version: 66.06
glider: 187
mission: 2
dive: 634
start: 10 11 110 0 14 34
data:
$ID,187
$MISSION,2
$DIVE,634
$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,-37353.473
$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,20
$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,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,10
$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
$GPS1,000106,4757.293,-12525.045,120,1.3,121,18.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.04
$_SM_ANGLEo,-77.1
$GPS2,001426,4757.127,-12525.015,16,1.3,16,18.8
$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,42.7,9661,-13.9,-6.111
$D_GRID,452
$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,-0.45,-112.4,0.0,0.0,0,72,0.00,0.00,-57.30,0.000,2,0.000,0.000,130,2070,3042,0,0,0,0,0,0
$GC,74,-0.45,-112.4,3.2,-2.3,11,103,10.43,1.95,-12.80,0.000,4,0.229,0.070,2702,839,3610,0,0,0,0,0,0
$GC,252,-0.44,-112.4,31.7,-13.4,44,257,0.00,1.98,0.00,0.000,6,0.000,0.054,2696,2081,3612,0,0,0,0,0,0
$GC,579,-0.44,-112.4,69.1,-10.6,105,584,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2081,3614,0,0,0,0,0,0
$GC,905,-0.44,-112.4,95.6,-8.3,166,912,0.00,2.00,0.00,0.000,4,0.000,0.064,2688,3305,3614,0,0,0,0,0,0
$GC,976,-0.45,-112.4,101.7,-9.2,177,983,0.00,1.98,0.00,0.000,6,0.000,0.048,2687,2051,3614,0,0,0,0,0,0
$GC,1293,-0.45,-112.4,135.3,-12.2,208,1296,0.00,1.88,0.00,0.000,4,0.000,0.056,2687,835,3614,0,0,0,0,0,0
$GC,1340,-0.45,-112.4,141.1,-11.7,212,1345,0.00,1.95,0.00,0.000,6,0.000,0.054,2682,2069,3614,0,0,0,0,0,0
$GC,1656,-0.45,-112.4,175.6,-8.6,243,1659,0.00,2.03,0.00,0.000,4,0.000,0.064,2673,3309,3614,0,0,0,0,0,0
$GC,1807,-0.45,-112.4,186.2,-5.8,257,1810,0.12,1.90,0.00,0.000,6,0.136,0.049,2710,2085,3613,0,0,0,0,0,0
$GC,2127,-0.46,-112.4,200.2,-4.8,288,2130,0.00,2.03,0.00,0.000,4,0.000,0.065,2704,3313,3612,0,0,0,0,0,0
$GC,2196,-0.49,-112.4,203.7,-5.1,294,2203,0.00,1.88,0.00,0.000,6,0.000,0.049,2704,2119,3612,0,0,0,0,0,0
$GC,2513,-0.50,-112.4,221.6,-6.0,325,2516,0.00,1.95,0.00,0.000,4,0.000,0.065,2704,3320,3611,0,0,0,0,0,0
$GC,2571,-0.52,-112.4,225.0,-5.9,330,2578,0.00,1.83,0.00,0.000,6,0.000,0.050,2703,2159,3611,0,0,0,0,0,0
$GC,2887,-0.54,-112.4,246.9,-8.1,361,2890,0.00,1.88,0.00,0.000,4,0.000,0.067,2702,3319,3611,0,0,0,0,0,0
$GC,2923,-0.56,-112.4,249.7,-7.3,364,2929,0.00,1.80,0.00,0.000,6,0.000,0.051,2703,2180,3610,0,0,0,0,0,0
$GC,3239,-0.57,-112.4,275.1,-7.8,395,3243,0.00,1.88,0.00,0.000,4,0.000,0.067,2702,3313,3610,0,0,0,0,0,0
$GC,3271,-0.59,-112.4,277.5,-7.5,398,3275,0.08,1.75,0.00,0.000,6,0.060,0.051,2649,2200,3610,0,0,0,0,0,0
$GC,3592,-0.58,-112.4,309.1,-9.5,429,3595,0.00,2.15,0.00,0.000,4,0.000,0.058,2649,850,3609,0,0,0,0,0,0
$GC,3719,-0.58,-112.4,321.2,-9.8,441,3723,0.00,2.10,0.00,0.000,6,0.000,0.056,2641,2166,3610,0,0,0,0,0,0
$GC,4041,-0.56,-112.4,354.5,-10.3,472,4045,0.12,2.10,0.00,0.000,4,0.156,0.058,2677,849,3609,0,0,0,0,0,0
$GC,4061,-0.56,-112.4,356.6,-9.8,473,4067,0.00,2.10,0.00,0.000,6,0.000,0.056,2676,2161,3609,0,0,0,0,0,0
$GC,4377,-0.56,-112.4,383.2,-8.6,504,4381,0.00,1.85,0.00,0.000,4,0.000,0.066,2670,3303,3608,0,0,0,0,0,0
$GC,4478,-0.56,-112.4,391.9,-8.1,513,4484,0.00,1.77,0.00,0.000,6,0.000,0.049,2669,2171,3608,0,0,0,0,0,0
$GC,4795,-0.56,-112.4,416.9,-7.3,544,4798,0.00,2.08,0.00,0.000,4,0.000,0.058,2669,849,3608,0,0,0,0,0,0
$GC,4890,-0.56,-112.4,423.7,-7.4,552,4896,0.00,2.08,0.00,0.000,6,0.000,0.057,2663,2142,3607,0,0,0,0,0,0
$GC,5207,-0.56,-112.4,445.6,-6.5,583,5209,0.00,1.88,0.00,0.000,4,0.000,0.067,2662,3310,3607,0,0,0,0,0,0
$STATE,5300,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5300,begin apogee
$GC,5307,-0.14,0.0,452.3,7.5,592,5403,0.45,0.00,91.30,0.874,6,0.113,0.000,2809,1994,3150,0,0,0,0,0,0
$STATE,5403,end apogee,CONTROL_FINISHED_OK
$STATE,5403,begin climb
$GC,5406,0.45,112.4,454.7,0.0,602,5506,0.52,2.08,93.03,0.847,4,0.074,0.061,3007,763,2690,0,0,0,0,0,0
$GC,5570,0.44,126.1,451.1,5.6,617,5587,0.00,2.00,12.60,0.769,6,0.000,0.054,3007,2006,2636,0,0,0,0,0,0
$GC,5896,0.42,126.1,430.4,6.4,649,5899,0.00,2.03,0.00,0.000,4,0.000,0.064,3007,3240,2633,0,0,0,0,0,0
$GC,6019,0.39,126.1,421.3,8.3,660,6024,0.08,1.98,0.00,0.000,6,0.135,0.052,2990,2012,2632,0,0,0,0,0,0
$GC,6334,0.41,146.2,403.2,5.4,691,6357,0.00,2.05,17.45,0.804,4,0.000,0.064,2990,3237,2553,0,0,0,0,0,0
$GC,6452,0.40,152.9,396.3,5.9,702,6463,0.00,1.92,7.03,0.700,6,0.000,0.053,2994,2023,2526,0,0,0,0,0,0
$GC,6772,0.42,189.9,379.7,4.8,733,6812,0.00,2.05,32.03,0.815,4,0.000,0.064,2994,3234,2374,0,0,0,0,0,0
$GC,6843,0.42,189.9,376.0,6.2,740,6846,0.00,1.98,0.00,0.000,6,0.000,0.054,3000,2023,2372,0,0,0,0,0,0
$GC,7164,0.43,200.3,359.2,5.7,771,7178,0.00,2.00,9.57,0.737,4,0.000,0.065,2999,3228,2333,0,0,0,0,0,0
$GC,7238,0.43,200.3,354.7,6.9,778,7241,0.00,1.90,0.00,0.000,6,0.000,0.054,3000,2036,2331,0,0,0,0,0,0
$GC,7558,0.44,219.8,336.5,5.4,809,7581,0.00,2.03,17.50,0.779,4,0.000,0.061,3000,763,2253,0,0,0,0,0,0
$GC,7633,0.45,239.6,332.3,5.4,816,7657,0.00,2.05,17.80,0.765,6,0.000,0.056,3000,2040,2173,0,0,0,0,0,0
$GC,7973,0.45,239.6,308.8,7.6,849,7974,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2040,2169,0,0,0,0,0,0
$GC,8286,0.45,239.6,284.0,8.2,879,8288,0.00,1.95,0.00,0.000,4,0.000,0.066,3000,3238,2167,0,0,0,0,0,0
$GC,8307,0.45,239.6,282.4,7.2,881,8310,0.00,1.90,0.00,0.000,6,0.000,0.054,3000,2042,2167,0,0,0,0,0,0
$GC,8627,0.45,239.6,258.1,8.4,912,8627,0.00,0.00,0.00,0.000,6,0.000,0.000,3000,2041,2167,0,0,0,0,0,0
$GC,8939,0.45,239.6,234.8,6.7,942,8942,0.00,2.03,0.00,0.000,4,0.000,0.064,3000,766,2166,0,0,0,0,0,0
$GC,8965,0.45,239.6,233.0,6.5,944,8970,0.00,2.05,0.00,0.000,6,0.000,0.056,3000,2051,2166,0,0,0,0,0,0
$GC,9280,0.45,247.0,214.1,5.8,975,9292,0.00,1.90,6.75,0.633,4,0.000,0.064,3000,3241,2142,0,0,0,0,0,0
$GC,9302,0.46,251.8,212.8,5.9,977,9312,0.00,1.90,5.72,0.589,6,0.000,0.054,3001,2053,2122,0,0,0,0,0,0
$GC,9622,0.46,251.8,192.3,6.9,1008,9626,0.00,2.10,0.00,0.000,4,0.000,0.063,3001,759,2119,0,0,0,0,0,0
$GC,9659,0.47,253.4,189.8,6.1,1011,9665,0.00,2.05,0.00,0.000,6,0.000,0.055,3000,2048,2119,0,0,0,0,0,0
$GC,9977,0.48,262.0,170.5,5.8,1042,9991,0.00,1.92,9.90,0.657,4,0.000,0.062,3000,3234,2081,0,0,0,0,0,0
$GC,10013,0.48,265.5,168.2,6.0,1045,10023,0.00,1.90,4.57,0.521,6,0.000,0.053,3001,2044,2066,0,0,0,0,0,0
$GC,10340,0.48,267.9,148.9,6.0,1077,10343,0.00,2.05,0.00,0.000,4,0.000,0.064,3000,764,2065,0,0,0,0,0,0
$GC,10371,0.50,267.9,147.0,6.3,1080,10375,0.00,2.05,0.00,0.000,6,0.000,0.056,3001,2050,2065,0,0,0,0,0,0
$GC,10694,0.51,267.9,126.5,6.3,1111,10697,0.00,1.90,0.00,0.000,4,0.000,0.064,3001,3237,2064,0,0,0,0,0,0
$GC,10726,0.51,267.9,124.3,7.5,1114,10729,0.00,1.90,0.00,0.000,6,0.000,0.054,3001,2036,2064,0,0,0,0,0,0
$GC,11047,0.52,268.3,104.3,6.1,1145,11050,0.00,2.05,0.00,0.000,4,0.000,0.064,3001,759,2064,0,0,0,0,0,0
$GC,11083,0.56,287.0,102.2,5.4,1148,11111,0.00,2.03,19.10,0.650,6,0.000,0.055,3001,2036,1979,0,0,0,0,0,0
$GC,11433,0.58,287.0,81.6,7.7,1209,11439,0.12,1.98,0.00,0.000,4,0.094,0.065,3062,3234,1976,0,0,0,0,0,0
$GC,11460,0.58,287.0,78.5,9.2,1214,11466,0.00,1.90,0.00,0.000,6,0.000,0.054,3068,2053,1975,0,0,0,0,0,0
$GC,11787,0.58,287.0,46.1,9.3,1275,11792,0.00,0.00,0.00,0.000,6,0.000,0.000,3068,2051,1975,0,0,0,0,0,0
$GC,12113,0.60,322.2,23.9,4.8,1336,12146,0.00,1.98,29.42,0.608,4,0.000,0.064,3068,3237,1835,0,0,0,0,0,0
$GC,12285,0.62,340.4,14.3,5.4,1368,12307,0.00,1.90,15.48,0.583,6,0.000,0.053,3069,2055,1762,0,0,0,0,0,0
$STATE,12502,end climb,SURFACE_DEPTH_REACHED
$STATE,12503,begin surface coast
$FINISH,1.1,1.024189
$STATE,12569,end surface coast,CONTROL_FINISHED_OK
$STATE,12569,begin surface
$SM_CCo,12585,9.73,0.126,1,0,1723,350.04
$SM_GC,2.71,0.00,0.00,9.73,0.000,0.000,0.126,134,2052,1723,-8.50,-0.65,350.04
$IRIDIUM_FIX,4742.09,-12522.17,050100,000054
$TT8_MAMPS,0.052923
$HUMID,42.43
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,16.60
$XPDR_PINGS,0
$24V_AH,23.7,67.228
$10V_AH,9.8,66.015
$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,19.700,114.300,389.250,9.725,0.000,91.336,150.473,284.238,0.000,0.000,19.197,0.000,8581.018,471.310,3438.517,885.469,0.000,1688.981,0.000,2965.457,0.000,0.533,0.000
$DEVICE_MAMPS,229.333,69.797,874.380,125.788,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,nil,nil,nil,nil,nil
$SENSOR_SECS,976.009,1123.842,1622.729,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000
$MEM,298416
$DATA_FILE_SIZE,79153,1421
$CAP_FILE_SIZE,159115,0
$CFSIZE,260165632,214814720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.151,238.2,1
$GPS,111010,034637,4757.064,-12524.985,102,0.9,102,18.8