version: 66.06
glider: 187
mission: 2
dive: 609
start: 10 6 110 8 9 6
data:
$ID,187
$MISSION,2
$DIVE,609
$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,-36697.805
$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,22
$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
$GPS1,080007,4736.046,-12553.088,48,1.3,48,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-73.1
$GPS2,080901,4736.067,-12553.102,13,1.4,13,18.7
$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,28.6,61782,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-0.45,-112.4,0.0,0.0,0,73,0.00,0.00,-56.17,0.000,2,0.000,0.000,131,2069,2831,0,0,0,0,0,0
$GC,75,-0.45,-112.4,3.0,-1.8,11,109,10.45,2.03,-19.12,0.000,4,0.229,0.072,2700,839,3610,0,0,0,0,0,0
$GC,226,-0.44,-112.4,28.4,-15.1,39,232,0.00,2.00,0.00,0.000,6,0.000,0.055,2695,2079,3613,0,0,0,0,0,0
$GC,552,-0.44,-112.4,66.8,-11.1,100,558,0.00,2.03,0.00,0.000,4,0.000,0.064,2686,3308,3614,0,0,0,0,0,0
$GC,659,-0.44,-112.4,77.8,-10.1,120,665,0.00,1.92,0.00,0.000,6,0.000,0.049,2686,2094,3615,0,0,0,0,0,0
$GC,986,-0.44,-112.4,113.2,-9.5,170,990,0.00,2.00,0.00,0.000,4,0.000,0.064,2677,3308,3615,0,0,0,0,0,0
$GC,1018,-0.44,-112.4,116.5,-10.7,173,1022,0.08,1.90,0.00,0.000,6,0.114,0.049,2706,2105,3615,0,0,0,0,0,0
$GC,1339,-0.45,-112.4,144.1,-8.2,204,1342,0.00,2.00,0.00,0.000,4,0.000,0.056,2706,846,3615,0,0,0,0,0,0
$GC,1382,-0.47,-112.4,147.8,-7.9,208,1385,0.00,1.98,0.00,0.000,6,0.000,0.054,2706,2118,3615,0,0,0,0,0,0
$GC,1702,-0.48,-112.4,170.1,-6.4,239,1706,0.00,1.95,0.00,0.000,4,0.000,0.065,2702,3306,3615,0,0,0,0,0,0
$GC,1766,-0.50,-112.4,174.4,-6.3,245,1770,0.00,1.90,0.00,0.000,6,0.000,0.050,2702,2105,3615,0,0,0,0,0,0
$GC,2087,-0.51,-112.4,196.8,-7.2,276,2090,0.00,2.00,0.00,0.000,4,0.000,0.058,2702,847,3614,0,0,0,0,0,0
$GC,2130,-0.52,-112.4,199.9,-7.5,280,2133,0.00,1.95,0.00,0.000,6,0.000,0.056,2702,2098,3614,0,0,0,0,0,0
$GC,2450,-0.54,-112.4,223.6,-7.7,311,2454,0.00,1.98,0.00,0.000,4,0.000,0.065,2701,3302,3613,0,0,0,0,0,0
$GC,2530,-0.56,-112.4,229.6,-7.2,318,2536,0.00,1.88,0.00,0.000,6,0.000,0.049,2700,2109,3613,0,0,0,0,0,0
$GC,2847,-0.57,-112.4,252.2,-7.2,349,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2110,3613,0,0,0,0,0,0
$GC,3159,-0.58,-112.4,272.5,-6.5,379,3162,0.00,1.98,0.00,0.000,4,0.000,0.067,2700,3313,3612,0,0,0,0,0,0
$GC,3270,-0.60,-112.4,280.1,-7.0,389,3277,0.08,1.88,0.00,0.000,6,0.063,0.049,2648,2120,3612,0,0,0,0,0,0
$GC,3586,-0.59,-112.4,311.0,-10.1,420,3589,0.00,1.95,0.00,0.000,4,0.000,0.067,2640,3300,3611,0,0,0,0,0,0
$GC,3618,-0.58,-112.4,314.1,-9.8,423,3621,0.00,1.85,0.00,0.000,6,0.000,0.051,2639,2127,3611,0,0,0,0,0,0
$GC,3940,-0.56,-112.4,346.3,-9.8,454,3943,0.12,1.92,0.00,0.000,4,0.160,0.067,2668,3313,3610,0,0,0,0,0,0
$GC,4025,-0.56,-112.4,353.6,-8.0,462,4028,0.00,1.85,0.00,0.000,6,0.000,0.050,2668,2142,3610,0,0,0,0,0,0
$GC,4346,-0.56,-112.4,380.6,-8.7,493,4349,0.00,1.92,0.00,0.000,4,0.000,0.067,2661,3316,3610,0,0,0,0,0,0
$GC,4388,-0.56,-112.4,384.1,-8.3,497,4392,0.00,1.85,0.00,0.000,6,0.000,0.051,2660,2151,3610,0,0,0,0,0,0
$GC,4709,-0.56,-112.4,411.9,-8.2,528,4712,0.00,1.90,0.00,0.000,4,0.000,0.068,2653,3305,3609,0,0,0,0,0,0
$GC,4752,-0.56,-112.4,415.4,-8.6,532,4755,0.00,1.83,0.00,0.000,6,0.000,0.052,2652,2121,3609,0,0,0,0,0,0
$GC,5072,-0.56,-112.4,442.9,-8.5,563,5076,0.00,1.98,0.00,0.000,4,0.000,0.068,2645,3305,3608,0,0,0,0,0,0
$GC,5115,-0.56,-112.4,446.6,-9.2,567,5118,0.00,1.80,0.00,0.000,6,0.000,0.052,2644,2166,3608,0,0,0,0,0,0
$GC,5436,-0.56,-112.4,476.0,-9.2,598,5440,0.00,2.10,0.00,0.000,4,0.000,0.059,2644,841,3608,0,0,0,0,0,0
$GC,5462,-0.56,-112.4,478.6,-9.6,600,5466,0.10,2.15,0.00,0.000,6,0.130,0.059,2671,2172,3607,0,0,0,0,0,0
$GC,5783,-0.56,-112.4,501.9,-7.1,631,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2172,3607,0,0,0,0,0,0
$GC,6096,-0.56,-112.4,522.8,-6.6,661,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2172,3606,0,0,0,0,0,0
$GC,6406,-0.56,-112.4,543.4,-7.0,691,6409,0.00,2.15,0.00,0.000,4,0.000,0.061,2671,846,3606,0,0,0,0,0,0
$GC,6438,-0.56,-112.4,545.8,-8.0,693,6444,0.00,2.15,0.00,0.000,6,0.000,0.060,2671,2174,3606,0,0,0,0,0,0
$GC,6753,-0.56,-112.4,568.1,-7.2,724,6756,0.00,1.88,0.00,0.000,4,0.000,0.070,2665,3317,3605,0,0,0,0,0,0
$GC,6817,-0.56,-112.4,573.0,-7.6,730,6820,0.00,1.77,0.00,0.000,6,0.000,0.054,2666,2174,3605,0,0,0,0,0,0
$GC,7137,-0.56,-112.4,598.8,-8.3,761,7141,0.00,2.12,0.00,0.000,4,0.000,0.061,2665,850,3604,0,0,0,0,0,0
$GC,7185,-0.56,-112.4,603.1,-9.1,764,7188,0.00,2.12,0.00,0.000,6,0.000,0.059,2663,2163,3605,0,0,0,0,0,0
$GC,7505,-0.56,-112.4,629.6,-8.1,775,7508,0.00,1.85,0.00,0.000,4,0.000,0.070,2663,3305,3604,0,0,0,0,0,0
$GC,7562,-0.56,-112.4,634.2,-8.1,776,7568,0.00,1.80,0.00,0.000,6,0.000,0.054,2663,2179,3604,0,0,0,0,0,0
$GC,7871,-0.56,-112.4,657.4,-7.4,787,7875,0.00,2.15,0.00,0.000,4,0.000,0.062,2663,849,3604,0,0,0,0,0,0
$GC,7925,-0.56,-112.4,661.6,-7.6,788,7928,0.00,2.12,0.00,0.000,6,0.000,0.060,2663,2174,3603,0,0,0,0,0,0
$GC,8233,-0.56,-112.4,683.8,-7.2,798,8233,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2174,3603,0,0,0,0,0,0
$GC,8536,-0.56,-112.4,705.1,-7.0,808,8540,0.00,1.90,0.00,0.000,4,0.000,0.071,2663,3310,3603,0,0,0,0,0,0
$GC,8579,-0.58,-112.4,708.1,-6.6,809,8583,0.00,1.80,0.00,0.000,6,0.000,0.053,2662,2178,3602,0,0,0,0,0,0
$GC,8903,-0.58,-112.4,729.4,-6.4,820,8904,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2178,3602,0,0,0,0,0,0
$GC,9207,-0.58,-112.4,748.9,-6.4,830,9211,0.00,1.90,0.00,0.000,4,0.000,0.071,2663,3310,3601,0,0,0,0,0,0
$GC,9255,-0.58,-112.4,752.0,-6.5,831,9259,0.00,1.80,0.00,0.000,6,0.000,0.054,2662,2186,3601,0,0,0,0,0,0
$GC,9574,-0.58,-112.4,772.3,-6.6,842,9577,0.00,2.17,0.00,0.000,4,0.000,0.061,2663,851,3601,0,0,0,0,0,0
$GC,9605,-0.58,-112.4,774.6,-7.8,843,9609,0.00,2.15,0.00,0.000,6,0.000,0.061,2663,2172,3601,0,0,0,0,0,0
$GC,9941,-0.58,-112.4,797.5,-7.0,854,9944,0.00,1.88,0.00,0.000,4,0.000,0.071,2663,3305,3600,0,0,0,0,0,0
$GC,10047,-0.59,-112.4,804.9,-6.7,857,10051,0.00,1.80,0.00,0.000,6,0.000,0.055,2663,2184,3600,0,0,0,0,0,0
$GC,10372,-0.59,-112.4,827.9,-7.1,868,10376,0.00,2.15,0.00,0.000,4,0.000,0.063,2663,852,3600,0,0,0,0,0,0
$GC,10404,-0.59,-112.4,830.3,-7.8,869,10407,0.00,2.15,0.00,0.000,6,0.000,0.061,2663,2190,3600,0,0,0,0,0,0
$GC,10739,-0.59,-112.4,855.0,-7.7,880,10743,0.00,1.85,0.00,0.000,4,0.000,0.071,2663,3307,3600,0,0,0,0,0,0
$GC,10841,-0.60,-112.4,862.8,-8.3,883,10844,0.00,1.77,0.00,0.000,6,0.000,0.055,2663,2198,3600,0,0,0,0,0,0
$GC,11170,-0.60,-112.4,886.9,-7.3,894,11174,0.00,1.85,0.00,0.000,4,0.000,0.072,2663,3308,3599,0,0,0,0,0,0
$GC,11229,-0.61,-112.4,891.3,-7.7,895,11234,0.00,1.75,0.00,0.000,6,0.000,0.056,2663,2216,3599,0,0,0,0,0,0
$GC,11538,-0.61,-112.4,912.8,-6.7,906,11539,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2216,3599,0,0,0,0,0,0
$GC,11840,-0.61,-112.4,931.8,-6.2,916,11845,0.00,1.83,0.00,0.000,4,0.000,0.073,2663,3311,3599,0,0,0,0,0,0
$GC,11883,-0.63,-112.4,934.4,-5.6,917,11887,0.00,1.75,0.00,0.000,6,0.000,0.057,2662,2226,3599,0,0,0,0,0,0
$GC,12208,-0.63,-112.4,953.7,-6.0,928,12212,0.00,2.20,0.00,0.000,4,0.000,0.062,2662,842,3599,0,0,0,0,0,0
$GC,12239,-0.63,-112.4,955.8,-6.2,929,12243,0.00,2.25,0.00,0.000,6,0.000,0.063,2663,2214,3599,0,0,0,0,0,0
$GC,12569,-0.63,-112.4,976.7,-6.6,940,12573,0.00,1.83,0.00,0.000,4,0.000,0.073,2662,3308,3598,0,0,0,0,0,0
$GC,12618,-0.64,-112.4,979.8,-6.6,941,12621,0.00,1.75,0.00,0.000,6,0.000,0.057,2662,2224,3598,0,0,0,0,0,0
$STATE,12782,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12782,begin apogee
$GC,12787,-0.14,0.0,990.0,6.0,947,12886,0.45,0.00,97.03,1.234,6,0.114,0.000,2809,1995,3150,0,0,0,0,0,0
$STATE,12887,end apogee,CONTROL_FINISHED_OK
$STATE,12887,begin climb
$GC,12890,0.45,112.4,991.8,0.0,950,13001,0.52,2.22,102.70,1.200,4,0.060,0.064,3016,775,2691,0,0,0,0,0,0
$GC,13016,0.42,112.4,988.8,6.7,954,13020,0.00,2.15,0.00,0.000,6,0.000,0.058,3016,1994,2689,0,0,0,0,0,0
$GC,13347,0.38,112.4,960.3,8.7,965,13351,0.15,2.10,0.00,0.000,4,0.163,0.069,2978,3245,2685,0,0,0,0,0,0
$GC,13476,0.36,112.4,950.0,7.9,969,13479,0.00,1.98,0.00,0.000,6,0.000,0.057,2984,2014,2685,0,0,0,0,0,0
$GC,13806,0.34,112.4,927.4,6.6,980,13809,0.00,2.05,0.00,0.000,4,0.000,0.070,2984,3246,2684,0,0,0,0,0,0
$GC,13885,0.30,112.4,921.5,7.0,982,13889,0.10,2.00,0.00,0.000,6,0.143,0.058,2961,2023,2684,0,0,0,0,0,0
$GC,14205,0.32,141.5,904.5,5.0,993,14235,0.00,2.00,25.58,1.148,4,0.000,0.067,2961,3237,2571,0,0,0,0,0,0
$GC,14321,0.31,141.5,897.6,6.7,996,14324,0.00,1.95,0.00,0.000,6,0.000,0.058,2966,2032,2569,0,0,0,0,0,0
$GC,14635,0.32,165.2,880.6,5.2,1007,14661,0.00,2.05,21.85,1.125,4,0.000,0.068,2965,3237,2476,0,0,0,0,0,0
$GC,14707,0.32,165.2,876.2,6.3,1008,14711,0.00,1.95,0.00,0.000,6,0.000,0.057,2972,2054,2474,0,0,0,0,0,0
$GC,15028,0.32,165.2,856.3,6.2,1019,15028,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2054,2472,0,0,0,0,0,0
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$STATE,26288,end climb,SURFACE_DEPTH_REACHED
$STATE,26288,begin surface coast
$FINISH,1.3,1.001300
$STATE,26328,end surface coast,CONTROL_FINISHED_OK
$STATE,26328,begin surface
$SM_CCo,26403,0.00,0.000,0,0,1581,384.88
$SM_GC,2.21,7.78,0.00,0.00,0.044,0.000,0.000,139,2090,1581,-8.39,0.42,384.88
$IRIDIUM_FIX,4716.56,-12554.14,311299,000058
$TT8_MAMPS,0.052923
$HUMID,41.06
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,22.4,63.951
$10V_AH,9.9,62.601
$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,20.250,230.425,446.900,0.000,0.000,30.564,36.593,288.900,0.000,0.000,13.274,0.000,20496.096,592.753,4921.068,876.997,0.000,2415.570,0.000,4164.723,0.000,0.534,0.000
$DEVICE_MAMPS,229.333,83.603,1234.103,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1442.702,1313.230,1713.695,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298404
$DATA_FILE_SIZE,107284,1980
$CAP_FILE_SIZE,260043,0
$CFSIZE,260165632,216879104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.040,259.7,1
$GPS,061010,153007,4738.189,-12550.464,39,0.9,39,18.7