version: 66.07
glider: 187
mission: 4
dive: 181
start: 5 6 111 18 15 47
data:
$ID,187
$MISSION,4
$DIVE,181
$D_SURF,4
$D_FLARE,3
$D_TGT,990
$D_ABORT,1070
$D_NO_BLEED,200
$D_BOOST,3
$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,330
$T_MISSION,380
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,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,1.023
$MASS,51930
$NAV_MODE,1
$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,320
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$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,-1584048.1
$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,2905
$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,0.0049999999
$PITCH_ADJ_DBAND,2
$ROLL_MIN,236
$ROLL_MAX,3800
$ROLL_DEG,43
$C_ROLL_DIVE,2175
$C_ROLL_CLIMB,2060
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,2
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,470
$VBD_MAX,3960
$C_VBD,2735
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00060000003
$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,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-60.973145
$PRESSURE_SLOPE,0.0001138132
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$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,0.0043543768
$SEABIRD_T_H,0.0006249955
$SEABIRD_T_I,2.3401506e-05
$SEABIRD_T_J,2.4672308e-06
$SEABIRD_C_G,-9.9855604
$SEABIRD_C_H,1.1126566
$SEABIRD_C_I,-0.0021479612
$SEABIRD_C_J,0.0002479906
$GPS1,060511,180406,4742.419,-12526.538,39,1.4,39,18.7
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-75.1
$GPS2,060511,181450,4742.486,-12526.519,11,1.9,11,18.7
$SPEED_LIMITS,0.173,0.262
$TGT_NAME,DOGLEG
$TGT_LATLONG,4743.500,-12528.600
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.127,0.184
$KALMAN_X,499.6,179.8,147.5,-11441.6,-70.6
$KALMAN_Y,-4911.2,294.7,73.5,18789.2,-1759.1
$MHEAD_RNG_PITCHd_Wd,306.6,3201,-22.0,-10.000
$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
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-0.75,-104.6,0.0,0.0,0,96,0.00,0.00,-77.80,0.000,2,0.000,0.000,131,2186,3082,0,0,0,0,0,0
$GC,99,-0.77,-146.6,3.4,-5.7,12,122,10.12,2.42,-5.03,0.000,4,0.239,0.061,2647,657,3335,0,0,0,0,0,0
$GC,265,-0.74,-146.6,50.1,-23.2,42,272,0.00,2.40,0.00,0.000,6,0.000,0.048,2638,2165,3338,0,0,0,0,0,0
$GC,338,-0.70,-146.6,67.0,-24.4,55,346,0.15,0.00,0.00,0.000,6,0.179,0.000,2675,2165,3338,0,0,0,0,0,0
$GC,412,-0.69,-146.6,80.5,-16.7,68,419,0.00,2.40,0.00,0.000,4,0.000,0.052,2676,652,3339,0,0,0,0,0,0
$GC,473,-0.69,-146.6,90.8,-15.2,79,480,0.00,2.42,0.00,0.000,6,0.000,0.049,2667,2183,3339,0,0,0,0,0,0
$GC,551,-0.67,-146.6,103.4,-15.5,91,555,0.00,2.45,0.00,0.000,4,0.000,0.060,2654,3700,3339,0,0,0,0,0,0
$GC,636,-0.67,-146.6,115.8,-14.8,98,641,0.12,2.35,0.00,0.000,6,0.155,0.044,2688,2189,3339,0,0,0,0,0,0
$GC,770,-0.67,-146.6,134.5,-14.0,110,774,0.00,2.40,0.00,0.000,4,0.000,0.060,2679,3693,3339,0,0,0,0,0,0
$GC,810,-0.67,-146.6,140.2,-14.5,113,814,0.00,2.33,0.00,0.000,6,0.000,0.044,2678,2197,3339,0,0,0,0,0,0
$GC,945,-0.67,-146.6,159.8,-14.0,125,949,0.00,2.38,0.00,0.000,4,0.000,0.052,2678,659,3339,0,0,0,0,0,0
$GC,983,-0.67,-146.6,165.6,-13.9,128,990,0.00,2.40,0.00,0.000,6,0.000,0.049,2668,2200,3339,0,0,0,0,0,0
$GC,1117,-0.67,-146.6,185.2,-15.7,141,1118,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,2200,3339,0,0,0,0,0,0
$GC,1246,-0.67,-146.6,205.1,-15.5,153,1250,0.00,2.38,0.00,0.000,4,0.000,0.051,2667,656,3340,0,0,0,0,0,0
$GC,1278,-0.67,-146.6,210.6,-15.2,155,1285,0.12,2.38,0.00,0.000,6,0.158,0.049,2690,2193,3339,0,0,0,0,0,0
$GC,1412,-0.67,-146.6,227.6,-12.6,168,1414,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2192,3340,0,0,0,0,0,0
$GC,1541,-0.67,-146.6,242.6,-11.6,180,1542,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2193,3339,0,0,0,0,0,0
$GC,1668,-0.68,-146.6,257.7,-12.3,192,1669,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,2192,3339,0,0,0,0,0,0
$GC,1795,-0.70,-146.6,273.1,-12.4,204,1796,0.00,0.00,0.00,0.000,6,0.000,0.000,2691,2192,3340,0,0,0,0,0,0
$GC,1923,-0.71,-146.6,289.2,-12.5,216,1927,0.00,2.35,0.00,0.000,4,0.000,0.062,2681,3690,3340,0,0,0,0,0,0
$GC,1958,-0.72,-146.6,293.6,-13.2,219,1962,0.00,2.33,0.00,0.000,6,0.000,0.045,2680,2183,3339,0,0,0,0,0,0
$GC,2092,-0.72,-146.6,310.7,-12.8,231,2093,0.00,0.00,0.00,0.000,6,0.000,0.000,2681,2179,3339,0,0,0,0,0,0
$GC,2220,-0.72,-146.6,326.6,-12.0,243,2224,0.00,2.35,0.00,0.000,4,0.000,0.053,2680,653,3339,0,0,0,0,0,0
$GC,2266,-0.72,-146.6,332.3,-12.4,246,2273,0.00,2.38,0.00,0.000,6,0.000,0.049,2671,2176,3339,0,0,0,0,0,0
$GC,2401,-0.72,-146.6,348.4,-11.9,259,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,2176,3339,0,0,0,0,0,0
$GC,2529,-0.72,-146.6,363.4,-12.1,271,2533,0.00,2.38,0.00,0.000,4,0.000,0.062,2659,3697,3339,0,0,0,0,0,0
$GC,2557,-0.72,-146.6,367.1,-12.4,273,2562,0.00,2.35,0.00,0.000,6,0.000,0.045,2659,2169,3339,0,0,0,0,0,0
$GC,2692,-0.72,-146.6,384.5,-13.4,285,2693,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2165,3339,0,0,0,0,0,0
$GC,2820,-0.72,-146.6,401.0,-12.8,297,2821,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2165,3338,0,0,0,0,0,0
$GC,2946,-0.72,-146.6,417.3,-12.7,309,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2165,3338,0,0,0,0,0,0
$GC,3074,-0.72,-146.6,433.4,-12.5,321,3075,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2165,3337,0,0,0,0,0,0
$GC,3202,-0.72,-146.6,449.7,-12.9,333,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2165,3338,0,0,0,0,0,0
$GC,3329,-0.72,-146.6,466.3,-13.2,345,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2165,3337,0,0,0,0,0,0
$GC,3456,-0.72,-146.6,483.0,-12.8,357,3457,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2165,3337,0,0,0,0,0,0
$GC,3585,-0.72,-146.6,500.0,-13.1,369,3586,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2165,3337,0,0,0,0,0,0
$GC,3711,-0.72,-146.6,516.3,-12.7,381,3712,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2165,3336,0,0,0,0,0,0
$GC,3839,-0.72,-146.6,532.2,-12.3,393,3840,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2165,3336,0,0,0,0,0,0
$GC,3966,-0.72,-146.6,547.9,-12.3,405,3967,0.00,0.00,0.00,0.000,6,0.000,0.000,2659,2165,3336,0,0,0,0,0,0
$GC,4095,-0.72,-146.6,563.3,-12.3,417,4096,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2165,3336,0,0,0,0,0,0
$GC,4221,-0.72,-146.6,578.7,-11.7,429,4222,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2165,3336,0,0,0,0,0,0
$GC,4349,-0.72,-146.6,593.5,-11.9,441,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2165,3335,0,0,0,0,0,0
$GC,4475,-0.72,-146.6,608.1,-11.6,449,4476,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2165,3335,0,0,0,0,0,0
$GC,4780,-0.72,-146.6,644.9,-12.0,459,4781,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2165,3335,0,0,0,0,0,0
$GC,5087,-0.72,-146.6,682.2,-12.0,469,5088,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2165,3335,0,0,0,0,0,0
$GC,5392,-0.72,-146.6,717.5,-11.4,479,5393,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2165,3334,0,0,0,0,0,0
$GC,5699,-0.72,-146.6,752.1,-11.5,489,5700,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,2165,3334,0,0,0,0,0,0
$GC,6005,-0.72,-146.6,787.0,-11.5,499,6006,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2165,3333,0,0,0,0,0,0
$GC,6311,-0.72,-146.6,823.4,-11.6,509,6312,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2165,3332,0,0,0,0,0,0
$GC,6618,-0.72,-146.6,859.0,-11.6,519,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2165,3332,0,0,0,0,0,0
$GC,6923,-0.72,-146.6,894.7,-11.7,529,6924,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2165,3331,0,0,0,0,0,0
$GC,7229,-0.72,-146.6,928.7,-10.9,539,7231,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,2165,3331,0,0,0,0,0,0
$GC,7536,-0.72,-146.6,961.3,-10.5,549,7540,0.00,2.42,0.00,0.000,4,0.000,0.066,2647,3693,3332,0,0,0,0,0,0
$GC,7571,-0.72,-146.6,965.2,-11.5,550,7575,0.00,2.35,0.00,0.000,6,0.000,0.050,2647,2173,3331,0,0,0,0,0,0
$GC,7907,-0.78,-146.6,989.1,-0.0,561,7911,0.00,2.30,0.00,0.000,4,0.000,0.057,2646,666,3331,0,0,0,0,0,0
$STATE,8027,end dive,NO_VERTICAL_VELOCITY
$STATE,8027,begin apogee
$GC,8037,-0.22,0.0,989.1,0.0,564,8168,0.50,0.00,127.60,1.226,6,0.087,0.000,2833,2068,2735,0,0,0,0,0,0
$STATE,8169,end apogee,CONTROL_FINISHED_OK
$STATE,8169,begin climb
$GC,8171,0.77,146.6,988.9,0.0,569,8314,0.93,0.00,135.80,1.193,6,0.067,0.000,3153,2068,2137,0,0,0,0,0,0
$GC,8634,0.75,146.6,921.5,17.2,584,8638,0.00,2.50,0.00,0.000,4,0.000,0.063,3153,3575,2126,0,0,0,0,0,0
$GC,8700,0.72,146.6,908.8,19.7,586,8704,0.00,2.45,0.00,0.000,6,0.000,0.048,3164,2066,2125,0,0,0,0,0,0
$GC,9030,0.70,146.6,850.2,17.6,597,9032,0.12,0.00,0.00,0.000,6,0.189,0.000,3135,2064,2124,0,0,0,0,0,0
$GC,9336,0.69,146.6,804.3,14.6,607,9340,0.00,2.45,0.00,0.000,4,0.000,0.063,3135,3573,2123,0,0,0,0,0,0
$GC,9369,0.67,146.6,799.2,15.2,608,9373,0.00,2.40,0.00,0.000,6,0.000,0.049,3144,2059,2122,0,0,0,0,0,0
$GC,9699,0.65,146.6,747.4,15.8,619,9703,0.00,2.42,0.00,0.000,4,0.000,0.062,3144,3577,2122,0,0,0,0,0,0
$GC,9737,0.62,146.6,740.3,18.8,620,9742,0.17,2.38,0.00,0.000,6,0.184,0.049,3110,2057,2121,0,0,0,0,0,0
$GC,10062,0.62,146.6,695.3,13.9,631,10063,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2057,2121,0,0,0,0,0,0
$GC,10367,0.62,146.6,653.0,13.6,641,10368,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2057,2120,0,0,0,0,0,0
$GC,10675,0.62,146.6,612.2,13.2,651,10676,0.00,0.00,0.00,0.000,6,0.000,0.000,3111,2057,2120,0,0,0,0,0,0
$GC,10989,0.62,146.6,570.7,13.0,675,10993,0.00,2.42,0.00,0.000,4,0.000,0.062,3110,3574,2120,0,0,0,0,0,0
$GC,11033,0.62,146.6,564.0,14.8,678,11041,0.00,2.38,0.00,0.000,6,0.000,0.048,3120,2066,2118,0,0,0,0,0,0
$GC,11169,0.62,146.6,545.0,14.4,691,11173,0.00,2.35,0.00,0.000,4,0.000,0.057,3131,545,2119,0,0,0,0,0,0
$GC,11191,0.62,146.6,541.6,13.5,692,11198,0.00,2.35,0.00,0.000,6,0.000,0.050,3131,2067,2119,0,0,0,0,0,0
$GC,11325,0.62,146.6,522.6,14.5,705,11329,0.00,2.38,0.00,0.000,4,0.000,0.063,3131,3577,2118,0,0,0,0,0,0
$GC,11359,0.61,146.6,517.3,15.4,707,11367,0.15,2.35,0.00,0.000,6,0.176,0.050,3104,2068,2118,0,0,0,0,0,0
$GC,11494,0.61,146.6,500.0,12.8,720,11495,0.00,0.00,0.00,0.000,6,0.000,0.000,3103,2068,2118,0,0,0,0,0,0
$GC,11621,0.61,146.6,484.3,12.4,732,11625,0.00,2.35,0.00,0.000,4,0.000,0.059,3113,547,2118,0,0,0,0,0,0
$GC,11644,0.61,146.6,481.5,12.5,734,11648,0.00,2.35,0.00,0.000,6,0.000,0.051,3113,2075,2118,0,0,0,0,0,0
$GC,11783,0.61,146.6,463.6,12.7,747,11784,0.00,0.00,0.00,0.000,6,0.000,0.000,3113,2075,2118,0,0,0,0,0,0
$GC,11912,0.61,146.6,446.7,13.8,759,11916,0.00,2.38,0.00,0.000,4,0.000,0.062,3113,3580,2118,0,0,0,0,0,0
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$STATE,15713,end climb,SURFACE_DEPTH_REACHED
$STATE,15713,begin surface coast
$FINISH,0.6,1.024882
$STATE,15741,end surface coast,CONTROL_FINISHED_OK
$STATE,15741,begin surface
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$HUMID,35.11
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$TCM_TEMP,15.80
$XPDR_PINGS,0
$24V_AH,23.1,16.932
$10V_AH,10.2,10.941
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,20.925,152.175,347.375,36.975,0.000,54.792,116.726,272.278,0.000,0.000,12.636,2930.368,9704.741,567.243,2777.772,453.038,33.352,1716.272,0.000,2394.238,0.000,0.535,0.000
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$MEM,297664
$DATA_FILE_SIZE,66788,1188
$CAP_FILE_SIZE,180302,0
$CFSIZE,260165632,204820480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060511,224031,4744.258,-12528.271,42,1.0,42,18.7