version: 66.11
glider: 187
mission: 2
dive: 251
start: 11 10 112 4 34 8
data:
$ID,187
$MISSION,2
$DIVE,251
$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,-1588071.4
$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,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
$GPS1,101112,042705,4723.877,-12608.042,40,1.4,46,18.6
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.93
$_SM_ANGLEo,-75.1
$GPS2,101112,043336,4723.919,-12607.995,10,1.7,15,18.6
$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,202.3,79227,-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,-146.0,0.0,0.0,0,88,0.00,0.00,-68.80,0.000,2,0.000,0.000,110,2193,2630,0,0,0,0,0,0,28.83,28.83,28.83
$GC,92,-0.48,-146.0,3.2,-3.8,11,132,11.40,2.35,-17.75,0.000,4,0.218,0.076,3026,3609,3392,0,0,0,0,0,0,25.05,25.47,26.01
$GC,209,-0.48,-146.0,24.7,-13.3,31,215,0.00,2.20,0.00,0.000,6,0.000,0.043,3026,2186,3394,0,0,0,0,0,0,28.83,25.61,28.83
$GC,525,-0.48,-146.0,72.9,-14.3,92,532,0.00,0.00,0.00,0.000,6,0.000,0.000,3026,2182,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,839,-0.48,-146.0,112.2,-11.5,153,846,0.00,2.30,0.00,0.000,4,0.000,0.061,3015,3609,3396,0,0,0,0,0,0,28.83,25.65,28.83
$GC,1036,-0.48,-146.0,134.2,-11.4,173,1043,0.00,2.15,0.00,0.000,6,0.000,0.043,3015,2195,3397,0,0,0,0,0,0,28.83,25.85,28.83
$GC,1341,-0.48,-146.0,171.0,-12.1,194,1342,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2193,3397,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1657,-0.48,-146.0,207.9,-11.7,214,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2193,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1957,-0.48,-146.0,240.6,-10.7,229,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,3015,2194,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,2256,-0.48,-146.0,272.1,-10.5,244,2259,0.00,2.15,0.00,0.000,4,0.000,0.051,3015,801,3396,0,0,0,0,0,0,28.83,25.84,28.83
$GC,2300,-0.48,-146.0,276.8,-10.8,246,2305,0.12,2.17,0.00,0.000,6,0.142,0.050,3041,2207,3396,0,0,0,0,0,0,25.72,25.86,28.83
$GC,2614,-0.48,-146.0,303.2,-8.2,262,2619,0.00,2.20,0.00,0.000,4,0.000,0.063,3033,3602,3396,0,0,0,0,0,0,28.83,25.77,28.83
$GC,2676,-0.48,-146.0,308.5,-8.7,265,2680,0.00,2.15,0.00,0.000,6,0.000,0.044,3033,2192,3396,0,0,0,0,0,0,28.83,25.96,28.83
$GC,2988,-0.48,-146.0,337.4,-9.6,281,2990,0.00,0.00,0.00,0.000,6,0.000,0.000,3033,2188,3396,0,0,0,0,0,0,28.83,28.83,28.83
$GC,3288,-0.48,-146.0,366.2,-9.2,296,3294,0.00,2.28,0.00,0.000,4,0.000,0.063,3023,3611,3395,0,0,0,0,0,0,28.83,25.77,28.83
$GC,3328,-0.48,-146.0,370.1,-9.4,298,3334,0.00,2.15,0.00,0.000,6,0.000,0.044,3022,2202,3395,0,0,0,0,0,0,28.83,25.97,28.83
$GC,3649,-0.48,-146.0,401.5,-9.7,314,3653,0.00,2.17,0.00,0.000,4,0.000,0.052,3022,792,3395,0,0,0,0,0,0,28.83,25.84,28.83
$GC,3683,-0.48,-146.0,404.6,-9.9,315,3687,0.00,2.20,0.00,0.000,6,0.000,0.053,3013,2202,3395,0,0,0,0,0,0,28.83,25.86,28.83
$GC,4006,-0.48,-146.0,436.9,-9.8,326,4011,0.00,2.22,0.00,0.000,4,0.000,0.064,3003,3609,3393,0,0,0,0,0,0,28.83,25.75,28.83
$GC,4066,-0.48,-146.0,442.9,-10.0,328,4072,0.12,2.17,0.00,0.000,6,0.135,0.045,3038,2199,3393,0,0,0,0,0,0,25.78,25.97,28.83
$GC,4396,-0.48,-146.0,469.9,-8.3,339,4397,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2194,3393,0,0,0,0,0,0,28.83,28.83,28.83
$GC,4696,-0.48,-146.0,494.4,-8.4,349,4702,0.00,2.28,0.00,0.000,4,0.000,0.066,3030,3608,3392,0,0,0,0,0,0,28.83,25.74,28.83
$GC,4734,-0.48,-146.0,497.0,-8.4,350,4738,0.00,2.17,0.00,0.000,6,0.000,0.046,3030,2189,3392,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5056,-0.48,-146.0,525.9,-8.8,361,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2187,3392,0,0,0,0,0,0,28.83,28.83,28.83
$GC,5356,-0.48,-146.0,552.5,-9.2,371,5362,0.00,2.28,0.00,0.000,4,0.000,0.065,3020,3608,3391,0,0,0,0,0,0,28.83,25.72,28.83
$GC,5386,-0.48,-146.0,555.3,-9.2,372,5391,0.00,2.17,0.00,0.000,6,0.000,0.046,3020,2194,3390,0,0,0,0,0,0,28.83,25.96,28.83
$GC,5716,-0.48,-146.0,585.9,-9.0,383,5717,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2191,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6016,-0.48,-146.0,611.5,-8.3,393,6021,0.00,2.28,0.00,0.000,4,0.000,0.065,3010,3608,3389,0,0,0,0,0,0,28.83,25.71,28.83
$GC,6046,-0.48,-146.0,614.0,-8.3,394,6052,0.08,2.15,0.00,0.000,6,0.108,0.047,3039,2202,3389,0,0,0,0,0,0,25.77,25.95,28.83
$GC,6376,-0.48,-146.0,635.4,-6.2,405,6377,0.00,0.00,0.00,0.000,6,0.000,0.000,3038,2201,3390,0,0,0,0,0,0,28.83,28.83,28.83
$GC,6676,-0.48,-146.0,654.6,-6.5,415,6681,0.00,2.25,0.00,0.000,4,0.000,0.067,3031,3608,3389,0,0,0,0,0,0,28.83,25.69,28.83
$GC,6729,-0.48,-146.0,656.6,-6.5,416,6736,0.00,2.17,0.00,0.000,6,0.000,0.047,3030,2191,3389,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7036,-0.48,-146.0,679.8,-7.2,427,7037,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2190,3389,0,0,0,0,0,0,28.83,28.83,28.83
$GC,7336,-0.48,-146.0,701.7,-7.4,437,7341,0.00,2.30,0.00,0.000,4,0.000,0.067,3020,3616,3388,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7399,-0.48,-146.0,706.6,-7.8,439,7403,0.00,2.17,0.00,0.000,6,0.000,0.047,3020,2203,3387,0,0,0,0,0,0,28.83,25.93,28.83
$GC,7722,-0.48,-146.0,733.5,-8.4,450,7727,0.00,2.22,0.00,0.000,4,0.000,0.067,3011,3603,3387,0,0,0,0,0,0,28.83,25.67,28.83
$GC,7754,-0.48,-146.0,736.1,-8.5,451,7758,0.00,2.17,0.00,0.000,6,0.000,0.047,3011,2191,3387,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8077,-0.48,-146.0,765.6,-9.0,462,8079,0.10,0.00,0.00,0.000,6,0.158,0.000,3038,2187,3386,0,0,0,0,0,0,26.19,28.83,28.83
$GC,8376,-0.48,-146.0,786.1,-6.7,472,8382,0.00,2.28,0.00,0.000,4,0.000,0.067,3030,3607,3386,0,0,0,0,0,0,28.83,25.65,28.83
$GC,8450,-0.48,-146.0,790.4,-6.7,474,8454,0.00,2.17,0.00,0.000,6,0.000,0.048,3030,2198,3386,0,0,0,0,0,0,28.83,25.91,28.83
$GC,8762,-0.48,-146.0,812.0,-6.5,485,8763,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,2197,3386,0,0,0,0,0,0,28.83,28.83,28.83
$GC,9062,-0.48,-146.0,831.8,-6.6,495,9068,0.00,2.30,0.00,0.000,4,0.000,0.067,3020,3609,3385,0,0,0,0,0,0,28.83,25.63,28.83
$GC,9106,-0.48,-146.0,833.9,-6.6,496,9111,0.00,2.20,0.00,0.000,6,0.000,0.048,3020,2189,3386,0,0,0,0,0,0,28.83,25.89,28.83
$GC,9422,-0.48,-146.0,858.4,-7.5,507,9428,0.00,2.30,0.00,0.000,4,0.000,0.067,3011,3608,3385,0,0,0,0,0,0,28.83,25.62,28.83
$GC,9451,-0.48,-146.0,860.7,-7.6,508,9457,0.00,2.20,0.00,0.000,6,0.000,0.048,3011,2192,3385,0,0,0,0,0,0,28.83,25.88,28.83
$GC,9782,-0.48,-146.0,887.4,-8.2,519,9783,0.00,0.00,0.00,0.000,6,0.000,0.000,3011,2190,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,10082,-0.48,-146.0,911.7,-8.3,529,10088,0.10,2.30,0.00,0.000,4,0.158,0.067,3030,3607,3384,0,0,0,0,0,0,26.20,25.60,28.83
$GC,10135,-0.48,-146.0,914.0,-8.2,530,10141,0.00,2.20,0.00,0.000,6,0.000,0.049,3030,2189,3384,0,0,0,0,0,0,28.83,25.87,28.83
$GC,10442,-0.48,-146.0,937.4,-6.7,541,10448,0.00,2.28,0.00,0.000,4,0.000,0.068,3020,3602,3384,0,0,0,0,0,0,28.83,25.60,28.83
$GC,10495,-0.48,-146.0,939.7,-6.9,542,10502,0.00,2.17,0.00,0.000,6,0.000,0.049,3020,2199,3384,0,0,0,0,0,0,28.83,25.86,28.83
$GC,10802,-0.48,-146.0,963.6,-7.0,553,10803,0.00,0.00,0.00,0.000,6,0.000,0.000,3020,2198,3384,0,0,0,0,0,0,28.83,28.83,28.83
$GC,11102,-0.48,-146.0,984.8,-7.1,563,11108,0.00,2.30,0.00,0.000,4,0.000,0.069,3013,3617,3383,0,0,0,0,0,0,28.83,25.57,28.83
$GC,11175,-0.48,-146.0,989.3,-7.2,565,11179,0.00,2.20,0.00,0.000,6,0.000,0.050,3013,2202,3383,0,0,0,0,0,0,28.83,25.85,28.83
$STATE,11184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11184,begin apogee
$GC,11192,-0.22,0.0,991.1,-7.4,566,11324,0.32,0.00,127.60,1.182,6,0.112,0.000,3124,2330,2793,0,0,0,0,0,0,25.67,28.83,23.44
$STATE,11327,end apogee,CONTROL_FINISHED_OK
$STATE,11327,begin climb
$GC,11329,0.48,146.0,994.6,0.0,570,11474,0.65,2.58,136.02,1.147,4,0.076,0.067,3348,3717,2197,0,0,0,0,0,0,24.46,23.42,22.57
$GC,11493,0.48,161.0,985.7,6.8,576,11513,0.00,2.38,15.07,1.031,6,0.000,0.048,3358,2331,2137,0,0,0,0,0,0,28.83,23.82,22.80
$GC,11815,0.48,161.0,955.0,9.1,586,11817,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,2330,2129,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12115,0.48,161.0,926.9,9.4,596,12116,0.00,0.00,0.00,0.000,6,0.000,0.000,3358,2331,2127,0,0,0,0,0,0,28.83,28.83,28.83
$GC,12415,0.48,161.0,898.7,9.5,606,12421,0.00,2.30,0.00,0.000,4,0.000,0.068,3358,3724,2126,0,0,0,0,0,0,28.83,25.40,28.83
$GC,12438,0.48,161.0,898.7,9.5,606,12445,0.00,2.25,0.00,0.000,6,0.000,0.050,3369,2329,2126,0,0,0,0,0,0,28.83,25.56,28.83
$GC,12745,0.48,161.0,864.0,10.3,617,12746,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2323,2126,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13045,0.48,161.0,833.4,10.2,627,13046,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2324,2125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13345,0.48,161.0,804.4,9.7,637,13346,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,2324,2125,0,0,0,0,0,0,28.83,28.83,28.83
$GC,13645,0.48,161.0,775.0,9.9,647,13651,0.00,2.33,0.00,0.000,4,0.000,0.069,3369,3735,2125,0,0,0,0,0,0,28.83,25.58,28.83
$GC,13693,0.48,161.0,771.7,10.2,648,13697,0.00,2.22,0.00,0.000,6,0.000,0.050,3379,2324,2124,0,0,0,0,0,0,28.83,25.76,28.83
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$STATE,22623,end climb,SURFACE_DEPTH_REACHED
$STATE,22623,begin surface coast
$FINISH,1.4,1.013714
$STATE,22662,end surface coast,CONTROL_FINISHED_OK
$STATE,22662,begin surface
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$TT8_MAMPS,0.026964,0.026964
$HUMID,45.35
$INTERNAL_PRESSURE,9.09876
$TCM_TEMP,15.70
$XPDR_PINGS,0
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$10V_AH,10.1,29.531
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,21.700,157.325,417.975,0.000,0.000,28.755,41.452,186.384,0.000,0.000,16.003,3285.832,16137.404,536.710,2790.614,374.730,0.000,1878.885,0.000,2502.971,0.000,0.537,0.000
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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,296768
$DATA_FILE_SIZE,70060,1269
$CAP_FILE_SIZE,178443,0
$CFSIZE,260165632,236945408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$CURRENT,0.041, 18.7,1
$GPS,101112,105459,4721.834,-12611.398,71,0.9,71,18.6