version: 66.06
glider: 187
mission: 2
dive: 633
start: 10 10 110 21 0 37
data:
$ID,187
$MISSION,2
$DIVE,633
$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,-37333.641
$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,29
$R_STBD_OVSHOOT,34
$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
$GPS1,205407,4757.267,-12524.988,84,1.7,85,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.02
$_SM_ANGLEo,-76.4
$GPS2,210032,4757.250,-12524.896,15,1.5,15,18.8
$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,57.1,9392,-13.9,-6.111
$D_GRID,386
$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,-112.4,0.0,0.0,0,63,0.00,0.00,-48.15,0.000,2,0.000,0.000,131,2087,2841,0,0,0,0,0,0
$GC,66,-0.45,-112.4,3.0,-2.2,9,100,10.43,2.05,-19.30,0.000,4,0.232,0.071,2698,835,3610,0,0,0,0,0,0
$GC,341,-0.45,-112.4,42.3,-10.8,60,348,0.00,1.95,0.00,0.000,6,0.000,0.054,2693,2061,3612,0,0,0,0,0,0
$GC,669,-0.45,-112.4,72.4,-8.1,121,675,0.00,2.05,0.00,0.000,4,0.000,0.063,2683,3315,3614,0,0,0,0,0,0
$GC,798,-0.45,-112.4,83.4,-8.8,145,803,0.00,1.92,0.00,0.000,6,0.000,0.048,2684,2087,3615,0,0,0,0,0,0
$GC,1119,-0.45,-112.4,113.6,-9.2,192,1123,0.00,2.00,0.00,0.000,4,0.000,0.063,2675,3308,3615,0,0,0,0,0,0
$GC,1182,-0.45,-112.4,119.2,-8.9,198,1186,0.08,1.90,0.00,0.000,6,0.115,0.049,2702,2098,3614,0,0,0,0,0,0
$GC,1504,-0.45,-112.4,144.5,-8.5,229,1507,0.00,1.95,0.00,0.000,4,0.000,0.056,2702,847,3615,0,0,0,0,0,0
$GC,1536,-0.47,-112.4,147.0,-8.0,232,1539,0.00,1.98,0.00,0.000,6,0.000,0.055,2703,2109,3614,0,0,0,0,0,0
$GC,1856,-0.47,-112.4,169.8,-6.5,263,1860,0.00,1.95,0.00,0.000,4,0.000,0.064,2703,3301,3614,0,0,0,0,0,0
$GC,1931,-0.49,-112.4,174.6,-6.4,270,1934,0.00,1.88,0.00,0.000,6,0.000,0.048,2703,2106,3614,0,0,0,0,0,0
$GC,2253,-0.50,-112.4,195.3,-6.4,301,2256,0.00,1.98,0.00,0.000,4,0.000,0.056,2702,842,3614,0,0,0,0,0,0
$GC,2294,-0.52,-112.4,198.1,-7.0,305,2298,0.00,2.00,0.00,0.000,6,0.000,0.056,2703,2101,3614,0,0,0,0,0,0
$GC,2615,-0.52,-112.4,217.0,-6.0,336,2619,0.00,1.98,0.00,0.000,4,0.000,0.066,2696,3306,3613,0,0,0,0,0,0
$GC,2652,-0.53,-112.4,219.4,-6.6,339,2658,0.00,1.90,0.00,0.000,6,0.000,0.051,2695,2101,3613,0,0,0,0,0,0
$GC,2968,-0.53,-112.4,240.9,-7.6,370,2971,0.00,1.98,0.00,0.000,4,0.000,0.058,2696,841,3613,0,0,0,0,0,0
$GC,3027,-0.55,-112.4,245.7,-8.3,375,3032,0.00,2.03,0.00,0.000,6,0.000,0.057,2695,2112,3613,0,0,0,0,0,0
$GC,3343,-0.55,-112.4,270.1,-8.0,406,3345,0.00,1.92,0.00,0.000,4,0.000,0.065,2692,3316,3612,0,0,0,0,0,0
$GC,3401,-0.57,-112.4,274.7,-7.4,411,3407,0.00,1.90,0.00,0.000,6,0.000,0.051,2692,2111,3612,0,0,0,0,0,0
$GC,3717,-0.57,-112.4,299.2,-7.7,442,3720,0.00,1.98,0.00,0.000,4,0.000,0.058,2692,842,3612,0,0,0,0,0,0
$GC,3754,-0.57,-112.4,302.0,-7.8,445,3759,0.00,2.00,0.00,0.000,6,0.000,0.057,2692,2111,3612,0,0,0,0,0,0
$GC,4068,-0.57,-112.4,327.1,-8.6,476,4072,0.00,1.98,0.00,0.000,4,0.000,0.066,2691,3310,3611,0,0,0,0,0,0
$GC,4112,-0.59,-112.4,330.5,-7.6,480,4115,0.00,1.90,0.00,0.000,6,0.000,0.051,2691,2111,3611,0,0,0,0,0,0
$GC,4433,-0.59,-112.4,357.6,-8.3,511,4436,0.00,2.00,0.00,0.000,4,0.000,0.059,2692,843,3611,0,0,0,0,0,0
$GC,4480,-0.60,-112.4,361.9,-8.7,515,4485,0.00,2.00,0.00,0.000,6,0.000,0.057,2691,2101,3610,0,0,0,0,0,0
$STATE,4793,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4793,begin apogee
$GC,4798,-0.14,0.0,386.2,7.1,546,4891,0.35,0.00,90.85,0.831,6,0.110,0.000,2807,1997,3150,0,0,0,0,0,0
$STATE,4892,end apogee,CONTROL_FINISHED_OK
$STATE,4892,begin climb
$GC,4895,0.45,112.4,388.8,0.0,555,4993,0.55,2.15,92.20,0.805,4,0.077,0.062,3002,3234,2690,0,0,0,0,0,0
$GC,5003,0.49,205.0,388.7,2.7,566,5086,0.00,2.05,77.68,0.791,6,0.000,0.051,3011,2010,2314,0,0,0,0,0,0
$GC,5395,0.49,205.0,360.8,7.7,604,5398,0.00,2.03,0.00,0.000,4,0.000,0.062,3014,750,2307,0,0,0,0,0,0
$GC,5427,0.49,205.0,358.4,7.4,607,5430,0.00,1.98,0.00,0.000,6,0.000,0.055,3014,1976,2307,0,0,0,0,0,0
$GC,5747,0.48,205.0,332.6,8.0,638,5750,0.00,1.95,0.00,0.000,4,0.000,0.061,3022,767,2305,0,0,0,0,0,0
$GC,5881,0.48,205.0,322.1,7.2,650,5886,0.00,1.98,0.00,0.000,6,0.000,0.056,3022,2034,2305,0,0,0,0,0,0
$GC,6196,0.46,205.0,296.0,7.7,681,6199,0.00,2.05,0.00,0.000,4,0.000,0.063,3028,764,2304,0,0,0,0,0,0
$GC,6352,0.46,205.0,283.4,8.2,695,6357,0.00,2.05,0.00,0.000,6,0.000,0.056,3028,2067,2304,0,0,0,0,0,0
$GC,6667,0.45,205.0,257.6,7.1,726,6671,0.00,1.88,0.00,0.000,4,0.000,0.064,3028,3229,2304,0,0,0,0,0,0
$GC,6854,0.43,205.0,241.4,8.5,743,6859,0.10,1.83,0.00,0.000,6,0.128,0.051,3000,2078,2303,0,0,0,0,0,0
$GC,7170,0.43,208.3,221.6,6.0,774,7173,0.00,1.88,0.00,0.000,4,0.000,0.062,2999,3234,2303,0,0,0,0,0,0
$GC,7222,0.43,208.3,218.1,6.7,779,7226,0.00,1.83,0.00,0.000,6,0.000,0.052,3003,2087,2303,0,0,0,0,0,0
$GC,7544,0.43,208.3,193.6,8.5,810,7547,0.00,1.85,0.00,0.000,4,0.000,0.064,3003,3233,2303,0,0,0,0,0,0
$GC,7591,0.43,208.3,189.5,8.6,814,7596,0.00,1.80,0.00,0.000,6,0.000,0.052,3008,2099,2303,0,0,0,0,0,0
$GC,7906,0.43,208.3,165.6,7.2,845,7910,0.00,1.85,0.00,0.000,4,0.000,0.064,3008,3225,2303,0,0,0,0,0,0
$GC,7955,0.43,208.3,162.1,7.3,849,7960,0.00,1.75,0.00,0.000,6,0.000,0.053,3013,2123,2303,0,0,0,0,0,0
$GC,8271,0.43,208.3,137.8,8.3,880,8272,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2123,2303,0,0,0,0,0,0
$GC,8583,0.43,208.3,115.6,6.3,910,8586,0.00,2.17,0.00,0.000,4,0.000,0.063,3013,764,2303,0,0,0,0,0,0
$GC,8604,0.44,221.9,114.3,5.6,911,8621,0.00,2.15,13.73,0.641,6,0.000,0.055,3013,2115,2245,0,0,0,0,0,0
$GC,8932,0.44,221.9,94.1,6.6,951,8938,0.00,1.83,0.00,0.000,4,0.000,0.064,3013,3227,2242,0,0,0,0,0,0
$GC,9002,0.44,221.9,89.1,7.4,964,9009,0.00,1.77,0.00,0.000,6,0.000,0.053,3013,2109,2241,0,0,0,0,0,0
$GC,9329,0.44,221.9,69.7,6.2,1025,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2108,2241,0,0,0,0,0,0
$GC,9655,0.48,291.3,51.7,3.6,1086,9716,0.00,1.90,56.30,0.624,4,0.000,0.064,3014,3235,1961,0,0,0,0,0,0
$GC,9745,0.51,305.3,47.3,5.6,1102,9762,0.00,1.83,12.65,0.575,6,0.000,0.052,3013,2111,1905,0,0,0,0,0,0
$GC,10085,0.58,335.9,30.4,5.0,1165,10115,0.00,2.22,25.38,0.597,4,0.000,0.061,3014,761,1779,0,0,0,0,0,0
$GC,10142,0.65,350.5,27.1,5.6,1175,10159,0.12,2.05,13.12,0.565,6,0.085,0.054,3065,2036,1720,0,0,0,0,0,0
$GC,10480,0.72,359.1,7.2,5.8,1238,10492,0.00,2.03,7.75,0.531,4,0.000,0.059,3066,759,1685,0,0,0,0,0,0
$STATE,10555,end climb,SURFACE_DEPTH_REACHED
$STATE,10555,begin surface coast
$FINISH,1.3,1.017555
$STATE,10613,end surface coast,CONTROL_FINISHED_OK
$STATE,10613,begin surface
$SM_CCo,10690,0.00,0.000,0,0,1679,360.59
$SM_GC,2.36,7.75,0.00,0.00,0.042,0.000,0.000,131,2072,1679,-8.41,-0.08,360.59
$IRIDIUM_FIX,4738.89,-12522.93,040100,181831
$TT8_MAMPS,0.05369
$HUMID,41.37
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.20
$XPDR_PINGS,0
$24V_AH,23.6,67.113
$10V_AH,9.9,65.883
$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,19.375,98.250,389.650,0.000,0.000,30.976,36.842,181.380,0.000,0.000,15.965,0.000,6998.467,425.098,3059.324,564.943,0.000,1494.139,0.000,2659.632,0.000,0.534,0.000
$DEVICE_MAMPS,231.634,88.972,830.661,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,865.995,988.821,1597.594,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298384
$DATA_FILE_SIZE,69801,1263
$CAP_FILE_SIZE,130047,0
$CFSIZE,260165632,214925312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.140,256.3,1
$GPS,111010,000106,4757.293,-12525.045,120,1.3,121,18.8