version: 66.06
glider: 187
mission: 2
dive: 647
start: 10 12 110 15 50 28
data:
$ID,187
$MISSION,2
$DIVE,647
$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,-37685.68
$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,34
$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
$GPS1,154106,4801.216,-12520.819,33,0.9,34,18.8
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-74.4
$GPS2,155020,4801.279,-12520.783,16,0.9,16,18.8
$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,271.9,653,-27.7,-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,10,begin dive
$GC,13,-0.79,-30.0,0.0,0.0,0,77,0.00,0.00,-62.30,0.000,2,0.000,0.000,131,2088,3023,0,0,0,0,0,0
$GC,80,-0.80,-55.2,3.5,-2.7,12,103,9.95,2.05,-8.18,0.000,4,0.229,0.069,2591,832,3378,0,0,0,0,0,0
$GC,343,-0.80,-55.2,52.6,-15.7,61,349,0.00,1.98,0.00,0.000,6,0.000,0.054,2584,2068,3381,0,0,0,0,0,0
$GC,670,-0.80,-55.2,97.5,-13.8,122,675,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,2069,3382,0,0,0,0,0,0
$GC,992,-0.80,-55.2,141.7,-13.6,155,995,0.00,1.98,0.00,0.000,4,0.000,0.062,2574,3312,3382,0,0,0,0,0,0
$GC,1034,-0.81,-55.2,147.8,-14.4,159,1037,0.00,1.92,0.00,0.000,6,0.000,0.048,2575,2075,3382,0,0,0,0,0,0
$GC,1355,-0.81,-55.2,193.1,-14.0,190,1356,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,2073,3382,0,0,0,0,0,0
$GC,1668,-0.81,-55.2,235.9,-13.5,220,1671,0.00,2.03,0.00,0.000,4,0.000,0.064,2565,3320,3382,0,0,0,0,0,0
$GC,1704,-0.81,-55.2,241.3,-14.0,223,1710,0.00,1.95,0.00,0.000,6,0.000,0.050,2565,2084,3382,0,0,0,0,0,0
$GC,2019,-0.81,-55.2,287.0,-14.6,254,2023,0.00,2.03,0.00,0.000,4,0.000,0.064,2556,3313,3381,0,0,0,0,0,0
$GC,2126,-0.81,-55.2,303.5,-15.4,264,2130,0.10,1.92,0.00,0.000,6,0.152,0.049,2585,2085,3381,0,0,0,0,0,0
$GC,2448,-0.83,-55.2,345.9,-13.0,295,2451,0.00,1.98,0.00,0.000,4,0.000,0.058,2586,827,3381,0,0,0,0,0,0
$GC,2484,-0.84,-55.2,351.3,-14.4,298,2489,0.00,2.00,0.00,0.000,6,0.000,0.055,2578,2087,3381,0,0,0,0,0,0
$STATE,2683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2686,begin apogee
$GC,2691,-0.14,0.0,378.5,13.8,318,2740,0.73,0.00,46.90,0.821,6,0.137,0.000,2802,1999,3149,0,0,0,0,0,0
$STATE,2740,end apogee,CONTROL_FINISHED_OK
$STATE,2740,begin climb
$GC,2743,0.80,55.2,381.4,0.0,323,2793,0.85,2.03,45.50,0.800,4,0.074,0.057,3119,765,2924,0,0,0,0,0,0
$GC,3036,0.81,103.6,381.5,-0.5,351,3080,0.00,1.95,39.78,0.805,6,0.000,0.053,3119,2018,2727,0,0,0,0,0,0
$GC,3390,0.80,103.6,356.7,8.6,385,3393,0.00,1.98,0.00,0.000,4,0.000,0.061,3119,3233,2723,0,0,0,0,0,0
$GC,3608,0.79,103.6,337.0,9.2,405,3614,0.00,1.92,0.00,0.000,6,0.000,0.050,3128,2021,2722,0,0,0,0,0,0
$GC,3924,0.77,103.6,306.5,10.1,436,3927,0.00,1.95,0.00,0.000,4,0.000,0.062,3128,3226,2722,0,0,0,0,0,0
$GC,4015,0.75,103.6,297.8,9.7,444,4021,0.12,1.92,0.00,0.000,6,0.167,0.051,3101,2016,2722,0,0,0,0,0,0
$GC,4331,0.76,113.3,278.2,4.8,475,4345,0.00,1.98,8.52,0.692,4,0.000,0.061,3101,3226,2688,0,0,0,0,0,0
$GC,4587,0.76,113.3,258.8,8.3,499,4590,0.00,1.85,0.00,0.000,6,0.000,0.051,3108,2042,2687,0,0,0,0,0,0
$GC,4907,0.76,113.3,235.1,6.9,530,4911,0.00,1.95,0.00,0.000,4,0.000,0.062,3108,3230,2686,0,0,0,0,0,0
$GC,5155,0.75,113.3,215.1,8.8,553,5158,0.00,1.85,0.00,0.000,6,0.000,0.051,3117,2063,2686,0,0,0,0,0,0
$GC,5475,0.75,113.3,187.5,8.3,584,5478,0.00,1.90,0.00,0.000,4,0.000,0.062,3117,3222,2686,0,0,0,0,0,0
$GC,5545,0.73,113.3,181.1,9.2,590,5550,0.12,1.80,0.00,0.000,6,0.191,0.051,3096,2070,2686,0,0,0,0,0,0
$GC,5859,0.73,113.3,156.1,7.6,621,5863,0.00,1.90,0.00,0.000,4,0.000,0.062,3095,3229,2685,0,0,0,0,0,0
$GC,6105,0.73,113.3,136.1,8.5,644,6108,0.00,1.80,0.00,0.000,6,0.000,0.051,3102,2095,2685,0,0,0,0,0,0
$GC,6426,0.73,113.3,113.3,6.4,675,6429,0.00,1.85,0.00,0.000,4,0.000,0.061,3102,3226,2685,0,0,0,0,0,0
$GC,6672,0.73,113.3,94.5,7.4,704,6678,0.00,1.77,0.00,0.000,6,0.000,0.051,3110,2104,2685,0,0,0,0,0,0
$GC,6998,0.74,126.1,77.2,4.4,765,7016,0.00,1.80,11.73,0.621,4,0.000,0.061,3110,3237,2634,0,0,0,0,0,0
$GC,7065,0.74,134.0,73.9,5.0,777,7076,0.00,1.80,7.93,0.581,6,0.000,0.051,3119,2102,2603,0,0,0,0,0,0
$GC,7399,0.75,137.6,50.2,5.6,839,7406,0.00,0.00,4.40,0.480,6,0.000,0.000,3119,2102,2589,0,0,0,0,0,0
$GC,7728,0.75,149.4,36.9,4.5,900,7744,0.00,1.80,11.25,0.594,4,0.000,0.061,3119,3233,2539,0,0,0,0,0,0
$GC,7986,0.76,164.5,27.7,4.0,948,8007,0.00,1.80,13.62,0.594,6,0.000,0.051,3128,2099,2478,0,0,0,0,0,0
$GC,8331,0.80,198.7,17.7,1.5,1012,8364,0.00,2.12,28.52,0.602,4,0.000,0.058,3137,762,2339,0,0,0,0,0,0
$GC,8381,0.84,226.3,16.5,2.3,1021,8408,0.00,2.15,23.42,0.583,6,0.000,0.054,3138,2105,2226,0,0,0,0,0,0
$STATE,8663,end climb,SURFACE_DEPTH_REACHED
$STATE,8663,begin surface coast
$FINISH,1.2,1.011093
$STATE,8722,end surface coast,CONTROL_FINISHED_OK
$STATE,8722,begin surface
$SM_CCo,8737,71.78,0.523,2,0,1722,350.04
$SM_GC,1.95,0.00,0.00,71.78,0.000,0.000,0.523,130,2106,1722,-8.52,0.88,350.04
$IRIDIUM_FIX,4742.09,-12524.03,060100,151512
$TT8_MAMPS,0.05369
$HUMID,41.10
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,16.40
$XPDR_PINGS,0
$24V_AH,24.1,68.536
$10V_AH,9.8,67.492
$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,19.775,61.825,241.575,71.775,0.000,50.006,115.505,190.069,0.500,0.000,16.923,0.000,5583.396,361.191,2771.773,636.693,0.000,1298.119,0.000,2422.362,0.000,5.037,0.000
$DEVICE_MAMPS,228.566,94.341,821.457,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,745.327,851.948,1491.967,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298416
$DATA_FILE_SIZE,60138,1085
$CAP_FILE_SIZE,111699,0
$CFSIZE,260165632,213962752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.077,117.9,1
$GPS,121010,181901,4801.123,-12521.186,71,0.8,72,18.8