version: 66.11
glider: 187
mission: 2
dive: 145
start: 10 14 112 9 17 32
data:
$ID,187
$MISSION,2
$DIVE,145
$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,-1587808.8
$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,2300
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$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
$GPS1,141012,090936,4718.406,-12620.271,55,1.1,55,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.60
$_SM_ANGLEo,-73.6
$GPS2,141012,091700,4718.503,-12620.200,18,1.4,29,18.6
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,ONSHORE
$TGT_LATLONG,4758.000,-12457.000
$TGT_RADIUS,2000.000
$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,41.9,126471,-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,-146.0,0.0,0.0,0,95,0.00,0.00,-75.82,0.000,2,0.000,0.000,114,2171,2673,0,0,0,0,0,0,28.83,28.83,28.83
$GC,98,-0.48,-146.0,3.4,-5.2,12,133,11.27,2.30,-15.02,0.000,4,0.221,0.073,3025,3594,3393,0,0,0,0,0,0,25.27,25.58,25.98
$GC,322,-0.48,-146.0,51.4,-13.3,52,329,0.00,2.22,0.00,0.000,6,0.000,0.042,3024,2164,3397,0,0,0,0,0,0,28.83,25.78,28.83
$GC,642,-0.48,-146.0,96.4,-13.5,113,648,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2160,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,962,-0.48,-146.0,136.6,-12.1,158,963,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2160,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1262,-0.48,-146.0,173.2,-12.1,178,1263,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2160,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1577,-0.48,-146.0,208.1,-10.9,198,1582,0.00,2.22,0.00,0.000,4,0.000,0.062,3014,3583,3398,0,0,0,0,0,0,28.83,26.02,28.83
$GC,1600,-0.48,-146.0,210.3,-10.9,199,1604,0.00,2.12,0.00,0.000,6,0.000,0.044,3014,2174,3398,0,0,0,0,0,0,28.83,26.10,28.83
$GC,1912,-0.48,-146.0,245.6,-10.8,215,1913,0.00,0.00,0.00,0.000,6,0.000,0.000,3014,2169,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2213,-0.48,-146.0,277.9,-10.4,230,2219,0.00,2.20,0.00,0.000,4,0.000,0.063,3005,3582,3396,0,0,0,0,0,0,28.83,26.08,28.83
$GC,2242,-0.48,-146.0,280.0,-10.3,231,2251,0.12,2.12,0.00,0.000,6,0.140,0.044,3039,2170,3396,0,0,0,0,0,0,26.02,26.16,28.83
$GC,2553,-0.48,-146.0,308.5,-8.6,247,2558,0.00,2.20,0.00,0.000,4,0.000,0.063,3030,3579,3395,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2605,-0.48,-146.0,312.3,-9.2,249,2612,0.00,2.12,0.00,0.000,6,0.000,0.044,3030,2169,3396,0,0,0,0,0,0,28.83,26.18,28.83
$GC,2912,-0.48,-146.0,344.8,-10.5,265,2918,0.00,2.25,0.00,0.000,4,0.000,0.064,3020,3595,3395,0,0,0,0,0,0,28.83,26.10,28.83
$GC,2935,-0.48,-146.0,346.9,-10.5,266,2939,0.00,2.15,0.00,0.000,6,0.000,0.045,3020,2177,3394,0,0,0,0,0,0,28.83,26.20,28.83
$GC,3247,-0.48,-146.0,382.0,-10.8,282,3249,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2174,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3548,-0.48,-146.0,412.3,-9.6,295,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2174,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3847,-0.48,-146.0,439.1,-8.8,305,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2174,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4148,-0.48,-146.0,465.5,-8.7,315,4154,0.00,2.25,0.00,0.000,4,0.000,0.066,3009,3589,3391,0,0,0,0,0,0,28.83,26.14,28.83
$GC,4177,-0.48,-146.0,468.3,-8.9,316,4184,0.12,2.15,0.00,0.000,6,0.135,0.047,3045,2177,3391,0,0,0,0,0,0,26.10,26.23,28.83
$GC,4508,-0.48,-146.0,492.4,-7.3,327,4513,0.00,2.20,0.00,0.000,4,0.000,0.067,3037,3581,3390,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4541,-0.48,-146.0,494.6,-7.2,328,4545,0.00,2.15,0.00,0.000,6,0.000,0.047,3037,2166,3389,0,0,0,0,0,0,28.83,26.24,28.83
$GC,4863,-0.48,-146.0,518.9,-7.2,339,4868,0.00,2.22,0.00,0.000,4,0.000,0.067,3026,3584,3388,0,0,0,0,0,0,28.83,26.15,28.83
$GC,4886,-0.48,-146.0,518.9,-7.2,339,4892,0.00,2.15,0.00,0.000,6,0.000,0.047,3026,2170,3388,0,0,0,0,0,0,28.83,26.24,28.83
$GC,5193,-0.48,-146.0,543.9,-7.5,350,5198,0.00,2.22,0.00,0.000,4,0.000,0.067,3016,3584,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5225,-0.48,-146.0,546.2,-7.6,351,5229,0.00,2.15,0.00,0.000,6,0.000,0.047,3016,2174,3387,0,0,0,0,0,0,28.83,26.25,28.83
$GC,5548,-0.48,-146.0,572.6,-7.9,362,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,3016,2171,3387,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5848,-0.48,-146.0,596.5,-7.9,372,5853,0.00,2.22,0.00,0.000,4,0.000,0.067,3006,3587,3386,0,0,0,0,0,0,28.83,26.15,28.83
$GC,5880,-0.48,-146.0,599.2,-8.1,373,5885,0.12,2.17,0.00,0.000,6,0.135,0.047,3042,2165,3386,0,0,0,0,0,0,26.12,26.25,28.83
$GC,6203,-0.48,-146.0,620.6,-6.6,384,6209,0.00,2.28,0.00,0.000,4,0.000,0.067,3034,3588,3386,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6264,-0.48,-146.0,624.9,-6.9,386,6269,0.00,2.15,0.00,0.000,6,0.000,0.048,3034,2171,3386,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6593,-0.48,-146.0,649.7,-7.7,397,6599,0.00,2.25,0.00,0.000,4,0.000,0.067,3023,3590,3384,0,0,0,0,0,0,28.83,26.15,28.83
$GC,6631,-0.48,-146.0,652.1,-7.8,398,6635,0.00,2.15,0.00,0.000,6,0.000,0.048,3023,2175,3384,0,0,0,0,0,0,28.83,26.25,28.83
$GC,6948,-0.48,-146.0,679.6,-8.5,409,6949,0.00,0.00,0.00,0.000,6,0.000,0.000,3023,2172,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7249,-0.48,-146.0,703.9,-7.9,419,7254,0.00,2.22,0.00,0.000,4,0.000,0.068,3013,3588,3383,0,0,0,0,0,0,28.83,26.15,28.83
$GC,7322,-0.48,-146.0,708.9,-8.0,421,7326,0.00,2.15,0.00,0.000,6,0.000,0.048,3013,2171,3383,0,0,0,0,0,0,28.83,26.25,28.83
$GC,7634,-0.48,-146.0,736.2,-8.5,432,7640,0.00,2.15,0.00,0.000,4,0.000,0.055,3013,766,3382,0,0,0,0,0,0,28.83,26.20,28.83
$GC,7664,-0.48,-146.0,738.9,-8.6,433,7670,0.12,2.17,0.00,0.000,6,0.145,0.055,3040,2175,3383,0,0,0,0,0,0,26.09,26.20,28.83
$GC,7995,-0.48,-146.0,761.6,-6.8,444,8000,0.00,2.17,0.00,0.000,4,0.000,0.068,3031,3578,3382,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8077,-0.48,-146.0,766.0,-6.8,446,8085,0.00,2.12,0.00,0.000,6,0.000,0.049,3031,2176,3382,0,0,0,0,0,0,28.83,26.25,28.83
$GC,8384,-0.48,-146.0,788.7,-6.8,457,8390,0.00,2.20,0.00,0.000,4,0.000,0.068,3021,3580,3381,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8418,-0.48,-146.0,790.8,-6.8,458,8422,0.00,2.15,0.00,0.000,6,0.000,0.049,3021,2168,3381,0,0,0,0,0,0,28.83,26.24,28.83
$GC,8740,-0.48,-146.0,813.6,-7.0,469,8745,0.00,2.22,0.00,0.000,4,0.000,0.069,3011,3582,3381,0,0,0,0,0,0,28.83,26.14,28.83
$GC,8783,-0.48,-146.0,815.8,-7.0,470,8787,0.00,2.15,0.00,0.000,6,0.000,0.049,3010,2169,3381,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9095,-0.48,-146.0,840.5,-7.4,481,9101,0.12,2.22,0.00,0.000,4,0.146,0.067,3043,3581,3381,0,0,0,0,0,0,26.20,26.13,28.83
$GC,9148,-0.48,-146.0,842.7,-7.2,482,9156,0.00,2.15,0.00,0.000,6,0.000,0.050,3043,2169,3380,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9456,-0.48,-146.0,861.2,-5.6,493,9461,0.00,2.28,0.00,0.000,4,0.000,0.069,3033,3590,3380,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9528,-0.48,-146.0,864.9,-5.8,495,9532,0.00,2.15,0.00,0.000,6,0.000,0.049,3033,2177,3380,0,0,0,0,0,0,28.83,26.24,28.83
$GC,9841,-0.48,-146.0,884.3,-6.0,506,9846,0.00,2.22,0.00,0.000,4,0.000,0.069,3023,3584,3380,0,0,0,0,0,0,28.83,26.12,28.83
$GC,9884,-0.48,-146.0,886.3,-6.1,507,9888,0.00,2.15,0.00,0.000,6,0.000,0.050,3023,2176,3380,0,0,0,0,0,0,28.83,26.24,28.83
$GC,10196,-0.48,-146.0,909.1,-7.1,518,10202,0.00,2.28,0.00,0.000,4,0.000,0.070,3013,3594,3379,0,0,0,0,0,0,28.83,26.11,28.83
$GC,10229,-0.48,-146.0,911.4,-7.1,519,10233,0.00,2.20,0.00,0.000,6,0.000,0.050,3013,2166,3379,0,0,0,0,0,0,28.83,26.23,28.83
$GC,10557,-0.48,-146.0,936.2,-7.4,530,10562,0.00,2.22,0.00,0.000,4,0.000,0.069,3003,3580,3378,0,0,0,0,0,0,28.83,26.12,28.83
$GC,10594,-0.48,-146.0,938.4,-7.4,531,10599,0.12,2.15,0.00,0.000,6,0.138,0.050,3039,2170,3379,0,0,0,0,0,0,26.09,26.22,28.83
$GC,10912,-0.48,-146.0,958.0,-5.7,542,10918,0.00,2.22,0.00,0.000,4,0.000,0.069,3030,3582,3378,0,0,0,0,0,0,28.83,26.10,28.83
$GC,10961,-0.48,-146.0,960.0,-5.8,543,10965,0.00,2.15,0.00,0.000,6,0.000,0.050,3030,2172,3379,0,0,0,0,0,0,28.83,26.22,28.83
$GC,11267,-0.48,-146.0,982.2,-6.9,553,11273,0.00,2.22,0.00,0.000,4,0.000,0.070,3020,3583,3378,0,0,0,0,0,0,28.83,26.11,28.83
$GC,11290,-0.48,-146.0,982.2,-6.9,553,11297,0.00,2.15,0.00,0.000,6,0.000,0.050,3020,2172,3378,0,0,0,0,0,0,28.83,26.22,28.83
$STATE,11384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11384,begin apogee
$GC,11392,-0.22,0.0,991.3,-7.6,557,11521,0.30,0.00,124.57,1.191,6,0.114,0.000,3123,2314,2794,0,0,0,0,0,0,26.05,28.83,23.72
$STATE,11523,end apogee,CONTROL_FINISHED_OK
$STATE,11524,begin climb
$GC,11526,0.48,146.0,995.4,0.0,561,11664,0.65,0.00,134.05,1.163,6,0.082,0.000,3344,2314,2199,0,0,0,0,0,0,24.56,28.83,23.13
$GC,11952,0.48,146.0,963.8,9.1,576,11953,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,2314,2189,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12252,0.48,146.0,934.8,9.9,586,12258,0.00,2.28,0.00,0.000,4,0.000,0.069,3344,3704,2186,0,0,0,0,0,0,28.83,25.42,28.83
$GC,12292,0.48,146.0,931.5,10.2,587,12298,0.00,2.22,0.00,0.000,6,0.000,0.050,3354,2301,2186,0,0,0,0,0,0,28.83,25.51,28.83
$GC,12612,0.48,146.0,895.0,10.9,598,12613,0.00,0.00,0.00,0.000,6,0.000,0.000,3354,2297,2186,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12912,0.48,146.0,862.3,10.8,608,12918,0.00,2.30,0.00,0.000,4,0.000,0.069,3353,3711,2185,0,0,0,0,0,0,28.83,25.77,28.83
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$STATE,22669,end climb,SURFACE_DEPTH_REACHED
$STATE,22669,begin surface coast
$FINISH,0.8,1.023723
$STATE,22751,end surface coast,CONTROL_FINISHED_OK
$STATE,22751,begin surface
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$HUMID,44.99
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$10V_AH,10.2,17.950
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.875,203.675,436.350,0.000,0.000,40.520,45.660,207.917,0.000,0.000,30.791,3311.020,16038.942,577.240,2943.902,395.669,0.000,1994.031,0.000,2604.008,0.000,0.536,0.000
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$MEM,296928
$DATA_FILE_SIZE,70128,1257
$CAP_FILE_SIZE,191173,0
$CFSIZE,260165632,245768192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.013,276.4,1
$GPS,141012,153923,4720.195,-12616.124,42,1.3,42,18.6