version: 66.11
glider: 187
mission: 2
dive: 256
start: 11 11 112 14 0 45
data:
$ID,187
$MISSION,2
$DIVE,256
$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,-1588078.1
$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,2200
$C_ROLL_CLIMB,2325
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$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
$GPS1,111112,135323,4715.363,-12625.274,42,1.0,42,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.95
$_SM_ANGLEo,-71.8
$GPS2,111112,140013,4715.418,-12625.245,13,1.6,13,18.6
$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,212.4,52367,-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,-146.0,0.0,0.0,0,76,0.00,0.00,-56.85,0.000,2,0.000,0.000,109,2198,2461,0,0,0,0,0,0,28.83,28.83,28.83
$GC,80,-0.48,-146.0,3.1,-4.1,9,126,11.43,2.28,-24.95,0.000,4,0.218,0.065,3034,789,3393,0,0,0,0,0,0,24.97,25.47,25.98
$GC,212,-0.48,-146.0,25.8,-17.8,32,219,0.00,2.28,0.00,0.000,6,0.000,0.054,3027,2198,3395,0,0,0,0,0,0,28.83,25.48,28.83
$GC,532,-0.48,-146.0,70.7,-13.6,93,538,0.00,2.30,0.00,0.000,4,0.000,0.061,3016,3619,3397,0,0,0,0,0,0,28.83,25.54,28.83
$GC,572,-0.48,-146.0,76.2,-12.8,100,579,0.00,2.25,0.00,0.000,6,0.000,0.043,3015,2189,3397,0,0,0,0,0,0,28.83,25.72,28.83
$GC,884,-0.48,-146.0,117.6,-12.8,161,891,0.00,2.15,0.00,0.000,4,0.000,0.050,3015,797,3397,0,0,0,0,0,0,28.83,25.68,28.83
$GC,921,-0.48,-146.0,122.1,-12.6,165,926,0.08,2.15,0.00,0.000,6,0.123,0.050,3034,2194,3398,0,0,0,0,0,0,25.53,25.70,28.83
$GC,1236,-0.48,-146.0,156.0,-10.3,186,1237,0.00,0.00,0.00,0.000,6,0.000,0.000,3034,2194,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1535,-0.48,-146.0,185.5,-9.9,206,1541,0.00,2.28,0.00,0.000,4,0.000,0.063,3026,3614,3397,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1582,-0.48,-146.0,190.1,-10.1,209,1586,0.00,2.20,0.00,0.000,6,0.000,0.044,3026,2191,3398,0,0,0,0,0,0,28.83,25.87,28.83
$GC,1900,-0.48,-146.0,221.7,-9.8,226,1901,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2185,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2200,-0.48,-146.0,250.2,-9.4,241,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2185,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2501,-0.48,-146.0,277.7,-9.3,256,2503,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2185,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2800,-0.48,-146.0,305.5,-9.5,271,2801,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2185,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3100,-0.48,-146.0,334.1,-9.5,286,3101,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2185,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3399,-0.48,-146.0,362.3,-9.3,301,3405,0.00,2.30,0.00,0.000,4,0.000,0.063,3015,3616,3395,0,0,0,0,0,0,28.83,25.71,28.83
$GC,3428,-0.48,-146.0,364.3,-9.4,302,3432,0.00,2.20,0.00,0.000,6,0.000,0.045,3015,2188,3395,0,0,0,0,0,0,28.83,25.93,28.83
$GC,3737,-0.48,-146.0,394.1,-9.1,317,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2185,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4054,-0.48,-146.0,424.6,-9.7,329,4056,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2185,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4354,-0.48,-146.0,454.2,-10.0,339,4356,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2185,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4655,-0.48,-146.0,484.0,-10.0,349,4656,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2185,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4955,-0.48,-146.0,512.8,-9.5,359,4956,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2185,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5255,-0.48,-146.0,539.7,-8.8,369,5260,0.00,2.30,0.00,0.000,4,0.000,0.066,3006,3609,3392,0,0,0,0,0,0,28.83,25.67,28.83
$GC,5287,-0.48,-146.0,542.5,-8.9,370,5292,0.12,2.20,0.00,0.000,6,0.132,0.047,3041,2200,3392,0,0,0,0,0,0,25.75,25.91,28.83
$GC,5611,-0.48,-146.0,564.6,-6.6,381,5616,0.00,2.28,0.00,0.000,4,0.000,0.067,3033,3609,3391,0,0,0,0,0,0,28.83,25.66,28.83
$GC,5640,-0.48,-146.0,566.8,-6.6,382,5645,0.00,2.17,0.00,0.000,6,0.000,0.047,3033,2192,3391,0,0,0,0,0,0,28.83,25.91,28.83
$GC,5970,-0.48,-146.0,590.8,-7.3,393,5971,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2190,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6270,-0.48,-146.0,612.4,-7.2,403,6275,0.00,2.28,0.00,0.000,4,0.000,0.067,3024,3605,3390,0,0,0,0,0,0,28.83,25.64,28.83
$GC,6303,-0.48,-146.0,614.7,-7.3,404,6307,0.00,2.17,0.00,0.000,6,0.000,0.047,3023,2198,3390,0,0,0,0,0,0,28.83,25.90,28.83
$GC,6626,-0.48,-146.0,638.8,-7.1,415,6632,0.00,2.28,0.00,0.000,4,0.000,0.067,3014,3607,3389,0,0,0,0,0,0,28.83,25.63,28.83
$GC,6658,-0.48,-146.0,641.1,-7.2,416,6662,0.00,2.17,0.00,0.000,6,0.000,0.047,3014,2201,3389,0,0,0,0,0,0,28.83,25.89,28.83
$GC,6980,-0.48,-146.0,667.0,-8.1,427,6982,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2199,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7281,-0.48,-146.0,691.7,-8.2,437,7282,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2199,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7580,-0.48,-146.0,716.5,-8.3,447,7586,0.00,2.30,0.00,0.000,4,0.000,0.067,3004,3610,3388,0,0,0,0,0,0,28.83,25.60,28.83
$GC,7628,-0.48,-146.0,719.2,-8.4,448,7633,0.12,2.20,0.00,0.000,6,0.132,0.048,3039,2190,3388,0,0,0,0,0,0,25.70,25.86,28.83
$GC,7936,-0.48,-146.0,742.4,-7.0,458,7937,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2187,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8236,-0.48,-146.0,763.2,-6.9,468,8242,0.00,2.28,0.00,0.000,4,0.000,0.067,3031,3606,3387,0,0,0,0,0,0,28.83,25.59,28.83
$GC,8268,-0.48,-146.0,765.3,-6.9,469,8272,0.00,2.20,0.00,0.000,6,0.000,0.048,3031,2190,3387,0,0,0,0,0,0,28.83,25.86,28.83
$GC,8592,-0.48,-146.0,788.8,-7.1,480,8597,0.00,2.28,0.00,0.000,4,0.000,0.067,3021,3605,3387,0,0,0,0,0,0,28.83,25.58,28.83
$GC,8639,-0.48,-146.0,791.1,-7.1,481,8643,0.00,2.20,0.00,0.000,6,0.000,0.048,3021,2190,3387,0,0,0,0,0,0,28.83,25.85,28.83
$GC,8945,-0.48,-146.0,815.6,-7.5,491,8951,0.00,2.20,0.00,0.000,4,0.000,0.056,3021,790,3386,0,0,0,0,0,0,28.83,25.67,28.83
$GC,8969,-0.48,-146.0,815.6,-7.5,491,8976,0.00,2.22,0.00,0.000,6,0.000,0.055,3013,2204,3386,0,0,0,0,0,0,28.83,25.70,28.83
$GC,9275,-0.48,-146.0,841.6,-7.9,502,9281,0.00,2.30,0.00,0.000,4,0.000,0.067,3003,3617,3386,0,0,0,0,0,0,28.83,25.56,28.83
$GC,9319,-0.48,-146.0,844.3,-8.1,503,9324,0.12,2.20,0.00,0.000,6,0.131,0.049,3038,2198,3386,0,0,0,0,0,0,25.67,25.82,28.83
$GC,9632,-0.48,-146.0,866.3,-6.6,514,9634,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2197,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9932,-0.48,-146.0,885.0,-6.1,524,9934,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2197,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10232,-0.48,-146.0,902.9,-5.9,534,10238,0.00,2.33,0.00,0.000,4,0.000,0.069,3031,3610,3385,0,0,0,0,0,0,28.83,25.53,28.83
$GC,10262,-0.48,-146.0,904.7,-6.0,535,10268,0.00,2.17,0.00,0.000,6,0.000,0.049,3030,2202,3384,0,0,0,0,0,0,28.83,25.83,28.83
$GC,10592,-0.48,-146.0,925.4,-6.3,546,10593,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2200,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10892,-0.48,-146.0,944.5,-6.6,556,10898,0.00,2.28,0.00,0.000,4,0.000,0.069,3021,3610,3384,0,0,0,0,0,0,28.83,25.52,28.83
$GC,10941,-0.48,-146.0,946.6,-6.7,557,10950,0.00,2.20,0.00,0.000,6,0.000,0.049,3021,2192,3384,0,0,0,0,0,0,28.83,25.81,28.83
$GC,11252,-0.48,-146.0,970.7,-7.5,568,11253,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2192,3384,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,11519,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11519,begin apogee
$GC,11526,-0.22,0.0,990.8,-7.4,577,11658,0.30,0.00,127.80,1.180,6,0.109,0.000,3124,2334,2793,0,0,0,0,0,0,25.71,28.83,23.44
$STATE,11662,end apogee,CONTROL_FINISHED_OK
$STATE,11662,begin climb
$GC,11664,0.48,146.0,994.7,0.0,581,11805,0.65,0.00,137.52,1.144,6,0.076,0.000,3347,2334,2198,0,0,0,0,0,0,24.45,28.83,22.53
$GC,12093,0.48,146.0,963.3,8.8,596,12094,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,2334,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12392,0.48,146.0,937.0,8.8,606,12393,0.00,0.00,0.00,0.000,6,0.000,0.000,3347,2334,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12692,0.48,146.0,910.7,8.9,616,12698,0.00,2.28,0.00,0.000,4,0.000,0.070,3347,3727,2186,0,0,0,0,0,0,28.83,25.37,28.83
$GC,12722,0.48,146.0,907.7,9.1,617,12728,0.00,2.22,0.00,0.000,6,0.000,0.050,3356,2334,2185,0,0,0,0,0,0,28.83,25.53,28.83
$GC,13053,0.48,146.0,875.0,10.0,628,13058,0.00,2.22,0.00,0.000,4,0.000,0.058,3367,918,2185,0,0,0,0,0,0,28.83,25.53,28.83
$GC,13070,0.48,146.0,875.0,10.0,628,13074,0.00,2.25,0.00,0.000,6,0.000,0.058,3367,2327,2185,0,0,0,0,0,0,28.83,25.53,28.83
$GC,13377,0.48,146.0,840.5,10.8,638,13382,0.00,2.30,0.00,0.000,4,0.000,0.070,3367,3736,2184,0,0,0,0,0,0,28.83,25.51,28.83
$GC,13425,0.48,146.0,836.9,11.0,639,13429,0.00,2.22,0.00,0.000,6,0.000,0.051,3378,2324,2184,0,0,0,0,0,0,28.83,25.68,28.83
$GC,13732,0.48,146.0,799.5,11.3,649,13733,0.00,0.00,0.00,0.000,6,0.000,0.000,3378,2320,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,14032,0.48,146.0,767.3,10.4,659,14037,0.00,2.33,0.00,0.000,4,0.000,0.069,3378,3735,2183,0,0,0,0,0,0,28.83,25.56,28.83
$GC,14085,0.48,146.0,763.8,10.7,660,14092,0.15,2.22,0.00,0.000,6,0.157,0.050,3349,2323,2183,0,0,0,0,0,0,25.47,25.75,28.83
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$STATE,23768,end climb,SURFACE_DEPTH_REACHED
$STATE,23768,begin surface coast
$FINISH,1.2,1.024278
$STATE,23866,end surface coast,CONTROL_FINISHED_OK
$STATE,23868,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,45.15
$INTERNAL_PRESSURE,9.10853
$TCM_TEMP,16.00
$XPDR_PINGS,2
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$10V_AH,10.1,30.102
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.800,162.075,415.225,0.000,0.000,26.536,46.043,205.888,0.500,0.000,14.478,3539.332,16967.357,534.433,2913.808,395.188,0.000,1900.004,0.000,2605.889,0.000,0.538,0.000
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296792
$DATA_FILE_SIZE,76803,1359
$CAP_FILE_SIZE,187237,0
$CFSIZE,260165632,236507136
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.028,353.6,1
$GPS,111112,204253,4713.812,-12628.985,142,0.8,142,18.6