version: 66.06
glider: 146
mission: 7
dive: 145
start: 6 17 112 8 53 47
data:
$ID,146
$MISSION,7
$DIVE,145
$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,-290640.72
$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,2150
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,53
$R_STBD_OVSHOOT,9
$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,3150
$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
$GPS1,084556,2304.903,-15805.074,30,2.5,49,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.19
$_SM_ANGLEo,-68.7
$GPS2,085250,2304.886,-15805.069,10,2.0,11,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,BHOENW
$TGT_LATLONG,2304.386,-15804.524
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.128,-0.064
$KALMAN_X,-25550.6,173.3,195.2,22885.6,-603.3
$KALMAN_Y,38207.3,-18.4,-34.7,6844.5,-163.4
$MHEAD_RNG_PITCHd_Wd,106.4,1311,-32.6,-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,-2.09,-44.6,0.0,0.0,0,95,0.00,0.00,-74.60,0.000,6,0.000,0.000,474,2102,3332,0,0,0,0,0,0
$GC,100,-2.15,-90.5,1.3,-3.1,9,127,12.07,2.50,-4.35,0.000,4,0.172,0.056,2669,590,3521,0,0,0,0,0,0
$GC,139,-1.46,-90.5,10.4,-22.3,13,149,0.73,2.50,0.00,0.000,6,0.114,0.019,2817,2194,3522,0,0,0,0,0,0
$GC,430,-1.69,-90.5,57.6,-14.7,45,435,0.17,2.42,0.00,0.000,4,0.056,0.034,2760,3707,3523,0,0,0,0,0,0
$GC,452,-1.87,-90.5,61.2,-14.2,46,457,0.10,2.40,0.00,0.000,6,0.081,0.019,2720,2156,3523,0,0,0,0,0,0
$GC,715,-1.93,-90.5,105.2,-18.0,70,716,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,2155,3523,0,0,0,0,0,0
$GC,970,-2.02,-90.5,147.1,-15.1,94,975,0.00,2.47,0.00,0.000,4,0.000,0.035,2720,3713,3524,0,0,0,0,0,0
$GC,1000,-2.11,-90.5,151.8,-15.4,96,1005,0.15,2.40,0.00,0.000,6,0.060,0.021,2666,2164,3525,0,0,0,0,0,0
$GC,1260,-2.11,-90.5,193.9,-15.5,120,1265,0.00,2.45,0.00,0.000,4,0.000,0.031,2655,3721,3525,0,0,0,0,0,0
$GC,1370,-2.11,-90.5,210.9,-15.1,125,1374,0.00,2.42,0.00,0.000,6,0.000,0.025,2666,2164,3525,0,0,0,0,0,0
$GC,1632,-2.11,-90.5,246.9,-14.0,132,1636,0.00,2.47,0.00,0.000,4,0.000,0.036,2660,3706,3525,0,0,0,0,0,0
$GC,1705,-2.11,-90.5,257.3,-14.5,133,1709,0.00,2.38,0.00,0.000,6,0.000,0.028,2659,2182,3525,0,0,0,0,0,0
$GC,1955,-2.14,-90.5,290.6,-13.4,139,1956,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,2182,3525,0,0,0,0,0,0
$GC,2201,-2.19,-90.5,320.1,-11.5,145,2205,0.00,2.45,0.00,0.000,4,0.000,0.044,2652,3703,3525,0,0,0,0,0,0
$GC,2312,-2.23,-90.5,334.2,-11.6,147,2316,0.00,2.42,0.00,0.000,6,0.000,0.032,2666,2198,3525,0,0,0,0,0,0
$GC,2567,-2.29,-90.5,365.9,-12.4,154,2571,0.00,2.45,0.00,0.000,4,0.000,0.044,2666,3710,3524,0,0,0,0,0,0
$GC,2619,-2.33,-90.5,372.5,-13.1,155,2624,0.12,2.50,0.00,0.000,6,0.070,0.044,2621,2191,3524,0,0,0,0,0,0
$GC,2891,-2.33,-90.5,409.4,-13.4,162,2895,0.00,2.47,0.00,0.000,4,0.000,0.048,2621,3700,3522,0,0,0,0,0,0
$GC,2947,-2.33,-90.5,416.9,-14.0,163,2952,0.00,2.53,0.00,0.000,6,0.000,0.050,2621,2195,3522,0,0,0,0,0,0
$GC,3214,-2.33,-90.5,452.0,-12.8,170,3215,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,2195,3521,0,0,0,0,0,0
$GC,3457,-2.33,-90.5,485.5,-13.8,176,3459,0.00,0.00,0.00,0.000,6,0.000,0.000,2622,2195,3519,0,0,0,0,0,0
$GC,3701,-2.33,-90.5,517.8,-13.4,182,3706,0.00,2.60,0.00,0.000,4,0.000,0.074,2622,3694,3517,0,0,0,0,0,0
$GC,3850,-2.33,-90.5,536.8,-12.8,185,3854,0.00,2.58,0.00,0.000,6,0.000,0.061,2617,2187,3516,0,0,0,0,0,0
$GC,4116,-2.33,-90.5,567.8,-11.5,192,4120,0.00,2.65,0.00,0.000,4,0.000,0.080,2622,3698,3514,0,0,0,0,0,0
$GC,4131,-2.33,-90.5,570.1,-12.8,192,4135,0.00,2.62,0.00,0.000,6,0.000,0.067,2621,2185,3514,0,0,0,0,0,0
$GC,4398,-2.33,-90.5,601.5,-11.5,199,4403,0.00,3.10,0.00,0.000,4,0.000,0.122,2622,564,3512,0,0,0,0,0,0
$GC,4419,-2.33,-90.5,604.8,-11.8,199,4424,0.00,2.72,0.00,0.000,6,0.000,0.071,2621,2129,3512,0,0,0,0,0,0
$GC,4674,-2.33,-90.5,632.9,-10.8,206,4679,0.00,2.92,0.00,0.000,4,0.000,0.104,2616,3738,3510,0,0,0,0,0,0
$GC,4725,-2.33,-90.5,639.1,-12.8,207,4730,0.00,2.83,0.00,0.000,6,0.000,0.094,2621,2187,3510,0,0,0,0,0,0
$GC,4997,-2.33,-90.5,669.0,-10.9,214,5001,0.00,2.90,0.00,0.000,4,0.000,0.112,2616,3739,3508,0,0,0,0,0,0
$GC,5036,-2.33,-90.5,673.5,-11.6,215,5041,0.00,2.92,0.00,0.000,6,0.000,0.106,2621,2182,3508,0,0,0,0,0,0
$STATE,5316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5317,begin apogee
$GC,5324,-0.31,0.0,702.9,10.3,222,5403,2.15,0.00,74.60,1.088,6,0.114,0.000,3073,2182,3150,0,0,0,0,0,0
$STATE,5404,end apogee,CONTROL_FINISHED_OK
$STATE,5404,begin climb
$GC,5406,2.15,90.5,703.9,0.0,224,5497,2.25,3.35,77.70,1.056,4,0.042,0.149,3616,586,2779,0,0,0,0,0,0
$GC,5577,2.02,90.5,679.3,19.4,228,5582,0.17,2.95,0.00,0.000,6,0.144,0.091,3586,2175,2775,0,0,0,0,0,0
$GC,5861,2.02,90.5,634.3,15.3,235,5865,0.00,2.92,0.00,0.000,4,0.000,0.093,3574,3772,2772,0,0,0,0,0,0
$GC,5930,1.99,90.5,623.5,16.3,236,5935,0.00,2.85,0.00,0.000,6,0.000,0.082,3585,2179,2771,0,0,0,0,0,0
$GC,6185,1.99,90.5,586.2,14.4,243,6190,0.00,2.80,0.00,0.000,4,0.000,0.072,3587,3771,2769,0,0,0,0,0,0
$GC,6345,1.95,90.5,562.3,15.1,246,6349,0.00,2.72,0.00,0.000,6,0.000,0.061,3585,2196,2767,0,0,0,0,0,0
$GC,6600,1.95,90.5,526.3,13.8,253,6604,0.00,2.67,0.00,0.000,4,0.000,0.058,3577,3777,2766,0,0,0,0,0,0
$GC,6856,1.95,90.5,487.7,15.8,258,6862,0.00,2.62,0.00,0.000,6,0.000,0.050,3585,2223,2764,0,0,0,0,0,0
$GC,7106,1.95,90.5,453.4,13.4,265,7111,0.00,2.58,0.00,0.000,4,0.000,0.050,3586,3782,2763,0,0,0,0,0,0
$GC,7122,1.95,90.5,451.0,13.2,265,7127,0.00,2.60,0.00,0.000,6,0.000,0.044,3586,2211,2763,0,0,0,0,0,0
$GC,7385,1.95,90.5,417.1,13.2,272,7386,0.00,0.00,0.00,0.000,6,0.000,0.000,3586,2210,2762,0,0,0,0,0,0
$GC,7626,1.95,90.5,385.5,13.1,278,7631,0.00,2.60,0.00,0.000,4,0.000,0.048,3579,3783,2761,0,0,0,0,0,0
$GC,7687,1.95,90.5,377.3,13.2,279,7691,0.00,2.58,0.00,0.000,6,0.000,0.039,3586,2222,2761,0,0,0,0,0,0
$GC,7949,1.95,90.5,343.8,13.0,286,7954,0.00,2.58,0.00,0.000,4,0.000,0.046,3577,3784,2761,0,0,0,0,0,0
$GC,8114,1.95,90.5,322.8,13.2,289,8119,0.00,2.53,0.00,0.000,6,0.000,0.038,3585,2240,2760,0,0,0,0,0,0
$GC,8364,1.95,90.5,295.1,11.1,295,8368,0.00,2.53,0.00,0.000,4,0.000,0.042,3586,3785,2760,0,0,0,0,0,0
$GC,8454,1.95,90.5,285.7,10.6,297,8458,0.00,2.47,0.00,0.000,6,0.000,0.037,3585,2265,2760,0,0,0,0,0,0
$GC,8732,2.00,90.5,257.2,10.2,304,8736,0.00,2.50,0.00,0.000,4,0.000,0.046,3586,3782,2760,0,0,0,0,0,0
$GC,8881,2.00,90.5,241.7,11.8,307,8885,0.00,2.45,0.00,0.000,6,0.000,0.038,3585,2260,2760,0,0,0,0,0,0
$GC,9147,2.05,90.5,212.2,11.0,314,9152,0.00,2.78,0.00,0.000,4,0.000,0.056,3585,588,2760,0,0,0,0,0,0
$GC,9339,2.05,90.5,192.6,10.4,322,9343,0.00,2.70,0.00,0.000,6,0.000,0.023,3585,2306,2760,0,0,0,0,0,0
$GC,9605,2.14,103.7,170.1,8.0,346,9620,0.10,2.45,8.55,0.621,4,0.097,0.041,3611,3776,2726,0,0,0,0,0,0
$GC,9761,2.14,103.7,153.1,11.5,359,9767,0.20,2.42,0.00,0.000,6,0.160,0.028,3657,2272,2726,0,0,0,0,0,0
$GC,10026,2.10,106.8,125.1,9.5,384,10035,0.25,0.00,4.45,0.470,6,0.181,0.000,3607,2272,2714,0,0,0,0,0,0
$GC,10292,2.16,106.8,99.9,10.1,409,10296,0.00,2.47,0.00,0.000,4,0.000,0.036,3607,3794,2714,0,0,0,0,0,0
$GC,10348,2.16,106.8,94.0,10.2,413,10352,0.00,2.45,0.00,0.000,6,0.000,0.027,3607,2264,2714,0,0,0,0,0,0
$GC,10617,2.23,109.2,69.1,9.6,437,10632,0.00,2.53,4.07,0.409,4,0.000,0.043,3607,3787,2707,0,0,0,0,0,0
$GC,10908,2.30,130.6,45.0,6.8,460,10933,0.12,2.42,19.05,0.551,6,0.049,0.026,3645,2283,2617,0,0,0,0,0,0
$GC,11226,2.30,130.6,11.4,12.3,498,11235,0.00,2.47,0.00,0.000,4,0.000,0.038,3643,3784,2615,0,0,0,0,0,0
$STATE,11283,end climb,SURFACE_DEPTH_REACHED
$STATE,11284,begin surface coast
$FINISH,-0.1,1.023637
$STATE,11314,end surface coast,CONTROL_FINISHED_OK
$STATE,11315,begin surface
$SM_CCo,11339,199.18,0.520,0,0,1600,380.21
$SM_GC,0.13,0.00,0.00,199.18,0.000,0.000,0.520,469,2130,1600,-12.31,-0.59,380.21
$IRIDIUM_FIX,2255.72,-15807.13,110901,050543
$TT8_MAMPS,0.026078
$HUMID,56.65
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,21.70
$XPDR_PINGS,51
$24V_AH,23.4,20.709
$10V_AH,10.3,19.428
$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,31.325,140.750,188.425,199.175,0.000,31.114,40.788,199.356,12.750,0.000,13.009,1117.540,7612.854,494.741,2135.990,598.760,33.391,1303.999,0.000,2126.125,0.000,0.535,0.000
$DEVICE_MAMPS,181.012,148.798,1087.606,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.294,269.513,364.257,690.403,1044.958,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355816
$DATA_FILE_SIZE,41681,510
$CAP_FILE_SIZE,116040,0
$CFSIZE,260165632,137658368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,170612,120755,2304.505,-15803.966,67,1.1,67,10.1