version: 66.06
glider: 146
mission: 7
dive: 54
start: 5 31 112 0 14 9
data:
$ID,146
$MISSION,7
$DIVE,54
$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,-288844.22
$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,30
$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,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
$GPS1,000606,2241.658,-15807.691,39,1.5,39,10.0
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,0.03
$_SM_ANGLEo,-69.5
$GPS2,001314,2241.710,-15807.679,11,1.4,11,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,BHOENW
$TGT_LATLONG,2304.386,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.099,0.232
$KALMAN_X,-82775.3,65.7,-167.3,76126.2,-903.5
$KALMAN_Y,-19985.9,175.9,-317.0,22203.2,488.3
$MHEAD_RNG_PITCHd_Wd,13.1,42338,-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,-89.85,0.000,6,0.000,0.000,473,2168,3505,0,0,0,0,0,0
$GC,119,-1.31,-136.3,2.2,-6.0,12,137,13.12,2.70,0.00,0.000,4,0.173,0.032,2837,3797,3506,0,0,0,0,0,0
$GC,227,-1.12,-136.3,24.4,-14.3,27,237,0.20,2.55,0.00,0.000,6,0.104,0.023,2882,2208,3506,0,0,0,0,0,0
$GC,508,-1.03,-136.3,55.3,-10.3,55,513,0.10,2.60,0.00,0.000,4,0.133,0.046,2903,633,3507,0,0,0,0,0,0
$GC,591,-1.03,-136.3,63.6,-9.6,61,595,0.00,2.42,0.00,0.000,6,0.000,0.018,2902,2204,3507,0,0,0,0,0,0
$GC,859,-1.03,-136.3,88.2,-9.1,85,863,0.00,2.58,0.00,0.000,4,0.000,0.047,2902,631,3507,0,0,0,0,0,0
$GC,899,-1.03,-136.3,92.5,-9.3,88,903,0.00,2.38,0.00,0.000,6,0.000,0.019,2902,2176,3507,0,0,0,0,0,0
$GC,1164,-1.03,-136.3,114.8,-8.0,112,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2176,3507,0,0,0,0,0,0
$GC,1429,-1.03,-136.3,135.6,-7.9,137,1433,0.00,2.53,0.00,0.000,4,0.000,0.044,2902,634,3508,0,0,0,0,0,0
$GC,1460,-1.03,-136.3,138.2,-8.6,139,1464,0.00,2.38,0.00,0.000,6,0.000,0.018,2902,2173,3508,0,0,0,0,0,0
$GC,1728,-1.03,-136.3,159.8,-8.1,163,1733,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2173,3508,0,0,0,0,0,0
$GC,1990,-1.03,-136.3,183.3,-9.2,188,1994,0.00,2.53,0.00,0.000,4,0.000,0.046,2902,633,3509,0,0,0,0,0,0
$GC,2024,-1.03,-136.3,185.8,-9.1,190,2029,0.00,2.35,0.00,0.000,6,0.000,0.021,2902,2153,3509,0,0,0,0,0,0
$GC,2301,-1.03,-136.3,209.0,-7.5,207,2302,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2153,3509,0,0,0,0,0,0
$GC,2547,-1.07,-136.3,221.4,-4.8,213,2551,0.00,2.60,0.00,0.000,4,0.000,0.043,2902,3765,3509,0,0,0,0,0,0
$GC,2608,-1.11,-136.3,225.0,-5.6,214,2612,0.00,2.55,0.00,0.000,6,0.000,0.028,2902,2143,3509,0,0,0,0,0,0
$GC,2869,-1.15,-136.3,239.9,-6.2,221,2873,0.00,2.50,0.00,0.000,4,0.000,0.053,2902,629,3509,0,0,0,0,0,0
$GC,2938,-1.18,-136.3,245.3,-7.8,222,2943,0.12,2.33,0.00,0.000,6,0.071,0.027,2858,2139,3509,0,0,0,0,0,0
$GC,3194,-1.14,-136.3,264.7,-7.4,229,3196,0.10,0.00,0.00,0.000,6,0.125,0.000,2879,2139,3509,0,0,0,0,0,0
$GC,3439,-1.14,-136.3,278.1,-5.4,235,3443,0.00,2.65,0.00,0.000,4,0.000,0.042,2879,3765,3509,0,0,0,0,0,0
$GC,3462,-1.14,-136.3,279.5,-5.6,235,3466,0.00,2.58,0.00,0.000,6,0.000,0.025,2879,2133,3509,0,0,0,0,0,0
$GC,3717,-1.14,-136.3,293.4,-5.4,242,3721,0.00,2.55,0.00,0.000,4,0.000,0.067,2879,634,3508,0,0,0,0,0,0
$GC,3744,-1.14,-136.3,295.1,-6.0,242,3748,0.00,2.38,0.00,0.000,6,0.000,0.031,2879,2136,3508,0,0,0,0,0,0
$GC,3996,-1.14,-136.3,310.0,-5.9,248,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,2136,3507,0,0,0,0,0,0
$GC,4238,-1.14,-136.3,326.1,-6.6,254,4242,0.00,2.67,0.00,0.000,4,0.000,0.051,2879,3769,3506,0,0,0,0,0,0
$GC,4264,-1.14,-136.3,328.1,-7.3,254,4269,0.00,2.60,0.00,0.000,6,0.000,0.028,2879,2142,3506,0,0,0,0,0,0
$GC,4516,-1.14,-136.3,342.9,-5.7,260,4521,0.00,2.67,0.00,0.000,4,0.000,0.046,2879,3765,3504,0,0,0,0,0,0
$GC,4561,-1.18,-136.3,345.6,-6.3,261,4566,0.00,2.58,0.00,0.000,6,0.000,0.035,2879,2158,3504,0,0,0,0,0,0
$GC,4839,-1.22,-136.3,360.4,-5.3,268,4843,0.00,2.62,0.00,0.000,4,0.000,0.048,2878,3761,3503,0,0,0,0,0,0
$GC,4880,-1.22,-136.3,362.9,-6.8,269,4885,0.00,2.55,0.00,0.000,6,0.000,0.038,2879,2173,3503,0,0,0,0,0,0
$GC,5164,-1.25,-136.3,380.6,-6.2,276,5168,0.00,2.60,0.00,0.000,4,0.000,0.048,2879,3761,3501,0,0,0,0,0,0
$GC,5243,-1.29,-136.3,385.7,-6.9,277,5249,0.12,2.58,0.00,0.000,6,0.077,0.034,2838,2182,3501,0,0,0,0,0,0
$GC,5494,-1.25,-136.3,402.4,-6.4,284,5498,0.00,2.75,0.00,0.000,4,0.000,0.081,2838,626,3499,0,0,0,0,0,0
$GC,5620,-1.19,-136.3,411.1,-7.1,286,5626,0.15,2.45,0.00,0.000,6,0.116,0.040,2869,2132,3499,0,0,0,0,0,0
$GC,5870,-1.19,-136.3,423.2,-4.5,293,5871,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2132,3497,0,0,0,0,0,0
$GC,6113,-1.19,-136.3,434.3,-4.6,299,6118,0.00,2.72,0.00,0.000,4,0.000,0.059,2869,3760,3496,0,0,0,0,0,0
$GC,6141,-1.19,-136.3,435.8,-5.6,299,6145,0.00,2.62,0.00,0.000,6,0.000,0.049,2869,2169,3496,0,0,0,0,0,0
$GC,6393,-1.19,-136.3,448.8,-5.3,305,6397,0.00,2.67,0.00,0.000,4,0.000,0.052,2869,3764,3494,0,0,0,0,0,0
$GC,6414,-1.19,-136.3,450.0,-5.2,305,6419,0.00,2.65,0.00,0.000,6,0.000,0.050,2869,2176,3495,0,0,0,0,0,0
$GC,6669,-1.19,-136.3,462.4,-4.7,312,6673,0.00,2.65,0.00,0.000,4,0.000,0.061,2869,3756,3493,0,0,0,0,0,0
$GC,6710,-1.19,-136.3,464.5,-5.2,313,6715,0.00,2.62,0.00,0.000,6,0.000,0.049,2868,2182,3493,0,0,0,0,0,0
$GC,6994,-1.23,-136.3,479.3,-5.5,320,6998,0.00,2.70,0.00,0.000,4,0.000,0.058,2869,3763,3492,0,0,0,0,0,0
$GC,7028,-1.23,-136.3,481.4,-6.6,320,7033,0.00,2.62,0.00,0.000,6,0.000,0.050,2869,2204,3491,0,0,0,0,0,0
$GC,7278,-1.27,-136.3,497.2,-6.3,327,7283,0.00,2.65,0.00,0.000,4,0.000,0.063,2869,3760,3490,0,0,0,0,0,0
$GC,7307,-1.27,-136.3,499.1,-7.1,327,7311,0.00,2.60,0.00,0.000,6,0.000,0.056,2869,2212,3490,0,0,0,0,0,0
$GC,7559,-1.31,-136.3,513.9,-5.7,333,7564,0.10,2.67,0.00,0.000,4,0.087,0.067,2835,3758,3489,0,0,0,0,0,0
$GC,7575,-1.31,-136.3,515.1,-5.5,333,7580,0.00,2.60,0.00,0.000,6,0.000,0.055,2834,2216,3488,0,0,0,0,0,0
$GC,7837,-1.31,-136.3,530.3,-5.7,340,7841,0.00,2.65,0.00,0.000,4,0.000,0.066,2834,3754,3488,0,0,0,0,0,0
$GC,7888,-1.31,-136.3,533.3,-6.5,341,7893,0.00,2.62,0.00,0.000,6,0.000,0.055,2835,2221,3487,0,0,0,0,0,0
$GC,8160,-1.31,-136.3,547.7,-5.1,348,8164,0.00,2.67,0.00,0.000,4,0.000,0.075,2835,3753,3486,0,0,0,0,0,0
$GC,8194,-1.27,-136.3,549.6,-6.2,348,8200,0.00,2.62,0.00,0.000,6,0.000,0.063,2835,2227,3486,0,0,0,0,0,0
$GC,8446,-1.27,-136.3,562.7,-5.1,355,8447,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2226,3485,0,0,0,0,0,0
$GC,8688,-1.27,-136.3,574.7,-5.0,361,8693,0.00,2.70,0.00,0.000,4,0.000,0.081,2835,3757,3483,0,0,0,0,0,0
$GC,8722,-1.27,-136.3,576.7,-6.2,361,8729,0.00,2.58,0.00,0.000,6,0.000,0.060,2835,2252,3483,0,0,0,0,0,0
$GC,8974,-1.27,-136.3,590.8,-5.9,368,8978,0.00,3.10,0.00,0.000,4,0.000,0.122,2834,621,3482,0,0,0,0,0,0
$GC,9024,-1.23,-136.3,594.6,-7.5,369,9029,0.12,2.70,0.00,0.000,6,0.121,0.056,2859,2202,3482,0,0,0,0,0,0
$GC,9297,-1.26,-136.3,611.0,-6.0,376,9301,0.00,2.92,0.00,0.000,4,0.000,0.103,2859,619,3481,0,0,0,0,0,0
$GC,9348,-1.26,-136.3,614.3,-6.4,377,9353,0.00,2.78,0.00,0.000,6,0.000,0.061,2859,2225,3481,0,0,0,0,0,0
$GC,9620,-1.31,-136.3,629.9,-5.6,384,9625,0.00,2.90,0.00,0.000,4,0.000,0.109,2859,3799,3480,0,0,0,0,0,0
$GC,9688,-1.31,-136.3,633.9,-6.2,385,9693,0.00,2.78,0.00,0.000,6,0.000,0.080,2859,2235,3480,0,0,0,0,0,0
$GC,9944,-1.34,-136.3,646.5,-4.9,392,9948,0.00,2.83,0.00,0.000,4,0.000,0.097,2859,3796,3478,0,0,0,0,0,0
$GC,9988,-1.38,-136.3,649.0,-5.6,393,9993,0.12,2.80,0.00,0.000,6,0.079,0.086,2822,2238,3479,0,0,0,0,0,0
$GC,10268,-1.38,-136.3,663.8,-5.3,400,10273,0.00,3.20,0.00,0.000,4,0.000,0.137,2821,616,3478,0,0,0,0,0,0
$GC,10346,-1.32,-136.3,668.6,-6.2,401,10352,0.00,2.90,0.00,0.000,6,0.000,0.081,2821,2230,3477,0,0,0,0,0,0
$GC,10596,-1.32,-136.3,681.8,-5.3,408,10601,0.00,2.97,0.00,0.000,4,0.000,0.123,2821,3801,3476,0,0,0,0,0,0
$GC,10676,-1.28,-136.3,686.5,-6.1,409,10683,0.12,2.90,0.00,0.000,6,0.128,0.103,2847,2238,3476,0,0,0,0,0,0
$GC,10926,-1.28,-136.3,699.5,-5.2,416,10931,0.00,3.28,0.00,0.000,4,0.000,0.150,2847,615,3475,0,0,0,0,0,0
$STATE,10936,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10936,begin apogee
$GC,10946,-0.31,0.0,700.1,5.2,416,11060,0.93,0.00,110.03,1.116,6,0.086,0.000,3058,2201,2950,0,0,0,0,0,0
$STATE,11061,end apogee,CONTROL_FINISHED_OK
$STATE,11061,begin climb
$GC,11063,1.31,136.3,701.6,0.0,419,11193,1.52,3.03,119.55,1.083,4,0.055,0.118,3410,3784,2392,0,0,0,0,0,0
$GC,11204,1.20,136.3,688.6,12.6,422,11209,0.00,3.08,0.00,0.000,6,0.000,0.105,3409,2197,2390,0,0,0,0,0,0
$GC,11470,1.09,136.3,653.2,13.3,429,11472,0.20,0.00,0.00,0.000,6,0.128,0.000,3372,2197,2383,0,0,0,0,0,0
$GC,11715,1.09,136.3,626.0,11.0,435,11720,0.00,2.92,0.00,0.000,4,0.000,0.090,3372,3790,2382,0,0,0,0,0,0
$GC,11736,1.09,136.3,623.2,11.4,435,11741,0.00,2.83,0.00,0.000,6,0.000,0.077,3372,2207,2381,0,0,0,0,0,0
$GC,11992,1.09,136.3,594.4,11.4,442,11996,0.00,3.05,0.00,0.000,4,0.000,0.114,3371,612,2380,0,0,0,0,0,0
$GC,12021,1.05,136.3,591.1,11.9,442,12025,0.00,2.75,0.00,0.000,6,0.000,0.052,3371,2213,2379,0,0,0,0,0,0
$GC,12270,1.05,136.3,563.1,11.0,448,12275,0.00,2.95,0.00,0.000,4,0.000,0.092,3371,610,2379,0,0,0,0,0,0
$GC,12286,1.05,136.3,561.3,10.8,448,12290,0.00,2.70,0.00,0.000,6,0.000,0.044,3372,2206,2378,0,0,0,0,0,0
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$STATE,17634,end climb,SURFACE_DEPTH_REACHED
$STATE,17634,begin surface coast
$FINISH,-0.7,1.023708
$STATE,17677,end surface coast,CONTROL_FINISHED_OK
$STATE,17677,begin surface
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$HUMID,57.56
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$TCM_TEMP,21.70
$XPDR_PINGS,73
$24V_AH,23.3,8.205
$10V_AH,10.3,7.423
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.175,251.425,309.675,130.350,0.000,30.716,34.800,206.809,18.250,0.000,12.917,1536.161,12879.000,615.298,2508.903,713.814,33.364,1651.590,0.000,2502.982,0.000,0.534,0.000
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$SENSOR_SECS,488.185,349.034,462.623,811.541,1227.297,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356032
$DATA_FILE_SIZE,57158,717
$CAP_FILE_SIZE,176893,0
$CFSIZE,260165632,143790080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310512,051237,2243.356,-15807.691,35,1.3,35,10.0