version: 66.06
glider: 146
mission: 9
dive: 236
start: 4 20 114 19 40 40
data:
$ID,146
$MISSION,9
$DIVE,236
$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,-328758.47
$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,42
$R_STBD_OVSHOOT,40
$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
$GPS1,192536,2241.980,-15742.333,34,0.9,34,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-69.5
$GPS2,193943,2241.959,-15742.477,13,1.0,13,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.201,-0.165
$KALMAN_X,-195448.7,41.3,-186.4,217968.0,-934.5
$KALMAN_Y,4151.4,-21.5,-347.0,-17349.5,845.1
$MHEAD_RNG_PITCHd_Wd,119.2,10132,-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,-146.0,0.0,0.0,0,110,0.00,0.00,-88.07,0.000,6,0.000,0.000,474,2198,3656,0,0,0,0,0,0
$GC,115,-1.28,-146.0,4.5,-11.4,12,133,12.48,2.53,0.00,0.000,4,0.164,0.033,2718,635,3657,0,0,0,0,0,0
$GC,183,-1.12,-146.0,25.8,-16.4,21,191,0.17,2.50,0.00,0.000,6,0.093,0.021,2758,2206,3658,0,0,0,0,0,0
$GC,464,-1.05,-146.0,58.6,-11.0,48,472,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2207,3658,0,0,0,0,0,0
$GC,728,-1.05,-146.0,85.7,-9.3,73,733,0.00,2.58,0.00,0.000,4,0.000,0.043,2758,636,3659,0,0,0,0,0,0
$GC,762,-1.05,-146.0,89.7,-10.4,75,768,0.00,2.45,0.00,0.000,6,0.000,0.017,2758,2217,3659,0,0,0,0,0,0
$GC,1026,-1.05,-146.0,116.1,-10.1,100,1030,0.00,2.50,0.00,0.000,4,0.000,0.034,2758,3778,3659,0,0,0,0,0,0
$GC,1071,-1.05,-146.0,120.3,-9.7,103,1076,0.00,2.50,0.00,0.000,6,0.000,0.021,2758,2195,3659,0,0,0,0,0,0
$GC,1340,-1.05,-146.0,143.5,-8.1,127,1344,0.00,2.53,0.00,0.000,4,0.000,0.044,2758,642,3659,0,0,0,0,0,0
$GC,1373,-1.05,-146.0,146.3,-8.4,129,1377,0.00,2.40,0.00,0.000,6,0.000,0.023,2758,2192,3659,0,0,0,0,0,0
$GC,1641,-1.05,-146.0,169.8,-9.2,153,1645,0.00,2.55,0.00,0.000,4,0.000,0.043,2758,631,3660,0,0,0,0,0,0
$GC,1681,-1.05,-146.0,174.4,-10.0,156,1685,0.00,2.42,0.00,0.000,6,0.000,0.022,2758,2190,3659,0,0,0,0,0,0
$GC,1944,-1.05,-146.0,196.5,-8.1,180,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2190,3660,0,0,0,0,0,0
$GC,2200,-1.10,-146.0,215.6,-7.7,204,2209,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2190,3660,0,0,0,0,0,0
$GC,2467,-1.15,-146.0,235.8,-7.3,229,2472,0.00,2.55,0.00,0.000,4,0.000,0.048,2758,641,3659,0,0,0,0,0,0
$GC,2513,-1.19,-146.0,239.5,-7.9,232,2517,0.00,2.40,0.00,0.000,6,0.000,0.025,2758,2194,3659,0,0,0,0,0,0
$GC,2780,-1.25,-146.0,257.2,-6.2,256,2785,0.12,2.60,0.00,0.000,4,0.067,0.048,2707,641,3659,0,0,0,0,0,0
$GC,2799,-1.25,-146.0,258.9,-6.9,257,2804,0.10,2.42,0.00,0.000,6,0.112,0.021,2728,2194,3659,0,0,0,0,0,0
$GC,3060,-1.25,-146.0,281.1,-9.2,281,3061,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,2194,3658,0,0,0,0,0,0
$GC,3315,-1.25,-146.0,304.2,-8.2,305,3320,0.00,2.60,0.00,0.000,4,0.000,0.041,2729,3774,3657,0,0,0,0,0,0
$GC,3368,-1.29,-146.0,308.8,-8.8,309,3372,0.00,2.50,0.00,0.000,6,0.000,0.023,2728,2208,3657,0,0,0,0,0,0
$GC,3632,-1.29,-146.0,327.9,-7.2,333,3637,0.00,2.67,0.00,0.000,4,0.000,0.064,2728,631,3655,0,0,0,0,0,0
$GC,3654,-1.29,-146.0,329.3,-7.1,334,3659,0.00,2.50,0.00,0.000,6,0.000,0.031,2728,2186,3655,0,0,0,0,0,0
$GC,3922,-1.29,-146.0,349.3,-8.0,358,3927,0.00,2.65,0.00,0.000,4,0.000,0.048,2728,3797,3653,0,0,0,0,0,0
$GC,3945,-1.29,-146.0,351.8,-8.3,359,3951,0.00,2.58,0.00,0.000,6,0.000,0.033,2728,2202,3654,0,0,0,0,0,0
$GC,4208,-1.29,-146.0,372.8,-8.0,384,4212,0.00,2.65,0.00,0.000,4,0.000,0.045,2728,3792,3652,0,0,0,0,0,0
$GC,4232,-1.29,-146.0,374.2,-7.6,385,4236,0.00,2.60,0.00,0.000,6,0.000,0.029,2728,2191,3652,0,0,0,0,0,0
$GC,4498,-1.29,-146.0,396.5,-8.5,409,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,2191,3651,0,0,0,0,0,0
$GC,4761,-1.34,-146.0,422.1,-10.1,434,4766,0.00,2.78,0.00,0.000,4,0.000,0.084,2728,631,3649,0,0,0,0,0,0
$GC,4793,-1.34,-146.0,425.2,-10.5,436,4797,0.00,2.58,0.00,0.000,6,0.000,0.036,2728,2201,3648,0,0,0,0,0,0
$GC,5061,-1.38,-146.0,450.8,-8.7,460,5066,0.12,2.70,0.00,0.000,4,0.067,0.064,2681,3801,3647,0,0,0,0,0,0
$GC,5083,-1.38,-146.0,453.7,-9.3,461,5090,0.10,2.62,0.00,0.000,6,0.113,0.039,2702,2205,3647,0,0,0,0,0,0
$GC,5348,-1.38,-146.0,477.0,-8.3,486,5356,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2206,3645,0,0,0,0,0,0
$GC,5613,-1.38,-146.0,495.8,-6.6,511,5617,0.00,2.70,0.00,0.000,4,0.000,0.062,2702,3800,3644,0,0,0,0,0,0
$GC,5680,-1.38,-146.0,501.2,-7.9,516,5690,0.00,2.67,0.00,0.000,6,0.000,0.043,2702,2218,3644,0,0,0,0,0,0
$GC,5949,-1.38,-146.0,518.9,-7.2,541,5953,0.00,2.97,0.00,0.000,4,0.000,0.108,2702,623,3642,0,0,0,0,0,0
$GC,5992,-1.38,-146.0,522.2,-7.5,544,5997,0.00,2.65,0.00,0.000,6,0.000,0.054,2702,2201,3642,0,0,0,0,0,0
$GC,6260,-1.38,-146.0,540.3,-6.6,568,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2201,3640,0,0,0,0,0,0
$GC,6521,-1.38,-146.0,558.1,-6.7,593,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2201,3639,0,0,0,0,0,0
$GC,6778,-1.38,-146.0,575.5,-6.7,617,6782,0.00,2.80,0.00,0.000,4,0.000,0.082,2702,3793,3638,0,0,0,0,0,0
$GC,6795,-1.38,-146.0,576.9,-6.8,618,6799,0.00,2.72,0.00,0.000,6,0.000,0.059,2702,2200,3637,0,0,0,0,0,0
$GC,7059,-1.38,-146.0,594.0,-6.4,642,7064,0.00,2.83,0.00,0.000,4,0.000,0.074,2702,3800,3636,0,0,0,0,0,0
$GC,7081,-1.38,-146.0,595.4,-6.6,643,7085,0.00,2.75,0.00,0.000,6,0.000,0.060,2702,2209,3636,0,0,0,0,0,0
$GC,7354,-1.38,-146.0,614.4,-6.9,654,7359,0.00,2.85,0.00,0.000,4,0.000,0.081,2702,3793,3635,0,0,0,0,0,0
$GC,7402,-1.38,-146.0,618.0,-8.3,655,7407,0.00,2.75,0.00,0.000,6,0.000,0.068,2702,2226,3635,0,0,0,0,0,0
$GC,7680,-1.38,-146.0,638.1,-7.2,662,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2227,3633,0,0,0,0,0,0
$GC,7924,-1.38,-146.0,656.7,-7.6,668,7925,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2227,3632,0,0,0,0,0,0
$GC,8169,-1.38,-146.0,675.4,-7.5,674,8174,0.00,2.92,0.00,0.000,4,0.000,0.104,2702,3790,3631,0,0,0,0,0,0
$GC,8185,-1.38,-146.0,676.8,-7.2,674,8189,0.00,2.88,0.00,0.000,6,0.000,0.092,2702,2228,3631,0,0,0,0,0,0
$GC,8445,-1.38,-146.0,694.3,-6.6,681,8446,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,2229,3630,0,0,0,0,0,0
$GC,8689,-1.38,-146.0,709.8,-6.2,687,8694,0.00,3.03,0.00,0.000,4,0.000,0.123,2702,3789,3629,0,0,0,0,0,0
$GC,8730,-1.38,-146.0,712.4,-7.0,688,8735,0.00,2.97,0.00,0.000,6,0.000,0.112,2702,2235,3629,0,0,0,0,0,0
$GC,9015,-1.38,-146.0,728.4,-5.5,695,9020,0.00,3.08,0.00,0.000,4,0.000,0.132,2702,3789,3628,0,0,0,0,0,0
$GC,9077,-1.38,-146.0,732.3,-6.4,696,9082,0.00,3.03,0.00,0.000,6,0.000,0.122,2703,2242,3628,0,0,0,0,0,0
$GC,9338,-1.38,-146.0,747.7,-5.9,703,9343,0.00,3.12,0.00,0.000,4,0.000,0.145,2702,3790,3627,0,0,0,0,0,0
$GC,9388,-1.42,-146.0,751.4,-7.1,704,9393,0.00,3.05,0.00,0.000,6,0.000,0.133,2702,2258,3627,0,0,0,0,0,0
$GC,9663,-1.46,-146.0,768.9,-6.4,711,9667,0.00,3.20,0.00,0.000,4,0.000,0.158,2702,3792,3626,0,0,0,0,0,0
$GC,9707,-1.46,-146.0,772.1,-6.9,712,9712,0.00,3.12,0.00,0.000,6,0.000,0.146,2702,2271,3626,0,0,0,0,0,0
$GC,9985,-1.49,-146.0,789.6,-6.2,719,9991,0.10,3.28,0.00,0.000,4,0.083,0.170,2664,3786,3625,0,0,1,0,0,0
$GC,10054,-1.45,-146.0,794.9,-8.4,720,10060,0.10,3.20,0.00,0.000,6,0.117,0.162,2685,2279,3625,0,0,1,0,0,0
$STATE,10145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10145,begin apogee
$GC,10151,-0.31,0.0,801.1,6.5,723,10275,1.10,0.00,119.88,1.172,6,0.071,0.000,2934,2359,3060,0,0,0,0,0,0
$STATE,10276,end apogee,CONTROL_FINISHED_OK
$STATE,10276,begin climb
$GC,10280,1.28,146.0,801.5,0.0,726,10420,1.45,3.47,128.88,1.146,4,0.033,0.165,3292,3944,2462,0,0,0,0,0,0
$GC,10445,1.09,146.0,786.3,14.0,730,10451,0.25,3.38,0.00,0.000,6,0.098,0.154,3241,2370,2459,0,0,0,0,0,0
$GC,10730,1.04,146.0,754.4,10.6,737,10735,0.00,3.22,0.00,0.000,4,0.000,0.148,3241,3938,2453,0,0,0,0,0,0
$GC,10792,0.97,146.0,747.7,10.5,738,10798,0.12,3.15,0.00,0.000,6,0.123,0.130,3217,2370,2452,0,0,0,0,0,0
$GC,11054,1.01,175.8,724.3,8.6,745,11082,0.00,0.00,26.52,1.073,6,0.000,0.000,3217,2371,2343,0,0,0,0,0,0
$GC,11298,1.03,196.6,702.2,9.1,751,11324,0.00,3.12,20.33,1.049,4,0.000,0.113,3217,3946,2256,0,0,0,0,0,0
$GC,11375,1.03,196.6,694.0,11.8,752,11381,0.00,2.97,0.00,0.000,6,0.000,0.097,3217,2379,2255,0,0,0,0,0,0
$GC,11625,1.03,196.6,667.3,10.7,759,11626,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,2379,2253,0,0,0,0,0,0
$GC,11869,1.03,196.6,640.5,11.0,765,11873,0.00,3.05,0.00,0.000,4,0.000,0.117,3216,778,2251,0,0,0,0,0,0
$GC,11891,1.03,196.6,637.8,11.8,765,11896,0.00,2.88,0.00,0.000,6,0.000,0.071,3216,2396,2250,0,0,0,0,0,0
$GC,12146,1.03,196.6,609.9,10.9,772,12151,0.00,2.97,0.00,0.000,4,0.000,0.091,3216,771,2250,0,0,0,0,0,0
$GC,12167,1.03,196.6,607.4,10.2,772,12172,0.00,2.75,0.00,0.000,6,0.000,0.060,3216,2381,2249,0,0,0,0,0,0
$GC,12433,1.03,198.8,580.3,9.9,791,12438,0.00,2.80,0.00,0.000,4,0.000,0.091,3216,3935,2249,0,0,0,0,0,0
$GC,12473,1.03,198.8,575.6,10.4,794,12478,0.00,2.67,0.00,0.000,6,0.000,0.048,3216,2369,2248,0,0,0,0,0,0
$GC,12738,1.04,201.6,549.6,9.9,818,12744,0.00,0.00,4.28,0.686,6,0.000,0.000,3217,2369,2237,0,0,0,0,0,0
$GC,13001,1.08,201.6,522.8,10.4,843,13006,0.00,2.97,0.00,0.000,4,0.000,0.109,3217,775,2237,0,0,0,0,0,0
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$STATE,17820,end climb,SURFACE_DEPTH_REACHED
$STATE,17820,begin surface coast
$FINISH,0.0,1.011779
$STATE,17866,end surface coast,CONTROL_FINISHED_OK
$STATE,17867,begin surface
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$10V_AH,10.1,40.862
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355432
$DATA_FILE_SIZE,108211,1293
$CAP_FILE_SIZE,205474,0
$CFSIZE,260165632,162164736
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$GPS,210414,004130,2240.970,-15740.803,62,1.1,62,10.1