version: 66.06
glider: 146
mission: 7
dive: 53
start: 5 30 112 19 20 59
data:
$ID,146
$MISSION,7
$DIVE,53
$D_SURF,4
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$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,233
$T_MISSION,500
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52355
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$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,-288830.69
$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,3130
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$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,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,31
$R_STBD_OVSHOOT,13
$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,2950
$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,-29.527605
$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,0.0043256786
$SEABIRD_T_H,0.0006194216
$SEABIRD_T_I,2.1253354e-05
$SEABIRD_T_J,2.0307182e-06
$SEABIRD_C_G,-9.7992477
$SEABIRD_C_H,1.0845563
$SEABIRD_C_I,-0.0017217569
$SEABIRD_C_J,0.00021252052
$GPS1,191001,2239.863,-15806.818,37,1.3,43,10.0
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-67.3
$GPS2,192002,2239.893,-15806.856,10,1.1,10,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,BHOENW
$TGT_LATLONG,2304.386,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.032,0.250
$KALMAN_X,-80932.3,-75.2,-58.4,75709.8,-191.9
$KALMAN_Y,-20002.0,97.0,-72.7,18702.9,-606.2
$MHEAD_RNG_PITCHd_Wd,357.3,45534,-18.2,-10.014
$D_GRID,700
$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,-1.31,-136.3,0.0,0.0,0,115,0.00,0.00,-90.53,0.000,6,0.000,0.000,473,2182,3506,0,0,0,0,0,0
$GC,118,-1.31,-136.3,2.0,-5.0,12,143,13.18,2.72,0.00,0.000,4,0.176,0.031,2840,3822,3507,0,0,0,0,0,0
$GC,299,-1.13,-136.3,33.4,-14.0,36,305,0.20,2.58,0.00,0.000,6,0.125,0.024,2880,2208,3507,0,0,0,0,0,0
$GC,566,-1.06,-136.3,65.2,-10.2,60,570,0.00,2.60,0.00,0.000,4,0.000,0.044,2880,632,3508,0,0,0,0,0,0
$GC,626,-1.00,-136.3,71.7,-10.7,64,631,0.15,2.50,0.00,0.000,6,0.119,0.021,2911,2247,3508,0,0,0,0,0,0
$GC,888,-1.00,-136.3,94.4,-7.5,88,892,0.00,2.45,0.00,0.000,4,0.000,0.035,2911,3778,3508,0,0,0,0,0,0
$GC,924,-1.00,-136.3,97.3,-7.9,90,933,0.00,2.53,0.00,0.000,6,0.000,0.022,2911,2203,3508,0,0,0,0,0,0
$GC,1190,-1.00,-136.3,116.4,-7.3,115,1194,0.00,2.58,0.00,0.000,4,0.000,0.053,2911,633,3509,0,0,0,0,0,0
$GC,1223,-1.00,-136.3,118.8,-7.5,117,1227,0.00,2.42,0.00,0.000,6,0.000,0.018,2911,2210,3509,0,0,0,0,0,0
$GC,1491,-1.00,-136.3,138.0,-6.9,141,1495,0.00,2.53,0.00,0.000,4,0.000,0.036,2911,3772,3510,0,0,0,0,0,0
$GC,1523,-1.00,-136.3,140.7,-7.5,143,1527,0.00,2.45,0.00,0.000,6,0.000,0.023,2911,2206,3509,0,0,0,0,0,0
$GC,1787,-1.00,-136.3,159.1,-7.5,167,1791,0.00,2.60,0.00,0.000,4,0.000,0.054,2911,633,3510,0,0,0,0,0,0
$GC,1821,-1.00,-136.3,161.9,-7.9,169,1826,0.00,2.42,0.00,0.000,6,0.000,0.020,2911,2213,3510,0,0,0,0,0,0
$GC,2086,-1.04,-136.3,183.7,-9.2,194,2090,0.00,2.60,0.00,0.000,4,0.000,0.051,2912,630,3511,0,0,0,0,0,0
$GC,2126,-1.04,-136.3,187.8,-9.4,197,2131,0.00,2.42,0.00,0.000,6,0.000,0.018,2911,2204,3511,0,0,0,0,0,0
$GC,2393,-1.08,-136.3,210.2,-8.1,213,2397,0.00,2.50,0.00,0.000,4,0.000,0.036,2911,3772,3511,0,0,0,0,0,0
$GC,2422,-1.13,-136.3,212.3,-7.6,213,2427,0.12,2.45,0.00,0.000,6,0.071,0.022,2865,2205,3511,0,0,0,0,0,0
$GC,2672,-1.09,-136.3,231.6,-7.6,219,2677,0.12,2.60,0.00,0.000,4,0.113,0.055,2892,636,3511,0,0,0,0,0,0
$GC,2718,-1.09,-136.3,235.1,-7.4,220,2722,0.00,2.45,0.00,0.000,6,0.000,0.020,2892,2210,3511,0,0,0,0,0,0
$GC,2995,-1.09,-136.3,254.6,-6.7,227,2996,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,2210,3511,0,0,0,0,0,0
$GC,3239,-1.09,-136.3,269.2,-5.9,233,3244,0.00,2.65,0.00,0.000,4,0.000,0.061,2892,637,3511,0,0,0,0,0,0
$GC,3334,-1.09,-136.3,276.0,-7.0,235,3338,0.00,2.45,0.00,0.000,6,0.000,0.023,2892,2190,3511,0,0,0,0,0,0
$GC,3606,-1.13,-136.3,291.1,-5.5,242,3610,0.00,2.60,0.00,0.000,4,0.000,0.048,2892,3779,3510,0,0,0,0,0,0
$GC,3656,-1.19,-136.3,294.2,-6.3,243,3660,0.00,2.50,0.00,0.000,6,0.000,0.024,2892,2199,3510,0,0,0,0,0,0
$GC,3930,-1.23,-136.3,309.2,-5.6,250,3935,0.12,2.70,0.00,0.000,4,0.074,0.063,2849,625,3510,0,0,0,0,0,0
$GC,4003,-1.18,-136.3,315.1,-7.5,251,4008,0.10,2.47,0.00,0.000,6,0.123,0.032,2871,2182,3510,0,0,0,0,0,0
$GC,4254,-1.18,-136.3,331.5,-6.3,257,4259,0.00,2.65,0.00,0.000,4,0.000,0.051,2871,3791,3508,0,0,0,0,0,0
$GC,4321,-1.18,-136.3,336.4,-7.2,258,4325,0.00,2.55,0.00,0.000,6,0.000,0.026,2871,2205,3508,0,0,0,0,0,0
$GC,4578,-1.18,-136.3,351.9,-6.1,265,4582,0.00,2.70,0.00,0.000,4,0.000,0.069,2871,627,3507,0,0,0,0,0,0
$GC,4604,-1.18,-136.3,354.0,-7.3,265,4609,0.00,2.53,0.00,0.000,6,0.000,0.030,2871,2201,3507,0,0,0,0,0,0
$GC,4855,-1.18,-136.3,369.4,-6.2,271,4859,0.00,2.70,0.00,0.000,4,0.000,0.067,2871,626,3505,0,0,0,0,0,0
$GC,4898,-1.18,-136.3,372.6,-6.9,272,4903,0.00,2.50,0.00,0.000,6,0.000,0.038,2871,2183,3505,0,0,0,0,0,0
$GC,5176,-1.18,-136.3,390.2,-6.3,279,5181,0.00,2.67,0.00,0.000,4,0.000,0.055,2871,3794,3504,0,0,0,0,0,0
$GC,5198,-1.18,-136.3,391.5,-5.8,279,5202,0.00,2.62,0.00,0.000,6,0.000,0.034,2871,2185,3504,0,0,0,0,0,0
$GC,5454,-1.18,-136.3,405.5,-5.3,286,5459,0.00,2.75,0.00,0.000,4,0.000,0.083,2871,627,3503,0,0,0,0,0,0
$GC,5494,-1.18,-136.3,407.7,-5.8,287,5498,0.00,2.50,0.00,0.000,6,0.000,0.035,2871,2174,3502,0,0,0,0,0,0
$GC,5777,-1.18,-136.3,425.2,-6.6,294,5781,0.00,2.72,0.00,0.000,4,0.000,0.062,2871,3795,3501,0,0,0,0,0,0
$GC,5794,-1.18,-136.3,426.5,-7.0,294,5799,0.00,2.67,0.00,0.000,6,0.000,0.039,2871,2177,3501,0,0,0,0,0,0
$GC,6055,-1.18,-136.3,445.6,-7.3,301,6056,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2177,3500,0,0,0,0,0,0
$GC,6299,-1.21,-136.3,460.5,-5.9,307,6303,0.00,2.75,0.00,0.000,4,0.000,0.060,2871,3795,3498,0,0,0,0,0,0
$GC,6400,-1.21,-136.3,466.6,-5.7,309,6405,0.00,2.70,0.00,0.000,6,0.000,0.046,2871,2188,3498,0,0,0,0,0,0
$GC,6667,-1.26,-136.3,481.6,-5.6,316,6672,0.00,2.70,0.00,0.000,4,0.000,0.061,2871,3789,3497,0,0,0,0,0,0
$GC,6740,-1.30,-136.3,486.3,-6.4,317,6746,0.10,2.67,0.00,0.000,6,0.097,0.054,2840,2203,3496,0,0,0,0,0,0
$GC,6992,-1.30,-136.3,500.5,-5.7,323,6993,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2202,3495,0,0,0,0,0,0
$GC,7234,-1.30,-136.3,514.5,-5.8,329,7238,0.00,2.75,0.00,0.000,4,0.000,0.065,2840,3792,3494,0,0,0,0,0,0
$GC,7283,-1.30,-136.3,517.7,-6.5,330,7288,0.00,2.70,0.00,0.000,6,0.000,0.056,2840,2198,3494,0,0,0,0,0,0
$GC,7557,-1.30,-136.3,535.8,-6.7,337,7562,0.00,2.75,0.00,0.000,4,0.000,0.072,2840,3794,3492,0,0,0,0,0,0
$GC,7657,-1.30,-136.3,543.4,-7.4,339,7662,0.00,2.70,0.00,0.000,6,0.000,0.058,2840,2220,3491,0,0,0,0,0,0
$GC,7926,-1.30,-136.3,560.7,-6.5,346,7930,0.00,3.08,0.00,0.000,4,0.000,0.128,2840,622,3490,0,0,0,0,0,0
$GC,7941,-1.30,-136.3,561.8,-6.4,346,7946,0.00,2.67,0.00,0.000,6,0.000,0.057,2840,2213,3490,0,0,0,0,0,0
$GC,8202,-1.30,-136.3,579.2,-6.7,353,8207,0.00,2.88,0.00,0.000,4,0.000,0.102,2840,3792,3489,0,0,0,0,0,0
$GC,8281,-1.30,-136.3,584.9,-7.3,354,8287,0.00,2.72,0.00,0.000,6,0.000,0.068,2840,2222,3488,0,0,0,0,0,0
$GC,8531,-1.30,-136.3,599.5,-5.8,361,8536,0.00,2.80,0.00,0.000,4,0.000,0.084,2840,3796,3487,0,0,0,0,0,0
$GC,8560,-1.30,-136.3,601.1,-5.8,361,8564,0.00,2.75,0.00,0.000,6,0.000,0.068,2840,2231,3487,0,0,0,0,0,0
$GC,8812,-1.30,-136.3,615.2,-5.7,367,8817,0.00,3.10,0.00,0.000,4,0.000,0.125,2840,622,3486,0,0,0,0,0,0
$GC,8896,-1.30,-136.3,621.1,-7.5,369,8901,0.00,2.75,0.00,0.000,6,0.000,0.064,2840,2221,3486,0,0,0,0,0,0
$GC,9179,-1.30,-136.3,638.5,-6.1,376,9184,0.00,2.92,0.00,0.000,4,0.000,0.112,2840,3794,3485,0,0,0,0,0,0
$GC,9270,-1.30,-136.3,644.6,-7.0,378,9275,0.00,2.83,0.00,0.000,6,0.000,0.085,2840,2224,3484,0,0,0,0,0,0
$GC,9547,-1.30,-136.3,660.4,-5.4,385,9548,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2224,3483,0,0,0,0,0,0
$GC,9793,-1.30,-136.3,672.5,-5.0,391,9798,0.00,3.17,0.00,0.000,4,0.000,0.139,2840,622,3482,0,0,0,0,0,0
$GC,9826,-1.30,-136.3,674.4,-5.9,391,9831,0.00,2.90,0.00,0.000,6,0.000,0.085,2840,2241,3482,0,0,0,0,0,0
$GC,10076,-1.30,-136.3,686.6,-4.9,398,10077,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2241,3481,0,0,0,0,0,0
$GC,10319,-1.30,-136.3,700.0,-5.5,404,10323,0.00,2.05,0.00,0.000,3,0.000,0.134,2840,1189,3481,0,0,0,0,0,0
$STATE,10324,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10324,begin apogee
$GC,10334,-0.31,0.0,700.3,5.6,404,10450,0.95,0.00,110.68,1.117,6,0.085,0.000,3057,2199,2950,0,0,0,0,0,0
$STATE,10450,end apogee,CONTROL_FINISHED_OK
$STATE,10451,begin climb
$GC,10453,1.31,136.3,702.0,0.0,407,10581,1.52,0.00,119.65,1.081,6,0.056,0.000,3409,2199,2394,0,0,0,0,0,0
$GC,10819,1.21,136.3,661.9,12.6,416,10820,0.00,0.00,0.00,0.000,6,0.000,0.000,3409,2199,2385,0,0,0,0,0,0
$GC,11062,1.12,136.3,630.8,12.7,422,11064,0.17,0.00,0.00,0.000,6,0.127,0.000,3375,2199,2382,0,0,0,0,0,0
$GC,11307,1.12,136.3,602.0,11.9,428,11308,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,2199,2381,0,0,0,0,0,0
$GC,11549,1.12,136.3,574.7,11.0,434,11554,0.00,3.00,0.00,0.000,4,0.000,0.102,3376,606,2380,0,0,0,0,0,0
$GC,11578,1.07,136.3,571.6,11.3,434,11583,0.00,2.72,0.00,0.000,6,0.000,0.051,3376,2205,2379,0,0,0,0,0,0
$GC,11827,1.07,136.3,546.1,10.1,440,11832,0.00,2.80,0.00,0.000,4,0.000,0.081,3375,3785,2378,0,0,0,0,0,0
$GC,11850,1.07,136.3,543.6,11.6,440,11855,0.00,2.72,0.00,0.000,6,0.000,0.057,3376,2188,2378,0,0,0,0,0,0
$GC,12107,1.07,136.3,517.0,10.5,447,12111,0.00,2.75,0.00,0.000,4,0.000,0.055,3376,3794,2377,0,0,0,0,0,0
$GC,12140,1.07,136.3,513.1,11.1,447,12146,0.00,2.70,0.00,0.000,6,0.000,0.053,3376,2208,2376,0,0,0,0,0,0
$GC,12392,1.07,136.3,486.4,10.6,454,12396,0.00,3.00,0.00,0.000,4,0.000,0.110,3376,609,2376,0,0,0,0,0,0
$GC,12407,1.07,136.3,484.5,10.4,454,12412,0.00,2.67,0.00,0.000,6,0.000,0.038,3376,2220,2376,0,0,0,0,0,0
$GC,12668,1.07,136.3,458.2,10.0,461,12670,0.00,0.00,0.00,0.000,6,0.000,0.000,3375,2220,2375,0,0,0,0,0,0
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$STATE,16835,end climb,SURFACE_DEPTH_REACHED
$STATE,16836,begin surface coast
$FINISH,-0.3,1.023655
$STATE,16878,end surface coast,CONTROL_FINISHED_OK
$STATE,16878,begin surface
$SM_CCo,16901,126.38,0.518,0,0,1400,380.21
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$TT8_MAMPS,0.026078
$HUMID,56.93
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,21.90
$XPDR_PINGS,74
$24V_AH,23.3,8.077
$10V_AH,10.3,7.284
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
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$DEVICE_SECS,28.950,232.500,313.975,126.375,0.000,55.830,66.242,272.580,18.500,0.000,15.175,1481.031,12259.296,598.580,2478.987,815.978,33.357,1613.419,0.000,2473.662,0.000,0.534,0.000
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$SENSOR_SECS,472.083,333.911,455.130,792.424,1198.459,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356060
$DATA_FILE_SIZE,54236,693
$CAP_FILE_SIZE,169494,0
$CFSIZE,260165632,143876096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310512,000606,2241.658,-15807.691,39,1.5,39,10.0