version: 66.11
glider: 187
mission: 2
dive: 182
start: 10 24 112 1 47 54
data:
$ID,187
$MISSION,2
$DIVE,182
$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,-1587855.8
$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,45
$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
$GPS1,241012,014023,4721.080,-12606.450,25,1.1,43,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.73
$_SM_ANGLEo,-73.3
$GPS2,241012,014724,4721.124,-12606.432,14,1.1,19,18.6
$SPEED_LIMITS,0.127,0.220
$TGT_NAME,OFFSHORE
$TGT_LATLONG,4700.000,-12700.000
$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,220.7,78156,-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,17,-0.48,-146.0,0.0,0.0,0,99,0.00,0.00,-79.97,0.000,2,0.000,0.000,113,2166,2838,0,0,0,0,0,0,28.83,28.83,28.83
$GC,103,-0.48,-146.0,3.4,-3.8,13,132,11.57,2.22,-10.98,0.000,4,0.227,0.063,3036,776,3393,0,0,0,0,0,0,25.13,25.54,25.93
$GC,200,-0.48,-146.0,29.9,-20.9,30,207,0.00,2.22,0.00,0.000,6,0.000,0.051,3028,2172,3397,0,0,0,0,0,0,28.83,25.58,28.83
$GC,518,-0.48,-146.0,75.1,-13.4,91,525,0.00,2.15,0.00,0.000,4,0.000,0.048,3028,776,3399,0,0,0,0,0,0,28.83,25.75,28.83
$GC,573,-0.48,-146.0,82.3,-12.7,101,580,0.00,2.17,0.00,0.000,6,0.000,0.048,3018,2188,3399,0,0,0,0,0,0,28.83,25.77,28.83
$GC,895,-0.48,-146.0,122.4,-12.1,162,901,0.00,2.20,0.00,0.000,4,0.000,0.061,3007,3590,3400,0,0,0,0,0,0,28.83,25.81,28.83
$GC,943,-0.48,-146.0,127.8,-12.2,165,948,0.12,2.12,0.00,0.000,6,0.136,0.041,3042,2178,3400,0,0,0,0,0,0,25.77,25.92,28.83
$GC,1253,-0.48,-146.0,157.9,-9.5,185,1255,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2172,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1552,-0.48,-146.0,186.0,-9.3,205,1553,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2173,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1860,-0.48,-146.0,214.6,-8.9,223,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2173,3400,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2160,-0.48,-146.0,240.3,-8.5,238,2162,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2172,3399,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2461,-0.48,-146.0,265.8,-8.6,253,2462,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2173,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2761,-0.48,-146.0,291.1,-8.1,268,2762,0.00,0.00,0.00,0.000,6,0.000,0.000,3042,2172,3398,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3060,-0.48,-146.0,315.8,-8.2,283,3064,0.00,2.15,0.00,0.000,4,0.000,0.051,3042,766,3397,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3085,-0.48,-146.0,317.6,-8.3,284,3089,0.00,2.17,0.00,0.000,6,0.000,0.051,3035,2184,3397,0,0,0,0,0,0,28.83,26.06,28.83
$GC,3398,-0.48,-146.0,346.0,-8.9,300,3403,0.00,2.17,0.00,0.000,4,0.000,0.064,3024,3587,3396,0,0,0,0,0,0,28.83,26.01,28.83
$GC,3450,-0.48,-146.0,349.7,-9.2,302,3457,0.00,2.12,0.00,0.000,6,0.000,0.044,3024,2169,3396,0,0,0,0,0,0,28.83,26.15,28.83
$GC,3759,-0.48,-146.0,380.7,-9.5,318,3760,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,2168,3395,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4068,-0.48,-146.0,409.5,-9.1,332,4073,0.00,2.20,0.00,0.000,4,0.000,0.065,3014,3577,3395,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4100,-0.48,-146.0,412.4,-9.2,333,4104,0.00,2.10,0.00,0.000,6,0.000,0.044,3014,2179,3395,0,0,0,0,0,0,28.83,26.17,28.83
$GC,4423,-0.48,-146.0,444.1,-9.8,344,4428,0.00,2.20,0.00,0.000,4,0.000,0.065,3004,3580,3393,0,0,0,0,0,0,28.83,26.03,28.83
$GC,4452,-0.48,-146.0,447.2,-10.0,345,4459,0.12,2.12,0.00,0.000,6,0.136,0.045,3039,2178,3393,0,0,0,0,0,0,26.00,26.15,28.83
$GC,4783,-0.48,-146.0,475.1,-8.5,356,4784,0.00,0.00,0.00,0.000,6,0.000,0.000,3039,2172,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5082,-0.48,-146.0,499.7,-8.0,366,5088,0.00,2.25,0.00,0.000,4,0.000,0.067,3031,3592,3392,0,0,0,0,0,0,28.83,26.01,28.83
$GC,5125,-0.48,-146.0,502.0,-7.9,367,5129,0.00,2.15,0.00,0.000,6,0.000,0.046,3031,2170,3392,0,0,0,0,0,0,28.83,26.16,28.83
$GC,5437,-0.48,-146.0,528.4,-8.0,378,5439,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2168,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5738,-0.48,-146.0,552.8,-8.1,388,5739,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,2167,3391,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6037,-0.48,-146.0,576.8,-8.0,398,6043,0.00,2.25,0.00,0.000,4,0.000,0.067,3021,3587,3390,0,0,0,0,0,0,28.83,26.01,28.83
$GC,6075,-0.48,-146.0,579.3,-8.0,399,6079,0.00,2.15,0.00,0.000,6,0.000,0.047,3021,2166,3390,0,0,0,0,0,0,28.83,26.16,28.83
$GC,6393,-0.48,-146.0,606.4,-8.3,410,6394,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,2164,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6693,-0.48,-146.0,630.0,-7.7,420,6698,0.00,2.22,0.00,0.000,4,0.000,0.067,3011,3581,3389,0,0,0,0,0,0,28.83,26.02,28.83
$GC,6725,-0.48,-146.0,632.6,-7.9,421,6729,0.00,2.12,0.00,0.000,6,0.000,0.047,3011,2175,3389,0,0,0,0,0,0,28.83,26.16,28.83
$GC,7048,-0.48,-146.0,659.4,-8.1,432,7049,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2173,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7347,-0.48,-146.0,684.0,-8.3,442,7353,0.00,2.25,0.00,0.000,4,0.000,0.067,3001,3589,3388,0,0,0,0,0,0,28.83,26.00,28.83
$GC,7370,-0.48,-146.0,684.0,-8.3,442,7378,0.15,2.15,0.00,0.000,6,0.127,0.047,3045,2173,3388,0,0,0,0,0,0,25.98,26.15,28.83
$GC,7678,-0.48,-146.0,707.4,-6.8,453,7679,0.00,0.00,0.00,0.000,6,0.000,0.000,3045,2170,3388,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7977,-0.48,-146.0,729.9,-7.6,463,7983,0.00,2.28,0.00,0.000,4,0.000,0.067,3037,3589,3387,0,0,0,0,0,0,28.83,25.99,28.83
$GC,8025,-0.48,-146.0,732.3,-7.6,464,8029,0.00,2.15,0.00,0.000,6,0.000,0.047,3037,2173,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8333,-0.48,-146.0,759.5,-8.4,474,8338,0.00,2.22,0.00,0.000,4,0.000,0.068,3027,3581,3387,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8362,-0.48,-146.0,762.0,-8.3,475,8368,0.00,2.15,0.00,0.000,6,0.000,0.047,3027,2170,3387,0,0,0,0,0,0,28.83,26.15,28.83
$GC,8692,-0.48,-146.0,789.4,-7.9,486,8698,0.00,2.25,0.00,0.000,4,0.000,0.067,3017,3581,3386,0,0,0,0,0,0,28.83,25.98,28.83
$GC,8753,-0.48,-146.0,794.5,-8.2,488,8757,0.00,2.17,0.00,0.000,6,0.000,0.047,3017,2166,3386,0,0,0,0,0,0,28.83,26.14,28.83
$GC,9085,-0.48,-146.0,822.2,-8.2,499,9091,0.00,2.28,0.00,0.000,4,0.000,0.067,3007,3591,3386,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9147,-0.48,-146.0,827.5,-8.4,501,9152,0.12,2.17,0.00,0.000,6,0.133,0.048,3043,2164,3385,0,0,0,0,0,0,25.98,26.13,28.83
$GC,9471,-0.48,-146.0,847.9,-6.0,512,9476,0.00,2.25,0.00,0.000,4,0.000,0.068,3035,3581,3385,0,0,0,0,0,0,28.83,25.97,28.83
$GC,9513,-0.48,-146.0,849.9,-6.1,513,9517,0.00,2.15,0.00,0.000,6,0.000,0.047,3035,2166,3385,0,0,0,0,0,0,28.83,26.13,28.83
$GC,9826,-0.48,-146.0,870.7,-6.2,524,9832,0.00,2.28,0.00,0.000,4,0.000,0.068,3025,3580,3385,0,0,0,0,0,0,28.83,25.96,28.83
$GC,9864,-0.48,-146.0,872.7,-6.3,525,9868,0.00,2.17,0.00,0.000,6,0.000,0.047,3025,2164,3385,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10187,-0.48,-146.0,894.3,-6.6,536,10189,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,2162,3385,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10486,-0.48,-146.0,915.1,-7.0,546,10492,0.00,2.25,0.00,0.000,4,0.000,0.068,3015,3579,3384,0,0,0,0,0,0,28.83,25.96,28.83
$GC,10535,-0.48,-146.0,917.3,-7.1,547,10539,0.00,2.15,0.00,0.000,6,0.000,0.048,3015,2167,3384,0,0,0,0,0,0,28.83,26.13,28.83
$GC,10841,-0.48,-146.0,942.5,-7.7,557,10847,0.00,2.28,0.00,0.000,4,0.000,0.068,3006,3587,3383,0,0,0,0,0,0,28.83,25.94,28.83
$GC,10871,-0.48,-146.0,944.9,-7.8,558,10877,0.12,2.17,0.00,0.000,6,0.132,0.048,3042,2167,3383,0,0,0,0,0,0,25.97,26.12,28.83
$GC,11202,-0.48,-146.0,965.9,-6.1,569,11207,0.00,2.25,0.00,0.000,4,0.000,0.069,3034,3580,3383,0,0,0,0,0,0,28.83,25.94,28.83
$GC,11244,-0.48,-146.0,967.9,-6.1,570,11249,0.00,2.15,0.00,0.000,6,0.000,0.047,3034,2166,3383,0,0,0,0,0,0,28.83,26.13,28.83
$GC,11557,-0.48,-146.0,988.6,-6.2,581,11561,0.00,2.28,0.00,0.000,4,0.000,0.069,3025,3585,3383,0,0,0,0,0,0,28.83,25.93,28.83
$STATE,11586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11587,begin apogee
$GC,11595,-0.22,0.0,990.7,-6.2,582,11726,0.28,0.00,125.50,1.192,6,0.109,0.000,3121,2298,2795,0,0,0,0,0,0,25.96,28.83,23.64
$STATE,11729,end apogee,CONTROL_FINISHED_OK
$STATE,11729,begin climb
$GC,11732,0.48,146.0,994.1,0.0,586,11875,0.65,2.60,134.90,1.157,4,0.081,0.067,3343,3708,2197,0,0,0,0,0,0,24.54,23.63,22.89
$GC,11899,0.48,155.2,985.2,7.0,592,11919,0.00,2.33,9.57,0.981,6,0.000,0.047,3353,2312,2161,0,0,0,0,0,0,28.83,24.02,23.12
$GC,12219,0.48,155.2,952.4,9.8,603,12221,0.00,0.00,0.00,0.000,6,0.000,0.000,3353,2312,2153,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12519,0.48,155.2,923.7,9.4,613,12525,0.00,2.33,0.00,0.000,4,0.000,0.067,3353,3712,2151,0,0,0,0,0,0,28.83,25.35,28.83
$GC,12552,0.48,155.2,920.6,9.7,614,12556,0.00,2.25,0.00,0.000,6,0.000,0.048,3364,2304,2151,0,0,0,0,0,0,28.83,25.47,28.83
$GC,12875,0.48,155.2,887.8,9.9,625,12876,0.00,0.00,0.00,0.000,6,0.000,0.000,3363,2298,2150,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13174,0.48,155.2,857.7,10.2,635,13175,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,2298,2149,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13474,0.48,155.2,826.8,10.3,645,13480,0.00,2.28,0.00,0.000,4,0.000,0.067,3363,3706,2148,0,0,0,0,0,0,28.83,25.75,28.83
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$STATE,23347,end climb,SURFACE_DEPTH_REACHED
$STATE,23347,begin surface coast
$FINISH,1.0,1.004600
$STATE,23386,end surface coast,CONTROL_FINISHED_OK
$STATE,23386,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,43.58
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$XPDR_PINGS,0
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$10V_AH,10.2,22.080
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$SENSOR_MAMPS,24.000,19.000,105.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,296772
$DATA_FILE_SIZE,73571,1320
$CAP_FILE_SIZE,193749,0
$CFSIZE,260165632,242606080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$CURRENT,0.028, 46.0,1
$GPS,241012,082005,4719.708,-12610.361,27,1.6,27,18.6