version: 66.11
glider: 187
mission: 2
dive: 44
start: 9 22 112 9 1 7
data:
$ID,187
$MISSION,2
$DIVE,44
$N_DIVES,0
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,200
$D_BOOST,4
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,450
$T_MISSION,500
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-1
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51761
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0031000001
$HD_B,0.0093
$HD_C,4.5000001e-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,300
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,163
$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,-1587673.6
$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,3195
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,32
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,165
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,40
$C_ROLL_DIVE,2175
$C_ROLL_CLIMB,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,24
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2794
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00039999999
$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,22
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-61.06522
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,12
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,4
$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
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043543722
$SEABIRD_T_H,0.00062483409
$SEABIRD_T_I,2.3277114e-05
$SEABIRD_T_J,2.4402393e-06
$SEABIRD_C_G,-9.9786949
$SEABIRD_C_H,1.1107863
$SEABIRD_C_I,-0.0017547003
$SEABIRD_C_J,0.0002234884
$GPS1,220912,085353,4703.695,-12649.524,40,1.7,40,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-79.3
$GPS2,220912,090037,4703.672,-12649.510,13,1.7,13,18.6
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.160,-0.151
$KALMAN_X,28840.3,-242.5,2380.9,-124483.9,-7867.0
$KALMAN_Y,16218.2,688.6,-1323.7,-71650.8,4158.7
$MHEAD_RNG_PITCHd_Wd,240.2,14893,-13.4,-7.333,-18.42
$D_GRID,1000
$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,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,80,0.00,0.00,-59.95,0.000,2,0.000,0.000,113,2178,2963,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.8,-7.4,10,105,11.38,0.00,-7.62,0.000,6,0.229,0.000,3033,2175,3391,0,0,0,0,0,0,25.42,28.83,25.95
$GC,423,-0.48,-146.0,65.5,-12.1,73,429,0.00,2.20,0.00,0.000,4,0.000,0.050,3033,767,3400,0,0,0,0,0,0,28.83,25.86,28.83
$GC,480,-0.48,-146.0,72.2,-10.9,83,487,0.00,2.20,0.00,0.000,6,0.000,0.049,3025,2181,3400,0,0,0,0,0,0,28.83,25.89,28.83
$GC,802,-0.48,-146.0,110.3,-10.8,144,811,0.00,2.25,0.00,0.000,4,0.000,0.061,3015,3586,3401,0,0,0,0,0,0,28.83,25.97,28.83
$GC,860,-0.48,-146.0,117.4,-12.5,154,867,0.00,2.20,0.00,0.000,6,0.000,0.042,3014,2162,3401,0,0,0,0,0,0,28.83,26.04,28.83
$GC,1173,-0.48,-146.0,156.0,-11.6,177,1174,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2162,3401,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1473,-0.48,-146.0,188.9,-10.8,197,1474,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2162,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1774,-0.48,-146.0,221.9,-10.9,217,1775,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2162,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2072,-0.48,-146.0,252.5,-9.8,237,2077,0.00,2.10,0.00,0.000,4,0.000,0.051,3014,773,3400,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2094,-0.48,-146.0,253.9,-9.8,238,2102,0.12,2.15,0.00,0.000,6,0.149,0.050,3040,2181,3400,0,0,0,0,0,0,26.14,26.21,28.83
$GC,2402,-0.48,-146.0,279.9,-7.9,259,2407,0.00,2.20,0.00,0.000,4,0.000,0.063,3031,3604,3399,0,0,0,0,0,0,28.83,26.21,28.83
$GC,2439,-0.48,-146.0,282.4,-8.0,261,2446,0.00,2.17,0.00,0.000,6,0.000,0.045,3031,2177,3399,0,0,0,0,0,0,28.83,26.26,28.83
$GC,2747,-0.48,-146.0,308.8,-8.3,282,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2176,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3046,-0.48,-146.0,334.0,-8.4,302,3052,0.00,2.17,0.00,0.000,4,0.000,0.052,3031,767,3397,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3076,-0.48,-146.0,336.5,-8.5,304,3082,0.00,2.15,0.00,0.000,6,0.000,0.052,3023,2178,3397,0,0,0,0,0,0,28.83,26.28,28.83
$GC,3392,-0.48,-146.0,363.8,-8.9,325,3397,0.00,2.17,0.00,0.000,4,0.000,0.065,3012,3586,3396,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3446,-0.48,-146.0,367.8,-9.2,328,3454,0.00,2.12,0.00,0.000,6,0.000,0.045,3012,2176,3396,0,0,0,0,0,0,28.83,26.32,28.83
$GC,3754,-0.48,-146.0,398.2,-9.6,349,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2175,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4051,-0.48,-146.0,426.7,-9.6,360,4053,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2174,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4351,-0.48,-146.0,455.1,-9.5,370,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2175,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4651,-0.48,-146.0,482.6,-9.2,380,4657,0.00,2.15,0.00,0.000,4,0.000,0.054,3012,767,3393,0,0,0,0,0,0,28.83,26.34,28.83
$GC,4682,-0.48,-146.0,485.4,-9.3,381,4688,0.10,2.12,0.00,0.000,6,0.125,0.054,3040,2171,3393,0,0,0,0,0,0,26.27,26.34,28.83
$GC,5011,-0.48,-146.0,510.6,-7.4,392,5017,0.00,2.22,0.00,0.000,4,0.000,0.067,3031,3597,3392,0,0,0,0,0,0,28.83,26.32,28.83
$GC,5060,-0.48,-146.0,512.9,-7.4,393,5064,0.00,2.15,0.00,0.000,6,0.000,0.047,3031,2176,3392,0,0,0,0,0,0,28.83,26.37,28.83
$GC,5366,-0.48,-146.0,538.9,-8.0,403,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2173,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5669,-0.48,-146.0,562.9,-8.0,413,5674,0.00,2.20,0.00,0.000,4,0.000,0.067,3021,3586,3391,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5700,-0.48,-146.0,565.5,-8.3,414,5704,0.00,2.15,0.00,0.000,6,0.000,0.048,3021,2166,3391,0,0,0,0,0,0,28.83,26.38,28.83
$GC,6023,-0.48,-146.0,593.1,-8.4,425,6029,0.00,2.22,0.00,0.000,4,0.000,0.067,3011,3586,3390,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6065,-0.48,-146.0,595.8,-8.4,426,6069,0.00,2.15,0.00,0.000,6,0.000,0.048,3011,2176,3390,0,0,0,0,0,0,28.83,26.39,28.83
$GC,6383,-0.48,-146.0,624.3,-8.6,437,6384,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2174,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6683,-0.48,-146.0,650.3,-8.7,447,6689,0.00,2.20,0.00,0.000,4,0.000,0.067,3001,3582,3389,0,0,0,0,0,0,28.83,26.35,28.83
$GC,6712,-0.48,-146.0,653.1,-8.8,448,6719,0.15,2.15,0.00,0.000,6,0.133,0.048,3045,2170,3388,0,0,0,0,0,0,26.31,26.39,28.83
$GC,7043,-0.48,-146.0,673.7,-5.8,459,7044,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2167,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7343,-0.48,-146.0,690.7,-5.6,469,7349,0.00,2.22,0.00,0.000,4,0.000,0.068,3037,3586,3387,0,0,0,0,0,0,28.83,26.35,28.83
$GC,7381,-0.48,-146.0,692.6,-5.7,470,7385,0.00,2.15,0.00,0.000,6,0.000,0.049,3037,2167,3387,0,0,0,0,0,0,28.83,26.41,28.83
$GC,7699,-0.48,-146.0,713.9,-6.8,481,7704,0.00,2.22,0.00,0.000,4,0.000,0.068,3027,3585,3387,0,0,0,0,0,0,28.83,26.36,28.83
$GC,7736,-0.48,-146.0,716.1,-7.0,482,7740,0.00,2.15,0.00,0.000,6,0.000,0.049,3027,2170,3387,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8053,-0.48,-146.0,741.5,-7.9,493,8054,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2167,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8353,-0.48,-146.0,765.5,-7.9,503,8359,0.00,2.25,0.00,0.000,4,0.000,0.068,3017,3596,3386,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8396,-0.48,-146.0,768.0,-8.0,504,8400,0.00,2.17,0.00,0.000,6,0.000,0.049,3016,2165,3386,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8708,-0.48,-146.0,794.6,-8.0,515,8709,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2163,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9009,-0.48,-146.0,817.4,-7.6,525,9014,0.00,2.22,0.00,0.000,4,0.000,0.068,3007,3583,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9042,-0.48,-146.0,819.8,-7.7,526,9046,0.12,2.15,0.00,0.000,6,0.137,0.050,3043,2167,3385,0,0,0,0,0,0,26.33,26.41,28.83
$GC,9365,-0.48,-146.0,840.3,-6.4,537,9371,0.00,2.22,0.00,0.000,4,0.000,0.069,3034,3584,3385,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9397,-0.48,-146.0,842.4,-6.5,538,9401,0.00,2.15,0.00,0.000,6,0.000,0.050,3034,2169,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9720,-0.48,-146.0,865.4,-7.2,549,9724,0.00,2.25,0.00,0.000,4,0.000,0.070,3025,3592,3384,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9766,-0.48,-146.0,867.8,-7.1,550,9770,0.00,2.15,0.00,0.000,6,0.000,0.050,3025,2176,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10078,-0.48,-146.0,892.1,-7.4,561,10084,0.00,2.22,0.00,0.000,4,0.000,0.070,3015,3592,3384,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10116,-0.48,-146.0,894.4,-7.5,562,10120,0.00,2.17,0.00,0.000,6,0.000,0.050,3015,2176,3384,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10433,-0.48,-146.0,919.6,-7.7,573,10439,0.00,2.20,0.00,0.000,4,0.000,0.069,3005,3582,3383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10463,-0.48,-146.0,921.9,-7.6,574,10470,0.12,2.15,0.00,0.000,6,0.139,0.050,3041,2173,3383,0,0,0,0,0,0,26.32,26.41,28.83
$GC,10794,-0.48,-146.0,942.5,-6.1,585,10795,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2170,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11093,-0.48,-146.0,959.9,-5.8,595,11099,0.00,2.22,0.00,0.000,4,0.000,0.070,3033,3584,3383,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11137,-0.48,-146.0,961.7,-5.8,596,11141,0.00,2.15,0.00,0.000,6,0.000,0.050,3033,2175,3383,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11449,-0.48,-146.0,981.8,-6.1,607,11454,0.00,2.22,0.00,0.000,4,0.000,0.070,3023,3589,3382,0,0,0,0,0,0,28.83,26.36,28.83
$GC,11481,-0.48,-146.0,983.8,-6.2,608,11485,0.00,2.17,0.00,0.000,6,0.000,0.051,3023,2165,3382,0,0,0,0,0,0,28.83,26.41,28.83
$STATE,11591,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11591,begin apogee
$GC,11598,-0.22,0.0,991.3,-6.6,612,11730,0.28,0.00,125.62,1.209,6,0.116,0.000,3118,2308,2794,0,0,0,0,0,0,26.34,28.83,23.64
$STATE,11733,end apogee,CONTROL_FINISHED_OK
$STATE,11733,begin climb
$GC,11735,0.48,146.0,994.5,0.0,616,11877,0.68,2.45,134.52,1.172,4,0.083,0.068,3346,3705,2197,0,0,0,0,0,0,24.56,24.10,23.34
$GC,11892,0.48,146.0,985.1,7.4,622,11897,0.00,2.33,0.00,0.000,6,0.000,0.050,3356,2310,2194,0,0,0,0,0,0,28.83,24.42,28.83
$GC,12215,0.48,146.0,949.9,10.8,633,12216,0.00,0.00,0.00,0.000,6,0.000,0.000,3356,2305,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12515,0.48,146.0,918.0,10.7,643,12521,0.00,2.28,0.00,0.000,4,0.000,0.070,3356,3705,2185,0,0,0,0,0,0,28.83,25.63,28.83
$GC,12548,0.48,146.0,914.7,10.7,644,12552,0.00,2.25,0.00,0.000,6,0.000,0.051,3366,2297,2184,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12870,0.48,146.0,878.4,10.9,655,12876,0.00,2.30,0.00,0.000,4,0.000,0.070,3367,3710,2184,0,0,0,0,0,0,28.83,25.80,28.83
$GC,12918,0.48,146.0,874.7,11.1,656,12922,0.00,2.22,0.00,0.000,6,0.000,0.051,3377,2294,2183,0,0,0,0,0,0,28.83,25.85,28.83
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$STATE,22714,end climb,SURFACE_DEPTH_REACHED
$STATE,22714,begin surface coast
$FINISH,0.6,0.999414
$STATE,22757,end surface coast,CONTROL_FINISHED_OK
$STATE,22757,begin surface
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$10V_AH,10.3,7.690
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,297084
$DATA_FILE_SIZE,76752,1364
$CAP_FILE_SIZE,191488,0
$CFSIZE,260165632,253411328
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076, 75.5,1
$GPS,220912,152305,4703.330,-12653.174,39,1.0,44,18.6