version: 66.11
glider: 187
mission: 2
dive: 64
start: 9 27 112 20 14 19
data:
$ID,187
$MISSION,2
$DIVE,64
$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,-1587698.6
$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,25
$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
$GPS1,270912,200405,4730.015,-12556.246,26,1.5,26,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-77.2
$GPS2,270912,201349,4729.968,-12556.173,19,1.6,19,18.7
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$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,49.9,89885,-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,-146.0,0.0,0.0,0,98,0.00,0.00,-78.43,0.000,2,0.000,0.000,110,2167,2966,0,0,0,0,0,0,28.83,28.83,28.83
$GC,102,-0.48,-146.0,3.5,-5.7,13,130,11.30,2.25,-7.88,0.000,4,0.223,0.063,3033,763,3393,0,0,0,0,0,0,25.33,25.60,25.91
$GC,266,-0.48,-146.0,42.6,-12.4,43,274,0.00,2.20,0.00,0.000,6,0.000,0.049,3025,2182,3397,0,0,0,0,0,0,28.83,25.72,28.83
$GC,582,-0.48,-146.0,83.5,-10.6,104,589,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2182,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,894,-0.48,-146.0,116.5,-10.5,165,901,0.00,2.17,0.00,0.000,4,0.000,0.049,3025,767,3400,0,0,0,0,0,0,28.83,25.98,28.83
$GC,952,-0.48,-146.0,121.9,-10.3,172,959,0.00,2.20,0.00,0.000,6,0.000,0.049,3015,2174,3400,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1260,-0.48,-146.0,157.7,-12.4,193,1261,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2174,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1560,-0.48,-146.0,194.6,-12.3,213,1565,0.00,2.17,0.00,0.000,4,0.000,0.062,3005,3581,3400,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1592,-0.48,-146.0,198.5,-12.7,215,1597,0.12,2.15,0.00,0.000,6,0.142,0.043,3040,2159,3400,0,0,0,0,0,0,26.04,26.15,28.83
$GC,1914,-0.48,-146.0,231.6,-9.7,231,1920,0.00,2.22,0.00,0.000,4,0.000,0.062,3031,3582,3399,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1947,-0.48,-146.0,233.5,-9.6,232,1954,0.00,2.15,0.00,0.000,6,0.000,0.043,3030,2170,3398,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2254,-0.48,-146.0,262.6,-8.8,248,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2169,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2554,-0.48,-146.0,289.1,-8.7,263,2555,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2169,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2854,-0.48,-146.0,314.7,-8.6,278,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2169,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3154,-0.48,-146.0,341.3,-8.9,293,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2169,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3455,-0.48,-146.0,367.9,-9.1,308,3456,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2169,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3754,-0.48,-146.0,394.6,-8.7,323,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2169,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4074,-0.48,-146.0,421.5,-8.4,335,4080,0.00,2.22,0.00,0.000,4,0.000,0.065,3020,3585,3392,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4112,-0.48,-146.0,424.4,-8.6,336,4116,0.00,2.15,0.00,0.000,6,0.000,0.045,3020,2168,3392,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4434,-0.48,-146.0,454.8,-9.3,347,4440,0.00,2.12,0.00,0.000,4,0.000,0.053,3020,777,3391,0,0,0,0,0,0,28.83,26.30,28.83
$GC,4472,-0.48,-146.0,457.7,-9.4,348,4476,0.00,2.12,0.00,0.000,6,0.000,0.053,3012,2175,3391,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4789,-0.48,-146.0,490.7,-10.2,359,4795,0.00,2.15,0.00,0.000,4,0.000,0.065,3001,3577,3391,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4872,-0.48,-146.0,497.2,-10.5,361,4879,0.15,2.12,0.00,0.000,6,0.132,0.046,3045,2164,3390,0,0,0,0,0,0,26.24,26.34,28.83
$GC,5179,-0.48,-146.0,523.5,-7.5,372,5185,0.00,2.20,0.00,0.000,4,0.000,0.065,3036,3579,3390,0,0,0,0,0,0,28.83,26.29,28.83
$GC,5209,-0.48,-146.0,525.7,-7.5,373,5215,0.00,2.15,0.00,0.000,6,0.000,0.047,3036,2166,3390,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5540,-0.48,-146.0,550.9,-7.3,384,5541,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2164,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5839,-0.48,-146.0,573.2,-7.6,394,5840,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2164,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6140,-0.48,-146.0,596.8,-7.7,404,6145,0.00,2.22,0.00,0.000,4,0.000,0.066,3026,3588,3388,0,0,0,0,0,0,28.83,26.30,28.83
$GC,6169,-0.48,-146.0,599.2,-7.8,405,6175,0.00,2.15,0.00,0.000,6,0.000,0.047,3025,2175,3388,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6499,-0.48,-146.0,624.1,-7.4,416,6505,0.00,2.12,0.00,0.000,4,0.000,0.054,3026,776,3387,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6529,-0.48,-146.0,626.4,-7.5,417,6535,0.00,2.15,0.00,0.000,6,0.000,0.054,3017,2178,3387,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6860,-0.48,-146.0,651.4,-7.6,428,6865,0.00,2.17,0.00,0.000,4,0.000,0.067,3007,3581,3386,0,0,0,0,0,0,28.83,26.31,28.83
$GC,6902,-0.48,-146.0,653.7,-7.7,429,6907,0.12,2.12,0.00,0.000,6,0.138,0.047,3042,2175,3387,0,0,0,0,0,0,26.27,26.36,28.83
$GC,7216,-0.48,-146.0,674.6,-6.2,440,7219,0.00,2.15,0.00,0.000,4,0.000,0.054,3042,777,3386,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7248,-0.48,-146.0,676.7,-6.3,441,7254,0.00,2.15,0.00,0.000,6,0.000,0.054,3036,2176,3386,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7578,-0.48,-146.0,697.9,-6.3,452,7583,0.00,2.17,0.00,0.000,4,0.000,0.067,3025,3581,3385,0,0,0,0,0,0,28.83,26.31,28.83
$GC,7646,-0.48,-146.0,702.0,-6.7,454,7650,0.00,2.12,0.00,0.000,6,0.000,0.047,3025,2174,3385,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7963,-0.48,-146.0,725.5,-7.4,465,7969,0.00,2.12,0.00,0.000,4,0.000,0.054,3025,775,3385,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8023,-0.48,-146.0,730.4,-8.0,467,8029,0.00,2.15,0.00,0.000,6,0.000,0.054,3016,2175,3384,0,0,0,0,0,0,28.83,26.34,28.83
$GC,8353,-0.48,-146.0,758.8,-8.7,478,8359,0.00,2.20,0.00,0.000,4,0.000,0.067,3006,3591,3384,0,0,0,0,0,0,28.83,26.31,28.83
$GC,8401,-0.48,-146.0,761.5,-8.8,479,8406,0.12,2.15,0.00,0.000,6,0.138,0.047,3042,2168,3384,0,0,0,0,0,0,26.27,26.37,28.83
$GC,8709,-0.48,-146.0,785.1,-6.8,489,8710,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2165,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9008,-0.48,-146.0,805.0,-6.3,499,9009,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2165,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9308,-0.48,-146.0,824.7,-6.6,509,9310,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2165,3383,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9609,-0.48,-146.0,844.6,-6.5,519,9614,0.00,2.25,0.00,0.000,4,0.000,0.068,3034,3594,3383,0,0,0,0,0,0,28.83,26.32,28.83
$GC,9631,-0.48,-146.0,844.6,-6.5,519,9638,0.00,2.15,0.00,0.000,6,0.000,0.049,3033,2175,3382,0,0,0,0,0,0,28.83,26.38,28.83
$GC,9938,-0.48,-146.0,866.3,-6.5,530,9940,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2175,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10239,-0.48,-146.0,885.3,-6.1,540,10240,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2174,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10538,-0.48,-146.0,903.2,-6.0,550,10540,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2175,3382,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10839,-0.48,-146.0,920.3,-5.5,560,10840,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2175,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11138,-0.48,-146.0,938.1,-6.0,570,11140,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2174,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11439,-0.48,-146.0,956.8,-6.2,580,11440,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2175,3381,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11738,-0.48,-146.0,973.9,-5.4,590,11742,0.00,2.17,0.00,0.000,4,0.000,0.057,3033,764,3380,0,0,0,0,0,0,28.83,26.35,28.83
$GC,11771,-0.48,-146.0,976.1,-5.7,591,11777,0.00,2.17,0.00,0.000,6,0.000,0.057,3025,2187,3380,0,0,0,0,0,0,28.83,26.35,28.83
$STATE,12038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12038,begin apogee
$GC,12045,-0.22,0.0,991.2,-5.3,600,12176,0.28,0.00,125.10,1.206,6,0.116,0.000,3119,2311,2794,0,0,0,0,0,0,26.28,28.83,23.70
$STATE,12179,end apogee,CONTROL_FINISHED_OK
$STATE,12179,begin climb
$GC,12182,0.48,146.0,992.6,0.0,604,12319,0.68,0.00,134.00,1.173,6,0.082,0.000,3348,2311,2198,0,0,0,0,0,0,24.60,28.83,23.37
$GC,12610,0.48,146.0,949.9,11.2,619,12616,0.00,2.28,0.00,0.000,4,0.000,0.069,3348,3691,2187,0,0,0,0,0,0,28.83,25.26,28.83
$GC,12678,0.48,146.0,942.5,11.7,621,12683,0.00,2.20,0.00,0.000,6,0.000,0.050,3358,2311,2186,0,0,0,0,0,0,28.83,25.38,28.83
$GC,12996,0.48,146.0,904.7,11.3,632,12997,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,2307,2185,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13295,0.48,146.0,874.2,9.4,642,13301,0.00,2.25,0.00,0.000,4,0.000,0.069,3358,3697,2184,0,0,0,0,0,0,28.83,25.78,28.83
$GC,13333,0.48,146.0,871.2,9.6,643,13338,0.00,2.20,0.00,0.000,6,0.000,0.051,3368,2297,2183,0,0,0,0,0,0,28.83,25.84,28.83
$GC,13651,0.48,146.0,837.9,10.3,654,13656,0.00,2.25,0.00,0.000,4,0.000,0.069,3368,3696,2183,0,0,0,0,0,0,28.83,25.91,28.83
$GC,13683,0.48,146.0,834.3,10.6,655,13687,0.00,2.20,0.00,0.000,6,0.000,0.050,3379,2288,2183,0,0,0,0,0,0,28.83,25.95,28.83
$GC,14006,0.48,146.0,798.6,10.8,666,14011,0.00,2.30,0.00,0.000,4,0.000,0.069,3379,3705,2183,0,0,0,0,0,0,28.83,25.98,28.83
$GC,14066,0.48,146.0,791.2,11.4,668,14072,0.10,2.17,0.00,0.000,6,0.145,0.050,3357,2299,2182,0,0,0,0,0,0,25.91,26.03,28.83
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$STATE,23375,end climb,SURFACE_DEPTH_REACHED
$STATE,23375,begin surface coast
$FINISH,0.7,0.999734
$STATE,23408,end surface coast,CONTROL_FINISHED_OK
$STATE,23408,begin surface
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$10V_AH,10.2,10.101
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,296972
$DATA_FILE_SIZE,73639,1330
$CAP_FILE_SIZE,188100,0
$CFSIZE,260165632,251670528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.057,319.4,1
$GPS,280912,024705,4731.655,-12552.212,41,0.9,41,18.7