version: 66.06
glider: 146
mission: 9
dive: 264
start: 4 26 114 22 18 27
data:
$ID,146
$MISSION,9
$DIVE,264
$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,-329447.62
$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,35
$R_STBD_OVSHOOT,36
$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
$GPS1,215644,2250.675,-15751.793,37,99.0,56,10.1
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.40
$_SM_ANGLEo,-65.0
$GPS2,221733,2250.728,-15751.857,44,2.1,63,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.239,-0.101
$KALMAN_X,-216291.7,-90.7,47.4,222694.7,330.6
$KALMAN_Y,6735.7,407.8,-3.4,-4453.5,-1128.1
$MHEAD_RNG_PITCHd_Wd,237.0,30707,-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,12,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,-87.85,0.000,6,0.000,0.000,460,2219,3656,0,0,0,0,0,0
$GC,115,-1.28,-146.0,4.3,-10.3,12,138,12.60,2.62,0.00,0.000,4,0.167,0.037,2719,632,3657,0,0,0,0,0,0
$GC,265,-1.13,-146.0,38.6,-14.1,30,270,0.17,2.47,0.00,0.000,6,0.111,0.019,2754,2229,3658,0,0,0,0,0,0
$GC,533,-1.13,-146.0,66.6,-10.1,54,542,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2230,3658,0,0,0,0,0,0
$GC,798,-1.13,-146.0,92.5,-10.0,79,802,0.00,2.62,0.00,0.000,4,0.000,0.042,2754,627,3659,0,0,0,0,0,0
$GC,819,-1.09,-146.0,95.2,-10.2,80,828,0.00,2.45,0.00,0.000,6,0.000,0.018,2754,2210,3658,0,0,0,0,0,0
$GC,1085,-1.09,-146.0,121.4,-10.1,105,1089,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2210,3658,0,0,0,0,0,0
$GC,1347,-1.09,-146.0,146.7,-9.6,130,1352,0.00,2.53,0.00,0.000,4,0.000,0.036,2754,3771,3658,0,0,0,0,0,0
$GC,1393,-1.09,-146.0,151.1,-10.6,133,1397,0.00,2.42,0.00,0.000,6,0.000,0.020,2754,2206,3659,0,0,0,0,0,0
$GC,1659,-1.09,-146.0,177.9,-10.3,157,1664,0.00,2.53,0.00,0.000,4,0.000,0.045,2754,643,3659,0,0,0,0,0,0
$GC,1678,-1.09,-146.0,180.3,-10.6,158,1682,0.00,2.42,0.00,0.000,6,0.000,0.025,2754,2222,3659,0,0,0,0,0,0
$GC,1941,-1.09,-146.0,205.7,-8.9,182,1942,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,2222,3659,0,0,0,0,0,0
$GC,2195,-1.09,-146.0,225.5,-7.6,206,2200,0.00,2.60,0.00,0.000,4,0.000,0.048,2754,644,3659,0,0,0,0,0,0
$GC,2248,-1.14,-146.0,229.9,-8.3,210,2252,0.00,2.42,0.00,0.000,6,0.000,0.018,2755,2214,3658,0,0,0,0,0,0
$GC,2513,-1.18,-146.0,253.0,-8.5,234,2517,0.00,2.55,0.00,0.000,4,0.000,0.042,2754,3783,3658,0,0,0,0,0,0
$GC,2568,-1.25,-146.0,257.6,-8.0,238,2573,0.00,2.42,0.00,0.000,6,0.000,0.020,2754,2229,3658,0,0,0,0,0,0
$GC,2837,-1.30,-146.0,278.5,-8.1,262,2842,0.15,0.00,0.00,0.000,6,0.060,0.000,2698,2230,3658,0,0,0,0,0,0
$GC,3100,-1.25,-146.0,305.7,-9.3,287,3105,0.15,2.55,0.00,0.000,4,0.094,0.052,2730,3779,3657,0,0,0,0,0,0
$GC,3121,-1.25,-146.0,307.3,-8.7,288,3125,0.00,2.45,0.00,0.000,6,0.000,0.023,2730,2227,3657,0,0,0,0,0,0
$GC,3383,-1.25,-146.0,326.0,-7.0,312,3388,0.00,2.70,0.00,0.000,4,0.000,0.062,2730,633,3656,0,0,0,0,0,0
$GC,3413,-1.25,-146.0,328.3,-7.6,314,3417,0.00,2.53,0.00,0.000,6,0.000,0.031,2730,2228,3656,0,0,0,0,0,0
$GC,3677,-1.25,-146.0,349.6,-8.1,338,3682,0.00,2.70,0.00,0.000,4,0.000,0.063,2730,633,3654,0,0,0,0,0,0
$GC,3718,-1.25,-146.0,353.2,-8.9,341,3722,0.00,2.55,0.00,0.000,6,0.000,0.035,2730,2226,3654,0,0,0,0,0,0
$GC,3982,-1.25,-146.0,371.7,-7.0,365,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2730,2226,3652,0,0,0,0,0,0
$GC,4243,-1.25,-146.0,390.6,-7.1,390,4248,0.00,2.70,0.00,0.000,4,0.000,0.066,2730,640,3651,0,0,0,0,0,0
$GC,4267,-1.25,-146.0,391.9,-7.4,391,4272,0.00,2.55,0.00,0.000,6,0.000,0.032,2730,2220,3651,0,0,0,0,0,0
$GC,4534,-1.30,-146.0,413.1,-7.9,415,4539,0.00,2.75,0.00,0.000,4,0.000,0.071,2730,634,3649,0,0,0,0,0,0
$GC,4553,-1.34,-146.0,415.1,-8.4,416,4558,0.00,2.55,0.00,0.000,6,0.000,0.041,2730,2209,3649,0,0,0,0,0,0
$GC,4816,-1.38,-146.0,435.0,-7.0,440,4821,0.12,2.70,0.00,0.000,4,0.067,0.058,2682,3803,3647,0,0,0,0,0,0
$GC,4836,-1.38,-146.0,436.7,-7.8,441,4841,0.10,2.58,0.00,0.000,6,0.114,0.035,2703,2224,3647,0,0,0,0,0,0
$GC,5097,-1.38,-146.0,458.8,-8.0,465,5098,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2224,3645,0,0,0,0,0,0
$GC,5353,-1.38,-146.0,479.8,-8.4,489,5358,0.00,2.65,0.00,0.000,4,0.000,0.060,2703,3797,3644,0,0,0,0,0,0
$GC,5408,-1.38,-146.0,484.6,-9.1,493,5413,0.00,2.65,0.00,0.000,6,0.000,0.044,2704,2201,3644,0,0,0,0,0,0
$GC,5677,-1.38,-146.0,506.4,-8.3,517,5681,0.00,2.72,0.00,0.000,4,0.000,0.064,2703,3790,3642,0,0,0,0,0,0
$GC,5733,-1.38,-146.0,511.9,-9.2,521,5739,0.00,2.65,0.00,0.000,6,0.000,0.048,2703,2216,3642,0,0,0,0,0,0
$GC,5996,-1.38,-146.0,531.8,-7.5,546,6000,0.00,2.72,0.00,0.000,4,0.000,0.070,2703,3787,3640,0,0,0,0,0,0
$GC,6020,-1.38,-146.0,533.4,-7.9,547,6024,0.00,2.65,0.00,0.000,6,0.000,0.050,2703,2216,3640,0,0,0,0,0,0
$GC,6286,-1.38,-146.0,553.4,-6.7,571,6291,0.00,2.75,0.00,0.000,4,0.000,0.073,2703,3797,3638,0,0,0,0,0,0
$GC,6319,-1.38,-146.0,556.3,-7.9,573,6328,0.00,2.67,0.00,0.000,6,0.000,0.059,2703,2240,3638,0,0,0,0,0,0
$GC,6585,-1.38,-146.0,574.1,-6.9,598,6590,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2240,3636,0,0,0,0,0,0
$GC,6848,-1.38,-146.0,594.0,-7.7,623,6849,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2240,3635,0,0,0,0,0,0
$GC,7123,-1.38,-146.0,617.1,-8.4,635,7124,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2240,3633,0,0,0,0,0,0
$GC,7367,-1.38,-146.0,636.7,-7.9,641,7371,0.00,2.85,0.00,0.000,4,0.000,0.097,2703,3789,3632,0,0,0,0,0,0
$GC,7423,-1.38,-146.0,641.1,-8.2,642,7428,0.00,2.80,0.00,0.000,6,0.000,0.080,2703,2228,3631,0,0,0,0,0,0
$GC,7691,-1.38,-146.0,661.0,-7.2,649,7696,0.00,2.88,0.00,0.000,4,0.000,0.102,2703,3791,3630,0,0,0,0,0,0
$GC,7713,-1.38,-146.0,662.8,-8.2,649,7717,0.00,2.83,0.00,0.000,6,0.000,0.087,2703,2236,3630,0,0,0,0,0,0
$GC,7969,-1.38,-146.0,681.8,-7.6,656,7974,0.00,2.90,0.00,0.000,4,0.000,0.110,2703,3785,3629,0,0,0,0,0,0
$GC,8002,-1.38,-146.0,684.6,-8.9,656,8008,0.00,2.88,0.00,0.000,6,0.000,0.098,2703,2237,3629,0,0,0,0,0,0
$GC,8252,-1.38,-146.0,705.0,-8.2,663,8253,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2238,3628,0,0,0,0,0,0
$GC,8496,-1.42,-146.0,722.7,-7.1,669,8501,0.00,3.05,0.00,0.000,4,0.000,0.132,2703,3783,3627,0,0,0,0,0,0
$GC,8521,-1.42,-146.0,724.3,-6.9,669,8526,0.00,2.97,0.00,0.000,6,0.000,0.118,2703,2247,3627,0,0,0,0,0,0
$GC,8776,-1.42,-146.0,739.2,-5.5,676,8777,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,2247,3626,0,0,0,0,0,0
$GC,9021,-1.46,-146.0,753.1,-5.9,682,9022,0.00,0.00,0.00,0.000,6,0.000,0.000,2703,2247,3625,0,0,0,0,0,0
$GC,9266,-1.50,-146.0,770.7,-7.5,688,9267,0.12,0.00,0.00,0.000,6,0.069,0.000,2660,2247,3624,0,0,0,0,0,0
$GC,9508,-1.46,-146.0,794.4,-10.0,694,9514,0.10,3.40,0.00,0.000,4,0.114,0.182,2683,3782,3623,0,0,1,0,0,0
$GC,9542,-1.46,-146.0,797.9,-9.6,694,9548,0.00,3.25,0.00,0.000,6,0.000,0.166,2683,2251,3622,0,0,1,0,0,0
$STATE,9586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9586,begin apogee
$GC,9594,-0.31,0.0,802.1,9.4,696,9718,1.12,0.00,120.12,1.169,6,0.071,0.000,2936,2354,3060,0,0,0,0,0,0
$STATE,9719,end apogee,CONTROL_FINISHED_OK
$STATE,9719,begin climb
$GC,9721,1.28,146.0,806.4,0.0,699,9862,1.42,3.55,130.52,1.147,4,0.035,0.181,3288,3937,2462,0,0,0,0,0,0
$GC,9931,1.13,146.0,790.1,12.4,704,9937,0.20,3.35,0.00,0.000,6,0.104,0.156,3248,2370,2457,0,0,0,0,0,0
$GC,10217,1.07,146.0,758.6,11.2,711,10218,0.00,0.00,0.00,0.000,6,0.000,0.000,3248,2371,2453,0,0,0,0,0,0
$GC,10459,1.02,146.0,730.8,11.4,717,10465,0.10,3.35,0.00,0.000,4,0.136,0.161,3228,777,2451,0,0,0,0,0,0
$GC,10489,1.02,146.0,727.6,10.6,717,10494,0.00,3.05,0.00,0.000,6,0.000,0.111,3229,2374,2450,0,0,0,0,0,0
$GC,10740,1.05,169.4,704.4,8.9,723,10762,0.00,0.00,20.42,1.052,6,0.000,0.000,3228,2375,2369,0,0,0,0,0,0
$GC,10982,1.08,195.1,682.9,8.8,729,11009,0.00,0.00,25.17,1.053,6,0.000,0.000,3228,2374,2264,0,0,0,0,0,0
$GC,11226,1.08,197.1,658.9,9.9,735,11231,0.00,2.92,0.00,0.000,4,0.000,0.100,3228,3948,2259,0,0,0,0,0,0
$GC,11254,1.08,197.1,655.7,10.9,735,11259,0.00,2.85,0.00,0.000,6,0.000,0.075,3228,2361,2258,0,0,0,0,0,0
$GC,11505,1.08,197.1,629.9,10.1,741,11506,0.00,0.00,0.00,0.000,6,0.000,0.000,3228,2362,2258,0,0,0,0,0,0
$GC,11748,1.09,205.9,606.4,9.6,747,11760,0.00,0.00,10.35,0.942,6,0.000,0.000,3228,2362,2220,0,0,0,0,0,0
$GC,11999,1.10,214.0,582.6,9.6,765,12014,0.00,2.83,9.05,0.910,4,0.000,0.069,3228,3945,2186,0,0,0,0,0,0
$GC,12053,1.10,214.0,577.5,10.2,769,12058,0.00,2.70,0.00,0.000,6,0.000,0.049,3228,2372,2184,0,0,0,0,0,0
$GC,12320,1.10,214.0,549.3,10.2,793,12325,0.00,2.97,0.00,0.000,4,0.000,0.110,3228,784,2183,0,0,0,0,0,0
$GC,12349,1.10,215.7,545.8,9.9,795,12354,0.00,2.70,0.00,0.000,6,0.000,0.049,3228,2381,2183,0,0,0,0,0,0
$GC,12612,1.11,218.0,518.1,9.9,819,12627,0.00,2.75,4.57,0.700,4,0.000,0.067,3229,3935,2171,0,0,0,0,0,0
$GC,12644,1.11,218.0,514.6,10.1,821,12650,0.00,2.62,0.00,0.000,6,0.000,0.038,3228,2366,2170,0,0,0,0,0,0
$GC,12908,1.16,227.5,488.6,9.6,846,12921,0.12,0.00,10.55,0.882,6,0.082,0.000,3261,2366,2132,0,0,0,0,0,0
$GC,13175,1.16,227.5,459.6,11.2,871,13180,0.00,0.00,0.00,0.000,6,0.000,0.000,3261,2366,2129,0,0,0,0,0,0
$GC,13436,1.16,227.5,427.9,12.8,896,13441,0.00,2.67,0.00,0.000,4,0.000,0.050,3261,3949,2129,0,0,0,0,0,0
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$STATE,17326,end climb,SURFACE_DEPTH_REACHED
$STATE,17327,begin surface coast
$FINISH,1.0,1.023629
$STATE,17376,end surface coast,CONTROL_FINISHED_OK
$STATE,17376,begin surface
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$HUMID,62.01
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$TCM_TEMP,21.80
$XPDR_PINGS,31
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$10V_AH,10.0,47.517
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,27.925,205.675,376.700,85.200,0.000,106.160,144.257,547.620,7.750,0.000,66.045,2273.947,10373.210,611.237,4085.458,1369.025,33.367,1892.139,0.000,4066.869,0.000,0.535,0.000
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$SENSOR_SECS,874.756,929.158,1206.420,1325.711,2519.541,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355324
$DATA_FILE_SIZE,104844,1271
$CAP_FILE_SIZE,197758,0
$CFSIZE,260165632,159461376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,270414,031106,2249.371,-15754.411,34,1.0,34,10.1