version: 66.06
glider: 187
mission: 2
dive: 646
start: 10 12 110 12 56 9
data:
$ID,187
$MISSION,2
$DIVE,646
$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,-37668.129
$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,26
$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
$GPS1,124557,4801.895,-12520.390,93,5.8,113,18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.00
$_SM_ANGLEo,-75.6
$GPS2,125601,4801.963,-12520.361,12,1.5,17,18.8
$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,195.0,1038,-13.9,-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,10,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,13,-0.45,-112.4,0.0,0.0,0,72,0.00,0.00,-56.97,0.000,2,0.000,0.000,131,2053,3080,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.3,-2.5,11,103,10.48,1.98,-11.52,0.000,4,0.230,0.074,2703,842,3612,0,0,0,0,0,0
$GC,199,-0.44,-112.4,27.8,-15.7,34,205,0.00,1.98,0.00,0.000,6,0.000,0.056,2697,2069,3613,0,0,0,0,0,0
$GC,527,-0.44,-112.4,58.5,-8.8,95,533,0.00,1.98,0.00,0.000,4,0.000,0.055,2697,833,3615,0,0,0,0,0,0
$GC,741,-0.44,-112.4,76.3,-8.8,135,746,0.00,1.95,0.00,0.000,6,0.000,0.053,2692,2063,3615,0,0,0,0,0,0
$GC,1070,-0.44,-112.4,105.6,-8.6,191,1073,0.00,2.03,0.00,0.000,4,0.000,0.064,2684,3312,3615,0,0,0,0,0,0
$GC,1118,-0.44,-112.4,109.8,-8.5,195,1124,0.00,1.98,0.00,0.000,6,0.000,0.049,2683,2059,3615,0,0,0,0,0,0
$GC,1434,-0.44,-112.4,138.8,-8.9,226,1437,0.00,2.03,0.00,0.000,4,0.000,0.064,2675,3309,3615,0,0,0,0,0,0
$GC,1498,-0.44,-112.4,144.9,-9.4,232,1501,0.12,1.92,0.00,0.000,6,0.135,0.050,2712,2072,3615,0,0,0,0,0,0
$GC,1818,-0.46,-112.4,168.2,-6.3,263,1821,0.00,2.05,0.00,0.000,4,0.000,0.065,2709,3312,3615,0,0,0,0,0,0
$GC,1855,-0.48,-112.4,170.8,-7.1,266,1862,0.00,1.95,0.00,0.000,6,0.000,0.051,2709,2076,3615,0,0,0,0,0,0
$GC,2171,-0.50,-112.4,190.5,-6.4,297,2174,0.00,2.03,0.00,0.000,4,0.000,0.065,2709,3308,3615,0,0,0,0,0,0
$GC,2197,-0.52,-112.4,192.1,-6.5,299,2202,0.00,1.95,0.00,0.000,6,0.000,0.051,2709,2073,3614,0,0,0,0,0,0
$GC,2512,-0.54,-112.4,214.2,-7.5,330,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,2071,3614,0,0,0,0,0,0
$GC,2824,-0.55,-112.4,236.9,-6.4,360,2827,0.00,2.00,0.00,0.000,4,0.000,0.065,2709,3308,3613,0,0,0,0,0,0
$GC,2872,-0.58,-112.4,240.3,-6.4,364,2877,0.12,1.90,0.00,0.000,6,0.091,0.051,2646,2087,3613,0,0,0,0,0,0
$GC,3187,-0.57,-112.4,272.3,-10.2,395,3191,0.00,2.03,0.00,0.000,4,0.000,0.067,2638,3313,3613,0,0,0,0,0,0
$GC,3231,-0.56,-112.4,276.7,-9.8,399,3234,0.08,1.92,0.00,0.000,6,0.120,0.051,2681,2097,3612,0,0,0,0,0,0
$GC,3551,-0.56,-112.4,299.3,-6.3,430,3552,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2096,3612,0,0,0,0,0,0
$GC,3864,-0.56,-112.4,318.8,-6.1,460,3867,0.00,1.95,0.00,0.000,4,0.000,0.065,2675,3312,3612,0,0,0,0,0,0
$GC,3917,-0.57,-112.4,322.5,-7.0,465,3920,0.00,1.92,0.00,0.000,6,0.000,0.052,2675,2098,3612,0,0,0,0,0,0
$GC,4238,-0.57,-112.4,345.1,-7.4,496,4239,0.00,0.00,0.00,0.000,6,0.000,0.000,2675,2098,3611,0,0,0,0,0,0
$GC,4549,-0.57,-112.4,367.8,-7.8,526,4552,0.00,1.95,0.00,0.000,4,0.000,0.067,2667,3308,3611,0,0,0,0,0,0
$GC,4634,-0.57,-112.4,374.5,-7.6,534,4637,0.00,1.90,0.00,0.000,6,0.000,0.052,2667,2095,3611,0,0,0,0,0,0
$STATE,4662,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4662,begin apogee
$GC,4667,-0.14,0.0,377.2,8.6,537,4765,0.43,0.00,91.10,0.831,6,0.112,0.000,2806,1987,3150,0,0,0,0,0,0
$STATE,4765,end apogee,CONTROL_FINISHED_OK
$STATE,4765,begin climb
$GC,4768,0.45,112.4,380.5,0.0,547,4867,0.55,2.08,92.18,0.808,4,0.076,0.060,3010,771,2690,0,0,0,0,0,0
$GC,4910,0.46,160.9,379.2,4.3,560,4957,0.00,2.00,41.33,0.785,6,0.000,0.054,3010,2001,2494,0,0,0,0,0,0
$GC,5266,0.44,160.9,353.9,7.0,595,5270,0.00,2.03,0.00,0.000,4,0.000,0.064,3010,3247,2488,0,0,0,0,0,0
$GC,5423,0.42,160.9,342.4,7.3,609,5428,0.00,1.95,0.00,0.000,6,0.000,0.052,3017,2036,2487,0,0,0,0,0,0
$GC,5739,0.40,160.9,321.0,6.6,640,5740,0.12,0.00,0.00,0.000,6,0.160,0.000,2984,2036,2486,0,0,0,0,0,0
$GC,6049,0.44,220.6,307.1,3.9,670,6103,0.00,2.00,48.75,0.784,4,0.000,0.064,2983,3227,2250,0,0,0,0,0,0
$GC,6157,0.44,220.6,300.9,6.9,680,6163,0.00,1.98,0.00,0.000,6,0.000,0.054,2986,2019,2245,0,0,0,0,0,0
$GC,6473,0.47,281.1,285.4,3.9,711,6527,0.00,2.10,49.58,0.768,4,0.000,0.064,2986,767,2003,0,0,0,0,0,0
$GC,6576,0.53,333.5,281.1,4.2,720,6626,0.08,2.05,44.08,0.748,6,0.062,0.056,3032,2024,1789,0,0,0,0,0,0
$GC,6944,0.53,333.5,251.8,8.3,756,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2026,1780,0,0,0,0,0,0
$GC,7255,0.53,333.5,222.9,9.1,786,7257,0.00,2.03,0.00,0.000,4,0.000,0.064,3038,763,1779,0,0,0,0,0,0
$GC,7291,0.53,333.5,219.7,8.4,789,7297,0.00,2.00,0.00,0.000,6,0.000,0.055,3038,2016,1779,0,0,0,0,0,0
$GC,7607,0.53,333.5,189.2,10.5,820,7610,0.00,1.92,0.00,0.000,4,0.000,0.063,3038,3234,1778,0,0,0,0,0,0
$GC,7649,0.53,333.5,184.5,11.6,824,7653,0.00,1.95,0.00,0.000,6,0.000,0.054,3041,2019,1777,0,0,0,0,0,0
$GC,7970,0.53,333.5,150.9,10.5,855,7974,0.00,2.03,0.00,0.000,4,0.000,0.064,3041,760,1777,0,0,0,0,0,0
$GC,8055,0.53,333.5,142.0,10.4,863,8059,0.00,1.98,0.00,0.000,6,0.000,0.054,3042,2007,1777,0,0,0,0,0,0
$GC,8376,0.53,333.5,108.7,9.3,894,8380,0.00,1.98,0.00,0.000,4,0.000,0.061,3042,3232,1777,0,0,0,0,0,0
$GC,8407,0.53,333.5,105.4,10.0,897,8411,0.00,1.98,0.00,0.000,6,0.000,0.054,3041,1999,1776,0,0,0,0,0,0
$GC,8732,0.53,333.5,74.4,9.8,952,8738,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,1998,1776,0,0,0,0,0,0
$GC,9059,0.53,333.5,47.8,7.8,1013,9064,0.00,1.98,0.00,0.000,4,0.000,0.064,3042,767,1776,0,0,0,0,0,0
$GC,9112,0.55,333.5,43.9,7.4,1023,9119,0.00,1.95,0.00,0.000,6,0.000,0.056,3041,1996,1776,0,0,0,0,0,0
$GC,9441,0.59,364.2,21.9,5.0,1084,9469,0.00,2.05,24.02,0.607,4,0.000,0.064,3042,3238,1664,0,0,0,0,0,0
$GC,9557,0.64,390.9,16.1,5.1,1105,9585,0.00,1.95,22.88,0.595,6,0.000,0.052,3042,2018,1555,0,0,0,0,0,0
$STATE,9737,end climb,SURFACE_DEPTH_REACHED
$STATE,9737,begin surface coast
$FINISH,1.3,1.004721
$STATE,9770,end surface coast,CONTROL_FINISHED_OK
$STATE,9770,begin surface
$SM_CCo,9845,0.00,0.000,0,0,1547,393.22
$SM_GC,1.96,7.70,0.00,0.00,0.043,0.000,0.000,138,2090,1547,-8.39,0.42,393.22
$IRIDIUM_FIX,4742.09,-12516.92,060100,121208
$TT8_MAMPS,0.052156
$HUMID,41.37
$INTERNAL_PRESSURE,9.02063
$TCM_TEMP,16.00
$XPDR_PINGS,0
$24V_AH,23.7,68.458
$10V_AH,9.8,67.385
$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,19.675,79.575,413.900,0.000,0.000,50.669,69.187,269.483,0.500,0.000,17.490,0.000,6527.953,428.225,2777.678,689.174,0.000,1413.637,0.000,2390.311,0.000,5.037,0.000
$DEVICE_MAMPS,230.100,105.846,831.428,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,785.836,899.075,1403.558,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298440
$DATA_FILE_SIZE,63294,1145
$CAP_FILE_SIZE,125914,0
$CFSIZE,260165632,214011904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.111, 52.4,1
$GPS,121010,154106,4801.216,-12520.819,33,0.9,34,18.8