version: 66.06
glider: 187
mission: 2
dive: 626
start: 10 9 110 22 58 9
data:
$ID,187
$MISSION,2
$DIVE,626
$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,657.40399
$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,-37138.406
$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,29
$R_STBD_OVSHOOT,33
$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
$GPS1,224004,4758.625,-12524.264,35,2.7,54,18.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.94
$_SM_ANGLEo,-72.6
$GPS2,225804,4758.938,-12524.078,38,2.9,57,18.8
$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,20.5,6233,-13.9,-6.111
$D_GRID,423
$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,-55.17,0.000,2,0.000,0.000,130,2088,3020,0,0,0,0,0,0
$GC,73,-0.45,-112.4,3.2,-2.3,10,101,10.65,1.95,-12.85,0.000,4,0.237,0.074,2692,3302,3610,0,0,0,0,0,0
$GC,256,-0.45,-112.4,32.6,-8.5,44,263,0.00,1.92,0.00,0.000,6,0.000,0.046,2692,2074,3613,0,0,0,0,0,0
$GC,584,-0.44,-112.4,68.8,-9.6,105,590,0.00,1.92,0.00,0.000,4,0.000,0.053,2692,849,3614,0,0,0,0,0,0
$GC,659,-0.44,-112.4,76.2,-9.2,119,665,0.00,1.90,0.00,0.000,6,0.000,0.052,2691,2051,3614,0,0,0,0,0,0
$GC,989,-0.44,-112.4,107.3,-10.0,174,992,0.00,2.00,0.00,0.000,4,0.000,0.062,2682,3313,3614,0,0,0,0,0,0
$GC,1068,-0.44,-112.4,114.6,-9.1,181,1074,0.00,1.95,0.00,0.000,6,0.000,0.045,2682,2060,3614,0,0,0,0,0,0
$GC,1384,-0.44,-112.4,140.5,-8.0,212,1387,0.00,2.05,0.00,0.000,4,0.000,0.062,2674,3312,3613,0,0,0,0,0,0
$GC,1443,-0.44,-112.4,145.2,-8.3,217,1448,0.12,1.90,0.00,0.000,6,0.137,0.048,2710,2075,3614,0,0,0,0,0,0
$GC,1758,-0.46,-112.4,168.5,-7.3,248,1761,0.00,2.03,0.00,0.000,4,0.000,0.063,2704,3312,3613,0,0,0,0,0,0
$GC,1790,-0.47,-112.4,171.1,-8.5,251,1793,0.00,1.88,0.00,0.000,6,0.000,0.049,2704,2102,3612,0,0,0,0,0,0
$GC,2111,-0.47,-112.4,193.5,-6.7,282,2114,0.00,2.00,0.00,0.000,4,0.000,0.057,2704,844,3612,0,0,0,0,0,0
$GC,2143,-0.49,-112.4,195.8,-7.5,285,2146,0.00,2.00,0.00,0.000,6,0.000,0.054,2704,2120,3612,0,0,0,0,0,0
$GC,2464,-0.49,-112.4,212.4,-4.7,316,2467,0.00,1.92,0.00,0.000,4,0.000,0.064,2704,3313,3611,0,0,0,0,0,0
$GC,2539,-0.51,-112.4,216.4,-5.9,323,2542,0.00,1.85,0.00,0.000,6,0.000,0.048,2704,2116,3611,0,0,0,0,0,0
$GC,2859,-0.51,-112.4,236.0,-6.6,354,2862,0.00,2.00,0.00,0.000,4,0.000,0.054,2704,847,3611,0,0,0,0,0,0
$GC,2913,-0.53,-112.4,239.6,-7.0,359,2916,0.00,2.00,0.00,0.000,6,0.000,0.056,2704,2123,3610,0,0,0,0,0,0
$GC,3233,-0.54,-112.4,260.7,-7.0,390,3237,0.00,1.92,0.00,0.000,4,0.000,0.064,2702,3302,3610,0,0,0,0,0,0
$GC,3303,-0.56,-112.4,265.8,-6.8,396,3309,0.00,1.83,0.00,0.000,6,0.000,0.049,2702,2138,3609,0,0,0,0,0,0
$GC,3618,-0.57,-112.4,285.4,-6.4,427,3621,0.00,1.90,0.00,0.000,4,0.000,0.064,2702,3312,3609,0,0,0,0,0,0
$GC,3651,-0.59,-112.4,287.3,-5.9,430,3654,0.12,1.83,0.00,0.000,6,0.091,0.049,2639,2137,3609,0,0,0,0,0,0
$GC,3971,-0.57,-112.4,319.2,-10.1,461,3975,0.12,1.92,0.00,0.000,4,0.159,0.067,2667,3305,3608,0,0,0,0,0,0
$GC,4014,-0.57,-112.4,323.5,-11.4,465,4017,0.00,1.77,0.00,0.000,6,0.000,0.050,2667,2161,3608,0,0,0,0,0,0
$GC,4335,-0.57,-112.4,352.4,-10.4,496,4338,0.00,1.88,0.00,0.000,4,0.000,0.065,2661,3316,3607,0,0,0,0,0,0
$GC,4377,-0.57,-112.4,356.3,-9.3,500,4380,0.00,1.77,0.00,0.000,6,0.000,0.050,2660,2183,3607,0,0,0,0,0,0
$GC,4698,-0.57,-112.4,384.5,-9.3,531,4702,0.00,2.10,0.00,0.000,4,0.000,0.055,2660,850,3607,0,0,0,0,0,0
$GC,4741,-0.57,-112.4,389.2,-11.6,535,4744,0.00,2.10,0.00,0.000,6,0.000,0.058,2658,2176,3607,0,0,0,0,0,0
$GC,5061,-0.57,-112.4,415.7,-7.9,566,5065,0.00,1.85,0.00,0.000,4,0.000,0.067,2650,3300,3606,0,0,0,0,0,0
$GC,5119,-0.57,-112.4,420.9,-9.5,571,5125,0.00,1.77,0.00,0.000,6,0.000,0.051,2650,2181,3606,0,0,0,0,0,0
$STATE,5144,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5144,begin apogee
$GC,5150,-0.14,0.0,423.5,10.1,574,5246,0.47,0.00,90.55,0.854,6,0.114,0.000,2804,1995,3150,0,0,0,0,0,0
$STATE,5246,end apogee,CONTROL_FINISHED_OK
$STATE,5246,begin climb
$GC,5249,0.45,112.4,427.6,0.0,584,5349,0.55,2.12,92.45,0.828,4,0.074,0.063,3002,3225,2690,0,0,0,0,0,0
$GC,5444,0.47,178.4,425.5,3.7,602,5506,0.00,2.00,55.55,0.815,6,0.000,0.051,3010,2007,2421,0,0,0,0,0,0
$GC,5823,0.45,179.1,400.8,6.1,639,5826,0.00,2.03,0.00,0.000,4,0.000,0.064,3010,3228,2415,0,0,0,0,0,0
$GC,5908,0.44,179.1,394.6,8.8,647,5912,0.00,1.98,0.00,0.000,6,0.000,0.053,3017,2002,2414,0,0,0,0,0,0
$GC,6229,0.42,179.1,369.4,7.9,678,6232,0.00,2.00,0.00,0.000,4,0.000,0.063,3026,771,2413,0,0,0,0,0,0
$GC,6297,0.41,179.1,364.1,7.9,684,6304,0.10,1.95,0.00,0.000,6,0.133,0.057,2993,1988,2413,0,0,0,0,0,0
$GC,6614,0.41,185.4,342.3,5.9,715,6624,0.00,2.00,5.95,0.653,4,0.000,0.064,2992,3234,2393,0,0,0,0,0,0
$GC,6744,0.41,185.4,334.6,7.8,727,6747,0.00,1.92,0.00,0.000,6,0.000,0.054,2996,2014,2392,0,0,0,0,0,0
$GC,7064,0.42,205.8,314.9,5.4,758,7086,0.00,2.03,18.12,0.764,4,0.000,0.064,2996,3235,2310,0,0,0,0,0,0
$GC,7172,0.42,205.8,306.4,8.6,768,7175,0.00,1.92,0.00,0.000,6,0.000,0.054,3000,2024,2307,0,0,0,0,0,0
$GC,7492,0.42,205.8,281.3,7.7,799,7493,0.00,0.00,0.00,0.000,6,0.000,0.000,2999,2024,2307,0,0,0,0,0,0
$GC,7805,0.42,205.8,256.6,7.8,829,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2024,2306,0,0,0,0,0,0
$GC,8115,0.42,205.8,232.1,8.5,859,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2024,2306,0,0,0,0,0,0
$GC,8426,0.42,205.8,208.6,7.3,889,8427,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2024,2306,0,0,0,0,0,0
$GC,8736,0.42,205.8,190.6,6.2,919,8738,0.00,1.95,0.00,0.000,4,0.000,0.064,3000,3235,2305,0,0,0,0,0,0
$GC,8762,0.42,205.8,188.7,7.2,921,8768,0.00,1.90,0.00,0.000,6,0.000,0.054,3000,2044,2305,0,0,0,0,0,0
$GC,9078,0.43,210.0,167.1,6.0,952,9088,0.00,2.05,4.40,0.522,4,0.000,0.064,3000,774,2294,0,0,0,0,0,0
$GC,9098,0.45,243.6,166.0,4.9,954,9131,0.00,2.00,28.83,0.689,6,0.000,0.058,3000,2046,2157,0,0,0,0,0,0
$GC,9449,0.45,243.6,143.3,6.9,988,9452,0.00,1.92,0.00,0.000,4,0.000,0.064,3000,3243,2152,0,0,0,0,0,0
$GC,9492,0.45,243.6,140.2,6.8,992,9494,0.00,1.90,0.00,0.000,6,0.000,0.054,3000,2042,2151,0,0,0,0,0,0
$GC,9812,0.45,243.6,120.2,6.2,1023,9815,0.00,2.08,0.00,0.000,4,0.000,0.063,3000,766,2151,0,0,0,0,0,0
$GC,9839,0.47,251.9,118.6,5.8,1025,9855,0.00,2.03,7.70,0.601,6,0.000,0.056,3000,2057,2122,0,0,0,0,0,0
$GC,10164,0.48,262.1,99.9,5.7,1057,10182,0.00,1.92,9.75,0.611,4,0.000,0.064,3000,3235,2081,0,0,0,0,0,0
$GC,10220,0.50,262.1,96.5,6.6,1067,10225,0.00,1.88,0.00,0.000,6,0.000,0.054,3000,2067,2079,0,0,0,0,0,0
$GC,10549,0.54,294.9,76.3,4.9,1128,10582,0.00,0.00,27.77,0.634,6,0.000,0.000,3000,2066,1948,0,0,0,0,0,0
$GC,10903,0.59,344.5,57.7,4.3,1194,10948,0.12,2.15,41.10,0.621,4,0.095,0.064,3066,768,1744,0,0,0,0,0,0
$GC,11040,0.60,344.5,48.0,7.3,1219,11045,0.00,2.12,0.00,0.000,6,0.000,0.056,3066,2081,1741,0,0,0,0,0,0
$GC,11369,0.67,400.9,23.3,4.0,1280,11419,0.00,2.12,45.22,0.597,4,0.000,0.061,3066,768,1514,0,0,0,0,0,0
$GC,11656,0.74,400.9,3.6,7.0,1333,11661,0.00,2.05,0.00,0.000,6,0.000,0.056,3067,2046,1507,0,0,0,0,0,0
$STATE,11664,end climb,SURFACE_DEPTH_REACHED
$STATE,11664,begin surface coast
$FINISH,1.1,1.011001
$STATE,11702,end surface coast,CONTROL_FINISHED_OK
$STATE,11703,begin surface
$SM_CCo,11718,140.70,0.537,2,0,470,657.40
$SM_GC,1.76,0.00,0.00,140.70,0.000,0.000,0.537,132,2045,470,-8.51,-0.85,657.40
$IRIDIUM_FIX,4745.30,-12537.50,030100,222240
$TT8_MAMPS,0.05369
$HUMID,40.43
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,15.10
$XPDR_PINGS,0
$24V_AH,23.8,66.309
$10V_AH,9.9,65.064
$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,20.075,102.225,427.400,140.700,0.000,142.130,226.437,273.654,0.000,0.000,58.206,0.000,8061.577,600.765,3261.026,1003.752,0.000,1750.926,0.000,2787.350,0.000,0.534,0.000
$DEVICE_MAMPS,237.003,74.399,853.671,536.900,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,920.651,1059.403,1578.796,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298356
$DATA_FILE_SIZE,75874,1342
$CAP_FILE_SIZE,151539,0
$CFSIZE,260165632,215396352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.255,218.7,1
$GPS,101010,021700,4758.582,-12524.093,35,1.3,41,18.8