version: 66.11
glider: 187
mission: 2
dive: 800
start: 4 15 113 8 41 23
data:
$ID,187
$MISSION,2
$DIVE,800
$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,470
$T_MISSION,520
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,10
$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,140
$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,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,3
$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,-1589988.6
$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,43
$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,20
$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
$GPS1,150413,083324,4741.880,-12534.690,44,1.8,44,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,2.24
$_SM_ANGLEo,-76.1
$GPS2,150413,084049,4741.844,-12534.736,16,1.2,16,18.7
$SPEED_LIMITS,0.122,0.210
$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,39.3,35680,-13.3,-7.021,-18.50
$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,-0.47,-136.3,0.0,0.0,0,74,0.00,0.00,-55.20,0.000,2,0.000,0.000,111,2198,2450,0,0,0,0,0,0,28.83,28.83,28.83
$GC,78,-0.47,-136.3,3.1,-4.1,10,123,11.68,2.28,-23.90,0.000,4,0.214,0.066,3034,780,3352,0,0,0,0,0,0,24.49,25.28,26.21
$GC,277,-0.47,-136.3,35.3,-16.3,47,285,0.00,2.25,0.00,0.000,6,0.000,0.052,3025,2201,3354,0,0,0,0,0,0,28.83,25.12,28.83
$GC,594,-0.47,-136.3,81.0,-12.2,108,601,0.00,2.30,0.00,0.000,4,0.000,0.062,3015,3610,3355,0,0,0,0,0,0,28.83,24.89,28.83
$GC,620,-0.47,-136.3,84.7,-13.2,112,627,0.00,2.20,0.00,0.000,6,0.000,0.044,3015,2205,3355,0,0,0,0,0,0,28.83,25.29,28.83
$GC,934,-0.47,-136.3,122.5,-13.1,171,943,0.00,2.28,0.00,0.000,4,0.000,0.050,3014,795,3355,0,0,0,0,0,0,28.83,25.04,28.83
$GC,1024,-0.47,-136.3,133.1,-11.5,180,1033,0.10,2.28,0.00,0.000,6,0.113,0.050,3041,2199,3355,0,0,0,0,0,0,24.83,25.05,28.83
$GC,1335,-0.47,-136.3,162.9,-9.1,201,1342,0.00,2.35,0.00,0.000,4,0.000,0.063,3032,3609,3355,0,0,0,0,0,0,28.83,24.82,28.83
$GC,1373,-0.47,-136.3,166.8,-9.5,205,1382,0.00,2.28,0.00,0.000,6,0.000,0.043,3032,2192,3355,0,0,0,0,0,0,28.83,25.28,28.83
$GC,1684,-0.47,-136.3,197.5,-9.9,226,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2191,3356,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1998,-0.47,-136.3,226.4,-9.1,242,2002,0.00,2.20,0.00,0.000,4,0.000,0.050,3032,799,3356,0,0,0,0,0,0,28.83,24.99,28.83
$GC,2023,-0.47,-136.3,229.2,-9.1,243,2029,0.00,2.30,0.00,0.000,6,0.000,0.050,3028,2206,3356,0,0,0,0,0,0,28.83,24.99,28.83
$GC,2345,-0.47,-136.3,258.5,-9.3,259,2349,0.00,2.30,0.00,0.000,4,0.000,0.062,3018,3614,3356,0,0,0,0,0,0,28.83,24.76,28.83
$GC,2373,-0.47,-136.3,260.4,-9.3,260,2382,0.00,2.28,0.00,0.000,6,0.000,0.044,3017,2202,3356,0,0,0,0,0,0,28.83,25.23,28.83
$GC,2686,-0.47,-136.3,291.9,-9.8,276,2690,0.00,2.22,0.00,0.000,4,0.000,0.050,3017,792,3355,0,0,0,0,0,0,28.83,24.96,28.83
$GC,2742,-0.47,-136.3,296.8,-9.8,278,2747,0.12,2.30,0.00,0.000,6,0.132,0.050,3043,2200,3355,0,0,0,0,0,0,24.83,24.96,28.83
$GC,3046,-0.47,-136.3,321.7,-7.8,293,3050,0.00,2.33,0.00,0.000,4,0.000,0.063,3034,3615,3355,0,0,0,0,0,0,28.83,24.72,28.83
$GC,3114,-0.47,-136.3,327.5,-8.2,296,3119,0.00,2.28,0.00,0.000,6,0.000,0.044,3034,2201,3355,0,0,0,0,0,0,28.83,25.22,28.83
$GC,3434,-0.47,-136.3,353.9,-8.5,312,3439,0.00,2.28,0.00,0.000,4,0.000,0.051,3034,794,3355,0,0,0,0,0,0,28.83,24.93,28.83
$GC,3475,-0.47,-136.3,357.4,-8.4,314,3479,0.00,2.28,0.00,0.000,6,0.000,0.052,3027,2192,3355,0,0,0,0,0,0,28.83,24.94,28.83
$GC,3794,-0.47,-136.3,385.5,-8.5,330,3799,0.00,2.38,0.00,0.000,4,0.000,0.063,3017,3606,3355,0,0,0,0,0,0,28.83,24.68,28.83
$GC,3842,-0.47,-136.3,388.9,-8.5,332,3846,0.00,2.30,0.00,0.000,6,0.000,0.044,3017,2189,3355,0,0,0,0,0,0,28.83,25.19,28.83
$GC,4145,-0.47,-136.3,416.0,-8.8,344,4146,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2186,3355,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4444,-0.47,-136.3,442.4,-8.8,354,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2186,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4744,-0.47,-136.3,469.0,-8.9,364,4745,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2186,3354,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5045,-0.47,-136.3,495.1,-8.7,374,5050,0.00,2.40,0.00,0.000,4,0.000,0.063,3008,3608,3354,0,0,0,0,0,0,28.83,24.63,28.83
$GC,5073,-0.47,-136.3,497.5,-8.6,375,5080,0.12,2.30,0.00,0.000,6,0.126,0.044,3045,2196,3353,0,0,0,0,0,0,24.97,25.15,28.83
$GC,5404,-0.47,-136.3,518.8,-6.2,386,5409,0.00,2.40,0.00,0.000,4,0.000,0.063,3036,3606,3353,0,0,0,0,0,0,28.83,24.61,28.83
$GC,5435,-0.47,-136.3,520.8,-6.3,387,5440,0.00,2.30,0.00,0.000,6,0.000,0.045,3036,2191,3353,0,0,0,0,0,0,28.83,25.14,28.83
$GC,5764,-0.47,-136.3,545.3,-7.6,398,5769,0.00,2.40,0.00,0.000,4,0.000,0.064,3027,3604,3353,0,0,0,0,0,0,28.83,24.59,28.83
$GC,5812,-0.47,-136.3,547.6,-7.8,399,5816,0.00,2.30,0.00,0.000,6,0.000,0.044,3026,2193,3353,0,0,0,0,0,0,28.83,25.14,28.83
$GC,6114,-0.47,-136.3,574.1,-8.1,409,6115,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2191,3352,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6415,-0.47,-136.3,599.1,-8.3,419,6420,0.00,2.40,0.00,0.000,4,0.000,0.064,3017,3605,3352,0,0,0,0,0,0,28.83,24.58,28.83
$GC,6444,-0.47,-136.3,601.6,-8.3,420,6449,0.00,2.28,0.00,0.000,6,0.000,0.045,3017,2206,3352,0,0,0,0,0,0,28.83,25.11,28.83
$GC,6774,-0.47,-136.3,628.3,-7.7,431,6779,0.00,2.38,0.00,0.000,4,0.000,0.064,3008,3606,3351,0,0,0,0,0,0,28.83,24.57,28.83
$GC,6823,-0.47,-136.3,630.6,-7.7,432,6832,0.12,2.30,0.00,0.000,6,0.125,0.045,3044,2194,3351,0,0,0,0,0,0,24.93,25.10,28.83
$GC,7134,-0.47,-136.3,649.3,-5.0,443,7139,0.00,2.40,0.00,0.000,4,0.000,0.065,3036,3607,3351,0,0,0,0,0,0,28.83,24.54,28.83
$GC,7172,-0.47,-136.3,650.9,-5.0,444,7176,0.00,2.30,0.00,0.000,6,0.000,0.046,3036,2204,3351,0,0,0,0,0,0,28.83,25.09,28.83
$GC,7486,-0.47,-136.3,669.3,-6.0,455,7490,0.00,2.25,0.00,0.000,4,0.000,0.054,3036,793,3351,0,0,0,0,0,0,28.83,24.79,28.83
$GC,7515,-0.47,-136.3,671.2,-6.1,456,7520,0.00,2.33,0.00,0.000,6,0.000,0.054,3029,2207,3351,0,0,0,0,0,0,28.83,24.79,28.83
$GC,7845,-0.47,-136.3,693.4,-6.7,467,7850,0.00,2.38,0.00,0.000,4,0.000,0.066,3020,3606,3351,0,0,0,0,0,0,28.83,24.52,28.83
$GC,7915,-0.47,-136.3,697.7,-6.8,469,7920,0.00,2.28,0.00,0.000,6,0.000,0.046,3020,2202,3350,0,0,0,0,0,0,28.83,25.09,28.83
$GC,8234,-0.47,-136.3,721.4,-7.2,480,8240,0.00,2.40,0.00,0.000,4,0.000,0.066,3011,3606,3350,0,0,0,0,0,0,28.83,24.51,28.83
$GC,8264,-0.47,-136.3,723.6,-7.1,481,8270,0.12,2.33,0.00,0.000,6,0.120,0.047,3046,2195,3350,0,0,0,0,0,0,24.89,25.04,28.83
$GC,8596,-0.47,-136.3,743.2,-5.9,492,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2190,3350,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8895,-0.47,-136.3,761.1,-5.9,502,8896,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2190,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9195,-0.47,-136.3,778.3,-5.6,512,9196,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2190,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9496,-0.47,-136.3,793.0,-4.6,522,9497,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,2190,3349,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9795,-0.47,-136.3,807.0,-4.7,532,9796,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,2190,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10095,-0.47,-136.3,821.4,-4.9,542,10100,0.00,2.42,0.00,0.000,4,0.000,0.067,3040,3605,3348,0,0,0,0,0,0,28.83,24.44,28.83
$GC,10124,-0.47,-136.3,823.0,-5.0,543,10130,0.00,2.30,0.00,0.000,6,0.000,0.047,3040,2200,3348,0,0,0,0,0,0,28.83,25.01,28.83
$GC,10456,-0.47,-136.3,841.6,-5.7,554,10457,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2198,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10755,-0.47,-136.3,860.7,-6.4,564,10756,0.00,0.00,0.00,0.000,6,0.000,0.000,3040,2198,3348,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11055,-0.47,-136.3,880.6,-6.5,574,11060,0.00,2.30,0.00,0.000,4,0.000,0.054,3039,800,3348,0,0,0,0,0,0,28.83,24.68,28.83
$GC,11086,-0.47,-136.3,882.6,-6.5,575,11090,0.00,2.30,0.00,0.000,6,0.000,0.055,3038,2223,3347,0,0,0,0,0,0,28.83,24.67,28.83
$GC,11415,-0.47,-136.3,904.3,-6.4,586,11420,0.00,2.38,0.00,0.000,4,0.000,0.067,3028,3610,3347,0,0,0,0,0,0,28.83,24.40,28.83
$GC,11475,-0.47,-136.3,908.4,-6.6,588,11480,0.00,2.33,0.00,0.000,6,0.000,0.047,3027,2196,3347,0,0,0,0,0,0,28.83,24.97,28.83
$GC,11806,-0.47,-136.3,929.0,-6.1,599,11810,0.00,2.25,0.00,0.000,4,0.000,0.054,3027,793,3347,0,0,0,0,0,0,28.83,24.68,28.83
$GC,11843,-0.47,-136.3,930.8,-6.1,600,11847,0.00,2.35,0.00,0.000,6,0.000,0.055,3026,2203,3347,0,0,0,0,0,0,28.83,24.66,28.83
$GC,12155,-0.47,-136.3,950.6,-6.1,611,12160,0.00,2.40,0.00,0.000,4,0.000,0.067,3017,3606,3347,0,0,0,0,0,0,28.83,24.39,28.83
$GC,12216,-0.47,-136.3,954.5,-6.4,613,12220,0.00,2.30,0.00,0.000,6,0.000,0.047,3017,2201,3347,0,0,0,0,0,0,28.83,24.96,28.83
$GC,12545,-0.47,-136.3,976.5,-6.9,624,12547,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2200,3347,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,12752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,12752,begin apogee
$GC,12759,-0.22,0.0,990.5,-6.7,631,12891,0.30,0.00,125.95,1.151,6,0.105,0.000,3120,2340,2794,0,0,0,0,0,0,25.25,28.83,22.71
$STATE,12892,end apogee,CONTROL_FINISHED_OK
$STATE,12892,begin climb
$GC,12896,0.47,136.3,993.9,0.0,635,13037,0.68,2.60,133.62,1.115,4,0.071,0.054,3359,921,2237,0,0,0,0,0,0,24.27,23.35,21.92
$GC,13105,0.47,136.3,982.7,7.3,643,13111,0.00,2.42,0.00,0.000,6,0.000,0.055,3360,2322,2231,0,0,0,0,0,0,28.83,24.28,28.83
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$STATE,25641,end climb,SURFACE_DEPTH_REACHED
$STATE,25641,begin surface coast
$FINISH,1.3,1.002128
$STATE,25677,end surface coast,CONTROL_FINISHED_OK
$STATE,25677,begin surface
$SM_CCo,25757,0.00,0.000,0,0,1174,397.39
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$TT8_MAMPS,0.026964,0.026964
$HUMID,48.62
$INTERNAL_PRESSURE,9.04993
$TCM_TEMP,18.90
$XPDR_PINGS,2
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$10V_AH,9.7,84.202
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,296944
$DATA_FILE_SIZE,76836,1407
$CAP_FILE_SIZE,197028,0
$CFSIZE,260165632,190009344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.081,213.0,1
$GPS,150413,155200,4743.065,-12530.413,41,1.8,41,18.7