version: 66.06
glider: 187
mission: 2
dive: 632
start: 10 10 110 18 7 15
data:
$ID,187
$MISSION,2
$DIVE,632
$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,-37317.043
$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,25
$R_STBD_OVSHOOT,25
$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
$GPS1,174936,4757.276,-12524.998,60,1.2,71,18.8
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-73.8
$GPS2,180710,4757.398,-12524.883,17,2.1,36,18.8
$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,41.3,9149,-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,13,-0.45,-112.4,0.0,0.0,0,62,0.00,0.00,-47.10,0.000,2,0.000,0.000,130,2059,2847,0,0,0,0,0,0
$GC,65,-0.45,-112.4,3.1,-2.3,9,99,10.40,2.10,-19.33,0.000,4,0.228,0.075,2695,3322,3610,0,0,0,0,0,0
$GC,340,-0.45,-112.4,37.2,-11.9,60,346,0.00,1.98,0.00,0.000,6,0.000,0.048,2695,2069,3614,0,0,0,0,0,0
$GC,667,-0.45,-112.4,71.1,-9.0,121,673,0.00,2.05,0.00,0.000,4,0.000,0.063,2687,3314,3614,0,0,0,0,0,0
$GC,796,-0.45,-112.4,81.5,-8.0,145,801,0.00,1.92,0.00,0.000,6,0.000,0.047,2687,2085,3614,0,0,0,0,0,0
$GC,1123,-0.45,-112.4,112.2,-9.5,194,1126,0.00,2.00,0.00,0.000,4,0.000,0.063,2679,3305,3614,0,0,0,0,0,0
$GC,1181,-0.45,-112.4,117.2,-9.0,199,1188,0.00,1.88,0.00,0.000,6,0.000,0.048,2679,2109,3614,0,0,0,0,0,0
$GC,1497,-0.45,-112.4,146.1,-9.2,230,1501,0.00,1.95,0.00,0.000,4,0.000,0.064,2671,3305,3614,0,0,0,0,0,0
$GC,1566,-0.45,-112.4,152.5,-9.0,236,1572,0.10,1.88,0.00,0.000,6,0.110,0.048,2707,2109,3614,0,0,0,0,0,0
$GC,1882,-0.47,-112.4,174.0,-6.6,267,1885,0.00,1.98,0.00,0.000,4,0.000,0.066,2705,3314,3613,0,0,0,0,0,0
$GC,1940,-0.49,-112.4,177.8,-5.5,272,1945,0.00,1.85,0.00,0.000,6,0.000,0.049,2705,2129,3613,0,0,0,0,0,0
$GC,2255,-0.50,-112.4,197.2,-6.5,303,2259,0.00,1.95,0.00,0.000,4,0.000,0.066,2704,3315,3613,0,0,0,0,0,0
$GC,2282,-0.52,-112.4,198.7,-6.5,305,2287,0.00,1.85,0.00,0.000,6,0.000,0.051,2703,2141,3612,0,0,0,0,0,0
$GC,2597,-0.53,-112.4,221.5,-7.8,336,2601,0.00,1.92,0.00,0.000,4,0.000,0.066,2697,3309,3612,0,0,0,0,0,0
$GC,2634,-0.55,-112.4,224.3,-7.4,339,2643,0.00,1.83,0.00,0.000,6,0.000,0.050,2697,2151,3612,0,0,0,0,0,0
$GC,2952,-0.55,-112.4,249.5,-7.7,370,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2151,3611,0,0,0,0,0,0
$GC,3262,-0.55,-112.4,273.4,-8.0,400,3265,0.00,1.88,0.00,0.000,4,0.000,0.067,2692,3315,3610,0,0,0,0,0,0
$GC,3299,-0.57,-112.4,276.5,-7.4,403,3305,0.00,1.83,0.00,0.000,6,0.000,0.051,2691,2158,3610,0,0,0,0,0,0
$GC,3614,-0.57,-112.4,301.6,-7.6,434,3618,0.00,1.90,0.00,0.000,4,0.000,0.066,2692,3307,3610,0,0,0,0,0,0
$GC,3641,-0.58,-112.4,303.7,-7.8,436,3646,0.00,1.83,0.00,0.000,6,0.000,0.051,2691,2152,3610,0,0,0,0,0,0
$GC,3956,-0.58,-112.4,326.8,-7.0,467,3959,0.00,1.90,0.00,0.000,4,0.000,0.067,2691,3299,3609,0,0,0,0,0,0
$GC,3988,-0.60,-112.4,328.9,-6.9,470,3991,0.00,1.77,0.00,0.000,6,0.000,0.051,2691,2172,3609,0,0,0,0,0,0
$STATE,4162,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4162,begin apogee
$GC,4168,-0.14,0.0,342.5,7.9,487,4264,0.35,0.00,90.00,0.802,6,0.113,0.000,2806,1997,3150,0,0,0,0,0,0
$STATE,4264,end apogee,CONTROL_FINISHED_OK
$STATE,4264,begin climb
$GC,4267,0.45,112.4,346.0,0.0,497,4366,0.55,2.08,91.28,0.779,4,0.075,0.059,3012,774,2690,0,0,0,0,0,0
$GC,4488,0.45,137.2,340.8,5.2,518,4513,0.00,2.00,21.40,0.744,6,0.000,0.054,3012,2007,2589,0,0,0,0,0,0
$GC,4830,0.43,137.2,319.9,6.2,551,4834,0.00,2.00,0.00,0.000,4,0.000,0.063,3012,3239,2586,0,0,0,0,0,0
$GC,5071,0.41,137.2,302.7,7.3,573,5077,0.08,1.92,0.00,0.000,6,0.135,0.051,2994,2036,2585,0,0,0,0,0,0
$GC,5387,0.41,137.2,283.2,6.4,604,5390,0.00,1.98,0.00,0.000,4,0.000,0.064,2994,3236,2584,0,0,0,0,0,0
$GC,5477,0.39,137.2,276.8,7.0,612,5483,0.00,1.88,0.00,0.000,6,0.000,0.051,2999,2048,2584,0,0,0,0,0,0
$GC,5793,0.40,146.1,257.0,5.8,643,5805,0.00,1.98,7.82,0.664,4,0.000,0.064,2998,3244,2554,0,0,0,0,0,0
$GC,5859,0.38,146.1,253.1,6.3,649,5862,0.00,1.85,0.00,0.000,6,0.000,0.052,3004,2067,2553,0,0,0,0,0,0
$GC,6179,0.41,201.6,237.7,4.1,680,6230,0.00,0.00,46.40,0.734,6,0.000,0.000,3004,2066,2327,0,0,0,0,0,0
$GC,6540,0.42,224.7,219.3,5.3,715,6561,0.00,0.00,19.67,0.704,6,0.000,0.000,3004,2066,2233,0,0,0,0,0,0
$GC,6870,0.42,224.7,196.4,7.7,747,6873,0.00,2.10,0.00,0.000,4,0.000,0.063,3012,759,2229,0,0,0,0,0,0
$GC,6891,0.42,224.7,194.7,7.8,749,6894,0.00,2.08,0.00,0.000,6,0.000,0.055,3013,2061,2229,0,0,0,0,0,0
$GC,7212,0.42,224.7,169.8,7.5,780,7212,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2061,2229,0,0,0,0,0,0
$GC,7524,0.42,224.7,146.4,8.2,810,7525,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2061,2228,0,0,0,0,0,0
$GC,7834,0.42,224.7,121.6,7.3,840,7837,0.00,2.05,0.00,0.000,4,0.000,0.062,3013,768,2227,0,0,0,0,0,0
$GC,7866,0.42,224.7,119.2,7.7,843,7869,0.00,2.03,0.00,0.000,6,0.000,0.056,3013,2066,2227,0,0,0,0,0,0
$GC,8183,0.42,224.7,96.4,7.9,877,8188,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2066,2227,0,0,0,0,0,0
$GC,8509,0.42,227.1,74.6,6.0,938,8514,0.00,1.90,0.00,0.000,4,0.000,0.064,3014,3225,2227,0,0,0,0,0,0
$GC,8537,0.42,227.1,72.8,6.4,943,8543,0.00,1.88,0.00,0.000,6,0.000,0.053,3013,2051,2226,0,0,0,0,0,0
$GC,8863,0.43,241.7,53.1,5.6,1004,8886,0.00,2.08,14.30,0.610,4,0.000,0.063,3013,764,2163,0,0,0,0,0,0
$GC,8930,0.46,261.7,49.5,5.4,1016,8953,0.00,2.03,17.35,0.605,6,0.000,0.055,3013,2038,2083,0,0,0,0,0,0
$GC,9276,0.49,280.5,33.7,5.4,1080,9298,0.00,2.03,16.48,0.599,4,0.000,0.061,3013,766,2005,0,0,0,0,0,0
$GC,9341,0.56,337.7,30.9,4.0,1092,9396,0.00,2.00,47.00,0.601,6,0.000,0.056,3013,2017,1772,0,0,0,0,0,0
$GC,9718,0.65,337.7,10.2,7.8,1162,9724,0.15,2.03,0.00,0.000,4,0.111,0.061,3068,760,1764,0,0,0,0,0,0
$GC,9746,0.73,337.7,7.9,7.9,1167,9752,0.00,1.98,0.00,0.000,6,0.000,0.055,3068,1998,1764,0,0,0,0,0,0
$STATE,9824,end climb,SURFACE_DEPTH_REACHED
$STATE,9824,begin surface coast
$FINISH,1.1,1.002235
$STATE,9874,end surface coast,CONTROL_FINISHED_OK
$STATE,9874,begin surface
$SM_CCo,9891,10.88,0.186,1,0,1723,350.04
$SM_GC,3.17,0.00,0.00,10.88,0.000,0.000,0.186,144,2088,1723,-8.47,0.37,350.04
$IRIDIUM_FIX,4742.09,-12526.65,040100,181842
$TT8_MAMPS,0.054457
$HUMID,42.32
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.10
$XPDR_PINGS,0
$24V_AH,23.9,67.017
$10V_AH,9.9,65.766
$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,19.525,78.425,371.700,10.875,0.000,104.752,158.526,417.246,0.000,0.000,37.620,0.000,6604.274,437.789,2893.076,999.927,0.000,1430.214,0.000,2489.197,0.000,0.535,0.000
$DEVICE_MAMPS,227.799,97.409,802.282,185.614,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,816.139,921.660,1540.018,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298364
$DATA_FILE_SIZE,66341,1191
$CAP_FILE_SIZE,132968,0
$CFSIZE,260165632,214990848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.269,248.2,1
$GPS,101010,205407,4757.267,-12524.988,84,1.7,85,18.8