version: 66.06
glider: 146
mission: 7
dive: 203
start: 6 25 112 17 7 28
data:
$ID,146
$MISSION,7
$DIVE,203
$D_SURF,4
$D_FLARE,3
$D_TGT,550
$D_ABORT,650
$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,180
$T_MISSION,400
$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,665.4989
$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,-294347.59
$T_RSLEEP,3
$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,2180
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,66
$R_STBD_OVSHOOT,20
$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,3190
$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
$GPS1,164600,2223.141,-15801.537,70,0.9,70,10.0
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,0.17
$_SM_ANGLEo,-69.7
$GPS2,170634,2223.231,-15801.749,16,1.1,16,10.0
$SPEED_LIMITS,0.145,0.253
$TGT_NAME,KUHUKU
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.064,-0.245
$KALMAN_X,10881.2,70.1,12.1,-7586.8,-400.2
$KALMAN_Y,114003.2,-256.1,204.8,-146097.5,694.2
$MHEAD_RNG_PITCHd_Wd,155.4,43502,-18.5,-10.185
$D_GRID,550
$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,18,end surface,CONTROL_FINISHED_OK
$STATE,18,begin dive
$GC,21,-1.32,-136.3,0.0,0.0,0,109,0.00,0.00,-83.32,0.000,6,0.000,0.000,471,2129,3745,0,0,0,0,0,0
$GC,114,-1.32,-136.3,3.5,-7.1,11,132,13.18,2.50,0.00,0.000,4,0.173,0.036,2851,624,3747,0,0,0,0,0,0
$GC,157,-0.55,-136.3,20.8,-38.5,16,167,0.75,2.50,0.00,0.000,6,0.087,0.024,3020,2217,3747,0,0,0,0,0,0
$GC,446,-0.74,-136.3,41.7,-6.6,47,451,0.17,2.62,0.00,0.000,4,0.054,0.044,2913,622,3747,0,0,0,0,0,0
$GC,469,-0.88,-136.3,43.5,-7.0,48,473,0.00,2.40,0.00,0.000,6,0.000,0.017,2956,2188,3746,0,0,0,0,0,0
$GC,737,-0.93,-136.3,68.2,-9.8,72,742,0.00,2.53,0.00,0.000,4,0.000,0.043,2956,635,3747,0,0,0,0,0,0
$GC,761,-0.98,-136.3,70.6,-9.6,73,766,0.12,2.35,0.00,0.000,6,0.067,0.016,2906,2175,3747,0,0,0,0,0,0
$GC,1028,-0.98,-136.3,98.1,-9.8,97,1033,0.10,2.53,0.00,0.000,4,0.113,0.050,2929,634,3748,0,0,0,0,0,0
$GC,1063,-1.02,-136.3,101.3,-9.0,99,1068,0.00,2.33,0.00,0.000,6,0.000,0.017,2929,2158,3748,0,0,0,0,0,0
$GC,1330,-1.07,-136.3,123.8,-8.2,123,1335,0.00,0.00,0.00,0.000,6,0.000,0.000,2930,2159,3748,0,0,0,0,0,0
$GC,1596,-1.12,-136.3,146.6,-8.9,148,1605,0.12,0.00,0.00,0.000,6,0.067,0.000,2879,2159,3748,0,0,0,0,0,0
$GC,1858,-1.07,-136.3,177.0,-11.7,173,1860,0.15,0.00,0.00,0.000,6,0.097,0.000,2913,2159,3748,0,0,0,0,0,0
$GC,2144,-1.07,-136.3,204.2,-9.5,197,2146,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2159,3748,0,0,0,0,0,0
$GC,2385,-1.07,-136.3,227.0,-9.2,203,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2159,3748,0,0,0,0,0,0
$GC,2628,-1.07,-136.3,250.1,-9.4,209,2630,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,2159,3748,0,0,0,0,0,0
$GC,2875,-1.13,-136.3,270.1,-8.2,215,2879,0.00,2.53,0.00,0.000,4,0.000,0.036,2913,3751,3748,0,0,0,0,0,0
$GC,2924,-1.24,-136.3,274.2,-8.1,216,2929,0.00,2.45,0.00,0.000,6,0.000,0.023,2880,2187,3748,0,0,0,0,0,0
$GC,3199,-1.32,-136.3,293.5,-7.1,223,3201,0.22,0.00,0.00,0.000,6,0.045,0.000,2836,2187,3748,0,0,0,0,0,0
$GC,3440,-1.27,-136.3,317.3,-10.3,229,3446,0.12,2.53,0.00,0.000,4,0.108,0.037,2864,3746,3747,0,0,0,0,0,0
$GC,3468,-1.27,-136.3,319.9,-9.3,229,3472,0.00,2.47,0.00,0.000,6,0.000,0.026,2865,2169,3746,0,0,0,0,0,0
$GC,3720,-1.27,-136.3,341.2,-8.6,235,3724,0.00,2.53,0.00,0.000,4,0.000,0.039,2865,3746,3747,0,0,0,0,0,0
$GC,3764,-1.31,-136.3,345.3,-9.0,236,3769,0.00,2.53,0.00,0.000,6,0.000,0.032,2865,2168,3747,0,0,0,0,0,0
$GC,4042,-1.31,-136.3,366.7,-7.4,243,4046,0.00,2.55,0.00,0.000,4,0.000,0.045,2846,3749,3746,0,0,0,0,0,0
$GC,4116,-1.35,-136.3,372.8,-8.0,244,4120,0.00,2.55,0.00,0.000,6,0.000,0.040,2865,2167,3746,0,0,0,0,0,0
$GC,4366,-1.35,-136.3,392.6,-7.9,250,4370,0.00,2.80,0.00,0.000,4,0.000,0.092,2861,592,3745,0,0,0,0,0,0
$GC,4433,-1.40,-136.3,398.5,-8.9,251,4438,0.12,2.47,0.00,0.000,6,0.068,0.038,2817,2132,3744,0,0,0,0,0,0
$GC,4690,-1.34,-136.3,424.3,-10.2,258,4692,0.15,0.00,0.00,0.000,6,0.104,0.000,2849,2132,3743,0,0,0,0,0,0
$GC,4932,-1.34,-136.3,445.3,-8.5,264,4936,0.00,2.75,0.00,0.000,4,0.000,0.058,2826,3765,3741,0,0,0,0,0,0
$GC,4978,-1.34,-136.3,449.3,-8.7,265,4982,0.00,2.67,0.00,0.000,6,0.000,0.048,2849,2158,3740,0,0,0,0,0,0
$GC,5255,-1.34,-136.3,472.1,-7.9,272,5260,0.00,2.67,0.00,0.000,4,0.000,0.057,2829,3758,3739,0,0,0,0,0,0
$GC,5299,-1.38,-136.3,475.8,-8.6,273,5304,0.00,2.67,0.00,0.000,6,0.000,0.058,2850,2173,3739,0,0,0,0,0,0
$GC,5579,-1.38,-136.3,496.2,-7.4,280,5580,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2172,3736,0,0,0,0,0,0
$GC,5822,-1.38,-136.3,513.9,-7.2,286,5827,0.00,2.97,0.00,0.000,4,0.000,0.118,2849,587,3735,0,0,0,0,0,0
$GC,5843,-1.38,-136.3,515.8,-8.0,286,5848,0.00,2.62,0.00,0.000,6,0.000,0.047,2849,2180,3734,0,0,0,0,0,0
$GC,6100,-1.38,-136.3,535.2,-7.7,293,6105,0.00,2.88,0.00,0.000,4,0.000,0.094,2848,589,3732,0,0,0,0,0,0
$GC,6116,-1.38,-136.3,536.6,-7.6,293,6121,0.00,2.65,0.00,0.000,6,0.000,0.047,2849,2170,3732,0,0,0,0,0,0
$STATE,6293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6293,begin apogee
$GC,6298,-0.31,0.0,550.6,7.8,298,6415,0.98,0.00,110.07,0.963,6,0.071,0.000,3074,2170,3192,0,0,0,0,0,0
$STATE,6416,end apogee,CONTROL_FINISHED_OK
$STATE,6416,begin climb
$GC,6420,1.32,136.3,553.2,0.0,301,6547,1.50,2.95,114.60,0.930,4,0.041,0.088,3435,592,2632,0,0,0,0,0,0
$GC,6564,1.15,136.3,544.3,10.7,304,6570,0.43,2.72,0.00,0.000,6,0.109,0.048,3358,2182,2629,1,0,0,0,0,0
$GC,6828,1.26,198.2,525.1,7.1,311,6888,0.28,2.85,53.17,0.909,4,0.054,0.071,3395,3766,2381,0,0,0,0,0,0
$GC,6916,1.17,198.2,515.3,12.8,313,6922,0.22,2.75,0.00,0.000,6,0.064,0.057,3431,2176,2379,0,0,0,0,0,0
$GC,7197,0.98,198.2,473.6,15.3,320,7202,0.57,2.70,0.00,0.000,4,0.108,0.050,3340,3772,2374,0,0,0,0,0,0
$GC,7241,1.04,198.2,467.9,10.3,321,7246,0.00,2.67,0.00,0.000,6,0.000,0.048,3361,2180,2373,0,0,0,0,0,0
$GC,7523,1.09,200.3,440.2,10.1,328,7528,0.00,2.70,0.00,0.000,4,0.000,0.046,3341,3776,2371,0,0,0,0,0,0
$GC,7567,1.16,200.3,435.2,11.5,329,7572,0.15,2.62,0.00,0.000,6,0.071,0.044,3407,2196,2371,0,0,0,0,0,0
$GC,7845,1.16,200.3,402.9,11.7,336,7846,0.00,0.00,0.00,0.000,6,0.000,0.000,3401,2196,2369,0,0,0,0,0,0
$GC,8090,1.16,200.3,376.0,10.9,342,8095,0.00,2.80,0.00,0.000,4,0.000,0.074,3401,591,2368,0,0,0,0,0,0
$GC,8134,1.16,200.3,370.4,11.9,343,8138,0.00,2.60,0.00,0.000,6,0.000,0.030,3383,2211,2367,0,0,0,0,0,0
$GC,8412,1.16,200.3,338.5,11.7,350,8416,0.00,2.55,0.00,0.000,4,0.000,0.042,3383,3761,2367,0,0,0,0,0,0
$GC,8480,1.16,200.3,330.2,12.5,351,8484,0.00,2.58,0.00,0.000,6,0.000,0.035,3401,2181,2366,0,0,0,0,0,0
$GC,8735,1.16,200.3,302.0,10.7,358,8739,0.00,2.72,0.00,0.000,4,0.000,0.067,3401,588,2368,0,0,0,0,0,0
$GC,8773,1.16,200.3,298.0,10.4,359,8778,0.00,2.55,0.00,0.000,6,0.000,0.028,3385,2183,2365,0,0,0,0,0,0
$GC,9059,1.18,215.6,270.9,9.4,366,9078,0.00,2.65,13.75,0.730,4,0.000,0.044,3380,3758,2311,0,0,0,0,0,0
$GC,9187,1.23,217.8,257.6,10.1,368,9193,0.00,2.55,0.00,0.000,6,0.000,0.033,3401,2187,2309,0,0,0,0,0,0
$GC,9440,1.31,241.7,235.2,9.0,375,9469,0.12,2.65,24.05,0.714,4,0.077,0.040,3436,3762,2204,0,0,0,0,0,0
$GC,9491,1.31,241.7,229.6,10.7,376,9496,0.00,2.53,0.00,0.000,6,0.000,0.031,3420,2213,2202,0,0,0,0,0,0
$GC,9766,1.31,241.7,200.3,11.1,383,9767,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2213,2200,0,0,0,0,0,0
$GC,10017,1.31,241.7,171.3,11.7,404,10018,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2213,2200,0,0,0,0,0,0
$GC,10272,1.31,241.7,141.9,11.5,428,10273,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2213,2199,0,0,0,0,0,0
$GC,10529,1.31,241.7,113.4,10.8,452,10530,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2213,2200,0,0,0,0,0,0
$GC,10782,1.31,241.7,86.8,10.3,476,10786,0.00,2.67,0.00,0.000,4,0.000,0.052,3357,591,2200,0,0,0,0,0,0
$GC,10806,1.31,241.7,84.1,11.2,477,10812,0.00,2.55,0.00,0.000,6,0.000,0.019,3436,2228,2200,0,0,0,0,0,0
$GC,11072,1.31,241.7,58.1,10.7,502,11077,0.00,2.70,0.00,0.000,4,0.000,0.048,3435,590,2200,0,0,0,0,0,0
$GC,11131,1.31,244.1,51.8,10.1,506,11135,0.00,2.53,0.00,0.000,6,0.000,0.019,3435,2209,2200,0,0,0,0,0,0
$GC,11406,1.31,244.1,25.3,10.8,533,11415,0.00,2.50,0.00,0.000,4,0.000,0.040,3179,3752,2202,0,0,0,0,0,0
$GC,11432,1.31,244.1,22.2,11.6,536,11441,0.00,2.50,0.00,0.000,6,0.000,0.026,3435,2196,2201,0,0,0,0,0,0
$STATE,11629,end climb,SURFACE_DEPTH_REACHED
$STATE,11629,begin surface coast
$FINISH,-0.5,1.023767
$STATE,11685,end surface coast,CONTROL_FINISHED_OK
$STATE,11685,begin surface
$SM_CCo,11706,337.02,0.505,0,0,477,665.50
$SM_GC,0.04,0.00,0.00,337.02,0.000,0.000,0.505,472,2190,477,-12.31,0.28,665.50
$IRIDIUM_FIX,2213.68,-15759.37,190901,171731
$TT8_MAMPS,0.027612
$HUMID,57.04
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.30
$XPDR_PINGS,42
$24V_AH,23.5,29.069
$10V_AH,10.3,25.954
$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,31.300,130.650,315.650,337.025,0.000,156.257,184.942,455.628,10.500,0.000,17.826,1166.765,8022.383,742.546,2163.761,1185.220,33.372,1511.503,0.000,2166.326,0.000,0.535,0.000
$DEVICE_MAMPS,173.342,118.118,963.352,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,388.550,320.539,431.225,843.538,1275.796,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355944
$DATA_FILE_SIZE,44668,572
$CAP_FILE_SIZE,132398,0
$CFSIZE,260165632,134455296
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,1,0,0,0
$GPS,250612,202931,2222.537,-15801.719,37,1.8,37,10.0