version: 66.06
glider: 146
mission: 9
dive: 238
start: 4 21 114 6 9 57
data:
$ID,146
$MISSION,9
$DIVE,238
$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,-328783.88
$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,66
$R_STBD_OVSHOOT,41
$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
$GPS1,055156,2239.346,-15739.970,37,99.0,56,10.1
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-69.7
$GPS2,060902,2239.287,-15740.197,9,1.8,10,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.239,-0.102
$KALMAN_X,-197819.9,-328.0,-78.2,224497.2,-956.3
$KALMAN_Y,4396.0,-141.7,-354.3,-22407.1,711.0
$MHEAD_RNG_PITCHd_Wd,102.9,4285,-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,17,-1.28,-146.0,0.0,0.0,0,104,0.00,0.00,-84.75,0.000,2,0.000,0.000,459,2170,3604,0,0,0,0,0,0
$GC,108,-1.28,-146.0,3.3,-8.1,11,134,12.52,2.53,-0.93,0.000,4,0.167,0.049,2718,655,3659,0,0,0,0,0,0
$GC,159,-0.82,-146.0,19.3,-25.9,17,167,0.47,2.45,0.00,0.000,6,0.084,0.018,2822,2216,3659,0,0,0,0,0,0
$GC,444,-0.89,-146.0,45.4,-7.8,49,453,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2216,3660,0,0,0,0,0,0
$GC,710,-0.96,-146.0,70.4,-9.2,74,715,0.12,2.55,0.00,0.000,4,0.064,0.043,2765,667,3660,0,0,0,0,0,0
$GC,745,-0.96,-146.0,74.1,-11.6,76,750,0.12,2.40,0.00,0.000,6,0.096,0.018,2793,2210,3660,0,0,0,0,0,0
$GC,1008,-1.01,-146.0,97.6,-7.5,100,1012,0.00,2.55,0.00,0.000,4,0.000,0.036,2793,3772,3660,0,0,0,0,0,0
$GC,1056,-1.11,-146.0,101.0,-8.3,103,1061,0.12,2.42,0.00,0.000,6,0.065,0.020,2741,2219,3660,0,0,0,0,0,0
$GC,1321,-1.07,-146.0,128.0,-10.9,127,1326,0.15,2.62,0.00,0.000,4,0.094,0.044,2774,632,3661,0,0,0,0,0,0
$GC,1391,-1.11,-146.0,135.5,-9.9,132,1401,0.00,2.45,0.00,0.000,6,0.000,0.018,2774,2200,3661,0,0,0,0,0,0
$GC,1658,-1.16,-146.0,161.1,-9.1,157,1662,0.00,2.55,0.00,0.000,4,0.000,0.044,2774,639,3661,0,0,0,0,0,0
$GC,1677,-1.20,-146.0,163.3,-8.9,158,1682,0.15,2.40,0.00,0.000,6,0.057,0.024,2715,2191,3661,0,0,0,0,0,0
$GC,1938,-1.14,-146.0,190.5,-9.4,182,1940,0.17,0.00,0.00,0.000,6,0.087,0.000,2754,2191,3662,0,0,0,0,0,0
$GC,2196,-1.14,-146.0,208.4,-6.6,206,2201,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2192,3662,0,0,0,0,0,0
$GC,2459,-1.19,-146.0,228.8,-7.9,231,2463,0.00,2.55,0.00,0.000,4,0.000,0.049,2754,643,3661,0,0,0,0,0,0
$GC,2516,-1.26,-146.0,233.4,-8.9,235,2521,0.10,2.40,0.00,0.000,6,0.081,0.020,2707,2179,3661,0,0,0,0,0,0
$GC,2781,-1.22,-146.0,261.4,-10.3,259,2786,0.15,2.62,0.00,0.000,4,0.092,0.041,2740,3781,3661,0,0,0,0,0,0
$GC,2829,-1.27,-146.0,266.3,-9.4,262,2834,0.00,2.53,0.00,0.000,6,0.000,0.022,2740,2182,3661,0,0,0,0,0,0
$GC,3091,-1.27,-146.0,288.3,-7.6,287,3096,0.00,2.62,0.00,0.000,4,0.000,0.059,2740,631,3660,0,0,0,0,0,0
$GC,3145,-1.31,-146.0,292.3,-8.2,291,3149,0.00,2.42,0.00,0.000,6,0.000,0.033,2740,2165,3660,0,0,0,0,0,0
$GC,3408,-1.36,-146.0,311.1,-7.2,315,3410,0.15,0.00,0.00,0.000,6,0.058,0.000,2681,2166,3658,0,0,0,0,0,0
$GC,3664,-1.29,-146.0,335.2,-9.4,339,3669,0.20,2.70,0.00,0.000,4,0.087,0.047,2725,3789,3657,0,0,0,0,0,0
$GC,3687,-1.29,-146.0,337.1,-9.1,340,3691,0.00,2.60,0.00,0.000,6,0.000,0.026,2725,2179,3657,0,0,0,0,0,0
$GC,3955,-1.29,-146.0,359.7,-8.2,364,3959,0.00,2.70,0.00,0.000,4,0.000,0.074,2726,630,3655,0,0,0,0,0,0
$GC,3998,-1.33,-146.0,363.5,-9.1,367,4003,0.00,2.47,0.00,0.000,6,0.000,0.037,2725,2154,3655,0,0,0,0,0,0
$GC,4266,-1.33,-146.0,385.8,-8.5,391,4271,0.00,2.70,0.00,0.000,4,0.000,0.051,2725,3783,3654,0,0,0,0,0,0
$GC,4318,-1.36,-146.0,391.0,-9.0,395,4323,0.00,2.65,0.00,0.000,6,0.000,0.031,2725,2163,3653,0,0,0,0,0,0
$GC,4583,-1.36,-146.0,412.9,-7.5,419,4587,0.00,2.75,0.00,0.000,4,0.000,0.057,2725,3792,3651,0,0,0,0,0,0
$GC,4615,-1.36,-146.0,415.6,-8.4,421,4619,0.00,2.67,0.00,0.000,6,0.000,0.039,2725,2163,3651,0,0,0,0,0,0
$GC,4881,-1.36,-146.0,434.1,-6.1,445,4886,0.00,2.75,0.00,0.000,4,0.000,0.053,2725,3787,3650,0,0,0,0,0,0
$GC,4927,-1.40,-146.0,436.9,-6.4,448,4932,0.12,2.65,0.00,0.000,6,0.070,0.043,2677,2167,3649,0,0,0,0,0,0
$GC,5194,-1.34,-146.0,457.9,-7.8,472,5199,0.15,2.85,0.00,0.000,4,0.096,0.100,2710,622,3647,0,0,0,0,0,0
$GC,5224,-1.34,-146.0,460.5,-7.6,474,5228,0.00,2.53,0.00,0.000,6,0.000,0.043,2710,2152,3647,0,0,0,0,0,0
$GC,5487,-1.34,-146.0,478.6,-6.9,498,5491,0.00,2.75,0.00,0.000,4,0.000,0.058,2710,3789,3646,0,0,0,0,0,0
$GC,5517,-1.34,-146.0,481.0,-8.2,500,5522,0.00,2.70,0.00,0.000,6,0.000,0.047,2710,2166,3645,0,0,0,0,0,0
$GC,5780,-1.34,-146.0,500.9,-7.1,524,5781,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2167,3643,0,0,0,0,0,0
$GC,6034,-1.34,-146.0,521.4,-8.3,548,6039,0.00,2.75,0.00,0.000,4,0.000,0.067,2710,3779,3642,0,0,0,0,0,0
$GC,6086,-1.34,-146.0,526.0,-8.9,552,6090,0.00,2.72,0.00,0.000,6,0.000,0.048,2710,2172,3642,0,0,0,0,0,0
$GC,6349,-1.34,-146.0,546.8,-7.4,576,6353,0.00,2.80,0.00,0.000,4,0.000,0.067,2710,3779,3640,0,0,0,0,0,0
$GC,6389,-1.34,-146.0,550.1,-7.9,579,6393,0.00,2.72,0.00,0.000,6,0.000,0.052,2710,2179,3640,0,0,0,0,0,0
$GC,6652,-1.34,-146.0,567.4,-5.8,603,6656,0.00,2.83,0.00,0.000,4,0.000,0.073,2710,3782,3639,0,0,0,0,0,0
$GC,6708,-1.34,-146.0,570.7,-6.2,607,6713,0.00,2.75,0.00,0.000,6,0.000,0.064,2710,2185,3639,0,0,0,0,0,0
$GC,6975,-1.34,-146.0,585.4,-5.5,631,6980,0.00,2.95,0.00,0.000,4,0.000,0.116,2710,625,3637,0,0,0,0,0,0
$GC,6995,-1.34,-146.0,586.8,-5.8,632,6999,0.00,2.65,0.00,0.000,6,0.000,0.058,2710,2169,3637,0,0,0,0,0,0
$GC,7256,-1.38,-146.0,603.0,-6.4,653,7261,0.00,2.95,0.00,0.000,4,0.000,0.093,2710,3796,3635,0,0,0,0,0,0
$GC,7302,-1.42,-146.0,606.3,-7.2,654,7306,0.00,2.78,0.00,0.000,6,0.000,0.064,2710,2193,3635,0,0,0,0,0,0
$GC,7579,-1.42,-146.0,625.9,-7.1,661,7584,0.00,2.88,0.00,0.000,4,0.000,0.089,2710,3800,3634,0,0,0,0,0,0
$GC,7612,-1.42,-146.0,628.5,-7.6,661,7618,0.00,2.85,0.00,0.000,6,0.000,0.073,2710,2193,3634,0,0,0,0,0,0
$GC,7864,-1.46,-146.0,647.5,-7.8,668,7869,0.10,2.95,0.00,0.000,4,0.081,0.094,2671,3795,3633,0,0,0,0,0,0
$GC,7898,-1.41,-146.0,650.9,-9.9,668,7904,0.12,2.88,0.00,0.000,6,0.101,0.088,2698,2205,3632,0,0,0,0,0,0
$GC,8148,-1.41,-146.0,671.4,-8.0,675,8149,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2205,3632,0,0,0,0,0,0
$GC,8393,-1.41,-146.0,690.6,-7.9,681,8398,0.00,3.03,0.00,0.000,4,0.000,0.117,2698,3796,3630,0,0,0,0,0,0
$GC,8448,-1.41,-146.0,695.5,-9.1,682,8453,0.00,2.97,0.00,0.000,6,0.000,0.103,2698,2203,3630,0,0,0,0,0,0
$GC,8714,-1.41,-146.0,716.0,-7.5,689,8719,0.00,3.10,0.00,0.000,4,0.000,0.126,2698,3793,3629,0,0,0,0,0,0
$GC,8755,-1.41,-146.0,719.1,-8.3,690,8760,0.00,3.05,0.00,0.000,6,0.000,0.115,2698,2213,3629,0,0,0,0,0,0
$GC,9039,-1.41,-146.0,738.1,-6.4,697,9044,0.00,3.15,0.00,0.000,4,0.000,0.138,2698,3793,3628,0,0,0,0,0,0
$GC,9055,-1.41,-146.0,739.2,-6.4,697,9060,0.00,3.10,0.00,0.000,6,0.000,0.126,2698,2222,3628,0,0,0,0,0,0
$GC,9317,-1.41,-146.0,753.7,-5.4,704,9318,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2222,3627,0,0,0,0,0,0
$GC,9559,-1.41,-146.0,766.6,-5.2,710,9564,0.00,3.53,0.00,0.000,4,0.000,0.189,2698,619,3627,0,0,0,0,0,0
$GC,9592,-1.41,-146.0,768.5,-6.2,710,9598,0.00,3.12,0.00,0.000,6,0.000,0.130,2698,2210,3626,0,0,0,0,0,0
$GC,9844,-1.41,-146.0,782.2,-5.5,717,9845,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,2210,3625,0,0,0,0,0,0
$GC,10086,-1.41,-146.0,796.1,-5.7,723,10091,0.00,3.47,0.00,0.000,4,0.000,0.186,2698,3800,3625,0,0,0,0,0,0
$GC,10102,-1.41,-146.0,797.1,-5.7,723,10107,0.00,3.38,0.00,0.000,6,0.000,0.164,2698,2218,3625,0,0,1,0,0,0
$STATE,10157,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10158,begin apogee
$GC,10165,-0.31,0.0,800.5,5.9,725,10289,1.05,0.00,120.68,1.171,6,0.067,0.000,2936,2370,3060,0,0,0,0,0,0
$STATE,10290,end apogee,CONTROL_FINISHED_OK
$STATE,10290,begin climb
$GC,10293,1.28,146.0,801.7,0.0,728,10433,1.42,3.53,129.32,1.147,4,0.033,0.176,3289,3938,2462,0,0,0,0,0,0
$GC,10526,1.11,146.0,779.0,13.5,733,10532,0.22,3.33,0.00,0.000,6,0.101,0.150,3243,2369,2457,0,0,0,0,0,0
$GC,10788,1.07,155.5,753.1,9.6,740,10803,0.00,3.50,8.10,0.934,4,0.000,0.171,3244,779,2426,0,0,0,0,0,0
$GC,10828,1.01,167.1,749.4,9.5,740,10847,0.00,3.12,12.80,1.007,6,0.000,0.119,3243,2365,2377,0,0,0,0,0,0
$GC,11122,0.97,172.0,720.7,9.8,748,11130,0.15,0.00,5.18,0.797,6,0.119,0.000,3214,2365,2358,0,0,0,0,0,0
$GC,11365,1.00,196.9,699.0,8.9,754,11392,0.00,0.00,24.73,1.058,6,0.000,0.000,3214,2365,2257,0,0,0,0,0,0
$GC,11608,1.01,202.9,675.5,9.7,760,11622,0.00,3.10,6.53,0.869,4,0.000,0.109,3214,3946,2231,0,0,0,0,0,0
$GC,11645,1.01,202.9,671.4,10.7,760,11651,0.00,2.92,0.00,0.000,6,0.000,0.084,3214,2365,2230,0,0,0,0,0,0
$GC,11897,1.01,203.4,646.4,10.0,767,11898,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,2365,2229,0,0,0,0,0,0
$GC,12139,1.05,203.4,621.7,10.2,773,12143,0.00,2.88,0.00,0.000,4,0.000,0.084,3214,3944,2228,0,0,0,0,0,0
$GC,12171,1.05,203.4,617.8,11.6,773,12177,0.00,2.75,0.00,0.000,6,0.000,0.061,3214,2378,2228,0,0,0,0,0,0
$GC,12425,1.09,203.4,591.9,10.3,783,12430,0.12,3.00,0.00,0.000,4,0.084,0.108,3247,780,2227,0,0,0,0,0,0
$GC,12447,1.09,203.4,589.8,10.4,784,12452,0.00,2.78,0.00,0.000,6,0.000,0.057,3247,2395,2227,0,0,0,0,0,0
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$STATE,17925,end climb,SURFACE_DEPTH_REACHED
$STATE,17925,begin surface coast
$FINISH,0.0,1.020762
$STATE,17965,end surface coast,CONTROL_FINISHED_OK
$STATE,17965,begin surface
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$10V_AH,10.1,41.339
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,29.550,243.450,391.025,76.375,0.000,89.217,122.355,492.156,7.750,0.000,12.203,2361.968,10583.806,637.945,4211.479,1276.118,33.372,2000.685,0.000,4233.519,0.000,0.535,0.000
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$MEM,355476
$DATA_FILE_SIZE,108078,1298
$CAP_FILE_SIZE,210806,0
$CFSIZE,260165632,161964032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,210414,111300,2238.903,-15738.812,77,1.4,77,10.1