version: 66.11
glider: 187
mission: 2
dive: 13
start: 9 14 112 0 1 26
data:
$ID,187
$MISSION,2
$DIVE,13
$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,-1587626.9
$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,35
$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,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
$GPS1,130912,235323,4742.254,-12522.058,40,1.0,57,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-78.6
$GPS2,140912,000025,4742.234,-12521.996,14,1.1,14,18.7
$SPEED_LIMITS,0.127,0.235
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$TGT_RADIUS,2500.000
$KALMAN_CONTROL,-0.128,-0.197
$KALMAN_X,3817.4,1000.4,140.9,-25527.4,41.3
$KALMAN_Y,439.0,-1321.2,-322.4,-11349.0,3117.2
$MHEAD_RNG_PITCHd_Wd,230.6,146426,-14.3,-7.333,-17.34
$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,-0.51,-146.0,0.0,0.0,0,88,0.00,0.00,-68.85,0.000,2,0.000,0.000,133,2180,3064,0,0,0,0,0,0,28.83,28.83,28.83
$GC,91,-0.51,-146.0,4.1,-10.0,11,115,11.40,2.30,-4.53,0.000,4,0.233,0.067,3014,3593,3331,0,0,0,0,0,0,25.34,25.58,25.88
$GC,204,-0.51,-146.0,35.1,-14.8,32,212,0.00,2.25,0.00,0.000,6,0.000,0.044,3014,2171,3335,0,0,0,0,0,0,28.83,25.69,28.83
$GC,533,-0.51,-146.0,83.7,-13.3,97,541,0.00,2.20,0.00,0.000,4,0.000,0.052,3014,768,3337,0,0,0,0,0,0,28.83,25.85,28.83
$GC,590,-0.51,-146.0,90.6,-11.5,107,597,0.00,2.22,0.00,0.000,6,0.000,0.051,3005,2177,3337,0,0,0,0,0,0,28.83,25.87,28.83
$GC,901,-0.51,-146.0,127.4,-11.5,145,911,0.00,2.20,0.00,0.000,4,0.000,0.064,2994,3588,3337,0,0,0,0,0,0,28.83,25.95,28.83
$GC,926,-0.51,-146.0,130.0,-11.6,147,934,0.15,2.17,0.00,0.000,6,0.147,0.044,3035,2160,3337,0,0,0,0,0,0,25.89,26.00,28.83
$GC,1234,-0.51,-146.0,160.6,-9.6,178,1243,0.00,2.10,0.00,0.000,4,0.000,0.052,3035,771,3337,0,0,0,0,0,0,28.83,26.03,28.83
$GC,1297,-0.51,-146.0,167.4,-10.9,184,1306,0.00,2.17,0.00,0.000,6,0.000,0.051,3027,2177,3336,0,0,0,0,0,0,28.83,26.06,28.83
$GC,1607,-0.51,-146.0,200.6,-10.6,215,1608,0.00,0.00,0.00,0.000,6,0.000,0.000,3027,2177,3337,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1910,-0.51,-146.0,229.4,-9.9,245,1919,0.00,2.20,0.00,0.000,4,0.000,0.065,3017,3577,3336,0,0,0,0,0,0,28.83,26.13,28.83
$GC,1934,-0.51,-146.0,231.7,-9.1,247,1941,0.00,2.12,0.00,0.000,6,0.000,0.045,3017,2166,3336,0,0,0,0,0,0,28.83,26.17,28.83
$GC,2243,-0.51,-146.0,260.6,-8.6,278,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2165,3336,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2544,-0.51,-146.0,287.9,-9.7,308,2552,0.00,2.20,0.00,0.000,4,0.000,0.065,3007,3581,3335,0,0,0,0,0,0,28.83,26.19,28.83
$GC,2606,-0.51,-146.0,294.8,-11.1,314,2615,0.00,2.10,0.00,0.000,6,0.000,0.046,3007,2170,3335,0,0,0,0,0,0,28.83,26.25,28.83
$GC,2916,-0.51,-146.0,328.5,-11.2,345,2926,0.00,2.12,0.00,0.000,4,0.000,0.053,3007,769,3335,0,0,0,0,0,0,28.83,26.24,28.83
$GC,2960,-0.51,-146.0,333.5,-11.8,349,2970,0.10,2.15,0.00,0.000,6,0.131,0.053,3032,2181,3335,0,0,0,0,0,0,26.15,26.25,28.83
$GC,3269,-0.51,-146.0,362.9,-9.0,380,3271,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2181,3334,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3572,-0.51,-146.0,389.0,-8.6,410,3580,0.00,2.17,0.00,0.000,4,0.000,0.067,3024,3583,3334,0,0,0,0,0,0,28.83,26.25,28.83
$GC,3624,-0.51,-146.0,393.8,-9.1,415,3633,0.00,2.12,0.00,0.000,6,0.000,0.047,3024,2175,3334,0,0,0,0,0,0,28.83,26.31,28.83
$GC,3934,-0.51,-146.0,419.8,-8.3,446,3942,0.00,2.08,0.00,0.000,4,0.000,0.054,3024,782,3333,0,0,0,0,0,0,28.83,26.29,28.83
$GC,3965,-0.51,-146.0,422.7,-9.0,449,3975,0.00,2.17,0.00,0.000,6,0.000,0.054,3015,2184,3333,0,0,0,0,0,0,28.83,26.29,28.83
$GC,4275,-0.51,-146.0,451.6,-9.8,480,4285,0.00,2.20,0.00,0.000,4,0.000,0.067,3004,3592,3332,0,0,0,0,0,0,28.83,26.27,28.83
$GC,4321,-0.51,-146.0,455.9,-10.3,484,4327,0.00,2.12,0.00,0.000,6,0.000,0.047,3003,2177,3332,0,0,0,0,0,0,28.83,26.33,28.83
$GC,4628,-0.51,-146.0,488.2,-10.0,515,4636,0.00,2.12,0.00,0.000,4,0.000,0.054,3004,775,3331,0,0,0,0,0,0,28.83,26.32,28.83
$GC,4672,-0.51,-146.0,492.7,-11.1,519,4680,0.10,2.17,0.00,0.000,6,0.133,0.054,3028,2168,3331,0,0,0,0,0,0,26.22,26.32,28.83
$GC,4981,-0.51,-146.0,517.3,-7.3,550,4990,0.00,2.20,0.00,0.000,4,0.000,0.067,3020,3584,3331,0,0,0,0,0,0,28.83,26.30,28.83
$GC,5026,-0.51,-146.0,520.4,-7.2,554,5032,0.00,2.12,0.00,0.000,6,0.000,0.047,3020,2173,3331,0,0,0,0,0,0,28.83,26.35,28.83
$GC,5333,-0.51,-146.0,541.9,-6.5,585,5344,0.00,2.22,0.00,0.000,4,0.000,0.067,3010,3583,3330,0,0,0,0,0,0,28.83,26.31,28.83
$GC,5367,-0.51,-146.0,544.4,-7.3,588,5376,0.00,2.12,0.00,0.000,6,0.000,0.047,3010,2173,3331,0,0,0,0,0,0,28.83,26.36,28.83
$GC,5678,-0.51,-146.0,567.4,-7.3,619,5681,0.00,2.12,0.00,0.000,4,0.000,0.055,3010,779,3330,0,0,0,0,0,0,28.83,26.34,28.83
$GC,5702,-0.51,-146.0,569.1,-7.7,621,5710,0.00,2.17,0.00,0.000,6,0.000,0.055,3001,2171,3330,0,0,0,0,0,0,28.83,26.34,28.83
$GC,6010,-0.51,-146.0,595.1,-8.6,652,6019,0.12,2.20,0.00,0.000,4,0.168,0.067,3031,3590,3330,0,0,0,0,0,0,26.28,26.32,28.83
$GC,6035,-0.51,-146.0,597.0,-8.3,654,6042,0.00,2.20,0.00,0.000,6,0.000,0.048,3031,2169,3330,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6342,-0.51,-146.0,622.6,-8.6,667,6348,0.00,2.22,0.00,0.000,4,0.000,0.068,3021,3584,3329,0,0,0,0,0,0,28.83,26.32,28.83
$GC,6380,-0.51,-146.0,625.5,-8.9,668,6384,0.00,2.15,0.00,0.000,6,0.000,0.048,3021,2168,3329,0,0,0,0,0,0,28.83,26.37,28.83
$GC,6697,-0.51,-146.0,656.7,-9.7,679,6699,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2163,3329,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6997,-0.51,-146.0,682.8,-8.2,689,7003,0.00,2.25,0.00,0.000,4,0.000,0.069,3011,3593,3328,0,0,0,0,0,0,28.83,26.33,28.83
$GC,7046,-0.51,-146.0,685.2,-8.0,690,7050,0.00,2.17,0.00,0.000,6,0.000,0.048,3011,2173,3327,0,0,0,0,0,0,28.83,26.39,28.83
$GC,7353,-0.51,-146.0,708.9,-7.0,700,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2171,3327,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7653,-0.51,-146.0,730.5,-7.4,710,7657,0.00,2.12,0.00,0.000,4,0.000,0.056,3011,774,3326,0,0,0,0,0,0,28.83,26.37,28.83
$GC,7685,-0.51,-146.0,733.0,-7.5,711,7691,0.00,2.17,0.00,0.000,6,0.000,0.056,3001,2175,3326,0,0,0,0,0,0,28.83,26.37,28.83
$GC,8015,-0.51,-146.0,758.9,-8.0,722,8021,0.12,2.20,0.00,0.000,4,0.164,0.067,3032,3589,3326,0,0,0,0,0,0,26.32,26.34,28.83
$GC,8120,-0.51,-146.0,765.0,-7.1,725,8125,0.00,2.15,0.00,0.000,6,0.000,0.049,3032,2170,3326,0,0,0,0,0,0,28.83,26.40,28.83
$GC,8435,-0.51,-146.0,787.4,-6.8,736,8436,0.00,0.00,0.00,0.000,6,0.000,0.000,3032,2166,3325,0,0,0,0,0,0,28.83,28.83,28.83
$GC,8735,-0.51,-146.0,808.2,-7.0,746,8741,0.00,2.20,0.00,0.000,4,0.000,0.070,3022,3579,3326,0,0,0,0,0,0,28.83,26.36,28.83
$GC,8803,-0.51,-146.0,812.7,-7.3,748,8807,0.00,2.12,0.00,0.000,6,0.000,0.050,3022,2176,3326,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9120,-0.51,-146.0,836.3,-7.2,759,9126,0.00,2.22,0.00,0.000,4,0.000,0.070,3012,3585,3325,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9153,-0.51,-146.0,838.4,-7.2,760,9157,0.00,2.15,0.00,0.000,6,0.000,0.050,3012,2166,3325,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9475,-0.51,-146.0,863.1,-7.8,771,9481,0.00,2.28,0.00,0.000,4,0.000,0.070,3002,3595,3325,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9508,-0.51,-146.0,865.5,-7.8,772,9512,0.00,2.17,0.00,0.000,6,0.000,0.047,3002,2163,3325,0,0,0,0,0,0,28.83,26.41,28.83
$GC,9830,-0.51,-146.0,892.1,-8.2,783,9836,0.00,2.22,0.00,0.000,4,0.000,0.067,2993,3584,3325,0,0,0,0,0,0,28.83,26.36,28.83
$GC,9883,-0.51,-146.0,894.7,-8.1,784,9891,0.15,2.15,0.00,0.000,6,0.145,0.047,3035,2169,3325,0,0,0,0,0,0,26.29,26.41,28.83
$GC,10191,-0.51,-146.0,915.3,-5.6,795,10196,0.00,2.20,0.00,0.000,4,0.000,0.068,3027,3581,3324,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10224,-0.51,-146.0,917.1,-5.6,796,10228,0.00,2.12,0.00,0.000,6,0.000,0.048,3026,2172,3324,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10546,-0.51,-146.0,937.2,-6.1,807,10552,0.00,2.20,0.00,0.000,4,0.000,0.068,3017,3581,3324,0,0,0,0,0,0,28.83,26.36,28.83
$GC,10599,-0.51,-146.0,939.1,-6.2,808,10606,0.00,2.12,0.00,0.000,6,0.000,0.048,3017,2167,3324,0,0,0,0,0,0,28.83,26.41,28.83
$GC,10906,-0.51,-146.0,961.9,-7.0,819,10912,0.00,2.25,0.00,0.000,4,0.000,0.069,3008,3594,3324,0,0,0,0,0,0,28.83,26.35,28.83
$GC,10944,-0.51,-146.0,964.0,-7.1,820,10948,0.00,2.15,0.00,0.000,6,0.000,0.048,3007,2172,3323,0,0,0,0,0,0,28.83,26.41,28.83
$GC,11266,-0.51,-146.0,989.2,-7.5,831,11272,0.00,2.22,0.00,0.000,4,0.000,0.068,2998,3587,3323,0,0,0,0,0,0,28.83,26.36,28.83
$STATE,11293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11293,begin apogee
$GC,11302,-0.22,0.0,991.3,-7.5,832,11437,0.38,0.00,128.05,1.242,6,0.125,0.000,3124,2393,2732,0,0,0,0,0,0,26.32,28.83,23.42
$STATE,11438,end apogee,CONTROL_FINISHED_OK
$STATE,11438,begin climb
$GC,11440,0.51,146.0,994.7,0.0,836,11580,0.68,0.00,135.12,1.206,6,0.086,0.000,3349,2393,2136,0,0,0,0,0,0,24.39,28.83,23.20
$GC,11861,0.51,146.0,957.2,10.2,851,11862,0.00,0.00,0.00,0.000,6,0.000,0.000,3349,2393,2125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12161,0.51,146.0,924.9,11.0,861,12167,0.00,2.20,0.00,0.000,4,0.000,0.056,3359,1007,2123,0,0,0,0,0,0,28.83,25.58,28.83
$GC,12209,0.51,146.0,921.7,10.9,862,12213,0.00,2.22,0.00,0.000,6,0.000,0.060,3359,2397,2123,0,0,0,0,0,0,28.83,25.60,28.83
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$STATE,21988,end climb,SURFACE_DEPTH_REACHED
$STATE,21988,begin surface coast
$FINISH,0.1,1.023906
$STATE,22114,end surface coast,CONTROL_FINISHED_OK
$STATE,22114,begin surface
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$TT8_MAMPS,0.027713,0.027713
$HUMID,43.14
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$TCM_TEMP,16.90
$XPDR_PINGS,0
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$10V_AH,10.3,2.894
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,22.275,192.000,363.050,18.225,0.000,25.815,37.944,224.705,0.000,0.000,15.277,4517.111,12877.762,640.563,4085.138,444.253,33.228,2347.818,0.000,3777.961,0.000,0.535,0.000
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$MEM,296956
$DATA_FILE_SIZE,100141,1807
$CAP_FILE_SIZE,212761,0
$CFSIZE,260165632,256344064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$CURRENT,0.056,107.8,1
$GPS,140912,061230,4741.114,-12525.263,66,1.3,66,18.7