version: 66.06
glider: 187
mission: 2
dive: 637
start: 10 11 110 10 35 31
data:
$ID,187
$MISSION,2
$DIVE,637
$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,-37428.066
$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,38
$R_STBD_OVSHOOT,37
$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
$GPS1,102506,4757.712,-12525.308,39,1.5,40,18.8
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,2.14
$_SM_ANGLEo,-74.8
$GPS2,103525,4757.735,-12525.180,11,1.6,16,18.8
$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,51.0,8834,-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,13,-0.45,-112.4,0.0,0.0,0,70,0.00,0.00,-55.00,0.000,2,0.000,0.000,131,2082,2873,0,0,0,0,0,0
$GC,72,-0.45,-112.4,3.1,-1.4,10,106,10.55,1.98,-17.55,0.000,4,0.233,0.074,2694,3308,3610,0,0,0,0,0,0
$GC,347,-0.45,-112.4,39.7,-10.2,61,352,0.00,1.95,0.00,0.000,6,0.000,0.048,2694,2080,3612,0,0,0,0,0,0
$GC,674,-0.45,-112.4,70.9,-7.3,122,680,0.00,1.95,0.00,0.000,4,0.000,0.055,2693,849,3613,0,0,0,0,0,0
$GC,781,-0.45,-112.4,79.5,-7.7,142,787,0.00,1.90,0.00,0.000,6,0.000,0.054,2690,2047,3613,0,0,0,0,0,0
$GC,1104,-0.45,-112.4,107.4,-8.5,195,1108,0.00,2.05,0.00,0.000,4,0.000,0.063,2681,3307,3613,0,0,0,0,0,0
$GC,1157,-0.45,-112.4,112.0,-8.0,200,1161,0.00,1.92,0.00,0.000,6,0.000,0.048,2681,2081,3614,0,0,0,0,0,0
$GC,1478,-0.45,-112.4,136.4,-6.3,231,1479,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2079,3613,0,0,0,0,0,0
$GC,1790,-0.45,-112.4,157.7,-7.3,261,1793,0.00,1.95,0.00,0.000,4,0.000,0.057,2681,846,3613,0,0,0,0,0,0
$GC,1817,-0.45,-112.4,159.8,-7.7,263,1822,0.10,1.95,0.00,0.000,6,0.163,0.055,2704,2090,3613,0,0,0,0,0,0
$GC,2131,-0.47,-112.4,179.1,-7.1,294,2135,0.00,2.00,0.00,0.000,4,0.000,0.065,2698,3306,3612,0,0,0,0,0,0
$GC,2185,-0.49,-112.4,182.9,-7.2,299,2188,0.00,1.90,0.00,0.000,6,0.000,0.050,2698,2086,3612,0,0,0,0,0,0
$GC,2505,-0.49,-112.4,207.2,-7.6,330,2506,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2086,3612,0,0,0,0,0,0
$GC,2818,-0.49,-112.4,233.0,-6.4,360,2821,0.00,2.00,0.00,0.000,4,0.000,0.066,2692,3308,3612,0,0,0,0,0,0
$GC,2865,-0.50,-112.4,235.6,-5.1,364,2871,0.00,1.92,0.00,0.000,6,0.000,0.051,2691,2093,3611,0,0,0,0,0,0
$GC,3181,-0.50,-112.4,259.5,-9.5,395,3182,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2091,3611,0,0,0,0,0,0
$GC,3492,-0.50,-112.4,285.1,-8.4,425,3495,0.00,1.95,0.00,0.000,4,0.000,0.059,2691,840,3610,0,0,0,0,0,0
$GC,3523,-0.50,-112.4,288.0,-8.4,428,3527,0.00,2.03,0.00,0.000,6,0.000,0.058,2691,2105,3609,0,0,0,0,0,0
$GC,3844,-0.50,-112.4,317.3,-9.7,459,3848,0.00,2.03,0.00,0.000,4,0.000,0.059,2691,842,3609,0,0,0,0,0,0
$GC,3876,-0.50,-112.4,320.3,-9.0,462,3880,0.00,2.00,0.00,0.000,6,0.000,0.058,2692,2092,3609,0,0,0,0,0,0
$STATE,4122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4124,begin apogee
$GC,4129,-0.14,0.0,342.0,10.0,486,4226,0.35,0.00,90.12,0.807,6,0.116,0.000,2805,1988,3150,0,0,0,0,0,0
$STATE,4226,end apogee,CONTROL_FINISHED_OK
$STATE,4226,begin climb
$GC,4228,0.45,112.4,347.4,0.0,496,4327,0.55,2.08,91.15,0.782,4,0.077,0.058,3009,774,2690,0,0,0,0,0,0
$GC,4433,0.46,156.6,343.8,4.5,515,4475,0.00,2.00,37.17,0.764,6,0.000,0.054,3009,2008,2511,0,0,0,0,0,0
$GC,4784,0.46,168.3,324.7,5.7,549,4799,0.00,2.03,10.45,0.703,4,0.000,0.063,3009,3232,2463,0,0,0,0,0,0
$GC,4971,0.44,168.3,311.2,7.5,566,4977,0.00,1.92,0.00,0.000,6,0.000,0.052,3015,2032,2461,0,0,0,0,0,0
$GC,5287,0.43,168.3,290.2,6.8,597,5287,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2032,2461,0,0,0,0,0,0
$GC,5599,0.41,168.3,268.8,6.2,627,5603,0.00,1.95,0.00,0.000,4,0.000,0.061,3015,3226,2460,0,0,0,0,0,0
$GC,5620,0.41,198.2,267.6,5.0,629,5651,0.10,1.90,25.40,0.744,6,0.123,0.053,2989,2034,2341,0,0,0,0,0,0
$GC,5962,0.41,198.2,247.7,7.8,662,5964,0.00,1.95,0.00,0.000,4,0.000,0.066,2988,3236,2338,0,0,0,0,0,0
$GC,6008,0.41,198.2,244.2,8.4,666,6015,0.00,1.92,0.00,0.000,6,0.000,0.054,2989,2041,2337,0,0,0,0,0,0
$GC,6325,0.41,198.2,221.8,6.5,697,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2038,2337,0,0,0,0,0,0
$GC,6638,0.41,198.6,202.6,6.1,727,6640,0.00,1.90,0.00,0.000,4,0.000,0.064,2989,3233,2336,0,0,0,0,0,0
$GC,6701,0.41,198.6,198.1,7.1,733,6704,0.00,1.85,0.00,0.000,6,0.000,0.054,2989,2055,2336,0,0,0,0,0,0
$GC,7021,0.41,198.6,176.8,6.7,764,7022,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2055,2336,0,0,0,0,0,0
$GC,7334,0.41,198.6,156.1,6.8,794,7335,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2054,2336,0,0,0,0,0,0
$GC,7644,0.41,198.6,135.4,6.7,824,7644,0.00,0.00,0.00,0.000,6,0.000,0.000,2989,2055,2335,0,0,0,0,0,0
$GC,7955,0.41,198.6,117.0,6.2,854,7958,0.00,2.05,0.00,0.000,4,0.000,0.061,2991,757,2335,0,0,0,0,0,0
$GC,7976,0.43,205.7,115.7,5.8,856,7986,0.00,2.03,6.75,0.588,6,0.000,0.055,2991,2065,2310,0,0,0,0,0,0
$GC,8299,0.43,216.2,96.2,5.7,893,8316,0.00,1.90,10.32,0.621,4,0.000,0.064,2991,3234,2267,0,0,0,0,0,0
$GC,8321,0.44,221.7,94.9,5.9,897,8333,0.00,1.90,6.25,0.545,6,0.000,0.054,2993,2048,2245,0,0,0,0,0,0
$GC,8655,0.47,244.6,75.9,5.3,959,8677,0.00,0.00,19.62,0.634,6,0.000,0.000,2993,2048,2153,0,0,0,0,0,0
$GC,8999,0.54,341.7,60.5,2.6,1023,9083,0.10,2.15,78.10,0.627,4,0.109,0.063,3043,766,1757,0,0,0,0,0,0
$GC,9112,0.56,341.7,54.4,6.3,1043,9118,0.00,2.05,0.00,0.000,6,0.000,0.055,3043,2027,1754,0,0,0,0,0,0
$GC,9439,0.59,352.1,30.8,5.7,1104,9451,0.00,2.08,8.52,0.553,4,0.000,0.061,3044,764,1714,0,0,0,0,0,0
$GC,9501,0.63,361.2,27.3,5.8,1115,9517,0.00,1.98,9.12,0.553,6,0.000,0.054,3044,2001,1676,0,0,0,0,0,0
$GC,9841,0.70,367.5,10.6,5.9,1178,9853,0.10,1.98,6.15,0.512,4,0.107,0.063,3083,3239,1650,0,0,0,0,0,0
$GC,9924,0.73,367.5,5.0,6.5,1193,9930,0.00,1.92,0.00,0.000,6,0.000,0.051,3084,2033,1649,0,0,0,0,0,0
$STATE,9954,end climb,SURFACE_DEPTH_REACHED
$STATE,9954,begin surface coast
$FINISH,1.1,1.022452
$STATE,9997,end surface coast,CONTROL_FINISHED_OK
$STATE,9997,begin surface
$SM_CCo,10074,0.00,0.000,0,0,1645,369.18
$SM_GC,1.90,7.78,0.00,0.00,0.043,0.000,0.000,137,2086,1645,-8.39,0.31,369.18
$IRIDIUM_FIX,4738.89,-12527.41,050100,101011
$TT8_MAMPS,0.052923
$HUMID,41.53
$INTERNAL_PRESSURE,9.0304
$TCM_TEMP,16.50
$XPDR_PINGS,0
$24V_AH,23.9,67.538
$10V_AH,9.8,66.375
$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,19.625,71.225,399.150,0.000,0.000,61.977,71.576,276.716,0.000,0.000,16.935,0.000,6675.766,407.583,2872.742,711.221,0.000,1408.537,0.000,2490.346,0.000,0.533,0.000
$DEVICE_MAMPS,233.168,122.720,806.884,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,826.887,949.054,1568.140,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298400
$DATA_FILE_SIZE,66496,1207
$CAP_FILE_SIZE,124492,0
$CFSIZE,260165632,214622208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.099,253.7,1
$GPS,111010,132430,4758.052,-12524.463,40,1.3,47,18.8