version: 66.06
glider: 146
mission: 9
dive: 237
start: 4 21 114 0 59 56
data:
$ID,146
$MISSION,9
$DIVE,237
$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,-328771.06
$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,43
$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
$GPS1,004130,2240.970,-15740.803,62,1.1,62,10.1
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.39
$_SM_ANGLEo,-68.0
$GPS2,005901,2240.998,-15741.020,10,1.8,10,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,-0.151
$KALMAN_X,-196207.4,-35.7,-90.0,221186.8,-275.1
$KALMAN_Y,4477.3,-198.7,353.4,-19975.7,-117.1
$MHEAD_RNG_PITCHd_Wd,115.4,7074,-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,16,-1.28,-146.0,0.0,0.0,0,111,0.00,0.00,-87.80,0.000,6,0.000,0.000,457,2192,3658,0,0,0,0,0,0
$GC,114,-1.28,-146.0,4.7,-12.5,12,131,12.70,0.00,0.00,0.000,6,0.167,0.000,2714,2193,3659,0,0,0,0,0,0
$GC,407,-1.11,-146.0,59.5,-15.6,44,416,0.22,0.00,0.00,0.000,6,0.106,0.000,2761,2192,3661,0,0,0,0,0,0
$GC,672,-1.11,-146.0,87.9,-9.1,69,676,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2192,3661,0,0,0,0,0,0
$GC,934,-1.11,-146.0,113.0,-9.2,94,938,0.00,2.53,0.00,0.000,4,0.000,0.046,2761,644,3661,0,0,0,0,0,0
$GC,963,-1.11,-146.0,115.9,-9.6,96,967,0.00,2.42,0.00,0.000,6,0.000,0.018,2761,2223,3661,0,0,0,0,0,0
$GC,1227,-1.11,-146.0,140.5,-10.1,120,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2223,3661,0,0,0,0,0,0
$GC,1492,-1.11,-146.0,167.6,-10.0,145,1496,0.00,2.60,0.00,0.000,4,0.000,0.045,2761,638,3661,0,0,0,0,0,0
$GC,1532,-1.14,-146.0,172.0,-10.4,148,1536,0.00,2.42,0.00,0.000,6,0.000,0.018,2761,2206,3662,0,0,0,0,0,0
$GC,1796,-1.14,-146.0,196.7,-8.8,172,1800,0.00,2.55,0.00,0.000,4,0.000,0.044,2761,643,3661,0,0,0,0,0,0
$GC,1825,-1.14,-146.0,199.6,-8.6,174,1829,0.00,2.40,0.00,0.000,6,0.000,0.018,2761,2198,3661,0,0,0,0,0,0
$GC,2089,-1.14,-146.0,218.0,-5.9,198,2094,0.00,2.55,0.00,0.000,4,0.000,0.038,2761,3780,3661,0,0,0,0,0,0
$GC,2135,-1.22,-146.0,221.2,-6.3,201,2145,0.08,2.50,0.00,0.000,6,0.040,0.021,2713,2213,3661,0,0,0,0,0,0
$GC,2404,-1.22,-146.0,242.5,-8.9,226,2409,0.12,2.60,0.00,0.000,4,0.104,0.049,2740,639,3661,0,0,0,0,0,0
$GC,2437,-1.22,-146.0,246.4,-8.3,228,2447,0.00,2.45,0.00,0.000,6,0.000,0.021,2740,2190,3661,0,0,0,0,0,0
$GC,2706,-1.22,-146.0,267.9,-8.2,253,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2190,3661,0,0,0,0,0,0
$GC,2967,-1.22,-146.0,292.3,-9.3,278,2971,0.00,2.60,0.00,0.000,4,0.000,0.054,2740,633,3660,0,0,0,0,0,0
$GC,2984,-1.22,-146.0,293.9,-9.0,279,2988,0.00,2.45,0.00,0.000,6,0.000,0.029,2740,2189,3660,0,0,0,0,0,0
$GC,3249,-1.26,-146.0,317.9,-9.0,303,3253,0.00,2.62,0.00,0.000,4,0.000,0.044,2740,3780,3659,0,0,0,0,0,0
$GC,3289,-1.31,-146.0,321.7,-8.9,306,3294,0.00,2.53,0.00,0.000,6,0.000,0.025,2740,2193,3659,0,0,0,0,0,0
$GC,3554,-1.35,-146.0,343.3,-8.3,330,3559,0.12,2.70,0.00,0.000,4,0.065,0.067,2690,633,3658,0,0,0,0,0,0
$GC,3577,-1.35,-146.0,345.3,-8.6,331,3581,0.00,2.50,0.00,0.000,6,0.000,0.038,2690,2182,3657,0,0,0,0,0,0
$GC,3845,-1.30,-146.0,371.7,-9.7,355,3851,0.12,2.67,0.00,0.000,4,0.101,0.051,2718,3789,3656,0,0,0,0,0,0
$GC,3902,-1.30,-146.0,377.6,-8.4,359,3908,0.00,2.58,0.00,0.000,6,0.000,0.029,2718,2203,3656,0,0,0,0,0,0
$GC,4167,-1.30,-146.0,398.8,-7.9,384,4175,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2203,3654,0,0,0,0,0,0
$GC,4432,-1.30,-146.0,419.6,-7.7,409,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2203,3652,0,0,0,0,0,0
$GC,4694,-1.30,-146.0,438.5,-7.4,434,4699,0.00,2.67,0.00,0.000,4,0.000,0.056,2718,3786,3651,0,0,0,0,0,0
$GC,4728,-1.30,-146.0,440.8,-7.5,436,4732,0.00,2.62,0.00,0.000,6,0.000,0.038,2718,2200,3651,0,0,0,0,0,0
$GC,4996,-1.30,-146.0,460.4,-7.3,460,5001,0.00,2.85,0.00,0.000,4,0.000,0.094,2718,627,3649,0,0,0,0,0,0
$GC,5039,-1.30,-146.0,464.0,-7.8,463,5044,0.00,2.58,0.00,0.000,6,0.000,0.049,2718,2179,3648,0,0,0,0,0,0
$GC,5307,-1.30,-146.0,482.6,-6.2,487,5312,0.00,2.72,0.00,0.000,4,0.000,0.059,2718,3798,3647,0,0,0,0,0,0
$GC,5335,-1.30,-146.0,484.9,-6.5,489,5340,0.00,2.67,0.00,0.000,6,0.000,0.041,2718,2191,3646,0,0,0,0,0,0
$GC,5599,-1.34,-146.0,499.9,-5.7,513,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,2192,3645,0,0,0,0,0,0
$GC,5855,-1.38,-146.0,514.4,-6.1,537,5860,0.00,2.75,0.00,0.000,4,0.000,0.065,2718,3795,3644,0,0,0,0,0,0
$GC,5878,-1.38,-146.0,516.1,-6.4,538,5883,0.00,2.70,0.00,0.000,6,0.000,0.046,2718,2193,3643,0,0,0,0,0,0
$GC,6142,-1.42,-146.0,533.9,-7.2,563,6148,0.10,0.00,0.00,0.000,6,0.083,0.000,2679,2193,3642,0,0,0,0,0,0
$GC,6405,-1.42,-146.0,556.2,-8.1,588,6410,0.00,2.80,0.00,0.000,4,0.000,0.077,2679,3799,3641,0,0,0,0,0,0
$GC,6447,-1.42,-146.0,560.0,-9.2,591,6452,0.00,2.75,0.00,0.000,6,0.000,0.054,2679,2192,3640,0,0,0,0,0,0
$GC,6710,-1.42,-146.0,581.5,-7.7,615,6711,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,2192,3638,0,0,0,0,0,0
$GC,6964,-1.42,-146.0,599.9,-7.0,639,6969,0.00,2.85,0.00,0.000,4,0.000,0.083,2679,3793,3638,0,0,0,0,0,0
$GC,6985,-1.42,-146.0,601.8,-7.8,639,6990,0.00,2.78,0.00,0.000,6,0.000,0.064,2679,2201,3637,0,0,0,0,0,0
$GC,7241,-1.42,-146.0,621.2,-7.6,646,7246,0.00,2.88,0.00,0.000,4,0.000,0.085,2679,3798,3635,0,0,0,0,0,0
$GC,7264,-1.42,-146.0,623.1,-8.2,646,7269,0.00,2.80,0.00,0.000,6,0.000,0.073,2678,2206,3635,0,0,0,0,0,0
$GC,7519,-1.42,-146.0,643.9,-8.2,653,7524,0.00,2.90,0.00,0.000,4,0.000,0.094,2679,3792,3634,0,0,0,0,0,0
$GC,7542,-1.42,-146.0,646.0,-8.7,653,7546,0.00,2.85,0.00,0.000,6,0.000,0.081,2679,2211,3634,0,0,0,0,0,0
$GC,7799,-1.42,-146.0,667.4,-8.5,660,7803,0.00,2.95,0.00,0.000,4,0.000,0.104,2679,3795,3633,0,0,0,0,0,0
$GC,7848,-1.42,-146.0,672.3,-10.2,661,7852,0.00,2.90,0.00,0.000,6,0.000,0.093,2679,2223,3632,0,0,0,0,0,0
$GC,8120,-1.42,-146.0,694.9,-8.0,668,8125,0.00,2.97,0.00,0.000,4,0.000,0.113,2679,3790,3631,0,0,0,0,0,0
$GC,8161,-1.42,-146.0,698.4,-9.2,669,8166,0.00,2.95,0.00,0.000,6,0.000,0.106,2678,2231,3631,0,0,0,0,0,0
$GC,8444,-1.42,-146.0,720.2,-7.4,676,8449,0.00,3.05,0.00,0.000,4,0.000,0.130,2679,3792,3630,0,0,0,0,0,0
$GC,8488,-1.42,-146.0,723.8,-7.9,677,8493,0.00,3.00,0.00,0.000,6,0.000,0.120,2679,2243,3630,0,0,0,0,0,0
$GC,8767,-1.42,-146.0,744.4,-7.4,684,8772,0.00,3.10,0.00,0.000,4,0.000,0.140,2679,3787,3629,0,0,0,0,0,0
$GC,8811,-1.42,-146.0,748.2,-7.7,685,8816,0.00,3.05,0.00,0.000,6,0.000,0.134,2679,2248,3629,0,0,1,0,0,0
$GC,9091,-1.42,-146.0,769.5,-7.8,692,9096,0.00,3.62,0.00,0.000,4,0.000,0.193,2678,622,3628,0,0,0,0,0,0
$GC,9124,-1.42,-146.0,772.5,-8.9,692,9130,0.00,3.22,0.00,0.000,6,0.000,0.134,2679,2239,3627,0,0,0,0,0,0
$GC,9374,-1.42,-146.0,793.1,-8.4,699,9380,0.00,3.62,0.00,0.000,4,0.000,0.192,2678,617,3627,0,0,0,0,0,0
$GC,9398,-1.42,-146.0,795.1,-8.7,699,9403,0.00,3.38,0.00,0.000,6,0.000,0.150,2678,2248,3626,0,0,0,0,0,0
$STATE,9488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9488,begin apogee
$GC,9494,-0.31,0.0,803.2,8.7,702,9618,1.12,0.00,120.50,1.176,6,0.068,0.000,2934,2369,3060,0,0,0,0,0,0
$STATE,9619,end apogee,CONTROL_FINISHED_OK
$STATE,9619,begin climb
$GC,9622,1.28,146.0,806.7,0.0,705,9760,1.45,3.53,129.25,1.151,4,0.032,0.186,3294,3938,2462,0,0,0,0,0,0
$GC,9790,1.08,146.0,795.3,12.5,709,9796,0.28,3.42,0.00,0.000,6,0.097,0.163,3239,2372,2459,0,0,0,0,0,0
$GC,10076,1.04,155.4,767.8,9.6,716,10090,0.00,3.55,8.18,0.945,4,0.000,0.177,3239,779,2425,0,0,0,0,0,0
$GC,10121,0.97,155.4,763.1,10.1,717,10126,0.12,3.17,0.00,0.000,6,0.127,0.133,3216,2363,2424,0,0,0,0,0,0
$GC,10405,1.00,178.6,737.2,8.9,724,10430,0.00,0.00,22.88,1.073,6,0.000,0.000,3216,2363,2331,0,0,0,0,0,0
$GC,10650,1.00,181.4,713.3,9.9,730,10651,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2364,2326,0,0,0,0,0,0
$GC,10892,1.00,181.4,688.5,10.1,736,10897,0.00,3.03,0.00,0.000,4,0.000,0.115,3216,3941,2325,0,0,0,0,0,0
$GC,10919,1.00,181.4,685.4,11.3,736,10924,0.00,2.95,0.00,0.000,6,0.000,0.091,3216,2356,2324,0,0,0,0,0,0
$GC,11170,1.00,181.4,660.2,10.1,742,11175,0.00,2.95,0.00,0.000,4,0.000,0.101,3216,3944,2324,0,0,0,0,0,0
$GC,11209,1.00,181.4,655.9,11.6,743,11214,0.00,2.85,0.00,0.000,6,0.000,0.077,3216,2370,2323,0,0,0,0,0,0
$GC,11492,1.01,188.1,627.9,9.7,750,11503,0.00,0.00,8.82,0.936,6,0.000,0.000,3216,2370,2293,0,0,0,0,0,0
$GC,11738,1.02,198.4,604.5,9.5,756,11751,0.00,0.00,11.20,0.960,6,0.000,0.000,3216,2370,2250,0,0,0,0,0,0
$GC,11988,1.03,206.9,580.0,9.6,774,12003,0.00,3.00,9.15,0.914,4,0.000,0.102,3216,774,2215,0,0,0,0,0,0
$GC,12015,1.03,206.9,577.2,10.1,776,12020,0.00,2.80,0.00,0.000,6,0.000,0.053,3216,2392,2214,0,0,0,0,0,0
$GC,12279,1.06,228.6,552.1,9.0,800,12305,0.00,0.00,21.20,0.979,6,0.000,0.000,3216,2392,2127,0,0,0,0,0,0
$GC,12564,1.14,244.0,524.8,9.3,827,12590,0.15,3.00,15.25,0.939,4,0.185,0.081,3257,781,2063,0,0,0,0,0,0
$GC,12613,1.14,244.0,518.9,12.0,831,12617,0.00,2.72,0.00,0.000,6,0.000,0.047,3257,2378,2062,0,0,0,0,0,0
$GC,12877,1.14,244.0,491.3,10.2,855,12881,0.00,2.70,0.00,0.000,4,0.000,0.063,3257,3938,2060,0,0,0,0,0,0
$GC,12921,1.14,244.0,486.0,10.4,858,12931,0.00,2.65,0.00,0.000,6,0.000,0.040,3257,2381,2059,0,0,0,0,0,0
$GC,13188,1.17,268.9,462.5,8.9,883,13217,0.00,0.00,23.73,0.927,6,0.000,0.000,3257,2381,1962,0,0,0,0,0,0
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$STATE,17290,end climb,SURFACE_DEPTH_REACHED
$STATE,17290,begin surface coast
$FINISH,0.3,1.023671
$STATE,17326,end surface coast,CONTROL_FINISHED_OK
$STATE,17326,begin surface
$SM_CCo,17349,73.18,0.524,0,0,1510,380.21
$SM_GC,0.68,0.00,0.00,73.18,0.000,0.000,0.524,460,2169,1510,-11.70,-1.16,380.21
$IRIDIUM_FIX,2232.34,-15738.08,160703,000030
$TT8_MAMPS,0.025311
$HUMID,61.41
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,21.80
$XPDR_PINGS,22
$24V_AH,23.2,35.662
$10V_AH,10.1,41.097
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,28.150,217.325,393.400,73.175,0.000,80.315,109.740,528.355,5.500,0.000,11.967,2287.517,10176.562,620.901,4086.647,1283.364,33.373,1933.782,0.000,4113.768,0.000,0.535,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,878.283,934.000,1210.086,1312.935,2500.469,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355432
$DATA_FILE_SIZE,104988,1275
$CAP_FILE_SIZE,197983,0
$CFSIZE,260165632,162074624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210414,055156,2239.346,-15739.970,37,99.0,56,10.1