version: 66.06
glider: 187
mission: 2
dive: 627
start: 10 10 110 2 33 4
data:
$ID,187
$MISSION,2
$DIVE,627
$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,-37154.559
$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,27
$R_STBD_OVSHOOT,27
$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
$GPS1,021700,4758.582,-12524.093,35,1.3,41,18.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-64.7
$GPS2,023256,4758.615,-12523.831,15,1.5,15,18.8
$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,21.8,6546,-13.9,-6.111
$D_GRID,439
$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,-112.4,0.0,0.0,0,117,0.00,0.00,-101.12,0.000,2,0.000,0.000,131,2046,2935,0,0,0,0,0,0
$GC,119,-0.45,-112.4,3.5,-3.0,18,152,10.45,2.08,-14.80,0.000,4,0.232,0.076,2694,3307,3611,0,0,0,0,0,0
$GC,355,-0.45,-112.4,38.4,-9.9,62,361,0.00,1.95,0.00,0.000,6,0.000,0.048,2694,2070,3613,0,0,0,0,0,0
$GC,682,-0.44,-112.4,71.0,-10.6,123,687,0.00,1.95,0.00,0.000,4,0.000,0.055,2694,837,3614,0,0,0,0,0,0
$GC,735,-0.44,-112.4,76.9,-11.1,133,741,0.00,1.95,0.00,0.000,6,0.000,0.054,2691,2066,3614,0,0,0,0,0,0
$GC,1063,-0.44,-112.4,109.1,-9.8,186,1067,0.00,2.03,0.00,0.000,4,0.000,0.064,2684,3311,3614,0,0,0,0,0,0
$GC,1165,-0.44,-112.4,118.6,-8.7,195,1171,0.00,1.95,0.00,0.000,6,0.000,0.048,2684,2068,3614,0,0,0,0,0,0
$GC,1481,-0.44,-112.4,148.4,-9.6,226,1484,0.00,2.03,0.00,0.000,4,0.000,0.064,2675,3316,3613,0,0,0,0,0,0
$GC,1561,-0.44,-112.4,156.1,-9.7,233,1566,0.12,1.92,0.00,0.000,6,0.137,0.048,2712,2087,3613,0,0,0,0,0,0
$GC,1876,-0.46,-112.4,181.2,-7.8,264,1879,0.00,1.95,0.00,0.000,4,0.000,0.056,2713,850,3612,0,0,0,0,0,0
$GC,1897,-0.47,-112.4,182.9,-8.0,266,1900,0.00,2.00,0.00,0.000,6,0.000,0.054,2713,2110,3612,0,0,0,0,0,0
$GC,2218,-0.49,-112.4,206.4,-7.4,297,2221,0.00,1.95,0.00,0.000,4,0.000,0.064,2709,3306,3611,0,0,0,0,0,0
$GC,2319,-0.51,-112.4,213.5,-6.9,306,2325,0.00,1.88,0.00,0.000,6,0.000,0.050,2709,2116,3611,0,0,0,0,0,0
$GC,2635,-0.52,-112.4,233.5,-4.9,337,2638,0.00,1.98,0.00,0.000,4,0.000,0.057,2709,838,3610,0,0,0,0,0,0
$GC,2694,-0.54,-112.4,236.6,-5.1,342,2699,0.00,2.03,0.00,0.000,6,0.000,0.056,2709,2111,3610,0,0,0,0,0,0
$GC,3010,-0.56,-112.4,253.1,-5.9,373,3013,0.10,1.92,0.00,0.000,4,0.107,0.066,2647,3316,3609,0,0,0,0,0,0
$GC,3079,-0.56,-112.4,258.8,-8.7,379,3084,0.00,1.85,0.00,0.000,6,0.000,0.051,2647,2111,3608,0,0,0,0,0,0
$GC,3394,-0.54,-112.4,288.2,-5.7,410,3398,0.12,1.98,0.00,0.000,4,0.157,0.064,2676,3312,3608,0,0,0,0,0,0
$GC,3449,-0.56,-112.4,293.2,-10.6,415,3451,0.00,1.83,0.00,0.000,6,0.000,0.050,2676,2139,3608,0,0,0,0,0,0
$GC,3768,-0.56,-112.4,321.6,-9.2,446,3769,0.00,0.00,0.00,0.000,6,0.000,0.000,2676,2138,3607,0,0,0,0,0,0
$GC,4081,-0.56,-112.4,347.2,-8.1,476,4084,0.00,1.90,0.00,0.000,4,0.000,0.066,2669,3309,3606,0,0,0,0,0,0
$GC,4112,-0.56,-112.4,349.6,-6.4,479,4116,0.00,1.83,0.00,0.000,6,0.000,0.051,2669,2154,3606,0,0,0,0,0,0
$GC,4433,-0.56,-112.4,380.8,-10.4,510,4437,0.00,2.08,0.00,0.000,4,0.000,0.058,2669,849,3605,0,0,0,0,0,0
$GC,4464,-0.56,-112.4,383.7,-9.2,513,4469,0.00,2.05,0.00,0.000,6,0.000,0.055,2664,2140,3605,0,0,0,0,0,0
$GC,4786,-0.56,-112.4,417.7,-9.3,544,4789,0.00,1.90,0.00,0.000,4,0.000,0.066,2656,3312,3605,0,0,0,0,0,0
$GC,4851,-0.56,-112.4,423.3,-7.8,550,4854,0.00,1.77,0.00,0.000,6,0.000,0.051,2656,2163,3605,0,0,0,0,0,0
$STATE,5004,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5004,begin apogee
$GC,5009,-0.14,0.0,440.0,11.2,565,5105,0.47,0.00,90.28,0.860,6,0.116,0.000,2810,2000,3150,0,0,0,0,0,0
$STATE,5105,end apogee,CONTROL_FINISHED_OK
$STATE,5105,begin climb
$GC,5108,0.45,112.4,444.7,0.0,575,5208,0.52,2.08,92.93,0.837,4,0.077,0.060,2998,3236,2690,0,0,0,0,0,0
$GC,5219,0.47,176.5,445.5,3.8,585,5280,0.00,2.05,54.65,0.817,6,0.000,0.052,3006,1998,2431,0,0,0,0,0,0
$GC,5590,0.47,191.6,424.0,5.6,621,5606,0.00,2.03,13.12,0.767,4,0.000,0.062,3006,3233,2369,0,0,0,0,0,0
$GC,5639,0.46,191.6,420.3,8.9,625,5642,0.00,1.98,0.00,0.000,6,0.000,0.053,3013,1989,2367,0,0,0,0,0,0
$GC,5959,0.45,191.6,394.1,8.5,656,5962,0.00,2.05,0.00,0.000,4,0.000,0.064,3013,3228,2366,0,0,0,0,0,0
$GC,6089,0.43,191.6,380.2,11.3,668,6092,0.00,1.90,0.00,0.000,6,0.000,0.053,3016,2026,2365,0,0,0,0,0,0
$GC,6410,0.42,191.6,346.1,8.1,699,6411,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2024,2364,0,0,0,0,0,0
$GC,6721,0.41,191.6,318.7,7.9,729,6724,0.00,1.95,0.00,0.000,4,0.000,0.063,3016,3240,2364,0,0,0,0,0,0
$GC,6764,0.39,191.6,315.5,8.0,733,6767,0.15,1.98,0.00,0.000,6,0.147,0.054,2981,1988,2363,0,0,0,0,0,0
$GC,7084,0.45,281.1,302.0,2.8,764,7161,0.00,2.08,73.40,0.776,4,0.000,0.062,2982,3233,2003,0,0,0,0,0,0
$GC,7182,0.47,281.1,298.5,7.0,773,7186,0.00,2.00,0.00,0.000,6,0.000,0.054,2982,2021,1999,0,0,0,0,0,0
$GC,7503,0.50,296.6,280.5,5.5,804,7525,0.10,2.08,13.00,0.715,4,0.107,0.063,3035,762,1940,0,0,0,0,0,0
$GC,7551,0.50,296.6,276.8,7.6,808,7556,0.00,2.00,0.00,0.000,6,0.000,0.054,3035,2030,1939,0,0,0,0,0,0
$GC,7866,0.50,296.6,250.3,8.1,839,7869,0.00,1.95,0.00,0.000,4,0.000,0.063,3035,3230,1936,0,0,0,0,0,0
$GC,7893,0.50,296.6,248.1,8.7,841,7899,0.00,1.95,0.00,0.000,6,0.000,0.054,3041,2001,1936,0,0,0,0,0,0
$GC,8208,0.50,296.6,222.1,8.9,872,8211,0.00,2.00,0.00,0.000,4,0.000,0.064,3049,770,1935,0,0,0,0,0,0
$GC,8251,0.50,296.6,218.2,9.0,876,8254,0.12,1.95,0.00,0.000,6,0.145,0.055,3013,2014,1935,0,0,0,0,0,0
$GC,8572,0.50,296.6,192.9,7.9,907,8575,0.00,1.92,0.00,0.000,4,0.000,0.064,3013,3232,1935,0,0,0,0,0,0
$GC,8597,0.50,296.6,191.0,7.4,909,8605,0.00,1.95,0.00,0.000,6,0.000,0.054,3013,2017,1934,0,0,0,0,0,0
$GC,8914,0.50,296.6,167.3,7.9,940,8916,0.00,2.00,0.00,0.000,4,0.000,0.063,3013,757,1935,0,0,0,0,0,0
$GC,8955,0.51,296.6,164.0,7.3,944,8959,0.00,2.00,0.00,0.000,6,0.000,0.054,3013,2015,1934,0,0,0,0,0,0
$GC,9276,0.51,296.6,139.6,7.6,975,9277,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2015,1934,0,0,0,0,0,0
$GC,9589,0.52,296.6,115.8,8.3,1005,9592,0.00,1.92,0.00,0.000,4,0.000,0.064,3013,3233,1934,0,0,0,0,0,0
$GC,9625,0.52,296.6,112.3,9.1,1008,9631,0.00,1.98,0.00,0.000,6,0.000,0.054,3013,1993,1933,0,0,0,0,0,0
$GC,9948,0.54,296.6,89.2,6.7,1054,9953,0.00,2.00,0.00,0.000,4,0.000,0.064,3013,760,1933,0,0,0,0,0,0
$GC,9991,0.56,296.6,86.3,6.5,1062,9997,0.00,1.95,0.00,0.000,6,0.000,0.056,3014,1988,1933,0,0,0,0,0,0
$GC,10320,0.58,297.3,63.9,6.1,1123,10325,0.00,2.00,0.00,0.000,4,0.000,0.064,3013,3228,1933,0,0,0,0,0,0
$GC,10363,0.60,297.3,60.9,6.7,1131,10368,0.08,1.98,0.00,0.000,6,0.064,0.054,3063,1992,1933,0,0,0,0,0,0
$GC,10690,0.60,297.3,32.7,6.3,1192,10696,0.00,2.03,0.00,0.000,4,0.000,0.065,3064,3236,1933,0,0,0,0,0,0
$GC,10728,0.72,491.2,33.1,-1.0,1199,10888,0.00,1.95,153.82,0.603,6,0.000,0.054,3068,2016,1146,0,0,0,0,0,0
$STATE,11169,end climb,SURFACE_DEPTH_REACHED
$STATE,11169,begin surface coast
$FINISH,1.1,1.011944
$STATE,11191,end surface coast,CONTROL_FINISHED_OK
$STATE,11191,begin surface
$SM_CCo,11266,0.00,0.000,0,0,1133,495.02
$SM_GC,1.83,7.85,0.00,0.00,0.047,0.000,0.000,155,2089,1133,-8.39,0.40,495.02
$IRIDIUM_FIX,4742.09,-12533.76,040100,020237
$TT8_MAMPS,0.052923
$HUMID,42.28
$INTERNAL_PRESSURE,9.0011
$TCM_TEMP,15.30
$XPDR_PINGS,0
$24V_AH,23.6,66.450
$10V_AH,9.9,65.185
$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,20.100,102.725,491.200,0.000,0.000,85.276,117.480,459.167,0.000,0.000,15.525,0.000,7576.111,518.282,3080.173,1018.675,0.000,1659.410,0.000,2660.396,0.000,0.535,0.000
$DEVICE_MAMPS,231.634,101.244,859.807,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,878.255,1007.108,1517.603,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298396
$DATA_FILE_SIZE,72602,1284
$CAP_FILE_SIZE,147747,0
$CFSIZE,260165632,215334912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.298,218.5,1
$GPS,101010,054135,4758.146,-12524.157,16,1.6,25,18.8