version: 66.06
glider: 187
mission: 2
dive: 644
start: 10 12 110 7 5 3
data:
$ID,187
$MISSION,2
$DIVE,644
$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,-37617.301
$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,27
$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,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,350
$ALTIM_PING_DELTA,25
$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
$GPS1,065836,4801.752,-12521.544,76,1.2,82,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.09
$_SM_ANGLEo,-77.7
$GPS2,070456,4801.715,-12521.598,12,1.4,12,18.8
$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,64.3,771,-27.4,-6.111
$D_GRID,377
$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,14,-0.78,-30.8,0.0,0.0,0,68,0.00,0.00,-51.83,0.000,2,0.000,0.000,131,2099,2927,0,0,0,0,0,0
$GC,70,-0.80,-63.0,3.0,-1.8,10,98,10.00,1.98,-12.05,0.000,4,0.231,0.074,2586,3302,3410,0,0,0,0,0,0
$GC,296,-0.80,-63.0,50.3,-12.8,52,303,0.00,1.95,0.00,0.000,6,0.000,0.048,2586,2068,3413,0,0,0,0,0,0
$GC,625,-0.80,-63.0,93.4,-12.5,113,630,0.00,2.05,0.00,0.000,4,0.000,0.064,2577,3309,3414,0,0,0,0,0,0
$GC,741,-0.80,-63.0,108.5,-12.2,129,745,0.00,1.95,0.00,0.000,6,0.000,0.047,2577,2065,3414,0,0,0,0,0,0
$GC,1064,-0.80,-63.0,150.7,-13.9,160,1067,0.00,2.03,0.00,0.000,4,0.000,0.063,2568,3309,3414,0,0,0,0,0,0
$GC,1084,-0.80,-63.0,153.9,-14.5,162,1088,0.00,1.95,0.00,0.000,6,0.000,0.050,2568,2075,3414,0,0,0,0,0,0
$GC,1406,-0.80,-63.0,199.4,-14.2,193,1409,0.10,2.00,0.00,0.000,4,0.185,0.063,2584,3310,3414,0,0,0,0,0,0
$GC,1465,-0.81,-63.0,207.4,-13.4,198,1470,0.00,1.95,0.00,0.000,6,0.000,0.049,2584,2075,3414,0,0,0,0,0,0
$GC,1780,-0.82,-63.0,246.6,-11.5,229,1783,0.00,2.00,0.00,0.000,4,0.000,0.063,2575,3313,3414,0,0,0,0,0,0
$GC,1903,-0.84,-63.0,261.1,-11.9,240,1909,0.00,1.90,0.00,0.000,6,0.000,0.047,2576,2096,3414,0,0,0,0,0,0
$GC,2219,-0.84,-63.0,299.4,-12.9,271,2222,0.00,1.98,0.00,0.000,4,0.000,0.063,2565,3319,3414,0,0,0,0,0,0
$GC,2251,-0.84,-63.0,303.9,-13.6,274,2254,0.00,1.90,0.00,0.000,6,0.000,0.050,2566,2096,3413,0,0,0,0,0,0
$GC,2571,-0.84,-63.0,348.9,-14.2,305,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2565,2096,3413,0,0,0,0,0,0
$STATE,2765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2765,begin apogee
$GC,2773,-0.14,0.0,377.4,15.4,324,2828,0.77,0.00,52.85,0.826,6,0.140,0.000,2802,1983,3150,0,0,0,0,0,0
$STATE,2829,end apogee,CONTROL_FINISHED_OK
$STATE,2829,begin climb
$GC,2831,0.80,63.0,381.0,0.0,330,2887,0.85,1.95,51.40,0.802,4,0.074,0.054,3118,775,2893,0,0,0,0,0,0
$GC,3118,0.80,97.4,378.8,1.5,356,3154,0.00,1.92,28.98,0.795,6,0.000,0.051,3118,2005,2753,0,0,0,0,0,0
$GC,3464,0.79,97.4,355.3,7.3,390,3467,0.00,1.95,0.00,0.000,4,0.000,0.060,3118,3221,2750,0,0,0,0,0,0
$GC,3709,0.77,97.4,333.5,8.3,413,3712,0.00,1.88,0.00,0.000,6,0.000,0.050,3127,2034,2749,0,0,0,0,0,0
$GC,4030,0.75,97.4,307.3,7.2,444,4033,0.00,1.95,0.00,0.000,4,0.000,0.061,3127,3228,2748,0,0,0,0,0,0
$GC,4275,0.73,97.4,287.0,8.4,467,4279,0.12,1.88,0.00,0.000,6,0.169,0.051,3098,2043,2748,0,0,0,0,0,0
$GC,4596,0.73,97.4,266.7,6.4,498,4600,0.00,1.90,0.00,0.000,4,0.000,0.062,3098,3224,2747,0,0,0,0,0,0
$GC,4842,0.72,97.4,249.2,6.8,521,4845,0.00,1.85,0.00,0.000,6,0.000,0.051,3105,2048,2747,0,0,0,0,0,0
$GC,5162,0.72,97.4,227.7,6.4,552,5166,0.00,1.92,0.00,0.000,4,0.000,0.061,3106,3233,2747,0,0,0,0,0,0
$GC,5408,0.71,97.4,209.9,7.7,575,5412,0.10,1.88,0.00,0.000,6,0.167,0.051,3084,2046,2746,0,0,0,0,0,0
$GC,5729,0.71,99.9,191.1,5.8,606,5732,0.00,1.92,0.00,0.000,4,0.000,0.062,3084,3226,2747,0,0,0,0,0,0
$GC,5975,0.71,99.9,174.8,7.4,629,5978,0.00,1.85,0.00,0.000,6,0.000,0.051,3091,2052,2746,0,0,0,0,0,0
$GC,6295,0.71,101.8,154.9,5.9,660,6308,0.00,1.90,4.18,0.503,4,0.000,0.060,3091,3222,2733,0,0,0,0,0,0
$GC,6548,0.71,101.8,138.1,7.0,683,6553,0.00,1.83,0.00,0.000,6,0.000,0.050,3100,2069,2733,0,0,0,0,0,0
$GC,6863,0.71,108.4,119.3,5.2,714,6875,0.00,1.85,7.00,0.594,4,0.000,0.060,3100,3239,2707,0,0,0,0,0,0
$GC,6965,0.71,108.4,113.0,6.3,723,6971,0.00,1.83,0.00,0.000,6,0.000,0.051,3108,2083,2707,0,0,0,0,0,0
$GC,7284,0.71,108.4,95.1,6.4,761,7289,0.00,1.88,0.00,0.000,4,0.000,0.063,3109,3230,2707,0,0,0,0,0,0
$GC,7531,0.70,111.7,79.7,5.7,807,7542,0.10,1.77,4.35,0.486,6,0.166,0.051,3088,2107,2695,0,0,0,0,0,0
$GC,7866,0.73,140.5,65.3,2.3,869,7894,0.00,1.88,24.12,0.634,4,0.000,0.062,3087,3239,2577,0,0,0,0,0,0
$GC,7958,0.74,152.9,61.9,4.5,886,7975,0.00,1.80,11.60,0.597,6,0.000,0.051,3094,2113,2525,0,0,0,0,0,0
$GC,8298,0.77,165.8,44.5,4.4,949,8314,0.00,1.77,11.80,0.591,4,0.000,0.061,3093,3229,2473,0,0,0,0,0,0
$GC,8538,0.79,165.8,29.7,6.3,994,8544,0.00,1.70,0.00,0.000,6,0.000,0.050,3102,2159,2471,0,0,0,0,0,0
$GC,8865,0.84,201.0,24.4,1.4,1055,8899,0.00,2.22,29.33,0.606,4,0.000,0.058,3111,759,2329,0,0,0,0,0,0
$GC,9044,0.88,203.4,17.1,5.8,1088,9050,0.00,2.25,0.00,0.000,6,0.000,0.054,3111,2164,2325,0,0,0,0,0,0
$GC,9372,0.93,222.9,5.9,3.5,1149,9395,0.12,1.75,17.77,0.578,4,0.097,0.063,3167,3227,2241,0,0,0,0,0,0
$STATE,9425,end climb,SURFACE_DEPTH_REACHED
$STATE,9425,begin surface coast
$FINISH,1.1,1.024233
$STATE,9473,end surface coast,CONTROL_FINISHED_OK
$STATE,9473,begin surface
$SM_CCo,9492,67.47,0.416,1,0,1723,350.04
$SM_GC,1.70,0.00,0.00,67.47,0.000,0.000,0.416,135,2073,1723,-8.50,-0.08,350.04
$IRIDIUM_FIX,4745.30,-12524.03,060100,040405
$TT8_MAMPS,0.052923
$HUMID,41.14
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,24.1,68.252
$10V_AH,9.9,67.160
$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,20.325,72.900,243.375,67.475,0.000,26.231,35.774,185.231,0.500,0.000,12.399,0.000,5996.913,365.459,3011.855,549.469,0.000,1381.227,0.000,2642.026,0.000,5.036,0.000
$DEVICE_MAMPS,230.867,85.904,826.059,416.481,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,802.070,911.376,1585.011,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298416
$DATA_FILE_SIZE,66391,1168
$CAP_FILE_SIZE,120285,0
$CFSIZE,260165632,214151168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.076,345.6,1
$GPS,121010,094522,4802.255,-12521.110,12,3.8,32,18.8