version: 66.06
glider: 187
mission: 2
dive: 645
start: 10 12 110 9 52 18
data:
$ID,187
$MISSION,2
$DIVE,645
$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,-37650.008
$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,31
$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
$GPS1,094522,4802.255,-12521.110,12,3.8,32,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-78.2
$GPS2,095210,4802.278,-12521.145,12,2.2,31,18.8
$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,150.4,1268,-15.2,-6.111
$D_GRID,358
$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,-0.48,-96.3,0.0,0.0,0,68,0.00,0.00,-53.65,0.000,2,0.000,0.000,132,2073,2973,0,0,0,0,0,0
$GC,71,-0.49,-112.4,3.1,-2.3,10,104,10.35,2.05,-14.80,0.000,4,0.229,0.077,2683,3304,3611,0,0,0,0,0,0
$GC,121,-0.38,-112.4,13.4,-19.4,19,126,0.12,1.98,0.00,0.000,6,0.120,0.050,2725,2072,3612,0,0,0,0,0,0
$GC,447,-0.40,-112.4,43.2,-7.8,80,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2070,3614,0,0,0,0,0,0
$GC,774,-0.43,-112.4,66.2,-5.1,141,780,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,2069,3615,0,0,0,0,0,0
$GC,1101,-0.47,-112.4,87.0,-8.2,202,1107,0.00,1.95,0.00,0.000,4,0.000,0.057,2725,842,3615,0,0,0,0,0,0
$GC,1182,-0.49,-112.4,93.8,-8.2,217,1188,0.00,1.92,0.00,0.000,6,0.000,0.054,2725,2055,3614,0,0,0,0,0,0
$GC,1506,-0.52,-112.4,114.9,-5.9,256,1509,0.12,2.03,0.00,0.000,4,0.094,0.065,2658,3310,3616,0,0,0,0,0,0
$GC,1635,-0.52,-112.4,126.8,-9.9,267,1641,0.00,1.98,0.00,0.000,6,0.000,0.050,2658,2062,3615,0,0,0,0,0,0
$GC,1951,-0.52,-112.4,159.1,-9.7,298,1954,0.00,2.03,0.00,0.000,4,0.000,0.064,2649,3311,3615,0,0,0,0,0,0
$GC,1988,-0.52,-112.4,162.9,-9.6,301,1993,0.08,1.95,0.00,0.000,6,0.116,0.050,2687,2075,3615,0,0,0,0,0,0
$GC,2303,-0.53,-112.4,189.1,-8.3,332,2306,0.00,2.00,0.00,0.000,4,0.000,0.063,2680,3310,3614,0,0,0,0,0,0
$GC,2373,-0.55,-112.4,194.7,-7.9,338,2377,0.00,1.92,0.00,0.000,6,0.000,0.050,2680,2075,3614,0,0,0,0,0,0
$GC,2687,-0.55,-112.4,219.5,-7.7,369,2691,0.00,2.00,0.00,0.000,4,0.000,0.064,2673,3310,3614,0,0,0,0,0,0
$GC,2714,-0.55,-112.4,221.5,-7.6,371,2719,0.00,1.92,0.00,0.000,6,0.000,0.051,2672,2087,3614,0,0,0,0,0,0
$GC,3029,-0.55,-112.4,247.4,-7.9,402,3033,0.00,2.03,0.00,0.000,4,0.000,0.066,2665,3313,3613,0,0,0,0,0,0
$GC,3066,-0.55,-112.4,250.6,-8.2,405,3072,0.00,1.92,0.00,0.000,6,0.000,0.051,2665,2089,3613,0,0,0,0,0,0
$GC,3383,-0.55,-112.4,277.0,-8.2,436,3386,0.00,2.00,0.00,0.000,4,0.000,0.067,2664,3315,3613,0,0,0,0,0,0
$GC,3415,-0.55,-112.4,279.5,-7.8,439,3418,0.00,1.92,0.00,0.000,6,0.000,0.052,2663,2084,3613,0,0,0,0,0,0
$GC,3735,-0.55,-112.4,309.5,-8.4,470,3738,0.00,2.03,0.00,0.000,4,0.000,0.067,2663,3310,3612,0,0,0,0,0,0
$GC,3777,-0.56,-112.4,312.9,-7.3,474,3781,0.00,1.92,0.00,0.000,6,0.000,0.051,2663,2093,3612,0,0,0,0,0,0
$GC,4099,-0.56,-112.4,341.9,-8.6,505,4102,0.00,1.98,0.00,0.000,4,0.000,0.059,2663,835,3612,0,0,0,0,0,0
$GC,4140,-0.56,-112.4,345.9,-10.0,509,4144,0.00,2.00,0.00,0.000,6,0.000,0.057,2663,2087,3612,0,0,0,0,0,0
$STATE,4273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4273,begin apogee
$GC,4279,-0.14,0.0,358.7,7.5,522,4376,0.45,0.00,90.90,0.817,6,0.114,0.000,2810,1982,3150,0,0,0,0,0,0
$STATE,4377,end apogee,CONTROL_FINISHED_OK
$STATE,4377,begin climb
$GC,4379,0.49,112.4,361.2,0.0,532,4479,0.55,2.05,91.53,0.792,4,0.072,0.058,3017,772,2690,0,0,0,0,0,0
$GC,4574,0.47,115.8,357.1,6.0,550,4583,0.00,2.00,4.28,0.532,6,0.000,0.052,3017,2003,2677,0,0,0,0,0,0
$GC,4900,0.45,115.8,336.4,7.0,582,4904,0.00,2.03,0.00,0.000,4,0.000,0.063,3017,3231,2675,0,0,0,0,0,0
$GC,4986,0.42,115.8,329.9,7.7,590,4989,0.10,1.95,0.00,0.000,6,0.135,0.051,2993,2015,2674,0,0,0,0,0,0
$GC,5306,0.43,123.5,310.3,5.8,621,5318,0.00,0.00,7.57,0.679,6,0.000,0.000,2993,2015,2645,0,0,0,0,0,0
$GC,5628,0.44,136.7,292.8,5.5,652,5648,0.00,2.03,12.20,0.730,4,0.000,0.063,2993,3236,2591,0,0,0,0,0,0
$GC,5707,0.43,136.7,288.0,6.3,659,5711,0.00,1.92,0.00,0.000,6,0.000,0.051,2998,2002,2590,0,0,0,0,0,0
$GC,6022,0.43,145.9,269.3,5.7,690,6035,0.00,2.03,8.85,0.686,4,0.000,0.063,2998,3235,2555,0,0,0,0,0,0
$GC,6111,0.42,145.9,263.2,6.9,698,6117,0.00,1.92,0.00,0.000,6,0.000,0.051,3003,2027,2554,0,0,0,0,0,0
$GC,6427,0.42,145.9,239.5,8.0,729,6430,0.00,1.98,0.00,0.000,4,0.000,0.063,3004,3225,2554,0,0,0,0,0,0
$GC,6459,0.41,145.9,236.9,8.2,732,6462,0.00,1.92,0.00,0.000,6,0.000,0.051,3011,2015,2553,0,0,0,0,0,0
$GC,6781,0.41,145.9,211.7,7.6,763,6784,0.00,1.95,0.00,0.000,4,0.000,0.063,3010,3232,2553,0,0,0,0,0,0
$GC,6881,0.39,145.9,204.2,6.8,772,6887,0.10,1.92,0.00,0.000,6,0.128,0.052,2985,2029,2553,0,0,0,0,0,0
$GC,7197,0.40,168.1,186.8,5.2,803,7221,0.00,1.98,19.45,0.705,4,0.000,0.064,2984,3228,2463,0,0,0,0,0,0
$GC,7259,0.40,168.1,183.3,6.5,809,7263,0.00,1.92,0.00,0.000,6,0.000,0.053,2987,2031,2461,0,0,0,0,0,0
$GC,7580,0.43,208.6,166.9,4.4,840,7616,0.00,0.00,34.00,0.697,6,0.000,0.000,2987,2031,2299,0,0,0,0,0,0
$GC,7921,0.44,212.3,148.7,6.0,873,7926,0.00,0.00,3.95,0.477,6,0.000,0.000,2987,2031,2284,0,0,0,0,0,0
$GC,8231,0.45,212.3,129.4,6.5,903,8234,0.00,1.98,0.00,0.000,4,0.000,0.063,2987,3233,2283,0,0,0,0,0,0
$GC,8268,0.47,212.3,126.8,7.7,906,8274,0.00,1.90,0.00,0.000,6,0.000,0.053,2987,2049,2282,0,0,0,0,0,0
$GC,8584,0.49,223.3,108.0,5.6,937,8599,0.00,2.03,10.77,0.630,4,0.000,0.061,2987,760,2238,0,0,0,0,0,0
$GC,8642,0.51,223.3,104.4,7.4,942,8645,0.00,2.03,0.00,0.000,6,0.000,0.056,2987,2047,2237,0,0,0,0,0,0
$GC,8967,0.55,254.9,85.2,4.8,996,9001,0.12,1.95,26.42,0.644,4,0.094,0.064,3046,3233,2108,0,0,0,0,0,0
$GC,9052,0.54,254.9,78.5,9.1,1011,9057,0.00,1.90,0.00,0.000,6,0.000,0.053,3052,2056,2104,0,0,0,0,0,0
$GC,9379,0.54,254.9,49.6,8.4,1072,9384,0.00,2.10,0.00,0.000,4,0.000,0.062,3055,763,2103,0,0,0,0,0,0
$GC,9454,0.54,254.9,44.4,6.5,1086,9460,0.00,2.08,0.00,0.000,6,0.000,0.054,3054,2067,2102,0,0,0,0,0,0
$GC,9780,0.59,319.3,25.4,3.4,1147,9841,0.00,2.12,51.45,0.610,4,0.000,0.060,3054,767,1848,0,0,0,0,0,0
$GC,9876,0.63,341.0,21.2,5.2,1164,9899,0.00,2.08,18.88,0.578,6,0.000,0.055,3055,2053,1758,0,0,0,0,0,0
$STATE,10180,end climb,SURFACE_DEPTH_REACHED
$STATE,10180,begin surface coast
$FINISH,1.2,1.009392
$STATE,10255,end surface coast,CONTROL_FINISHED_OK
$STATE,10255,begin surface
$SM_CCo,10271,8.12,0.091,1,0,1723,350.04
$SM_GC,4.07,0.00,0.00,8.12,0.000,0.000,0.091,136,2052,1723,-8.50,-0.62,350.04
$IRIDIUM_FIX,4745.30,-12524.03,060100,070735
$TT8_MAMPS,0.052156
$HUMID,42.20
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.30
$XPDR_PINGS,0
$24V_AH,23.8,68.345
$10V_AH,9.9,67.276
$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,19.750,87.425,380.250,8.125,0.000,27.538,34.320,193.194,0.250,0.000,32.080,0.000,6649.404,446.988,3029.471,544.391,0.000,1489.217,0.000,2598.355,0.000,3.017,0.000
$DEVICE_MAMPS,228.566,87.438,816.855,91.273,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,846.969,957.899,1597.832,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298392
$DATA_FILE_SIZE,69617,1235
$CAP_FILE_SIZE,130574,0
$CFSIZE,260165632,214077440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.149, 28.5,1
$GPS,121010,124557,4801.895,-12520.390,93,5.8,113,18.8