version: 66.06
glider: 187
mission: 2
dive: 640
start: 10 11 110 19 51 42
data:
$ID,187
$MISSION,2
$DIVE,640
$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,-37479.426
$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,24
$R_STBD_OVSHOOT,28
$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
$GPS1,194400,4758.949,-12522.816,52,1.2,52,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.01
$_SM_ANGLEo,-75.1
$GPS2,195137,4759.012,-12522.835,6,1.9,6,18.8
$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,18.5,5305,-13.9,-6.111
$D_GRID,542
$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,-112.4,0.0,0.0,0,68,0.00,0.00,-53.17,0.000,2,0.000,0.000,131,2060,2909,0,0,0,0,0,0
$GC,70,-0.45,-112.4,3.2,-2.3,10,105,10.45,2.03,-16.90,0.000,4,0.231,0.075,2691,3317,3610,0,0,0,0,0,0
$GC,345,-0.45,-112.4,38.9,-11.0,61,351,0.00,2.00,0.00,0.000,6,0.000,0.050,2691,2062,3613,0,0,0,0,0,0
$GC,671,-0.45,-112.4,75.6,-9.6,122,677,0.00,2.05,0.00,0.000,4,0.000,0.064,2683,3305,3614,0,0,0,0,0,0
$GC,828,-0.45,-112.4,90.1,-8.9,151,834,0.00,1.92,0.00,0.000,6,0.000,0.048,2683,2083,3614,0,0,0,0,0,0
$GC,1153,-0.45,-112.4,119.6,-9.0,192,1156,0.00,2.03,0.00,0.000,4,0.000,0.064,2675,3308,3614,0,0,0,0,0,0
$GC,1255,-0.45,-112.4,128.9,-9.1,201,1260,0.08,1.88,0.00,0.000,6,0.114,0.049,2702,2118,3614,0,0,0,0,0,0
$GC,1571,-0.46,-112.4,153.8,-7.7,232,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2118,3614,0,0,0,0,0,0
$GC,1884,-0.48,-112.4,177.3,-7.5,262,1886,0.00,1.92,0.00,0.000,4,0.000,0.066,2702,3306,3614,0,0,0,0,0,0
$GC,1916,-0.50,-112.4,179.7,-6.7,265,1919,0.00,1.83,0.00,0.000,6,0.000,0.051,2702,2121,3613,0,0,0,0,0,0
$GC,2236,-0.51,-112.4,202.0,-6.7,296,2237,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2120,3613,0,0,0,0,0,0
$GC,2548,-0.52,-112.4,223.4,-7.0,326,2549,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2121,3613,0,0,0,0,0,0
$GC,2859,-0.53,-112.4,244.0,-6.2,356,2862,0.00,1.95,0.00,0.000,4,0.000,0.067,2703,3316,3612,0,0,0,0,0,0
$GC,2890,-0.55,-112.4,245.9,-6.0,359,2893,0.00,1.85,0.00,0.000,6,0.000,0.051,2702,2142,3612,0,0,0,0,0,0
$GC,3211,-0.57,-112.4,265.6,-6.6,390,3215,0.00,2.05,0.00,0.000,4,0.000,0.058,2703,851,3612,0,0,0,0,0,0
$GC,3248,-0.58,-112.4,268.4,-7.0,393,3254,0.00,2.05,0.00,0.000,6,0.000,0.056,2700,2136,3612,0,0,0,0,0,0
$GC,3564,-0.59,-112.4,289.2,-6.6,424,3567,0.10,1.90,0.00,0.000,4,0.107,0.067,2641,3310,3611,0,0,0,0,0,0
$GC,3616,-0.58,-112.4,293.7,-10.1,429,3620,0.00,1.85,0.00,0.000,6,0.000,0.051,2640,2138,3611,0,0,0,0,0,0
$GC,3939,-0.57,-112.4,328.2,-10.2,460,3942,0.12,1.90,0.00,0.000,4,0.156,0.065,2670,3307,3611,0,0,0,0,0,0
$GC,3975,-0.57,-112.4,331.7,-8.9,463,3981,0.00,1.85,0.00,0.000,6,0.000,0.051,2670,2140,3611,0,0,0,0,0,0
$GC,4290,-0.57,-112.4,360.7,-9.5,494,4294,0.00,2.05,0.00,0.000,4,0.000,0.058,2670,853,3611,0,0,0,0,0,0
$GC,4359,-0.57,-112.4,367.2,-9.4,500,4365,0.00,2.03,0.00,0.000,6,0.000,0.056,2663,2123,3610,0,0,0,0,0,0
$GC,4676,-0.57,-112.4,397.0,-9.8,531,4679,0.00,1.95,0.00,0.000,4,0.000,0.067,2663,3317,3610,0,0,0,0,0,0
$GC,4792,-0.57,-112.4,407.8,-9.3,542,4796,0.00,1.88,0.00,0.000,6,0.000,0.051,2663,2134,3610,0,0,0,0,0,0
$GC,5113,-0.57,-112.4,436.2,-8.2,573,5117,0.00,2.05,0.00,0.000,4,0.000,0.058,2663,846,3610,0,0,0,0,0,0
$GC,5177,-0.57,-112.4,441.8,-9.3,579,5181,0.00,2.05,0.00,0.000,6,0.000,0.058,2663,2126,3609,0,0,0,0,0,0
$GC,5499,-0.57,-112.4,470.0,-8.5,610,5502,0.00,1.95,0.00,0.000,4,0.000,0.069,2663,3317,3609,0,0,0,0,0,0
$GC,5535,-0.57,-112.4,473.3,-8.1,613,5541,0.00,1.88,0.00,0.000,6,0.000,0.052,2662,2134,3609,0,0,0,0,0,0
$GC,5851,-0.57,-112.4,498.8,-8.4,644,5855,0.00,1.95,0.00,0.000,4,0.000,0.068,2654,3304,3609,0,0,0,0,0,0
$GC,5889,-0.57,-112.4,502.1,-8.8,647,5894,0.00,1.85,0.00,0.000,6,0.000,0.051,2655,2140,3608,0,0,0,0,0,0
$GC,6204,-0.57,-112.4,529.0,-8.3,678,6204,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2140,3608,0,0,0,0,0,0
$STATE,6368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6368,begin apogee
$GC,6374,-0.14,0.0,542.6,8.4,694,6470,0.47,0.00,92.25,0.943,6,0.113,0.000,2810,1995,3150,0,0,0,0,0,0
$STATE,6471,end apogee,CONTROL_FINISHED_OK
$STATE,6471,begin climb
$GC,6473,0.45,112.4,545.3,0.0,704,6578,0.52,2.12,94.10,0.912,4,0.074,0.059,3006,771,2691,0,0,0,0,0,0
$GC,6621,0.44,119.3,540.4,5.9,718,6634,0.00,2.03,7.40,0.747,6,0.000,0.055,3006,2010,2662,0,0,0,0,0,0
$GC,6952,0.42,129.0,517.2,5.8,750,6965,0.00,2.03,9.18,0.799,4,0.000,0.066,3007,3229,2624,0,0,0,0,0,0
$GC,7053,0.39,129.0,510.2,7.2,759,7059,0.10,1.92,0.00,0.000,6,0.133,0.054,2982,2043,2622,0,0,0,0,0,0
$GC,7369,0.40,143.2,492.3,5.6,790,7389,0.00,2.00,13.20,0.843,4,0.000,0.067,2982,3238,2566,0,0,0,0,0,0
$GC,7465,0.39,143.6,487.0,6.1,799,7469,0.00,1.92,0.00,0.000,6,0.000,0.054,2985,2048,2564,0,0,0,0,0,0
$GC,7785,0.40,170.3,469.6,5.1,830,7817,0.00,2.00,23.98,0.871,4,0.000,0.065,2985,3237,2454,0,0,0,0,0,0
$GC,7888,0.40,170.3,463.6,6.5,839,7892,0.00,1.90,0.00,0.000,6,0.000,0.054,2987,2055,2453,0,0,0,0,0,0
$GC,8202,0.41,178.6,444.0,5.8,870,8213,0.00,0.00,8.05,0.772,6,0.000,0.000,2986,2055,2421,0,0,0,0,0,0
$GC,8524,0.43,207.6,425.7,5.0,901,8555,0.00,2.08,25.73,0.852,4,0.000,0.062,2987,763,2302,0,0,0,0,0,0
$GC,8581,0.43,220.8,422.6,5.6,906,8597,0.00,2.08,12.80,0.797,6,0.000,0.056,2987,2048,2249,0,0,0,0,0,0
$GC,8906,0.43,220.8,403.1,6.4,938,8910,0.00,1.92,0.00,0.000,4,0.000,0.064,2987,3229,2244,0,0,0,0,0,0
$GC,8954,0.43,220.8,399.8,7.2,942,8961,0.00,1.88,0.00,0.000,6,0.000,0.054,2987,2068,2243,0,0,0,0,0,0
$GC,9270,0.43,220.8,376.4,7.4,973,9273,0.00,2.10,0.00,0.000,4,0.000,0.064,2988,765,2242,0,0,0,0,0,0
$GC,9307,0.45,220.8,374.0,6.6,976,9313,0.00,2.08,0.00,0.000,6,0.000,0.058,2987,2062,2242,0,0,0,0,0,0
$GC,9622,0.45,231.8,356.2,5.7,1007,9636,0.00,1.92,9.52,0.760,4,0.000,0.067,2988,3236,2204,0,0,0,0,0,0
$GC,9676,0.45,231.8,353.1,6.7,1012,9679,0.00,1.85,0.00,0.000,6,0.000,0.054,2989,2071,2202,0,0,0,0,0,0
$GC,9996,0.47,266.0,334.4,4.9,1043,10031,0.00,2.17,29.48,0.807,4,0.000,0.064,2991,757,2064,0,0,0,0,0,0
$GC,10087,0.49,266.0,329.2,6.9,1051,10091,0.00,2.08,0.00,0.000,6,0.000,0.056,2991,2057,2062,0,0,0,0,0,0
$GC,10401,0.50,266.0,307.1,6.5,1082,10405,0.00,1.92,0.00,0.000,4,0.000,0.066,2990,3238,2060,0,0,0,0,0,0
$GC,10438,0.50,266.0,304.3,8.3,1085,10444,0.00,1.92,0.00,0.000,6,0.000,0.054,2991,2048,2059,0,0,0,0,0,0
$GC,10754,0.51,266.0,282.2,6.3,1116,10757,0.00,2.10,0.00,0.000,4,0.000,0.064,2991,760,2058,0,0,0,0,0,0
$GC,10791,0.54,266.0,279.9,6.8,1119,10797,0.08,2.05,0.00,0.000,6,0.061,0.057,3036,2042,2058,0,0,0,0,0,0
$GC,11107,0.54,266.0,251.7,8.8,1150,11110,0.00,1.90,0.00,0.000,4,0.000,0.064,3037,3241,2058,0,0,0,0,0,0
$GC,11144,0.52,266.0,248.1,10.1,1153,11149,0.00,1.92,0.00,0.000,6,0.000,0.054,3041,2041,2058,0,0,0,0,0,0
$GC,11459,0.51,266.0,217.6,10.0,1184,11463,0.00,2.05,0.00,0.000,4,0.000,0.064,3050,767,2058,0,0,0,0,0,0
$GC,11491,0.51,266.0,214.4,9.9,1187,11494,0.00,2.03,0.00,0.000,6,0.000,0.056,3050,2040,2058,0,0,0,0,0,0
$GC,11813,0.50,266.0,180.6,10.6,1218,11816,0.12,1.90,0.00,0.000,4,0.157,0.064,3014,3234,2058,0,0,0,0,0,0
$GC,11838,0.50,266.0,178.1,9.6,1220,11844,0.00,1.90,0.00,0.000,6,0.000,0.054,3014,2049,2058,0,0,0,0,0,0
$GC,12153,0.50,266.0,154.2,7.6,1251,12158,0.00,2.08,0.00,0.000,4,0.000,0.064,3014,760,2058,0,0,0,0,0,0
$GC,12175,0.50,266.0,152.7,7.5,1253,12178,0.00,2.03,0.00,0.000,6,0.000,0.056,3014,2052,2058,0,0,0,0,0,0
$GC,12495,0.50,266.0,128.7,7.5,1284,12499,0.00,2.08,0.00,0.000,4,0.000,0.063,3014,767,2057,0,0,0,0,0,0
$GC,12517,0.50,266.0,127.1,7.4,1286,12520,0.00,2.03,0.00,0.000,6,0.000,0.057,3014,2052,2058,0,0,0,0,0,0
$GC,12837,0.50,266.0,103.3,8.0,1317,12841,0.00,1.90,0.00,0.000,4,0.000,0.064,3014,3227,2058,0,0,0,0,0,0
$GC,12858,0.50,266.0,101.6,8.1,1319,12862,0.00,1.90,0.00,0.000,6,0.000,0.054,3014,2042,2058,0,0,0,0,0,0
$GC,13185,0.51,291.0,79.3,5.2,1377,13212,0.00,2.08,21.15,0.644,4,0.000,0.064,3014,768,1963,0,0,0,0,0,0
$GC,13245,0.55,319.7,76.3,5.1,1388,13274,0.00,2.03,24.80,0.634,6,0.000,0.057,3014,2034,1846,0,0,0,0,0,0
$GC,13595,0.59,355.6,54.8,4.8,1453,13629,0.00,2.03,29.80,0.626,4,0.000,0.065,3014,3242,1699,0,0,0,0,0,0
$GC,13662,0.62,355.6,50.4,6.9,1465,13667,0.08,1.92,0.00,0.000,6,0.065,0.054,3063,2059,1696,0,0,0,0,0,0
$GC,13991,0.64,360.1,22.4,5.9,1526,13996,0.00,0.00,4.25,0.454,6,0.000,0.000,3063,2058,1681,0,0,0,0,0,0
$GC,14320,0.68,387.3,7.5,5.1,1587,14348,0.00,2.05,23.60,0.592,4,0.000,0.061,3063,765,1569,0,0,0,0,0,0
$STATE,14399,end climb,SURFACE_DEPTH_REACHED
$STATE,14399,begin surface coast
$FINISH,1.1,1.011398
$STATE,14431,end surface coast,CONTROL_FINISHED_OK
$STATE,14431,begin surface
$SM_CCo,14509,0.00,0.000,0,0,1562,389.54
$SM_GC,1.97,7.85,0.00,0.00,0.048,0.000,0.000,136,2086,1562,-8.40,0.31,389.54
$IRIDIUM_FIX,4726.11,-12538.58,050100,161637
$TT8_MAMPS,0.052923
$HUMID,41.45
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,23.5,67.853
$10V_AH,9.8,66.746
$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,19.975,130.875,429.275,0.000,0.000,31.583,32.803,244.929,0.000,0.000,9.202,0.000,9940.575,496.141,3774.749,722.622,0.000,1840.733,0.000,3268.153,0.000,0.534,0.000
$DEVICE_MAMPS,230.867,75.166,943.410,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,1105.434,1300.161,1772.067,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298424
$DATA_FILE_SIZE,91727,1608
$CAP_FILE_SIZE,172509,0
$CFSIZE,260165632,214335488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.025,285.5,1
$GPS,111010,235430,4800.195,-12521.473,38,1.7,38,18.8