version: 66.11
glider: 187
mission: 2
dive: 213
start: 11 1 112 15 20 2
data:
$ID,187
$MISSION,2
$DIVE,213
$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,-1588018.2
$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,29
$R_STBD_OVSHOOT,26
$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
$GPS1,011112,151300,4725.267,-12603.383,44,0.9,44,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.83
$_SM_ANGLEo,-75.1
$GPS2,011112,151930,4725.294,-12603.427,15,0.9,15,18.6
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,SHELF
$TGT_LATLONG,4751.930,-12510.270
$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,51.7,82434,-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,-71.55,0.000,2,0.000,0.000,110,2174,2730,0,0,0,0,0,0,28.83,28.83,28.83
$GC,94,-0.48,-146.0,3.0,-2.1,12,129,11.45,2.35,-14.18,0.000,4,0.221,0.076,3026,3588,3393,0,0,0,0,0,0,25.08,25.51,26.01
$GC,264,-0.48,-146.0,37.7,-13.6,42,273,0.00,2.25,0.00,0.000,6,0.000,0.044,3026,2165,3395,0,0,0,0,0,0,28.83,25.67,28.83
$GC,587,-0.48,-146.0,83.9,-13.5,103,594,0.00,2.15,0.00,0.000,4,0.000,0.050,3026,771,3397,0,0,0,0,0,0,28.83,25.72,28.83
$GC,645,-0.48,-146.0,91.6,-13.1,113,651,0.00,2.17,0.00,0.000,6,0.000,0.050,3016,2174,3397,0,0,0,0,0,0,28.83,25.75,28.83
$GC,967,-0.48,-146.0,132.8,-11.9,162,973,0.00,2.25,0.00,0.000,4,0.000,0.062,3005,3590,3397,0,0,0,0,0,0,28.83,25.75,28.83
$GC,1022,-0.48,-146.0,138.3,-11.8,165,1029,0.12,2.17,0.00,0.000,6,0.137,0.044,3040,2169,3397,0,0,0,0,0,0,25.72,25.89,28.83
$GC,1330,-0.48,-146.0,168.3,-9.0,186,1336,0.00,2.17,0.00,0.000,4,0.000,0.051,3040,765,3397,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1367,-0.48,-146.0,171.0,-9.0,188,1374,0.00,2.22,0.00,0.000,6,0.000,0.050,3032,2173,3398,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1675,-0.48,-146.0,201.0,-9.7,209,1680,0.00,2.20,0.00,0.000,4,0.000,0.063,3022,3581,3397,0,0,0,0,0,0,28.83,25.82,28.83
$GC,1736,-0.48,-146.0,207.2,-10.1,212,1740,0.00,2.15,0.00,0.000,6,0.000,0.044,3021,2170,3397,0,0,0,0,0,0,28.83,25.98,28.83
$GC,2049,-0.48,-146.0,239.9,-10.5,228,2050,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2165,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2349,-0.48,-146.0,271.9,-10.5,243,2350,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2166,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2650,-0.48,-146.0,301.3,-10.0,258,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2165,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2949,-0.48,-146.0,332.1,-10.1,273,2955,0.00,2.28,0.00,0.000,4,0.000,0.063,3012,3584,3396,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3002,-0.48,-146.0,336.2,-10.3,275,3008,0.00,2.15,0.00,0.000,6,0.000,0.045,3011,2172,3396,0,0,0,0,0,0,28.83,26.03,28.83
$GC,3309,-0.48,-146.0,369.3,-10.1,291,3310,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2170,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3609,-0.48,-146.0,399.9,-10.0,306,3615,0.00,2.28,0.00,0.000,4,0.000,0.064,3001,3603,3395,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3648,-0.48,-146.0,403.0,-10.1,308,3655,0.15,2.17,0.00,0.000,6,0.127,0.045,3045,2182,3395,0,0,0,0,0,0,25.86,26.05,28.83
$GC,3969,-0.48,-146.0,428.6,-7.4,319,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,2176,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4269,-0.48,-146.0,451.4,-7.9,329,4275,0.00,2.25,0.00,0.000,4,0.000,0.066,3036,3583,3394,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4299,-0.48,-146.0,453.9,-8.0,330,4305,0.00,2.17,0.00,0.000,6,0.000,0.047,3036,2167,3394,0,0,0,0,0,0,28.83,26.06,28.83
$GC,4629,-0.48,-146.0,481.6,-8.4,341,4630,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,2165,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4929,-0.48,-146.0,505.7,-8.0,351,4935,0.00,2.25,0.00,0.000,4,0.000,0.066,3026,3582,3392,0,0,0,0,0,0,28.83,25.87,28.83
$GC,4989,-0.48,-146.0,510.8,-8.3,353,4994,0.00,2.17,0.00,0.000,6,0.000,0.047,3027,2170,3392,0,0,0,0,0,0,28.83,26.05,28.83
$GC,5319,-0.48,-146.0,539.9,-8.7,364,5320,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2168,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5619,-0.48,-146.0,565.2,-8.2,374,5624,0.00,2.25,0.00,0.000,4,0.000,0.066,3016,3584,3391,0,0,0,0,0,0,28.83,25.86,28.83
$GC,5651,-0.48,-146.0,567.8,-8.2,375,5655,0.00,2.17,0.00,0.000,6,0.000,0.047,3016,2170,3391,0,0,0,0,0,0,28.83,26.04,28.83
$GC,5974,-0.48,-146.0,595.1,-8.2,386,5979,0.00,2.30,0.00,0.000,4,0.000,0.066,3006,3591,3390,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6006,-0.48,-146.0,597.6,-8.3,387,6011,0.12,2.20,0.00,0.000,6,0.132,0.047,3042,2172,3390,0,0,0,0,0,0,25.88,26.03,28.83
$GC,6330,-0.48,-146.0,618.3,-6.0,398,6335,0.00,2.25,0.00,0.000,4,0.000,0.067,3034,3578,3390,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6368,-0.48,-146.0,620.2,-6.1,399,6372,0.00,2.17,0.00,0.000,6,0.000,0.047,3034,2164,3390,0,0,0,0,0,0,28.83,26.03,28.83
$GC,6685,-0.48,-146.0,642.7,-7.1,410,6691,0.00,2.25,0.00,0.000,4,0.000,0.067,3025,3579,3389,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6728,-0.48,-146.0,645.1,-7.3,411,6732,0.00,2.17,0.00,0.000,6,0.000,0.047,3025,2164,3389,0,0,0,0,0,0,28.83,26.03,28.83
$GC,7040,-0.48,-146.0,669.8,-7.5,422,7041,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2162,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7340,-0.48,-146.0,692.2,-7.6,432,7346,0.00,2.30,0.00,0.000,4,0.000,0.067,3014,3599,3388,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7383,-0.48,-146.0,694.7,-7.8,433,7387,0.00,2.20,0.00,0.000,6,0.000,0.048,3014,2173,3388,0,0,0,0,0,0,28.83,26.02,28.83
$GC,7695,-0.48,-146.0,722.1,-8.5,444,7696,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2171,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7996,-0.48,-146.0,748.1,-8.8,454,8001,0.00,2.25,0.00,0.000,4,0.000,0.067,3004,3584,3387,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8048,-0.48,-146.0,750.8,-8.9,455,8056,0.12,2.17,0.00,0.000,6,0.135,0.048,3040,2170,3387,0,0,0,0,0,0,25.86,26.02,28.83
$GC,8356,-0.48,-146.0,774.9,-6.7,466,8361,0.00,2.25,0.00,0.000,4,0.000,0.068,3031,3581,3386,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8394,-0.48,-146.0,777.0,-6.9,467,8398,0.00,2.17,0.00,0.000,6,0.000,0.049,3031,2168,3386,0,0,0,0,0,0,28.83,26.01,28.83
$GC,8711,-0.48,-146.0,800.6,-7.2,478,8717,0.00,2.25,0.00,0.000,4,0.000,0.068,3022,3578,3386,0,0,0,0,0,0,28.83,25.80,28.83
$GC,8742,-0.48,-146.0,802.7,-7.1,479,8747,0.00,2.15,0.00,0.000,6,0.000,0.049,3021,2182,3386,0,0,0,0,0,0,28.83,26.01,28.83
$GC,9071,-0.48,-146.0,827.9,-7.6,490,9072,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2181,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9371,-0.48,-146.0,850.2,-7.5,500,9372,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2180,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9671,-0.48,-146.0,871.1,-6.8,510,9677,0.00,2.28,0.00,0.000,4,0.000,0.068,3012,3584,3384,0,0,0,0,0,0,28.83,25.78,28.83
$GC,9711,-0.48,-146.0,873.3,-6.9,511,9717,0.00,2.17,0.00,0.000,6,0.000,0.049,3013,2171,3385,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10031,-0.48,-146.0,897.9,-7.6,522,10037,0.00,2.28,0.00,0.000,4,0.000,0.067,3003,3583,3385,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10054,-0.48,-146.0,897.9,-7.6,522,10063,0.12,2.17,0.00,0.000,6,0.132,0.049,3038,2171,3385,0,0,0,0,0,0,25.83,25.98,28.83
$GC,10362,-0.48,-146.0,919.8,-6.3,533,10367,0.00,2.30,0.00,0.000,4,0.000,0.068,3031,3583,3384,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10399,-0.48,-146.0,921.5,-6.2,534,10404,0.00,2.20,0.00,0.000,6,0.000,0.050,3030,2174,3384,0,0,0,0,0,0,28.83,25.98,28.83
$GC,10717,-0.48,-146.0,942.7,-6.2,545,10722,0.00,2.25,0.00,0.000,4,0.000,0.069,3021,3578,3384,0,0,0,0,0,0,28.83,25.76,28.83
$GC,10755,-0.48,-146.0,944.8,-6.5,546,10759,0.00,2.17,0.00,0.000,6,0.000,0.050,3021,2173,3384,0,0,0,0,0,0,28.83,25.97,28.83
$GC,11073,-0.48,-146.0,966.9,-6.8,557,11078,0.00,2.28,0.00,0.000,4,0.000,0.069,3012,3587,3384,0,0,0,0,0,0,28.83,25.75,28.83
$GC,11103,-0.48,-146.0,969.0,-6.9,558,11108,0.00,2.17,0.00,0.000,6,0.000,0.050,3011,2179,3384,0,0,0,0,0,0,28.83,25.96,28.83
$STATE,11400,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11400,begin apogee
$GC,11407,-0.22,0.0,992.1,-7.7,568,11539,0.32,0.00,126.90,1.182,6,0.112,0.000,3121,2308,2793,0,0,0,0,0,0,25.75,28.83,23.57
$STATE,11542,end apogee,CONTROL_FINISHED_OK
$STATE,11542,begin climb
$GC,11545,0.48,146.0,995.7,0.0,572,11691,0.65,2.53,134.32,1.151,4,0.081,0.066,3344,3701,2197,0,0,0,0,0,0,24.51,23.50,22.73
$GC,11712,0.48,163.1,987.0,6.7,578,11735,0.00,2.40,16.52,1.041,6,0.000,0.049,3355,2295,2129,0,0,0,0,0,0,28.83,23.92,22.95
$GC,12034,0.48,163.1,953.8,10.1,589,12040,0.00,2.30,0.00,0.000,4,0.000,0.058,3365,889,2121,0,0,0,0,0,0,28.83,24.90,28.83
$GC,12067,0.48,163.1,950.8,10.0,590,12071,0.00,2.30,0.00,0.000,6,0.000,0.057,3365,2291,2120,0,0,0,0,0,0,28.83,24.97,28.83
$GC,12389,0.48,163.1,917.0,10.5,601,12395,0.00,2.35,0.00,0.000,4,0.000,0.070,3366,3713,2119,0,0,0,0,0,0,28.83,25.31,28.83
$GC,12452,0.48,163.1,909.5,11.4,603,12457,0.00,2.28,0.00,0.000,6,0.000,0.051,3376,2295,2119,0,0,0,0,0,0,28.83,25.46,28.83
$GC,12775,0.48,163.1,871.6,11.5,614,12781,0.00,2.35,0.00,0.000,4,0.000,0.069,3376,3717,2119,0,0,0,0,0,0,28.83,25.51,28.83
$GC,12813,0.48,163.1,867.7,11.8,615,12818,0.15,2.28,0.00,0.000,6,0.159,0.051,3349,2293,2118,0,0,0,0,0,0,25.40,25.64,28.83
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$STATE,22823,end climb,SURFACE_DEPTH_REACHED
$STATE,22823,begin surface coast
$FINISH,1.2,1.002291
$STATE,22861,end surface coast,CONTROL_FINISHED_OK
$STATE,22861,begin surface
$SM_CCo,22941,0.00,0.000,0,0,1078,420.93
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$HUMID,44.56
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$TCM_TEMP,16.30
$XPDR_PINGS,4
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$10V_AH,10.2,25.628
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,296772
$DATA_FILE_SIZE,73460,1271
$CAP_FILE_SIZE,189804,0
$CFSIZE,260165632,239923200
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.042,331.0,1
$GPS,011112,214335,4726.914,-12559.341,34,0.9,34,18.7