$ID,187
$MISSION,2
$DIVE,607
$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,-36668.316
$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,21
$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
$GPS1,163554,4731.245,-12559.382,26,1.1,43,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.31
$_SM_ANGLEo,-76.8
$GPS2,164508,4731.257,-12559.324,17,1.5,17,18.7
$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,18.3,73560,-13.9,-6.111
$D_GRID,1000
$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,-112.4,0.0,0.0,0,70,0.00,0.00,-54.42,0.000,2,0.000,0.000,127,2070,2815,0,0,0,0,0,0
$GC,72,-0.45,-112.4,3.2,-1.9,10,106,10.50,2.03,-19.40,0.000,4,0.230,0.072,2698,840,3611,0,0,0,0,0,0
$GC,234,-0.44,-112.4,29.2,-12.3,40,240,0.00,1.98,0.00,0.000,6,0.000,0.055,2692,2073,3613,0,0,0,0,0,0
$GC,560,-0.42,-112.4,68.3,-12.5,101,567,0.00,2.03,0.00,0.000,4,0.000,0.064,2683,3305,3615,0,0,0,0,0,0
$GC,738,-0.42,-112.4,86.8,-10.1,134,744,0.10,1.92,0.00,0.000,6,0.117,0.049,2717,2084,3615,0,0,0,0,0,0
$GC,1059,-0.42,-112.4,111.5,-6.8,180,1063,0.00,1.98,0.00,0.000,4,0.000,0.057,2717,841,3616,0,0,0,0,0,0
$GC,1097,-0.43,-112.4,114.1,-6.8,183,1103,0.00,2.00,0.00,0.000,6,0.000,0.054,2717,2095,3616,0,0,0,0,0,0
$GC,1413,-0.45,-112.4,133.8,-6.4,214,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2096,3616,0,0,0,0,0,0
$GC,1726,-0.47,-112.4,154.3,-6.5,244,1727,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2096,3616,0,0,0,0,0,0
$GC,2036,-0.48,-112.4,173.8,-6.0,274,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,2096,3615,0,0,0,0,0,0
$GC,2346,-0.50,-112.4,193.3,-6.5,304,2349,0.00,1.98,0.00,0.000,4,0.000,0.066,2717,3309,3614,0,0,0,0,0,0
$GC,2382,-0.53,-112.4,196.0,-6.4,307,2388,0.08,1.92,0.00,0.000,6,0.067,0.051,2666,2091,3614,0,0,0,0,0,0
$GC,2698,-0.53,-112.4,224.6,-8.8,338,2702,0.00,2.00,0.00,0.000,4,0.000,0.059,2666,848,3614,0,0,0,0,0,0
$GC,2730,-0.53,-112.4,227.6,-9.7,341,2733,0.00,2.00,0.00,0.000,6,0.000,0.056,2663,2101,3613,0,0,0,0,0,0
$GC,3050,-0.53,-112.4,258.5,-9.7,372,3054,0.00,1.98,0.00,0.000,4,0.000,0.066,2662,3306,3613,0,0,0,0,0,0
$GC,3109,-0.53,-112.4,263.9,-9.5,377,3115,0.00,1.90,0.00,0.000,6,0.000,0.051,2662,2105,3613,0,0,0,0,0,0
$GC,3424,-0.53,-112.4,295.8,-10.0,408,3428,0.00,2.03,0.00,0.000,4,0.000,0.059,2662,849,3612,0,0,0,0,0,0
$GC,3456,-0.53,-112.4,299.2,-11.1,411,3460,0.00,2.00,0.00,0.000,6,0.000,0.057,2655,2101,3612,0,0,0,0,0,0
$GC,3779,-0.52,-112.4,330.5,-9.7,442,3782,0.12,1.98,0.00,0.000,4,0.153,0.066,2685,3314,3611,0,0,0,0,0,0
$GC,3831,-0.53,-112.4,334.8,-7.4,447,3835,0.00,1.92,0.00,0.000,6,0.000,0.052,2685,2103,3611,0,0,0,0,0,0
$GC,4154,-0.53,-112.4,358.7,-7.4,478,4156,0.00,2.00,0.00,0.000,4,0.000,0.059,2684,835,3611,0,0,0,0,0,0
$GC,4185,-0.53,-112.4,361.1,-8.3,481,4188,0.00,2.03,0.00,0.000,6,0.000,0.058,2682,2115,3611,0,0,0,0,0,0
$GC,4505,-0.53,-112.4,384.3,-7.4,512,4509,0.00,1.98,0.00,0.000,4,0.000,0.068,2674,3306,3610,0,0,0,0,0,0
$GC,4570,-0.53,-112.4,388.9,-7.1,518,4573,0.00,1.85,0.00,0.000,6,0.000,0.053,2673,2109,3610,0,0,0,0,0,0
$GC,4890,-0.53,-112.4,414.2,-7.8,549,4894,0.00,2.00,0.00,0.000,4,0.000,0.069,2666,3311,3608,0,0,0,0,0,0
$GC,4922,-0.53,-112.4,416.7,-7.9,552,4926,0.00,1.90,0.00,0.000,6,0.000,0.054,2666,2119,3609,0,0,0,0,0,0
$GC,5243,-0.53,-112.4,441.5,-7.6,583,5246,0.00,2.03,0.00,0.000,4,0.000,0.060,2666,838,3608,0,0,0,0,0,0
$GC,5301,-0.53,-112.4,446.1,-8.1,588,5307,0.00,2.05,0.00,0.000,6,0.000,0.058,2663,2116,3608,0,0,0,0,0,0
$GC,5618,-0.53,-112.4,468.8,-7.5,619,5621,0.00,1.95,0.00,0.000,4,0.000,0.070,2662,3309,3608,0,0,0,0,0,0
$GC,5670,-0.53,-112.4,472.6,-6.8,624,5674,0.00,1.90,0.00,0.000,6,0.000,0.053,2662,2118,3607,0,0,0,0,0,0
$GC,5991,-0.53,-112.4,496.5,-7.5,655,5994,0.00,2.03,0.00,0.000,4,0.000,0.061,2662,840,3607,0,0,0,0,0,0
$GC,6028,-0.53,-112.4,499.6,-8.3,658,6033,0.00,2.05,0.00,0.000,6,0.000,0.059,2655,2115,3607,0,0,0,0,0,0
$GC,6343,-0.53,-112.4,525.3,-8.0,689,6347,0.00,1.98,0.00,0.000,4,0.000,0.070,2646,3308,3607,0,0,0,0,0,0
$GC,6413,-0.53,-112.4,531.2,-8.5,695,6418,0.10,1.90,0.00,0.000,6,0.115,0.054,2681,2116,3606,0,0,0,0,0,0
$GC,6728,-0.53,-112.4,552.2,-7.0,726,6731,0.00,2.00,0.00,0.000,4,0.000,0.069,2676,3315,3606,0,0,0,0,0,0
$GC,6760,-0.54,-112.4,554.4,-7.0,729,6763,0.00,1.90,0.00,0.000,6,0.000,0.054,2675,2126,3605,0,0,0,0,0,0
$GC,7081,-0.54,-112.4,577.5,-7.1,760,7084,0.00,2.03,0.00,0.000,4,0.000,0.061,2676,840,3606,0,0,0,0,0,0
$GC,7128,-0.54,-112.4,581.2,-7.5,764,7134,0.00,2.08,0.00,0.000,6,0.000,0.060,2673,2124,3605,0,0,0,0,0,0
$GC,7455,-0.54,-112.4,605.4,-7.7,792,7458,0.00,1.95,0.00,0.000,4,0.000,0.071,2669,3309,3605,0,0,0,0,0,0
$GC,7539,-0.56,-112.4,612.2,-7.6,794,7543,0.00,1.88,0.00,0.000,6,0.000,0.054,2669,2133,3604,0,0,0,0,0,0
$GC,7853,-0.56,-112.4,636.8,-8.1,805,7854,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2133,3604,0,0,0,0,0,0
$GC,8157,-0.56,-112.4,661.4,-8.1,815,8160,0.00,1.95,0.00,0.000,4,0.000,0.071,2662,3309,3604,0,0,0,0,0,0
$GC,8221,-0.56,-112.4,666.6,-8.2,817,8225,0.00,1.85,0.00,0.000,6,0.000,0.053,2662,2148,3604,0,0,0,0,0,0
$GC,8556,-0.56,-112.4,694.3,-8.2,828,8560,0.00,1.95,0.00,0.000,4,0.000,0.070,2654,3315,3603,0,0,0,0,0,0
$GC,8604,-0.56,-112.4,698.2,-8.2,829,8607,0.00,1.85,0.00,0.000,6,0.000,0.053,2654,2154,3603,0,0,0,0,0,0
$GC,8923,-0.56,-112.4,725.6,-8.5,840,8927,0.00,1.95,0.00,0.000,4,0.000,0.070,2647,3314,3603,0,0,0,0,0,0
$GC,8965,-0.56,-112.4,729.4,-9.3,841,8969,0.00,1.83,0.00,0.000,6,0.000,0.054,2646,2170,3602,0,0,0,0,0,0
$GC,9291,-0.56,-112.4,757.7,-8.7,852,9294,0.00,1.90,0.00,0.000,4,0.000,0.071,2639,3319,3602,0,0,0,0,0,0
$GC,9343,-0.56,-112.4,762.4,-9.2,853,9347,0.10,1.83,0.00,0.000,6,0.122,0.054,2673,2179,3601,0,0,0,0,0,0
$GC,9657,-0.56,-112.4,785.4,-7.4,864,9658,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,2179,3602,0,0,0,0,0,0
$GC,9961,-0.57,-112.4,807.4,-7.3,874,9964,0.00,1.85,0.00,0.000,4,0.000,0.072,2669,3309,3602,0,0,0,0,0,0
$GC,10046,-0.58,-112.4,813.3,-7.3,876,10049,0.00,1.80,0.00,0.000,6,0.000,0.054,2669,2181,3601,0,0,0,0,0,0
$GC,10360,-0.58,-112.4,834.2,-6.5,887,10363,0.00,1.88,0.00,0.000,4,0.000,0.071,2663,3302,3601,0,0,0,0,0,0
$GC,10419,-0.60,-112.4,838.1,-5.6,888,10424,0.00,1.73,0.00,0.000,6,0.000,0.055,2663,2198,3600,0,0,0,0,0,0
$GC,10726,-0.60,-112.4,859.0,-6.9,899,10730,0.00,1.85,0.00,0.000,4,0.000,0.072,2663,3312,3600,0,0,0,0,0,0
$GC,10764,-0.61,-112.4,861.7,-7.4,900,10767,0.00,1.75,0.00,0.000,6,0.000,0.054,2663,2216,3600,0,0,0,0,0,0
$GC,11093,-0.61,-112.4,884.3,-6.9,911,11097,0.00,1.80,0.00,0.000,4,0.000,0.071,2663,3301,3600,0,0,0,0,0,0
$GC,11141,-0.62,-112.4,887.7,-7.1,912,11145,0.00,1.73,0.00,0.000,6,0.000,0.055,2663,2226,3600,0,0,0,0,0,0
$GC,11461,-0.62,-112.4,909.2,-6.7,923,11464,0.00,1.77,0.00,0.000,4,0.000,0.072,2663,3310,3600,0,0,0,0,0,0
$GC,11535,-0.64,-112.4,914.0,-5.7,925,11539,0.00,1.70,0.00,0.000,6,0.000,0.055,2663,2251,3599,0,0,0,0,0,0
$GC,11860,-0.64,-112.4,936.4,-7.1,936,11860,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2250,3599,0,0,0,0,0,0
$GC,12164,-0.64,-112.4,958.0,-7.1,946,12167,0.00,1.75,0.00,0.000,4,0.000,0.073,2663,3316,3599,0,0,0,0,0,0
$GC,12232,-0.65,-112.4,963.0,-7.3,948,12236,0.00,1.70,0.00,0.000,6,0.000,0.056,2663,2254,3598,0,0,0,0,0,0
$GC,12563,-0.65,-112.4,986.3,-6.9,959,12564,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2254,3599,0,0,0,0,0,0
$STATE,12621,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12621,begin apogee
$GC,12626,-0.14,0.0,990.7,7.1,961,12725,0.45,0.00,96.97,1.237,6,0.115,0.000,2809,1988,3150,0,0,0,0,0,0
$STATE,12725,end apogee,CONTROL_FINISHED_OK
$STATE,12725,begin climb
$GC,12727,0.45,112.4,993.5,0.0,964,12839,0.52,2.20,102.53,1.203,4,0.062,0.062,3013,777,2690,0,0,0,0,0,0
$GC,12860,0.43,127.8,991.6,5.5,968,12881,0.00,2.15,15.65,1.098,6,0.000,0.058,3013,2002,2630,0,0,0,0,0,0
$GC,13186,0.40,127.8,964.7,8.8,979,13189,0.00,2.08,0.00,0.000,4,0.000,0.068,3013,3234,2624,0,0,0,0,0,0
$GC,13325,0.36,127.8,950.9,10.8,983,13329,0.20,1.95,0.00,0.000,6,0.161,0.055,2969,2031,2623,0,0,0,0,0,0
$GC,13644,0.35,127.8,928.3,7.3,994,13647,0.00,1.98,0.00,0.000,4,0.000,0.069,2968,3236,2622,0,0,0,0,0,0
$GC,13724,0.33,127.8,921.9,8.3,996,13727,0.00,1.95,0.00,0.000,6,0.000,0.056,2974,2038,2622,0,0,0,0,0,0
$GC,14043,0.31,127.8,899.2,6.8,1007,14046,0.00,1.98,0.00,0.000,4,0.000,0.068,2974,3233,2621,0,0,0,0,0,0
$GC,14107,0.29,127.8,894.4,7.4,1009,14110,0.12,1.90,0.00,0.000,6,0.164,0.056,2949,2043,2621,0,0,0,0,0,0
$GC,14442,0.30,135.5,875.4,5.8,1020,14452,0.00,1.95,7.20,0.979,4,0.000,0.068,2949,3236,2597,0,0,0,0,0,0
$GC,14489,0.30,135.5,872.2,6.6,1021,14492,0.00,1.90,0.00,0.000,6,0.000,0.057,2952,2059,2596,0,0,0,0,0,0
$GC,14803,0.30,135.5,852.4,6.2,1032,14806,0.00,1.95,0.00,0.000,4,0.000,0.069,2953,3234,2596,0,0,0,0,0,0
$GC,14835,0.30,135.5,850.4,7.0,1033,14838,0.00,1.90,0.00,0.000,6,0.000,0.057,2959,2060,2595,0,0,0,0,0,0
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$STATE,26821,end climb,SURFACE_DEPTH_REACHED
$STATE,26821,begin surface coast
$FINISH,1.3,1.011773
$STATE,26859,end surface coast,CONTROL_FINISHED_OK
$STATE,26859,begin surface
$SM_CCo,26935,0.00,0.000,0,0,1541,394.69
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$IRIDIUM_FIX,4710.21,-12607.02,301299,090904
$TT8_MAMPS,0.052923
$HUMID,41.49
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,22.4,63.648
$10V_AH,9.9,62.261
$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,20.500,224.800,450.175,0.000,0.000,31.245,49.557,298.969,0.000,0.000,17.125,0.000,20805.395,618.842,5096.335,919.365,0.000,2477.464,0.000,4326.449,0.000,0.534,0.000
$DEVICE_MAMPS,230.100,156.468,1237.171,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1510.808,1375.167,1844.420,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298444
$DATA_FILE_SIZE,113642,2073
$CAP_FILE_SIZE,263292,0
$CFSIZE,260165632,217116672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.012,299.8,1
$GPS,061010,001507,4733.566,-12556.379,40,1.0,40,18.7