version: 66.06
glider: 187
mission: 2
dive: 621
start: 10 9 110 9 7 7
data:
$ID,187
$MISSION,2
$DIVE,621
$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,-36938.812
$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,36
$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
$GPS1,084337,4757.941,-12524.882,42,1.1,43,18.8
$_CALLS,5
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-65.2
$GPS2,090702,4757.983,-12524.410,14,1.4,14,18.8
$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,31.2,7919,-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,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,14,-0.45,-112.4,0.0,0.0,0,120,0.00,0.00,-104.25,0.000,2,0.000,0.000,130,2058,3016,0,0,0,0,0,0
$GC,123,-0.45,-112.4,3.3,-2.6,19,151,10.48,1.92,-13.23,0.000,4,0.231,0.067,2700,838,3610,0,0,0,0,0,0
$GC,157,-0.25,-112.4,11.6,-20.1,25,164,0.22,1.98,0.00,0.000,6,0.129,0.052,2767,2078,3610,0,0,0,0,0,0
$GC,485,-0.29,-112.4,38.7,-8.2,86,490,0.00,1.95,0.00,0.000,4,0.000,0.054,2767,849,3612,0,0,0,0,0,0
$GC,731,-0.37,-112.4,54.3,-5.3,132,737,0.08,2.10,0.00,0.000,6,0.077,0.051,2731,2180,3612,0,0,0,0,0,0
$GC,1058,-0.41,-112.4,75.3,-7.2,193,1065,0.00,1.83,0.00,0.000,4,0.000,0.062,2732,3305,3612,0,0,0,0,0,0
$GC,1108,-0.45,-112.4,79.0,-7.5,202,1114,0.00,1.55,0.00,0.000,6,0.000,0.046,2731,2308,3613,0,0,0,0,0,0
$GC,1436,-0.49,-112.4,100.9,-6.3,262,1439,0.10,1.62,0.00,0.000,4,0.104,0.063,2675,3320,3612,0,0,0,0,0,0
$GC,1616,-0.49,-112.4,117.3,-9.5,279,1620,0.00,1.77,0.00,0.000,6,0.000,0.046,2674,2176,3611,0,0,0,0,0,0
$GC,1938,-0.49,-112.4,147.8,-9.0,310,1941,0.00,1.85,0.00,0.000,4,0.000,0.063,2667,3322,3610,0,0,0,0,0,0
$GC,2017,-0.49,-112.4,154.9,-8.6,317,2023,0.00,1.75,0.00,0.000,6,0.000,0.048,2666,2195,3610,0,0,0,0,0,0
$GC,2333,-0.49,-112.4,181.6,-8.8,348,2336,0.00,1.83,0.00,0.000,4,0.000,0.064,2663,3313,3609,0,0,0,0,0,0
$GC,2397,-0.49,-112.4,187.0,-8.1,354,2400,0.08,1.73,0.00,0.000,6,0.117,0.048,2691,2212,3609,0,0,0,0,0,0
$GC,2718,-0.49,-112.4,211.3,-7.6,385,2721,0.00,2.12,0.00,0.000,4,0.000,0.056,2692,847,3608,0,0,0,0,0,0
$GC,2743,-0.49,-112.4,213.4,-8.0,387,2750,0.00,2.15,0.00,0.000,6,0.000,0.054,2691,2205,3608,0,0,0,0,0,0
$GC,3061,-0.49,-112.4,236.2,-6.9,418,3064,0.00,1.77,0.00,0.000,4,0.000,0.064,2684,3312,3606,0,0,0,0,0,0
$GC,3145,-0.50,-112.4,242.4,-6.5,426,3149,0.00,1.70,0.00,0.000,6,0.000,0.049,2684,2226,3606,0,0,0,0,0,0
$GC,3467,-0.50,-112.4,266.8,-7.5,457,3471,0.00,2.17,0.00,0.000,4,0.000,0.058,2684,849,3605,0,0,0,0,0,0
$GC,3493,-0.50,-112.4,268.9,-8.0,459,3497,0.00,2.17,0.00,0.000,6,0.000,0.055,2682,2222,3605,0,0,0,0,0,0
$GC,3815,-0.50,-112.4,298.5,-8.0,490,3818,0.00,1.75,0.00,0.000,4,0.000,0.065,2675,3322,3604,0,0,0,0,0,0
$GC,3884,-0.50,-112.4,304.4,-8.2,496,3889,0.00,1.70,0.00,0.000,6,0.000,0.051,2675,2227,3604,0,0,0,0,0,0
$STATE,4083,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4083,begin apogee
$GC,4088,-0.14,0.0,321.1,7.8,516,4179,0.40,0.00,88.57,0.785,6,0.114,0.000,2805,1990,3150,0,0,0,0,0,0
$STATE,4179,end apogee,CONTROL_FINISHED_OK
$STATE,4179,begin climb
$GC,4182,0.45,112.4,323.5,0.0,525,4276,0.55,0.00,91.40,0.758,6,0.077,0.000,3002,1990,2690,0,0,0,0,0,0
$GC,4583,0.44,112.4,306.8,6.3,564,4586,0.00,2.05,0.00,0.000,4,0.000,0.063,3001,3227,2685,0,0,0,0,0,0
$GC,4747,0.41,112.4,295.2,6.6,579,4754,0.00,1.92,0.00,0.000,6,0.000,0.051,3009,2022,2684,0,0,0,0,0,0
$GC,5065,0.40,117.1,276.2,5.9,610,5074,0.00,1.98,4.32,0.532,4,0.000,0.064,3009,3230,2671,0,0,0,0,0,0
$GC,5176,0.37,117.1,269.0,7.5,620,5181,0.15,1.90,0.00,0.000,6,0.149,0.051,2975,2016,2670,0,0,0,0,0,0
$GC,5491,0.41,185.9,260.1,3.6,651,5553,0.00,2.03,56.47,0.740,4,0.000,0.062,2975,3241,2391,0,0,0,0,0,0
$GC,5637,0.42,201.1,252.5,5.6,665,5658,0.00,1.92,13.32,0.684,6,0.000,0.051,2975,2048,2329,0,0,0,0,0,0
$GC,5968,0.44,214.6,234.1,5.6,697,5981,0.00,0.00,12.05,0.680,6,0.000,0.000,2975,2047,2275,0,0,0,0,0,0
$GC,6288,0.46,227.8,217.2,5.6,728,6301,0.00,0.00,12.10,0.675,6,0.000,0.000,2975,2047,2221,0,0,0,0,0,0
$GC,6608,0.49,243.5,198.9,5.5,759,6629,0.12,1.95,14.05,0.677,4,0.094,0.064,3031,3234,2157,0,0,0,0,0,0
$GC,6644,0.47,243.5,195.9,9.5,762,6651,0.08,1.90,0.00,0.000,6,0.131,0.053,3012,2053,2156,0,0,0,0,0,0
$GC,6961,0.47,243.5,172.0,8.0,793,6964,0.00,2.08,0.00,0.000,4,0.000,0.062,3013,759,2154,0,0,0,0,0,0
$GC,6981,0.47,243.5,170.4,7.4,795,6985,0.00,2.05,0.00,0.000,6,0.000,0.054,3013,2050,2154,0,0,0,0,0,0
$GC,7303,0.47,243.5,145.2,7.4,826,7306,0.00,1.90,0.00,0.000,4,0.000,0.064,3013,3240,2153,0,0,0,0,0,0
$GC,7328,0.47,243.5,143.0,8.7,828,7336,0.00,1.90,0.00,0.000,6,0.000,0.054,3013,2050,2153,0,0,0,0,0,0
$GC,7645,0.47,243.5,115.6,8.8,859,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2050,2152,0,0,0,0,0,0
$GC,7959,0.48,252.7,93.1,5.8,900,7971,0.00,2.10,8.40,0.597,4,0.000,0.063,3014,761,2119,0,0,0,0,0,0
$GC,7988,0.48,259.4,91.4,5.9,905,8000,0.00,2.05,7.15,0.566,6,0.000,0.056,3014,2050,2092,0,0,0,0,0,0
$GC,8323,0.51,305.8,72.7,4.4,967,8367,0.00,2.08,38.55,0.633,4,0.000,0.061,3014,759,1903,0,0,0,0,0,0
$GC,8394,0.56,342.1,69.2,4.8,980,8428,0.00,2.03,30.55,0.614,6,0.000,0.054,3013,2021,1754,0,0,0,0,0,0
$GC,8749,0.63,342.1,46.6,6.9,1046,8755,0.12,1.98,0.00,0.000,4,0.102,0.064,3061,3234,1746,0,0,0,0,0,0
$GC,8827,0.64,342.1,41.2,7.3,1060,8832,0.00,1.90,0.00,0.000,6,0.000,0.053,3066,2053,1745,0,0,0,0,0,0
$GC,9154,0.68,352.2,16.9,5.7,1121,9167,0.00,2.10,8.00,0.549,4,0.000,0.061,3066,761,1714,0,0,0,0,0,0
$GC,9286,0.73,363.6,9.3,5.7,1145,9303,0.00,1.98,11.02,0.564,6,0.000,0.054,3066,2008,1666,0,0,0,0,0,0
$STATE,9416,end climb,SURFACE_DEPTH_REACHED
$STATE,9416,begin surface coast
$FINISH,1.3,1.024016
$STATE,9520,end surface coast,CONTROL_FINISHED_OK
$STATE,9520,begin surface
$SM_CCo,9596,0.00,0.000,0,0,1659,365.74
$SM_GC,2.30,7.65,0.00,0.00,0.038,0.000,0.000,143,2077,1659,-8.39,0.06,365.74
$IRIDIUM_FIX,4738.89,-12524.79,030100,090926
$TT8_MAMPS,0.052923
$HUMID,41.92
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,24.0,65.705
$10V_AH,9.9,64.498
$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,20.025,77.650,395.975,0.000,0.000,133.424,227.098,643.526,0.000,0.000,14.795,0.000,6268.943,464.844,2906.517,1333.311,0.000,1472.259,0.000,2541.940,0.000,0.536,0.000
$DEVICE_MAMPS,230.867,106.613,785.408,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,813.899,924.402,1639.446,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298324
$DATA_FILE_SIZE,66447,1189
$CAP_FILE_SIZE,138617,0
$CFSIZE,260165632,215760896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.137,205.8,1
$GPS,091010,114752,4758.099,-12524.229,10,5.8,30,18.8