version: 66.06
glider: 187
mission: 2
dive: 622
start: 10 9 110 12 3 4
data:
$ID,187
$MISSION,2
$DIVE,622
$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,-36993.316
$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,25
$R_STBD_OVSHOOT,28
$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
$GPS1,114752,4758.099,-12524.229,10,5.8,30,18.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.12
$_SM_ANGLEo,-76.6
$GPS2,120259,4757.986,-12524.056,49,1.4,53,18.8
$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,8.1,7689,-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,13,-0.45,-112.4,0.0,0.0,0,76,0.00,0.00,-61.47,0.000,2,0.000,0.000,130,2075,3121,0,0,0,0,0,0
$GC,80,-0.45,-112.4,3.7,-3.0,11,109,10.45,2.03,-10.18,0.000,4,0.231,0.074,2690,3314,3611,0,0,0,0,0,0
$GC,345,-0.45,-112.4,42.6,-8.3,60,351,0.00,1.98,0.00,0.000,6,0.000,0.046,2690,2061,3614,0,0,0,0,0,0
$GC,671,-0.44,-112.4,73.6,-9.1,121,677,0.00,2.05,0.00,0.000,4,0.000,0.062,2681,3306,3615,0,0,0,0,0,0
$GC,726,-0.44,-112.4,78.3,-9.0,131,732,0.00,1.88,0.00,0.000,6,0.000,0.048,2681,2113,3615,0,0,0,0,0,0
$GC,1056,-0.44,-112.4,107.8,-9.0,185,1059,0.10,1.90,0.00,0.000,4,0.162,0.064,2702,3307,3615,0,0,0,0,0,0
$GC,1109,-0.46,-112.4,112.1,-7.5,190,1112,0.00,1.80,0.00,0.000,6,0.000,0.048,2702,2141,3615,0,0,0,0,0,0
$GC,1429,-0.46,-112.4,134.7,-6.7,221,1433,0.00,1.90,0.00,0.000,4,0.000,0.064,2696,3300,3615,0,0,0,0,0,0
$GC,1509,-0.47,-112.4,140.2,-6.8,228,1516,0.00,1.75,0.00,0.000,6,0.000,0.048,2696,2183,3615,0,0,0,0,0,0
$GC,1825,-0.47,-112.4,162.2,-7.2,259,1828,0.00,1.83,0.00,0.000,4,0.000,0.066,2691,3310,3614,0,0,0,0,0,0
$GC,1872,-0.49,-112.4,165.9,-7.9,263,1879,0.00,1.70,0.00,0.000,6,0.000,0.049,2691,2223,3614,0,0,0,0,0,0
$GC,2189,-0.49,-112.4,189.9,-7.4,294,2192,0.00,2.15,0.00,0.000,4,0.000,0.056,2691,847,3613,0,0,0,0,0,0
$GC,2236,-0.49,-112.4,193.5,-7.5,298,2239,0.00,2.15,0.00,0.000,6,0.000,0.056,2685,2228,3613,0,0,0,0,0,0
$GC,2557,-0.49,-112.4,215.5,-8.3,329,2560,0.00,2.20,0.00,0.000,4,0.000,0.057,2685,850,3612,0,0,0,0,0,0
$GC,2611,-0.49,-112.4,219.8,-8.3,334,2614,0.00,2.10,0.00,0.000,6,0.000,0.054,2680,2203,3612,0,0,0,0,0,0
$GC,2927,-0.49,-112.4,245.5,-9.1,364,2930,0.00,1.80,0.00,0.000,4,0.000,0.066,2672,3316,3612,0,0,0,0,0,0
$GC,2974,-0.50,-112.4,249.6,-8.0,368,2979,0.00,1.75,0.00,0.000,6,0.000,0.051,2672,2201,3611,0,0,0,0,0,0
$GC,3289,-0.50,-112.4,277.8,-8.1,399,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,2200,3610,0,0,0,0,0,0
$GC,3602,-0.50,-112.4,306.1,-9.4,429,3605,0.00,1.77,0.00,0.000,4,0.000,0.067,2664,3306,3610,0,0,0,0,0,0
$GC,3649,-0.50,-112.4,310.9,-10.1,433,3655,0.08,1.70,0.00,0.000,6,0.114,0.051,2691,2227,3610,0,0,0,0,0,0
$STATE,3807,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3807,begin apogee
$GC,3813,-0.14,0.0,321.7,5.8,449,3905,0.35,0.00,89.90,0.788,6,0.114,0.000,2808,1990,3150,0,0,0,0,0,0
$STATE,3906,end apogee,CONTROL_FINISHED_OK
$STATE,3906,begin climb
$GC,3908,0.45,112.4,323.9,0.0,458,4007,0.52,2.05,91.07,0.762,4,0.077,0.060,3001,780,2691,0,0,0,0,0,0
$GC,4023,0.51,204.9,324.0,2.7,469,4105,0.00,2.00,76.40,0.750,6,0.000,0.054,3001,2005,2314,0,0,0,0,0,0
$GC,4416,0.51,204.9,298.7,6.4,507,4419,0.00,2.00,0.00,0.000,4,0.000,0.062,3001,3230,2306,0,0,0,0,0,0
$GC,4566,0.51,204.9,287.8,6.4,521,4569,0.00,1.92,0.00,0.000,6,0.000,0.053,3006,2020,2306,0,0,0,0,0,0
$GC,4886,0.51,204.9,264.5,7.5,552,4890,0.00,1.98,0.00,0.000,4,0.000,0.064,3007,3229,2305,0,0,0,0,0,0
$GC,4930,0.51,204.9,261.0,8.6,556,4932,0.00,1.90,0.00,0.000,6,0.000,0.053,3013,2010,2304,0,0,0,0,0,0
$GC,5249,0.51,204.9,238.6,6.4,587,5253,0.00,1.98,0.00,0.000,4,0.000,0.063,3013,3225,2304,0,0,0,0,0,0
$GC,5265,0.52,214.5,237.6,5.8,588,5276,0.00,1.92,7.97,0.649,6,0.000,0.054,3013,2027,2275,0,0,0,0,0,0
$GC,5587,0.52,214.5,216.2,6.7,619,5590,0.00,2.00,0.00,0.000,4,0.000,0.063,3013,763,2274,0,0,0,0,0,0
$GC,5633,0.52,226.7,213.5,5.7,623,5651,0.00,2.00,11.40,0.676,6,0.000,0.055,3013,2022,2226,0,0,0,0,0,0
$GC,5961,0.52,226.7,192.5,6.4,655,5964,0.00,1.92,0.00,0.000,4,0.000,0.064,3014,3239,2224,0,0,0,0,0,0
$GC,5982,0.52,226.7,191.0,7.2,657,5985,0.00,1.92,0.00,0.000,6,0.000,0.054,3013,2020,2223,0,0,0,0,0,0
$GC,6303,0.52,226.7,170.0,7.0,688,6306,0.00,1.92,0.00,0.000,4,0.000,0.064,3014,3233,2223,0,0,0,0,0,0
$GC,6323,0.52,226.7,168.5,7.2,690,6327,0.00,1.92,0.00,0.000,6,0.000,0.054,3013,2030,2222,0,0,0,0,0,0
$GC,6645,0.52,226.7,146.0,6.8,721,6648,0.00,2.00,0.00,0.000,4,0.000,0.063,3014,766,2223,0,0,0,0,0,0
$GC,6655,0.52,226.7,145.4,6.4,722,6658,0.00,1.98,0.00,0.000,6,0.000,0.056,3015,2037,2223,0,0,0,0,0,0
$GC,6976,0.52,226.7,122.6,7.5,753,6979,0.00,2.08,0.00,0.000,4,0.000,0.064,3022,767,2222,0,0,0,0,0,0
$GC,6996,0.52,226.7,121.2,6.7,755,7001,0.00,2.00,0.00,0.000,6,0.000,0.055,3022,2025,2222,0,0,0,0,0,0
$GC,7313,0.52,226.7,97.3,8.2,788,7319,0.00,1.95,0.00,0.000,4,0.000,0.064,3022,3234,2221,0,0,0,0,0,0
$GC,7383,0.52,226.7,91.8,8.0,801,7389,0.00,1.90,0.00,0.000,6,0.000,0.053,3027,2041,2221,0,0,0,0,0,0
$GC,7709,0.52,226.7,66.8,7.7,862,7715,0.00,2.08,0.00,0.000,4,0.000,0.063,3027,759,2221,0,0,0,0,0,0
$GC,7759,0.52,226.7,63.3,7.1,871,7765,0.00,2.05,0.00,0.000,6,0.000,0.056,3027,2048,2221,0,0,0,0,0,0
$GC,8087,0.55,277.7,49.1,4.2,932,8138,0.00,2.12,41.97,0.623,4,0.000,0.061,3027,759,2016,0,0,0,0,0,0
$GC,8143,0.59,294.0,46.1,5.5,942,8161,0.00,2.05,14.38,0.580,6,0.000,0.055,3027,2036,1950,0,0,0,0,0,0
$GC,8483,0.63,294.0,23.8,6.7,1005,8489,0.00,2.08,0.00,0.000,4,0.000,0.063,3027,770,1944,0,0,0,0,0,0
$GC,8708,0.71,314.9,13.5,5.3,1047,8731,0.12,1.88,17.50,0.585,6,0.071,0.056,3086,1946,1865,0,0,0,0,0,0
$STATE,8927,end climb,SURFACE_DEPTH_REACHED
$STATE,8927,begin surface coast
$FINISH,1.4,1.024201
$STATE,9009,end surface coast,CONTROL_FINISHED_OK
$STATE,9009,begin surface
$SM_CCo,9025,24.80,0.430,1,0,1722,350.04
$SM_GC,1.65,0.00,0.00,24.80,0.000,0.000,0.430,140,2087,1722,-8.47,0.37,350.04
$IRIDIUM_FIX,4738.89,-12529.27,030100,121257
$TT8_MAMPS,0.05369
$HUMID,42.00
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.8,65.812
$10V_AH,9.9,64.608
$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,19.450,86.575,350.600,24.800,0.000,79.096,117.810,385.529,0.000,0.000,53.874,0.000,5906.229,418.893,2729.902,879.404,0.000,1353.146,0.000,2326.396,0.000,0.534,0.000
$DEVICE_MAMPS,230.867,75.933,787.709,429.520,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,756.200,850.545,1473.473,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298416
$DATA_FILE_SIZE,63315,1103
$CAP_FILE_SIZE,122489,0
$CFSIZE,260165632,215711744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,1
$CURRENT,0.177,231.1,1
$GPS,091010,143456,4757.983,-12524.549,16,3.4,36,18.8