version: 66.06
glider: 146
mission: 9
dive: 318
start: 5 8 114 13 8 55
data:
$ID,146
$MISSION,9
$DIVE,318
$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,-330506.72
$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,53
$R_STBD_OVSHOOT,40
$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
$GPS1,125105,2258.219,-15742.471,25,1.5,25,10.1
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,0.45
$_SM_ANGLEo,-70.2
$GPS2,130801,2258.302,-15742.302,34,1.3,34,10.1
$SPEED_LIMITS,0.143,0.260
$TGT_NAME,HOESW
$TGT_LATLONG,2240.500,-15806.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.206,-0.159
$KALMAN_X,-246742.0,148.8,-135.4,269392.8,409.4
$KALMAN_Y,8857.3,10.3,-138.2,7974.4,187.6
$MHEAD_RNG_PITCHd_Wd,222.3,52220,-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,-86.18,0.000,2,0.000,0.000,455,2181,3628,0,0,0,0,0,0
$GC,111,-1.28,-146.0,3.2,-7.5,11,129,12.55,2.55,-0.47,0.000,4,0.164,0.050,2709,647,3656,0,0,0,0,0,0
$GC,188,-1.14,-146.0,22.9,-13.5,21,198,0.12,2.47,0.00,0.000,6,0.095,0.021,2739,2213,3658,0,0,0,0,0,0
$GC,467,-1.08,-146.0,55.5,-11.1,49,472,0.10,2.55,0.00,0.000,4,0.120,0.035,2761,3785,3658,0,0,0,0,0,0
$GC,514,-1.08,-146.0,60.7,-10.3,52,519,0.00,2.40,0.00,0.000,6,0.000,0.021,2761,2243,3657,0,0,0,0,0,0
$GC,779,-1.08,-146.0,86.4,-9.3,76,787,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2244,3658,0,0,0,0,0,0
$GC,1044,-1.08,-146.0,111.2,-9.5,101,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2244,3658,0,0,0,0,0,0
$GC,1307,-1.08,-146.0,134.8,-9.3,126,1308,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2244,3658,0,0,0,0,0,0
$GC,1560,-1.08,-146.0,157.3,-8.4,150,1564,0.00,2.65,0.00,0.000,4,0.000,0.049,2762,634,3659,0,0,0,0,0,0
$GC,1597,-1.08,-146.0,160.5,-9.8,152,1606,0.00,2.50,0.00,0.000,6,0.000,0.023,2761,2236,3659,0,0,0,0,0,0
$GC,1863,-1.08,-146.0,183.0,-9.0,177,1867,0.00,0.00,0.00,0.000,6,0.000,0.000,2761,2236,3658,0,0,0,0,0,0
$GC,2129,-1.08,-146.0,206.7,-9.0,202,2134,0.00,2.47,0.00,0.000,4,0.000,0.036,2761,3776,3658,0,0,0,0,0,0
$GC,2147,-1.12,-146.0,208.7,-8.7,203,2151,0.00,2.42,0.00,0.000,6,0.000,0.019,2761,2223,3658,0,0,0,0,0,0
$GC,2412,-1.16,-146.0,228.8,-7.6,227,2416,0.00,2.60,0.00,0.000,4,0.000,0.051,2761,640,3658,0,0,0,0,0,0
$GC,2452,-1.23,-146.0,232.0,-7.4,230,2457,0.15,2.47,0.00,0.000,6,0.058,0.019,2700,2236,3658,0,0,0,0,0,0
$GC,2714,-1.17,-146.0,256.4,-10.0,254,2716,0.17,0.00,0.00,0.000,6,0.088,0.000,2739,2236,3658,0,0,0,0,0,0
$GC,2970,-1.17,-146.0,277.1,-7.6,278,2971,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,2236,3658,0,0,0,0,0,0
$GC,3224,-1.17,-146.0,294.3,-7.4,302,3229,0.00,2.72,0.00,0.000,4,0.000,0.064,2739,642,3657,0,0,0,0,0,0
$GC,3246,-1.17,-146.0,296.2,-7.8,303,3255,0.00,2.50,0.00,0.000,6,0.000,0.033,2739,2202,3656,0,0,0,0,0,0
$GC,3512,-1.17,-146.0,318.1,-8.9,328,3516,0.00,2.60,0.00,0.000,4,0.000,0.049,2739,3783,3656,0,0,0,0,0,0
$GC,3542,-1.21,-146.0,321.1,-9.3,330,3546,0.00,2.47,0.00,0.000,6,0.000,0.025,2739,2232,3655,0,0,0,0,0,0
$GC,3805,-1.25,-146.0,343.0,-7.5,354,3806,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,2232,3654,0,0,0,0,0,0
$GC,4061,-1.30,-146.0,360.0,-6.5,378,4066,0.12,2.80,0.00,0.000,4,0.067,0.078,2689,627,3652,0,0,0,0,0,0
$GC,4084,-1.30,-146.0,362.0,-7.2,379,4091,0.10,2.58,0.00,0.000,6,0.112,0.034,2711,2221,3652,0,0,0,0,0,0
$GC,4349,-1.30,-146.0,381.2,-7.7,404,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2221,3650,0,0,0,0,0,0
$GC,4610,-1.30,-146.0,402.9,-8.7,429,4615,0.00,2.78,0.00,0.000,4,0.000,0.074,2711,633,3649,0,0,0,0,0,0
$GC,4634,-1.30,-146.0,404.3,-8.5,430,4638,0.00,2.60,0.00,0.000,6,0.000,0.035,2711,2232,3648,0,0,0,0,0,0
$GC,4900,-1.30,-146.0,428.9,-9.3,454,4905,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2232,3647,0,0,0,0,0,0
$GC,5163,-1.30,-146.0,453.5,-8.8,479,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2233,3645,0,0,0,0,0,0
$GC,5417,-1.30,-146.0,474.4,-7.8,503,5418,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2232,3644,0,0,0,0,0,0
$GC,5673,-1.30,-146.0,493.5,-7.8,527,5678,0.00,2.90,0.00,0.000,4,0.000,0.094,2711,637,3643,0,0,0,0,0,0
$GC,5705,-1.30,-146.0,496.0,-8.3,529,5710,0.00,2.67,0.00,0.000,6,0.000,0.048,2711,2231,3642,0,0,0,0,0,0
$GC,5973,-1.30,-146.0,518.9,-8.2,553,5978,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2231,3641,0,0,0,0,0,0
$GC,6234,-1.30,-146.0,540.0,-7.1,578,6239,0.00,2.72,0.00,0.000,4,0.000,0.075,2711,3796,3639,0,0,0,0,0,0
$GC,6268,-1.30,-146.0,542.1,-8.0,580,6272,0.00,2.62,0.00,0.000,6,0.000,0.051,2711,2239,3639,0,0,0,0,0,0
$GC,6536,-1.30,-146.0,560.3,-6.8,604,6541,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,2239,3637,0,0,0,0,0,0
$GC,6797,-1.30,-146.0,578.1,-6.8,629,6802,0.00,3.10,0.00,0.000,4,0.000,0.123,2711,621,3636,0,0,0,0,0,0
$GC,6831,-1.30,-146.0,580.3,-8.0,631,6836,0.00,2.75,0.00,0.000,6,0.000,0.061,2711,2226,3636,0,0,0,0,0,0
$GC,7098,-1.34,-146.0,599.4,-7.2,655,7103,0.00,2.83,0.00,0.000,4,0.000,0.097,2711,3795,3633,0,0,0,0,0,0
$GC,7127,-1.34,-146.0,602.0,-7.4,655,7132,0.00,2.72,0.00,0.000,6,0.000,0.066,2711,2234,3633,0,0,0,0,0,0
$GC,7377,-1.38,-146.0,620.0,-7.0,661,7382,0.00,2.80,0.00,0.000,4,0.000,0.089,2711,3794,3632,0,0,0,0,0,0
$GC,7433,-1.42,-146.0,624.3,-7.7,662,7438,0.12,2.75,0.00,0.000,6,0.070,0.074,2670,2244,3631,0,0,0,0,0,0
$GC,7702,-1.38,-146.0,645.5,-7.8,669,7707,0.12,2.88,0.00,0.000,4,0.100,0.095,2697,3800,3630,0,0,0,0,0,0
$GC,7718,-1.38,-146.0,647.1,-7.4,669,7723,0.00,2.80,0.00,0.000,6,0.000,0.082,2697,2249,3630,0,0,0,0,0,0
$GC,7981,-1.38,-146.0,663.8,-6.5,676,7985,0.00,2.88,0.00,0.000,4,0.000,0.103,2697,3793,3628,0,0,0,0,0,0
$GC,8037,-1.38,-146.0,668.0,-7.6,677,8042,0.00,2.80,0.00,0.000,6,0.000,0.093,2697,2271,3628,0,0,0,0,0,0
$GC,8304,-1.38,-146.0,686.0,-6.7,684,8309,0.00,2.90,0.00,0.000,4,0.000,0.111,2697,3797,3627,0,0,0,0,0,0
$GC,8326,-1.38,-146.0,687.7,-7.5,684,8330,0.00,2.85,0.00,0.000,6,0.000,0.101,2697,2279,3627,0,0,0,0,0,0
$GC,8582,-1.38,-146.0,704.8,-6.7,691,8587,0.00,3.40,0.00,0.000,4,0.000,0.156,2696,622,3626,0,0,0,0,0,0
$GC,8604,-1.38,-146.0,706.4,-6.6,691,8609,0.00,3.10,0.00,0.000,6,0.000,0.109,2697,2272,3626,0,0,0,0,0,0
$GC,8859,-1.38,-146.0,723.4,-6.6,698,8860,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2272,3624,0,0,0,0,0,0
$GC,9105,-1.38,-146.0,740.0,-6.9,704,9106,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2272,3624,0,0,0,0,0,0
$GC,9347,-1.38,-146.0,756.9,-7.0,710,9348,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2273,3622,0,0,0,0,0,0
$GC,9591,-1.38,-146.0,774.3,-7.2,716,9596,0.00,3.22,0.00,0.000,4,0.000,0.174,2697,3790,3621,0,0,0,0,0,0
$GC,9620,-1.38,-146.0,776.4,-7.5,716,9624,0.00,3.12,0.00,0.000,6,0.000,0.153,2697,2280,3621,0,0,1,0,0,0
$GC,9871,-1.38,-146.0,793.6,-6.7,722,9872,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,2281,3621,0,0,0,0,0,0
$STATE,9989,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9989,begin apogee
$GC,9995,-0.31,0.0,801.5,6.5,725,10119,1.02,0.00,120.12,1.175,6,0.067,0.000,2929,2368,3060,0,0,0,0,0,0
$STATE,10119,end apogee,CONTROL_FINISHED_OK
$STATE,10119,begin climb
$GC,10122,1.28,146.0,803.3,0.0,728,10263,1.42,3.47,130.25,1.146,4,0.035,0.170,3279,3940,2462,0,0,0,0,0,0
$GC,10339,1.14,146.0,784.3,13.1,733,10346,0.17,3.30,0.00,0.000,6,0.109,0.153,3243,2376,2456,0,0,1,0,0,0
$GC,10618,1.10,146.0,755.0,10.2,740,10620,0.00,0.00,0.00,0.000,6,0.000,0.000,3243,2376,2452,0,0,0,0,0,0
$GC,10862,1.05,146.0,729.9,10.3,746,10867,0.00,3.33,0.00,0.000,4,0.000,0.159,3243,775,2451,0,0,0,0,0,0
$GC,10897,0.99,146.0,726.0,12.0,746,10904,0.15,3.08,0.00,0.000,6,0.115,0.112,3214,2370,2450,0,0,0,0,0,0
$GC,11147,1.02,168.5,702.9,9.0,753,11173,0.00,3.30,19.48,1.050,4,0.000,0.135,3213,770,2372,0,0,0,0,0,0
$GC,11195,1.02,170.8,698.2,9.9,754,11200,0.00,3.00,0.00,0.000,6,0.000,0.103,3213,2359,2370,0,0,0,0,0,0
$GC,11469,1.06,201.3,674.3,8.6,761,11506,0.00,0.00,31.80,1.062,6,0.000,0.000,3213,2359,2238,0,0,0,0,0,0
$GC,11751,1.12,224.0,649.0,9.0,768,11775,0.12,0.00,21.88,1.032,6,0.081,0.000,3247,2360,2146,0,0,0,0,0,0
$GC,11994,1.12,224.0,621.6,11.5,774,11998,0.00,2.88,0.00,0.000,4,0.000,0.094,3247,3942,2141,0,0,0,0,0,0
$GC,12011,1.12,224.0,619.7,11.8,774,12015,0.00,2.78,0.00,0.000,6,0.000,0.062,3247,2351,2140,0,0,0,0,0,0
$GC,12264,1.12,224.0,589.1,11.9,786,12269,0.00,2.83,0.00,0.000,4,0.000,0.074,3248,3942,2140,0,0,0,0,0,0
$GC,12297,1.12,224.0,584.6,13.0,788,12303,0.00,2.72,0.00,0.000,6,0.000,0.055,3247,2363,2139,0,0,0,0,0,0
$GC,12562,1.12,224.0,554.1,11.3,813,12567,0.00,3.03,0.00,0.000,4,0.000,0.117,3247,782,2139,0,0,0,0,0,0
$GC,12601,1.12,224.0,549.0,11.7,816,12606,0.00,2.70,0.00,0.000,6,0.000,0.050,3247,2369,2137,0,0,0,0,0,0
$GC,12865,1.12,224.0,521.7,10.4,840,12870,0.00,2.72,0.00,0.000,4,0.000,0.067,3247,3944,2137,0,0,0,0,0,0
$GC,12898,1.12,224.0,517.6,11.4,842,12904,0.00,2.65,0.00,0.000,6,0.000,0.044,3248,2370,2137,0,0,0,0,0,0
$GC,13163,1.12,224.0,490.8,11.0,867,13168,0.00,2.97,0.00,0.000,4,0.000,0.110,3248,783,2136,0,0,0,0,0,0
$GC,13203,1.12,224.0,485.8,11.8,870,13208,0.00,2.65,0.00,0.000,6,0.000,0.042,3247,2369,2136,0,0,0,0,0,0
$GC,13467,1.12,224.0,455.8,11.4,894,13471,0.00,2.65,0.00,0.000,4,0.000,0.057,3247,3945,2136,0,0,0,0,0,0
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$STATE,17737,end climb,SURFACE_DEPTH_REACHED
$STATE,17737,begin surface coast
$FINISH,-0.1,1.008667
$STATE,17791,end surface coast,CONTROL_FINISHED_OK
$STATE,17791,begin surface
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$TT8_MAMPS,0.026845
$HUMID,62.56
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$TCM_TEMP,21.90
$XPDR_PINGS,76
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$10V_AH,9.9,60.184
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$MEM,355272
$DATA_FILE_SIZE,107849,1296
$CAP_FILE_SIZE,199673,0
$CFSIZE,260165632,154189824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,2,0,0
$GPS,080514,180823,2256.848,-15743.870,39,1.2,39,10.1