version: 66.06
glider: 146
mission: 7
dive: 59
start: 6 1 112 2 12 13
data:
$ID,146
$MISSION,7
$DIVE,59
$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,-288953.16
$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,29
$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
$GPS1,015606,2249.054,-15809.249,34,1.8,34,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.03
$_SM_ANGLEo,-65.8
$GPS2,021119,2249.143,-15809.280,12,2.0,29,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,BHOENW
$TGT_LATLONG,2304.386,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.106,0.228
$KALMAN_X,-89907.2,-158.0,-177.8,80753.8,-434.2
$KALMAN_Y,-22819.7,6.6,-225.4,38885.7,453.7
$MHEAD_RNG_PITCHd_Wd,14.8,29370,-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,19,end surface,CONTROL_FINISHED_OK
$STATE,19,begin dive
$GC,22,-1.31,-136.3,0.0,0.0,0,118,0.00,0.00,-89.12,0.000,6,0.000,0.000,471,2172,3505,0,0,0,0,0,0
$GC,121,-1.31,-136.3,2.0,-5.8,12,139,13.12,2.62,0.00,0.000,4,0.173,0.030,2838,3789,3506,0,0,0,0,0,0
$GC,256,-1.15,-136.3,27.0,-14.8,31,266,0.15,2.55,0.00,0.000,6,0.109,0.026,2872,2206,3506,0,0,0,0,0,0
$GC,533,-1.06,-136.3,56.8,-9.5,57,539,0.12,2.60,0.00,0.000,4,0.123,0.046,2898,631,3506,0,0,0,0,0,0
$GC,558,-0.97,-136.3,59.5,-10.3,58,562,0.00,2.45,0.00,0.000,6,0.000,0.017,2898,2226,3507,0,0,0,0,0,0
$GC,821,-0.97,-136.3,81.7,-7.6,82,825,0.00,2.65,0.00,0.000,4,0.000,0.045,2898,629,3507,0,0,0,0,0,0
$GC,854,-0.92,-136.3,84.5,-7.8,84,864,0.10,2.45,0.00,0.000,6,0.091,0.017,2923,2198,3507,0,0,0,0,0,0
$GC,1123,-0.92,-136.3,99.9,-6.1,109,1127,0.00,2.58,0.00,0.000,4,0.000,0.046,2923,632,3507,0,0,0,0,0,0
$GC,1163,-0.92,-136.3,103.1,-7.1,112,1167,0.00,2.40,0.00,0.000,6,0.000,0.018,2923,2198,3507,0,0,0,0,0,0
$GC,1428,-0.96,-136.3,121.1,-7.3,136,1432,0.00,2.50,0.00,0.000,4,0.000,0.038,2923,3768,3507,0,0,0,0,0,0
$GC,1474,-1.03,-136.3,124.8,-8.2,139,1478,0.00,2.45,0.00,0.000,6,0.000,0.025,2923,2198,3507,0,0,0,0,0,0
$GC,1742,-1.08,-136.3,145.4,-7.6,163,1747,0.12,2.58,0.00,0.000,4,0.071,0.053,2877,637,3507,0,0,0,0,0,0
$GC,1784,-1.01,-136.3,149.8,-9.9,166,1789,0.15,2.38,0.00,0.000,6,0.106,0.025,2909,2188,3508,0,0,0,0,0,0
$GC,2048,-1.01,-136.3,170.5,-9.0,190,2053,0.00,2.55,0.00,0.000,4,0.000,0.053,2909,638,3507,0,0,0,0,0,0
$GC,2070,-1.01,-136.3,173.0,-9.0,191,2076,0.00,2.38,0.00,0.000,6,0.000,0.022,2909,2185,3507,0,0,0,0,0,0
$GC,2335,-1.05,-136.3,192.8,-7.7,216,2340,0.00,2.53,0.00,0.000,4,0.000,0.035,2909,3774,3507,0,0,0,0,0,0
$GC,2358,-1.09,-136.3,194.3,-7.5,217,2363,0.00,2.50,0.00,0.000,6,0.000,0.028,2908,2179,3507,0,0,0,0,0,0
$GC,2614,-1.14,-136.3,208.8,-5.4,229,2619,0.12,2.58,0.00,0.000,4,0.074,0.057,2864,637,3507,0,0,0,0,0,0
$GC,2630,-1.14,-136.3,209.8,-5.1,229,2634,0.00,2.42,0.00,0.000,6,0.000,0.024,2864,2201,3507,0,0,0,0,0,0
$GC,2892,-1.14,-136.3,226.5,-6.6,236,2896,0.00,2.60,0.00,0.000,4,0.000,0.051,2864,634,3507,0,0,0,0,0,0
$GC,2937,-1.09,-136.3,229.8,-7.4,237,2943,0.12,2.42,0.00,0.000,6,0.114,0.024,2890,2188,3507,0,0,0,0,0,0
$GC,3215,-1.09,-136.3,248.0,-6.9,244,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,2188,3506,0,0,0,0,0,0
$GC,3459,-1.09,-136.3,264.8,-6.9,250,3463,0.00,2.55,0.00,0.000,4,0.000,0.043,2890,3773,3506,0,0,0,0,0,0
$GC,3500,-1.09,-136.3,267.7,-7.4,251,3505,0.00,2.50,0.00,0.000,6,0.000,0.024,2890,2182,3506,0,0,0,0,0,0
$GC,3784,-1.13,-136.3,285.3,-6.1,258,3788,0.00,2.60,0.00,0.000,4,0.000,0.059,2890,637,3505,0,0,0,0,0,0
$GC,3816,-1.13,-136.3,287.3,-6.2,258,3822,0.00,2.40,0.00,0.000,6,0.000,0.026,2890,2175,3505,0,0,0,0,0,0
$GC,4069,-1.18,-136.3,302.2,-6.0,265,4073,0.00,2.60,0.00,0.000,4,0.000,0.062,2890,637,3504,0,0,0,0,0,0
$GC,4090,-1.18,-136.3,303.6,-5.4,265,4094,0.00,2.42,0.00,0.000,6,0.000,0.023,2890,2180,3504,0,0,0,0,0,0
$GC,4347,-1.22,-136.3,315.7,-4.6,272,4353,0.12,2.62,0.00,0.000,4,0.080,0.067,2849,638,3502,0,0,0,0,0,0
$GC,4428,-1.17,-136.3,321.4,-7.9,273,4434,0.12,2.42,0.00,0.000,6,0.114,0.026,2875,2159,3502,0,0,0,0,0,0
$GC,4678,-1.17,-136.3,336.7,-5.9,280,4682,0.00,2.62,0.00,0.000,4,0.000,0.063,2875,628,3501,0,0,0,0,0,0
$GC,4694,-1.17,-136.3,337.6,-6.0,280,4698,0.00,2.45,0.00,0.000,6,0.000,0.029,2875,2166,3501,0,0,0,0,0,0
$GC,4956,-1.17,-136.3,354.0,-6.3,287,4960,0.00,2.65,0.00,0.000,4,0.000,0.046,2874,3790,3499,0,0,0,0,0,0
$GC,5000,-1.17,-136.3,357.4,-7.4,288,5004,0.00,2.58,0.00,0.000,6,0.000,0.030,2875,2185,3499,0,0,0,0,0,0
$GC,5279,-1.17,-136.3,375.9,-6.8,295,5284,0.00,2.72,0.00,0.000,4,0.000,0.083,2875,627,3498,0,0,0,0,0,0
$GC,5296,-1.17,-136.3,377.2,-6.3,295,5300,0.00,2.53,0.00,0.000,6,0.000,0.031,2874,2190,3498,0,0,0,0,0,0
$GC,5556,-1.17,-136.3,392.5,-5.7,302,5557,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2190,3497,0,0,0,0,0,0
$GC,5802,-1.17,-136.3,404.0,-4.4,308,5803,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2190,3495,0,0,0,0,0,0
$GC,6044,-1.21,-136.3,416.1,-5.2,314,6045,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,2190,3494,0,0,0,0,0,0
$GC,6288,-1.25,-136.3,429.2,-5.4,320,6292,0.00,2.67,0.00,0.000,4,0.000,0.056,2875,3787,3493,0,0,0,0,0,0
$GC,6367,-1.29,-136.3,434.3,-6.8,321,6374,0.10,2.65,0.00,0.000,6,0.087,0.048,2840,2178,3492,0,0,0,0,0,0
$GC,6618,-1.29,-136.3,451.1,-6.9,328,6619,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2178,3491,0,0,0,0,0,0
$GC,6861,-1.29,-136.3,467.9,-6.7,334,6866,0.00,2.75,0.00,0.000,4,0.000,0.058,2841,3792,3490,0,0,0,0,0,0
$GC,6900,-1.29,-136.3,470.7,-7.7,335,6905,0.00,2.70,0.00,0.000,6,0.000,0.049,2840,2186,3490,0,0,0,0,0,0
$GC,7187,-1.29,-136.3,487.9,-5.8,342,7191,0.00,2.72,0.00,0.000,4,0.000,0.058,2840,3786,3488,0,0,0,0,0,0
$GC,7242,-1.29,-136.3,491.6,-7.0,343,7246,0.00,2.65,0.00,0.000,6,0.000,0.054,2841,2196,3488,0,0,0,0,0,0
$GC,7510,-1.29,-136.3,509.2,-6.8,350,7515,0.00,2.75,0.00,0.000,4,0.000,0.064,2840,3790,3487,0,0,0,0,0,0
$GC,7599,-1.29,-136.3,516.2,-7.4,352,7603,0.00,2.70,0.00,0.000,6,0.000,0.054,2841,2199,3487,0,0,0,0,0,0
$GC,7876,-1.29,-136.3,535.3,-6.8,359,7881,0.00,2.75,0.00,0.000,4,0.000,0.072,2840,3787,3485,0,0,0,0,0,0
$GC,7939,-1.29,-136.3,539.7,-6.8,360,7943,0.00,2.67,0.00,0.000,6,0.000,0.061,2840,2221,3485,0,0,0,0,0,0
$GC,8199,-1.29,-136.3,554.2,-5.2,367,8204,0.00,2.70,0.00,0.000,4,0.000,0.068,2841,3785,3483,0,0,0,0,0,0
$GC,8226,-1.29,-136.3,555.5,-5.4,367,8231,0.00,2.65,0.00,0.000,6,0.000,0.063,2840,2226,3483,0,0,0,0,0,0
$GC,8478,-1.29,-136.3,567.4,-4.7,373,8483,0.00,3.05,0.00,0.000,4,0.000,0.120,2840,613,3482,0,0,0,0,0,0
$GC,8505,-1.29,-136.3,568.8,-5.2,373,8510,0.00,2.72,0.00,0.000,6,0.000,0.055,2840,2223,3482,0,0,0,0,0,0
$GC,8755,-1.29,-136.3,579.8,-4.4,379,8756,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2223,3481,0,0,0,0,0,0
$GC,9001,-1.29,-136.3,590.7,-4.5,385,9005,0.00,2.92,0.00,0.000,4,0.000,0.094,2840,622,3480,0,0,0,0,0,0
$GC,9034,-1.25,-136.3,592.4,-5.4,385,9039,0.00,2.75,0.00,0.000,6,0.000,0.058,2840,2235,3480,0,0,0,0,0,0
$GC,9284,-1.25,-136.3,604.6,-4.9,392,9288,0.00,2.85,0.00,0.000,4,0.000,0.103,2840,3797,3479,0,0,0,0,0,0
$GC,9329,-1.25,-136.3,607.1,-6.1,393,9334,0.00,2.72,0.00,0.000,6,0.000,0.067,2840,2236,3479,0,0,0,0,0,0
$GC,9607,-1.25,-136.3,623.7,-6.2,400,9608,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2236,3477,0,0,0,0,0,0
$GC,9850,-1.25,-136.3,639.2,-6.3,406,9855,0.00,2.83,0.00,0.000,4,0.000,0.095,2840,3794,3476,0,0,0,0,0,0
$GC,9879,-1.25,-136.3,641.1,-6.9,406,9884,0.00,2.80,0.00,0.000,6,0.000,0.085,2840,2235,3476,0,0,0,0,0,0
$GC,10129,-1.25,-136.3,656.7,-5.9,412,10134,0.00,3.17,0.00,0.000,4,0.000,0.136,2840,621,3475,0,0,0,0,0,0
$GC,10173,-1.25,-136.3,659.6,-6.8,413,10178,0.00,2.85,0.00,0.000,6,0.000,0.077,2840,2227,3475,0,0,0,0,0,0
$GC,10453,-1.25,-136.3,674.3,-5.2,420,10457,0.00,2.97,0.00,0.000,4,0.000,0.119,2840,3801,3475,0,0,0,0,0,0
$GC,10492,-1.25,-136.3,676.3,-5.5,421,10497,0.00,2.88,0.00,0.000,6,0.000,0.096,2840,2231,3474,0,0,0,0,0,0
$GC,10775,-1.25,-136.3,689.7,-4.6,428,10780,0.00,3.22,0.00,0.000,4,0.000,0.144,2840,623,3473,0,0,0,0,0,0
$GC,10804,-1.25,-136.3,691.1,-5.7,428,10809,0.00,2.95,0.00,0.000,6,0.000,0.091,2840,2238,3473,0,0,0,0,0,0
$STATE,11011,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11011,begin apogee
$GC,11017,-0.31,0.0,700.5,4.4,433,11133,0.98,0.00,109.20,1.114,6,0.094,0.000,3060,2200,2950,0,0,0,0,0,0
$STATE,11134,end apogee,CONTROL_FINISHED_OK
$STATE,11134,begin climb
$GC,11136,1.31,136.3,699.8,0.0,436,11270,1.55,3.28,119.50,1.081,4,0.062,0.135,3415,608,2392,0,0,0,0,0,0
$GC,11276,1.17,136.3,685.4,13.8,439,11281,0.15,2.97,0.00,0.000,6,0.137,0.089,3386,2205,2389,0,0,0,0,0,0
$GC,11539,1.11,136.3,652.9,12.1,446,11544,0.00,2.95,0.00,0.000,4,0.000,0.105,3387,3788,2383,0,0,0,0,0,0
$GC,11555,1.05,136.3,650.6,11.8,446,11560,0.15,2.90,0.00,0.000,6,0.142,0.085,3359,2202,2383,0,0,0,0,0,0
$GC,11816,1.05,136.3,623.8,10.3,453,11821,0.00,3.08,0.00,0.000,4,0.000,0.116,3359,602,2382,0,0,0,0,0,0
$GC,11839,1.05,136.3,621.4,11.2,453,11844,0.00,2.80,0.00,0.000,6,0.000,0.057,3359,2208,2380,0,0,0,0,0,0
$GC,12094,1.05,136.3,595.1,10.2,460,12098,0.00,2.88,0.00,0.000,4,0.000,0.094,3359,3793,2380,0,0,0,0,0,0
$GC,12120,1.05,136.3,592.1,10.6,460,12125,0.00,2.75,0.00,0.000,6,0.000,0.064,3360,2214,2379,0,0,0,0,0,0
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$STATE,17797,end climb,SURFACE_DEPTH_REACHED
$STATE,17797,begin surface coast
$FINISH,-0.8,1.023718
$STATE,17885,end surface coast,CONTROL_FINISHED_OK
$STATE,17887,begin surface
$SM_CCo,17910,143.73,0.522,0,0,1399,380.21
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$TT8_MAMPS,0.025311
$HUMID,56.73
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,21.80
$XPDR_PINGS,84
$24V_AH,23.3,8.926
$10V_AH,10.3,8.147
$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
$DEVICE_SECS,29.575,262.050,296.750,143.725,0.000,53.503,84.246,516.475,21.000,0.000,30.867,1581.910,13004.311,634.079,2597.666,1138.147,33.356,1660.996,0.000,2579.210,0.000,0.537,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,503.690,371.646,486.546,872.276,1319.355,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356268
$DATA_FILE_SIZE,57252,739
$CAP_FILE_SIZE,186214,0
$CFSIZE,260165632,143405056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010612,071430,2250.753,-15809.003,36,1.4,41,10.1