version: 66.11
glider: 187
mission: 2
dive: 271
start: 11 15 112 17 30 18
data:
$ID,187
$MISSION,2
$DIVE,271
$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,-1588098
$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,29
$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
$GPS1,151112,172236,4710.513,-12642.736,38,1.0,38,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.11
$_SM_ANGLEo,-78.7
$GPS2,151112,172948,4710.493,-12642.692,12,1.3,17,18.6
$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,24.5,138114,-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,-146.0,0.0,0.0,0,79,0.00,0.00,-59.97,0.000,2,0.000,0.000,105,2212,2835,0,0,0,0,0,0,28.83,28.83,28.83
$GC,83,-0.48,-146.0,3.4,-3.6,10,111,11.55,2.35,-11.35,0.000,4,0.221,0.074,3026,3621,3393,0,0,0,0,0,0,24.99,25.51,26.10
$GC,174,-0.48,-146.0,27.3,-20.6,25,180,0.00,2.22,0.00,0.000,6,0.000,0.044,3025,2192,3396,0,0,0,0,0,0,28.83,25.61,28.83
$GC,496,-0.48,-146.0,79.2,-15.5,86,502,0.00,2.17,0.00,0.000,4,0.000,0.050,3025,786,3398,0,0,0,0,0,0,28.83,25.62,28.83
$GC,516,-0.48,-146.0,82.1,-14.6,89,523,0.00,2.22,0.00,0.000,6,0.000,0.050,3015,2211,3398,0,0,0,0,0,0,28.83,25.63,28.83
$GC,847,-0.48,-146.0,126.0,-12.3,146,852,0.00,2.22,0.00,0.000,4,0.000,0.050,3015,786,3399,0,0,0,0,0,0,28.83,25.68,28.83
$GC,907,-0.48,-146.0,133.5,-12.5,150,914,0.12,2.20,0.00,0.000,6,0.140,0.050,3041,2201,3399,0,0,0,0,0,0,25.56,25.70,28.83
$GC,1226,-0.48,-146.0,164.6,-9.5,171,1231,0.00,2.22,0.00,0.000,4,0.000,0.063,3033,3607,3399,0,0,0,0,0,0,28.83,25.63,28.83
$GC,1256,-0.48,-146.0,167.7,-9.6,173,1261,0.00,2.15,0.00,0.000,6,0.000,0.044,3033,2197,3399,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1570,-0.48,-146.0,199.7,-10.2,194,1571,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2192,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1885,-0.48,-146.0,230.5,-9.9,210,1886,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2191,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2185,-0.48,-146.0,259.9,-9.7,225,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2191,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2485,-0.48,-146.0,290.4,-9.9,240,2491,0.00,2.30,0.00,0.000,4,0.000,0.063,3022,3613,3398,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2544,-0.48,-146.0,296.5,-10.2,243,2550,0.00,2.17,0.00,0.000,6,0.000,0.044,3022,2196,3399,0,0,0,0,0,0,28.83,25.91,28.83
$GC,2865,-0.48,-146.0,328.1,-9.4,259,2870,0.00,2.25,0.00,0.000,4,0.000,0.063,3012,3606,3398,0,0,0,0,0,0,28.83,25.67,28.83
$GC,2887,-0.48,-146.0,330.0,-9.3,260,2891,0.00,2.17,0.00,0.000,6,0.000,0.044,3012,2194,3398,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3200,-0.48,-146.0,361.3,-10.0,276,3205,0.00,2.15,0.00,0.000,4,0.000,0.051,3012,801,3397,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3233,-0.48,-146.0,363.3,-10.1,277,3240,0.12,2.17,0.00,0.000,6,0.142,0.051,3039,2201,3397,0,0,0,0,0,0,25.65,25.78,28.83
$GC,3540,-0.48,-146.0,389.6,-7.9,293,3545,0.00,2.22,0.00,0.000,4,0.000,0.065,3029,3605,3397,0,0,0,0,0,0,28.83,25.65,28.83
$GC,3602,-0.48,-146.0,394.7,-8.2,296,3606,0.00,2.17,0.00,0.000,6,0.000,0.046,3030,2198,3396,0,0,0,0,0,0,28.83,25.91,28.83
$GC,3920,-0.48,-146.0,422.1,-8.5,308,3921,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2195,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4220,-0.48,-146.0,446.5,-8.1,318,4221,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2195,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4520,-0.48,-146.0,469.5,-7.6,328,4525,0.00,2.30,0.00,0.000,4,0.000,0.066,3020,3617,3395,0,0,0,0,0,0,28.83,25.64,28.83
$GC,4560,-0.48,-146.0,472.0,-7.7,329,4565,0.00,2.20,0.00,0.000,6,0.000,0.046,3020,2193,3395,0,0,0,0,0,0,28.83,25.89,28.83
$GC,4880,-0.48,-146.0,498.8,-8.1,340,4881,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2191,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5180,-0.48,-146.0,523.7,-8.4,350,5181,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2191,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5480,-0.48,-146.0,548.5,-8.3,360,5485,0.00,2.30,0.00,0.000,4,0.000,0.066,3010,3607,3393,0,0,0,0,0,0,28.83,25.61,28.83
$GC,5520,-0.48,-146.0,551.0,-8.4,361,5526,0.12,2.17,0.00,0.000,6,0.129,0.047,3046,2202,3393,0,0,0,0,0,0,25.72,25.89,28.83
$GC,5840,-0.48,-146.0,573.6,-6.6,372,5841,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2197,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6140,-0.48,-146.0,593.5,-6.7,382,6146,0.00,2.30,0.00,0.000,4,0.000,0.067,3038,3610,3393,0,0,0,0,0,0,28.83,25.59,28.83
$GC,6173,-0.48,-146.0,595.6,-6.8,383,6177,0.00,2.20,0.00,0.000,6,0.000,0.047,3037,2198,3392,0,0,0,0,0,0,28.83,25.87,28.83
$GC,6500,-0.48,-146.0,620.0,-7.4,394,6505,0.00,2.30,0.00,0.000,4,0.000,0.067,3027,3616,3391,0,0,0,0,0,0,28.83,25.58,28.83
$GC,6533,-0.48,-146.0,622.2,-7.4,395,6537,0.00,2.20,0.00,0.000,6,0.000,0.047,3026,2196,3392,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6855,-0.48,-146.0,646.9,-7.5,406,6856,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2193,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7155,-0.48,-146.0,668.9,-7.3,416,7160,0.00,2.28,0.00,0.000,4,0.000,0.066,3017,3606,3391,0,0,0,0,0,0,28.83,25.56,28.83
$GC,7198,-0.48,-146.0,671.1,-7.3,417,7202,0.00,2.17,0.00,0.000,6,0.000,0.047,3017,2200,3391,0,0,0,0,0,0,28.83,25.85,28.83
$GC,7511,-0.48,-146.0,696.9,-7.9,428,7512,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2197,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7811,-0.48,-146.0,721.0,-8.1,438,7812,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2197,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8111,-0.48,-146.0,745.5,-8.2,448,8116,0.00,2.30,0.00,0.000,4,0.000,0.067,3007,3613,3390,0,0,0,0,0,0,28.83,25.53,28.83
$GC,8144,-0.48,-146.0,747.9,-8.1,449,8148,0.12,2.20,0.00,0.000,6,0.130,0.048,3043,2196,3390,0,0,0,0,0,0,25.67,25.83,28.83
$GC,8467,-0.48,-146.0,767.9,-5.8,460,8472,0.00,2.28,0.00,0.000,4,0.000,0.067,3035,3605,3389,0,0,0,0,0,0,28.83,25.53,28.83
$GC,8490,-0.48,-146.0,767.9,-5.8,460,8497,0.00,2.20,0.00,0.000,6,0.000,0.048,3035,2188,3389,0,0,0,0,0,0,28.83,25.83,28.83
$GC,8797,-0.48,-146.0,787.6,-6.1,471,8803,0.00,2.30,0.00,0.000,4,0.000,0.067,3025,3611,3389,0,0,0,0,0,0,28.83,25.53,28.83
$GC,8835,-0.48,-146.0,789.6,-6.2,472,8839,0.00,2.20,0.00,0.000,6,0.000,0.048,3025,2196,3389,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9152,-0.48,-146.0,811.3,-6.9,483,9153,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2194,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9453,-0.48,-146.0,831.7,-6.8,493,9458,0.00,2.28,0.00,0.000,4,0.000,0.068,3015,3606,3388,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9495,-0.48,-146.0,834.0,-6.9,494,9499,0.00,2.20,0.00,0.000,6,0.000,0.048,3015,2191,3388,0,0,0,0,0,0,28.83,25.81,28.83
$GC,9808,-0.48,-146.0,857.7,-7.3,505,9813,0.00,2.28,0.00,0.000,4,0.000,0.067,3005,3600,3387,0,0,0,0,0,0,28.83,25.51,28.83
$GC,9841,-0.48,-146.0,860.1,-7.6,506,9845,0.12,2.17,0.00,0.000,6,0.129,0.048,3041,2200,3387,0,0,0,0,0,0,25.64,25.80,28.83
$GC,10164,-0.48,-146.0,881.3,-6.6,517,10165,0.00,0.00,0.00,0.000,6,0.000,0.000,3041,2198,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10464,-0.48,-146.0,901.1,-6.6,527,10470,0.00,2.30,0.00,0.000,4,0.000,0.069,3032,3607,3387,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10512,-0.48,-146.0,903.0,-6.6,528,10516,0.00,2.20,0.00,0.000,6,0.000,0.049,3033,2192,3387,0,0,0,0,0,0,28.83,25.79,28.83
$GC,10819,-0.48,-146.0,925.5,-6.9,538,10824,0.00,2.28,0.00,0.000,4,0.000,0.068,3023,3603,3387,0,0,0,0,0,0,28.83,25.48,28.83
$GC,10857,-0.48,-146.0,927.6,-6.9,539,10861,0.00,2.17,0.00,0.000,6,0.000,0.049,3023,2202,3387,0,0,0,0,0,0,28.83,25.79,28.83
$GC,11175,-0.48,-146.0,951.5,-7.3,550,11180,0.00,2.28,0.00,0.000,4,0.000,0.068,3014,3606,3387,0,0,0,0,0,0,28.83,25.46,28.83
$GC,11198,-0.48,-146.0,951.5,-7.3,550,11204,0.00,2.20,0.00,0.000,6,0.000,0.049,3014,2191,3386,0,0,0,0,0,0,28.83,25.78,28.83
$GC,11505,-0.48,-146.0,977.3,-7.8,561,11510,0.00,2.28,0.00,0.000,4,0.000,0.068,3004,3600,3386,0,0,0,0,0,0,28.83,25.46,28.83
$GC,11534,-0.48,-146.0,979.6,-7.8,562,11541,0.12,2.20,0.00,0.000,6,0.128,0.049,3040,2193,3386,0,0,0,0,0,0,25.62,25.77,28.83
$STATE,11712,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11712,begin apogee
$GC,11719,-0.22,0.0,991.0,-6.1,568,11852,0.22,0.00,128.70,1.181,6,0.112,0.000,3122,2334,2794,0,0,0,0,0,0,25.84,28.83,23.34
$STATE,11855,end apogee,CONTROL_FINISHED_OK
$STATE,11855,begin climb
$GC,11858,0.48,146.0,994.6,0.0,572,12000,0.65,0.00,138.23,1.142,6,0.077,0.000,3344,2334,2198,0,0,0,0,0,0,24.43,28.83,22.44
$GC,12279,0.48,146.0,961.8,9.5,587,12280,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2334,2188,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12579,0.48,146.0,933.8,9.2,597,12580,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2334,2187,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12879,0.48,146.0,907.6,8.5,607,12885,0.00,2.30,0.00,0.000,4,0.000,0.069,3344,3725,2186,0,0,0,0,0,0,28.83,25.36,28.83
$GC,12909,0.48,146.0,904.7,8.7,608,12915,0.00,2.22,0.00,0.000,6,0.000,0.050,3354,2333,2185,0,0,0,0,0,0,28.83,25.53,28.83
$GC,13240,0.48,146.0,874.8,9.0,619,13245,0.00,2.22,0.00,0.000,4,0.000,0.058,3365,919,2185,0,0,0,0,0,0,28.83,25.52,28.83
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$STATE,23733,end climb,SURFACE_DEPTH_REACHED
$STATE,23733,begin surface coast
$FINISH,1.2,1.008831
$STATE,23770,end surface coast,CONTROL_FINISHED_OK
$STATE,23770,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.09
$INTERNAL_PRESSURE,9.04016
$TCM_TEMP,19.40
$XPDR_PINGS,2
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$10V_AH,10.1,31.778
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,296792
$DATA_FILE_SIZE,73455,1324
$CAP_FILE_SIZE,191353,0
$CFSIZE,260165632,235220992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.017,282.8,1
$GPS,161112,000906,4712.948,-12639.641,41,1.0,41,18.6