version: 66.11
glider: 187
mission: 2
dive: 287
start: 11 20 112 2 48 20
data:
$ID,187
$MISSION,2
$DIVE,287
$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,-1588119
$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,44
$R_STBD_OVSHOOT,23
$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
$GPS1,201112,024023,4732.168,-12553.318,56,1.4,74,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.08
$_SM_ANGLEo,-76.6
$GPS2,201112,024748,4732.209,-12553.417,31,1.4,36,18.7
$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,82.0,64868,-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,-146.0,0.0,0.0,0,69,0.00,0.00,-50.65,0.000,2,0.000,0.000,128,2196,2622,0,0,0,0,0,0,28.83,28.83,28.83
$GC,73,-0.48,-146.0,3.0,-2.9,8,115,11.45,2.35,-18.55,0.000,4,0.220,0.076,3025,3605,3392,0,0,0,0,0,0,24.91,25.44,26.10
$GC,237,-0.48,-146.0,32.3,-15.2,37,245,0.00,2.17,0.00,0.000,6,0.000,0.042,3024,2195,3394,0,0,0,0,0,0,28.83,25.63,28.83
$GC,554,-0.48,-146.0,82.5,-16.3,98,559,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2194,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,871,-0.48,-146.0,123.6,-11.9,156,872,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2194,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1171,-0.48,-146.0,159.8,-11.8,176,1174,0.00,2.15,0.00,0.000,4,0.000,0.049,3024,804,3397,0,0,0,0,0,0,28.83,25.67,28.83
$GC,1233,-0.48,-146.0,166.7,-11.1,180,1239,0.00,2.20,0.00,0.000,6,0.000,0.050,3016,2212,3397,0,0,0,0,0,0,28.83,25.68,28.83
$GC,1548,-0.48,-146.0,201.1,-11.2,201,1550,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2212,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1848,-0.48,-146.0,233.6,-10.6,216,1853,0.00,2.20,0.00,0.000,4,0.000,0.063,3005,3602,3397,0,0,0,0,0,0,28.83,25.61,28.83
$GC,1900,-0.48,-146.0,237.8,-10.4,218,1908,0.12,2.15,0.00,0.000,6,0.137,0.043,3040,2194,3397,0,0,0,0,0,0,25.66,25.86,28.83
$GC,2208,-0.48,-146.0,264.5,-8.0,234,2213,0.00,2.12,0.00,0.000,4,0.000,0.050,3040,803,3396,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2236,-0.48,-146.0,266.0,-7.9,235,2240,0.00,2.17,0.00,0.000,6,0.000,0.050,3033,2204,3397,0,0,0,0,0,0,28.83,25.72,28.83
$GC,2543,-0.48,-146.0,292.6,-8.7,250,2548,0.00,2.22,0.00,0.000,4,0.000,0.063,3023,3605,3396,0,0,0,0,0,0,28.83,25.61,28.83
$GC,2582,-0.48,-146.0,296.3,-9.0,252,2588,0.00,2.17,0.00,0.000,6,0.000,0.044,3023,2193,3397,0,0,0,0,0,0,28.83,25.88,28.83
$GC,2903,-0.48,-146.0,325.4,-9.0,268,2904,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2189,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3203,-0.48,-146.0,351.9,-8.9,283,3208,0.00,2.28,0.00,0.000,4,0.000,0.063,3012,3608,3396,0,0,0,0,0,0,28.83,25.61,28.83
$GC,3236,-0.48,-146.0,353.7,-8.9,284,3242,0.00,2.17,0.00,0.000,6,0.000,0.044,3012,2187,3396,0,0,0,0,0,0,28.83,25.88,28.83
$GC,3543,-0.48,-146.0,385.7,-10.2,300,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2186,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3863,-0.48,-146.0,417.9,-9.8,313,3864,0.00,0.00,0.00,0.000,6,0.000,0.000,3012,2186,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4163,-0.48,-146.0,447.8,-9.9,323,4168,0.00,2.30,0.00,0.000,4,0.000,0.063,3002,3608,3395,0,0,0,0,0,0,28.83,25.59,28.83
$GC,4193,-0.48,-146.0,451.0,-10.0,324,4200,0.10,2.15,0.00,0.000,6,0.110,0.044,3039,2203,3395,0,0,0,0,0,0,25.63,25.88,28.83
$GC,4523,-0.48,-146.0,477.3,-7.8,335,4524,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2200,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4823,-0.48,-146.0,501.4,-8.2,345,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2200,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5123,-0.48,-146.0,526.1,-8.2,355,5124,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2200,3394,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5423,-0.48,-146.0,550.4,-8.2,365,5424,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2200,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5723,-0.48,-146.0,574.6,-7.9,375,5728,0.00,2.28,0.00,0.000,4,0.000,0.066,3031,3609,3392,0,0,0,0,0,0,28.83,25.55,28.83
$GC,5752,-0.48,-146.0,577.2,-7.9,376,5759,0.00,2.20,0.00,0.000,6,0.000,0.046,3030,2193,3392,0,0,0,0,0,0,28.83,25.85,28.83
$GC,6083,-0.48,-146.0,604.2,-7.8,387,6088,0.00,2.28,0.00,0.000,4,0.000,0.066,3020,3607,3391,0,0,0,0,0,0,28.83,25.54,28.83
$GC,6115,-0.48,-146.0,606.6,-7.9,388,6119,0.00,2.17,0.00,0.000,6,0.000,0.046,3020,2201,3391,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6438,-0.48,-146.0,632.9,-7.9,399,6443,0.00,2.28,0.00,0.000,4,0.000,0.066,3011,3610,3391,0,0,0,0,0,0,28.83,25.53,28.83
$GC,6476,-0.48,-146.0,635.4,-8.0,400,6480,0.00,2.17,0.00,0.000,6,0.000,0.047,3011,2203,3391,0,0,0,0,0,0,28.83,25.84,28.83
$GC,6793,-0.48,-146.0,661.6,-8.0,411,6799,0.12,2.20,0.00,0.000,4,0.142,0.051,3052,797,3390,0,0,0,0,0,0,26.07,25.65,28.83
$GC,6826,-0.48,-146.0,663.6,-7.7,412,6830,0.00,2.22,0.00,0.000,6,0.000,0.054,3048,2206,3390,0,0,0,0,0,0,28.83,25.65,28.83
$GC,7148,-0.48,-146.0,683.4,-6.1,423,7153,0.00,2.22,0.00,0.000,4,0.000,0.067,3037,3600,3390,0,0,0,0,0,0,28.83,25.51,28.83
$GC,7216,-0.48,-146.0,687.4,-6.5,425,7220,0.00,2.17,0.00,0.000,6,0.000,0.047,3037,2192,3390,0,0,0,0,0,0,28.83,25.82,28.83
$GC,7534,-0.48,-146.0,709.3,-6.5,436,7535,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,2190,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7834,-0.48,-146.0,728.4,-6.5,446,7835,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2190,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8134,-0.48,-146.0,746.9,-6.0,456,8139,0.00,2.33,0.00,0.000,4,0.000,0.067,3027,3614,3389,0,0,0,0,0,0,28.83,25.48,28.83
$GC,8194,-0.48,-146.0,750.7,-6.1,458,8200,0.00,2.17,0.00,0.000,6,0.000,0.047,3027,2209,3389,0,0,0,0,0,0,28.83,25.82,28.83
$GC,8524,-0.48,-146.0,772.5,-6.7,469,8529,0.00,2.17,0.00,0.000,4,0.000,0.053,3027,798,3389,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8556,-0.48,-146.0,774.8,-6.9,470,8560,0.00,2.20,0.00,0.000,6,0.000,0.054,3019,2200,3388,0,0,0,0,0,0,28.83,25.63,28.83
$GC,8879,-0.48,-146.0,799.0,-7.6,481,8880,0.00,0.00,0.00,0.000,6,0.000,0.000,3018,2200,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9178,-0.48,-146.0,822.4,-7.8,491,9184,0.00,2.28,0.00,0.000,4,0.000,0.067,3008,3607,3388,0,0,0,0,0,0,28.83,25.46,28.83
$GC,9231,-0.48,-146.0,824.6,-7.8,492,9239,0.12,2.20,0.00,0.000,6,0.132,0.047,3044,2187,3387,0,0,0,0,0,0,25.62,25.79,28.83
$GC,9539,-0.48,-146.0,846.4,-6.4,503,9540,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,2186,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9839,-0.48,-146.0,865.7,-6.3,513,9844,0.00,2.35,0.00,0.000,4,0.000,0.067,3036,3612,3387,0,0,0,0,0,0,28.83,25.45,28.83
$GC,9871,-0.48,-146.0,867.7,-6.3,514,9875,0.00,2.22,0.00,0.000,6,0.000,0.049,3035,2195,3387,0,0,0,0,0,0,28.83,25.78,28.83
$GC,10199,-0.48,-146.0,891.0,-7.2,525,10204,0.00,2.30,0.00,0.000,4,0.000,0.067,3026,3612,3387,0,0,0,0,0,0,28.83,25.44,28.83
$GC,10231,-0.48,-146.0,893.3,-7.3,526,10235,0.00,2.20,0.00,0.000,6,0.000,0.048,3026,2198,3387,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10554,-0.48,-146.0,916.7,-7.1,537,10559,0.00,2.30,0.00,0.000,4,0.000,0.068,3016,3609,3387,0,0,0,0,0,0,28.83,25.43,28.83
$GC,10602,-0.48,-146.0,918.7,-7.1,538,10606,0.00,2.20,0.00,0.000,6,0.000,0.047,3016,2194,3386,0,0,0,0,0,0,28.83,25.77,28.83
$GC,10908,-0.48,-146.0,943.3,-7.6,548,10914,0.00,2.33,0.00,0.000,4,0.000,0.068,3006,3625,3386,0,0,0,0,0,0,28.83,25.42,28.83
$GC,10939,-0.48,-146.0,945.6,-7.6,549,10945,0.08,2.20,0.00,0.000,6,0.112,0.047,3036,2205,3386,0,0,0,0,0,0,25.57,25.77,28.83
$GC,11269,-0.48,-146.0,968.5,-6.7,560,11274,0.00,2.28,0.00,0.000,4,0.000,0.068,3028,3606,3385,0,0,0,0,0,0,28.83,25.42,28.83
$GC,11298,-0.48,-146.0,970.7,-6.8,561,11304,0.00,2.20,0.00,0.000,6,0.000,0.047,3028,2193,3386,0,0,0,0,0,0,28.83,25.77,28.83
$STATE,11566,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11566,begin apogee
$GC,11573,-0.22,0.0,990.5,-7.3,570,11709,0.28,0.00,129.38,1.176,6,0.110,0.000,3123,2335,2793,0,0,0,0,0,0,25.72,28.83,23.30
$STATE,11712,end apogee,CONTROL_FINISHED_OK
$STATE,11712,begin climb
$GC,11715,0.48,146.0,994.9,0.0,574,11857,0.65,0.00,138.02,1.144,6,0.080,0.000,3344,2335,2198,0,0,0,0,0,0,24.44,28.83,22.37
$GC,12138,0.48,146.0,965.1,8.8,589,12144,0.00,2.35,0.00,0.000,4,0.000,0.056,3355,920,2188,0,0,0,0,0,0,28.83,24.82,28.83
$GC,12161,0.48,146.0,965.1,8.8,589,12169,0.00,2.30,0.00,0.000,6,0.000,0.056,3355,2322,2187,0,0,0,0,0,0,28.83,24.88,28.83
$GC,12469,0.48,146.0,934.9,9.2,600,12474,0.00,2.33,0.00,0.000,4,0.000,0.069,3355,3737,2186,0,0,0,0,0,0,28.83,25.26,28.83
$GC,12531,0.48,146.0,928.3,10.0,602,12535,0.00,2.25,0.00,0.000,6,0.000,0.050,3365,2332,2185,0,0,0,0,0,0,28.83,25.45,28.83
$GC,12853,0.48,146.0,895.3,10.3,613,12859,0.00,2.35,0.00,0.000,4,0.000,0.069,3365,3735,2184,0,0,0,0,0,0,28.83,25.43,28.83
$GC,12884,0.48,146.0,891.7,10.7,614,12889,0.00,2.22,0.00,0.000,6,0.000,0.050,3375,2326,2184,0,0,0,0,0,0,28.83,25.61,28.83
$GC,13213,0.48,146.0,854.3,10.9,625,13214,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2321,2184,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13513,0.48,146.0,820.3,11.7,635,13519,0.00,2.35,0.00,0.000,4,0.000,0.069,3376,3745,2183,0,0,0,0,0,0,28.83,25.52,28.83
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$STATE,23512,end climb,SURFACE_DEPTH_REACHED
$STATE,23512,begin surface coast
$FINISH,1.0,1.001787
$STATE,23577,end surface coast,CONTROL_FINISHED_OK
$STATE,23577,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,44.36
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$XPDR_PINGS,0
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$10V_AH,10.0,33.591
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,296768
$DATA_FILE_SIZE,73547,1316
$CAP_FILE_SIZE,194367,0
$CFSIZE,260165632,233840640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.162,278.3,1
$GPS,201112,092453,4731.896,-12551.215,98,0.9,98,18.7