version: 66.06
glider: 146
mission: 7
dive: 65
start: 6 2 112 9 58 8
data:
$ID,146
$MISSION,7
$DIVE,65
$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,-289085.88
$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,29
$R_STBD_OVSHOOT,43
$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
$GPS1,093325,2257.704,-15808.087,64,0.9,64,10.1
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.09
$_SM_ANGLEo,-68.1
$GPS2,095715,2257.627,-15808.024,10,2.2,29,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,BHOENW
$TGT_LATLONG,2304.386,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.085,0.237
$KALMAN_X,-95996.1,-9.7,-275.0,88930.6,134.0
$KALMAN_Y,-26077.1,139.0,-168.8,57677.6,-539.7
$MHEAD_RNG_PITCHd_Wd,9.7,13866,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.31,-136.3,0.0,0.0,0,115,0.00,0.00,-89.50,0.000,6,0.000,0.000,470,2221,3507,0,0,0,0,0,0
$GC,120,-1.31,-136.3,1.6,-3.8,12,138,13.02,2.53,0.00,0.000,4,0.169,0.035,2850,3789,3507,0,0,0,0,0,0
$GC,247,-1.18,-136.3,24.1,-12.5,30,256,0.12,2.55,0.00,0.000,6,0.107,0.030,2881,2202,3507,0,0,0,0,0,0
$GC,523,-1.11,-136.3,54.4,-10.0,58,528,0.10,2.60,0.00,0.000,4,0.133,0.048,2901,632,3508,0,0,0,0,0,0
$GC,681,-1.11,-136.3,70.4,-9.1,70,685,0.00,2.42,0.00,0.000,6,0.000,0.017,2900,2220,3507,0,0,0,0,0,0
$GC,945,-1.11,-136.3,94.1,-8.2,94,949,0.00,2.47,0.00,0.000,4,0.000,0.035,2901,3766,3507,0,0,0,0,0,0
$GC,1012,-1.11,-136.3,100.1,-8.8,99,1017,0.00,2.45,0.00,0.000,6,0.000,0.023,2901,2195,3508,0,0,0,0,0,0
$GC,1280,-1.11,-136.3,121.9,-7.9,123,1285,0.00,2.58,0.00,0.000,4,0.000,0.047,2901,630,3508,0,0,0,0,0,0
$GC,1336,-1.11,-136.3,127.0,-8.5,127,1340,0.00,2.42,0.00,0.000,6,0.000,0.020,2901,2214,3508,0,0,0,0,0,0
$GC,1604,-1.11,-136.3,146.9,-6.9,151,1608,0.00,2.50,0.00,0.000,4,0.000,0.035,2901,3775,3508,0,0,0,0,0,0
$GC,1638,-1.11,-136.3,149.8,-7.4,153,1643,0.00,2.45,0.00,0.000,6,0.000,0.026,2900,2208,3508,0,0,0,0,0,0
$GC,1906,-1.11,-136.3,167.7,-6.8,178,1910,0.00,2.58,0.00,0.000,4,0.000,0.049,2901,637,3508,0,0,0,0,0,0
$GC,1934,-1.11,-136.3,170.3,-7.8,180,1938,0.00,2.45,0.00,0.000,6,0.000,0.025,2901,2237,3508,0,0,0,0,0,0
$GC,2199,-1.14,-136.3,187.0,-6.0,204,2203,0.00,2.65,0.00,0.000,4,0.000,0.053,2900,638,3508,0,0,0,0,0,0
$GC,2323,-1.14,-136.3,195.2,-6.6,214,2328,0.00,2.40,0.00,0.000,6,0.000,0.026,2901,2204,3507,0,0,0,0,0,0
$GC,2608,-1.19,-136.3,211.8,-5.8,226,2612,0.00,2.50,0.00,0.000,4,0.000,0.038,2901,3772,3507,0,0,0,0,0,0
$GC,2682,-1.23,-136.3,216.6,-7.1,227,2687,0.12,2.45,0.00,0.000,6,0.071,0.024,2855,2203,3507,0,0,0,0,0,0
$GC,2934,-1.23,-136.3,236.3,-8.0,233,2938,0.00,2.53,0.00,0.000,4,0.000,0.035,2855,3776,3506,0,0,0,0,0,0
$GC,2946,-1.23,-136.3,237.4,-8.2,233,2950,0.00,2.47,0.00,0.000,6,0.000,0.028,2855,2191,3507,0,0,0,0,0,0
$GC,3212,-1.23,-136.3,258.9,-8.0,240,3217,0.00,2.60,0.00,0.000,4,0.000,0.055,2855,638,3506,0,0,0,0,0,0
$GC,3337,-1.18,-136.3,269.1,-7.7,242,3343,0.15,2.40,0.00,0.000,6,0.114,0.023,2887,2175,3505,0,0,0,0,0,0
$GC,3588,-1.18,-136.3,284.9,-6.2,249,3593,0.00,2.60,0.00,0.000,4,0.000,0.054,2887,633,3504,0,0,0,0,0,0
$GC,3638,-1.18,-136.3,288.3,-6.8,250,3642,0.00,2.40,0.00,0.000,6,0.000,0.028,2887,2166,3504,0,0,0,0,0,0
$GC,3912,-1.23,-136.3,304.2,-5.8,257,3916,0.00,2.65,0.00,0.000,4,0.000,0.048,2887,3787,3502,0,0,0,0,0,0
$GC,3978,-1.23,-136.3,308.4,-5.8,258,3983,0.00,2.55,0.00,0.000,6,0.000,0.026,2887,2176,3502,0,0,0,0,0,0
$GC,4234,-1.28,-136.3,322.6,-5.4,265,4239,0.00,2.62,0.00,0.000,4,0.000,0.064,2887,630,3501,0,0,0,0,0,0
$GC,4286,-1.31,-136.3,325.5,-6.0,266,4291,0.12,2.42,0.00,0.000,6,0.074,0.025,2844,2165,3501,0,0,0,0,0,0
$GC,4558,-1.31,-136.3,343.3,-6.5,273,4559,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,2166,3499,0,0,0,0,0,0
$GC,4802,-1.31,-136.3,358.6,-6.2,279,4806,0.00,2.67,0.00,0.000,4,0.000,0.049,2844,3782,3498,0,0,0,0,0,0
$GC,4847,-1.31,-136.3,361.7,-7.0,280,4852,0.00,2.60,0.00,0.000,6,0.000,0.035,2844,2169,3498,0,0,0,0,0,0
$GC,5126,-1.31,-136.3,378.8,-6.2,287,5127,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2168,3496,0,0,0,0,0,0
$GC,5369,-1.31,-136.3,395.7,-6.9,293,5370,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2168,3495,0,0,0,0,0,0
$GC,5615,-1.31,-136.3,412.8,-7.0,299,5619,0.00,2.67,0.00,0.000,4,0.000,0.047,2844,3783,3494,0,0,0,0,0,0
$GC,5703,-1.31,-136.3,419.8,-7.6,301,5708,0.00,2.67,0.00,0.000,6,0.000,0.044,2844,2165,3494,0,0,0,0,0,0
$GC,5981,-1.31,-136.3,436.9,-6.0,308,5985,0.00,2.70,0.00,0.000,4,0.000,0.051,2844,3787,3492,0,0,0,0,0,0
$GC,5999,-1.31,-136.3,437.8,-5.9,308,6003,0.00,2.65,0.00,0.000,6,0.000,0.046,2844,2173,3492,0,0,0,0,0,0
$GC,6259,-1.31,-136.3,452.5,-5.5,315,6260,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,2173,3490,0,0,0,0,0,0
$GC,6503,-1.31,-136.3,466.8,-5.9,321,6508,0.00,2.80,0.00,0.000,4,0.000,0.098,2844,627,3489,0,0,0,0,0,0
$GC,6544,-1.27,-136.3,469.4,-6.8,322,6549,0.10,2.50,0.00,0.000,6,0.130,0.043,2865,2151,3489,0,0,0,0,0,0
$GC,6828,-1.27,-136.3,483.5,-4.6,329,6829,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,2151,3488,0,0,0,0,0,0
$GC,7072,-1.27,-136.3,495.2,-5.0,335,7076,0.00,2.80,0.00,0.000,4,0.000,0.071,2865,3782,3487,0,0,0,0,0,0
$GC,7173,-1.27,-136.3,501.1,-5.9,337,7178,0.00,2.67,0.00,0.000,6,0.000,0.048,2865,2191,3486,0,0,0,0,0,0
$GC,7440,-1.31,-136.3,515.7,-5.5,344,7445,0.00,2.72,0.00,0.000,4,0.000,0.064,2865,3778,3485,0,0,0,0,0,0
$GC,7502,-1.31,-136.3,519.6,-6.7,345,7507,0.00,2.65,0.00,0.000,6,0.000,0.052,2865,2202,3484,0,0,0,0,0,0
$GC,7765,-1.34,-136.3,534.1,-5.3,352,7770,0.00,2.72,0.00,0.000,4,0.000,0.071,2865,3778,3483,0,0,0,0,0,0
$GC,7804,-1.34,-136.3,536.3,-6.2,353,7809,0.00,2.65,0.00,0.000,6,0.000,0.058,2865,2214,3483,0,0,0,0,0,0
$GC,8090,-1.38,-136.3,550.4,-4.9,360,8095,0.00,3.03,0.00,0.000,4,0.000,0.125,2865,623,3482,0,0,0,0,0,0
$GC,8144,-1.38,-136.3,553.6,-5.5,361,8149,0.00,2.65,0.00,0.000,6,0.000,0.048,2865,2201,3481,0,0,0,0,0,0
$GC,8413,-1.42,-136.3,567.2,-5.1,368,8419,0.12,2.85,0.00,0.000,4,0.077,0.095,2827,3792,3480,0,0,0,0,0,0
$GC,8464,-1.38,-136.3,570.6,-6.6,369,8469,0.00,2.70,0.00,0.000,6,0.000,0.057,2827,2214,3480,0,0,0,0,0,0
$GC,8736,-1.38,-136.3,587.5,-6.2,376,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2214,3479,0,0,0,0,0,0
$GC,8981,-1.38,-136.3,603.2,-6.4,382,8986,0.00,2.78,0.00,0.000,4,0.000,0.081,2827,3794,3478,0,0,0,0,0,0
$GC,9055,-1.33,-136.3,608.4,-7.3,383,9061,0.12,2.80,0.00,0.000,6,0.120,0.070,2851,2198,3478,0,0,0,0,0,0
$GC,9305,-1.33,-136.3,623.7,-6.1,389,9310,0.00,3.03,0.00,0.000,4,0.000,0.123,2851,622,3476,0,0,0,0,0,0
$GC,9381,-1.33,-136.3,629.5,-8.2,390,9385,0.00,2.72,0.00,0.000,6,0.000,0.067,2852,2193,3476,0,0,0,0,0,0
$GC,9631,-1.33,-136.3,647.3,-6.8,396,9635,0.00,2.95,0.00,0.000,4,0.000,0.108,2852,3795,3475,0,0,0,0,0,0
$GC,9717,-1.33,-136.3,653.5,-7.6,398,9722,0.00,2.85,0.00,0.000,6,0.000,0.087,2852,2204,3475,0,0,0,0,0,0
$GC,10000,-1.33,-136.3,671.7,-6.2,405,10005,0.00,2.95,0.00,0.000,4,0.000,0.107,2852,3803,3474,0,0,0,0,0,0
$GC,10039,-1.33,-136.3,674.4,-7.0,406,10044,0.00,2.95,0.00,0.000,6,0.000,0.097,2851,2204,3474,0,0,0,0,0,0
$GC,10324,-1.33,-136.3,690.4,-5.4,413,10325,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,2204,3473,0,0,0,0,0,0
$STATE,10564,end dive,TARGET_DEPTH_EXCEEDED
$STATE,10564,begin apogee
$GC,10569,-0.31,0.0,701.7,4.5,419,10685,0.98,0.00,109.05,1.114,6,0.083,0.000,3073,2204,2950,0,0,0,0,0,0
$STATE,10686,end apogee,CONTROL_FINISHED_OK
$STATE,10686,begin climb
$GC,10688,1.31,136.3,700.9,0.0,422,10818,1.52,3.05,118.68,1.078,4,0.064,0.114,3426,3779,2392,0,0,0,0,0,0
$GC,10829,1.17,136.3,685.1,15.1,425,10835,0.15,3.03,0.00,0.000,6,0.146,0.109,3399,2199,2390,0,0,0,0,0,0
$GC,11098,1.10,136.3,649.2,13.3,432,11103,0.00,2.95,0.00,0.000,4,0.000,0.096,3399,3793,2383,0,0,0,0,0,0
$GC,11138,1.04,136.3,643.5,13.7,433,11143,0.12,2.92,0.00,0.000,6,0.136,0.089,3374,2203,2382,0,0,0,0,0,0
$GC,11421,1.04,136.3,611.3,11.2,440,11426,0.00,3.05,0.00,0.000,4,0.000,0.114,3374,610,2381,0,0,0,0,0,0
$GC,11439,1.01,136.3,609.3,11.2,440,11444,0.00,2.75,0.00,0.000,6,0.000,0.053,3375,2203,2380,0,0,0,0,0,0
$GC,11699,1.01,136.3,580.0,11.3,447,11704,0.00,2.83,0.00,0.000,4,0.000,0.087,3374,3789,2380,0,0,0,0,0,0
$GC,11720,1.01,136.3,577.3,11.6,447,11725,0.00,2.75,0.00,0.000,6,0.000,0.056,3374,2189,2379,0,0,0,0,0,0
$GC,11983,1.01,136.3,548.6,10.7,454,11988,0.00,2.75,0.00,0.000,4,0.000,0.062,3374,3790,2378,0,0,0,0,0,0
$GC,12010,1.01,136.3,545.3,11.3,454,12014,0.00,2.75,0.00,0.000,6,0.000,0.059,3374,2199,2377,0,0,0,0,0,0
$GC,12260,1.01,136.3,518.7,10.5,460,12264,0.00,2.72,0.00,0.000,4,0.000,0.058,3374,3795,2378,0,0,0,0,0,0
$GC,12294,1.01,136.3,514.9,11.8,460,12299,0.00,2.70,0.00,0.000,6,0.000,0.052,3374,2217,2376,0,0,0,0,0,0
$GC,12543,1.01,136.3,489.3,10.1,467,12544,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2217,2377,0,0,0,0,0,0
$GC,12787,1.01,140.3,465.2,9.8,473,12788,0.00,0.00,0.00,0.000,6,0.000,0.000,3374,2217,2376,0,0,0,0,0,0
$GC,13031,1.01,140.3,440.8,10.2,479,13035,0.00,2.92,0.00,0.000,4,0.000,0.094,3374,605,2376,0,0,0,0,0,0
$GC,13053,1.01,140.3,438.5,10.5,479,13058,0.00,2.67,0.00,0.000,6,0.000,0.036,3374,2239,2375,0,0,0,0,0,0
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$GC,14434,1.03,155.3,298.9,9.6,514,14448,0.00,2.62,8.93,0.736,4,0.000,0.047,3374,3771,2316,0,0,0,0,0,0
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$STATE,17117,end climb,SURFACE_DEPTH_REACHED
$STATE,17118,begin surface coast
$FINISH,-0.5,1.000693
$STATE,17164,end surface coast,CONTROL_FINISHED_OK
$STATE,17164,begin surface
$SM_CCo,17185,128.38,0.525,0,0,1399,380.21
$SM_GC,-0.01,0.00,0.00,128.38,0.000,0.000,0.525,471,2181,1399,-12.30,-0.82,380.21
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$TT8_MAMPS,0.026078
$HUMID,58.34
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$TCM_TEMP,21.20
$XPDR_PINGS,81
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$10V_AH,10.3,9.074
$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
$DEVICE_SECS,29.100,239.575,307.800,128.375,0.000,112.005,143.462,780.466,20.250,0.000,31.863,1526.569,12514.290,590.649,2598.222,1505.864,33.356,1635.778,0.000,2570.594,0.000,0.536,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,480.190,338.802,458.452,807.259,1221.486,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356252
$DATA_FILE_SIZE,54319,703
$CAP_FILE_SIZE,184817,0
$CFSIZE,260165632,142942208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020612,144806,2259.015,-15808.107,37,0.9,42,10.1