version: 66.06
glider: 146
mission: 7
dive: 55
start: 5 31 112 5 20 31
data:
$ID,146
$MISSION,7
$DIVE,55
$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,-288878.66
$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,27
$R_STBD_OVSHOOT,41
$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
$GPS1,051237,2243.356,-15807.691,35,1.3,35,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.05
$_SM_ANGLEo,-68.7
$GPS2,051936,2243.330,-15807.694,14,1.4,30,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,BHOENW
$TGT_LATLONG,2304.386,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.064,0.243
$KALMAN_X,-84051.7,-62.7,-167.3,77495.2,-568.7
$KALMAN_Y,-20563.3,-83.8,307.1,25425.3,-1026.8
$MHEAD_RNG_PITCHd_Wd,4.8,39367,-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,-89.55,0.000,6,0.000,0.000,465,2211,3505,0,0,0,0,0,0
$GC,120,-1.31,-136.3,2.3,-6.8,12,137,13.15,2.62,0.00,0.000,4,0.173,0.031,2839,3792,3506,0,0,0,0,0,0
$GC,253,-1.11,-136.3,27.9,-13.0,31,263,0.20,2.58,0.00,0.000,6,0.104,0.027,2885,2206,3506,0,0,0,0,0,0
$GC,532,-1.06,-136.3,56.5,-9.4,57,540,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,2206,3506,0,0,0,0,0,0
$GC,793,-1.00,-136.3,81.4,-8.8,82,795,0.12,0.00,0.00,0.000,6,0.123,0.000,2911,2206,3507,0,0,0,0,0,0
$GC,1050,-1.00,-136.3,100.9,-7.8,106,1054,0.00,2.60,0.00,0.000,4,0.000,0.049,2911,631,3508,0,0,0,0,0,0
$GC,1102,-1.00,-136.3,105.2,-8.1,110,1106,0.00,2.45,0.00,0.000,6,0.000,0.018,2911,2226,3508,0,0,0,0,0,0
$GC,1366,-1.00,-136.3,126.0,-8.6,134,1371,0.00,2.62,0.00,0.000,4,0.000,0.051,2911,629,3508,0,0,0,0,0,0
$GC,1419,-1.00,-136.3,131.0,-9.8,138,1423,0.00,2.42,0.00,0.000,6,0.000,0.021,2911,2202,3508,0,0,0,0,0,0
$GC,1683,-1.00,-136.3,154.3,-9.4,162,1688,0.00,2.60,0.00,0.000,4,0.000,0.048,2911,631,3508,0,0,0,0,0,0
$GC,1747,-1.00,-136.3,160.8,-9.6,167,1752,0.00,2.40,0.00,0.000,6,0.000,0.019,2911,2197,3508,0,0,0,0,0,0
$GC,2012,-1.04,-136.3,179.8,-6.1,191,2017,0.00,2.60,0.00,0.000,4,0.000,0.051,2911,625,3509,0,0,0,0,0,0
$GC,2099,-1.09,-136.3,185.9,-6.4,198,2103,0.00,2.38,0.00,0.000,6,0.000,0.025,2911,2168,3509,0,0,0,0,0,0
$GC,2364,-1.14,-136.3,200.1,-5.4,222,2366,0.12,0.00,0.00,0.000,6,0.070,0.000,2867,2168,3509,0,0,0,0,0,0
$GC,2604,-1.14,-136.3,217.6,-7.4,228,2605,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2168,3509,0,0,0,0,0,0
$GC,2850,-1.14,-136.3,236.9,-7.7,234,2851,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2168,3509,0,0,0,0,0,0
$GC,3091,-1.14,-136.3,256.0,-7.9,240,3096,0.00,2.60,0.00,0.000,4,0.000,0.039,2867,3775,3509,0,0,0,0,0,0
$GC,3114,-1.14,-136.3,257.7,-7.4,240,3119,0.00,2.55,0.00,0.000,6,0.000,0.022,2867,2151,3509,0,0,0,0,0,0
$GC,3370,-1.14,-136.3,275.3,-6.8,247,3374,0.00,2.65,0.00,0.000,4,0.000,0.044,2867,3772,3508,0,0,0,0,0,0
$GC,3448,-1.14,-136.3,281.4,-8.3,248,3453,0.00,2.53,0.00,0.000,6,0.000,0.029,2867,2186,3508,0,0,0,0,0,0
$GC,3700,-1.14,-136.3,298.2,-6.5,255,3704,0.00,2.58,0.00,0.000,4,0.000,0.046,2867,3770,3507,0,0,0,0,0,0
$GC,3721,-1.14,-136.3,299.8,-6.7,255,3725,0.00,2.50,0.00,0.000,6,0.000,0.025,2867,2189,3507,0,0,0,0,0,0
$GC,3976,-1.14,-136.3,315.5,-5.8,262,3980,0.00,2.65,0.00,0.000,4,0.000,0.073,2867,631,3506,0,0,0,0,0,0
$GC,3999,-1.14,-136.3,316.8,-6.0,262,4003,0.00,2.47,0.00,0.000,6,0.000,0.027,2867,2180,3506,0,0,0,0,0,0
$GC,4254,-1.14,-136.3,330.9,-5.4,269,4258,0.00,2.65,0.00,0.000,4,0.000,0.064,2867,626,3505,0,0,0,0,0,0
$GC,4286,-1.14,-136.3,332.6,-4.8,269,4292,0.00,2.47,0.00,0.000,6,0.000,0.028,2867,2182,3505,0,0,0,0,0,0
$GC,4539,-1.14,-136.3,345.3,-5.3,276,4543,0.00,2.65,0.00,0.000,4,0.000,0.053,2866,3787,3503,0,0,0,0,0,0
$GC,4599,-1.14,-136.3,349.3,-5.9,277,4604,0.00,2.55,0.00,0.000,6,0.000,0.034,2866,2193,3503,0,0,0,0,0,0
$GC,4861,-1.14,-136.3,363.3,-5.4,284,4865,0.00,2.65,0.00,0.000,4,0.000,0.049,2867,3793,3502,0,0,0,0,0,0
$GC,4923,-1.14,-136.3,366.9,-5.9,285,4927,0.00,2.58,0.00,0.000,6,0.000,0.035,2867,2194,3502,0,0,0,0,0,0
$GC,5184,-1.14,-136.3,379.2,-4.6,292,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2194,3500,0,0,0,0,0,0
$GC,5427,-1.14,-136.3,391.7,-5.2,298,5432,0.00,2.75,0.00,0.000,4,0.000,0.082,2867,627,3498,0,0,0,0,0,0
$GC,5462,-1.14,-136.3,393.6,-5.8,298,5468,0.00,2.55,0.00,0.000,6,0.000,0.039,2866,2194,3498,0,0,0,0,0,0
$GC,5712,-1.14,-136.3,408.3,-5.9,305,5717,0.00,2.67,0.00,0.000,4,0.000,0.054,2867,3792,3497,0,0,0,0,0,0
$GC,5757,-1.14,-136.3,411.2,-6.7,306,5761,0.00,2.60,0.00,0.000,6,0.000,0.036,2867,2200,3497,0,0,0,0,0,0
$GC,6036,-1.14,-136.3,425.7,-5.1,313,6040,0.00,2.67,0.00,0.000,4,0.000,0.053,2867,3795,3496,0,0,0,0,0,0
$GC,6057,-1.14,-136.3,427.0,-5.4,313,6062,0.00,2.62,0.00,0.000,6,0.000,0.040,2867,2207,3496,0,0,0,0,0,0
$GC,6313,-1.14,-136.3,441.3,-5.6,320,6318,0.00,2.88,0.00,0.000,4,0.000,0.097,2867,626,3495,0,0,0,0,0,0
$GC,6342,-1.14,-136.3,443.1,-6.6,320,6346,0.00,2.60,0.00,0.000,6,0.000,0.041,2867,2203,3494,0,0,0,0,0,0
$GC,6592,-1.14,-136.3,457.3,-5.5,326,6596,0.00,2.70,0.00,0.000,4,0.000,0.062,2867,3801,3493,0,0,0,0,0,0
$GC,6607,-1.14,-136.3,458.3,-5.7,326,6612,0.00,2.62,0.00,0.000,6,0.000,0.048,2867,2209,3493,0,0,0,0,0,0
$GC,6870,-1.14,-136.3,473.7,-5.8,333,6872,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2209,3491,0,0,0,0,0,0
$GC,7112,-1.14,-136.3,488.3,-6.0,339,7117,0.00,2.70,0.00,0.000,4,0.000,0.058,2867,3794,3491,0,0,0,0,0,0
$GC,7133,-1.14,-136.3,489.6,-5.9,339,7138,0.00,2.65,0.00,0.000,6,0.000,0.050,2867,2216,3490,0,0,0,0,0,0
$GC,7392,-1.14,-136.3,503.8,-5.4,346,7397,0.00,2.97,0.00,0.000,4,0.000,0.108,2867,620,3489,0,0,0,0,0,0
$GC,7425,-1.14,-136.3,505.8,-6.0,346,7430,0.00,2.65,0.00,0.000,6,0.000,0.048,2867,2209,3489,0,0,0,0,0,0
$GC,7675,-1.18,-136.3,518.2,-4.9,353,7680,0.00,2.75,0.00,0.000,4,0.000,0.071,2867,3794,3488,0,0,0,0,0,0
$GC,7755,-1.18,-136.3,522.6,-5.9,354,7760,0.00,2.67,0.00,0.000,6,0.000,0.057,2867,2216,3488,0,0,0,0,0,0
$GC,8005,-1.22,-136.3,534.9,-4.9,361,8010,0.00,3.00,0.00,0.000,4,0.000,0.119,2867,624,3487,0,0,0,0,0,0
$GC,8032,-1.22,-136.3,536.3,-5.6,361,8037,0.00,2.67,0.00,0.000,6,0.000,0.053,2867,2228,3486,0,0,0,0,0,0
$GC,8284,-1.26,-136.3,549.2,-5.2,367,8289,0.00,2.75,0.00,0.000,4,0.000,0.084,2866,3794,3486,0,0,0,0,0,0
$GC,8340,-1.30,-136.3,552.5,-5.9,368,8344,0.00,2.67,0.00,0.000,6,0.000,0.058,2867,2231,3485,0,0,0,0,0,0
$GC,8606,-1.35,-136.3,566.6,-5.2,375,8612,0.12,3.05,0.00,0.000,4,0.076,0.117,2828,620,3484,0,0,0,0,0,0
$GC,8630,-1.35,-136.3,568.0,-5.9,375,8635,0.00,2.72,0.00,0.000,6,0.000,0.053,2828,2231,3484,0,0,0,0,0,0
$GC,8885,-1.35,-136.3,582.6,-5.5,382,8890,0.00,2.85,0.00,0.000,4,0.000,0.097,2828,3798,3483,0,0,0,0,0,0
$GC,8931,-1.30,-136.3,585.3,-6.2,383,8936,0.00,2.67,0.00,0.000,6,0.000,0.061,2828,2248,3482,0,0,0,0,0,0
$GC,9209,-1.30,-136.3,600.5,-5.4,390,9214,0.00,2.75,0.00,0.000,4,0.000,0.084,2828,3798,3481,0,0,0,0,0,0
$GC,9236,-1.26,-136.3,602.3,-6.6,390,9241,0.12,2.70,0.00,0.000,6,0.124,0.067,2852,2252,3482,0,0,0,0,0,0
$GC,9488,-1.26,-136.3,616.0,-5.8,396,9493,0.00,3.15,0.00,0.000,4,0.000,0.124,2852,616,3481,0,0,0,0,0,0
$GC,9538,-1.26,-136.3,619.6,-7.0,397,9542,0.00,2.80,0.00,0.000,6,0.000,0.066,2853,2245,3480,0,0,0,0,0,0
$GC,9810,-1.26,-136.3,637.4,-6.6,404,9814,0.00,2.88,0.00,0.000,4,0.000,0.110,2853,3796,3480,0,0,0,0,0,0
$GC,9855,-1.26,-136.3,640.6,-6.7,405,9860,0.00,2.75,0.00,0.000,6,0.000,0.080,2852,2250,3479,0,0,0,0,0,0
$GC,10133,-1.26,-136.3,657.8,-5.9,412,10137,0.00,2.85,0.00,0.000,4,0.000,0.099,2853,3795,3478,0,0,0,0,0,0
$GC,10148,-1.26,-136.3,658.9,-5.9,412,10153,0.00,2.83,0.00,0.000,6,0.000,0.094,2852,2247,3478,0,0,0,0,0,0
$GC,10411,-1.26,-136.3,673.1,-5.3,419,10412,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,2247,3478,0,0,0,0,0,0
$GC,10653,-1.26,-136.3,684.8,-4.7,425,10658,0.00,2.90,0.00,0.000,4,0.000,0.113,2852,3801,3477,0,0,0,0,0,0
$GC,10697,-1.26,-136.3,687.1,-5.1,426,10701,0.00,2.88,0.00,0.000,6,0.000,0.102,2852,2252,3477,0,0,0,0,0,0
$GC,10977,-1.30,-136.3,698.2,-3.9,433,10981,0.00,2.95,0.00,0.000,4,0.000,0.121,2852,3794,3475,0,0,0,0,0,0
$GC,11016,-1.30,-136.3,699.9,-4.3,434,11020,0.00,2.10,0.00,0.000,3,0.000,0.100,2852,2663,3476,0,0,0,0,0,0
$STATE,11021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11021,begin apogee
$GC,11027,-0.31,0.0,700.2,4.5,434,11143,0.90,0.00,109.35,1.121,6,0.086,0.000,3058,2197,2949,0,0,0,0,0,0
$STATE,11144,end apogee,CONTROL_FINISHED_OK
$STATE,11144,begin climb
$GC,11148,1.31,136.3,700.0,0.0,437,11279,1.52,3.03,119.45,1.080,4,0.057,0.109,3409,3790,2392,0,0,0,0,0,0
$GC,11303,1.19,136.3,684.0,15.1,440,11308,0.00,3.05,0.00,0.000,6,0.000,0.105,3409,2201,2389,0,0,0,0,0,0
$GC,11553,1.09,136.3,650.3,13.2,446,11558,0.20,2.95,0.00,0.000,4,0.124,0.092,3371,3786,2383,0,0,0,0,0,0
$GC,11569,1.02,136.3,648.1,12.8,446,11574,0.00,2.92,0.00,0.000,6,0.000,0.093,3371,2200,2383,0,0,0,0,0,0
$GC,11832,1.02,136.3,620.3,10.5,453,11836,0.00,2.88,0.00,0.000,4,0.000,0.087,3371,3793,2382,0,0,0,0,0,0
$GC,11852,1.02,136.3,617.7,10.5,453,11857,0.00,2.83,0.00,0.000,6,0.000,0.079,3371,2211,2381,0,0,0,0,0,0
$GC,12107,1.02,136.3,590.1,10.9,460,12112,0.00,3.08,0.00,0.000,4,0.000,0.117,3370,606,2379,0,0,0,0,0,0
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$STATE,17642,end climb,SURFACE_DEPTH_REACHED
$STATE,17642,begin surface coast
$FINISH,-0.6,1.022387
$STATE,17690,end surface coast,CONTROL_FINISHED_OK
$STATE,17690,begin surface
$SM_CCo,17711,127.95,0.524,0,0,1400,380.21
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$HUMID,56.81
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.00
$XPDR_PINGS,75
$24V_AH,23.3,8.332
$10V_AH,10.3,7.563
$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
$DEVICE_SECS,28.975,253.750,314.025,127.950,0.000,21.982,31.996,191.678,18.750,0.000,33.821,1540.063,12857.388,612.589,2556.996,687.249,33.366,1657.852,0.000,2534.903,0.000,0.534,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,494.473,342.718,469.788,823.915,1246.775,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356072
$DATA_FILE_SIZE,57533,726
$CAP_FILE_SIZE,176633,0
$CFSIZE,260165632,143712256
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310512,101907,2244.606,-15808.029,32,1.2,32,10.0