version: 66.06
glider: 146
mission: 7
dive: 61
start: 6 1 112 12 54 6
data:
$ID,146
$MISSION,7
$DIVE,61
$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,-288985.59
$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,3144
$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,28
$R_STBD_OVSHOOT,71
$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
$GPS1,123301,2251.795,-15809.215,61,1.2,61,10.1
$_CALLS,4
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.07
$_SM_ANGLEo,-69.9
$GPS2,125308,2251.827,-15809.205,13,1.7,13,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,BHOENW
$TGT_LATLONG,2304.386,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.143,0.207
$KALMAN_X,-92156.6,-124.9,74.6,82843.4,-845.7
$KALMAN_Y,-24003.0,-121.4,-477.0,45422.9,483.4
$MHEAD_RNG_PITCHd_Wd,24.6,24588,-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,-89.55,0.000,6,0.000,0.000,466,2247,3506,0,0,0,0,0,0
$GC,118,-1.31,-136.3,1.7,-4.4,12,136,13.15,2.50,0.00,0.000,4,0.173,0.034,2849,3755,3506,0,0,0,0,0,0
$GC,167,-0.97,-136.3,13.1,-19.7,18,177,0.35,2.50,0.00,0.000,6,0.094,0.029,2930,2198,3507,0,0,0,0,0,0
$GC,474,-0.97,-136.3,42.4,-9.0,55,483,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2198,3507,0,0,0,0,0,0
$GC,741,-0.97,-136.3,65.6,-8.5,80,745,0.00,2.55,0.00,0.000,4,0.000,0.052,2930,637,3508,0,0,0,0,0,0
$GC,787,-0.97,-136.3,69.8,-8.6,83,791,0.00,2.40,0.00,0.000,6,0.000,0.018,2930,2199,3507,0,0,0,0,0,0
$GC,1054,-1.02,-136.3,91.2,-8.1,107,1058,0.00,2.58,0.00,0.000,4,0.000,0.049,2930,631,3508,0,0,0,0,0,0
$GC,1096,-1.07,-136.3,95.0,-8.5,110,1101,0.00,2.42,0.00,0.000,6,0.000,0.017,2930,2200,3508,0,0,0,0,0,0
$GC,1360,-1.11,-136.3,114.2,-7.2,134,1365,0.12,2.53,0.00,0.000,4,0.070,0.035,2880,3771,3508,0,0,0,0,0,0
$GC,1396,-1.07,-136.3,117.1,-8.7,136,1404,0.10,2.50,0.00,0.000,6,0.078,0.021,2907,2199,3508,0,0,0,0,0,0
$GC,1662,-1.07,-136.3,136.4,-6.9,161,1667,0.00,2.58,0.00,0.000,4,0.000,0.048,2908,637,3508,0,0,0,0,0,0
$GC,1775,-1.07,-136.3,145.2,-7.5,170,1780,0.00,2.40,0.00,0.000,6,0.000,0.018,2907,2204,3508,0,0,0,0,0,0
$GC,2038,-1.07,-136.3,161.4,-5.9,194,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2204,3508,0,0,0,0,0,0
$GC,2295,-1.11,-136.3,178.4,-7.6,218,2300,0.00,2.58,0.00,0.000,4,0.000,0.049,2907,637,3508,0,0,0,0,0,0
$GC,2397,-1.11,-136.3,186.0,-7.7,226,2402,0.00,2.38,0.00,0.000,6,0.000,0.020,2907,2183,3508,0,0,0,0,0,0
$GC,2680,-1.16,-136.3,206.2,-6.9,246,2684,0.00,2.55,0.00,0.000,4,0.000,0.040,2907,3775,3508,0,0,0,0,0,0
$GC,2758,-1.22,-136.3,211.9,-7.3,247,2764,0.12,2.50,0.00,0.000,6,0.073,0.022,2859,2184,3507,0,0,0,0,0,0
$GC,3010,-1.18,-136.3,229.7,-7.1,254,3015,0.12,2.58,0.00,0.000,4,0.112,0.051,2886,641,3508,0,0,0,0,0,0
$GC,3088,-1.18,-136.3,235.3,-7.1,255,3094,0.00,2.38,0.00,0.000,6,0.000,0.021,2886,2171,3508,0,0,0,0,0,0
$GC,3338,-1.18,-136.3,252.4,-7.2,262,3343,0.00,2.58,0.00,0.000,4,0.000,0.038,2886,3776,3507,0,0,0,0,0,0
$GC,3368,-1.18,-136.3,254.8,-8.3,262,3372,0.00,2.50,0.00,0.000,6,0.000,0.021,2886,2175,3507,0,0,0,0,0,0
$GC,3618,-1.18,-136.3,272.8,-7.1,268,3622,0.00,2.58,0.00,0.000,4,0.000,0.056,2886,637,3506,0,0,0,0,0,0
$GC,3708,-1.18,-136.3,280.0,-7.7,270,3712,0.00,2.38,0.00,0.000,6,0.000,0.021,2886,2162,3506,0,0,0,0,0,0
$GC,3986,-1.22,-136.3,297.9,-6.0,277,3990,0.00,2.62,0.00,0.000,4,0.000,0.045,2886,3786,3505,0,0,0,0,0,0
$GC,4041,-1.26,-136.3,301.3,-5.9,278,4046,0.00,2.55,0.00,0.000,6,0.000,0.025,2886,2169,3504,0,0,0,0,0,0
$GC,4310,-1.31,-136.3,316.7,-5.9,285,4315,0.12,2.62,0.00,0.000,4,0.070,0.066,2838,634,3504,0,0,0,0,0,0
$GC,4355,-1.23,-136.3,320.3,-7.7,286,4360,0.17,2.40,0.00,0.000,6,0.107,0.027,2875,2146,3503,0,0,0,0,0,0
$GC,4634,-1.23,-136.3,338.9,-6.4,293,4639,0.00,2.60,0.00,0.000,4,0.000,0.063,2875,630,3501,0,0,0,0,0,0
$GC,4661,-1.23,-136.3,340.6,-5.8,293,4665,0.00,2.42,0.00,0.000,6,0.000,0.034,2875,2139,3502,0,0,0,0,0,0
$GC,4911,-1.23,-136.3,352.7,-4.7,299,4916,0.00,2.67,0.00,0.000,4,0.000,0.048,2875,3775,3501,0,0,0,0,0,0
$GC,5050,-1.23,-136.3,359.6,-4.8,302,5054,0.00,2.55,0.00,0.000,6,0.000,0.028,2875,2183,3499,0,0,0,0,0,0
$GC,5327,-1.23,-136.3,372.2,-4.5,309,5332,0.00,2.62,0.00,0.000,4,0.000,0.048,2875,3783,3498,0,0,0,0,0,0
$GC,5401,-1.23,-136.3,376.8,-6.6,310,5406,0.00,2.58,0.00,0.000,6,0.000,0.034,2875,2187,3498,0,0,0,0,0,0
$GC,5652,-1.27,-136.3,392.1,-6.1,316,5656,0.00,2.75,0.00,0.000,4,0.000,0.079,2875,624,3496,0,0,0,0,0,0
$GC,5713,-1.27,-136.3,396.7,-7.8,317,5717,0.00,2.50,0.00,0.000,6,0.000,0.037,2875,2168,3495,0,0,0,0,0,0
$GC,5975,-1.31,-136.3,413.3,-6.3,324,5980,0.00,2.72,0.00,0.000,4,0.000,0.053,2875,3794,3494,0,0,0,0,0,0
$GC,6002,-1.31,-136.3,415.3,-6.2,324,6007,0.00,2.65,0.00,0.000,6,0.000,0.040,2875,2172,3494,0,0,0,0,0,0
$GC,6253,-1.35,-136.3,429.7,-5.7,330,6258,0.10,2.83,0.00,0.000,4,0.087,0.093,2840,619,3493,0,0,0,0,0,0
$GC,6311,-1.30,-136.3,433.1,-5.9,331,6315,0.00,2.53,0.00,0.000,6,0.000,0.035,2840,2167,3492,0,0,0,0,0,0
$GC,6577,-1.30,-136.3,447.4,-5.2,338,6581,0.00,2.75,0.00,0.000,4,0.000,0.064,2840,3793,3491,0,0,0,0,0,0
$GC,6652,-1.30,-136.3,451.6,-6.0,339,6657,0.00,2.67,0.00,0.000,6,0.000,0.048,2841,2185,3491,0,0,0,0,0,0
$GC,6902,-1.30,-136.3,464.9,-5.3,345,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2185,3490,0,0,0,0,0,0
$GC,7146,-1.30,-136.3,480.3,-6.5,351,7147,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2185,3488,0,0,0,0,0,0
$GC,7389,-1.30,-136.3,497.8,-7.1,357,7391,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2185,3488,0,0,0,0,0,0
$GC,7633,-1.30,-136.3,514.4,-6.6,363,7634,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2185,3487,0,0,0,0,0,0
$GC,7877,-1.30,-136.3,530.4,-6.7,369,7881,0.00,2.80,0.00,0.000,4,0.000,0.076,2840,3791,3485,0,0,0,0,0,0
$GC,8012,-1.30,-136.3,540.9,-7.8,372,8017,0.00,2.78,0.00,0.000,6,0.000,0.061,2841,2169,3485,0,0,0,0,0,0
$GC,8291,-1.30,-136.3,559.1,-6.3,379,8296,0.00,2.95,0.00,0.000,4,0.000,0.121,2840,622,3483,0,0,0,0,0,0
$GC,8369,-1.30,-136.3,564.5,-6.8,380,8375,0.00,2.60,0.00,0.000,6,0.000,0.049,2841,2165,3482,0,0,0,0,0,0
$GC,8621,-1.30,-136.3,578.5,-5.3,387,8626,0.00,2.92,0.00,0.000,4,0.000,0.092,2841,3796,3482,0,0,0,0,0,0
$GC,8785,-1.30,-136.3,587.4,-5.4,390,8789,0.00,2.80,0.00,0.000,6,0.000,0.064,2840,2176,3481,0,0,0,0,0,0
$GC,9035,-1.30,-136.3,599.0,-4.5,396,9036,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2176,3480,0,0,0,0,0,0
$GC,9280,-1.30,-136.3,610.1,-4.6,402,9281,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2176,3479,0,0,0,0,0,0
$GC,9522,-1.30,-136.3,620.9,-4.5,408,9523,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2176,3478,0,0,0,0,0,0
$GC,9766,-1.30,-136.3,631.3,-4.3,414,9770,0.00,2.90,0.00,0.000,4,0.000,0.087,2841,3794,3477,0,0,0,0,0,0
$GC,9933,-1.30,-136.3,640.4,-5.4,417,9938,0.00,2.90,0.00,0.000,6,0.000,0.084,2841,2178,3476,0,0,0,0,0,0
$GC,10183,-1.30,-136.3,653.5,-5.4,424,10184,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2178,3475,0,0,0,0,0,0
$GC,10427,-1.30,-136.3,667.2,-5.5,430,10431,0.00,2.97,0.00,0.000,4,0.000,0.102,2841,3791,3475,0,0,0,0,0,0
$GC,10473,-1.30,-136.3,669.9,-6.2,431,10477,0.00,2.92,0.00,0.000,6,0.000,0.094,2841,2198,3475,0,0,0,0,0,0
$GC,10750,-1.30,-136.3,685.2,-5.5,438,10755,0.00,3.15,0.00,0.000,4,0.000,0.147,2841,620,3474,0,0,0,0,0,0
$GC,10766,-1.30,-136.3,686.1,-5.2,438,10771,0.00,2.83,0.00,0.000,6,0.000,0.091,2840,2192,3474,0,0,0,0,0,0
$GC,11029,-1.30,-136.3,698.3,-4.3,445,11034,0.00,3.05,0.00,0.000,4,0.000,0.126,2841,3802,3472,0,0,0,0,0,0
$STATE,11066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,11066,begin apogee
$GC,11075,-0.31,0.0,700.1,5.0,446,11188,1.05,0.00,109.05,1.116,6,0.085,0.000,3076,2197,2950,0,0,0,0,0,0
$STATE,11189,end apogee,CONTROL_FINISHED_OK
$STATE,11189,begin climb
$GC,11193,1.31,136.3,699.2,0.0,449,11323,1.52,3.12,119.40,1.082,4,0.059,0.105,3428,3786,2393,0,0,0,0,0,0
$GC,11339,1.16,136.3,681.7,16.0,452,11345,0.15,3.03,0.00,0.000,6,0.160,0.100,3401,2200,2390,0,0,0,0,0,0
$GC,11591,1.08,136.3,646.1,14.2,458,11597,0.10,3.12,0.00,0.000,4,0.145,0.123,3382,609,2383,0,0,0,0,0,0
$GC,11610,0.99,136.3,643.3,13.9,458,11615,0.10,2.80,0.00,0.000,6,0.144,0.070,3363,2200,2383,0,0,0,0,0,0
$GC,11871,0.99,136.3,612.6,11.4,465,11875,0.00,2.90,0.00,0.000,4,0.000,0.094,3363,3786,2382,0,0,0,0,0,0
$GC,11927,0.99,136.3,606.0,12.2,466,11932,0.00,2.78,0.00,0.000,6,0.000,0.065,3363,2202,2381,0,0,0,0,0,0
$GC,12193,0.99,136.3,575.9,11.2,473,12198,0.00,3.00,0.00,0.000,4,0.000,0.108,3363,604,2380,0,0,0,0,0,0
$GC,12237,0.99,136.3,570.7,11.6,474,12241,0.00,2.72,0.00,0.000,6,0.000,0.049,3363,2210,2379,0,0,0,0,0,0
$GC,12516,0.99,136.3,542.2,10.3,481,12521,0.00,2.78,0.00,0.000,4,0.000,0.074,3363,3786,2379,0,0,0,0,0,0
$GC,12532,0.99,136.3,540.3,10.3,481,12536,0.00,2.70,0.00,0.000,6,0.000,0.048,3363,2188,2378,0,0,0,0,0,0
$GC,12794,1.00,144.6,515.2,9.6,488,12806,0.00,2.75,6.05,0.790,4,0.000,0.052,3363,3790,2359,0,0,0,0,0,0
$GC,12818,1.01,149.2,512.7,9.8,488,12830,0.00,2.75,6.03,0.775,6,0.000,0.052,3363,2183,2341,0,0,0,0,0,0
$GC,13073,1.01,151.8,487.5,9.9,494,13078,0.00,2.95,0.00,0.000,4,0.000,0.107,3363,605,2339,0,0,0,0,0,0
$GC,13106,1.01,151.8,483.7,11.5,494,13111,0.00,2.65,0.00,0.000,6,0.000,0.040,3363,2189,2338,0,0,0,0,0,0
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$STATE,17583,end climb,SURFACE_DEPTH_REACHED
$STATE,17583,begin surface coast
$FINISH,-0.6,1.022942
$STATE,17625,end surface coast,CONTROL_FINISHED_OK
$STATE,17625,begin surface
$SM_CCo,17646,146.12,0.523,0,0,1400,380.21
$SM_GC,-0.01,0.00,0.00,146.12,0.000,0.000,0.523,472,2226,1400,-12.30,0.45,380.21
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$TT8_MAMPS,0.026078
$HUMID,57.12
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,21.70
$XPDR_PINGS,77
$24V_AH,23.3,9.261
$10V_AH,10.3,8.453
$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,29.325,240.400,294.125,146.125,0.000,108.243,140.823,595.593,19.250,0.000,15.197,1576.507,12738.915,635.971,2732.631,1313.409,33.356,1713.134,0.000,2726.771,0.000,0.536,0.000
$DEVICE_MAMPS,172.575,147.264,1115.985,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,501.775,366.399,494.912,896.988,1356.695,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356128
$DATA_FILE_SIZE,57313,737
$CAP_FILE_SIZE,184468,0
$CFSIZE,260165632,143253504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010612,175300,2253.076,-15808.670,99,1.3,99,10.1