version: 66.06
glider: 187
mission: 2
dive: 628
start: 10 10 110 5 49 46
data:
$ID,187
$MISSION,2
$DIVE,628
$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,-37172.547
$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,28
$R_STBD_OVSHOOT,36
$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
$GPS1,054135,4758.146,-12524.157,16,1.6,25,18.8
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-67.4
$GPS2,054938,4758.093,-12524.036,17,1.8,17,18.8
$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,24.1,7506,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.45,-112.4,0.0,0.0,0,91,0.00,0.00,-77.00,0.000,2,0.000,0.000,131,2086,2925,0,0,0,0,0,0
$GC,94,-0.45,-112.4,3.1,-2.4,14,127,10.30,2.00,-16.88,0.000,4,0.225,0.076,2696,3297,3611,0,0,0,0,0,0
$GC,266,-0.43,-112.4,32.6,-17.4,46,271,0.00,1.95,0.00,0.000,6,0.000,0.048,2695,2067,3612,0,0,0,0,0,0
$GC,593,-0.43,-112.4,67.6,-7.8,107,598,0.00,1.95,0.00,0.000,4,0.000,0.056,2695,841,3614,0,0,0,0,0,0
$GC,749,-0.43,-112.4,81.2,-9.6,136,755,0.00,1.98,0.00,0.000,6,0.000,0.054,2691,2082,3614,0,0,0,0,0,0
$GC,1077,-0.43,-112.4,111.4,-9.0,186,1081,0.00,2.00,0.00,0.000,4,0.000,0.064,2683,3303,3614,0,0,0,0,0,0
$GC,1234,-0.43,-112.4,125.5,-8.7,200,1240,0.12,1.85,0.00,0.000,6,0.137,0.048,2720,2106,3615,0,0,0,0,0,0
$GC,1549,-0.44,-112.4,145.3,-6.3,231,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,2719,2107,3614,0,0,0,0,0,0
$GC,1862,-0.46,-112.4,164.5,-6.6,261,1865,0.00,1.98,0.00,0.000,4,0.000,0.065,2714,3305,3614,0,0,0,0,0,0
$GC,1919,-0.49,-112.4,168.3,-6.4,266,1925,0.00,1.85,0.00,0.000,6,0.000,0.050,2714,2133,3614,0,0,0,0,0,0
$GC,2235,-0.50,-112.4,188.8,-6.5,297,2239,0.00,1.92,0.00,0.000,4,0.000,0.067,2709,3302,3613,0,0,0,0,0,0
$GC,2262,-0.52,-112.4,190.7,-7.3,299,2267,0.00,1.83,0.00,0.000,6,0.000,0.049,2709,2140,3613,0,0,0,0,0,0
$GC,2577,-0.54,-112.4,208.5,-4.9,330,2580,0.00,1.90,0.00,0.000,4,0.000,0.064,2709,3303,3612,0,0,0,0,0,0
$GC,2625,-0.56,-112.4,210.8,-5.0,334,2630,0.08,1.80,0.00,0.000,6,0.063,0.049,2656,2154,3612,0,0,0,0,0,0
$GC,2940,-0.55,-112.4,235.7,-8.6,365,2944,0.00,1.90,0.00,0.000,4,0.000,0.064,2649,3312,3611,0,0,0,0,0,0
$GC,3015,-0.55,-112.4,241.6,-7.8,372,3018,0.00,1.77,0.00,0.000,6,0.000,0.049,2649,2180,3611,0,0,0,0,0,0
$GC,3336,-0.54,-112.4,272.5,-11.1,403,3340,0.12,1.85,0.00,0.000,4,0.153,0.064,2679,3320,3611,0,0,0,0,0,0
$GC,3400,-0.55,-112.4,278.5,-8.9,409,3403,0.00,1.73,0.00,0.000,6,0.000,0.051,2679,2195,3611,0,0,0,0,0,0
$GC,3720,-0.55,-112.4,309.5,-9.6,440,3724,0.00,1.80,0.00,0.000,4,0.000,0.066,2673,3301,3611,0,0,0,0,0,0
$GC,3758,-0.55,-112.4,313.1,-9.1,443,3763,0.00,1.70,0.00,0.000,6,0.000,0.050,2673,2213,3610,0,0,0,0,0,0
$STATE,3843,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3843,begin apogee
$GC,3848,-0.14,0.0,321.3,9.7,452,3941,0.43,0.00,90.10,0.787,6,0.114,0.000,2811,1987,3150,0,0,0,0,0,0
$STATE,3941,end apogee,CONTROL_FINISHED_OK
$STATE,3941,begin climb
$GC,3944,0.45,112.4,325.4,0.0,461,4038,0.52,0.00,91.20,0.762,6,0.075,0.000,2999,1987,2690,0,0,0,0,0,0
$GC,4347,0.44,113.4,311.7,6.1,500,4350,0.00,2.00,0.00,0.000,4,0.000,0.061,2999,3235,2686,0,0,0,0,0,0
$GC,4433,0.42,113.4,306.1,6.5,508,4436,0.00,1.92,0.00,0.000,6,0.000,0.051,3006,2021,2685,0,0,0,0,0,0
$GC,4753,0.40,114.9,285.9,6.1,539,4757,0.00,1.98,0.00,0.000,4,0.000,0.063,3006,3234,2685,0,0,0,0,0,0
$GC,4860,0.38,114.9,279.2,6.5,549,4864,0.08,1.90,0.00,0.000,6,0.133,0.052,2979,2041,2685,0,0,0,0,0,0
$GC,5181,0.40,149.7,264.0,4.8,580,5215,0.00,1.95,30.38,0.739,4,0.000,0.062,2980,3234,2538,0,0,0,0,0,0
$GC,5276,0.40,149.7,258.9,6.4,588,5283,0.00,1.90,0.00,0.000,6,0.000,0.052,2983,2055,2536,0,0,0,0,0,0
$GC,5592,0.41,172.0,242.3,5.3,619,5616,0.00,1.95,19.17,0.713,4,0.000,0.065,2983,3229,2447,0,0,0,0,0,0
$GC,5656,0.43,197.5,239.3,5.2,625,5686,0.00,1.85,22.33,0.707,6,0.000,0.053,2986,2064,2343,0,0,0,0,0,0
$GC,5996,0.44,217.7,222.5,5.4,658,6018,0.00,2.15,17.12,0.693,4,0.000,0.062,2986,759,2261,0,0,0,0,0,0
$GC,6031,0.46,232.3,220.5,5.6,661,6049,0.00,2.10,13.32,0.667,6,0.000,0.055,2987,2077,2203,0,0,0,0,0,0
$GC,6368,0.47,240.5,199.2,5.8,694,6381,0.00,1.92,7.97,0.627,4,0.000,0.063,2987,3241,2169,0,0,0,0,0,0
$GC,6409,0.49,240.5,196.3,7.2,698,6413,0.00,1.88,0.00,0.000,6,0.000,0.053,2987,2073,2167,0,0,0,0,0,0
$GC,6731,0.50,240.5,176.6,6.3,729,6733,0.00,2.08,0.00,0.000,4,0.000,0.063,2986,767,2166,0,0,0,0,0,0
$GC,6767,0.52,240.5,174.3,6.2,732,6775,0.08,2.08,0.00,0.000,6,0.064,0.056,3034,2065,2166,0,0,0,0,0,0
$GC,7083,0.52,240.5,145.5,8.9,763,7086,0.00,1.90,0.00,0.000,4,0.000,0.064,3034,3237,2166,0,0,0,0,0,0
$GC,7120,0.51,240.5,142.2,9.2,766,7125,0.00,1.85,0.00,0.000,6,0.000,0.053,3041,2065,2165,0,0,0,0,0,0
$GC,7435,0.49,240.5,113.0,9.2,797,7439,0.00,1.92,0.00,0.000,4,0.000,0.064,3040,3236,2165,0,0,0,0,0,0
$GC,7447,0.48,240.5,112.1,9.4,798,7450,0.12,1.80,0.00,0.000,6,0.156,0.054,3010,2077,2164,0,0,0,0,0,0
$GC,7766,0.50,268.2,93.3,5.1,840,7794,0.00,2.08,23.33,0.643,4,0.000,0.059,3013,758,2055,0,0,0,0,0,0
$GC,7828,0.52,282.6,90.1,5.6,851,7845,0.00,2.08,13.15,0.611,6,0.000,0.054,3013,2059,1998,0,0,0,0,0,0
$GC,8168,0.53,290.0,68.5,5.8,914,8180,0.00,1.88,7.40,0.563,4,0.000,0.062,3013,3241,1966,0,0,0,0,0,0
$GC,8207,0.55,290.0,66.0,6.2,921,8213,0.00,1.88,0.00,0.000,6,0.000,0.053,3013,2072,1964,0,0,0,0,0,0
$GC,8533,0.57,290.0,46.4,6.5,982,8539,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2072,1963,0,0,0,0,0,0
$GC,8860,0.61,301.6,29.7,5.7,1043,8877,0.10,2.10,10.57,0.578,4,0.107,0.061,3063,770,1920,0,0,0,0,0,0
$GC,8895,0.64,301.6,27.4,6.4,1049,8900,0.00,2.12,0.00,0.000,6,0.000,0.057,3063,2100,1919,0,0,0,0,0,0
$GC,9222,0.68,340.3,11.7,4.7,1110,9262,0.00,2.17,32.15,0.592,4,0.000,0.063,3063,773,1761,0,0,0,0,0,0
$GC,9333,0.70,340.3,5.0,6.2,1130,9338,0.00,2.15,0.00,0.000,6,0.000,0.055,3063,2113,1758,0,0,0,0,0,0
$STATE,9368,end climb,SURFACE_DEPTH_REACHED
$STATE,9368,begin surface coast
$FINISH,1.1,1.013311
$STATE,9427,end surface coast,CONTROL_FINISHED_OK
$STATE,9429,begin surface
$SM_CCo,9445,9.55,0.113,1,0,1723,350.04
$SM_GC,3.36,0.00,0.00,9.55,0.000,0.000,0.113,141,2064,1723,-8.48,-0.31,350.04
$IRIDIUM_FIX,4742.09,-12526.65,040100,020234
$TT8_MAMPS,0.05369
$HUMID,42.28
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,23.9,66.545
$10V_AH,9.9,65.295
$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,19.775,85.725,378.200,9.550,0.000,27.659,36.940,238.309,0.000,0.000,17.354,0.000,6032.946,443.285,2808.005,632.864,0.000,1433.016,0.000,2425.983,0.000,0.534,0.000
$DEVICE_MAMPS,225.498,127.322,786.942,112.749,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,785.847,893.913,1517.781,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298396
$DATA_FILE_SIZE,63387,1148
$CAP_FILE_SIZE,125364,0
$CFSIZE,260165632,215285760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.229,234.5,1
$GPS,101010,082927,4757.950,-12524.531,80,3.1,100,18.8