version: 66.06
glider: 146
mission: 9
dive: 296
start: 5 3 114 19 32 44
data:
$ID,146
$MISSION,9
$DIVE,296
$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,-330052.62
$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,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,58
$R_STBD_OVSHOOT,38
$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
$GPS1,191336,2241.769,-15743.587,31,1.0,31,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,0.42
$_SM_ANGLEo,-69.4
$GPS2,193149,2241.846,-15743.899,13,1.4,13,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESE
$TGT_LATLONG,2238.590,-15737.807
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.217,-0.143
$KALMAN_X,-234985.0,-616.6,-298.2,255854.4,-359.4
$KALMAN_Y,5458.8,-223.8,-79.4,-18933.1,487.0
$MHEAD_RNG_PITCHd_Wd,113.4,12034,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.28,-146.0,0.0,0.0,0,107,0.00,0.00,-86.10,0.000,2,0.000,0.000,459,2175,3634,0,0,0,0,0,0
$GC,111,-1.28,-146.0,3.3,-8.3,11,137,12.73,2.67,-0.38,0.000,4,0.167,0.043,2709,3797,3659,0,0,0,0,0,0
$GC,150,-0.21,-146.0,17.5,-36.6,15,160,1.08,2.50,0.00,0.000,6,0.082,0.023,2943,2236,3660,0,0,0,0,0,0
$GC,460,-0.54,-146.0,33.8,-4.3,56,466,0.25,2.62,0.00,0.000,4,0.053,0.044,2867,627,3660,0,0,0,0,0,0
$GC,487,-0.81,-146.0,35.6,-5.6,57,496,0.17,2.47,0.00,0.000,6,0.028,0.018,2794,2219,3659,0,0,0,0,0,0
$GC,755,-0.81,-146.0,59.6,-9.0,82,760,0.10,2.50,0.00,0.000,4,0.107,0.035,2818,3775,3660,0,0,0,0,0,0
$GC,803,-0.94,-146.0,64.1,-8.5,85,808,0.12,2.45,0.00,0.000,6,0.058,0.021,2766,2198,3660,0,0,0,0,0,0
$GC,1069,-0.94,-146.0,89.1,-8.1,109,1074,0.12,2.55,0.00,0.000,4,0.097,0.035,2795,3778,3661,0,0,0,0,0,0
$GC,1103,-0.99,-146.0,92.0,-7.7,111,1108,0.00,2.42,0.00,0.000,6,0.000,0.021,2795,2210,3661,0,0,0,0,0,0
$GC,1370,-1.06,-146.0,113.3,-8.0,135,1376,0.12,0.00,0.00,0.000,6,0.065,0.000,2739,2211,3661,0,0,0,0,0,0
$GC,1635,-1.06,-146.0,139.2,-9.2,160,1640,0.12,2.58,0.00,0.000,4,0.096,0.045,2767,642,3661,0,0,0,0,0,0
$GC,1681,-1.12,-146.0,143.5,-8.3,163,1687,0.00,2.42,0.00,0.000,6,0.000,0.023,2767,2214,3661,0,0,0,0,0,0
$GC,1946,-1.16,-146.0,165.0,-8.5,188,1955,0.10,0.00,0.00,0.000,6,0.077,0.000,2716,2215,3661,0,0,0,0,0,0
$GC,2213,-1.10,-146.0,194.5,-10.3,213,2218,0.17,0.00,0.00,0.000,6,0.087,0.000,2755,2215,3661,0,0,0,0,0,0
$GC,2481,-1.10,-146.0,215.2,-7.1,238,2486,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2215,3661,0,0,0,0,0,0
$GC,2744,-1.15,-146.0,235.7,-8.3,263,2745,0.00,0.00,0.00,0.000,6,0.000,0.000,2755,2215,3661,0,0,0,0,0,0
$GC,3000,-1.20,-146.0,257.8,-8.1,287,3004,0.00,2.60,0.00,0.000,4,0.000,0.055,2755,646,3661,0,0,0,0,0,0
$GC,3067,-1.28,-146.0,262.7,-7.4,292,3072,0.17,2.40,0.00,0.000,6,0.052,0.024,2689,2192,3660,0,0,0,0,0,0
$GC,3332,-1.21,-146.0,287.4,-10.0,316,3338,0.20,2.58,0.00,0.000,4,0.087,0.041,2732,3783,3660,0,0,0,0,0,0
$GC,3350,-1.17,-146.0,289.3,-9.6,317,3355,0.00,2.50,0.00,0.000,6,0.000,0.024,2733,2208,3660,0,0,0,0,0,0
$GC,3615,-1.17,-146.0,310.3,-8.6,341,3619,0.00,2.58,0.00,0.000,4,0.000,0.042,2732,3781,3659,0,0,0,0,0,0
$GC,3633,-1.17,-146.0,311.8,-8.2,342,3637,0.00,2.53,0.00,0.000,6,0.000,0.025,2733,2192,3659,0,0,0,0,0,0
$GC,3897,-1.17,-146.0,334.0,-8.9,366,3906,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,2193,3657,0,0,0,0,0,0
$GC,4164,-1.21,-146.0,356.0,-7.9,391,4169,0.00,2.67,0.00,0.000,4,0.000,0.075,2732,635,3655,0,0,0,0,0,0
$GC,4194,-1.21,-146.0,358.9,-8.5,393,4198,0.00,2.47,0.00,0.000,6,0.000,0.037,2732,2182,3655,0,0,0,0,0,0
$GC,4457,-1.21,-146.0,378.9,-7.6,417,4458,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,2183,3653,0,0,0,0,0,0
$GC,4713,-1.25,-146.0,399.7,-8.6,441,4718,0.00,2.62,0.00,0.000,4,0.000,0.050,2732,3788,3652,0,0,0,0,0,0
$GC,4736,-1.29,-146.0,401.5,-8.6,442,4740,0.00,2.60,0.00,0.000,6,0.000,0.041,2732,2190,3652,0,0,0,0,0,0
$GC,5004,-1.34,-146.0,424.0,-8.0,466,5010,0.12,2.67,0.00,0.000,4,0.068,0.056,2681,3793,3650,0,0,0,0,0,0
$GC,5033,-1.30,-146.0,427.2,-9.8,468,5039,0.15,2.62,0.00,0.000,6,0.094,0.038,2713,2194,3650,0,0,0,0,0,0
$GC,5295,-1.30,-146.0,448.4,-8.1,492,5299,0.00,2.67,0.00,0.000,4,0.000,0.055,2713,3783,3648,0,0,0,0,0,0
$GC,5318,-1.30,-146.0,449.8,-8.4,493,5323,0.00,2.60,0.00,0.000,6,0.000,0.041,2713,2198,3648,0,0,0,0,0,0
$GC,5585,-1.30,-146.0,470.5,-7.3,517,5590,0.00,2.83,0.00,0.000,4,0.000,0.097,2713,628,3646,0,0,0,0,0,0
$GC,5608,-1.30,-146.0,472.5,-7.0,518,5614,0.00,2.58,0.00,0.000,6,0.000,0.048,2713,2190,3646,0,0,0,0,0,0
$GC,5871,-1.30,-146.0,491.2,-7.3,543,5876,0.00,2.72,0.00,0.000,4,0.000,0.066,2713,3800,3644,0,0,0,0,0,0
$GC,5937,-1.30,-146.0,496.2,-8.0,548,5941,0.00,2.65,0.00,0.000,6,0.000,0.045,2713,2198,3644,0,0,0,0,0,0
$GC,6199,-1.30,-146.0,514.1,-6.8,572,6201,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2198,3643,0,0,0,0,0,0
$GC,6454,-1.30,-146.0,530.7,-6.5,596,6455,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,2198,3642,0,0,0,0,0,0
$GC,6708,-1.30,-146.0,547.4,-6.4,620,6712,0.00,2.78,0.00,0.000,4,0.000,0.074,2714,3799,3639,0,0,0,0,0,0
$GC,6753,-1.35,-146.0,550.5,-6.6,623,6758,0.00,2.70,0.00,0.000,6,0.000,0.056,2713,2209,3639,0,0,0,0,0,0
$GC,7017,-1.39,-146.0,565.6,-5.8,648,7022,0.00,2.97,0.00,0.000,4,0.000,0.119,2713,626,3638,0,0,0,0,0,0
$GC,7040,-1.39,-146.0,566.8,-5.8,649,7044,0.00,2.70,0.00,0.000,6,0.000,0.056,2713,2216,3638,0,0,0,0,0,0
$GC,7308,-1.43,-146.0,583.8,-6.8,673,7314,0.12,2.80,0.00,0.000,4,0.067,0.084,2664,3796,3636,0,0,0,0,0,0
$GC,7337,-1.38,-146.0,586.9,-9.0,675,7343,0.15,2.70,0.00,0.000,6,0.098,0.061,2696,2210,3636,0,0,0,0,0,0
$GC,7628,-1.38,-146.0,610.0,-8.0,693,7633,0.00,2.83,0.00,0.000,4,0.000,0.083,2696,3794,3635,0,0,0,0,0,0
$GC,7655,-1.38,-146.0,612.7,-8.5,693,7660,0.00,2.78,0.00,0.000,6,0.000,0.070,2696,2212,3634,0,0,0,0,0,0
$GC,7906,-1.38,-146.0,630.7,-7.1,699,7907,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2212,3633,0,0,0,0,0,0
$GC,8151,-1.38,-146.0,647.3,-6.7,705,8152,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2212,3632,0,0,0,0,0,0
$GC,8393,-1.38,-146.0,663.3,-6.6,711,8398,0.00,2.95,0.00,0.000,4,0.000,0.109,2696,3796,3631,0,0,0,0,0,0
$GC,8432,-1.38,-146.0,666.1,-7.5,712,8437,0.00,2.90,0.00,0.000,6,0.000,0.092,2696,2213,3631,0,0,0,0,0,0
$GC,8717,-1.38,-146.0,685.5,-7.0,719,8722,0.00,3.03,0.00,0.000,4,0.000,0.117,2696,3796,3630,0,0,0,0,0,0
$GC,8739,-1.38,-146.0,687.2,-7.6,719,8743,0.00,2.95,0.00,0.000,6,0.000,0.102,2696,2218,3630,0,0,0,0,0,0
$GC,8994,-1.38,-146.0,705.1,-6.9,726,8999,0.00,3.05,0.00,0.000,4,0.000,0.124,2696,3789,3628,0,0,0,0,0,0
$GC,9045,-1.38,-146.0,708.7,-7.3,727,9050,0.00,2.97,0.00,0.000,6,0.000,0.112,2696,2234,3629,0,0,0,0,0,0
$GC,9319,-1.38,-146.0,724.6,-5.7,734,9324,0.00,3.05,0.00,0.000,4,0.000,0.134,2696,3787,3628,0,0,0,0,0,0
$GC,9346,-1.38,-146.0,726.5,-6.4,734,9351,0.00,3.03,0.00,0.000,6,0.000,0.121,2696,2235,3627,0,0,0,0,0,0
$GC,9598,-1.38,-146.0,741.1,-5.8,740,9603,0.00,3.12,0.00,0.000,4,0.000,0.143,2696,3788,3627,0,0,0,0,0,0
$GC,9614,-1.38,-146.0,742.1,-5.8,740,9619,0.00,3.05,0.00,0.000,6,0.000,0.129,2696,2246,3626,0,0,0,0,0,0
$GC,9875,-1.38,-146.0,756.8,-5.6,747,9876,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2247,3626,0,0,0,0,0,0
$GC,10120,-1.38,-146.0,769.3,-5.1,753,10121,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2246,3624,0,0,0,0,0,0
$GC,10362,-1.38,-146.0,780.9,-4.7,759,10363,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2247,3624,0,0,0,0,0,0
$GC,10606,-1.38,-146.0,792.1,-4.6,765,10607,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,2247,3623,0,0,0,0,0,0
$STATE,10806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10807,begin apogee
$GC,10813,-0.31,0.0,801.7,4.8,770,10937,1.02,0.00,120.75,1.173,6,0.069,0.000,2928,2359,3060,0,0,0,0,0,0
$STATE,10938,end apogee,CONTROL_FINISHED_OK
$STATE,10938,begin climb
$GC,10942,1.28,146.0,802.1,0.0,773,11084,1.48,3.50,129.75,1.147,4,0.034,0.172,3288,3937,2462,0,0,0,0,0,0
$GC,11140,1.13,146.0,782.9,14.9,778,11146,0.22,3.33,0.00,0.000,6,0.103,0.153,3242,2371,2457,0,0,0,0,0,0
$GC,11419,1.08,146.0,753.1,10.5,785,11424,0.00,3.45,0.00,0.000,4,0.000,0.173,3242,778,2452,0,0,0,0,0,0
$GC,11452,1.01,146.0,749.4,10.6,785,11459,0.12,3.12,0.00,0.000,6,0.123,0.131,3218,2364,2451,0,0,0,0,0,0
$GC,11704,1.04,167.1,726.8,9.0,792,11728,0.00,3.25,18.67,1.055,4,0.000,0.138,3218,3944,2377,0,0,0,0,0,0
$GC,11746,1.04,167.1,722.4,10.3,793,11751,0.00,3.10,0.00,0.000,6,0.000,0.114,3218,2364,2375,0,0,0,0,0,0
$GC,12030,1.05,180.4,695.7,9.4,800,12046,0.00,0.00,13.35,1.014,6,0.000,0.000,3218,2364,2324,0,0,0,0,0,0
$GC,12273,1.07,194.3,672.8,9.4,806,12289,0.00,0.00,14.18,1.012,6,0.000,0.000,3218,2364,2268,0,0,0,0,0,0
$GC,12516,1.08,204.4,649.6,9.6,812,12533,0.00,2.95,10.73,0.967,4,0.000,0.091,3218,3944,2225,0,0,0,0,0,0
$GC,12562,1.08,204.4,644.8,10.0,813,12567,0.00,2.88,0.00,0.000,6,0.000,0.075,3218,2359,2223,0,0,0,0,0,0
$GC,12839,1.08,204.4,616.7,10.1,820,12844,0.00,2.97,0.00,0.000,4,0.000,0.111,3218,780,2222,0,0,0,0,0,0
$GC,12860,1.08,204.4,614.3,10.6,820,12865,0.00,2.78,0.00,0.000,6,0.000,0.063,3217,2382,2221,0,0,0,0,0,0
$GC,13121,1.09,207.5,588.8,9.9,833,13122,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2382,2221,0,0,0,0,0,0
$GC,13374,1.09,207.5,563.2,10.1,857,13375,0.00,0.00,0.00,0.000,6,0.000,0.000,3218,2383,2220,0,0,0,0,0,0
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$STATE,18546,end climb,SURFACE_DEPTH_REACHED
$STATE,18546,begin surface coast
$FINISH,-0.1,1.023700
$STATE,18582,end surface coast,CONTROL_FINISHED_OK
$STATE,18582,begin surface
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$HUMID,64.29
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$XPDR_PINGS,50
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$10V_AH,9.8,55.038
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,30.700,224.650,425.800,43.325,0.000,59.533,69.599,694.015,12.500,0.000,15.221,2416.135,10942.991,625.061,4330.919,1406.469,33.366,2003.428,0.000,4350.573,0.000,0.535,0.000
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$SENSOR_SECS,924.714,976.037,1264.062,1416.571,2696.713,0.000,0.000,0.000
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$MEM,355468
$DATA_FILE_SIZE,110785,1343
$CAP_FILE_SIZE,211404,0
$CFSIZE,260165632,156315648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040514,004506,2240.427,-15742.587,52,1.3,52,10.1