version: 66.11
glider: 187
mission: 2
dive: 129
start: 10 10 112 1 30 58
data:
$ID,187
$MISSION,2
$DIVE,129
$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,-1587782.4
$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,43
$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
$GPS1,101012,012405,4709.031,-12641.692,34,1.4,34,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.77
$_SM_ANGLEo,-78.7
$GPS2,101012,013026,4709.012,-12641.656,12,1.9,12,18.6
$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,217.4,28555,-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,16,-0.48,-146.0,0.0,0.0,0,85,0.00,0.00,-66.40,0.000,2,0.000,0.000,107,2165,2827,0,0,0,0,0,0,28.83,28.83,28.83
$GC,89,-0.48,-146.0,3.3,-3.8,11,117,11.32,2.25,-10.93,0.000,4,0.223,0.063,3032,774,3393,0,0,0,0,0,0,25.29,25.63,25.97
$GC,260,-0.48,-146.0,42.7,-12.1,42,268,0.00,2.22,0.00,0.000,6,0.000,0.050,3023,2176,3397,0,0,0,0,0,0,28.83,25.72,28.83
$GC,583,-0.48,-146.0,86.1,-14.7,103,590,0.00,2.22,0.00,0.000,4,0.000,0.061,3012,3591,3400,0,0,0,0,0,0,28.83,25.83,28.83
$GC,669,-0.48,-146.0,98.4,-13.1,119,676,0.00,2.17,0.00,0.000,6,0.000,0.042,3012,2174,3400,0,0,0,0,0,0,28.83,25.93,28.83
$GC,991,-0.48,-146.0,137.8,-12.0,162,992,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2170,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1291,-0.48,-146.0,172.6,-10.5,182,1292,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2170,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1596,-0.48,-146.0,203.5,-10.6,202,1597,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2170,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1896,-0.48,-146.0,236.7,-11.0,217,1901,0.00,2.12,0.00,0.000,4,0.000,0.050,3012,775,3399,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1944,-0.48,-146.0,241.2,-11.1,219,1949,0.12,2.15,0.00,0.000,6,0.145,0.050,3038,2180,3400,0,0,0,0,0,0,26.01,26.11,28.83
$GC,2251,-0.48,-146.0,269.5,-8.9,234,2256,0.00,2.20,0.00,0.000,4,0.000,0.063,3030,3588,3399,0,0,0,0,0,0,28.83,26.09,28.83
$GC,2324,-0.48,-146.0,275.3,-9.6,237,2331,0.00,2.17,0.00,0.000,6,0.000,0.044,3030,2163,3399,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2631,-0.48,-146.0,304.3,-8.7,253,2632,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2162,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2932,-0.48,-146.0,331.7,-9.6,268,2938,0.00,2.22,0.00,0.000,4,0.000,0.064,3019,3587,3397,0,0,0,0,0,0,28.83,26.13,28.83
$GC,2974,-0.48,-146.0,335.9,-10.0,270,2978,0.00,2.15,0.00,0.000,6,0.000,0.045,3019,2165,3397,0,0,0,0,0,0,28.83,26.22,28.83
$GC,3286,-0.48,-146.0,370.0,-11.0,286,3292,0.00,2.25,0.00,0.000,4,0.000,0.064,3009,3594,3396,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3319,-0.48,-146.0,372.3,-11.1,287,3326,0.12,2.15,0.00,0.000,6,0.138,0.044,3044,2166,3396,0,0,0,0,0,0,26.10,26.23,28.83
$GC,3627,-0.48,-146.0,401.5,-8.6,303,3628,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2164,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3926,-0.48,-146.0,426.3,-8.1,313,3932,0.00,2.25,0.00,0.000,4,0.000,0.065,3035,3593,3395,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3974,-0.48,-146.0,428.9,-8.1,314,3978,0.00,2.17,0.00,0.000,6,0.000,0.046,3035,2176,3395,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4281,-0.48,-146.0,456.5,-8.4,324,4285,0.00,2.25,0.00,0.000,4,0.000,0.066,3025,3587,3394,0,0,0,0,0,0,28.83,26.16,28.83
$GC,4321,-0.48,-146.0,459.2,-8.5,325,4325,0.00,2.17,0.00,0.000,6,0.000,0.047,3025,2167,3394,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4643,-0.48,-146.0,487.5,-8.3,336,4644,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2165,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4943,-0.48,-146.0,512.8,-8.6,346,4949,0.00,2.22,0.00,0.000,4,0.000,0.066,3015,3583,3392,0,0,0,0,0,0,28.83,26.17,28.83
$GC,5003,-0.48,-146.0,518.2,-8.8,348,5009,0.00,2.15,0.00,0.000,6,0.000,0.047,3014,2173,3392,0,0,0,0,0,0,28.83,26.26,28.83
$GC,5334,-0.48,-146.0,550.0,-9.9,359,5335,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2171,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5633,-0.48,-146.0,580.4,-10.1,369,5634,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2171,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5933,-0.48,-146.0,608.8,-9.3,379,5935,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2171,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6233,-0.48,-146.0,635.1,-8.5,389,6239,0.00,2.22,0.00,0.000,4,0.000,0.067,3004,3581,3390,0,0,0,0,0,0,28.83,26.19,28.83
$GC,6263,-0.48,-146.0,637.6,-8.5,390,6270,0.12,2.15,0.00,0.000,6,0.137,0.048,3040,2177,3390,0,0,0,0,0,0,26.15,26.27,28.83
$GC,6593,-0.48,-146.0,659.3,-6.3,401,6595,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2173,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6894,-0.48,-146.0,678.8,-6.7,411,6900,0.00,2.22,0.00,0.000,4,0.000,0.068,3032,3587,3389,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6937,-0.48,-146.0,681.0,-6.7,412,6941,0.00,2.15,0.00,0.000,6,0.000,0.049,3031,2177,3388,0,0,0,0,0,0,28.83,26.28,28.83
$GC,7249,-0.48,-146.0,705.2,-7.6,423,7255,0.00,2.22,0.00,0.000,4,0.000,0.069,3021,3588,3388,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7279,-0.48,-146.0,707.6,-7.6,424,7284,0.00,2.17,0.00,0.000,6,0.000,0.049,3021,2169,3388,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7610,-0.48,-146.0,735.0,-8.3,435,7611,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2167,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7909,-0.48,-146.0,758.9,-7.8,445,7914,0.00,2.28,0.00,0.000,4,0.000,0.068,3011,3592,3387,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7982,-0.48,-146.0,763.7,-7.8,447,7986,0.00,2.17,0.00,0.000,6,0.000,0.048,3011,2167,3387,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8294,-0.48,-146.0,789.9,-8.1,458,8295,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2165,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8594,-0.48,-146.0,815.2,-8.4,468,8599,0.00,2.25,0.00,0.000,4,0.000,0.068,3001,3585,3386,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8642,-0.48,-146.0,817.9,-8.6,469,8647,0.15,2.17,0.00,0.000,6,0.129,0.050,3045,2164,3386,0,0,0,0,0,0,26.13,26.27,28.83
$GC,8950,-0.48,-146.0,840.1,-6.5,479,8956,0.00,2.28,0.00,0.000,4,0.000,0.069,3037,3584,3385,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8992,-0.48,-146.0,842.2,-6.5,480,8997,0.00,2.20,0.00,0.000,6,0.000,0.050,3036,2166,3385,0,0,0,0,0,0,28.83,26.27,28.83
$GC,9305,-0.48,-146.0,865.7,-7.2,491,9311,0.00,2.22,0.00,0.000,4,0.000,0.069,3027,3580,3385,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9353,-0.48,-146.0,868.0,-7.3,492,9357,0.00,2.15,0.00,0.000,6,0.000,0.050,3026,2173,3385,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9660,-0.48,-146.0,892.9,-7.6,502,9663,0.00,2.25,0.00,0.000,4,0.000,0.069,3016,3588,3385,0,0,0,0,0,0,28.83,26.15,28.83
$GC,9694,-0.48,-146.0,895.5,-7.7,503,9698,0.00,2.17,0.00,0.000,6,0.000,0.050,3016,2174,3384,0,0,0,0,0,0,28.83,26.26,28.83
$GC,10022,-0.48,-146.0,922.4,-8.0,514,10027,0.00,2.22,0.00,0.000,4,0.000,0.069,3007,3584,3384,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10054,-0.48,-146.0,924.8,-8.1,515,10059,0.12,2.17,0.00,0.000,6,0.133,0.050,3043,2167,3384,0,0,0,0,0,0,26.13,26.26,28.83
$GC,10377,-0.48,-146.0,946.4,-6.3,526,10382,0.00,2.22,0.00,0.000,4,0.000,0.070,3034,3580,3384,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10420,-0.48,-146.0,948.4,-6.4,527,10424,0.00,2.15,0.00,0.000,6,0.000,0.050,3034,2175,3384,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10733,-0.48,-146.0,971.0,-6.8,538,10736,0.00,2.28,0.00,0.000,4,0.000,0.070,3025,3589,3383,0,0,0,0,0,0,28.83,26.14,28.83
$GC,10778,-0.48,-146.0,973.3,-6.9,539,10782,0.00,2.17,0.00,0.000,6,0.000,0.050,3025,2170,3383,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,10998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10998,begin apogee
$GC,11005,-0.22,0.0,990.2,-7.0,547,11136,0.28,0.00,125.40,1.196,6,0.111,0.000,3120,2312,2794,0,0,0,0,0,0,26.11,28.83,23.73
$STATE,11140,end apogee,CONTROL_FINISHED_OK
$STATE,11140,begin climb
$GC,11142,0.48,146.0,993.6,0.0,551,11280,0.65,0.00,133.90,1.164,6,0.080,0.000,3343,2312,2198,0,0,0,0,0,0,24.58,28.83,23.22
$GC,11570,0.48,146.0,957.5,9.9,566,11576,0.00,2.33,0.00,0.000,4,0.000,0.069,3343,3701,2187,0,0,0,0,0,0,28.83,25.10,28.83
$GC,11610,0.48,146.0,954.1,10.2,567,11616,0.00,2.25,0.00,0.000,6,0.000,0.051,3352,2306,2187,0,0,0,0,0,0,28.83,25.20,28.83
$GC,11931,0.48,146.0,918.0,10.9,578,11936,0.00,2.28,0.00,0.000,4,0.000,0.069,3353,3697,2186,0,0,0,0,0,0,28.83,25.50,28.83
$GC,11961,0.48,146.0,914.4,11.2,579,11966,0.00,2.22,0.00,0.000,6,0.000,0.051,3364,2297,2185,0,0,0,0,0,0,28.83,25.57,28.83
$GC,12290,0.48,146.0,876.5,11.3,590,12296,0.00,2.30,0.00,0.000,4,0.000,0.070,3364,3702,2185,0,0,0,0,0,0,28.83,25.69,28.83
$GC,12339,0.48,146.0,872.7,11.4,591,12343,0.00,2.22,0.00,0.000,6,0.000,0.052,3374,2293,2184,0,0,0,0,0,0,28.83,25.77,28.83
$GC,12645,0.48,146.0,834.6,11.6,601,12651,0.00,2.33,0.00,0.000,4,0.000,0.070,3374,3708,2184,0,0,0,0,0,0,28.83,25.82,28.83
$GC,12683,0.48,146.0,830.9,11.8,602,12688,0.15,2.22,0.00,0.000,6,0.160,0.052,3347,2300,2183,0,0,0,0,0,0,25.72,25.88,28.83
$GC,13002,0.48,146.0,798.5,9.6,613,13007,0.00,2.25,0.00,0.000,4,0.000,0.070,3347,3697,2183,0,0,0,0,0,0,28.83,25.89,28.83
$GC,13034,0.48,146.0,795.4,9.9,614,13038,0.00,2.20,0.00,0.000,6,0.000,0.052,3355,2290,2183,0,0,0,0,0,0,28.83,25.95,28.83
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$STATE,22068,end climb,SURFACE_DEPTH_REACHED
$STATE,22068,begin surface coast
$FINISH,0.9,1.001052
$STATE,22105,end surface coast,CONTROL_FINISHED_OK
$STATE,22106,begin surface
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$HUMID,44.52
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$10V_AH,10.2,16.153
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,296932
$DATA_FILE_SIZE,70018,1242
$CAP_FILE_SIZE,185743,0
$CFSIZE,260165632,247156736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.056,103.5,1
$GPS,101012,074159,4707.213,-12644.869,38,1.7,38,18.6