version: 66.06
glider: 146
mission: 9
dive: 292
start: 5 2 114 22 18 50
data:
$ID,146
$MISSION,9
$DIVE,292
$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,-329974.19
$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,2996
$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,55
$R_STBD_OVSHOOT,35
$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
$GPS1,215300,2247.495,-15748.007,42,1.5,42,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.35
$_SM_ANGLEo,-68.0
$GPS2,221755,2247.615,-15748.213,13,1.6,13,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.146,-0.215
$KALMAN_X,-230125.2,-184.8,-399.5,243286.5,764.6
$KALMAN_Y,6062.3,-190.4,73.4,-9039.4,511.5
$MHEAD_RNG_PITCHd_Wd,135.6,24407,-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,-146.0,0.0,0.0,0,112,0.00,0.00,-87.80,0.000,6,0.000,0.000,457,2176,3656,0,0,0,0,0,0
$GC,116,-1.28,-146.0,4.8,-12.3,12,134,12.77,2.45,0.00,0.000,4,0.169,0.031,2708,649,3656,0,0,0,0,0,0
$GC,204,-1.15,-146.0,29.4,-14.6,24,212,0.12,2.47,0.00,0.000,6,0.098,0.019,2738,2227,3658,0,0,0,0,0,0
$GC,474,-1.08,-146.0,61.6,-12.0,49,479,0.10,2.47,0.00,0.000,4,0.132,0.034,2758,3775,3658,0,0,0,0,0,0
$GC,496,-1.03,-146.0,65.0,-12.0,50,501,0.00,2.42,0.00,0.000,6,0.000,0.021,2758,2233,3658,0,0,0,0,0,0
$GC,760,-1.03,-146.0,94.0,-10.9,74,765,0.00,2.47,0.00,0.000,4,0.000,0.034,2758,3783,3658,0,0,0,0,0,0
$GC,789,-1.03,-146.0,97.5,-10.5,76,794,0.00,2.45,0.00,0.000,6,0.000,0.021,2758,2222,3658,0,0,0,0,0,0
$GC,1052,-1.03,-146.0,121.6,-9.2,100,1056,0.00,2.60,0.00,0.000,4,0.000,0.046,2758,632,3658,0,0,0,0,0,0
$GC,1074,-1.03,-146.0,123.3,-9.0,101,1078,0.00,2.47,0.00,0.000,6,0.000,0.022,2758,2238,3658,0,0,0,0,0,0
$GC,1341,-1.03,-146.0,147.3,-9.4,125,1345,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2239,3658,0,0,0,0,0,0
$GC,1603,-1.03,-146.0,172.6,-8.7,150,1604,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,2239,3658,0,0,0,0,0,0
$GC,1857,-1.03,-146.0,193.9,-8.2,174,1858,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2239,3659,0,0,0,0,0,0
$GC,2113,-1.03,-146.0,216.1,-8.6,198,2114,0.00,0.00,0.00,0.000,6,0.000,0.000,2758,2239,3659,0,0,0,0,0,0
$GC,2368,-1.07,-146.0,239.6,-8.9,222,2373,0.00,2.45,0.00,0.000,4,0.000,0.044,2758,3775,3658,0,0,0,0,0,0
$GC,2391,-1.12,-146.0,241.4,-9.3,223,2396,0.00,2.42,0.00,0.000,6,0.000,0.021,2758,2211,3658,0,0,0,0,0,0
$GC,2660,-1.17,-146.0,264.1,-6.5,247,2665,0.00,2.62,0.00,0.000,4,0.000,0.056,2758,635,3658,0,0,0,0,0,0
$GC,2704,-1.24,-146.0,267.3,-6.6,250,2709,0.15,2.45,0.00,0.000,6,0.058,0.021,2699,2213,3657,0,0,0,0,0,0
$GC,2969,-1.19,-146.0,285.3,-7.5,274,2974,0.17,0.00,0.00,0.000,6,0.090,0.000,2737,2214,3657,0,0,0,0,0,0
$GC,3233,-1.19,-146.0,305.1,-7.8,299,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2214,3656,0,0,0,0,0,0
$GC,3495,-1.19,-146.0,324.0,-7.1,324,3496,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,2214,3655,0,0,0,0,0,0
$GC,3753,-1.23,-146.0,341.5,-6.5,348,3758,0.00,2.67,0.00,0.000,4,0.000,0.062,2737,640,3653,0,0,0,0,0,0
$GC,3764,-1.23,-146.0,342.4,-6.4,348,3774,0.00,2.50,0.00,0.000,6,0.000,0.035,2737,2195,3653,0,0,0,0,0,0
$GC,4032,-1.28,-146.0,359.3,-6.2,373,4036,0.00,2.60,0.00,0.000,4,0.000,0.054,2737,3790,3651,0,0,0,0,0,0
$GC,4077,-1.34,-146.0,362.3,-6.6,376,4082,0.15,2.47,0.00,0.000,6,0.060,0.028,2682,2231,3651,0,0,0,0,0,0
$GC,4342,-1.29,-146.0,383.8,-8.1,400,4348,0.15,2.80,0.00,0.000,4,0.095,0.080,2715,629,3650,0,0,0,0,0,0
$GC,4401,-1.29,-146.0,389.0,-8.3,404,4407,0.00,2.58,0.00,0.000,6,0.000,0.041,2716,2221,3649,0,0,0,0,0,0
$GC,4664,-1.29,-146.0,410.2,-8.9,429,4665,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2222,3647,0,0,0,0,0,0
$GC,4918,-1.29,-146.0,433.3,-9.1,453,4922,0.00,2.60,0.00,0.000,4,0.000,0.058,2715,3792,3646,0,0,0,0,0,0
$GC,4958,-1.29,-146.0,437.4,-9.8,456,4963,0.00,2.58,0.00,0.000,6,0.000,0.041,2715,2222,3645,0,0,0,0,0,0
$GC,5222,-1.29,-146.0,459.8,-8.3,480,5227,0.00,2.62,0.00,0.000,4,0.000,0.060,2715,3798,3644,0,0,0,0,0,0
$GC,5245,-1.29,-146.0,461.4,-8.1,481,5249,0.00,2.60,0.00,0.000,6,0.000,0.041,2715,2223,3643,0,0,0,0,0,0
$GC,5513,-1.29,-146.0,482.8,-8.1,505,5517,0.00,2.65,0.00,0.000,4,0.000,0.057,2715,3788,3642,0,0,0,0,0,0
$GC,5530,-1.29,-146.0,484.7,-7.9,506,5534,0.00,2.60,0.00,0.000,6,0.000,0.049,2715,2219,3642,0,0,0,0,0,0
$GC,5792,-1.29,-146.0,505.9,-7.9,530,5794,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,2220,3639,0,0,0,0,0,0
$GC,6049,-1.33,-146.0,524.0,-6.1,554,6054,0.00,2.70,0.00,0.000,4,0.000,0.066,2715,3785,3638,0,0,0,0,0,0
$GC,6067,-1.33,-146.0,525.2,-6.2,555,6071,0.00,2.62,0.00,0.000,6,0.000,0.055,2715,2219,3638,0,0,0,0,0,0
$GC,6331,-1.33,-146.0,540.8,-6.0,579,6336,0.00,2.70,0.00,0.000,4,0.000,0.068,2715,3787,3636,0,0,0,0,0,0
$GC,6366,-1.37,-146.0,543.3,-7.0,581,6372,0.00,2.65,0.00,0.000,6,0.000,0.060,2715,2227,3636,0,0,0,0,0,0
$GC,6631,-1.41,-146.0,559.8,-6.6,606,6640,0.12,0.00,0.00,0.000,6,0.071,0.000,2667,2227,3634,0,0,0,0,0,0
$GC,6898,-1.36,-146.0,581.3,-7.8,631,6903,0.15,2.78,0.00,0.000,4,0.094,0.081,2699,3783,3632,0,0,0,0,0,0
$GC,6917,-1.36,-146.0,583.4,-8.4,632,6921,0.00,2.67,0.00,0.000,6,0.000,0.060,2699,2220,3632,0,0,0,0,0,0
$GC,7199,-1.36,-146.0,603.1,-6.9,655,7200,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2220,3631,0,0,0,0,0,0
$GC,7441,-1.36,-146.0,619.0,-6.3,661,7446,0.00,2.83,0.00,0.000,4,0.000,0.088,2699,3789,3630,0,0,0,0,0,0
$GC,7464,-1.36,-146.0,620.4,-6.5,661,7469,0.00,2.75,0.00,0.000,6,0.000,0.072,2699,2227,3630,0,0,0,0,0,0
$GC,7721,-1.36,-146.0,636.0,-6.0,668,7725,0.00,2.83,0.00,0.000,4,0.000,0.097,2699,3783,3628,0,0,0,0,0,0
$GC,7742,-1.36,-146.0,637.5,-6.8,668,7747,0.00,2.78,0.00,0.000,6,0.000,0.079,2699,2227,3629,0,0,0,0,0,0
$GC,7999,-1.36,-146.0,653.5,-6.3,675,8003,0.00,2.85,0.00,0.000,4,0.000,0.102,2699,3783,3627,0,0,0,0,0,0
$GC,8038,-1.36,-146.0,656.3,-7.1,676,8043,0.00,2.80,0.00,0.000,6,0.000,0.086,2699,2234,3627,0,0,0,0,0,0
$GC,8321,-1.36,-146.0,675.1,-6.7,683,8326,0.00,2.88,0.00,0.000,4,0.000,0.107,2699,3782,3626,0,0,0,0,0,0
$GC,8356,-1.36,-146.0,677.5,-7.8,683,8361,0.00,2.85,0.00,0.000,6,0.000,0.096,2699,2244,3625,0,0,0,0,0,0
$GC,8606,-1.36,-146.0,695.1,-7.0,690,8610,0.00,2.92,0.00,0.000,4,0.000,0.117,2699,3782,3624,0,0,0,0,0,0
$GC,8633,-1.36,-146.0,697.1,-7.8,690,8637,0.00,2.90,0.00,0.000,6,0.000,0.106,2699,2243,3624,0,0,0,0,0,0
$GC,8884,-1.36,-146.0,713.5,-6.5,696,8885,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2243,3623,0,0,0,0,0,0
$GC,9127,-1.36,-146.0,728.7,-6.1,702,9132,0.00,3.38,0.00,0.000,4,0.000,0.166,2699,621,3622,0,0,0,0,0,0
$GC,9160,-1.36,-146.0,730.8,-6.5,702,9165,0.00,3.05,0.00,0.000,6,0.000,0.120,2699,2219,3622,0,0,0,0,0,0
$GC,9411,-1.36,-146.0,744.6,-5.3,709,9416,0.00,3.25,0.00,0.000,4,0.000,0.156,2699,3799,3621,0,0,0,0,0,0
$GC,9491,-1.36,-146.0,749.2,-6.0,710,9497,0.00,3.10,0.00,0.000,6,0.000,0.134,2700,2250,3621,0,0,0,0,0,0
$GC,9741,-1.40,-146.0,761.7,-5.0,717,9746,0.00,3.22,0.00,0.000,4,0.000,0.157,2699,3797,3620,0,0,0,0,0,0
$GC,9770,-1.40,-146.0,763.4,-6.3,717,9775,0.00,3.15,0.00,0.000,6,0.000,0.143,2699,2248,3620,0,0,0,0,0,0
$GC,10020,-1.40,-146.0,777.7,-5.7,723,10021,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,2249,3620,0,0,0,0,0,0
$GC,10264,-1.44,-146.0,793.2,-6.4,729,10269,0.00,3.35,0.00,0.000,4,0.000,0.176,2699,3796,3619,0,0,0,0,0,0
$GC,10316,-1.44,-146.0,797.0,-7.5,730,10321,0.00,3.28,0.00,0.000,6,0.000,0.164,2699,2255,3619,0,0,1,0,0,0
$STATE,10382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10382,begin apogee
$GC,10388,-0.31,0.0,801.9,7.0,732,10511,1.00,0.00,119.43,1.177,6,0.070,0.000,2926,2370,3060,0,0,0,0,0,0
$STATE,10512,end apogee,CONTROL_FINISHED_OK
$STATE,10512,begin climb
$GC,10515,1.28,146.0,804.8,0.0,735,10655,1.42,3.50,129.55,1.150,4,0.035,0.175,3275,3943,2463,0,0,0,0,0,0
$GC,10711,1.14,146.0,789.4,12.1,739,10717,0.15,3.38,0.00,0.000,6,0.112,0.158,3245,2366,2458,0,0,1,0,0,0
$GC,10963,1.08,146.0,763.6,10.2,745,10968,0.00,3.30,0.00,0.000,4,0.000,0.154,3245,3941,2454,0,0,0,0,0,0
$GC,10985,1.01,146.0,760.9,11.1,745,10991,0.15,3.22,0.00,0.000,6,0.119,0.140,3216,2370,2453,0,0,0,0,0,0
$GC,11241,1.03,159.8,736.9,9.4,752,11260,0.00,3.28,12.15,1.015,4,0.000,0.140,3216,3939,2407,0,0,0,0,0,0
$GC,11285,1.03,159.8,732.5,10.8,753,11290,0.00,3.10,0.00,0.000,6,0.000,0.122,3217,2377,2406,0,0,0,0,0,0
$GC,11568,1.03,159.8,703.9,10.1,760,11573,0.00,3.22,0.00,0.000,4,0.000,0.146,3216,773,2404,0,0,0,0,0,0
$GC,11625,1.03,159.8,697.6,11.0,761,11630,0.00,2.97,0.00,0.000,6,0.000,0.102,3216,2376,2403,0,0,0,0,0,0
$GC,11891,1.03,159.8,670.1,10.3,768,11892,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2376,2402,0,0,0,0,0,0
$GC,12135,1.03,159.8,645.3,10.2,774,12136,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,2376,2401,0,0,0,0,0,0
$GC,12379,1.04,168.0,621.4,9.6,780,12393,0.00,3.08,8.05,0.918,4,0.000,0.105,3216,775,2374,0,0,0,0,0,0
$GC,12406,1.04,172.4,618.8,9.8,780,12417,0.00,2.80,5.72,0.814,6,0.000,0.066,3216,2370,2357,0,0,0,0,0,0
$GC,12663,1.08,201.7,595.0,8.7,789,12697,0.00,2.90,28.85,1.022,4,0.000,0.087,3216,3938,2236,0,0,0,0,0,0
$GC,12717,1.10,215.8,590.0,9.4,793,12736,0.00,2.78,14.23,0.954,6,0.000,0.056,3216,2348,2180,0,0,0,0,0,0
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$STATE,17994,end climb,SURFACE_DEPTH_REACHED
$STATE,17995,begin surface coast
$FINISH,0.0,1.023642
$STATE,18030,end surface coast,CONTROL_FINISHED_OK
$STATE,18031,begin surface
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$HUMID,63.82
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$TCM_TEMP,21.40
$XPDR_PINGS,49
$24V_AH,23.2,45.544
$10V_AH,9.8,54.068
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355528
$DATA_FILE_SIZE,104845,1277
$CAP_FILE_SIZE,216720,0
$CFSIZE,260165632,156721152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,030514,032136,2245.506,-15747.011,31,0.9,31,10.1