version: 66.11
glider: 187
mission: 2
dive: 12
start: 9 13 112 18 17 10
data:
$ID,187
$MISSION,2
$DIVE,12
$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,1
$HD_A,0.0046000001
$HD_B,0.0099999998
$HD_C,1.34e-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,-1587625.6
$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,2175
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$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,2732
$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
$GPS1,130912,180836,4744.015,-12519.591,26,2.0,26,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-78.8
$GPS2,130912,181609,4743.974,-12519.585,14,2.1,33,18.7
$SPEED_LIMITS,0.127,0.235
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.223,-0.075
$KALMAN_X,1989.2,312.6,52.4,-19921.0,1015.0
$KALMAN_Y,119.8,-239.7,294.0,-9507.3,-1071.1
$MHEAD_RNG_PITCHd_Wd,216.5,150726,-14.3,-7.333,-17.34
$D_GRID,908
$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,-0.51,-146.0,0.0,0.0,0,100,0.00,0.00,-81.32,0.000,2,0.000,0.000,131,2181,3108,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.51,-146.0,4.0,-9.5,13,127,11.43,2.22,-3.78,0.000,4,0.234,0.068,3025,763,3332,0,0,0,0,0,0,25.31,25.56,25.86
$GC,389,-0.51,-146.0,56.3,-13.7,70,396,0.00,2.25,0.00,0.000,6,0.000,0.051,3017,2181,3337,0,0,0,0,0,0,28.83,25.77,28.83
$GC,704,-0.51,-146.0,96.5,-11.1,131,713,0.00,2.28,0.00,0.000,4,0.000,0.064,3006,3593,3337,0,0,0,0,0,0,28.83,25.87,28.83
$GC,737,-0.51,-146.0,100.1,-11.5,136,745,0.00,2.22,0.00,0.000,6,0.000,0.044,3005,2165,3337,0,0,0,0,0,0,28.83,25.94,28.83
$GC,1043,-0.51,-146.0,137.8,-12.4,167,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,2163,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1345,-0.51,-146.0,172.0,-10.7,197,1354,0.00,2.10,0.00,0.000,4,0.000,0.052,3006,773,3337,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1387,-0.51,-146.0,176.7,-10.7,201,1397,0.10,2.12,0.00,0.000,6,0.132,0.051,3030,2171,3337,0,0,0,0,0,0,25.98,26.07,28.83
$GC,1697,-0.51,-146.0,204.6,-9.0,232,1706,0.00,2.20,0.00,0.000,4,0.000,0.065,3022,3583,3336,0,0,0,0,0,0,28.83,26.09,28.83
$GC,1740,-0.51,-146.0,208.5,-9.1,236,1744,0.00,2.15,0.00,0.000,6,0.000,0.045,3022,2174,3336,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2053,-0.51,-146.0,235.9,-9.2,267,2062,0.00,2.10,0.00,0.000,4,0.000,0.053,3022,779,3335,0,0,0,0,0,0,28.83,26.15,28.83
$GC,2096,-0.51,-146.0,240.0,-9.5,271,2105,0.00,2.12,0.00,0.000,6,0.000,0.052,3012,2179,3335,0,0,0,0,0,0,28.83,26.16,28.83
$GC,2405,-0.51,-146.0,272.8,-11.3,302,2414,0.00,2.20,0.00,0.000,4,0.000,0.065,3002,3584,3335,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2438,-0.51,-146.0,276.6,-11.3,305,2446,0.00,2.12,0.00,0.000,6,0.000,0.046,3001,2172,3335,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2748,-0.51,-146.0,311.3,-10.7,336,2752,0.00,2.12,0.00,0.000,4,0.000,0.053,3002,775,3334,0,0,0,0,0,0,28.83,26.22,28.83
$GC,2793,-0.51,-146.0,316.0,-11.2,340,2800,0.15,2.15,0.00,0.000,6,0.151,0.053,3033,2176,3334,0,0,0,0,0,0,26.13,26.22,28.83
$GC,3101,-0.51,-146.0,343.8,-8.7,371,3110,0.00,2.22,0.00,0.000,4,0.000,0.067,3025,3590,3334,0,0,0,0,0,0,28.83,26.21,28.83
$GC,3143,-0.51,-146.0,347.5,-9.1,375,3153,0.00,2.12,0.00,0.000,6,0.000,0.046,3025,2174,3333,0,0,0,0,0,0,28.83,26.27,28.83
$GC,3454,-0.51,-146.0,375.7,-9.0,406,3455,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2174,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3756,-0.51,-146.0,402.5,-8.3,436,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2174,3333,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4066,-0.51,-146.0,427.5,-8.0,467,4076,0.00,2.10,0.00,0.000,4,0.000,0.054,3025,780,3332,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4099,-0.51,-146.0,430.5,-8.5,470,4108,0.00,2.15,0.00,0.000,6,0.000,0.055,3015,2184,3332,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4409,-0.51,-146.0,459.1,-9.6,501,4419,0.00,2.22,0.00,0.000,4,0.000,0.067,3005,3597,3331,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4462,-0.51,-146.0,464.1,-9.8,506,4471,0.00,2.17,0.00,0.000,6,0.000,0.047,3005,2166,3331,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4772,-0.51,-146.0,495.0,-9.7,537,4781,0.00,2.10,0.00,0.000,4,0.000,0.054,3005,779,3330,0,0,0,0,0,0,28.83,26.31,28.83
$GC,4805,-0.51,-146.0,498.2,-10.1,540,4815,0.10,2.12,0.00,0.000,6,0.132,0.055,3030,2176,3330,0,0,0,0,0,0,26.22,26.32,28.83
$GC,5115,-0.51,-146.0,523.1,-8.0,571,5125,0.00,2.22,0.00,0.000,4,0.000,0.068,3022,3593,3329,0,0,0,0,0,0,28.83,26.28,28.83
$GC,5171,-0.51,-146.0,527.7,-8.8,576,5179,0.00,2.17,0.00,0.000,6,0.000,0.048,3022,2179,3329,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5478,-0.51,-146.0,554.1,-8.3,607,5480,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2179,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5781,-0.51,-146.0,578.3,-7.5,637,5786,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2179,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6100,-0.51,-146.0,602.5,-7.4,667,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,3022,2179,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6398,-0.51,-146.0,624.3,-7.3,677,6404,0.00,2.12,0.00,0.000,4,0.000,0.056,3022,776,3328,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6431,-0.51,-146.0,626.7,-7.3,678,6435,0.00,2.15,0.00,0.000,6,0.000,0.056,3013,2180,3328,0,0,0,0,0,0,28.83,26.36,28.83
$GC,6753,-0.51,-146.0,651.2,-7.6,689,6758,0.00,2.20,0.00,0.000,4,0.000,0.069,3003,3587,3328,0,0,0,0,0,0,28.83,26.33,28.83
$GC,6813,-0.51,-146.0,656.1,-7.8,691,6819,0.00,2.15,0.00,0.000,6,0.000,0.049,3003,2171,3328,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7143,-0.51,-146.0,683.3,-8.2,702,7144,0.00,0.00,0.00,0.000,6,0.000,0.000,3002,2168,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7443,-0.51,-146.0,709.7,-9.1,712,7449,0.00,2.20,0.00,0.000,4,0.000,0.069,2993,3581,3326,0,0,0,0,0,0,28.83,26.34,28.83
$GC,7486,-0.51,-146.0,712.4,-9.2,713,7491,0.15,2.15,0.00,0.000,6,0.145,0.049,3035,2175,3326,0,0,0,0,0,0,26.28,26.39,28.83
$GC,7800,-0.51,-146.0,736.3,-7.1,724,7801,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2172,3326,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8099,-0.51,-146.0,757.1,-6.8,734,8100,0.00,0.00,0.00,0.000,6,0.000,0.000,3035,2172,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8400,-0.51,-146.0,776.9,-6.6,744,8405,0.00,2.20,0.00,0.000,4,0.000,0.070,3026,3583,3325,0,0,0,0,0,0,28.83,26.35,28.83
$GC,8452,-0.51,-146.0,779.1,-6.6,745,8459,0.00,2.15,0.00,0.000,6,0.000,0.050,3026,2162,3325,0,0,0,0,0,0,28.83,26.41,28.83
$GC,8759,-0.51,-146.0,802.8,-7.1,756,8761,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2162,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9059,-0.51,-146.0,823.2,-6.8,766,9065,0.00,2.22,0.00,0.000,4,0.000,0.070,3017,3583,3325,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9089,-0.51,-146.0,825.3,-6.8,767,9095,0.00,2.15,0.00,0.000,6,0.000,0.050,3016,2170,3324,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9419,-0.51,-146.0,848.0,-6.8,778,9420,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,2167,3324,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9720,-0.51,-146.0,868.7,-7.1,788,9725,0.00,2.22,0.00,0.000,4,0.000,0.070,3007,3587,3324,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9780,-0.51,-146.0,873.4,-7.5,790,9785,0.00,2.12,0.00,0.000,6,0.000,0.050,3007,2178,3324,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10109,-0.51,-146.0,899.5,-7.8,801,10110,0.00,0.00,0.00,0.000,6,0.000,0.000,3007,2174,3324,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,10226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10226,begin apogee
$GC,10233,-0.22,0.0,908.7,-7.7,805,10365,0.32,0.00,126.97,1.190,6,0.129,0.000,3117,2412,2731,0,0,0,0,0,0,26.31,28.83,23.46
$STATE,10368,end apogee,CONTROL_FINISHED_OK
$STATE,10368,begin climb
$GC,10371,0.51,146.0,911.9,0.0,809,10514,0.73,2.40,133.95,1.157,4,0.091,0.069,3355,3790,2135,0,0,0,0,0,0,24.42,24.07,23.26
$GC,10527,0.51,146.0,901.3,8.1,815,10533,0.00,2.30,0.00,0.000,6,0.000,0.050,3365,2403,2131,0,0,0,0,0,0,28.83,24.42,28.83
$GC,10857,0.51,146.0,864.7,11.3,826,10863,0.00,2.25,0.00,0.000,4,0.000,0.058,3376,996,2124,0,0,0,0,0,0,28.83,25.39,28.83
$GC,10895,0.51,146.0,861.4,11.3,827,10900,0.00,2.28,0.00,0.000,6,0.000,0.059,3376,2394,2124,0,0,0,0,0,0,28.83,25.43,28.83
$GC,11214,0.51,146.0,823.0,11.7,838,11220,0.00,2.25,0.00,0.000,4,0.000,0.071,3376,3793,2123,0,0,0,0,0,0,28.83,25.67,28.83
$GC,11261,0.51,146.0,819.3,11.8,839,11265,0.00,2.20,0.00,0.000,6,0.000,0.051,3386,2391,2122,0,0,0,0,0,0,28.83,25.72,28.83
$GC,11568,0.51,146.0,781.2,11.1,849,11569,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,2389,2122,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11868,0.51,146.0,747.0,11.7,859,11869,0.00,0.00,0.00,0.000,6,0.000,0.000,3387,2389,2121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12168,0.51,146.0,710.7,12.3,869,12169,0.00,0.00,0.00,0.000,6,0.000,0.000,3386,2389,2121,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12468,0.51,146.0,674.5,11.9,879,12474,0.00,2.30,0.00,0.000,4,0.000,0.071,3386,3805,2121,0,0,0,0,0,0,28.83,26.04,28.83
$GC,12486,0.51,146.0,674.5,11.9,879,12491,0.15,2.17,0.00,0.000,6,0.172,0.053,3360,2397,2120,0,0,0,0,0,0,25.94,26.08,28.83
$GC,12793,0.51,146.0,641.3,9.7,889,12794,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,2396,2120,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13093,0.51,146.0,613.1,9.4,899,13098,0.00,2.20,0.00,0.000,4,0.000,0.060,3368,993,2120,0,0,0,0,0,0,28.83,26.13,28.83
$GC,13176,0.51,146.0,607.3,9.6,901,13183,0.00,2.20,0.00,0.000,6,0.000,0.060,3368,2402,2120,0,0,0,0,0,0,28.83,26.14,28.83
$GC,13486,0.51,146.0,573.8,10.2,928,13495,0.00,2.20,0.00,0.000,4,0.000,0.072,3368,3802,2120,0,0,0,0,0,0,28.83,26.15,28.83
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$STATE,19957,end climb,SURFACE_DEPTH_REACHED
$STATE,19957,begin surface coast
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$STATE,19996,end surface coast,CONTROL_FINISHED_OK
$STATE,19997,begin surface
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$HUMID,42.51
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$10V_AH,10.3,2.712
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,296948
$DATA_FILE_SIZE,96792,1712
$CAP_FILE_SIZE,191201,0
$CFSIZE,260165632,256466944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.055,116.8,1
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