version: 66.11
glider: 187
mission: 2
dive: 120
start: 10 7 112 15 1 51
data:
$ID,187
$MISSION,2
$DIVE,120
$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,-1587769.2
$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,39
$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
$GPS1,071012,145505,4722.417,-12614.193,29,1.2,29,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-78.4
$GPS2,071012,150119,4722.375,-12614.117,10,2.0,10,18.6
$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,217.8,71244,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-0.48,-146.0,0.0,0.0,0,90,0.00,0.00,-71.20,0.000,2,0.000,0.000,108,2170,2929,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.48,-146.0,3.8,-6.2,12,122,11.30,2.28,-8.60,0.000,4,0.223,0.072,3022,3591,3394,0,0,0,0,0,0,25.31,25.61,25.97
$GC,279,-0.48,-146.0,43.5,-12.9,45,285,0.00,2.17,0.00,0.000,6,0.000,0.043,3022,2170,3397,0,0,0,0,0,0,28.83,25.77,28.83
$GC,597,-0.48,-146.0,89.2,-13.5,106,605,0.00,2.15,0.00,0.000,4,0.000,0.050,3022,763,3400,0,0,0,0,0,0,28.83,25.88,28.83
$GC,632,-0.48,-146.0,93.8,-13.4,112,640,0.00,2.22,0.00,0.000,6,0.000,0.050,3012,2179,3400,0,0,0,0,0,0,28.83,25.90,28.83
$GC,946,-0.48,-146.0,132.2,-11.2,159,952,0.00,2.12,0.00,0.000,4,0.000,0.049,3012,775,3400,0,0,0,0,0,0,28.83,25.98,28.83
$GC,979,-0.48,-146.0,135.5,-10.9,161,984,0.12,2.15,0.00,0.000,6,0.147,0.050,3039,2177,3400,0,0,0,0,0,0,25.89,25.98,28.83
$GC,1288,-0.48,-146.0,165.7,-10.0,181,1294,0.00,2.17,0.00,0.000,4,0.000,0.063,3030,3577,3400,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1362,-0.48,-146.0,173.5,-9.9,186,1368,0.00,2.12,0.00,0.000,6,0.000,0.043,3030,2165,3401,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1673,-0.48,-146.0,204.7,-10.1,206,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,3029,2162,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1974,-0.48,-146.0,234.0,-9.6,221,1979,0.00,2.22,0.00,0.000,4,0.000,0.063,3019,3587,3400,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2015,-0.48,-146.0,238.1,-9.8,223,2019,0.00,2.15,0.00,0.000,6,0.000,0.044,3019,2166,3399,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2328,-0.48,-146.0,269.0,-9.6,239,2329,0.00,0.00,0.00,0.000,6,0.000,0.000,3019,2163,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2629,-0.48,-146.0,297.0,-9.4,254,2634,0.00,2.22,0.00,0.000,4,0.000,0.064,3009,3585,3398,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2696,-0.48,-146.0,303.1,-10.1,257,2701,0.12,2.12,0.00,0.000,6,0.137,0.045,3044,2173,3398,0,0,0,0,0,0,26.09,26.21,28.83
$GC,3002,-0.48,-146.0,331.2,-9.0,272,3004,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2171,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3303,-0.48,-146.0,356.9,-8.3,287,3308,0.00,2.20,0.00,0.000,4,0.000,0.065,3036,3580,3397,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3371,-0.48,-146.0,361.9,-8.3,290,3374,0.00,2.12,0.00,0.000,6,0.000,0.045,3036,2175,3396,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3684,-0.48,-146.0,387.8,-8.3,306,3685,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2172,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3993,-0.48,-146.0,414.1,-8.6,319,3998,0.00,2.20,0.00,0.000,4,0.000,0.066,3025,3577,3396,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4025,-0.48,-146.0,416.8,-8.7,320,4029,0.00,2.12,0.00,0.000,6,0.000,0.047,3025,2178,3396,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4348,-0.48,-146.0,447.9,-9.6,331,4353,0.00,2.17,0.00,0.000,4,0.000,0.066,3016,3577,3395,0,0,0,0,0,0,28.83,26.19,28.83
$GC,4378,-0.48,-146.0,450.9,-9.7,332,4383,0.00,2.12,0.00,0.000,6,0.000,0.047,3015,2173,3395,0,0,0,0,0,0,28.83,26.26,28.83
$GC,4708,-0.48,-146.0,484.4,-10.1,343,4712,0.00,2.15,0.00,0.000,4,0.000,0.054,3015,773,3394,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4740,-0.48,-146.0,487.7,-10.2,344,4747,0.12,2.17,0.00,0.000,6,0.142,0.054,3042,2183,3394,0,0,0,0,0,0,26.14,26.22,28.83
$GC,5071,-0.48,-146.0,513.5,-7.3,355,5077,0.00,2.17,0.00,0.000,4,0.000,0.067,3034,3583,3393,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5165,-0.48,-146.0,520.3,-7.6,358,5170,0.00,2.12,0.00,0.000,6,0.000,0.047,3034,2175,3393,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5490,-0.48,-146.0,544.4,-7.0,369,5492,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2173,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5791,-0.48,-146.0,565.6,-7.1,379,5797,0.00,2.25,0.00,0.000,4,0.000,0.067,3023,3593,3392,0,0,0,0,0,0,28.83,26.20,28.83
$GC,5843,-0.48,-146.0,567.8,-7.1,380,5850,0.00,2.15,0.00,0.000,6,0.000,0.047,3023,2170,3392,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6150,-0.48,-146.0,593.3,-7.9,391,6156,0.00,2.20,0.00,0.000,4,0.000,0.067,3013,3581,3391,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6188,-0.48,-146.0,595.7,-8.0,392,6192,0.00,2.12,0.00,0.000,6,0.000,0.047,3013,2175,3391,0,0,0,0,0,0,28.83,26.29,28.83
$GC,6511,-0.48,-146.0,622.9,-8.1,403,6512,0.00,0.00,0.00,0.000,6,0.000,0.000,3013,2173,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6810,-0.48,-146.0,647.7,-8.4,413,6816,0.00,2.22,0.00,0.000,4,0.000,0.067,3003,3587,3391,0,0,0,0,0,0,28.83,26.20,28.83
$GC,6843,-0.48,-146.0,650.3,-8.5,414,6848,0.12,2.12,0.00,0.000,6,0.138,0.047,3039,2175,3390,0,0,0,0,0,0,26.16,26.29,28.83
$GC,7166,-0.48,-146.0,674.5,-7.4,425,7172,0.00,2.22,0.00,0.000,4,0.000,0.067,3031,3585,3390,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7209,-0.48,-146.0,676.8,-7.5,426,7213,0.00,2.12,0.00,0.000,6,0.000,0.047,3030,2177,3390,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7521,-0.48,-146.0,702.8,-8.1,437,7527,0.00,2.20,0.00,0.000,4,0.000,0.068,3020,3589,3389,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7544,-0.48,-146.0,702.8,-8.1,437,7551,0.00,2.15,0.00,0.000,6,0.000,0.047,3020,2166,3389,0,0,0,0,0,0,28.83,26.29,28.83
$GC,7851,-0.48,-146.0,731.0,-8.4,448,7857,0.00,2.25,0.00,0.000,4,0.000,0.067,3010,3594,3388,0,0,0,0,0,0,28.83,26.19,28.83
$GC,7899,-0.48,-146.0,733.6,-8.5,449,7903,0.00,2.15,0.00,0.000,6,0.000,0.047,3010,2172,3389,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8207,-0.48,-146.0,761.9,-8.6,459,8213,0.12,2.22,0.00,0.000,4,0.148,0.067,3043,3581,3388,0,0,0,0,0,0,26.23,26.20,28.83
$GC,8246,-0.48,-146.0,764.3,-8.5,460,8251,0.00,2.12,0.00,0.000,6,0.000,0.048,3043,2175,3388,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8567,-0.48,-146.0,786.7,-6.5,471,8573,0.00,2.22,0.00,0.000,4,0.000,0.069,3033,3588,3387,0,0,0,0,0,0,28.83,26.19,28.83
$GC,8599,-0.48,-146.0,788.7,-6.6,472,8604,0.00,2.15,0.00,0.000,6,0.000,0.048,3033,2167,3387,0,0,0,0,0,0,28.83,26.29,28.83
$GC,8922,-0.48,-146.0,810.4,-6.5,483,8924,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2165,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9222,-0.48,-146.0,831.1,-7.1,493,9228,0.00,2.22,0.00,0.000,4,0.000,0.069,3023,3581,3387,0,0,0,0,0,0,28.83,26.19,28.83
$GC,9305,-0.48,-146.0,835.7,-7.4,495,9311,0.00,2.12,0.00,0.000,6,0.000,0.048,3023,2174,3387,0,0,0,0,0,0,28.83,26.29,28.83
$GC,9612,-0.48,-146.0,860.8,-7.6,506,9617,0.00,2.22,0.00,0.000,4,0.000,0.069,3013,3583,3386,0,0,0,0,0,0,28.83,26.18,28.83
$GC,9660,-0.48,-146.0,863.1,-7.6,507,9664,0.00,2.15,0.00,0.000,6,0.000,0.049,3013,2164,3386,0,0,0,0,0,0,28.83,26.28,28.83
$GC,9967,-0.48,-146.0,890.2,-8.5,517,9972,0.00,2.25,0.00,0.000,4,0.000,0.067,3003,3590,3386,0,0,0,0,0,0,28.83,26.18,28.83
$GC,10005,-0.48,-146.0,892.9,-8.7,518,10009,0.12,2.15,0.00,0.000,6,0.138,0.049,3039,2170,3386,0,0,0,0,0,0,26.15,26.28,28.83
$GC,10323,-0.48,-146.0,918.4,-7.9,529,10328,0.00,2.22,0.00,0.000,4,0.000,0.069,3030,3588,3385,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10365,-0.48,-146.0,920.9,-7.9,530,10369,0.00,2.15,0.00,0.000,6,0.000,0.048,3030,2167,3385,0,0,0,0,0,0,28.83,26.28,28.83
$GC,10678,-0.48,-146.0,947.0,-7.6,541,10683,0.00,2.28,0.00,0.000,4,0.000,0.069,3020,3594,3385,0,0,0,0,0,0,28.83,26.17,28.83
$GC,10715,-0.48,-146.0,949.3,-7.5,542,10719,0.00,2.17,0.00,0.000,6,0.000,0.049,3020,2173,3385,0,0,0,0,0,0,28.83,26.27,28.83
$GC,11033,-0.48,-146.0,972.1,-6.6,553,11038,0.00,2.22,0.00,0.000,4,0.000,0.069,3011,3590,3384,0,0,0,0,0,0,28.83,26.17,28.83
$GC,11065,-0.48,-146.0,974.2,-6.6,554,11069,0.00,2.15,0.00,0.000,6,0.000,0.049,3011,2170,3385,0,0,0,0,0,0,28.83,26.27,28.83
$STATE,11295,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11295,begin apogee
$GC,11302,-0.22,0.0,990.2,-6.7,562,11433,0.32,0.00,125.70,1.200,6,0.117,0.000,3120,2312,2794,0,0,0,0,0,0,26.10,28.83,23.72
$STATE,11437,end apogee,CONTROL_FINISHED_OK
$STATE,11437,begin climb
$GC,11439,0.48,146.0,992.3,0.0,566,11582,0.65,2.42,132.45,1.166,4,0.082,0.056,3353,906,2198,0,0,0,0,0,0,24.58,23.96,23.26
$GC,11608,0.48,146.0,980.7,8.2,572,11612,0.00,2.33,0.00,0.000,6,0.000,0.055,3352,2293,2194,0,0,0,0,0,0,28.83,24.32,28.83
$GC,11925,0.48,146.0,946.0,10.6,583,11931,0.00,2.33,0.00,0.000,4,0.000,0.070,3353,3710,2187,0,0,0,0,0,0,28.83,25.22,28.83
$GC,11993,0.48,146.0,938.8,11.2,585,11998,0.00,2.25,0.00,0.000,6,0.000,0.050,3363,2301,2187,0,0,0,0,0,0,28.83,25.34,28.83
$GC,12311,0.48,146.0,902.9,10.8,596,12316,0.00,2.28,0.00,0.000,4,0.000,0.069,3363,3703,2186,0,0,0,0,0,0,28.83,25.57,28.83
$GC,12328,0.48,146.0,902.9,10.8,596,12332,0.00,2.22,0.00,0.000,6,0.000,0.050,3374,2291,2185,0,0,0,0,0,0,28.83,25.63,28.83
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$STATE,22429,end climb,SURFACE_DEPTH_REACHED
$STATE,22429,begin surface coast
$FINISH,0.9,1.010072
$STATE,22473,end surface coast,CONTROL_FINISHED_OK
$STATE,22473,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.54
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$TCM_TEMP,16.10
$XPDR_PINGS,1
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$10V_AH,10.2,15.133
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.975,198.925,417.475,0.000,0.000,28.735,34.884,182.602,0.250,0.000,11.168,3362.998,15714.767,521.166,2948.448,369.718,0.000,1968.522,0.000,2662.344,0.000,0.536,0.000
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$MEM,296968
$DATA_FILE_SIZE,73559,1271
$CAP_FILE_SIZE,191275,0
$CFSIZE,260165632,247934976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.105, 48.9,1
$GPS,071012,211859,4721.499,-12617.155,38,1.9,38,18.6