version: 66.06
glider: 187
mission: 2
dive: 614
start: 10 7 110 22 28 42
data:
$ID,187
$MISSION,2
$DIVE,614
$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,-36797.219
$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,24
$R_STBD_OVSHOOT,26
$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
$GPS1,221954,4749.371,-12536.887,27,0.9,44,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-74.6
$GPS2,222837,4749.413,-12536.785,17,0.9,23,18.8
$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,46.4,29862,-13.9,-6.111
$D_GRID,895
$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,-112.4,0.0,0.0,0,78,0.00,0.00,-62.50,0.000,2,0.000,0.000,131,2073,2923,0,0,0,0,0,0
$GC,80,-0.45,-112.4,3.2,-2.3,12,114,10.48,2.03,-16.02,0.000,4,0.230,0.077,2694,3303,3611,0,0,0,0,0,0
$GC,301,-0.45,-112.4,37.0,-10.1,53,307,0.00,1.95,0.00,0.000,6,0.000,0.048,2694,2069,3613,0,0,0,0,0,0
$GC,627,-0.45,-112.4,75.0,-11.1,114,633,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,2066,3615,0,0,0,0,0,0
$GC,953,-0.45,-112.4,102.8,-8.6,172,956,0.00,2.00,0.00,0.000,4,0.000,0.063,2690,3309,3616,0,0,0,0,0,0
$GC,1038,-0.45,-112.4,109.7,-8.2,180,1042,0.00,1.95,0.00,0.000,6,0.000,0.048,2689,2071,3615,0,0,0,0,0,0
$GC,1359,-0.45,-112.4,135.5,-8.6,211,1362,0.00,2.00,0.00,0.000,4,0.000,0.063,2682,3309,3615,0,0,0,0,0,0
$GC,1385,-0.45,-112.4,138.0,-9.4,213,1391,0.00,1.90,0.00,0.000,6,0.000,0.049,2682,2099,3615,0,0,0,0,0,0
$GC,1702,-0.45,-112.4,163.7,-7.3,244,1704,0.00,1.98,0.00,0.000,4,0.000,0.065,2673,3313,3615,0,0,0,0,0,0
$GC,1727,-0.45,-112.4,165.8,-8.0,246,1735,0.08,1.90,0.00,0.000,6,0.115,0.050,2702,2105,3615,0,0,0,0,0,0
$GC,2044,-0.47,-112.4,185.9,-6.7,277,2045,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2105,3614,0,0,0,0,0,0
$GC,2356,-0.48,-112.4,206.2,-6.8,307,2359,0.00,1.98,0.00,0.000,4,0.000,0.066,2702,3310,3614,0,0,0,0,0,0
$GC,2388,-0.50,-112.4,208.4,-6.9,310,2391,0.00,1.90,0.00,0.000,6,0.000,0.051,2702,2096,3613,0,0,0,0,0,0
$GC,2708,-0.52,-112.4,231.0,-7.0,341,2712,0.00,2.00,0.00,0.000,4,0.000,0.057,2702,838,3613,0,0,0,0,0,0
$GC,2750,-0.53,-112.4,234.1,-7.6,345,2754,0.00,2.00,0.00,0.000,6,0.000,0.055,2702,2095,3612,0,0,0,0,0,0
$GC,3072,-0.55,-112.4,255.7,-5.7,376,3075,0.00,1.98,0.00,0.000,4,0.000,0.067,2702,3312,3612,0,0,0,0,0,0
$GC,3146,-0.57,-112.4,260.1,-5.3,383,3149,0.00,1.90,0.00,0.000,6,0.000,0.051,2702,2112,3611,0,0,0,0,0,0
$GC,3467,-0.58,-112.4,277.3,-5.3,414,3471,0.12,1.98,0.00,0.000,4,0.093,0.067,2636,3305,3611,0,0,0,0,0,0
$GC,3521,-0.57,-112.4,281.9,-9.1,419,3524,0.12,1.85,0.00,0.000,6,0.150,0.050,2671,2117,3611,0,0,0,0,0,0
$GC,3841,-0.57,-112.4,307.1,-7.8,450,3845,0.00,1.98,0.00,0.000,4,0.000,0.066,2664,3313,3611,0,0,0,0,0,0
$GC,3894,-0.57,-112.4,311.2,-7.8,455,3897,0.00,1.88,0.00,0.000,6,0.000,0.051,2664,2127,3610,0,0,0,0,0,0
$GC,4215,-0.57,-112.4,338.7,-9.1,486,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2664,2126,3610,0,0,0,0,0,0
$GC,4527,-0.57,-112.4,366.5,-8.7,516,4530,0.00,1.95,0.00,0.000,4,0.000,0.068,2663,3315,3609,0,0,0,0,0,0
$GC,4558,-0.57,-112.4,369.4,-8.6,519,4562,0.00,1.88,0.00,0.000,6,0.000,0.053,2663,2136,3609,0,0,0,0,0,0
$GC,4880,-0.57,-112.4,398.6,-9.3,550,4883,0.00,2.05,0.00,0.000,4,0.000,0.060,2662,849,3608,0,0,0,0,0,0
$GC,4955,-0.57,-112.4,405.7,-10.0,557,4957,0.00,2.00,0.00,0.000,6,0.000,0.058,2663,2127,3608,0,0,0,0,0,0
$GC,5274,-0.57,-112.4,435.0,-9.3,588,5278,0.00,2.05,0.00,0.000,4,0.000,0.059,2662,852,3608,0,0,0,0,0,0
$GC,5398,-0.57,-112.4,447.8,-10.3,599,5403,0.00,2.00,0.00,0.000,6,0.000,0.058,2662,2104,3607,0,0,0,0,0,0
$GC,5713,-0.57,-112.4,478.1,-9.0,630,5713,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2104,3607,0,0,0,0,0,0
$GC,6025,-0.57,-112.4,502.5,-7.5,660,6028,0.00,1.98,0.00,0.000,4,0.000,0.068,2658,3313,3607,0,0,0,0,0,0
$GC,6088,-0.57,-112.4,507.3,-7.8,666,6092,0.00,1.92,0.00,0.000,6,0.000,0.053,2658,2104,3606,0,0,0,0,0,0
$GC,6410,-0.57,-112.4,532.0,-7.7,697,6413,0.00,2.03,0.00,0.000,4,0.000,0.061,2658,846,3606,0,0,0,0,0,0
$GC,6457,-0.57,-112.4,536.0,-8.6,701,6462,0.00,2.03,0.00,0.000,6,0.000,0.058,2653,2105,3606,0,0,0,0,0,0
$GC,6772,-0.57,-112.4,562.3,-8.3,732,6776,0.00,2.00,0.00,0.000,4,0.000,0.069,2644,3311,3605,0,0,0,0,0,0
$GC,6816,-0.57,-112.4,565.6,-7.3,736,6819,0.00,1.90,0.00,0.000,6,0.000,0.054,2644,2106,3605,0,0,0,0,0,0
$GC,7136,-0.56,-112.4,593.3,-9.1,767,7140,0.10,2.03,0.00,0.000,4,0.171,0.061,2671,842,3605,0,0,0,0,0,0
$GC,7210,-0.56,-112.4,599.6,-8.8,774,7214,0.00,2.03,0.00,0.000,6,0.000,0.058,2669,2100,3605,0,0,0,0,0,0
$GC,7524,-0.56,-112.4,623.3,-7.3,785,7528,0.00,2.00,0.00,0.000,4,0.000,0.069,2663,3306,3604,0,0,0,0,0,0
$GC,7573,-0.56,-112.4,627.0,-8.1,786,7576,0.00,1.90,0.00,0.000,6,0.000,0.054,2663,2116,3604,0,0,0,0,0,0
$GC,7891,-0.56,-112.4,650.9,-7.4,797,7895,0.00,2.05,0.00,0.000,4,0.000,0.061,2663,838,3604,0,0,0,0,0,0
$GC,7929,-0.56,-112.4,653.7,-8.2,798,7932,0.00,2.05,0.00,0.000,6,0.000,0.059,2663,2111,3603,0,0,0,0,0,0
$GC,8259,-0.56,-112.4,680.0,-8.1,809,8262,0.00,1.98,0.00,0.000,4,0.000,0.071,2662,3316,3603,0,0,0,0,0,0
$GC,8306,-0.57,-112.4,683.5,-7.3,810,8310,0.00,1.95,0.00,0.000,6,0.000,0.054,2663,2096,3603,0,0,0,0,0,0
$GC,8627,-0.57,-112.4,707.5,-7.6,821,8628,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2096,3602,0,0,0,0,0,0
$GC,8929,-0.57,-112.4,726.4,-5.9,831,8933,0.00,1.98,0.00,0.000,4,0.000,0.061,2663,835,3602,0,0,0,0,0,0
$GC,8993,-0.57,-112.4,730.5,-7.0,833,8996,0.00,2.05,0.00,0.000,6,0.000,0.059,2662,2112,3602,0,0,0,0,0,0
$GC,9329,-0.57,-112.4,754.3,-7.3,844,9332,0.00,1.98,0.00,0.000,4,0.000,0.070,2663,3317,3601,0,0,0,0,0,0
$GC,9376,-0.58,-112.4,757.9,-7.3,845,9380,0.00,1.95,0.00,0.000,6,0.000,0.054,2663,2099,3601,0,0,0,0,0,0
$GC,9695,-0.58,-112.4,780.6,-6.7,856,9699,0.00,2.03,0.00,0.000,4,0.000,0.063,2663,847,3601,0,0,0,0,0,0
$GC,9733,-0.58,-112.4,783.2,-6.9,857,9736,0.00,1.98,0.00,0.000,6,0.000,0.061,2663,2101,3601,0,0,0,0,0,0
$GC,10063,-0.65,-112.4,795.2,0.1,868,10066,0.00,2.00,0.00,0.000,4,0.000,0.071,2663,3314,3601,0,0,0,0,0,0
$STATE,10300,end dive,NO_VERTICAL_VELOCITY
$STATE,10300,begin apogee
$GC,10307,-0.14,0.0,795.2,0.0,875,10403,0.40,0.00,94.22,1.117,6,0.074,0.000,2816,1997,3150,0,0,0,0,0,0
$STATE,10404,end apogee,CONTROL_FINISHED_OK
$STATE,10404,begin climb
$GC,10406,0.45,112.4,795.0,0.0,878,10513,0.52,2.22,99.00,1.078,4,0.083,0.069,2997,3239,2691,0,0,0,0,0,0
$GC,10753,0.43,112.4,788.3,6.3,889,10756,0.00,2.03,0.00,0.000,6,0.000,0.056,3005,2005,2685,0,0,0,0,0,0
$GC,11082,0.41,135.9,771.7,5.3,900,11107,0.00,2.05,20.50,1.035,4,0.000,0.067,3005,3236,2595,0,0,0,0,0,0
$GC,11145,0.38,135.9,768.0,7.4,901,11149,0.10,2.03,0.00,0.000,6,0.135,0.054,2982,1995,2593,0,0,0,0,0,0
$GC,11476,0.40,156.6,750.0,5.4,912,11499,0.00,2.08,19.10,1.026,4,0.000,0.067,2982,3228,2511,0,0,0,0,0,0
$GC,11566,0.38,156.6,742.5,8.8,914,11570,0.00,1.92,0.00,0.000,6,0.000,0.057,2985,2034,2508,0,0,0,0,0,0
$GC,11874,0.38,156.6,719.0,7.0,925,11877,0.00,2.08,0.00,0.000,4,0.000,0.066,2992,759,2507,0,0,0,0,0,0
$GC,11900,0.38,156.6,717.3,7.7,925,11905,0.00,2.08,0.00,0.000,6,0.000,0.059,2992,2042,2507,0,0,0,0,0,0
$GC,12209,0.37,165.2,698.0,5.8,936,12222,0.00,1.98,8.62,0.923,4,0.000,0.067,2992,3237,2476,0,0,0,0,0,0
$GC,12277,0.36,165.2,693.4,6.7,938,12281,0.00,1.92,0.00,0.000,6,0.000,0.056,2997,2052,2475,0,0,0,0,0,0
$GC,12607,0.34,165.2,671.5,6.7,949,12611,0.12,2.10,0.00,0.000,4,0.160,0.066,2971,770,2475,0,0,0,0,0,0
$GC,12634,0.37,214.7,670.1,4.3,949,12682,0.00,2.05,44.03,1.021,6,0.000,0.060,2971,2054,2273,0,0,0,0,0,0
$GC,13004,0.39,226.5,650.1,5.7,962,13018,0.00,1.92,10.80,0.923,4,0.000,0.067,2971,3234,2226,0,0,0,0,0,0
$GC,13062,0.39,226.5,646.0,7.6,964,13065,0.00,1.90,0.00,0.000,6,0.000,0.058,2973,2050,2223,0,0,0,0,0,0
$GC,13396,0.41,243.5,627.3,5.5,975,13415,0.00,1.95,15.60,0.952,4,0.000,0.068,2972,3233,2157,0,0,0,0,0,0
$GC,13428,0.43,255.7,625.3,5.7,976,13445,0.00,1.88,12.20,0.907,6,0.000,0.058,2973,2070,2107,0,0,0,0,0,0
$GC,13755,0.45,255.7,605.3,6.1,987,13759,0.00,2.15,0.00,0.000,4,0.000,0.066,2973,764,2102,0,0,0,0,0,0
$GC,13792,0.47,255.7,603.1,6.5,988,13796,0.08,2.08,0.00,0.000,6,0.066,0.059,3018,2047,2102,0,0,0,0,0,0
$GC,14108,0.47,255.7,574.5,9.0,1015,14111,0.00,1.95,0.00,0.000,4,0.000,0.067,3018,3226,2101,0,0,0,0,0,0
$GC,14129,0.47,255.7,572.5,9.5,1017,14132,0.00,1.90,0.00,0.000,6,0.000,0.058,3023,2050,2101,0,0,0,0,0,0
$GC,14450,0.47,255.7,540.5,10.3,1048,14453,0.00,2.08,0.00,0.000,4,0.000,0.067,3027,764,2101,0,0,0,0,0,0
$GC,14471,0.47,255.7,538.3,10.0,1050,14474,0.00,2.05,0.00,0.000,6,0.000,0.060,3027,2037,2100,0,0,0,0,0,0
$GC,14793,0.46,255.7,505.4,10.0,1081,14795,0.00,1.95,0.00,0.000,4,0.000,0.069,3027,3232,2100,0,0,0,0,0,0
$GC,14825,0.45,255.7,502.2,10.3,1084,14828,0.00,1.90,0.00,0.000,6,0.000,0.058,3027,2038,2099,0,0,0,0,0,0
$GC,15144,0.45,255.7,472.9,8.6,1115,15148,0.00,2.05,0.00,0.000,4,0.000,0.066,3029,769,2099,0,0,0,0,0,0
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$STATE,21495,end climb,SURFACE_DEPTH_REACHED
$STATE,21495,begin surface coast
$FINISH,1.4,1.023662
$STATE,21541,end surface coast,CONTROL_FINISHED_OK
$STATE,21541,begin surface
$SM_CCo,21618,0.00,0.000,0,0,1550,392.48
$SM_GC,2.15,7.85,0.00,0.00,0.039,0.000,0.000,132,2070,1550,-8.41,-0.14,392.48
$IRIDIUM_FIX,4726.11,-12541.18,010100,151550
$TT8_MAMPS,0.052923
$HUMID,41.65
$INTERNAL_PRESSURE,9.01087
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,22.8,64.701
$10V_AH,9.9,63.468
$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,20.500,203.000,440.475,0.000,0.000,27.636,39.474,269.431,0.000,0.000,23.253,0.000,15932.320,560.907,4753.699,846.119,0.000,2281.542,0.000,4029.195,0.000,0.533,0.000
$DEVICE_MAMPS,230.100,167.973,1116.752,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1305.230,2029.774,1827.446,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298388
$DATA_FILE_SIZE,107500,1876
$CAP_FILE_SIZE,234409,0
$CFSIZE,260165632,216301568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1
$CURRENT,0.111, 28.8,1
$GPS,081010,043001,4751.210,-12532.774,41,1.9,41,18.8