version: 66.06
glider: 187
mission: 2
dive: 648
start: 10 12 110 18 25 44
data:
$ID,187
$MISSION,2
$DIVE,648
$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,-37703.191
$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,31
$R_STBD_OVSHOOT,33
$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
$GPS1,181901,4801.123,-12521.186,71,0.8,72,18.8
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.03
$_SM_ANGLEo,-76.8
$GPS2,182537,4801.158,-12521.039,11,1.1,16,18.8
$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,309.1,820,-24.4,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.70,-38.8,0.0,0.0,0,74,0.00,0.00,-57.08,0.000,2,0.000,0.000,129,2107,3079,0,0,0,0,0,0
$GC,77,-0.72,-70.2,3.5,-2.8,11,100,10.27,2.00,-8.00,0.000,4,0.236,0.067,2617,836,3437,0,0,0,0,0,0
$GC,341,-0.72,-70.2,47.2,-13.6,60,347,0.00,1.98,0.00,0.000,6,0.000,0.054,2610,2071,3440,0,0,0,0,0,0
$GC,668,-0.72,-70.2,94.0,-12.8,121,675,0.00,1.95,0.00,0.000,4,0.000,0.056,2610,849,3442,0,0,0,0,0,0
$GC,861,-0.73,-70.2,119.1,-13.5,144,865,0.00,2.03,0.00,0.000,6,0.000,0.054,2601,2124,3442,0,0,0,0,0,0
$GC,1183,-0.73,-70.2,164.1,-13.3,175,1186,0.00,1.88,0.00,0.000,4,0.000,0.064,2592,3319,3442,0,0,0,0,0,0
$GC,1428,-0.73,-70.2,195.1,-12.5,198,1431,0.00,1.80,0.00,0.000,6,0.000,0.049,2592,2142,3442,0,0,0,0,0,0
$GC,1749,-0.73,-70.2,236.1,-12.7,229,1752,0.00,1.88,0.00,0.000,4,0.000,0.064,2583,3311,3442,0,0,0,0,0,0
$GC,1994,-0.73,-70.2,267.9,-13.1,252,1998,0.10,1.77,0.00,0.000,6,0.140,0.050,2614,2181,3442,0,0,0,0,0,0
$GC,2317,-0.75,-70.2,304.7,-11.3,283,2320,0.00,1.80,0.00,0.000,4,0.000,0.065,2608,3317,3441,0,0,0,0,0,0
$GC,2385,-0.76,-70.2,312.8,-12.0,289,2391,0.00,1.80,0.00,0.000,6,0.000,0.050,2609,2178,3441,0,0,0,0,0,0
$GC,2701,-0.78,-70.2,351.3,-12.0,320,2702,0.00,0.00,0.00,0.000,6,0.000,0.000,2608,2177,3441,0,0,0,0,0,0
$STATE,2916,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2916,begin apogee
$GC,2921,-0.14,0.0,378.2,12.8,341,2981,0.62,0.00,58.20,0.825,6,0.127,0.000,2806,1985,3150,0,0,0,0,0,0
$STATE,2982,end apogee,CONTROL_FINISHED_OK
$STATE,2982,begin climb
$GC,2985,0.72,70.2,380.6,0.0,347,3053,0.77,2.05,57.60,0.802,4,0.073,0.058,3094,767,2863,0,0,0,0,0,0
$GC,3176,0.72,104.2,377.6,2.5,365,3212,0.00,1.95,28.40,0.787,6,0.000,0.052,3094,2004,2725,0,0,0,0,0,0
$GC,3522,0.70,104.2,353.5,7.5,399,3525,0.00,2.00,0.00,0.000,4,0.000,0.059,3104,774,2721,0,0,0,0,0,0
$GC,3538,0.69,104.2,352.6,7.0,400,3543,0.00,1.92,0.00,0.000,6,0.000,0.054,3104,1996,2721,0,0,0,0,0,0
$GC,3853,0.67,104.2,329.7,7.5,431,3856,0.12,2.00,0.00,0.000,4,0.189,0.062,3071,3225,2720,0,0,0,0,0,0
$GC,3912,0.66,104.2,325.6,6.5,436,3917,0.00,1.90,0.00,0.000,6,0.000,0.051,3079,2014,2720,0,0,0,0,0,0
$GC,4226,0.66,104.2,305.3,6.5,467,4230,0.00,2.00,0.00,0.000,4,0.000,0.059,3089,773,2720,0,0,0,0,0,0
$GC,4242,0.66,104.2,304.3,6.5,468,4248,0.00,1.95,0.00,0.000,6,0.000,0.055,3089,2003,2720,0,0,0,0,0,0
$GC,4559,0.65,104.2,283.5,6.5,499,4561,0.00,1.98,0.00,0.000,4,0.000,0.062,3088,3235,2719,0,0,0,0,0,0
$GC,4590,0.62,104.2,281.4,6.6,502,4594,0.15,1.90,0.00,0.000,6,0.174,0.051,3059,2006,2719,0,0,0,0,0,0
$GC,4906,0.63,106.0,263.1,5.9,532,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,3059,2006,2719,0,0,0,0,0,0
$GC,5218,0.63,106.0,247.0,6.2,562,5221,0.00,1.98,0.00,0.000,4,0.000,0.064,3059,3237,2718,0,0,0,0,0,0
$GC,5233,0.63,106.0,245.8,6.6,563,5239,0.00,1.95,0.00,0.000,6,0.000,0.053,3065,2012,2718,0,0,0,0,0,0
$GC,5549,0.63,106.0,224.2,7.2,594,5552,0.00,2.00,0.00,0.000,4,0.000,0.062,3066,3230,2718,0,0,0,0,0,0
$GC,5618,0.63,106.0,218.9,8.0,600,5624,0.00,1.92,0.00,0.000,6,0.000,0.051,3075,2013,2718,0,0,0,0,0,0
$GC,5935,0.63,106.0,196.8,6.7,631,5935,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,2013,2718,0,0,0,0,0,0
$GC,6247,0.63,107.7,177.2,5.9,661,6250,0.00,1.98,0.00,0.000,4,0.000,0.062,3075,3234,2718,0,0,0,0,0,0
$GC,6332,0.61,107.7,171.8,6.2,669,6335,0.00,1.92,0.00,0.000,6,0.000,0.051,3084,2020,2718,0,0,0,0,0,0
$GC,6653,0.62,110.1,153.0,5.9,700,6663,0.12,0.00,5.53,0.570,6,0.179,0.000,3052,2019,2700,0,0,0,0,0,0
$GC,6974,0.63,114.7,135.2,5.6,731,6983,0.00,0.00,5.22,0.554,6,0.000,0.000,3052,2019,2682,0,0,0,0,0,0
$GC,7294,0.65,127.0,117.7,4.8,762,7309,0.00,1.95,11.62,0.641,4,0.000,0.061,3051,3234,2631,0,0,0,0,0,0
$GC,7357,0.65,127.0,113.9,6.5,767,7362,0.00,1.92,0.00,0.000,6,0.000,0.051,3058,2011,2630,0,0,0,0,0,0
$GC,7676,0.67,143.3,95.4,4.4,807,7698,0.00,2.03,14.57,0.637,4,0.000,0.063,3058,3234,2565,0,0,0,0,0,0
$GC,7826,0.67,143.3,86.1,6.9,835,7832,0.00,1.90,0.00,0.000,6,0.000,0.051,3067,2048,2563,0,0,0,0,0,0
$GC,8153,0.68,143.3,65.8,6.7,896,8159,0.00,2.05,0.00,0.000,4,0.000,0.061,3077,767,2563,0,0,0,0,0,0
$GC,8175,0.70,143.3,64.4,6.4,900,8180,0.00,2.05,0.00,0.000,6,0.000,0.055,3077,2055,2563,0,0,0,0,0,0
$GC,8501,0.73,177.1,45.9,2.5,961,8535,0.00,1.90,28.27,0.622,4,0.000,0.061,3077,3244,2427,0,0,0,0,0,0
$GC,8775,0.75,188.5,32.6,4.9,1012,8792,0.00,1.85,10.12,0.576,6,0.000,0.051,3084,2085,2382,0,0,0,0,0,0
$GC,9115,0.80,220.9,23.4,2.7,1075,9148,0.00,2.10,27.48,0.601,4,0.000,0.058,3094,759,2248,0,0,0,0,0,0
$GC,9209,0.84,231.9,19.7,4.9,1092,9226,0.00,2.20,9.85,0.552,6,0.000,0.054,3094,2130,2204,0,0,0,0,0,0
$STATE,9513,end climb,SURFACE_DEPTH_REACHED
$STATE,9513,begin surface coast
$FINISH,1.0,1.003971
$STATE,9571,end surface coast,CONTROL_FINISHED_OK
$STATE,9571,begin surface
$SM_CCo,9587,64.95,0.515,2,0,1722,350.04
$SM_GC,1.83,0.00,0.00,64.95,0.000,0.000,0.515,131,2064,1722,-8.51,-0.31,350.04
$IRIDIUM_FIX,4745.30,-12524.03,060100,151550
$TT8_MAMPS,0.052156
$HUMID,40.94
$INTERNAL_PRESSURE,9.0597
$TCM_TEMP,16.90
$XPDR_PINGS,0
$24V_AH,24.0,68.613
$10V_AH,9.9,67.602
$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,20.000,70.600,256.875,64.950,0.000,29.910,33.632,196.366,0.500,0.000,16.882,0.000,6254.500,392.700,2843.180,546.152,0.000,1351.345,0.000,2471.743,0.000,5.037,0.000
$DEVICE_MAMPS,236.236,108.147,825.292,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,796.154,892.809,1517.466,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298400
$DATA_FILE_SIZE,63418,1160
$CAP_FILE_SIZE,118700,0
$CFSIZE,260165632,213889024
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,2,0
$CURRENT,0.042, 83.8,1
$GPS,121010,210740,4801.618,-12521.002,11,2.4,31,18.8