version: 66.11
glider: 187
mission: 2
dive: 134
start: 10 11 112 9 25 14
data:
$ID,187
$MISSION,2
$DIVE,134
$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,-1587788.8
$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
$GPS1,111012,091805,4701.738,-12657.556,26,1.5,26,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.80
$_SM_ANGLEo,-79.2
$GPS2,111012,092442,4701.744,-12657.534,10,1.5,15,18.6
$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,212.0,4487,-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,-146.0,0.0,0.0,0,91,0.00,0.00,-71.40,0.000,2,0.000,0.000,109,2162,2909,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.48,-146.0,3.9,-6.8,12,123,11.35,2.30,-8.85,0.000,4,0.224,0.072,3024,3598,3394,0,0,0,0,0,0,25.29,25.62,25.99
$GC,311,-0.48,-146.0,51.6,-14.6,51,318,0.00,2.20,0.00,0.000,6,0.000,0.044,3024,2171,3399,0,0,0,0,0,0,28.83,25.79,28.83
$GC,629,-0.48,-146.0,98.1,-14.6,112,637,0.00,2.20,0.00,0.000,4,0.000,0.051,3023,769,3401,0,0,0,0,0,0,28.83,25.88,28.83
$GC,704,-0.48,-146.0,108.5,-12.9,126,712,0.00,2.17,0.00,0.000,6,0.000,0.050,3014,2181,3401,0,0,0,0,0,0,28.83,25.90,28.83
$GC,1020,-0.48,-146.0,146.9,-11.2,158,1026,0.00,2.20,0.00,0.000,4,0.000,0.062,3003,3583,3400,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1112,-0.48,-146.0,157.2,-11.2,164,1119,0.12,2.17,0.00,0.000,6,0.140,0.044,3038,2166,3401,0,0,0,0,0,0,25.89,26.03,28.83
$GC,1430,-0.48,-146.0,184.8,-9.1,185,1436,0.00,2.22,0.00,0.000,4,0.000,0.063,3030,3581,3401,0,0,0,0,0,0,28.83,26.00,28.83
$GC,1462,-0.48,-146.0,187.8,-9.4,187,1466,0.00,2.15,0.00,0.000,6,0.000,0.044,3029,2167,3401,0,0,0,0,0,0,28.83,26.08,28.83
$GC,1770,-0.48,-146.0,219.6,-9.9,204,1775,0.00,2.10,0.00,0.000,4,0.000,0.051,3029,780,3400,0,0,0,0,0,0,28.83,26.07,28.83
$GC,1802,-0.48,-146.0,221.6,-9.8,205,1809,0.00,2.15,0.00,0.000,6,0.000,0.050,3020,2182,3400,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2109,-0.48,-146.0,254.0,-10.1,221,2115,0.00,2.17,0.00,0.000,4,0.000,0.063,3010,3577,3400,0,0,0,0,0,0,28.83,26.06,28.83
$GC,2152,-0.48,-146.0,258.2,-10.4,223,2156,0.12,2.15,0.00,0.000,6,0.135,0.045,3045,2168,3400,0,0,0,0,0,0,26.02,26.15,28.83
$GC,2465,-0.48,-146.0,284.6,-8.2,239,2466,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2165,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2765,-0.48,-146.0,309.8,-8.3,254,2770,0.00,2.22,0.00,0.000,4,0.000,0.064,3037,3580,3399,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2793,-0.48,-146.0,311.5,-8.2,255,2797,0.00,2.15,0.00,0.000,6,0.000,0.046,3037,2168,3398,0,0,0,0,0,0,28.83,26.19,28.83
$GC,3101,-0.48,-146.0,337.2,-8.1,270,3102,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2166,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3400,-0.48,-146.0,362.4,-8.6,285,3401,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2166,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3699,-0.48,-146.0,389.0,-8.7,300,3705,0.00,2.25,0.00,0.000,4,0.000,0.066,3026,3584,3396,0,0,0,0,0,0,28.83,26.13,28.83
$GC,3742,-0.48,-146.0,392.7,-8.9,302,3746,0.00,2.15,0.00,0.000,6,0.000,0.047,3026,2177,3396,0,0,0,0,0,0,28.83,26.22,28.83
$GC,4075,-0.48,-146.0,422.8,-8.8,315,4076,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2174,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4374,-0.48,-146.0,447.7,-7.9,325,4380,0.00,2.25,0.00,0.000,4,0.000,0.067,3016,3594,3395,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4412,-0.48,-146.0,450.2,-8.0,326,4416,0.00,2.17,0.00,0.000,6,0.000,0.047,3016,2167,3395,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4730,-0.48,-146.0,478.7,-8.9,337,4731,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2165,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5030,-0.48,-146.0,507.9,-10.1,347,5035,0.00,2.22,0.00,0.000,4,0.000,0.067,3006,3577,3393,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5067,-0.48,-146.0,511.2,-10.4,348,5072,0.12,2.15,0.00,0.000,6,0.136,0.047,3042,2167,3393,0,0,0,0,0,0,26.12,26.25,28.83
$GC,5386,-0.48,-146.0,540.2,-8.8,359,5391,0.00,2.22,0.00,0.000,4,0.000,0.067,3034,3577,3392,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5415,-0.48,-146.0,542.9,-8.9,360,5421,0.00,2.15,0.00,0.000,6,0.000,0.048,3034,2173,3392,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5746,-0.48,-146.0,573.1,-9.0,371,5750,0.00,2.25,0.00,0.000,4,0.000,0.067,3023,3581,3391,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5781,-0.48,-146.0,576.0,-8.8,372,5785,0.00,2.15,0.00,0.000,6,0.000,0.048,3023,2175,3392,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6108,-0.48,-146.0,604.7,-8.3,383,6110,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2173,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6408,-0.48,-146.0,626.8,-7.0,393,6414,0.00,2.22,0.00,0.000,4,0.000,0.068,3013,3583,3391,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6452,-0.48,-146.0,629.1,-7.0,394,6456,0.00,2.17,0.00,0.000,6,0.000,0.049,3013,2168,3391,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6769,-0.48,-146.0,654.0,-7.4,405,6774,0.00,2.25,0.00,0.000,4,0.000,0.067,3003,3582,3390,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6802,-0.48,-146.0,656.5,-7.6,406,6806,0.12,2.15,0.00,0.000,6,0.137,0.049,3039,2172,3390,0,0,0,0,0,0,26.13,26.25,28.83
$GC,7125,-0.48,-146.0,677.5,-6.4,417,7126,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2170,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7425,-0.48,-146.0,696.7,-6.4,427,7430,0.00,2.22,0.00,0.000,4,0.000,0.068,3030,3580,3389,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7498,-0.48,-146.0,700.8,-6.7,429,7502,0.00,2.15,0.00,0.000,6,0.000,0.049,3030,2170,3388,0,0,0,0,0,0,28.83,26.26,28.83
$GC,7810,-0.48,-146.0,723.5,-7.0,440,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2167,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8110,-0.48,-146.0,744.2,-6.9,450,8116,0.00,2.28,0.00,0.000,4,0.000,0.069,3020,3584,3388,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8170,-0.48,-146.0,748.6,-7.0,452,8176,0.00,2.15,0.00,0.000,6,0.000,0.050,3020,2168,3387,0,0,0,0,0,0,28.83,26.26,28.83
$GC,8501,-0.48,-146.0,772.5,-7.3,463,8506,0.00,2.22,0.00,0.000,4,0.000,0.069,3010,3577,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8533,-0.48,-146.0,774.7,-7.3,464,8538,0.12,2.15,0.00,0.000,6,0.132,0.050,3046,2169,3387,0,0,0,0,0,0,26.13,26.25,28.83
$GC,8857,-0.48,-146.0,794.1,-5.9,475,8862,0.00,2.25,0.00,0.000,4,0.000,0.069,3038,3584,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8899,-0.48,-146.0,796.1,-6.0,476,8903,0.00,2.15,0.00,0.000,6,0.000,0.050,3038,2177,3387,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9212,-0.48,-146.0,816.9,-6.5,487,9213,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2174,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9512,-0.48,-146.0,836.6,-6.5,497,9518,0.00,2.25,0.00,0.000,4,0.000,0.070,3028,3581,3386,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9580,-0.48,-146.0,841.1,-6.8,499,9584,0.00,2.15,0.00,0.000,6,0.000,0.050,3028,2173,3386,0,0,0,0,0,0,28.83,26.25,28.83
$GC,9897,-0.48,-146.0,864.3,-7.1,510,9902,0.00,2.22,0.00,0.000,4,0.000,0.070,3017,3578,3385,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9945,-0.48,-146.0,866.6,-7.2,511,9949,0.00,2.15,0.00,0.000,6,0.000,0.050,3017,2174,3385,0,0,0,0,0,0,28.83,26.25,28.83
$GC,10252,-0.48,-146.0,891.7,-7.6,521,10253,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2171,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10553,-0.48,-146.0,913.9,-7.3,531,10558,0.00,2.28,0.00,0.000,4,0.000,0.070,3007,3588,3385,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10590,-0.48,-146.0,916.2,-7.4,532,10595,0.12,2.20,0.00,0.000,6,0.133,0.050,3043,2165,3385,0,0,0,0,0,0,26.12,26.24,28.83
$GC,10909,-0.48,-146.0,934.0,-5.0,543,10914,0.00,2.25,0.00,0.000,4,0.000,0.070,3035,3585,3385,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10952,-0.48,-146.0,935.6,-5.1,544,10956,0.00,2.17,0.00,0.000,6,0.000,0.050,3035,2167,3384,0,0,0,0,0,0,28.83,26.24,28.83
$GC,11264,-0.48,-146.0,953.0,-5.3,555,11270,0.00,2.25,0.00,0.000,4,0.000,0.070,3025,3580,3384,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11312,-0.48,-146.0,954.6,-5.3,556,11316,0.00,2.17,0.00,0.000,6,0.000,0.051,3025,2164,3384,0,0,0,0,0,0,28.83,26.23,28.83
$GC,11620,-0.48,-146.0,973.2,-5.8,566,11625,0.00,2.28,0.00,0.000,4,0.000,0.070,3016,3581,3384,0,0,0,0,0,0,28.83,26.12,28.83
$GC,11659,-0.48,-146.0,974.8,-5.8,567,11664,0.00,2.17,0.00,0.000,6,0.000,0.050,3015,2163,3383,0,0,0,0,0,0,28.83,26.23,28.83
$STATE,11886,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11887,begin apogee
$GC,11893,-0.22,0.0,990.4,-6.3,575,12025,0.30,0.00,125.62,1.197,6,0.114,0.000,3118,2305,2794,0,0,0,0,0,0,26.07,28.83,23.72
$STATE,12028,end apogee,CONTROL_FINISHED_OK
$STATE,12028,begin climb
$GC,12031,0.48,146.0,993.4,0.0,579,12169,0.68,0.00,134.12,1.165,6,0.080,0.000,3347,2305,2198,0,0,0,0,0,0,24.58,28.83,23.16
$GC,12459,0.48,146.0,957.0,9.9,594,12465,0.00,2.30,0.00,0.000,4,0.000,0.069,3347,3695,2187,0,0,0,0,0,0,28.83,25.07,28.83
$GC,12482,0.48,146.0,957.0,9.9,594,12489,0.00,2.25,0.00,0.000,6,0.000,0.050,3358,2306,2186,0,0,0,0,0,0,28.83,25.15,28.83
$GC,12789,0.48,146.0,921.7,10.7,605,12794,0.00,2.33,0.00,0.000,4,0.000,0.070,3358,3707,2185,0,0,0,0,0,0,28.83,25.44,28.83
$GC,12827,0.48,146.0,918.3,10.8,606,12831,0.00,2.25,0.00,0.000,6,0.000,0.052,3369,2300,2185,0,0,0,0,0,0,28.83,25.53,28.83
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$STATE,23374,end climb,SURFACE_DEPTH_REACHED
$STATE,23374,begin surface coast
$FINISH,1.0,1.012001
$STATE,23424,end surface coast,CONTROL_FINISHED_OK
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$10V_AH,10.2,16.707
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,296928
$DATA_FILE_SIZE,73582,1272
$CAP_FILE_SIZE,196439,0
$CFSIZE,260165632,246718464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.076, 48.0,1
$GPS,111012,155805,4659.917,-12700.278,30,0.8,30,18.6