version: 66.06
glider: 146
mission: 9
dive: 231
start: 4 19 114 16 54 48
data:
$ID,146
$MISSION,9
$DIVE,231
$D_SURF,4
$D_FLARE,3
$D_TGT,800
$D_ABORT,900
$D_NO_BLEED,200
$D_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,266
$T_MISSION,540
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0276999
$MASS,52418
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2245
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,380
$N_FILEKB,4
$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,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-328684.31
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3004
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2210
$C_ROLL_CLIMB,2370
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3060
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,94
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-29.187134
$PRESSURE_SLOPE,0.000115925
$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,10
$ALTIM_PULSE,8
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-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,0.0043272944
$SEABIRD_T_H,0.00062241661
$SEABIRD_T_I,2.3207038e-05
$SEABIRD_T_J,2.4640995e-06
$SEABIRD_C_G,-9.7986097
$SEABIRD_C_H,1.0845124
$SEABIRD_C_I,-0.0017415414
$SEABIRD_C_J,0.00021607026
$GPS1,164023,2247.720,-15747.542,41,1.9,41,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.47
$_SM_ANGLEo,-69.4
$GPS2,165354,2247.650,-15747.721,14,1.8,31,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.237,-0.106
$KALMAN_X,-190081.0,223.7,211.1,203071.8,-1883.4
$KALMAN_Y,1513.1,117.1,-145.1,-4515.4,-193.8
$MHEAD_RNG_PITCHd_Wd,104.0,23848,-17.5,-10.025
$D_GRID,800
$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,15,-1.28,-146.0,0.0,0.0,0,104,0.00,0.00,-85.60,0.000,2,0.000,0.000,463,2185,3609,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.3,-8.1,11,133,12.57,2.65,-0.82,0.000,4,0.167,0.041,2716,3789,3658,0,0,0,0,0,0
$GC,172,-1.11,-146.0,21.8,-17.7,19,182,0.17,2.53,0.00,0.000,6,0.093,0.021,2757,2216,3659,0,0,0,0,0,0
$GC,456,-1.06,-146.0,55.0,-10.7,48,461,0.00,2.60,0.00,0.000,4,0.000,0.046,2757,630,3659,0,0,0,0,0,0
$GC,492,-1.01,-146.0,58.6,-10.2,50,497,0.12,2.47,0.00,0.000,6,0.109,0.018,2783,2224,3659,0,0,0,0,0,0
$GC,760,-1.01,-146.0,80.8,-8.4,74,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2224,3659,0,0,0,0,0,0
$GC,1027,-1.06,-146.0,102.2,-7.9,99,1031,0.00,2.60,0.00,0.000,4,0.000,0.044,2783,636,3660,0,0,0,0,0,0
$GC,1083,-1.12,-146.0,107.0,-8.5,103,1088,0.10,2.40,0.00,0.000,6,0.077,0.018,2738,2200,3660,0,0,0,0,0,0
$GC,1348,-1.08,-146.0,132.3,-8.9,127,1353,0.15,2.55,0.00,0.000,4,0.095,0.041,2770,3771,3660,0,0,0,0,0,0
$GC,1365,-1.08,-146.0,134.3,-9.1,128,1370,0.00,2.47,0.00,0.000,6,0.000,0.019,2770,2188,3660,0,0,0,0,0,0
$GC,1629,-1.08,-146.0,153.7,-7.3,152,1634,0.00,2.53,0.00,0.000,4,0.000,0.044,2770,637,3661,0,0,0,0,0,0
$GC,1652,-1.08,-146.0,155.9,-8.3,153,1660,0.00,2.38,0.00,0.000,6,0.000,0.023,2770,2198,3661,0,0,0,0,0,0
$GC,1915,-1.12,-146.0,176.0,-7.3,178,1920,0.00,2.55,0.00,0.000,4,0.000,0.044,2770,639,3661,0,0,0,0,0,0
$GC,1947,-1.18,-146.0,178.5,-7.8,180,1952,0.10,2.40,0.00,0.000,6,0.080,0.024,2724,2191,3661,0,0,0,0,0,0
$GC,2208,-1.13,-146.0,205.5,-10.8,204,2210,0.15,0.00,0.00,0.000,6,0.092,0.000,2757,2191,3661,0,0,0,0,0,0
$GC,2465,-1.13,-146.0,228.6,-8.9,228,2469,0.00,2.55,0.00,0.000,4,0.000,0.048,2757,644,3661,0,0,0,0,0,0
$GC,2498,-1.19,-146.0,231.9,-9.2,230,2504,0.00,2.40,0.00,0.000,6,0.000,0.020,2757,2178,3661,0,0,0,0,0,0
$GC,2763,-1.23,-146.0,253.6,-7.7,255,2767,0.00,2.62,0.00,0.000,4,0.000,0.041,2757,3780,3661,0,0,0,0,0,0
$GC,2808,-1.33,-146.0,257.5,-8.1,258,2817,0.15,2.55,0.00,0.000,6,0.029,0.021,2692,2189,3661,0,0,0,0,0,0
$GC,3073,-1.25,-146.0,281.6,-10.0,283,3078,0.17,2.62,0.00,0.000,4,0.090,0.058,2730,632,3660,0,0,0,0,0,0
$GC,3119,-1.25,-146.0,286.2,-8.8,286,3124,0.00,2.45,0.00,0.000,6,0.000,0.026,2730,2185,3660,0,0,0,0,0,0
$GC,3383,-1.25,-146.0,307.1,-7.9,311,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2186,3659,0,0,0,0,0,0
$GC,3644,-1.25,-146.0,329.6,-8.7,336,3649,0.00,2.62,0.00,0.000,4,0.000,0.058,2730,631,3659,0,0,0,0,0,0
$GC,3668,-1.25,-146.0,331.1,-8.8,337,3673,0.00,2.50,0.00,0.000,6,0.000,0.036,2730,2185,3658,0,0,0,0,0,0
$GC,3935,-1.25,-146.0,355.1,-9.1,361,3940,0.00,2.65,0.00,0.000,4,0.000,0.048,2730,3794,3657,0,0,0,0,0,0
$GC,3978,-1.25,-146.0,359.2,-9.3,364,3983,0.00,2.58,0.00,0.000,6,0.000,0.035,2730,2187,3657,0,0,0,0,0,0
$GC,4246,-1.25,-146.0,381.0,-7.4,388,4251,0.00,2.67,0.00,0.000,4,0.000,0.047,2730,3789,3655,0,0,0,0,0,0
$GC,4290,-1.29,-146.0,384.5,-7.3,391,4294,0.00,2.58,0.00,0.000,6,0.000,0.029,2730,2200,3655,0,0,0,0,0,0
$GC,4558,-1.33,-146.0,401.7,-6.0,415,4563,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2200,3653,0,0,0,0,0,0
$GC,4822,-1.38,-146.0,420.3,-7.2,440,4827,0.12,2.78,0.00,0.000,4,0.067,0.083,2681,630,3651,0,0,0,0,0,0
$GC,4840,-1.38,-146.0,421.9,-7.8,441,4846,0.10,2.58,0.00,0.000,6,0.113,0.038,2702,2195,3650,0,0,0,0,0,0
$GC,5102,-1.38,-146.0,445.0,-9.0,465,5106,0.00,2.72,0.00,0.000,4,0.000,0.071,2702,627,3649,0,0,0,0,0,0
$GC,5132,-1.38,-146.0,447.7,-9.6,467,5137,0.00,2.60,0.00,0.000,6,0.000,0.048,2702,2194,3649,0,0,0,0,0,0
$GC,5395,-1.38,-146.0,471.3,-9.0,491,5399,0.00,2.72,0.00,0.000,4,0.000,0.064,2702,3805,3647,0,0,0,0,0,0
$GC,5437,-1.38,-146.0,475.1,-9.2,494,5441,0.00,2.67,0.00,0.000,6,0.000,0.041,2702,2193,3647,0,0,0,0,0,0
$GC,5700,-1.38,-146.0,496.9,-8.1,518,5701,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2192,3646,0,0,0,0,0,0
$GC,5954,-1.38,-146.0,515.6,-7.3,542,5955,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2193,3644,0,0,0,0,0,0
$GC,6208,-1.38,-146.0,534.2,-7.4,566,6212,0.00,2.78,0.00,0.000,4,0.000,0.070,2702,3793,3643,0,0,0,0,0,0
$GC,6296,-1.38,-146.0,541.0,-7.9,573,6301,0.00,2.70,0.00,0.000,6,0.000,0.055,2702,2187,3643,0,0,0,0,0,0
$GC,6559,-1.38,-146.0,559.1,-7.0,597,6563,0.00,2.80,0.00,0.000,4,0.000,0.071,2702,3792,3641,0,0,0,0,0,0
$GC,6616,-1.38,-146.0,563.3,-7.2,601,6622,0.00,2.72,0.00,0.000,6,0.000,0.053,2702,2197,3640,0,0,0,0,0,0
$GC,6880,-1.38,-146.0,581.7,-7.0,626,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2197,3639,0,0,0,0,0,0
$GC,7150,-1.38,-146.0,603.5,-8.2,649,7155,0.00,2.85,0.00,0.000,4,0.000,0.082,2702,3790,3638,0,0,0,0,0,0
$GC,7167,-1.38,-146.0,604.9,-8.1,649,7172,0.00,2.75,0.00,0.000,6,0.000,0.066,2702,2203,3638,0,0,0,0,0,0
$GC,7430,-1.38,-146.0,626.4,-8.2,656,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2203,3637,0,0,0,0,0,0
$GC,7673,-1.38,-146.0,645.9,-7.9,662,7674,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2203,3635,0,0,0,0,0,0
$GC,7919,-1.38,-146.0,663.9,-7.3,668,7923,0.00,2.95,0.00,0.000,4,0.000,0.100,2702,3793,3634,0,0,0,0,0,0
$GC,7962,-1.38,-146.0,667.4,-7.8,669,7967,0.00,2.90,0.00,0.000,6,0.000,0.089,2702,2206,3634,0,0,0,0,0,0
$GC,8240,-1.38,-146.0,684.9,-6.0,676,8241,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2206,3632,0,0,0,0,0,0
$GC,8485,-1.38,-146.0,697.9,-5.2,682,8490,0.00,3.03,0.00,0.000,4,0.000,0.119,2702,3793,3631,0,0,0,0,0,0
$GC,8557,-1.38,-146.0,702.2,-6.2,683,8562,0.00,2.97,0.00,0.000,6,0.000,0.107,2702,2219,3632,0,0,0,0,0,0
$GC,8808,-1.38,-146.0,715.6,-5.4,689,8812,0.00,3.05,0.00,0.000,4,0.000,0.123,2702,3788,3630,0,0,0,0,0,0
$GC,8864,-1.38,-146.0,719.2,-6.5,690,8869,0.00,3.00,0.00,0.000,6,0.000,0.116,2702,2234,3630,0,0,0,0,0,0
$GC,9131,-1.38,-146.0,735.9,-6.3,697,9136,0.00,3.10,0.00,0.000,4,0.000,0.142,2702,3786,3629,0,0,0,0,0,0
$GC,9152,-1.38,-146.0,737.4,-6.7,697,9157,0.00,3.05,0.00,0.000,6,0.000,0.127,2702,2239,3629,0,0,0,0,0,0
$GC,9410,-1.42,-146.0,753.6,-6.3,704,9411,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2239,3628,0,0,0,0,0,0
$GC,9652,-1.46,-146.0,768.8,-6.1,710,9657,0.00,3.22,0.00,0.000,4,0.000,0.160,2702,3786,3627,0,0,0,0,0,0
$GC,9691,-1.46,-146.0,771.6,-6.8,711,9696,0.00,3.17,0.00,0.000,6,0.000,0.150,2702,2234,3627,0,0,1,0,0,0
$GC,9977,-1.50,-146.0,789.9,-6.5,718,9982,0.12,3.38,0.00,0.000,4,0.071,0.173,2660,3787,3626,0,0,0,0,0,0
$GC,9994,-1.50,-146.0,791.5,-7.0,718,9999,0.00,3.28,0.00,0.000,6,0.000,0.162,2659,2232,3626,0,0,1,0,0,0
$STATE,10130,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10130,begin apogee
$GC,10138,-0.31,0.0,802.3,7.9,722,10261,1.23,0.00,120.03,1.174,6,0.073,0.000,2934,2358,3060,0,0,0,0,0,0
$STATE,10262,end apogee,CONTROL_FINISHED_OK
$STATE,10262,begin climb
$GC,10265,1.28,146.0,804.5,0.0,725,10405,1.45,3.58,128.77,1.149,4,0.034,0.176,3292,3941,2462,0,0,0,0,0,0
$GC,10417,1.11,146.0,794.4,11.1,728,10424,0.22,3.42,0.00,0.000,6,0.100,0.161,3245,2370,2460,0,0,1,0,0,0
$GC,10668,1.10,188.5,772.8,8.1,734,10713,0.00,3.42,38.45,1.102,4,0.000,0.161,3246,3935,2289,0,0,0,0,0,0
$GC,10804,1.04,188.5,759.8,10.3,737,10809,0.00,3.20,0.00,0.000,6,0.000,0.139,3246,2385,2285,0,0,0,0,0,0
$GC,11082,1.03,214.4,735.5,8.8,744,11112,0.00,3.22,24.17,1.071,4,0.000,0.130,3245,3945,2184,0,0,0,0,0,0
$GC,11188,0.99,214.4,724.4,10.8,746,11194,0.12,3.03,0.00,0.000,6,0.121,0.114,3222,2401,2181,0,0,0,0,0,0
$GC,11450,1.01,228.9,699.7,9.4,753,11469,0.00,3.05,13.95,1.018,4,0.000,0.112,3222,3945,2125,0,0,0,0,0,0
$GC,11510,1.01,228.9,693.5,11.5,754,11514,0.00,2.92,0.00,0.000,6,0.000,0.097,3222,2403,2123,0,0,0,0,0,0
$GC,11776,1.01,228.9,665.6,10.6,761,11781,0.00,3.17,0.00,0.000,4,0.000,0.129,3222,779,2122,0,0,0,0,0,0
$GC,11797,1.01,228.9,662.9,11.8,761,11802,0.00,2.95,0.00,0.000,6,0.000,0.077,3222,2411,2122,0,0,0,0,0,0
$GC,12054,1.01,228.9,635.4,10.7,768,12058,0.00,2.83,0.00,0.000,4,0.000,0.097,3221,3941,2121,0,0,0,0,0,0
$GC,12108,1.01,228.9,628.5,11.7,769,12113,0.00,2.67,0.00,0.000,6,0.000,0.063,3221,2406,2120,0,0,0,0,0,0
$GC,12376,1.01,228.9,599.9,10.7,776,12378,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,2406,2120,0,0,0,0,0,0
$GC,12631,1.01,228.9,573.2,10.6,800,12636,0.00,2.97,0.00,0.000,4,0.000,0.098,3221,782,2119,0,0,0,0,0,0
$GC,12663,1.01,228.9,569.8,11.6,802,12667,0.00,2.80,0.00,0.000,6,0.000,0.052,3221,2428,2119,0,0,0,0,0,0
$GC,12931,1.05,228.9,540.3,11.4,826,12935,0.00,2.65,0.00,0.000,4,0.000,0.071,3221,3942,2119,0,0,0,0,0,0
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$STATE,17826,end climb,SURFACE_DEPTH_REACHED
$STATE,17826,begin surface coast
$FINISH,-0.1,1.022550
$STATE,17868,end surface coast,CONTROL_FINISHED_OK
$STATE,17868,begin surface
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$HUMID,61.53
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$XPDR_PINGS,26
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$10V_AH,10.1,39.657
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,28.900,244.000,414.675,46.075,0.000,59.329,71.438,406.344,6.500,0.000,32.772,2337.140,10466.217,602.920,4224.995,1099.536,33.375,1982.206,0.000,4231.477,0.000,0.534,0.000
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$SENSOR_SECS,883.230,932.588,1211.141,1323.003,2516.789,0.000,0.000,0.000
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$MEM,355432
$DATA_FILE_SIZE,104773,1283
$CAP_FILE_SIZE,206302,0
$CFSIZE,260165632,162668544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,3,0,0
$GPS,190414,215505,2247.188,-15746.018,39,1.6,39,10.1