version: 66.06
glider: 187
mission: 2
dive: 631
start: 10 10 110 15 3 32
data:
$ID,187
$MISSION,2
$DIVE,631
$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,-37278.793
$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,26
$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
$GPS1,145031,4757.410,-12524.794,39,1.3,40,18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-70.0
$GPS2,150326,4757.453,-12524.954,13,1.0,13,18.8
$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,42.9,9110,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,10,begin dive
$GC,12,-0.45,-112.4,0.0,0.0,0,118,0.00,0.00,-104.07,0.000,2,0.000,0.000,128,2101,2987,0,0,0,0,0,0
$GC,122,-0.45,-112.4,3.1,-2.4,18,150,10.52,2.08,-14.25,0.000,4,0.233,0.071,2703,834,3611,0,0,0,0,0,0
$GC,289,-0.45,-112.4,28.7,-12.2,49,296,0.00,1.98,0.00,0.000,6,0.000,0.054,2697,2071,3613,0,0,0,0,0,0
$GC,616,-0.45,-112.4,62.2,-10.5,110,622,0.00,2.03,0.00,0.000,4,0.000,0.062,2688,3313,3614,0,0,0,0,0,0
$GC,862,-0.45,-112.4,84.5,-8.9,156,868,0.00,1.95,0.00,0.000,6,0.000,0.048,2688,2070,3614,0,0,0,0,0,0
$GC,1184,-0.45,-112.4,115.1,-9.0,202,1187,0.00,1.92,0.00,0.000,4,0.000,0.056,2688,850,3614,0,0,0,0,0,0
$GC,1231,-0.45,-112.4,119.4,-8.6,206,1237,0.00,1.95,0.00,0.000,6,0.000,0.053,2681,2086,3614,0,0,0,0,0,0
$GC,1546,-0.45,-112.4,146.3,-8.8,237,1550,0.00,2.00,0.00,0.000,4,0.000,0.063,2672,3315,3614,0,0,0,0,0,0
$GC,1658,-0.45,-112.4,156.2,-9.2,247,1664,0.08,1.92,0.00,0.000,6,0.116,0.048,2701,2085,3613,0,0,0,0,0,0
$GC,1974,-0.45,-112.4,181.0,-8.0,278,1975,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2084,3613,0,0,0,0,0,0
$GC,2286,-0.45,-112.4,203.2,-7.3,308,2289,0.00,1.98,0.00,0.000,4,0.000,0.065,2701,3315,3612,0,0,0,0,0,0
$GC,2334,-0.47,-112.4,207.2,-7.8,312,2339,0.00,1.92,0.00,0.000,6,0.000,0.051,2701,2093,3611,0,0,0,0,0,0
$GC,2649,-0.47,-112.4,231.6,-6.9,343,2652,0.00,1.92,0.00,0.000,4,0.000,0.058,2701,845,3610,0,0,0,0,0,0
$GC,2682,-0.48,-112.4,233.6,-6.5,346,2685,0.00,1.95,0.00,0.000,6,0.000,0.054,2697,2090,3610,0,0,0,0,0,0
$GC,3002,-0.48,-112.4,258.2,-7.0,377,3005,0.00,2.00,0.00,0.000,4,0.000,0.065,2696,3308,3610,0,0,0,0,0,0
$GC,3164,-0.51,-112.4,268.0,-4.8,392,3167,0.00,1.88,0.00,0.000,6,0.000,0.050,2696,2105,3610,0,0,0,0,0,0
$GC,3484,-0.51,-112.4,288.6,-7.6,423,3488,0.00,2.00,0.00,0.000,4,0.000,0.058,2695,846,3609,0,0,0,0,0,0
$GC,3522,-0.51,-112.4,291.8,-8.2,426,3528,0.00,2.03,0.00,0.000,6,0.000,0.058,2696,2112,3609,0,0,0,0,0,0
$GC,3838,-0.51,-112.4,314.8,-7.2,457,3841,0.00,1.92,0.00,0.000,4,0.000,0.066,2695,3317,3608,0,0,0,0,0,0
$GC,3891,-0.53,-112.4,319.2,-8.0,462,3894,0.00,1.88,0.00,0.000,6,0.000,0.051,2695,2112,3608,0,0,0,0,0,0
$GC,4212,-0.53,-112.4,340.0,-6.4,493,4215,0.00,1.92,0.00,0.000,4,0.000,0.067,2695,3311,3608,0,0,0,0,0,0
$STATE,4246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4246,begin apogee
$GC,4254,-0.14,0.0,342.5,6.3,496,4349,0.32,0.00,90.03,0.802,6,0.107,0.000,2807,1995,3150,0,0,0,0,0,0
$STATE,4349,end apogee,CONTROL_FINISHED_OK
$STATE,4349,begin climb
$GC,4351,0.45,112.4,345.1,0.0,506,4451,0.52,2.08,91.40,0.776,4,0.074,0.061,3004,772,2691,0,0,0,0,0,0
$GC,4509,0.48,178.4,343.0,3.7,521,4570,0.00,2.00,55.28,0.762,6,0.000,0.054,3005,1997,2422,0,0,0,0,0,0
$GC,4881,0.49,192.7,319.6,5.6,557,4901,0.00,2.05,12.35,0.710,4,0.000,0.064,3004,3230,2363,0,0,0,0,0,0
$GC,5050,0.49,192.7,305.5,7.9,573,5054,0.00,1.95,0.00,0.000,6,0.000,0.052,3012,2013,2360,0,0,0,0,0,0
$GC,5372,0.49,195.9,284.3,6.0,604,5382,0.00,2.03,4.03,0.513,4,0.000,0.063,3020,764,2351,0,0,0,0,0,0
$GC,5435,0.49,202.7,280.5,5.9,610,5447,0.00,1.95,7.22,0.648,6,0.000,0.055,3020,2005,2323,0,0,0,0,0,0
$GC,5764,0.48,202.7,257.6,6.4,642,5768,0.00,1.98,0.00,0.000,4,0.000,0.063,3020,3228,2321,0,0,0,0,0,0
$GC,5818,0.46,202.7,253.5,7.6,647,5821,0.00,1.98,0.00,0.000,6,0.000,0.054,3027,1996,2320,0,0,0,0,0,0
$GC,6138,0.45,202.7,229.0,8.0,678,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,1996,2320,0,0,0,0,0,0
$GC,6451,0.44,202.7,205.5,7.5,708,6454,0.00,2.03,0.00,0.000,4,0.000,0.064,3027,3240,2320,0,0,0,0,0,0
$GC,6471,0.43,202.7,203.8,7.4,710,6475,0.10,1.95,0.00,0.000,6,0.123,0.054,2999,2020,2319,0,0,0,0,0,0
$GC,6793,0.44,223.6,185.8,5.3,741,6816,0.00,2.03,18.33,0.690,4,0.000,0.062,3001,766,2238,0,0,0,0,0,0
$GC,6844,0.44,223.6,182.6,6.4,746,6848,0.00,1.98,0.00,0.000,6,0.000,0.055,3000,2008,2236,0,0,0,0,0,0
$GC,7165,0.44,233.0,163.9,5.8,777,7177,0.00,2.03,8.73,0.632,4,0.000,0.063,3001,3239,2200,0,0,0,0,0,0
$GC,7229,0.44,233.0,159.5,7.3,783,7233,0.00,1.95,0.00,0.000,6,0.000,0.053,3001,2021,2198,0,0,0,0,0,0
$GC,7551,0.45,237.4,139.1,5.9,814,7561,0.00,1.98,5.22,0.546,4,0.000,0.061,3001,766,2181,0,0,0,0,0,0
$GC,7587,0.47,249.5,136.9,5.7,817,7603,0.00,1.98,11.90,0.639,6,0.000,0.055,3001,2009,2132,0,0,0,0,0,0
$GC,7913,0.48,249.5,116.4,6.7,849,7916,0.00,2.00,0.00,0.000,4,0.000,0.064,3001,3230,2127,0,0,0,0,0,0
$GC,7928,0.48,249.5,115.4,6.4,850,7934,0.00,1.98,0.00,0.000,6,0.000,0.054,3001,1998,2127,0,0,0,0,0,0
$GC,8249,0.49,249.5,93.6,6.4,890,8254,0.00,2.00,0.00,0.000,4,0.000,0.064,3001,767,2126,0,0,0,0,0,0
$GC,8265,0.51,250.2,92.7,6.1,893,8271,0.00,1.95,0.00,0.000,6,0.000,0.056,3001,1993,2126,0,0,0,0,0,0
$GC,8593,0.53,267.4,76.5,5.5,954,8616,0.00,2.03,15.12,0.624,4,0.000,0.064,3001,3235,2059,0,0,0,0,0,0
$GC,8669,0.55,267.4,72.0,6.5,968,8675,0.00,1.95,0.00,0.000,6,0.000,0.053,3001,2016,2058,0,0,0,0,0,0
$GC,8996,0.61,323.9,54.1,4.0,1029,9051,0.15,2.05,46.75,0.622,4,0.084,0.063,3080,767,1828,0,0,0,0,0,0
$GC,9147,0.61,323.9,44.2,6.9,1057,9153,0.00,1.98,0.00,0.000,6,0.000,0.054,3079,1996,1825,0,0,0,0,0,0
$GC,9474,0.65,341.5,23.4,5.5,1118,9496,0.00,2.05,14.75,0.584,4,0.000,0.064,3079,3236,1756,0,0,0,0,0,0
$GC,9577,0.65,341.5,17.0,6.5,1137,9583,0.00,1.88,0.00,0.000,6,0.000,0.051,3080,2066,1754,0,0,0,0,0,0
$STATE,9800,end climb,SURFACE_DEPTH_REACHED
$STATE,9800,begin surface coast
$FINISH,1.1,1.024245
$STATE,9843,end surface coast,CONTROL_FINISHED_OK
$STATE,9843,begin surface
$SM_CCo,9859,7.38,0.091,1,0,1724,350.04
$SM_GC,3.26,0.00,0.00,7.38,0.000,0.000,0.091,139,2061,1724,-8.48,-0.40,350.04
$IRIDIUM_FIX,4738.89,-12527.41,040100,151534
$TT8_MAMPS,0.052923
$HUMID,42.47
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,15.50
$XPDR_PINGS,0
$24V_AH,23.9,66.904
$10V_AH,9.9,65.648
$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,19.450,91.075,381.100,7.375,0.000,59.746,70.548,442.467,0.000,0.000,15.067,0.000,6373.617,460.827,2900.938,888.093,0.000,1491.904,0.000,2527.531,0.000,0.535,0.000
$DEVICE_MAMPS,233.168,70.564,801.515,91.273,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,812.574,920.724,1538.653,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298348
$DATA_FILE_SIZE,66528,1187
$CAP_FILE_SIZE,132518,0
$CFSIZE,260165632,215060480
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.189,241.2,1
$GPS,101010,174936,4757.276,-12524.998,60,1.2,71,18.8