version: 66.06
glider: 187
mission: 2
dive: 630
start: 10 10 110 12 6 47
data:
$ID,187
$MISSION,2
$DIVE,630
$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,-37263.098
$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,26
$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
$GPS1,115000,4757.750,-12524.471,39,1.9,40,18.8
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-75.4
$GPS2,120640,4757.528,-12524.702,13,4.5,32,18.8
$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,39.7,8827,-13.9,-6.111
$D_GRID,342
$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,-112.4,0.0,0.0,0,68,0.00,0.00,-53.17,0.000,2,0.000,0.000,130,2090,2958,0,0,0,0,0,0
$GC,72,-0.45,-112.4,3.2,-2.4,9,106,10.43,2.03,-15.40,0.000,4,0.229,0.068,2700,833,3611,0,0,0,0,0,0
$GC,207,-0.43,-112.4,23.5,-11.6,34,214,0.00,1.98,0.00,0.000,6,0.000,0.053,2694,2071,3613,0,0,0,0,0,0
$GC,534,-0.43,-112.4,58.8,-12.5,95,540,0.00,2.03,0.00,0.000,4,0.000,0.063,2685,3312,3615,0,0,0,0,0,0
$GC,669,-0.43,-112.4,73.1,-9.8,120,674,0.00,1.98,0.00,0.000,6,0.000,0.048,2684,2058,3614,0,0,0,0,0,0
$GC,995,-0.43,-112.4,103.4,-9.5,178,998,0.10,1.92,0.00,0.000,4,0.160,0.056,2712,834,3615,0,0,0,0,0,0
$GC,1028,-0.43,-112.4,106.2,-8.6,181,1031,0.00,1.95,0.00,0.000,6,0.000,0.054,2713,2080,3615,0,0,0,0,0,0
$GC,1348,-0.45,-112.4,131.3,-6.6,212,1351,0.00,1.95,0.00,0.000,4,0.000,0.056,2712,849,3615,0,0,0,0,0,0
$GC,1385,-0.46,-112.4,133.9,-6.6,215,1390,0.00,1.90,0.00,0.000,6,0.000,0.054,2712,2068,3614,0,0,0,0,0,0
$GC,1700,-0.48,-112.4,154.3,-6.5,246,1704,0.00,2.03,0.00,0.000,4,0.000,0.064,2709,3305,3614,0,0,0,0,0,0
$GC,1744,-0.50,-112.4,157.0,-5.6,250,1748,0.00,1.95,0.00,0.000,6,0.000,0.048,2708,2057,3614,0,0,0,0,0,0
$GC,2064,-0.51,-112.4,179.0,-7.4,281,2068,0.00,1.90,0.00,0.000,4,0.000,0.056,2708,854,3613,0,0,0,0,0,0
$GC,2113,-0.53,-112.4,182.9,-8.2,285,2118,0.00,1.90,0.00,0.000,6,0.000,0.054,2708,2054,3613,0,0,0,0,0,0
$GC,2428,-0.54,-112.4,208.8,-8.5,316,2429,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,2054,3613,0,0,0,0,0,0
$GC,2741,-0.55,-112.4,235.4,-8.4,346,2744,0.00,2.05,0.00,0.000,4,0.000,0.065,2704,3317,3612,0,0,0,0,0,0
$GC,2767,-0.57,-112.4,237.9,-8.5,348,2773,0.00,2.00,0.00,0.000,6,0.000,0.051,2704,2055,3612,0,0,0,0,0,0
$GC,3083,-0.58,-112.4,262.7,-7.8,379,3087,0.10,1.92,0.00,0.000,4,0.109,0.058,2648,842,3612,0,0,0,0,0,0
$GC,3131,-0.56,-112.4,267.2,-9.9,383,3136,0.08,1.92,0.00,0.000,6,0.137,0.056,2667,2048,3612,0,0,0,0,0,0
$GC,3446,-0.56,-112.4,296.0,-7.9,414,3449,0.00,2.08,0.00,0.000,4,0.000,0.064,2660,3309,3611,0,0,0,0,0,0
$GC,3531,-0.56,-112.4,303.1,-9.1,422,3535,0.00,1.98,0.00,0.000,6,0.000,0.051,2660,2059,3610,0,0,0,0,0,0
$GC,3852,-0.55,-112.4,331.3,-8.6,453,3855,0.00,1.92,0.00,0.000,4,0.000,0.058,2660,847,3611,0,0,0,0,0,0
$GC,3899,-0.55,-112.4,335.6,-8.7,457,3905,0.00,1.90,0.00,0.000,6,0.000,0.055,2654,2047,3610,0,0,0,0,0,0
$STATE,3975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3975,begin apogee
$GC,3980,-0.14,0.0,342.2,8.5,465,4073,0.47,0.00,90.40,0.798,6,0.116,0.000,2808,1992,3150,0,0,0,0,0,0
$STATE,4073,end apogee,CONTROL_FINISHED_OK
$STATE,4073,begin climb
$GC,4076,0.45,112.4,343.9,0.0,474,4173,0.52,0.00,91.80,0.772,6,0.075,0.000,2997,1992,2690,0,0,0,0,0,0
$GC,4483,0.44,113.7,324.5,6.1,514,4487,0.00,1.95,0.00,0.000,4,0.000,0.061,3006,769,2686,0,0,0,0,0,0
$GC,4589,0.44,127.1,318.4,5.6,524,4610,0.00,1.98,12.85,0.719,6,0.000,0.056,3006,2001,2630,0,0,0,0,0,0
$GC,4920,0.44,148.8,298.0,5.3,556,4940,0.00,0.00,18.80,0.738,6,0.000,0.000,3005,2001,2542,0,0,0,0,0,0
$GC,5250,0.43,151.8,278.1,6.0,588,5261,0.00,2.03,3.70,0.483,4,0.000,0.064,3006,3237,2531,0,0,0,0,0,0
$GC,5394,0.41,160.4,268.8,5.8,601,5411,0.00,1.95,8.90,0.676,6,0.000,0.052,3013,2020,2496,0,0,0,0,0,0
$GC,5720,0.42,207.1,253.0,4.4,633,5764,0.00,2.03,39.20,0.738,4,0.000,0.064,3013,3229,2304,0,0,0,0,0,0
$GC,5827,0.42,207.1,247.2,6.9,643,5830,0.00,1.90,0.00,0.000,6,0.000,0.052,3013,2028,2301,0,0,0,0,0,0
$GC,6147,0.42,207.1,226.8,6.4,674,6150,0.00,2.05,0.00,0.000,4,0.000,0.062,3022,770,2300,0,0,0,0,0,0
$GC,6157,0.42,207.1,226.1,6.5,675,6161,0.00,2.00,0.00,0.000,6,0.000,0.056,3022,2026,2300,0,0,0,0,0,0
$GC,6479,0.42,207.1,201.6,8.1,706,6482,0.00,1.92,0.00,0.000,4,0.000,0.063,3022,3233,2299,0,0,0,0,0,0
$GC,6558,0.41,207.1,194.2,9.7,713,6563,0.12,1.90,0.00,0.000,6,0.119,0.052,2985,2043,2298,0,0,0,0,0,0
$GC,6873,0.42,207.1,170.3,7.8,744,6877,0.00,2.08,0.00,0.000,4,0.000,0.064,2986,764,2298,0,0,0,0,0,0
$GC,6905,0.44,207.1,168.0,7.8,747,6909,0.00,2.05,0.00,0.000,6,0.000,0.056,2986,2054,2298,0,0,0,0,0,0
$GC,7227,0.44,207.1,145.8,6.3,778,7230,0.00,1.90,0.00,0.000,4,0.000,0.064,2986,3233,2298,0,0,0,0,0,0
$GC,7284,0.44,207.1,141.9,7.1,783,7291,0.00,1.88,0.00,0.000,6,0.000,0.053,2986,2059,2297,0,0,0,0,0,0
$GC,7601,0.46,243.5,124.3,4.8,814,7632,0.00,0.00,29.42,0.667,6,0.000,0.000,2986,2057,2157,0,0,0,0,0,0
$GC,7942,0.50,286.8,109.0,4.5,847,7983,0.00,2.08,36.10,0.652,4,0.000,0.061,2986,759,1979,0,0,0,0,0,0
$GC,8017,0.57,339.5,105.6,4.2,854,8069,0.15,2.10,43.83,0.639,6,0.084,0.055,3053,2061,1764,0,0,0,0,0,0
$GC,8388,0.57,339.5,73.4,8.4,917,8393,0.00,2.10,0.00,0.000,4,0.000,0.064,3054,770,1756,0,0,0,0,0,0
$GC,8432,0.57,339.5,70.1,7.5,925,8437,0.00,2.05,0.00,0.000,6,0.000,0.055,3054,2050,1756,0,0,0,0,0,0
$GC,8757,0.57,339.5,46.6,7.8,986,8764,0.00,2.08,0.00,0.000,4,0.000,0.063,3054,764,1754,0,0,0,0,0,0
$GC,8781,0.58,339.5,44.9,7.5,990,8787,0.00,2.05,0.00,0.000,6,0.000,0.055,3054,2050,1754,0,0,0,0,0,0
$GC,9109,0.61,355.2,23.9,5.5,1051,9126,0.00,1.88,12.30,0.582,4,0.000,0.063,3054,3232,1701,0,0,0,0,0,0
$GC,9229,0.64,355.2,16.5,6.4,1073,9234,0.00,1.80,0.00,0.000,6,0.000,0.052,3054,2105,1697,0,0,0,0,0,0
$STATE,9499,end climb,SURFACE_DEPTH_REACHED
$STATE,9499,begin surface coast
$FINISH,1.1,1.024276
$STATE,9575,end surface coast,CONTROL_FINISHED_OK
$STATE,9575,begin surface
$SM_CCo,9590,166.88,0.551,1,0,470,657.40
$SM_GC,1.93,0.00,0.00,166.88,0.000,0.000,0.551,128,2101,470,-8.52,0.74,657.40
$IRIDIUM_FIX,4738.89,-12522.93,040100,121217
$TT8_MAMPS,0.05369
$HUMID,39.95
$INTERNAL_PRESSURE,8.95227
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,23.9,66.792
$10V_AH,9.9,65.532
$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,19.725,83.075,387.300,166.875,0.000,152.320,266.120,153.106,0.000,0.000,33.099,0.000,6451.370,625.210,2763.020,898.966,0.000,1575.241,0.000,2379.016,0.000,0.534,0.000
$DEVICE_MAMPS,228.566,124.254,797.680,550.706,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,780.064,887.862,1433.510,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298348
$DATA_FILE_SIZE,63216,1138
$CAP_FILE_SIZE,124142,0
$CFSIZE,260165632,215105536
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,1
$CURRENT,0.212,239.3,1
$GPS,101010,145031,4757.410,-12524.794,39,1.3,40,18.8