version: 66.11
glider: 187
mission: 2
dive: 131
start: 10 10 112 14 13 45
data:
$ID,187
$MISSION,2
$DIVE,131
$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,-1587784.9
$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
$GPS1,101012,140705,4706.081,-12648.502,37,1.0,37,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.74
$_SM_ANGLEo,-78.3
$GPS2,101012,141313,4706.078,-12648.543,12,1.8,12,18.6
$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,220.9,18333,-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,-146.0,0.0,0.0,0,92,0.00,0.00,-72.97,0.000,2,0.000,0.000,109,2160,2750,0,0,0,0,0,0,28.83,28.83,28.83
$GC,96,-0.48,-146.0,3.2,-3.9,12,130,11.38,2.35,-12.93,0.000,4,0.223,0.074,3028,3585,3395,0,0,0,0,0,0,25.29,25.58,25.96
$GC,367,-0.48,-146.0,60.0,-15.8,61,374,0.00,2.17,0.00,0.000,6,0.000,0.043,3027,2176,3399,0,0,0,0,0,0,28.83,25.80,28.83
$GC,683,-0.48,-146.0,99.8,-10.4,122,690,0.00,2.15,0.00,0.000,4,0.000,0.050,3027,767,3400,0,0,0,0,0,0,28.83,25.89,28.83
$GC,708,-0.48,-146.0,102.5,-10.7,126,716,0.00,2.17,0.00,0.000,6,0.000,0.050,3017,2177,3400,0,0,0,0,0,0,28.83,25.89,28.83
$GC,1031,-0.48,-146.0,142.3,-13.3,167,1037,0.00,2.15,0.00,0.000,4,0.000,0.050,3018,768,3401,0,0,0,0,0,0,28.83,25.98,28.83
$GC,1075,-0.48,-146.0,148.3,-13.5,170,1081,0.08,2.17,0.00,0.000,6,0.122,0.050,3036,2179,3401,0,0,0,0,0,0,25.89,25.98,28.83
$GC,1393,-0.48,-146.0,179.6,-9.5,191,1399,0.00,2.17,0.00,0.000,4,0.000,0.063,3028,3579,3400,0,0,0,0,0,0,28.83,26.01,28.83
$GC,1484,-0.48,-146.0,188.7,-10.0,197,1489,0.00,2.12,0.00,0.000,6,0.000,0.044,3028,2167,3401,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1803,-0.48,-146.0,222.4,-10.9,215,1804,0.00,0.00,0.00,0.000,6,0.000,0.000,3028,2164,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2105,-0.48,-146.0,253.8,-10.0,230,2106,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2164,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2403,-0.48,-146.0,283.3,-9.8,245,2407,0.00,2.25,0.00,0.000,4,0.000,0.063,3017,3590,3398,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2457,-0.48,-146.0,287.6,-9.9,247,2464,0.00,2.15,0.00,0.000,6,0.000,0.044,3017,2170,3398,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2765,-0.48,-146.0,322.5,-11.1,263,2766,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2170,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3065,-0.48,-146.0,355.1,-10.7,278,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2170,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3365,-0.48,-146.0,386.7,-10.2,293,3370,0.00,2.22,0.00,0.000,4,0.000,0.064,3006,3583,3396,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3393,-0.48,-146.0,388.9,-10.4,294,3397,0.12,2.12,0.00,0.000,6,0.138,0.046,3042,2178,3396,0,0,0,0,0,0,26.10,26.23,28.83
$GC,3700,-0.48,-146.0,415.4,-8.0,306,3706,0.00,2.22,0.00,0.000,4,0.000,0.066,3033,3581,3395,0,0,0,0,0,0,28.83,26.16,28.83
$GC,3722,-0.48,-146.0,415.4,-8.0,306,3730,0.00,2.15,0.00,0.000,6,0.000,0.047,3033,2165,3395,0,0,0,0,0,0,28.83,26.23,28.83
$GC,4030,-0.48,-146.0,442.3,-7.9,317,4031,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2165,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4330,-0.48,-146.0,465.9,-7.8,327,4336,0.00,2.25,0.00,0.000,4,0.000,0.066,3024,3584,3394,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4403,-0.48,-146.0,470.9,-8.0,329,4407,0.00,2.15,0.00,0.000,6,0.000,0.047,3024,2170,3395,0,0,0,0,0,0,28.83,26.25,28.83
$GC,4715,-0.48,-146.0,499.1,-8.9,340,4716,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2168,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5015,-0.48,-146.0,526.6,-9.3,350,5020,0.00,2.20,0.00,0.000,4,0.000,0.066,3013,3577,3393,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5079,-0.48,-146.0,532.4,-9.5,352,5083,0.00,2.12,0.00,0.000,6,0.000,0.047,3013,2177,3392,0,0,0,0,0,0,28.83,26.27,28.83
$GC,5401,-0.48,-146.0,564.8,-9.9,363,5407,0.00,2.22,0.00,0.000,4,0.000,0.067,3003,3588,3392,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5431,-0.48,-146.0,567.9,-10.0,364,5437,0.12,2.17,0.00,0.000,6,0.139,0.047,3043,2167,3392,0,0,0,0,0,0,26.13,26.27,28.83
$GC,5761,-0.48,-146.0,596.7,-8.9,375,5766,0.00,2.22,0.00,0.000,4,0.000,0.067,3034,3585,3391,0,0,0,0,0,0,28.83,26.18,28.83
$GC,5799,-0.48,-146.0,599.5,-9.0,376,5803,0.00,2.15,0.00,0.000,6,0.000,0.047,3034,2174,3391,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6116,-0.48,-146.0,631.3,-9.9,387,6122,0.00,2.22,0.00,0.000,4,0.000,0.067,3024,3585,3391,0,0,0,0,0,0,28.83,26.18,28.83
$GC,6146,-0.48,-146.0,634.3,-9.9,388,6151,0.00,2.17,0.00,0.000,6,0.000,0.047,3024,2166,3391,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6476,-0.48,-146.0,668.1,-10.2,399,6482,0.00,2.28,0.00,0.000,4,0.000,0.067,3014,3593,3390,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6508,-0.48,-146.0,671.3,-10.2,400,6512,0.00,2.17,0.00,0.000,6,0.000,0.048,3014,2173,3390,0,0,0,0,0,0,28.83,26.27,28.83
$GC,6836,-0.48,-146.0,704.9,-10.0,411,6842,0.00,2.22,0.00,0.000,4,0.000,0.067,3003,3586,3390,0,0,0,0,0,0,28.83,26.17,28.83
$GC,6889,-0.48,-146.0,707.8,-10.0,412,6896,0.12,2.15,0.00,0.000,6,0.138,0.048,3040,2173,3389,0,0,0,0,0,0,26.14,26.27,28.83
$GC,7197,-0.48,-146.0,733.5,-7.0,423,7202,0.00,2.25,0.00,0.000,4,0.000,0.068,3031,3585,3389,0,0,0,0,0,0,28.83,26.17,28.83
$GC,7228,-0.48,-146.0,735.7,-7.0,424,7232,0.00,2.15,0.00,0.000,6,0.000,0.048,3031,2174,3389,0,0,0,0,0,0,28.83,26.27,28.83
$GC,7552,-0.48,-146.0,758.6,-7.0,435,7553,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2173,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7851,-0.48,-146.0,779.0,-6.8,445,7856,0.00,2.22,0.00,0.000,4,0.000,0.068,3020,3585,3388,0,0,0,0,0,0,28.83,26.18,28.83
$GC,7929,-0.48,-146.0,783.5,-7.1,447,7933,0.00,2.15,0.00,0.000,6,0.000,0.049,3021,2177,3387,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8236,-0.48,-146.0,807.6,-7.5,457,8241,0.00,2.20,0.00,0.000,4,0.000,0.068,3011,3584,3387,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8284,-0.48,-146.0,810.0,-7.5,458,8288,0.12,2.15,0.00,0.000,6,0.131,0.049,3047,2175,3387,0,0,0,0,0,0,26.15,26.27,28.83
$GC,8591,-0.48,-146.0,829.2,-5.6,468,8597,0.00,2.25,0.00,0.000,4,0.000,0.069,3038,3587,3387,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8639,-0.48,-146.0,831.0,-5.7,469,8643,0.00,2.17,0.00,0.000,6,0.000,0.050,3038,2166,3386,0,0,0,0,0,0,28.83,26.27,28.83
$GC,8946,-0.48,-146.0,850.4,-5.8,479,8952,0.00,2.25,0.00,0.000,4,0.000,0.069,3028,3587,3386,0,0,0,0,0,0,28.83,26.17,28.83
$GC,8989,-0.48,-146.0,852.1,-5.9,480,8993,0.00,2.17,0.00,0.000,6,0.000,0.049,3028,2166,3386,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9302,-0.48,-146.0,872.8,-6.3,491,9307,0.00,2.22,0.00,0.000,4,0.000,0.069,3018,3580,3386,0,0,0,0,0,0,28.83,26.17,28.83
$GC,9354,-0.48,-146.0,874.8,-6.3,492,9361,0.00,2.15,0.00,0.000,6,0.000,0.050,3018,2172,3385,0,0,0,0,0,0,28.83,26.26,28.83
$GC,9662,-0.48,-146.0,897.0,-6.7,503,9667,0.00,2.25,0.00,0.000,4,0.000,0.070,3008,3581,3385,0,0,0,0,0,0,28.83,26.16,28.83
$GC,9700,-0.48,-146.0,899.2,-6.9,504,9704,0.12,2.17,0.00,0.000,6,0.133,0.050,3044,2171,3385,0,0,0,0,0,0,26.13,26.26,28.83
$GC,10018,-0.48,-146.0,918.1,-5.7,515,10023,0.00,2.22,0.00,0.000,4,0.000,0.070,3036,3580,3385,0,0,0,0,0,0,28.83,26.16,28.83
$GC,10071,-0.48,-146.0,920.0,-5.8,516,10078,0.00,2.15,0.00,0.000,6,0.000,0.050,3036,2171,3385,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10378,-0.48,-146.0,940.9,-6.4,527,10383,0.00,2.22,0.00,0.000,4,0.000,0.070,3026,3580,3384,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10431,-0.48,-146.0,942.9,-6.4,528,10437,0.00,2.15,0.00,0.000,6,0.000,0.050,3026,2173,3384,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10738,-0.48,-146.0,965.2,-6.8,539,10744,0.00,2.25,0.00,0.000,4,0.000,0.070,3016,3581,3383,0,0,0,0,0,0,28.83,26.15,28.83
$GC,10791,-0.48,-146.0,967.5,-6.9,540,10797,0.00,2.15,0.00,0.000,6,0.000,0.050,3016,2173,3384,0,0,0,0,0,0,28.83,26.25,28.83
$STATE,11095,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11095,begin apogee
$GC,11103,-0.22,0.0,992.1,-7.5,551,11234,0.30,0.00,125.72,1.199,6,0.115,0.000,3119,2302,2793,0,0,0,0,0,0,26.09,28.83,23.72
$STATE,11237,end apogee,CONTROL_FINISHED_OK
$STATE,11237,begin climb
$GC,11240,0.48,146.0,995.9,0.0,555,11382,0.68,2.45,132.60,1.167,4,0.080,0.057,3358,900,2197,0,0,0,0,0,0,24.57,23.89,23.20
$GC,11396,0.48,161.9,987.5,6.7,561,11417,0.00,2.35,15.38,1.052,6,0.000,0.056,3358,2286,2133,0,0,0,0,0,0,28.83,24.15,23.29
$GC,11725,0.48,161.9,954.8,10.0,572,11731,0.00,2.38,0.00,0.000,4,0.000,0.069,3358,3715,2125,0,0,0,0,0,0,28.83,25.10,28.83
$GC,11779,0.48,161.9,951.3,10.2,573,11785,0.00,2.28,0.00,0.000,6,0.000,0.050,3368,2314,2124,0,0,0,0,0,0,28.83,25.23,28.83
$GC,12085,0.48,161.9,915.1,11.0,584,12087,0.00,0.00,0.00,0.000,6,0.000,0.000,3368,2308,2123,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12385,0.48,161.9,880.9,11.7,594,12391,0.00,2.30,0.00,0.000,4,0.000,0.070,3368,3715,2122,0,0,0,0,0,0,28.83,25.67,28.83
$GC,12416,0.48,161.9,876.8,12.0,595,12422,0.00,2.22,0.00,0.000,6,0.000,0.051,3379,2304,2122,0,0,0,0,0,0,28.83,25.75,28.83
$GC,12745,0.48,161.9,834.7,12.7,606,12747,0.00,0.00,0.00,0.000,6,0.000,0.000,3379,2296,2122,0,0,0,0,0,0,28.83,28.83,28.83
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$STATE,21853,end climb,SURFACE_DEPTH_REACHED
$STATE,21853,begin surface coast
$FINISH,0.9,1.001993
$STATE,21892,end surface coast,CONTROL_FINISHED_OK
$STATE,21893,begin surface
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$XPDR_PINGS,0
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$10V_AH,10.2,16.372
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,296912
$DATA_FILE_SIZE,70231,1209
$CAP_FILE_SIZE,182531,0
$CFSIZE,260165632,246988800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.092, 55.7,1
$GPS,101012,202105,4705.046,-12652.126,30,0.9,30,18.6