version: 66.06
glider: 146
mission: 9
dive: 278
start: 4 29 114 21 43 1
data:
$ID,146
$MISSION,9
$DIVE,278
$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,-329706.47
$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,58
$R_STBD_OVSHOOT,37
$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
$GPS1,212954,2257.867,-15804.795,40,0.9,40,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.41
$_SM_ANGLEo,-68.4
$GPS2,214206,2257.825,-15804.841,8,1.0,13,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOENW
$TGT_LATLONG,2304.450,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.065,0.251
$KALMAN_X,-229012.2,66.2,227.3,212905.6,-843.2
$KALMAN_Y,3773.4,-341.9,-50.7,12439.2,493.0
$MHEAD_RNG_PITCHd_Wd,4.5,12281,-17.6,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.28,-145.9,0.0,0.0,0,115,0.00,0.00,-89.75,0.000,6,0.000,0.000,460,2181,3656,0,0,0,0,0,0
$GC,118,-1.28,-146.0,3.9,-9.4,12,135,12.57,2.58,0.00,0.000,4,0.167,0.029,2718,3790,3657,0,0,0,0,0,0
$GC,154,-0.24,-146.0,17.6,-38.3,16,164,1.02,2.50,0.00,0.000,6,0.081,0.022,2944,2225,3657,0,0,0,0,0,0
$GC,470,-0.76,-146.0,33.9,-5.9,59,476,0.43,2.60,0.00,0.000,4,0.051,0.044,2831,626,3658,0,0,0,0,0,0
$GC,506,-1.05,-146.0,36.4,-6.5,61,511,0.25,2.47,0.00,0.000,6,0.040,0.018,2748,2234,3657,0,0,0,0,0,0
$GC,775,-1.05,-146.0,60.7,-9.0,85,780,0.12,2.45,0.00,0.000,4,0.100,0.035,2775,3768,3658,0,0,0,0,0,0
$GC,822,-1.10,-146.0,64.8,-7.7,88,826,0.00,2.45,0.00,0.000,6,0.000,0.021,2776,2187,3658,0,0,0,0,0,0
$GC,1086,-1.10,-146.0,87.5,-8.7,112,1095,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2187,3658,0,0,0,0,0,0
$GC,1351,-1.10,-146.0,110.2,-9.0,137,1355,0.00,2.50,0.00,0.000,4,0.000,0.045,2775,640,3659,0,0,0,0,0,0
$GC,1384,-1.10,-146.0,113.1,-9.0,139,1388,0.00,2.38,0.00,0.000,6,0.000,0.017,2775,2204,3659,0,0,0,0,0,0
$GC,1651,-1.10,-146.0,137.3,-9.0,163,1655,0.00,2.47,0.00,0.000,4,0.000,0.034,2776,3769,3659,0,0,0,0,0,0
$GC,1684,-1.15,-146.0,140.4,-9.6,165,1688,0.00,2.45,0.00,0.000,6,0.000,0.020,2775,2195,3659,0,0,0,0,0,0
$GC,1951,-1.19,-146.0,163.3,-8.7,189,1956,0.12,2.53,0.00,0.000,4,0.066,0.047,2722,643,3659,0,0,0,0,0,0
$GC,2008,-1.15,-146.0,169.2,-10.4,193,2013,0.15,2.35,0.00,0.000,6,0.094,0.018,2755,2191,3660,0,0,0,0,0,0
$GC,2275,-1.15,-146.0,193.7,-8.5,217,2279,0.00,2.53,0.00,0.000,4,0.000,0.046,2755,640,3660,0,0,0,0,0,0
$GC,2308,-1.15,-146.0,196.6,-8.9,219,2313,0.00,2.38,0.00,0.000,6,0.000,0.018,2755,2188,3660,0,0,0,0,0,0
$GC,2571,-1.15,-146.0,218.6,-8.2,243,2575,0.00,2.53,0.00,0.000,4,0.000,0.046,2755,637,3660,0,0,0,0,0,0
$GC,2593,-1.15,-146.0,220.1,-7.7,244,2597,0.00,2.35,0.00,0.000,6,0.000,0.026,2755,2178,3660,0,0,0,0,0,0
$GC,2861,-1.15,-146.0,243.4,-9.0,268,2866,0.00,2.58,0.00,0.000,4,0.000,0.038,2754,3781,3660,0,0,0,0,0,0
$GC,2984,-1.23,-146.0,255.5,-9.3,278,2989,0.00,2.47,0.00,0.000,6,0.000,0.021,2755,2194,3660,0,0,0,0,0,0
$GC,3249,-1.28,-146.0,278.1,-8.7,302,3254,0.12,2.58,0.00,0.000,4,0.067,0.055,2704,642,3660,0,0,0,0,0,0
$GC,3294,-1.28,-146.0,283.2,-10.8,305,3301,0.10,2.38,0.00,0.000,6,0.111,0.023,2726,2178,3660,0,0,0,0,0,0
$GC,3559,-1.28,-146.0,308.9,-9.4,330,3563,0.00,2.60,0.00,0.000,4,0.000,0.043,2726,3779,3659,0,0,0,0,0,0
$GC,3627,-1.28,-146.0,315.4,-8.5,335,3633,0.00,2.47,0.00,0.000,6,0.000,0.024,2726,2194,3659,0,0,0,0,0,0
$GC,3892,-1.28,-146.0,334.9,-7.2,360,3896,0.00,2.62,0.00,0.000,4,0.000,0.067,2726,636,3658,0,0,0,0,0,0
$GC,3925,-1.28,-146.0,337.8,-8.1,362,3931,0.00,2.45,0.00,0.000,6,0.000,0.028,2726,2195,3658,0,0,0,0,0,0
$GC,4189,-1.28,-146.0,356.4,-7.5,387,4194,0.00,2.65,0.00,0.000,4,0.000,0.061,2726,630,3657,0,0,0,0,0,0
$GC,4230,-1.28,-146.0,359.8,-8.0,390,4234,0.00,2.47,0.00,0.000,6,0.000,0.031,2726,2192,3656,0,0,0,0,0,0
$GC,4494,-1.28,-146.0,381.0,-7.7,414,4498,0.00,2.65,0.00,0.000,4,0.000,0.057,2726,3798,3655,0,0,0,0,0,0
$GC,4539,-1.33,-146.0,385.0,-8.8,417,4548,0.00,2.58,0.00,0.000,6,0.000,0.031,2726,2214,3655,0,0,0,0,0,0
$GC,4807,-1.36,-146.0,403.8,-7.1,442,4811,0.00,2.60,0.00,0.000,4,0.000,0.051,2726,3793,3653,0,0,0,0,0,0
$GC,4859,-1.42,-146.0,408.3,-7.8,446,4864,0.15,2.55,0.00,0.000,6,0.061,0.036,2672,2209,3653,0,0,0,0,0,0
$GC,5122,-1.35,-146.0,431.7,-9.6,470,5124,0.17,0.00,0.00,0.000,6,0.091,0.000,2710,2209,3651,0,0,0,0,0,0
$GC,5377,-1.35,-146.0,452.9,-8.3,494,5381,0.00,2.67,0.00,0.000,4,0.000,0.058,2710,3793,3650,0,0,0,0,0,0
$GC,5443,-1.35,-146.0,458.4,-8.7,499,5447,0.00,2.58,0.00,0.000,6,0.000,0.041,2710,2218,3649,0,0,0,0,0,0
$GC,5711,-1.35,-146.0,480.2,-7.9,523,5715,0.00,2.62,0.00,0.000,4,0.000,0.064,2711,3785,3647,0,0,0,0,0,0
$GC,5734,-1.35,-146.0,482.7,-8.5,524,5739,0.00,2.60,0.00,0.000,6,0.000,0.045,2711,2222,3647,0,0,0,0,0,0
$GC,5998,-1.35,-146.0,503.8,-8.0,549,6003,0.00,2.92,0.00,0.000,4,0.000,0.107,2710,624,3645,0,0,0,0,0,0
$GC,6031,-1.35,-146.0,506.8,-8.3,551,6037,0.00,2.65,0.00,0.000,6,0.000,0.048,2710,2218,3645,0,0,0,0,0,0
$GC,6294,-1.35,-146.0,525.0,-6.6,576,6295,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2218,3644,0,0,0,0,0,0
$GC,6548,-1.35,-146.0,541.7,-6.2,600,6552,0.00,2.70,0.00,0.000,4,0.000,0.073,2711,3793,3642,0,0,0,0,0,0
$GC,6578,-1.35,-146.0,543.7,-6.7,602,6583,0.00,2.65,0.00,0.000,6,0.000,0.048,2710,2208,3642,0,0,0,0,0,0
$GC,6841,-1.35,-146.0,560.7,-6.7,626,6842,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2208,3641,0,0,0,0,0,0
$GC,7096,-1.39,-146.0,579.6,-7.8,650,7100,0.00,2.80,0.00,0.000,4,0.000,0.084,2710,3797,3639,0,0,0,0,0,0
$GC,7119,-1.39,-146.0,581.8,-8.4,651,7128,0.00,2.72,0.00,0.000,6,0.000,0.063,2710,2223,3639,0,0,0,0,0,0
$GC,7411,-1.39,-146.0,603.0,-7.1,676,7412,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2223,3637,0,0,0,0,0,0
$GC,7655,-1.43,-146.0,620.2,-7.1,682,7660,0.00,2.83,0.00,0.000,4,0.000,0.091,2710,3792,3635,0,0,0,0,0,0
$GC,7684,-1.43,-146.0,622.6,-8.5,682,7688,0.00,2.78,0.00,0.000,6,0.000,0.075,2710,2217,3635,0,0,0,0,0,0
$GC,7934,-1.48,-146.0,642.8,-8.0,688,7940,0.12,2.90,0.00,0.000,4,0.070,0.097,2668,3793,3634,0,0,0,0,0,0
$GC,7976,-1.42,-146.0,646.8,-10.4,689,7981,0.12,2.80,0.00,0.000,6,0.102,0.085,2695,2236,3634,0,0,0,0,0,0
$GC,8260,-1.42,-146.0,671.1,-8.3,696,8261,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2236,3632,0,0,0,0,0,0
$GC,8503,-1.42,-146.0,691.5,-8.4,702,8508,0.00,2.97,0.00,0.000,4,0.000,0.126,2695,3794,3631,0,0,0,0,0,0
$GC,8560,-1.42,-146.0,696.5,-9.4,703,8565,0.00,2.90,0.00,0.000,6,0.000,0.107,2694,2243,3631,0,0,0,0,0,0
$GC,8827,-1.42,-146.0,716.7,-7.2,710,8831,0.00,3.00,0.00,0.000,4,0.000,0.131,2695,3789,3630,0,0,0,0,0,0
$GC,8870,-1.42,-146.0,720.0,-7.5,711,8875,0.00,2.95,0.00,0.000,6,0.000,0.119,2695,2258,3630,0,0,0,0,0,0
$GC,9149,-1.42,-146.0,738.5,-6.4,718,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2258,3628,0,0,0,0,0,0
$GC,9392,-1.42,-146.0,754.3,-6.5,724,9397,0.00,3.12,0.00,0.000,4,0.000,0.152,2695,3788,3627,0,0,0,0,0,0
$GC,9436,-1.42,-146.0,757.5,-7.6,725,9441,0.00,3.05,0.00,0.000,6,0.000,0.141,2695,2264,3627,0,0,0,0,0,0
$GC,9715,-1.42,-146.0,777.0,-7.1,732,9720,0.00,3.20,0.00,0.000,4,0.000,0.163,2695,3789,3626,0,0,0,0,0,0
$GC,9748,-1.42,-146.0,779.7,-8.2,732,9755,0.00,3.08,0.00,0.000,6,0.000,0.153,2695,2277,3626,0,0,1,0,0,0
$GC,9998,-1.42,-146.0,797.3,-7.1,739,9999,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,2278,3625,0,0,0,0,0,0
$STATE,10036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10036,begin apogee
$GC,10044,-0.31,0.0,800.1,7.0,740,10169,1.05,0.00,121.32,1.173,6,0.068,0.000,2934,2357,3060,0,0,0,0,0,0
$STATE,10169,end apogee,CONTROL_FINISHED_OK
$STATE,10170,begin climb
$GC,10172,1.28,146.0,802.8,0.0,743,10313,1.45,3.53,129.98,1.145,4,0.034,0.175,3292,3941,2462,0,0,0,0,0,0
$GC,10404,1.11,146.0,782.3,13.2,748,10411,0.22,3.30,0.00,0.000,6,0.103,0.153,3246,2372,2456,0,0,0,0,0,0
$GC,10669,1.07,151.6,756.1,9.8,755,10679,0.00,3.30,4.22,0.716,4,0.000,0.150,3246,3944,2442,0,0,0,0,0,0
$GC,10712,0.99,151.6,751.2,11.1,756,10718,0.12,3.20,0.00,0.000,6,0.124,0.135,3223,2367,2441,0,0,0,0,0,0
$GC,10991,1.01,169.6,725.4,9.2,763,11011,0.00,0.00,18.40,1.054,6,0.000,0.000,3222,2367,2368,0,0,0,0,0,0
$GC,11236,1.02,177.8,701.9,9.6,769,11250,0.00,3.12,8.73,0.950,4,0.000,0.119,3222,3946,2335,0,0,0,0,0,0
$GC,11319,1.03,180.3,693.3,9.9,770,11325,0.00,2.92,0.00,0.000,6,0.000,0.100,3222,2387,2332,0,0,0,0,0,0
$GC,11569,1.05,196.5,669.9,9.3,777,11590,0.00,0.00,18.67,1.036,6,0.000,0.000,3222,2387,2258,0,0,0,0,0,0
$GC,11851,1.08,219.9,644.2,8.9,784,11876,0.00,0.00,22.73,1.035,6,0.000,0.000,3222,2386,2162,0,0,0,0,0,0
$GC,12095,1.09,233.0,621.4,9.4,790,12114,0.00,3.12,13.07,0.978,4,0.000,0.113,3222,784,2110,0,0,0,0,0,0
$GC,12128,1.10,237.5,618.3,9.8,790,12139,0.00,2.83,5.65,0.794,6,0.000,0.063,3222,2403,2091,0,0,0,0,0,0
$GC,12385,1.15,247.9,593.0,9.5,800,12399,0.12,0.00,10.93,0.940,6,0.084,0.000,3257,2403,2048,0,0,0,0,0,0
$GC,12649,1.15,247.9,562.3,11.4,825,12654,0.00,2.97,0.00,0.000,4,0.000,0.094,3257,779,2046,0,0,0,0,0,0
$GC,12671,1.15,247.9,560.3,11.8,826,12676,0.00,2.72,0.00,0.000,6,0.000,0.049,3257,2392,2045,0,0,0,0,0,0
$GC,12939,1.15,247.9,528.2,12.2,850,12943,0.00,2.67,0.00,0.000,4,0.000,0.069,3257,3936,2045,0,0,0,0,0,0
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$STATE,17690,end climb,SURFACE_DEPTH_REACHED
$STATE,17690,begin surface coast
$FINISH,-0.0,1.024119
$STATE,17740,end surface coast,CONTROL_FINISHED_OK
$STATE,17740,begin surface
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$TT8_MAMPS,0.026078
$HUMID,61.18
$INTERNAL_PRESSURE,9.39489
$TCM_TEMP,21.50
$XPDR_PINGS,36
$24V_AH,23.2,43.138
$10V_AH,9.9,50.769
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,29.925,231.425,360.400,103.225,0.000,58.945,68.916,356.967,9.000,0.000,14.680,2364.988,10262.551,634.321,4288.443,1030.244,33.368,1968.491,0.000,4303.520,0.000,0.534,0.000
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$SENSOR_SECS,893.904,947.305,1229.605,1401.705,2668.593,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355324
$DATA_FILE_SIZE,107521,1298
$CAP_FILE_SIZE,201741,0
$CFSIZE,260165632,158101504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,1,0,0
$GPS,300414,024206,2259.841,-15804.858,37,1.0,37,10.1